U.S. patent application number 13/300161 was filed with the patent office on 2012-03-15 for delivery system.
This patent application is currently assigned to Tandem Technologies, LLC. Invention is credited to John Lewis, Aaron M. Stein, Fernando A. Ubidia.
Application Number | 20120061418 13/300161 |
Document ID | / |
Family ID | 39577508 |
Filed Date | 2012-03-15 |
United States Patent
Application |
20120061418 |
Kind Code |
A1 |
Ubidia; Fernando A. ; et
al. |
March 15, 2012 |
DELIVERY SYSTEM
Abstract
A product delivery system for delivering a product from a
storage area to a dispensing area, such as for use in a vending
machine. The product delivery system may include a vacuum holding
device, a robotic positioning system, a reel and cable system, and
a controller. A feature is the provision of a picker head with a
built-in vacuum generating source that may be carried by a
robotically movable arm system.
Inventors: |
Ubidia; Fernando A.;
(Ludlow, MA) ; Stein; Aaron M.; (Middletown,
CT) ; Lewis; John; (Monson, MA) |
Assignee: |
Tandem Technologies, LLC
Ludlow
MA
|
Family ID: |
39577508 |
Appl. No.: |
13/300161 |
Filed: |
November 18, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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11923644 |
Oct 24, 2007 |
8079494 |
|
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13300161 |
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60853901 |
Oct 24, 2006 |
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60857282 |
Nov 7, 2006 |
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60915731 |
May 3, 2007 |
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Current U.S.
Class: |
221/191 ;
212/251; 414/744.3; 414/800 |
Current CPC
Class: |
G07F 11/42 20130101;
B25J 15/0616 20130101; G07F 11/1657 20200501; B25J 9/104 20130101;
G07F 11/28 20130101; B65G 47/91 20130101; G07F 11/62 20130101; B65G
47/917 20130101; G07F 11/165 20130101; G07F 11/00 20130101; B25J
9/041 20130101 |
Class at
Publication: |
221/191 ;
414/744.3; 414/800; 212/251 |
International
Class: |
B25J 11/00 20060101
B25J011/00; G07F 11/02 20060101 G07F011/02; B25J 15/06 20060101
B25J015/06 |
Claims
1. A product delivery system for delivering product from a storage
area to a dispensing area, the product delivery system comprising:
a product holding device for selective coupling with the product,
the product holding device having a vacuum generating assembly; and
a positioning structure coupled to the product holding device for
moving the product holding device.
2. A product delivery system as claimed in claim 1 wherein the
product holding device selectively couples to the product at the
storage area, continually carries the product during transportation
to the dispensing area, and releases the product at the dispensing
area.
3. A product delivery system as claimed in claim 1 wherein the
product holding device is coupled to a pivoting structure for
advancing the product holding device toward a product.
4. A product delivery system as claimed in claim 1 wherein the
vacuum generating assembly includes an air vacuum pumping
mechanism, a drive mechanism to drive the pumping mechanism, air
ducting components, and a housing assembly.
5. A product delivery system as claimed in claim 1 wherein the
vacuum generating assembly includes a suction cup for contacting
the product, the suction cup being flexible to generally conform to
an exterior surface of the product.
6. A product delivery system as claimed in claim 1 wherein the
vacuum generating assembly includes a housing, the housing having
an exhaust for exiting air substantially proximate to the
housing.
7. A product delivery system as claimed in claim 1 wherein the
vacuum generating assembly is detachable from the positioning
structure as a modular unit.
8. A product delivery system as claimed in claim 1 wherein the
positioning structure is a robotic arm.
9. A product delivery system as claimed in claim 8 wherein the
robotic arm has a plurality of arm segments wherein each arm
segment is joined to an adjacent arm segment by a rotational
joint.
10. A product delivery system as claimed in claim 9 wherein each of
the plurality of arm segments are rotated about the respective
rotational joint by a drive system for moving the robotic arm.
11. A product delivery system as claimed in claim 8 wherein the
robotic arm is telescoping.
12. A product delivery system as claimed in claim 8 further
comprising a mounting component for the robotic arm.
13. A product delivery system as claimed in claim 1 further
comprising a reel and cable system, wherein the product holding
device is moveable with the reel and cable system.
14. A product delivery system as claimed in claim 13 wherein the
reel and cable system is operated with a drive system to vertically
position the product holding device.
15. A product delivery system as claimed in claim 13 further
comprising a robotic arm and wherein the reel and cable assembly is
coupled to the robotic arm.
16. A product delivery system as claimed in claim 13 wherein the
reel and cable system comprises a cable that is spooled onto a
reel, cable being wound onto the reel to raise the product holding
device and the cable being unwound from the reel to lower the
product holding device.
17. A product delivery system as claimed in claim 13 wherein the
reel and cable system includes a cable, and the cable includes an
electrical conductor to electrically power the product holding
device.
18. A product delivery system as claimed in claim 13 wherein the
reel and cable system includes a cable that is electrically coupled
to a stationary member by a slip ring conductor.
19. A product delivery system as claimed in claim 1 further
comprising a control system for controlling the product holding
device and the positioning structure.
20. A product delivery system as claimed in claim 19 wherein the
control system monitors an electrical current draw of the vacuum
generating assembly to determine when the product holding device
has coupled to a product and when a product has been released.
21. A product delivery system as claimed in claim 19 wherein the
control system includes a means for ramping up the power level
provided to the air vacuum generating assembly during activation of
the vacuum generating assembly, and the control system includes a
means for ramping down the power level provided to the air vacuum
generating assembly during the deactivation of the vacuum
generating assembly.
22. A product delivery system as claimed in claim 19 further
comprising a robotic arm and wherein the control system comprises a
closed loop feedback monitoring feature for rotational orientation
of the robotic arm to provide precise rotational orientation
positioning of the robotic arm.
23. A method of delivering a product from a storage area to a
dispensing area comprising: providing a product holding device;
providing a vacuum generator carried by the product holding device;
and utilizing the product holding device on a robotic positioning
system to transport the product.
24. A vending machine for dispensing a product to a consumer, the
vending machine having a storage area and a dispensing area, the
vending machine comprising: a product holding device for coupling
with the product to move the product from the storage area to the
dispensing area, the product holding device having a vacuum
generating assembly attached thereto; and a positioning structure
coupled to the product holding device for moving the product
holding device.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This patent application claims the benefit of U.S.
Provisional Patent Application No. 60/853,901, filed Oct. 24, 2006,
U.S. Provisional Patent Application No. 60/857,282, filed Nov. 7,
2006, and U.S. Provisional Patent Application No. 60/915,731, filed
May 3, 2007, which are each incorporated by reference in their
entirety herein.
FIELD OF THE INVENTION
[0002] The present invention relates generally to delivery systems
including, but not limited to, product delivery systems such as may
be used for vending machines and the like, merely by way of
example.
BACKGROUND
[0003] The dispensing process for vending varies according to the
application. For example, a common dispensing process for bottled
and canned beverage vending machines has motors for rotating an
oscillator that, depending on the position and angle of rotation,
will dispense the container (can or bottle) when activated. In some
bottle and can vending machines, the oscillator type system is
replaced with a Cartesian type system. The Cartesian type systems
utilize a cup that is maneuvered horizontally and vertically to
position the cup in front of the bottle or can. The bottle or can
then falls into the cup, and the cup is maneuvered to a drop port
where the bottle or can is dropped into a dispensing area.
[0004] Frozen food vending can present certain challenges to
dispensing because some of the components required to activate the
dispense mechanism are enclosed within the freezing
compartment.
[0005] Vacuum systems have been used in frozen food dispensing
environments to lift product from a bin for dispensing. The vacuum
system approach may be used in conjunction with a Cartesian
coordinate robotic positioning system for transporting product to
the delivery chute. Examples may be seen in U.S. Pat. Nos.
7,044,330; 6,547,096; and 5,240,139.
[0006] Current vacuum systems are inefficient, complex, expensive,
and cumbersome. Maintenance and assembly costs may also be high. In
addition, large vacuum pumps are needed to overcome the
inefficiencies of current vacuum systems. Typically, current vacuum
systems require a picker head, vacuum pump, vacuum hoses, and
vacuum breakers. The vacuum pump is located a substantial distance
away from the picker head.
[0007] Furthermore, certain Cartesian coordinate robotic
positioning systems may be limited in their ability to reach an
entire intended range frequently produce jerking movements while
moving product, which can result in unintentionally dropped
product.
BRIEF SUMMARY OF THE INVENTION
[0008] The invention provides a product delivery system suitable
for vending machine applications and the like that facilitates the
retrieval of a product from a storage area and delivery of the
product to a dispensing area for customer retrieval. The product
delivery system may be comprised of a positioning system, a product
holding device, and a controller to control the product delivery
process. Some embodiments may include a cable and reel
assembly.
[0009] The positioning system, which may be referred to as the
robotic manipulator, may be a robotic linkage comprised of arm
segments joined by rotational joints. Each rotational joint may be
driven by a drive system which rotates the adjoining arm segment
relative to the other arm segments to provide several degrees of
freedom to the robotic manipulator.
[0010] The product holding device, which may be referred to as the
vacuum picker head, may be joined at one extremity of the robotic
manipulator. The opposite extremity of the robotic manipulator may
be fixed to a structural member of the vending machine apparatus or
the like by a suitable structure such as a rotational joint. In
this manner, the vacuum picker head may be positioned by rotation
of robotic manipulator arm segments.
[0011] The vacuum picker head may be a self-contained air vacuum
pump assembly comprising a housing containing a vacuum pumping
mechanism, a vacuum pump driving mechanism, such as a motor, and a
suction cup. A vacuum may be generated by the vacuum pump such that
when the picker head is positioned sufficiently close to a product,
the suction cup may contact the product. A suction force may cause
the product to be held securely by the vacuum picker head.
[0012] The present invention may also include a cable and reel
device to lower and raise the vacuum picker head with respect to
the position of the robotic manipulator. The cable may be spooled
onto the reel to raise the vacuum picker head, and the cable may be
unwound to lower the vacuum picker head. The cable may support the
load of the vacuum picker head and the product the vacuum picker
head is carrying. The cable may include a plurality of conductors
that transmit electrical power to the vacuum picker head and
transmit signals between the vacuum picker head and the controller.
The cable may be fixed at one end to the rotating reel component,
but may be electrically coupled to a stationary component adjacent
to the reel by way of a slip ring conductor. In this manner, the
reel may rotate freely without risk of damage or tangling of the
cable at the coupling point.
[0013] The controller of the present invention may control the
rotation of the robotic manipulator arm segments, the lowering and
raising of the vacuum picker head, and the activation and
deactivation of the vacuum pump contained within the vacuum picker
head. The controller can utilize a method of monitoring the current
draw of the vacuum pump to determine if a product is held by the
vacuum pump while the vacuum pump is running. A detected increase
in the current draw of the vacuum pump may indicate that a vacuum
is being generated, and therefore, that a product is held by the
vacuum picker. The controller may also be capable of ramping up and
down the power delivered to the vacuum pump. In this way, any
undesirable rotational movements of the vacuum picker head caused
by starting or stopping the vacuum pump at full power are minimized
sufficiently to be rendered negligible. Anther feature of the
controller may include the utilization of closed loop feedback to
provide precise rotation of the arm segments about the joints of
the robotic manipulator.
[0014] The present invention may provide an improved product
delivery system for vending machine type applications and the like
that is capable of increased precision, speed, range of motion, and
flexibility over current systems.
[0015] The present invention can provide a product delivery system
with improved vacuum pump efficiency.
[0016] The present invention can provide a product delivery system
that substantially reduces occurrances of unintentional product
drops.
[0017] The present invention may provide a product delivery system
with a relatively small number of components, and offers an
extremely efficient mechanical design.
[0018] The product delivery system may be economical to build and
manufacture, may require a simplified assembly process to
construct, may allow for increased serviceability, and may be more
economical to refurbish.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] FIG. 1 is a partial cross-sectional view of a vacuum picker
head portion.
[0020] FIG. 2 is a perspective view of an embodiment of a delivery
system including a robotic arm, cable and reel assembly, and vacuum
picker head.
[0021] FIG. 3 is a perspective view of an embodiment of a delivery
system utilized in a glass front vending machine.
[0022] FIG. 4 is a partial sectional view of a reel assembly.
[0023] FIG. 5 is a cross-sectional view of another embodiment of a
vacuum picker head portion.
[0024] FIG. 6 is a perspective view of another embodiment of a
delivery system.
[0025] FIG. 7 is a side view of another embodiment of a vacuum
picker head portion.
[0026] FIG. 8 is a fragmentary cross-sectional view of the vacuum
picker head portion of FIG. 7.
[0027] FIG. 9 is a front side view of another embodiment of a
delivery system, the delivery system being disposed within a
vending machine.
[0028] FIG. 10 is an enlarged fragmentary view of an arm joint for
the delivery system of FIG. 9.
[0029] FIG. 11 is an enlarged side view of a vacuum picker head
portion for the delivery system of FIG. 9.
[0030] FIG. 12 is another enlarged side view of the vacuum picker
head portion for the delivery system of FIG. 9.
[0031] FIG. 13 is an enlarged perspective view of the vacuum picker
head portion for the delivery system of FIG. 9.
[0032] FIG. 14 is a perspective view of the delivery system of FIG.
9.
DETAILED DESCRIPTION OF THE INVENTION
[0033] A delivery system is provided having a structure for
applying a vacuum force against an object, such as a food product
in a vending machine, in order to transport the object from an
initial position to another position. The vacuum force may be
created and applied by a suitable structure that may be carried
along with the object. Referring to FIGS. 1 and 2, wherein like
numerals may represent like features, FIG. 2 shows an embodiment of
a delivery system 100 and FIG. 1 shows an embodiment of a product
holding device in the form of a vacuum picker head assembly 106
that may be used with the delivery system of FIG. 2 to exert a
vacuum force on an object.
[0034] Specifically referring to FIG. 1, the vacuum picker head
assembly 110 may comprise a vacuum generator or pump with an
impeller (or rotor) 101 and a driving motor 102 that may be
integrated within the vacuum picker head assembly 110. the driving
motor 102 may rotate the rotor to create a suction force. The
vacuum pump 105 thus generates a suction force that holds onto a
product when the suction cup 104 comes into contact with the
product. The suction cup may be any suitable structure sufficient
to allow for a vacuum force to be applied between the vacuum picker
head assembly 110 and a product. In some embodiments, the suction
cup may be a flexible such that is capable of conforming to a
surface of the product to form a vacuum.
[0035] An example of a suitable vacuum pump type is a rotary vane
type pump, however, other examples include, but are not limited to,
vacuum pumps that may operate by centrifugal or positive
displacement technology that may consist of rotary vane, roots
type, and/or other positive displacement methods. Furthermore, it
will be appreciated that the invention may be configured so that
the vacuum pump system may consist of a plurality of pumps, in
parallel or staged in series, and each pump may be of either
similar or dissimilar vacuum technologies. In addition, each pump
may run simultaneously or non-simultaneously with the other pumps.
It will be appreciated that any suitable type of vacuum pump may be
utilized.
[0036] The vacuum picker head 110 may be enclosed by a housing 103.
All of the components needed to generate the suction force may be
self-contained within the housing 103 such that the force is formed
near the product being transported. The housing 103 may utilize one
or more ventilation features 129 that direct the exhaust air from
the vacuum pump back into the compartment, such as a refrigerated
or non-refrigerated compartment of a vending machine, in which the
product is stored. Thus, rather than drawing air out and away from
the compartment, the delivery system may direct the exhaust air
back into the compartment. In refrigerated air compartments, this
exhaust system reduces the amount of refrigerated air loss from the
refrigerated compartment during the dispensing cycle of the
delivery system 100. Furthermore, having the vacuum pump 105 being
self-contained within the compartment reduces the amount of noise
from the operation of the vacuum pump 105 that is discernable to a
user of the vending machine.
[0037] In some embodiments, the delivery system may utilize a cable
107 to lower and raise the vacuum picker head 110 during the
dispensing cycle. The cable 107 may support both the load of the
vacuum picker head 110 and product. Any electrical wiring used to
power the vacuum motor 102, transmit signals from sensors, and
power any other devices within the picker head, may be routed
internally through the cable 107. The cable 107 can be attached to
the vacuum picker 110 with an electrical connector 108 that
provides electrical coupling between the vacuum picker electrical
components and the cable 107. The connector 108 may provide a sound
structural coupling between the vacuum picker 110 and the cable 107
so that the connector 108 supports the weight of the vacuum picker
head 110 and product that it may be holding. Furthermore, the
connector 108 may allow the vacuum picker head 110 to be detached
and attached as a single assembly from the remainder of the product
delivery system of the present invention.
[0038] The cable 107 can be flexible and may be structurally
reinforced to support the weight of the vacuum picker head 110 and
the product it may be holding. Other embodiments of the invention
may use a cable track alone or in addition to a cable to provide
additional load carrying capacity and torsion resistance.
[0039] FIG. 2 shows a robotic manipulator 131 of the delivery
system 100. The robotic manipulator 131 may be a robotic arm. The
robotic manipulator 131 may have a mount 111 that attaches to the
vending machine cabinet or frame. The robotic manipulator 131 may
be mounted in any of a variety of suitable locations within the
vending machine to accommodate the particular requirements of the
vending machine application. Furthermore, it will be appreciated
that alternative embodiments of the invention may be configured
such that the mount 111 may be mounted on a shaft, track, or other
suitable positioning device so that additional degrees of freedom
including vertical, horizontal, and/or rotational motion can be
accomplished by the robotic manipulator.
[0040] The robotic manipulator of the delivery system 100 may
include a main arm segment 112 that links to the mount 111 and
pivots about a rotational joint 119 to provide a range of yaw
rotation. A second arm segment 113 may be linked to the main arm
segment and may be pivoted about an additional rotational joint 120
to provide a yaw range of rotation independent of the main arm
segment 112. In this manner, the robotic manipulator 131 can extend
into a long reach or fold back on itself to position the vacuum
picker head 110 to any suitable position within a horizontal plane
of a desired operating envelope.
[0041] The range of rotation and geometry of each arm may be
configured to provide a suitable range of motion for the particular
vending application. Furthermore, the robotic manipulator 131 may
be configured to include additional arm segments and additional
rotational joints, and may add further degrees of freedom of yaw
rotation and rotational joints that provide pitch and roll rotation
to position the vacuum picker head 110 to any suitable position of
a three-dimensional space of a desired operating envelope. It will
be appreciated that the robotic manipulator 131 may have any
suitable number and type of arm segments and joints such that the
robotic manipulator may move the vacuum picker head 110 in any
suitable horizontal and/or vertical position within a three
dimensional space. Additionally, the present invention may be
configured with one or more arm segments that provide a telescoping
motion to extend and retract in length and to move the vacuum
picker head 110 to a desired position. The telescoping motion may
be accomplished in any suitable manner, including, but not limited
to pneumatic, hydraulic, and/or motor driven methods.
[0042] FIG. 3 shows an embodiment of the delivery system utilized
in a glass front vending machine 430 application. As shown, the
vending machine may contain one or more racks 446 containing one or
more products 444. The racks may be inclined such that when a
product is removed, the next product slides forward. A robotic
manipulator 431 may comprise a primary arm segment 412 and a second
arm segment 413 that each provide a range of pitch rotation. A
vacuum picker head 410 is attached near an end of the second arm
segment 412.
[0043] In some embodiments, the delivery system may include
structure that allows for setting the length of one or more of the
arm segments of the robotic manipulator during the assembly process
to suit the operational reach for a particular application. The
length of each arm segment may be set to one of several predefined
lengths, or the adjustment may be variable so that any suitable
length may be set and limited maximally and minimally only by the
physical length of the arm segment. The construction of the arm
segment may include, but is not limited to: a telescopic system
wherein an inner portion of arm segment resides within a tubular
outer portion and the inner portion may slide within the outer
portion to provide adjustability of the total length of the arm
segment; or a track system wherein one portion of arm segment may
be mounted by means of a track to the corresponding portion and can
slide parallel with respect to the corresponding arm portion to
provide adjustability of the total length of the arm segment. The
two portions of the arm segment may be fixed into position once the
desired arm segment length has been set by means of, but not
limited to, a threaded setting, pin setting, spring loaded plunger,
or interlocking geometric features of the respective arm
segments.
[0044] Referring again to FIG. 2, in some embodiments, the rotation
of each arm segment about its respective rotational joint may be
driven by a motor 117, 118. The respective motor drives a belt 115
coupled to a pulley 116 to produce the rotation of the arm segments
112, 113. However, in alternative embodiments of the invention,
other drive methods, such as, but not limited to, friction belt and
pulley, chain and sprocket, pinion and gear, and/or other suitable
structure may be used. Furthermore, the motor may be any suitable
motor, including, but not limited to, AC or DC powered, stepper
motors or servomotors, and/or may operate on feedback from
encoders, resolvers, potentiometers, limit switches, proximity
devices, and/or may be configured to employ a combination of such
types of motor control technology.
[0045] The robotic manipulator may be integrated with user visible
features to enhance the user experience and/or provide information
to the user. By way of example and not limitation, the robotic
manipulator may include one or more of the following: integrated
lighting or other suitable visual displays, such as LED,
fluorescent lighting, cold cathode lighting, neon, fiber optic,
VFD/LCD displays, and/or any combination of the above.
[0046] Some embodiments of the delivery system utilize a motor
driven reel 114 to spool and unwind the cable 107 for raising and
lowering the vacuum picker head 110. One or more guides 122 may be
utilized to prevent the cable from tangling during the raising and
lowering of the vacuum picker head 110. Referring to FIG. 4, slip
ring conductors 123 and 124 electrically couple the cable between
the rotating reel 127 and a stationary mounting component of the
reel. As the reel is rotated, the cable may be spooled or unwound
on a surface as indicated by 126. The cable may be wired to the
rotating disc of the slip ring conductor 123. The stationary disc
of the slip ring conductor is attached to a mounting bracket 128.
The reel 114 and rotating slip ring conductor disc rotate about an
axle 125. Configured as such, the reel may freely rotate to spool
and unwind the cable 107 without risk of tangle or damage to the
cable 107.
[0047] The delivery system may include a controller to control the
power delivered to the drive mechanism of the robotic manipulator,
the vacuum picker head, the reel, and/or any combination of the
above. The controller may obtain positional feedback of the
rotational motion of the robotic manipulator arm segments to
thereby allow the delivery system to precisely position the robotic
manipulator.
[0048] The controller may also include a feature for ramping up and
down the power supplied to the vacuum pump of the vacuum picker.
Ramping the power up during activation of the vacuum pump and
ramping power down during deactivation of the vacuum picker may
help minimize undesirable rotational movement of the vacuum picker
head.
[0049] The controller may also monitor the electrical current drawn
by the vacuum pump motor. The current drawn by the vacuum pump
motor will increase when suction is created by a product being held
by the vacuum picker head. Upon detection of the drawn current
increase, a condition may be satisfied in the logic sequence of the
controller, which indicates that a product is being held by the
vacuum picker. In response, the controller may proceed with
functions appropriate to the condition as defined in the
programming of the logic of the controller. A microprocessor
controlled sensing circuit may process feedback signals from the
vacuum picker head.
[0050] In some embodiments, the controller may utilize pressure
sensing devices such as, but not limited to, a pressure switch or
pressure transducer located within the vacuum picker head. When
product is being held by the picker head, the invention can detect
the change in vacuum pressure via the pressure sensing device.
Further embodiments of the delivery system may include a controller
that utilizes optical or proximity sensors within the vacuum picker
head to detect the presence of product.
[0051] The delivery system may be used in any suitable vending
machine and including any of a multitude of vending machine
enclosure sizes, styles, and configurations. The delivery system
may be used to move any suitable product, including but not limited
to, refrigerated food product, frozen food product,
non-refrigerated food product, and product without packaging or in
any suitable packaging such as, but not limited to, bags, boxes. It
will be appreciated that the delivery system may also have broader
application outside of vending machine applications. For example,
the delivery system may have broader industrial use in applications
such as, but not limited to, assembly operations. It will be
appreciated that the delivery system may be utilized in any
suitable application. Furthermore, the delivery system may utilize
any suitable number of robotic manipulators and/or any suitable
number of vacuum picker heads.
[0052] The delivery system may be configured to provide fully
automatic vending so that the vacuum picker head and robotic
manipulator complete the vending cycle without any customer
feedback, or the delivery system may be configured to be manually
operated fully or in part by the customer.
[0053] Another embodiment of a vacuum picker head assembly 210 is
shown in FIG. 5. This embodiment is similar to the embodiment
describe above. The vacuum picker head assembly 210 may comprise a
vacuum pump with an impeller (or rotor) 201 and motor drive
assembly 202 for driving the impeller (or rotor) 201. The vacuum
picker head assembly may also comprise a housing 203, suction cup
204, and one or more ventilation features 229. The vacuum picker
head assembly 210 may have a bracket 206 coupled to a cable 207 by
means of a clamp 208 to help remove excess load from the wiring in
the cable 207.
[0054] The vacuum picker head assembly 210 may comprise a vacuum
break valve 209 to break the vacuum and immediately release the
product. The vacuum break valve 209 may be an electronically
controlled valve, such as, but not limited to, a solenoid driven
valve. Located within the picker head 210 and within close
proximity of the product, the vacuum break valve 209 is highly
responsive and allows for precise control over the vacuum.
[0055] As shown in FIG. 6, the delivery system 200 may include the
vacuum picker head assembly 210 coupled to a robotic manipulator.
The robotic manipulator of the delivery system 200 may include a
main arm segment 212 that links to the mount 211 and pivots about a
rotational joint 219 to provide a range of yaw rotation. A second
arm segment 213 may be linked to the main arm segment and may be
pivoted about an additional rotational joint 220 to provide a yaw
range of rotation independent of the main arm segment 212. In this
manner, the robotic manipulator can extend into a long reach or
fold back on itself to position the vacuum picker head 210 to any
suitable position. The robotic manipulator may also include pulleys
216, belts 215, motors 217, 218, motor driven reel 214, and guide
222.
[0056] Referring to FIG. 7, vacuum picker head 310 may be coupled
to a telescoping arm 340 for moving the suction cup 304. The
telescoping arm 340 may be moved by any suitable structure,
including but not limited to, a drive system 342. FIG. 8 shows the
vacuum picker head 310 in more detail. As shown, the vacuum picker
head 310 may include an impeller (or rotor) 301, a motor 302, a
housing 303, and a suction cup 304.
[0057] FIGS. 9-14 show another embodiment of a delivery system, the
delivery system being shown for example in a vending machine 530
containing racks 546 and product 544. The robotic manipulator 531
may comprise a mount 511 and arm segments 512, 513. The robotic
manipulator 531 is disposed to access vertically oriented product
544. FIG. 10 shows the arm segment 512 coupled to the motor 517,
the pulley 516, and the belt 515.
[0058] In this embodiment, the robotic manipulator 531 generally
imitates the dexterity and gripping function of a human hand. As
shown in this embodiment, more than one suction cup 504 coupled to
the vacuum picker head assembly 510 may be used to move product
544. Having multiple suction cups 504 may provide additional secure
gripping of a product. Referring to FIGS. 11-14, the vacuum picker
head assembly 510 may be coupled to a pivoting structure for
advancing the vacuum picker head assembly 510 toward a product. As
shown, the pivoting structure may have one or more pivotable links,
and the links may have different sizes to advance the vacuum picker
head assembly 510 at a desired angle for contacting the product.
The links may also be disposed such that the product can be
released generally vertically.
[0059] It will be appreciated that reliable product pick-up may be
detected by limit switches, vacuum detecting sensors, current
detecting sensors, and/or any other suitable device.
[0060] It will be appreciated that the freedom of movement of the
robotic arm provides a faster, more flexible, and more precise
motion to deliver product than standard Cortesian coordinate
positioning systems. Furthermore, the relatively small number of
components that form the delivery system, their general modularity,
and their ease of access make the delivery system easy to repair
and maintain.
[0061] The following examples further illustrate the delivery
system but, of course, should not be construed as in any way
limiting its scope.
[0062] One example of the operation of the delivery system is
particularly applicable to frozen product dispensing where the
product is commonly stored within a chest such as a freezer and
wherein different products bins are matrixed in a side-to-side and
front-to-back layout, and within each bin a product type is stored
in a vertically oriented manner. In this example, the delivery
system may be located above the product bin. The delivery system
may operate as follows: from a starting position, by means of the
controller, the robotic manipulator arm segments may be rotated
about the rotational joints to position the vacuum picker head
above the desired product storage bin. The controller activates the
vacuum pump and unwinds the reel to thereby extend the cable and
lower the vacuum picker head. The suction cup of the vacuum picker
head may contact the product and a suction force may be created to
hold the product. The controller can detect a change in the current
draw of the vacuum pump, and thus, satisfy the condition that the
product is held. The controller may then spool the reel to thereby
retract the cable and raise the vacuum picker head. The controller
may reposition the robotic manipulator arm segments so that the
vacuum picker head is positioned above the dispensing area. The
controller may then unwind the reel to extend the cable and lower
the vacuum picker head. The controller may cut the power to the
vacuum pump to release the product such that the product is dropped
into the dispensing area. The controller then can spool the reel to
retract the cable and raise the vacuum picker head. The robotic
manipulator may then be relocated to its starting position or some
other suitable position.
[0063] Another example of the operation of the delivery system is
particularly suited to bottled and canned beverage product
dispensing. In this example, the delivery system may be located
near the front-most portion of a product storage system wherein the
different bottle and/or can types are matrixed in a side-to-side
and top-to-bottom layout, and each can or bottle type is stored in
a front-to-back manner (as is often the placement in glass front
vending machines). This particular application may not utilize the
reel and cable system explained above. The delivery system may
operate as follows: from a starting position, by means of the
controller, the robotic manipulator arm segments can be rotated
about the rotational joints to position the vacuum picker head in
front of the desired product. The controller may activate the
vacuum pump, and the controller may further rotate the arm segments
of the robotic manipulator. The suction cup of the vacuum picker
head may contact the product and a suction force is created to hold
the product. The controller may detect a change in the current draw
of the vacuum pump, and thus, satisfy the condition that the
product is held. The controller may then reposition the robotic
manipulator arm segments such that the vacuum picker head is
positioned near the dispensing area. The controller may then cut
the power to the vacuum pump to release the product such that the
product is dropped into the dispensing area. The robotic
manipulator may then be relocated to its starting position or some
other suitable position.
[0064] Another example of the operation of the delivery system,
which does not utilize the robotic manipulator, is described below.
In this example, different product type bins may be laid out in a
single side-to-side row, and within each bin, the product may be
stored vertically. The present invention may be located above the
row of storage bins. The cable and reel assembly may be mounted to
a device that provides linear motion, such as a carriage mechanism,
to position the vacuum picker head. The delivery system may operate
as follows: from a starting position, by means of the controller,
the vacuum picker head may be positioned above the desired product.
The controller may activate the vacuum pump and unwind the reel to
extend the cable and lower the vacuum picker head. The suction cup
of the vacuum picker head may contact the product and a suction
force may be created to hold the product. The controller may detect
a change in the current draw of the vacuum pump, and thus,
satisfying the condition that product is held. The controller may
then spool the reel to thereby retract the cable and raise the
vacuum picker head. The vacuum picker head may be positioned above
the dispensing area. The controller may then unwind the reel to
thereby extend the cable and lower the vacuum picker head. The
controller may then cut the power to the vacuum pump to release the
product such that it is dropped into the dispensing area. The
controller may spool the reel to thereby retract the cable and
raise the vacuum picker head. The vacuum picker head may then be
relocated to its starting position or another suitable
position.
[0065] The above described examples are provided solely for
demonstration of suitable applications of the delivery system It
will be appreciated that the delivery system may be utilized in any
suitable application and in any suitable manner. Significantly, an
important aspect is elimination of remote vacuum source pumps and
extended flexible hoses thereby enabling a picker that may be used
for many different applications.
[0066] The delivery system offers the advantage of reducing the
number of components and material required to achieve the
functionality of a product delivery system. The delivery system
also provides an economical design that is easy to service and
refurbish. Another unique aspect of the delivery system is the
increased precision and reliability offered by the embodiments
disclosed herein, which results in reduced occurrences of
unintentional product drops.
[0067] Another unique advantage of the delivery system is that the
arm segments of the robotic manipulator are adjustable in length so
that during the assembly process, the reach of the robotic
manipulator can be set to suit a particular application. In this
fashion, a single set of components can be configured for a range
of applications that may each have different range of reach
requirements for the robotic manipulator.
[0068] Various embodiments of a delivery system have been described
herein. It will be appreciated that any suitable features described
with respect to a particular embodiment may be utilized with any
other suitable embodiment.
[0069] All references, including publications, patent applications,
and patents, cited herein are hereby incorporated by reference to
the same extent as if each reference were individually and
specifically indicated to be incorporated by reference and were set
forth in its entirety herein.
[0070] The use of the terms "a" and "an" and "the" and similar
referents in the context of describing the invention (especially in
the context of the following claims) are to be construed to cover
both the singular and the plural, unless otherwise indicated herein
or clearly contradicted by context. The terms "comprising,"
"having," "including," and "containing" are to be construed as
open-ended terms (i.e., meaning "including, but not limited to,")
unless otherwise noted. Recitation of ranges of values herein are
merely intended to serve as a shorthand method of referring
individually to each separate value falling within the range,
unless otherwise indicated herein, and each separate value is
incorporated into the specification as if it were individually
recited herein. All methods described herein can be performed in
any suitable order unless otherwise indicated herein or otherwise
clearly contradicted by context. The use of any and all examples,
or exemplary language (e.g., "such as") provided herein, is
intended merely to better illuminate the invention and does not
pose a limitation on the scope of the invention unless otherwise
claimed. No language in the specification should be construed as
indicating any non-claimed element as essential to the practice of
the invention.
[0071] Preferred embodiments of this invention are described
herein, including the best mode known to the inventors for carrying
out the invention. Variations of those preferred embodiments may
become apparent to those of ordinary skill in the art upon reading
the foregoing description. The inventors expect skilled artisans to
employ such variations as appropriate, and the inventors intend for
the invention to be practiced otherwise than as specifically
described herein. Accordingly, this invention includes all
modifications and equivalents of the subject matter recited in the
claims appended hereto as permitted by applicable law. Moreover,
any combination of the above-described elements in all possible
variations thereof is encompassed by the invention unless otherwise
indicated herein or otherwise clearly contradicted by context.
* * * * *