EP1076320A1 - Mittel zum Greifen und Transportieren von Produkten für einen Verkaufsautomat - Google Patents

Mittel zum Greifen und Transportieren von Produkten für einen Verkaufsautomat Download PDF

Info

Publication number
EP1076320A1
EP1076320A1 EP00440225A EP00440225A EP1076320A1 EP 1076320 A1 EP1076320 A1 EP 1076320A1 EP 00440225 A EP00440225 A EP 00440225A EP 00440225 A EP00440225 A EP 00440225A EP 1076320 A1 EP1076320 A1 EP 1076320A1
Authority
EP
European Patent Office
Prior art keywords
transport
product
products
seizure
pallet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP00440225A
Other languages
English (en)
French (fr)
Inventor
Francis Derue
Oméro Noacco
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aron (societe A Responsabilite Limitee)
Aron Sarl
Original Assignee
Aron (societe A Responsabilite Limitee)
Aron Sarl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aron (societe A Responsabilite Limitee), Aron Sarl filed Critical Aron (societe A Responsabilite Limitee)
Publication of EP1076320A1 publication Critical patent/EP1076320A1/de
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/38—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are horizontal
    • G07F11/42—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are horizontal the articles being delivered by motor-driven means
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/163—Delivery means characterised by blocking access to the output bins

Definitions

  • the present invention relates to the field of sales or rental by product vending machines and relates to a means of seizure and transport of products for such an automatic distributor.
  • vending machines selling or rental of products which essentially consist of a cabinet including product storage lockers, are provided with a gripping and transport means in the form of a three-axis robot gripping of each individually selected product and delivery of this product in an area called the customer window.
  • These cabinets generally have an access door to the front part of the compartments for filling, said compartments being through and accessible at their rear by the moving robot between said lockers and a rear facade also provided with a door access provided, on the surface, with electrical and electronic means of ordered.
  • the means of seizure and transport is generally made up in the form of a clamp intended to clamp the product to be delivered by its edges lateral, this clamp being moved by means of a carriage or analogous along transverse, vertical and lateral.
  • the object of the present invention is to overcome these drawbacks by offering a means of entering and transporting products for a automatic dispenser allowing easy removal of a product from a distributor locker and its delivery at a counter or in a chute, whatever the nature of the product, as well as taking a product at a counter and its placement in a predetermined locker.
  • the means of seizure and transport of products for a vending machine is characterized in that it is essentially consisting of a pallet mounted at the end of a carriage displaceable along three orthogonal axes and constituting the mobile part a three-axis robot, said pallet being provided with an assembly electronic recognition of the shape and position of the product to grab and transport, in the storage locker or in the area called customer counter.
  • FIG. 1 of the accompanying drawings shows, by way of example, a vending machine selling products, which is essentially consisting of a cabinet 1 comprising lockers 2 for storing products, by a three-axis robot 3 for gripping each product selected and transport of this product between a zone 4 called customer counter and 2 product storage lockers and by a means 5 for capturing and transporting said products, equipping said robot three axes 3, said cabinet being provided on its front and rear facades with a access door.
  • the 5 means of seizure and transport of products is essentially constituted in the form of a pallet mounted at the end of a movable carriage 6 along three orthogonal axes and constituting the mobile part of the robot three axes 3, said pallet being provided with an electronic assembly 7 of recognition of the shape and position of the product to be grasped and transport, in storage compartment 2 or in zone 4 called counter customer.
  • the carriage 6 movable along three orthogonal axes is type generally known in distributors and consists of a part telescopically movable on a support in the depth direction of the dispenser, said support being mounted on an arm arrangement of guidance allowing vertical and transverse movements near the rear part of the dispenser, namely in front of the access door of its facade back.
  • Such support arm arrangement is not shown or described in detail and is standard practice for those skilled in the art.
  • the pallet forming the means 5 for gripping and transporting products is an elongated plate connected at one end to the three-axis robot 3 and integrating in its free end the electronic assembly 7 of recognition of the shape and position of the product to be grasped and carry.
  • This electronic assembly 7 is advantageously in the form an electronic card integrating, on the one hand, limit sensors 8, 8 ′ longitudinal, located near the outer end edge of the card and, on the other hand, sensors 9, 9 'for positioning relative to the product.
  • the card forming the electronic assembly 7 is provided, at the end of the pallet forming the means 5 for gripping and transporting products, an axial light-emitting diode 10 ( Figures 2 to 4).
  • the longitudinal stop sensors 8 and 8 ' are advantageously in the form of a transmitter-receiver assembly photoelectric (figure 4) allowing a positioning of the pallet forming the means 5 for seizing and transporting the products relative to the storage lockers 2 and to each individual product, during the maneuver approach to said pallet.
  • Sensors 9 and 9 'for positioning relative to the product are made up of photoelectric transceiver assemblies, infrared or ultrasound arranged symmetrically along the axis longitudinal of the card forming the electronic assembly 7.
  • the light-emitting diode 10 located at the end of the card electronics 7 corresponding to the free end of the pallet forming the means 5 for entering and transporting the products is aligned in the axis longitudinal of said pallet.
  • sensors 8, 8 'and 9, 9' are connected to a computer unit central, integrated in a control block 11 arranged in the part rear of the distributor outside the three-axis scope 3 or integrated into the rear access door and which manages the three-axis robot 3 and the movements of the carriage 6 constituting the latter according to a pre-established program corresponding.
  • the pre-established program takes into account a choice made beforehand, in a known manner by means of a keyboard on the front of the distributor, as well as a means of payment also arranged on the front, this means of payment can be of the coin or card reader type.
  • the light-emitting diode 10 is intended to allow prior learning of the management IT unit, together with sensors 8, 8 'and 9, 9', to ensure with certainty a movement and a perfect positioning of the pallet forming the means 5 for gripping and transport of products in cooperation, either with the products themselves already arranged in lockers 2, either with a template. An operator will then perform controlled movements of the pallet in the different compartments with recording of the corresponding coordinates for each locker 2 and for the product there.
  • the means 5 according to the invention which consists of a elongated pallet, is simply slid under the product to be grabbed and then lifts slightly to move it between storage bin 2 correspondent and zone 4 called customer counter or vice versa, said product being held on said pallet by its own weight.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Vending Machines For Individual Products (AREA)
EP00440225A 1999-08-11 2000-08-09 Mittel zum Greifen und Transportieren von Produkten für einen Verkaufsautomat Withdrawn EP1076320A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9910457A FR2797507A1 (fr) 1999-08-11 1999-08-11 Moyen de saisie et de transport de produits pour un distributeur automatique
FR9910457 1999-08-11

Publications (1)

Publication Number Publication Date
EP1076320A1 true EP1076320A1 (de) 2001-02-14

Family

ID=9549115

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00440225A Withdrawn EP1076320A1 (de) 1999-08-11 2000-08-09 Mittel zum Greifen und Transportieren von Produkten für einen Verkaufsautomat

Country Status (2)

Country Link
EP (1) EP1076320A1 (de)
FR (1) FR2797507A1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007009714A1 (en) 2005-07-18 2007-01-25 Daint S.R.L. Automatic product vending machine
CN109191686A (zh) * 2018-11-06 2019-01-11 衢州龙瀚计算机科技有限公司 一种人工销售卷烟的智能柜及售烟方法
CN109993896A (zh) * 2018-05-03 2019-07-09 尹少斌 一种机器人智能售货机及无人商超
US11620868B2 (en) 2021-07-22 2023-04-04 Trinity Axis Inc. Techniques to dispense an item and release a jammed item from a dispensing system

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3156055B1 (fr) 2023-12-01 2025-11-14 Unista Outil préhenseur pour contenant grillagé et système de transfert le comprenant

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1986004173A1 (en) * 1985-01-02 1986-07-17 Abm Industries, Inc. Vending machine and method
US5143193A (en) * 1988-06-30 1992-09-01 Ronald Geraci Automated library article terminal
US5240139A (en) * 1992-03-06 1993-08-31 Munroe Chirnomas Package vending machine
EP0577121A1 (de) * 1992-07-03 1994-01-05 Livio Dalla Valle Verkaufsautomat für audiovisuelle und digitale Datenträger und assoziierte Identifikationsträger

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1986004173A1 (en) * 1985-01-02 1986-07-17 Abm Industries, Inc. Vending machine and method
US5143193A (en) * 1988-06-30 1992-09-01 Ronald Geraci Automated library article terminal
US5240139A (en) * 1992-03-06 1993-08-31 Munroe Chirnomas Package vending machine
EP0577121A1 (de) * 1992-07-03 1994-01-05 Livio Dalla Valle Verkaufsautomat für audiovisuelle und digitale Datenträger und assoziierte Identifikationsträger

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007009714A1 (en) 2005-07-18 2007-01-25 Daint S.R.L. Automatic product vending machine
EP1915744A1 (de) 2005-07-18 2008-04-30 Daint S.R.L. Automatischer produktverkaufsautomat
US8061555B2 (en) 2005-07-18 2011-11-22 Daint S.R.L. Automatic product vending machine
CN109993896A (zh) * 2018-05-03 2019-07-09 尹少斌 一种机器人智能售货机及无人商超
CN109191686A (zh) * 2018-11-06 2019-01-11 衢州龙瀚计算机科技有限公司 一种人工销售卷烟的智能柜及售烟方法
CN109191686B (zh) * 2018-11-06 2023-08-18 衢州龙瀚计算机科技有限公司 一种人工销售卷烟的智能柜及售烟方法
US11620868B2 (en) 2021-07-22 2023-04-04 Trinity Axis Inc. Techniques to dispense an item and release a jammed item from a dispensing system
US11830310B2 (en) 2021-07-22 2023-11-28 Trinity Axis Inc. Techniques to dispense an item and release a jammed item from a dispensing system
US12073679B2 (en) 2021-07-22 2024-08-27 Trinity Axis Inc. Techniques to dispense an item and release a jammed item from a dispensing system
US12125333B2 (en) 2021-07-22 2024-10-22 Trinity Axis Inc. Techniques to dispense an item and release a jammed item from a dispensing system

Also Published As

Publication number Publication date
FR2797507A1 (fr) 2001-02-16

Similar Documents

Publication Publication Date Title
WO2010130913A1 (fr) Disupositif de distribution automatique de bouteilles de gaz en libre service permettant l'échange d'une bouteille vide contre une bouteille pleine
KR102124348B1 (ko) 시험관 자동정렬 라벨 부착 장치
EP1076320A1 (de) Mittel zum Greifen und Transportieren von Produkten für einen Verkaufsautomat
FR2606702A1 (fr) Machine de moulage d'objets comprenant un dispositif de transport de pellicule de revetement et un dispositif d'evacuation de l'objet moule
EP0233232B1 (de) Vorrichtung zur verteilung und zum verkauf von biegsamen trägern
FR2679537A1 (fr) Dispositif d'orientation automatique de pieces d'assemblage a extremites non symetriques en vue de leur transfert entre un organe de stockage en vrac et un appareil distributeur.
WO2018127632A1 (fr) Procédé et installation de stockage et de distribution automatisée d'objets
WO2002086827A2 (fr) Distributeur automatique universel de denrees alimentaires
WO2017093683A1 (fr) Procede et installation permettant de constituer un lot de pieces a partir de pieces situees dans des zones de stockage differentes
FR3133385A1 (fr) Distributeur automatique de produits à casiers
FR2761500A1 (fr) Machine semi-automatique pour apposer un dispositif anti-vol sur un article, notamment en tissu
EP0184527A1 (de) Einrichtung zur automatischen Lagerung, Verteilung und Wiedereinsetzung von Kassetten, Büchern oder ähnlichen Artikeln
EP0281716A1 (de) Maschine zur Pfandrückgabe für von Supermärkten zurückgenommene leere Flaschen
EP4446962A1 (de) Paketiersystem und -verfahren
FR2643348A1 (fr) Dispositif d'acheminement de pieces avec ou sans retournement en vue de leur empilage dans au moins un recipient
FR2807853A1 (fr) Distributeur automatique de fruits
EP1107925B1 (de) Automatische vorrichtung zur abgabe von gegenständen auf gleitschienen
FR3075667B1 (fr) Dispositif de detection de presence auto-aligneur
EP3543972A1 (de) Verkaufs- und ausgabeautomat von einzelnen produkten, und sein auffüllverfahren
EP4494117A1 (de) Produktschliessfachausgabemaschine
FR2483504A1 (fr) Guichet automatique bancaire
EP0733246B1 (de) RECHNERGESTEUERTER UND ÜBER MINITEL $m(3) BETÄTIGBARER 24 h-WARENAUSGABEAUTOMAT FÜR ZUM VERKAUF ODER VERLEIH BESTIMMTE ARTIKEL
FR3110153A1 (fr) Distributeur de Plateaux
FR2912300A1 (fr) "element de meuble a etagere distributeur de produit,en particulier de linge plie"
EP4703516A1 (de) Vorrichtung, verfahren zur durchführung von verschiebungen entlang einer geradlinigen bahn und verwendung dieser vorrichtung

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

17P Request for examination filed

Effective date: 20010213

AKX Designation fees paid

Free format text: AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20030301