AUTOMATIC ITEMS VENDING MACHINE

Abstract

 An automatic vending machine (1) of items comprising at least one shelf (50) for storing items and a handling unit (70) being movable and capable of moving the items. The handling unit (70) comprises a pair of guides (71), both aligned to a same displacement axis (x), and a pair of gripping elements (73). Each gripping element (73) is slidably associated with a respective guuide (71).

Description

TECHNICAL FIELD

[0001] The present invention relates to the sector of the retail distribution of items. More in particular, the solution according to embodiments of the present invention relates to the sector of the automated vending of items, in particular of medical, pharmaceutical and/or parapharmaceutical items.

PRIOR ART

[0002] Automated distribution apparatuses, or automatic vending machines, of items are becoming increasingly common. In fact, these apparatuses allow access to items of various kinds simply, immediately, reliably and substantially continuously. Furthermore, automatic vending machines of items have rather contained implementation and operating costs.

[0003] Substantially, the only service downtimes are connected with the stocking of the items dispensed. Therefore, such operation is to be implemented as quickly as possible.

[0004] Furthermore, one of the disadvantages of automatic vending machines of items is that, if an item has been stocked incorrectly, a user may receive a different item from the one requested. This problem is frequent in automatic vending machines adapted to dispense different types of items such as in the case of automatic vending machines of medical, pharmaceutical and/or parapharmaceutical items. In fact, the vending machines mainly house items packed in similar shaped boxes, generally parallelepiped shaped, which can be confused by an operator during the stocking of the vending machine. This error is all the more likely the less time there is available for the stocking operation.

[0005] An object of the present invention is to overcome the mentioned drawbacks of the prior art, within the context of a simple and rational solution and at a contained cost.

[0006] In particular, an object of the present invention is to automate the stocking operation of an automatic vending machine reliably, without the need for an operator to have any specific knowledge of the items, in particular medical, pharmaceutical and/or parapharmaceutical items, to be loaded into the automatic vending machine.

[0007] A further object of the present invention is to allow the loading of the items regardless of a position thereon of an identification code, such as a bar code. Such purposes are accomplished by the characteristics of the invention given in the independent claim. The dependent claims outline preferred and/or particularly advantageous aspects of the invention.

DISCLOSURE OF THE INVENTION

[0008] The invention, particularly, makes available an automatic vending machine of items comprising at least one shelf for storing items and a handling unit, which is movable and capable of moving the items. The handling unit comprises a pair of guides, both aligned to a same displacement axis, and a pair of gripping elements. Each gripping element is slidably associated with a respective guide.

[0009] Thanks to such solution, it is possible to equip the movement element with a seizing member having an extremely simple structure, but at the same time adapted to grasp the items reliably and efficiently.

[0010] In one embodiment, each gripping element comprises a carriage portion, for slidingly coupling to the respective guide, and a contact portion associated with the carriage portion and projecting transversally therefrom.

[0011] In this way, the gripping elements of the handling unit of the vending machine have a simple structure, advantageously free from articulated portions. Furthermore, the gripping elements are simple, quick and cheap to produce. In particular each gripping element can be made of a single piece, e.g. through punching and bending a metal sheet or through moulding a plastic polymer.

[0012] In one embodiment, each contact portion comprises a plate which extends transversely to the first displacement axis beyond the corresponding guide towards the other guide.

[0013] Thanks to such solution, the contact portion of each gripping element has a surface adapted to abut against the item to be gripped extending without increasing the dimensions of the seizing member of the handling unit. Furthermore, the contact portions are arranged symmetrically to each other with the gripping elements associated with the respective guides, thus guaranteeing the seizing of the uniform and symmetrical items.

[0014] In one embodiment, the handling unit further comprises an optical sensor. Preferably, the optical sensor is slidably associated with one guide of the pair of guides.

[0015] In this way, it is possible to acquire information on the items to be moved simply but precisely and accurately. Furthermore, the arrangement of the optical sensor associated with a guide allows the optical sensor to operate at a closer distance from the items to be moved and therefore to reduce the requirements on the operating parameters of the optical sensor.

[0016] In one embodiment, the optical sensor is fixed to a gripping element of the pair of gripping elements.

[0017] This allows the optical sensor to be slidably associated with a guide simply and effectively. Furthermore, in this way the sensor can be activated together with the gripping element to which it is fixed, simplifying the control thereof.

[0018] In one embodiment, the contact portion of a gripping element of the pair is shaped so as to define a through opening suitable for being crossed by the optical sensor associated with the other guide of the pair.

[0019] Thanks to this solution, it is possible to guarantee a minimum distance between the contact portions opposite each other and not limited by the presence of the optical sensor and, at the same time, prevent a compression of the sensor between the contact portions. Additionally, such solution reduces obstacles in the field of framing the optical sensor.

[0020] In one embodiment, the handling unit further comprises a further guide aligned to a further movement axis transverse to the movement axis. Advantageously, both guides are associated slidably with the further guide.

[0021] In this way, a further degree of freedom is obtained for the movement assembly through a simple and efficient solution.

[0022] In one embodiment of the invention, the guides are fixed to a same sliding element associated with the further guide, so as to move along the latter as a single element.

[0023] Thanks to such solution, the components of the seizing member of the handling unit can be translated together rigidly.

[0024] In one embodiment, the handling unit further comprises another guide aligned to a further movement axis transverse both to the movement axis and to the further movement axis. Advantageously, the further guide is associated slidably with the other guide.

[0025] In this way, another degree of freedom is obtained for the movement assembly through a simple and efficient solution.

[0026] In one embodiment, the handling unit further comprises a pair of actuators. Advantageously, each actuator is associated with a respective gripping element in order to move the same along the respective guide.

[0027] Thanks to such solution, it is possible to activate each gripping element precisely and accurately.

[0028] In one embodiment, the automatic vending machine comprises an extractable loading tray, adapted to be extracted beyond the dimensions defined by the shelves and, preferably, until it is at least partially outside an internal space of the vending machine that contains the shelves.

[0029] In this way it is possible to load the tray simply and quickly. Furthermore, it is possible to reach and make full use of the entire loading surface of the device.

[0030] In one embodiment, in the example considered, the shelves are removably associated with the bottom wall so as to be available along a vertical extension of the vending machine - substantially, corresponding to the further displacement axis - at a variable distance from each other.

[0031] Thanks to such solution, the shelves may be available so as to allow the storage of items of different sizes according to contingent needs.

[0032] In one embodiment, the shelf comprises a surface with a predetermined coefficient of friction.

[0033] Thanks to such solution, it is possible to prevent a displacement of the items due to mechanical strain to which the vending machine can be subject or to vibrations of the shelves that can take place during the operation of the distributor. Consequently, the items reliably remain in the position in which they are released onto the shelf. This guarantees greater reliability of the vending machine, in particular of the item dispensing operation.

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Further features and advantages of the invention will be more apparent after reading the following description provided by way of a non-limiting example, with the aid of the accompanying drawings.

Figure 1 is an axonometric view of an automatic vending machine of items according to an embodiment of the present invention with some parts removed.

Figure 2 is a different axonometric view of the vending machine of Figure 1.

Figure 3 is a front view of the vending machine of Figure 1.

Figure 4 is a side sectional view along the IV-IV axis of the vending machine of Figure 1.

Figures 5 - 8 are views of details of the vending machine of Figure 1.

Figure 9 is a main flow diagram related to an item stocking procedure implemented by the vending machine of Figure 1.

BEST WAY TO ACTUATE THE INVENTION

[0035] With particular reference to such figures, 1 is used overall to indicate an automatic vending machine of items, e.g. medical, pharmaceutical and/or parapharmaceutical items, according to an embodiment of the present invention.

[0036] Each item A comprises a container or package that contains a respective product. Generally although without limitation, the containers are parallelepiped shaped. Furthermore, the items A have an identification code C marked on at least one of the visual surfaces of the container. The identification code C can comprise a string of alphanumerical characters or a sequence of graphic elements, or a combination of both. Preferably, the identification code C can comprise a one-dimensional or two-dimensional barcode. Alternatively, the identification code C can simply comprise a string of characters corresponding to the name of the item contained in the package.

[0037] The vending machine 1 comprises a box-shaped frame 10, e.g. of the cupboard type, provided with a wall (not shown) hinged to the frame 10 adapted to close an opening 12 of the frame 10 that allows access to an internal environment 20 of the frame 10.

[0038] Advantageously, the vending machine 1 comprises one or more electronic and/or electromechanical user interfaces (not shown), preferably arranged on the door such as, for example, an interface for selecting an item and an interface for purchasing an item.

[0039] The vending machine 1 also comprises a collection mouth 30 adapted to allow access from the outside from a collection zone 40 of the items placed inside the vending machine 1 and accessible from the outside of the frame 10 through said collection mouth 30.

[0040] The collection mouth 30 is realized in the frame 10, e.g. in a lower position thereof, below the door.

[0041] The vending machine 1 comprises two or more storage elements, e.g. shelves 50 arranged inside the internal environment 20 in sequence along a vertical extension of the vending machine. Preferably, the shelves project in a cantilever fashion from a bottom wall of the frame 10.

[0042] In the example considered, the shelves 50 are removably associated with the bottom wall so as to allow a plurality of arrangement configurations thereof. In particular, the shelves can be arranged along a vertical extension of the vending machine at a variable distance from each other, so as to allow the storage of items A of different sizes. For example, the shelves are fixed to a pair of brackets 51 associated with the bottom wall of the vending machine. Preferably, the support surfaces of the shelves 50 - on which the items A rest - are formed so as to have a predetermined desired coefficient of friction, in particular adapted to prevent any displacement of the items due to the mechanical strain to which the vending machine 1 can be subject and vibrations of the shelves 50 that can take place during the operation of the vending machine 1. For example, the shelves 50 are formed with predefined roughness or at least partially coated with a layer of polymer material with a desired coefficient of friction.

[0043] Additionally or alternatively, the shelves 50 can comprise divider elements (not illustrated) arranged so as to define two or more lanes for the deposit of the items A such as to keep the products deposited in the same lane aligned. Again, one or more shelves 50 could comprise two groups of transverse divider elements arranged between each other so as to define housings (e.g. in a rectangular plan) adapted to receive items A of corresponding dimensions.

[0044] Furthermore, the vending machine 1 comprises a loading element, for example a tray 60. Preferably, the tray 60 is arranged between two shelves 50 adjacent to a predetermined vertical height, e.g. adapted to facilitate a loading operation of the items A onto the tray 60 by an operator. Even more preferably, the tray 60 is associated slidably with the frame 10 - e.g. it is associated slidably with a pair of guides projecting from the bottom wall of the frame 10 so as to slide from an operating position, substantially in line with the shelves 50 to an extracted position projecting beyond the shelves 50 in the opening direction 12 and, possibly, at least in part outside the internal environment 20 through the opening 12.

[0045] In a non-limiting embodiment, the tray 60 comprises dividing walls that project transversally from a base of the tray 60 adapted to divide it into two or more sectors 63, preferably with a rectangular plan, having predetermined dimensions, e.g. each sector 63 has dimensions adapted to house one predetermined type of items A. In other words, each sector 63 has a width and a length adapted to receive an item A of substantially similar dimensions - or, more generally, less than or equal - to the width and to the length of the sector 63.

[0046] The vending machine 1 comprises a handling unit 70 for moving - i.e. storing and, preferably, dispensing - the items A contained inside the vending machine 1 itself. The handling unit 70 is housed inside the internal environment 20.

[0047] The handling unit 70 comprises a seizing member, or gripper, adapted to grasp the items to be moved. In detail, the seizing member comprises a pair of first guides 71 and a pair of gripping elements 73. Each pair of gripping elements 73 is slidably associated with a respective first guide 71.

[0048] Furthermore, the handling unit 70 according to the present invention can comprise an optical sensor 75. Advantageously, the optical sensor 75 is associated slidably with one of the first guides 71. Preferably, the optical sensor 75 is associated, for example fixed, to a (first) gripping element 73, even more preferably with the carriage portion 731 thereof - and therefore is slidably associated with the respective guide through such gripping element. In detail, the first guides 71 are both aligned with a (first) displacement axis x, e.g. parallel to the ground when the vending machine is in the operating position. The first guides 71 have an extension (length) greater than or equal to the extension of the shelves 50 and of the tray 60 along the displacement axis x. Preferably the first guides 71 are arranged parallel to one other. For example, each first guide 71 comprises a respective rail. Furthermore, the first guides 71 are flanked along a second displacement axis z transverse to the first displacement axis x and spaced out from each other by a distance d that is preferably constant.

[0049] Each gripping element 73 comprises a carriage portion 731, which is adapted to be coupled slidably to the respective guide 731, and a contact portion 733, which is associated with the carriage portion 731 and adapted to interact with an item A.

[0050] The carriage portion 731 comprises a plurality of sliding elements, such as sliding blocks, rollers or other equivalent elements, adapted to be slidably associated with the respective first guide 71.

[0051] Otherwise, the contact portion 733 projects transversally from the carriage portion 731. In the example considered, each contact portion 733 comprises a plate that extends transversally to the first displacement axis x, i.e. aligned with the second displacement axis z. Preferably, the plates of each contact portion 733 are formed parallel to each other. Even more preferably, each plate extends along the second displacement axis z beyond the corresponding first guide 71 towards the other first guide 71; in the non-limiting example considered, the plates of the contact portion 733 have an extension (width) in the direction of the second displacement axis z substantially greater than or equal to the sum of the widths of each first guide 71 and the distance d between them.

[0052] Preferably, although without limitations, the contact portion 733 comprises a shock absorbing lining element, e.g. a layer of elastomeric material adapted to allow a firm grip and, at the same time, prevent deformations of the item A. Preferably, at least the contact portion 733 of the (second) gripping element 73 not associated with the optical sensor 75, is shaped so as to be able to be crossed by the optical sensor 75. In the example considered, both the contact portions 733 are substantially L-shaped so as to define a passage opening 735, between the contact portion 733 itself and the first guide 71 along which the optical sensor 75 slides, with dimensions greater than or equal to corresponding dimensions (width and height) to be able to be crossed by the optical sensor 75.

[0053] The optical sensor 75 comprises an optical reader (not illustrated in detail), e.g. a photo camera, a photo diode matrix, etc. Preferably, the optical sensor 75 also comprises a light source (not illustrated in detail), e.g. a lamp, a LED, a LASER diode, etc.

[0054] Additionally, the handling unit 70 comprises at least a second guide 77, two in the example illustrated, aligned with a third displacement axis y transverse both to the first displacement axis x and to the second displacement axis z. In the example illustrated, the second guides 77 are arranged in the internal space 20 of the vending machine 10 at opposite sides of the sequence of shelves 50 along the third displacement axis y.

[0055] Therefore, the first guides 71 are transverse to the second guides 77. Advantageously, both the first guides 71 are associated slidably with the second guides 77. Preferably, the first guides 71 are integrally fixed between each other to the second guides 77 so as to be movable as a single element along the second guides 77. In the example considered, both the first guides 71 are fixed to a pair of sliding elements 771, each of which is coupled slidably to a respective second guide 77, e.g. similar to what is described for the carriage portion 731 of the gripping element 73.

[0056] In the embodiment illustrated, the handling unit 70 also comprises a third guide 79, two in the example illustrated, aligned to the second displacement axis z - therefore transverse both to the first displacement axis x and to the third displacement axis z.

[0057] In the example illustrated, the third guides 79 are arranged in the internal space 20 of the vending machine 10 at opposite sides of the sequence of shelves 50 along the second displacement axis z.

[0058] Advantageously, the second guides 77 are associated slidably with the third guides 79. Like what is disclosed above, the second guides 77 are fixed to respective sliding elements 791, each of which is slidably coupled to a respective third guide 79.

[0059] The handling unit 70 further comprises actuators adapted to move the movable elements of the handling unit 70. In detail, the handling unit 70 comprises actuators 80 operatively coupled to the carriage portions 731 of the gripping elements 73 on the first guides 71, and at least one sliding element 771 associated with one of the second guides 77 and at least one sliding element 792 associated with one of the third guides 79 for activating them to slide along the respective guides.

[0060] Preferably, the gripping elements 73 can be activated independently from each other. In one embodiment, each gripping element 73 comprises an actuator (not illustrated in detail) adapted to interact with the respective guide 71 for moving it along the same. For example, each actuator is mounted on the carriage portion 731 of the respective gripping element 73. Alternatively, the handling unit 70 comprises one or two actuators, e.g. associated with one of the coupling elements 771 and operatively connected to the gripping elements 73 to move them independently along the respective first guides 71.

[0061] Finally, the vending machine comprises an electronic control unit 90, which is operatively connected, e.g. in a wired way, to the user interfaces and to the handling unit 70 for controlling and coordinating the operation thereof. Preferably, the control unit 90 comprises a processing module and a nonvolatile memory module (not illustrated in detail in the figures), with the processing module adapted to implement instructions stored in the storage module, possibly based on input information received from the user interfaces and/or from the handling unit. The processing module can comprise one or more from among a microprocessor, a microcontroller, an ASIC an FPGA or the like, while the storage module can comprise one or more from among a magnetic disk memory, a flash memory or the like. Furthermore, the control unit 90 comprises input/output modules (not illustrated) for exchanging (electrical) signals at least with the user interfaces, a power module connected to an electrical power supply network for supplying the (electrical) energy necessary for the operation of the vending machine, and can comprise a volatile memory module (e.g. a RAM memory bank). Finally, the control unit 90 can be provided with a communication module (not illustrated) for exchanging data with a remote processing entity (e.g. a PC, a server, a data centre, etc.) through a wired connection (through electrical or optical signals) or in radiofrequency.

[0062] In the embodiments of the present invention, the control unit 90 is configured to implement an automated loading or storage procedure or method 100 of the items A.

[0063] In general, the control unit 90 is configured to activate the movement element, for moving one or more items positioned on the tray 60 to a predetermined shelf 50.

[0064] In detail, during a preliminary step an operator (not illustrated) opens the door of the vending machine 1 and brings the tray 60 into the extracted position. Subsequently, he/she has one or more items A on the tray 60 and brings the tray into the operating position. The method 100 can be launched automatically once the tray 60 is brought into the operating position or when the door is closed. Additionally or alternatively, the method 100 can be launched manually by the operator, e.g. with a specific command provided through a user interface or through an operator interface (not illustrated) provided in the internal space 20. Advantageously, the one or more items A are arranged on the tray 60. In the embodiments of the present invention, it is not necessary for the surface on which the indicative code C is marked to be exposed and, in particular, it is not necessary for the identification code C to be facing towards the optical sensor 75.

[0065] Once the storage procedure 100 has been activated, the control unit 90 is configured to detect (block 110) an item positioned on the tray 60. In the preferred embodiment, the presence of the item A is detected through information provided by the optical sensor 75. Preferably, the optical sensor 75 can be configured to acquire the image I of the tray 60 or more images of different portions thereof. For example, the control unit can be configured to impose a movement along the first displacement axis x - and, possibly, along the second displacement axis z - of the optical sensor 75 so as to frame the entire surface of the tray 60 and acquire one or more corresponding images I. In the preferred embodiment, the control unit 90 may be configured to identify the presence of an item A arranged on the tray 60 by implementing an appropriate algorithm for the recognition of images on every image I provided by the optical sensor 75. Alternatively or additionally, the optical sensor 75 can be configured to detect or 'read' the identification code C, preferably a barcode, marked on the exposed surface of the item A, while the control unit 90 is configured to identify the presence of an item A following the reading of the identification code.

[0066] In the embodiments of the present invention, the control unit 90 is also configured to identify (decision block 120) the item A, preferably at the same time as its detection on the tray 60. For example, the control unit 90 can be configured to implement a recognition algorithm adapted to identify important information on the item A included in the image I acquired (or in the images acquired), such as: a profile of or an outline of the container of the item A, the identification code C, drawings or other graphic symbols and/or combinations of colours/grey scales present on the visual surfaces of the item A. Alternatively or additionally, the control unit 90 can be configured to identify in which sector 63 (if present) of the tray 60 the item A is arranged through the implementation of a corresponding image recognition algorithm. In a simplified embodiment, the item A can be univocally identified on the basis of the recognition of the identification code C 'read' by the optical sensor 75. For example, the control unit 90 can comprise a reference database DB - for example, stored in the memory module or, alternatively, the control unit 90 can be configured to connect to a remote processing entity (not illustrated) comprising the reference database for performing the identification. In detail, the control unit 90 is configured to compare the information acquired - i.e. peculiar characteristics of the item A taken from the picture or the identification code C - with entries of the database to find a correspondence. In a preferred embodiment, the database DB comprises at least one reference image I₀ for each item A₀ that can be loaded into the vending machine 1. In detail, the control unit 90 is configured to compare the image I acquired by the optical sensor 75 with the reference images I₀ comprised in the database DB to identify a correspondence. The comparison is interrupted when a correspondence is detected between the image I acquired by the sensor 75 and one of the reference images I₀ comprised in the database DB. Consequently, the item A depicted in the image I acquired by the sensor 75 is identified as the item A₀ depicted in the reference image lo with which the correspondence is identified.

[0067] Preferably, the database DB comprises various reference images I₀ for each item A₀ that can be loaded into the vending machine 1. For example, the database DB comprises a reference image I₀ for each face of the container of the item A₀ (six in the case of a parallelepiped container) and/or according to different positions in which the corresponding item A₀ can be arranged on the tray 60 (such as different inclinations with respect to the displacement axis x and/or to the plane defined by the tray 60).

[0068] If the item A is not identified (output branch N of the block 120), i.e. in the database there is no entry corresponding to the information acquired, the control unit 90 launches (block 130) an error sub-procedure adapted to warn the operator of the failure to identify the item A depicted in the image I and/or the unidentified item A can be transferred to the collection zone 40 for being removed by the operator. Once such sub-process has been completed the operation can immediately return to the block 110 to perform the storage of another item A arranged on the tray 60 and depicted in the (respective) image I. Alternatively, the operation can be suspended until the operator provides a corresponding signal, e.g. after removing the unidentified item A from the tray 60 (if it is not automatically removed).

[0069] If the item A is identified (output branch Y of the block 120), i.e. a corresponding entry is found in the database - i.e. an item A₀ corresponding to the item A depicted in the image I - the control unit 90 is configured to determine (block 140) at least one dimension of the container of the item A, preferably, at the same time as the identification thereof. Advantageously, the control unit 90 is configured to identify at least one dimension of interest D of the item A substantially aligned along the first displacement axis x. "Substantially aligned" means herein the dimension lying on a straight line parallel to the first displacement axis x or that defines a minimum angle with such straight line with respect to the other dimensions of the item A.

[0070] In one embodiment, each entry of the database DB comprises at least one dimension selected from the width, height and thickness of the container of the corresponding item A₀ and the control unit 90 is configured to identify the dimension of interest D as the selected dimension comprised in the database DB. Preferably, each entry of the database DB comprises all the container dimensions of the corresponding item A₀ and the control unit 90 is configured to identify which of such dimensions corresponds to the dimension of interest D - i.e. which dimension from among the width, height and thickness is aligned with the first displacement axis x.

[0071] Possibly, each entry of the database DB can comprise additional information on the item A (such as the product name, a storage temperature range and/or a shelf life thereof, etc.).

[0072] In one embodiment, if the database DB stored in the control unit 90 does not comprise the item A depicted in the image, the control unit 90 can be configured to be connected to the remote processing entity for consulting a further database (larger and/or updated more frequently) stored therein. Additionally or alternatively, the control unit 90 can be configured to measure the dimension of interest D of the item A through the image I acquired. In fact, the control unit 90 can be configured to calculate the dimension of interest D through the image acquired by exploiting the value of the dimension of the tray 60, the value of the distance of the optical sensor 75 from the tray, the value of the focal length and of the aberrations of the latter - which are known data and can be stored in the memory module of the control unit 90.

[0073] In another embodiment, the control unit 90 can be configured to determine the dimension by exploiting as a reference the (known) dimensions of the sector 63 in which the item A is positioned.

[0074] In an alternative embodiment, the control unit 90 can be configured to determine the dimension of interest D based on the sector 63 in which the item A is positioned, assuming that the operator is trained to arrange the items A in the sectors 63 of the tray 60 having corresponding dimensions to the items A, as mentioned above.

[0075] In a simplified embodiment, the control unit 90 can be configured to determine the dimension of interest D of the item A on the basis of the identification code C acquired. In particular, the identification code C univocally identifies the item A and, therefore, can be associated with the dimensions of the container thereof. In this case, each entry of the database DB advantageously comprises a list of identification codes C of the items A with which the dimensions of the respective containers are associated. Once the dimension of interest D has been determined, the control unit 90 is configured to activate the movement element 70 for grasping (block 150) the item A on the basis of the dimension of interest D. For example, the control unit 90 is configured to position - by means of actuators 80 - the gripping elements 73 at opposite sides of the item A distanced, along the first displacement axis x, substantially from the dimension of interest D so as to firmly grasp the item A - at the same time without deforming the container thereof.

[0076] In detail, the control unit 90 is preferably configured to preliminarily activate the movement element 70 - by means of the actuator 80 - so as to position the guides 71 substantially at opposite sides of a median axis of the item A along the dimension of interest D, i.e. aligned along the first displacement axis x.

[0077] Possibly, the control unit 90 is configured to move the guides 71 closer to the tray 60, up to a distance such for which the contact portions 733 of the gripping elements can intercept the item A on the tray 60.

[0078] The gripping elements 73 are moved closer to each other until the contact portions 733 are distanced from the dimension of interest D, thus clamping the item A without compressing it. In this configuration, the contact portions 733 abut against opposite surface portions (e.g. sides) of the item A along the displacement axis x.

[0079] In the preferred embodiment, the control unit 90 is configured to activate a first gripping element 73 of the pair to bring it into abutment against a first surface portion of the item A. Subsequently, the control unit 90 is configured to activate the other gripping element 73 of the pair to move it towards the first gripping element 73 until the distance of interest D is defined between them, so as to abut against the other surface portion of the item A opposite the first surface portion thereof.

[0080] In one embodiment, the control unit 90 is configured to move the gripping element 73 associated with the optical sensor 75 first. Preferably, the control unit 90 can be configured to use images acquired at subsequent moments in time by the optical sensor 75 to verify and, possibly, correct the mutual positioning of the gripping elements 73.

[0081] Preferably, although without limitations, the control unit 90 is configured to verify (decision block 160) whether the item A has been effectively grasped by the gripping elements 73. For example, the control unit 90 can be configured to identify the successful grip through the analysis of a further image acquired by the optical sensor 75 and/or by detecting a variation in torque associated with one or both of the actuators 80 that govern the movement of the gripping elements 73.

[0082] In the positive case (output branch Y of the block 160), the item A is grasped by the gripping elements 73 and the operation continues to the block 170 described below.

[0083] In the negative case (output branch N of the block 160), the item A is not gripped by the gripping elements 73 - for example, the container of the item A is deformed or is oriented in a particularly unfavourable way -, in this case the control unit 90 is configured to determine (block 163) the effective value of the dimension of interest D. Advantageously, the control unit 90 is configured to identify by measurement the effective value of the dimension of interest D through the analysis of a (further) image acquired by the optical sensor 75. After the effective value of the dimension of interest D has been determined, the control unit 90 is configured to determine (decision block 165) whether the effective value of the dimension of interest D is less than or equal to a respective limit value D₀, preferably contained in the database DB - e.g. indicative of an excessive deformation of the container of the item A.

[0084] In the positive case (output branch Y of the block 165), i.e. the value of the dimension of interest D is less than or equal to the limit value D₀, the control unit 90 is configured to implement the error sub-procedure described in block 130.

[0085] In the negative case (output branch N of the block 165), i.e. the value of the dimension of interest D is less than or equal to the limit value D₀, the item A can be considered to be available for dispensing and the control unit 90 is configured to activate (block 167) the gripping elements 73 so as to define the distance of interest D determined between them at the block 163. Once the item A has been gripped, the control unit 90 is configured to activate the handling unit 70 for moving (block 170) the item A grasped by the tray 60 to a selected shelf 50, by moving in a coordinated way the gripping elements so as to keep the distance of interest between the contact portions 733 thereof. Preferably, the selected shelf 50 is selected based on the previous identification of the item A. for example, the selected shelf 50 is chosen on the basis of the type of product of the item A and/or the dimensions of the container of the item A.

[0086] The control unit 90 is configured to activate the actuators 80 so as to impose a sequence of translations along the three displacement axes x, y and z such as to move the item A from a position of loading onto the tray 60 to a position of storage P on the selected shelf 50. In detail, the handling unit 70 is activated to:

• lift (translation along the third displacement axis y) the item A from the tray 60;
• bring (translation along the second displacement axis z) the item A beyond a dimension of the shelves 50 in the internal space 20 of the frame 10 - i.e. in the direction of the opening 12 -;
• displace (translation along the third displacement axis y) the item A from the height of the selected shelf 50, and
• position (translation along the first displacement axis x and the second displacement axis z) the item A on the selected shelf 50. Subsequently, the control unit 90 is configured to activate at least one of the gripping elements 73 away from the other gripping element 73 to release the item A.

[0087] In a preferred embodiment, the control unit 90 is configured to memorize the storage position P in which the item A is arranged on the selected shelf 50. For example, the control unit 90 can memorize the storage position P as a pair of translation values along the first displacement axis x and the second displacement axis z reached during the positioning of the item A on the selected shelf.

[0088] Optionally, once the item A has been released, the control unit 90 can be configured to bring the handling unit 70 into an initial or reference position - e.g. with the guides 71 and the gripping elements 73 at the tray 60.

[0089] In a preferred embodiment, the control unit 90 is configured to implement a dispensing procedure that envisages activating the handling unit 70 for moving an item A from a shelf 50 on which it is stored to the collection zone 40 in response to the selection of the item A by a user (not illustrated) through the user interface of the vending machine 1.

[0090] Advantageously, the control unit 90 is configured to activate the handling unit 70 so as to position the gripping elements 73 at the storage position P, previously memorized, associated with the item A selected by the user. Subsequently, the item A is selected and grasped, moved and released at the collection zone 40, in the same way as described above for the storage procedure in relation to the movement of the item A from the tray 60 to the selected shelf 50.

[0091] The invention thus conceived is susceptible to several modifications and variations, all falling within the scope of the inventive concept.

[0092] For example, in alternative embodiments (not illustrated), the optical sensor 75 could be associated with another component of the handling unit 70, like one of the sliding elements 771. Alternatively, the handling unit 70 could comprise a support component dedicated to the optical sensor 75, like an additional guide, e.g. arranged parallel to the first guides 71.

[0093] In an embodiment (not illustrated), the items A could comprise a different identification element from an optically detectable identification code, such as an RFID circuit and/or an NFC tag, or the like. In this case, a corresponding RFID and/or NFS sensor could be provided alternatively, or additionally, to the optical sensor 75.

[0094] In one alternative or additional embodiment (not illustrated), the control unit 90 can be configured to determine the presence of an item A on the tray 60 in another way. For example, the vending machine 1 can comprise one or more weight sensors associated with the tray 60, e.g. a weight sensor for each sector 63, to provide an indication of the weight variations thereof and communicate them to the control unit 90.

[0095] In one embodiment, the control unit 90 can be configured to detect a variation in the torque applied by the actuator(s) associated with the gripping elements to verify the grip of the item A and prevent the deformation of the container thereof.

[0096] In one embodiment (not illustrated), the vending machine 1 can comprise a refrigeration system for refrigerating the internal space 20 and one or more temperature sensors. Advantageously, the control unit 90 can be configured to adjust an internal temperature on the basis of the type and/or number of items A stored.

[0097] In one embodiment, the vending machine 1 can comprise an opening or window on the bottom wall of dimensions such as to be able to be crossed by the tray 60. In this case, the tray 60 is mounted on respective guides that allow the extraction thereof through the aforementioned window. This solution allows the distributor to be loaded from the inside of a business, e.g. when the vending machine 1 is built into a perimeter wall of the business so as to be able to be used from outside.

[0098] Moreover, all the details can be replaced by other technically equivalent elements.

[0099] In practice, the materials used, as well as the contingent shapes and sizes, can be whatever according to the requirements without for this reason departing from the scope of protection of the following claims.

[0100] For example, the vending machine 1 is adapted, or can be simply adapted, to store and automatically dispense items (not illustrated) comprising containers of any shape such as: cylinder, sphere, cone and/or prism different from a parallelepiped.

Claims

1. Automatic vending machine (1) of items comprising at least one shelf (50) for storing items and a handling unit (70) being movable and capable of moving the items, wherein the handling unit (70) comprises:

- a pair of guides (71), both aligned to a same displacement axis (x), and

- a pair of gripping elements (73), each gripping element (73) being slidably associated with a respective guide (71).

2. Automatic vending machine (1) according to claim 1, wherein each gripping element (73) comprises:

- a carriage portion (731) for slidingly coupling to the respective guide (71), and

- a contact portion (733) associated with the carriage portion (733) and projecting transversely therefrom.

3. Automatic vending machine (1) according to claim 2, wherein each contact portion (733) comprises a plate which extends transversely to the first displacement axis beyond the corresponding guide (71) towards the other guide (71).

4. Automatic vending machine (1) according to any one of the preceding claims, wherein the handling unit (70) further comprises an optical sensor (75), the optical sensor (75) being slidably associated with a guide (71) of the pair of guides (71).

5. Automatic vending machine (1) according to claim 4, wherein the optical sensor (75) is fixed to a gripping element (73) of the pair of gripping elements (73).

6. Automatic vending machine (1) according to claim 4 or 5, wherein the contact portion (733) of a gripping element (73) of the pair is so shaped as to define a through opening (735) suitable for being crossed by the optical sensor (75) associated with the other guide (73) of the pair.

7. Automatic vending machine (71) according to any one of the preceding claims, wherein the handling unit (70) further comprises a further guide (77) aligned to a further displacement axis (y) transverse to the displacement axis (x), both guides (71) being slidably associated with the additional guide (77).

8. Automatic vending machine (1) according to claim 7, wherein the guides (71) are fixed to a same sliding element (771) associated with the further guide (77), so as to move along the latter as a single element.

9. Automatic vending machine (1) according to claim 7 or 8, wherein the handling unit (70) further comprises another guide (79) aligned with another displacement axis (z) transverse both to the displacement axis (x) and to the further displacement axis (y), wherein the further guide (77) is slidably associated with the other guide (79).

10. Automatic vending machine (1) according to any one of the preceding claims, wherein the handling unit (70) further comprises a pair of actuators (80), each actuator (80) being associated with a respective gripping element (73) in order to move the same along the respective guide (71).

11. Automatic vending machine (1), according to any one of the preceding claims, wherein the shelf (50) comprises a surface with a predetermined coefficient of friction.

Drawing