|
(11) | EP 3 696 777 A1 |
| (12) | EUROPEAN PATENT APPLICATION |
|
|
|
|
|||||||||||||||||||||||||||
| (54) | AUTOMATIC VENDING MACHINE OF A PLURALITY OF ITEMS PROVIDED WITH A HANDLING ROBOT |
| (57) The invention relates to an automatic vending machine (1) of a plurality of items
(P), said vending machine (1) comprising: - a plurality of stores (45) for housing the items (P), each equipped with an access opening (50) to an inner housing volume of the store itself in which the items (P) are housed, and - a handling robot (100), which is configured to move the items (P) present in a predetermined store (45) through the access opening and comprises: ∘ a gripping arrangement of the items (P), configured to directly grip an item (P), ∘ a support with which the gripping arrangement is rotatably associated with respect to a pivot axis (W), and ∘ an actuation (125) configured to selectively set the gripping arrangement in rotation with respect to the pivot axis (W). |
TECHNICAL FIELD
[0002] More particularly, the present invention relates to a vending machine for the automatic dispensing and sale of items, such as for example cigarette packets, shredded tobacco packets, chewing gum packets, candy packets, condom packets.
PRIOR ART
[0003] As is known, the automatic vending machines of products are intended to be installed outside tobacconists, or in any case in areas intended for the influx of users, who, by entering the required amount and selecting a product indicated in a selection button panel, can pick up the selected product from a special item withdrawal mouth.
[0004] These automatic vending machines comprise a plurality of stores and a movement apparatus, equipped with a handling robot which grips the items and is at least capable of withdrawing the items from the store to bring them to a slide which ends up in the withdrawal mouth.
[0005] Said handling robots comprise a gripping arrangement of the items, configured to directly grip an item and an actuation group configured to move said gripping arrangement.
[0006] A need felt in the field of vending machines is to increase the flexibility and versatility of these handling robots.
[0007] Such object is achieved by the features of the invention indicated in the independent claim. The dependent claims outline preferred and/or particularly advantageous aspects of the invention.
DISCLOSURE OF THE INVENTION
[0008] In particular, the invention makes available a vending machine comprising: a plurality of stores for housing the items, each equipped with an access opening to an inner housing volume of the store itself in which the items are housed, and a handling robot, which is configured to move (or extract and introduce) the items present in a predetermined store through the access opening and comprises:
- a gripping arrangement of the items, configured to directly grip an item,
- a support with which the gripping arrangement is rotatably associated with respect to a pivot axis,
- and an actuation configured to selectively set the gripping arrangement in rotation with respect to the pivot axis.
[0009] Thanks to this solution, the vending machine is more versatile than vending machines of the prior art and capable of adapting more effectively to different products which are incorrectly positioned or cannot be positioned in a regular way. For example, this also makes it easier to adapt the vending machine to products not initially intended for sale.
[0010] According to an aspect of the invention, the gripping arrangement of the items is equipped with a suction cup adapted for contacting the items and a pneumatic circuit connected to said suction cup and configured to generate a depression.
[0011] In this way it is possible to pick up and move the items effectively, since the proposed conformation of the gripping arrangement allows to grab a vertical side wall of said items. Furthermore, this gripping arrangement is more compact than a gripping arrangement with gripper.
[0012] According to another aspect of the invention, the vending machine can comprise a case, in which the stores of the plurality of stores and the handling robot are at least partially housed, and a dispensing mouth of the items made in said case.
[0013] In this way, the items are more protected than in an open system and in any case easily accessible.
[0014] Another aspect of the invention provides that the vending machine can comprise an electronic control unit operatively connected to the handling robot and configured to actuate said handling robot so as to move the items releasing them directly at the dispensing mouth.
[0015] Thanks to this solution, the vending machine does not need slides or conveyor belts connected to the dispensing mouth as it happens in devices of the prior art, thus allowing to create a larger vending machine for the same overall volume of the vending machine. In fact, the aforesaid slides and conveyor belts of the known vending machines extend horizontally from the withdrawal mouth to at least one vertical plane of the openings of the stores, thus directly occupying space that could be used for the stores and preventing the positioning of the stores above them, as the robot would not be able to reach them.
[0016] Still another aspect of the invention provides that the case can be configured like a box-like body equipped with an opening and comprises a door connected to said case and which is mobile between a first position, in which it blocks the opening of the case, and a second position, in which it allows access to an inner volume of the case, in which the stores of the plurality of stores and the handling robot are housed.
[0018] Preferably, the dispensing mouth can be made in the door, thus ensuring an optimization of the spaces.
[0019] According to a further aspect of the invention, the vending machine can comprise a further store equipped with an access opening to a housing volume of the further store itself in which the items are housed, and housed so that the handling robot is arranged between the stores and the further store and said access opening faces towards the access openings of the stores of the plurality of stores.
[0020] This solution allows improving the capacity of items of the vending machine for the same overall size of the vending machine.
[0022] In this way, the further store is rationally inserted inside the vending machine with no need for special support frames, which would increase the overall size of the further store, thus reducing the capacity, and might be an obstacle during the operations of maintenance and supply of items.
BRIEF DESCRIPTION OF THE DRAWINGS
[0023] 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 figures shown in the accompanying drawings.
Figure 1 is an axonometric view of a vending machine according to the invention.
Figure 2 is a front view of a vending machine according to the invention.
Figure 3 is a section view of the vending machine of Figure 2 according to the section plane III-III, with a handling robot during the withdrawal step of an item from a store.
Figure 4 is an enlarged view of the portion IV of Figure 3.
Figure 5 is a perspective view of the section of Figure 2.
Figure 6 is a section view of Figure 3 with a handling robot during the withdrawal step of an item from a store.
Figure 7 is a perspective view of the section of Figure 6.
Figure 8 is an enlarged view of the portion VIII of Figure 7.
Figure 9 is a section view of Figure 3 with a handling robot during the release step of an item towards a dispensing mouth.
Figure 10 is a perspective view of the section of Figure 9.
Figure 11 is an enlarged view of a store of Figure 3 and of a portion of the handling robot.
Figure 12 is an enlarged view of a portion of Figure 11, in which an end-of-stroke device of the store is shown in detail.
Figure 13 is an enlarged view of another portion of Figure 11, in which a suction cup of the handling robot is illustrated in detail.
BEST MODE OF THE INVENTION
[0024] With particular reference to these figures, 1 indicates globally an automatic vending machine of items P, for example tobacconist's items such as packets of cigarettes, packets of shredded tobacco, chewing gum and more.
[0025] The vending machine 1 can comprise a support frame 10, for example equipped with a base from which a plurality of vertical uprights rigidly connected to the ends by means of crosspieces rise.
[0026] In the illustrated embodiment, the vending machine 1 comprises a case 15, for example box-shaped and equipped with an access opening to a housing volume of the case itself, which case 15 is preferably supported by the support frame 10 which turns out to be received inside the case itself.
[0028] For example, the case 15 can be equipped with a door 25 connected, preferably hinged, to a box-like body of the case 15 and adapted to allow access to the internal environment of the vending machine 1, that is the door 25 is mobile between a first position, in which it blocks the opening of the case 15, and a second position, in which it allows access to the inner volume of the case 15.
[0029] The door 25 can be shaped like a plate-like body, for example quadrangular, preferably rectangular.
[0030] The vending machine 1 can comprise a plurality of interface devices 30 with the user, for example an item selection device (touchscreen), a device for checking payments, etc., preferably housed in the door 25.
[0031] For example, at least part of these interface devices 30 comprises a portion which protrudes from the door 25 towards the inside of the vending machine 1, that is towards the inside of the box-like body of the case 15.
[0032] In an embodiment not shown, the vending machine 1 can be located inside a shop, for example a tobacconist, and does not have interface devices in the case 15. In this embodiment, the vending machine 1 can be controlled via a cash register or a PC-pos.
[0033] The vending machine 1 can also comprise a withdrawal mouth 35 adapted to allow external access to an area for withdrawing the items P located inside the vending machine 1.
[0034] The withdrawal mouth 35 is shaped like a through slot made in the case 15, for example in the door 25.
[0035] The withdrawal mouth 35 is associated with a door 35a, which is adapted to close the withdrawal mouth and, for example, is mobile in such a way that only a push from the outside of the case inwards allows to free the withdrawal mouth from the space of the door 35a.
[0036] For example, the vending machine 1 can comprise an item support element (defining the withdrawal area of the items P) placed at the withdrawal mouth 35, that is adjacent to the withdrawal mouth 35, so that a user can grasp a product present on the support element, passing through the withdrawal mouth 35. The support element is placed inside the case, that is in the inner volume defined by the case 15.
[0037] In the embodiment shown in the figures, the support element comprises a tank 40, adjacent to the withdrawal mouth 35, which is located at a lower level than the withdrawal mouth 35 and has a bottom surface adapted to support inferiorly the items P as well as an upper opening in communication with the withdrawal mouth 35.
[0038] For example, the tank 40 comprises substantially vertical walls, for example inclined between -30° and +30° with respect to a vertical plane, preferably between -10° and +10° with respect to a vertical plane, which rise from the bottom wall.
[0039] The support element, that is the tank 40, is connected (bolted or welded) only to the case 15, preferably the support element is connected only to the door 25.
[0040] In the vending machine according to the invention, there is no slide or conveyor belt which ends up in the withdrawal mouth 35 or in the support element.
[0041] The vending machine 1 comprises a plurality of horizontal stores 45, for example contained, preferably completely, in the case 15.
[0042] The stores 45 of the plurality of stores 45 can be connected, for example fixed without degrees of freedom, to the support frame 10.
[0043] Each store 45 of the plurality of stores 45 is preferably configured to house in its inside a single type of items P, arranging said items P in a row, side by side (in contact) with each other along a substantially horizontal direction.
[0044] Said stores 45 can be configured to house both regular shaped items, such as rectangular packages, and irregularly shaped items, such as envelopes or bags.
[0045] Furthermore, each store 45 can be configured to allow the items P present in its inside to slide along an advancement direction T, for example only along the advancement direction T, which is preferably substantially horizontal.
[0046] The advancement direction T is the same direction along which the items P of the row of items P present in the store 45 are placed side by side.
[0047] Each store 45 can be sized so as to accommodate the items P to measure and guide them along the advancement direction T (and in such a way as to prevent the rotation of the items P during their displacement along the advancement direction T).
[0048] Each store 45 has an access opening 50, for example a single access opening 50, through which the items P are withdrawn and inserted. The access opening 50 allows access to an inner volume of the store 45 itself in which the items P are stored.
[0050] The access opening 50 is placed at one end of the store 45 itself, for example at an axial end of the store 45 relative to the advancement direction T.
[0051] Each store 45 can be shaped like a channel, for example open at the top. However, it is not excluded that in an alternative embodiment it can be closed at the top, that is the store 45 could be shaped like an axially hollow tubular body.
[0052] In particular, in the illustrated embodiment, each store 45 comprises a lower wall defining a resting surface 55, for example substantially planar, which supports the items P present in the store 45 inferiorly. That is, the items P rest superiorly on the resting surface 55.
[0053] The resting surface 55 can be elongated, for example rectangular, and develops (in its largest dimension) along the advancement direction of the products T inside the store 45.
[0054] The resting surface 55 can lie on a plane which defines an angle comprised between ± 15° with respect to a horizontal plane. Preferably the resting surface 55 lies on a horizontal plane.
[0055] Each store 45 can comprise a pair of opposite side walls, placed on the sides of the lower wall, and which develop along the advancement direction T.
[0056] Each side wall defines a guide surface 60 for the items P, which is for example transverse to the resting surface 55, preferably perpendicular to the resting surface 55.
[0057] For example, the distance between the guide surfaces 60 is such as to accommodate the items P to measure, that is with reduced clearance, in such a way as to prevent the rotation of the items during the displacement along the advancement direction T. Or again, the distance between the guide surfaces 60 is substantially equal to the width of the items P in a direction transverse to the advancement direction T.
[0058] Each store 45 can comprise a pusher element adapted to push the items P from one end of the store 45 opposite to the end where the access opening 50 is positioned along the advancement direction T.
[0059] In the illustrated embodiment, the pusher element comprises an elastic element 65, for example a single elastic element 65, configured to operate in the same direction as the movement direction T.
[0060] Said elastic element 65 can be rigidly fixed to one end of the store 45, for example it is rigidly fixed to a plate opposite the access opening 50 of the store, preferably which rises from one end of the resting surface 55 opposite the opening of access 50 of the store 45.
[0061] In the illustrated embodiment, the elastic element 65 is a helical spring. However, it is not excluded that in an equivalent embodiment the elastic element may be a folded leaf spring.
[0062] Furthermore, in the proposed embodiment, the pusher element comprises a thrust body 70 interposed between the elastic element 65 and the items P, for example rigidly fixed to the end of the elastic element 65 opposite the plate.
[0063] This thrust body 70 can be sized to slide along the advancement direction T under the thrust of the pusher element, guided by the guide surfaces 60.
[0064] Each store 45 can comprise an end-of-stroke device 75 placed at the access opening 50 and against which the pusher element is configured to push and hold the items P, that is the row of items P, pressed. Furthermore the end-of-stroke device 75 is sized so as to partially occlude the access opening 50.
[0065] The end-of-stroke device 75 can comprise a wall 80 rotatable with respect to the resting surface 55, for example rotatable according to an axis parallel to a lying plane of the extended resting surface, and which has an abutment surface 85 against which the items P are pushed from the pusher element.
[0066] The end-of-stroke device 75 can also comprise a striker body 90 associated with the wall 80 and adapted to prevent a rotation of the wall itself from a position where the abutment surface 85 lies on a plane substantially perpendicular to the resting surface 55, in the direction of moving away from the items P or from the pusher element.
[0067] In other words, the end-of-stroke device 75 is configured in motion such that the wall 80 can rotate only between a blocked position, in which the abutment surface 85 lies on a plane substantially perpendicular to the resting surface 55, and an access position to the store 45, in which the abutment surface 85 faces on the resting surface 55, for example it is parallel thereto and faces the items P.
[0068] For example, between the blocked position and the access position to the store 45 the wall 80 can rotate about 90°.
[0069] In the illustrated embodiment, end-of-stroke device 75 comprises a stabilizing element (not illustrated), configured to bring and maintain the wall 80 in the blocked position in the absence of external forces.
[0071] Alternatively, the stabilizing element can be a counterweight associated with the wall 80 in opposition thereto with respect to the hinge between the wall 80 and the rest of the store 45.
[0072] For example, the end-of-stroke device 75 comprises a flap 95 which rises from the lower wall at the end of the wall itself near the access opening 50, to which flap 95 the wall 80 is hinged, in an intermediate portion thereof, so that an axis of rotation of said hinge divides the wall 80 into a first section and a second section, in which the first section presents the abutment surface 85 for the items P, and the second section defines instead the striker body 90, which is adapted to contact the flap 95 from a side opposite to one side of the flap facing the items P so as to limit the rotation of the wall itself.
[0073] The stores 45 of the plurality of stores 45 can be arranged in a plurality of groups of stores A superimposed on each other in plan.
[0074] For example, each group of stores A is formed by a certain number of stores 45 placed side by side along a transversal side-by-side direction, preferably perpendicular, to the advancement direction T of the items P of each store 45.
[0075] The stores 45 of the plurality of stores 45 can be oriented so that the access openings 50 for accessing all the stores 45 are arranged on one side of the groups of stores A.
[0076] For example, these access openings 50 face the opening of the case 15, that is towards the door 25.
[0077] In the illustrated embodiment, the access openings 50 of the stores 45 of each group of stores A are superimposed in plan to the access openings 50 of the stores 45 of the other groups of stores A, thus defining a single continuous zone, substantially lying on a vertical plane, for the access to all stores 45.
[0078] The vending machine comprises a handling robot 100, for example connected to a control and command unit (not shown), configured to move, or introduce or extract, the items P present in a predetermined store 45.
[0079] The handling robot 100 can be configured to move the items P from a predetermined store 45 by releasing them directly at the withdrawal mouth 35, that is on the support element.
[0080] In particular, the handling robot 100 can be configured to release the items P withdrawn in a store 45 directly into the tank 40. In this case the vending machine 1 does not provide a slide or a conveyor belt directly connected to the withdrawal mouth 35 or to the support element.
[0081] The handling robot 100 can also be configured to move the items P from a supply store (not illustrated) of the vending machine to the stores 45 of the vending machine 1.
[0082] The supply store can for example be an automated apparatus in which the items P to be stored in the stores 45 are placed in a tidy way or in bulk and which positions and/or orders the items so that they can be withdrawn from the movement apparatus to be inserted in the correct store 45. An example of such a supply store is illustrated in application IT102017000044060 in the name of the same Applicant.
[0083] The handling robot 100 is for example interposed between the withdrawal mouth 35, that is the tank 40, and the stores 45.
[0084] In particular, the handling robot 100 is entirely housed in a portion of the inner volume of the vending machine 1, that is of the case 15, comprised between a plane on which the access openings 50 and the withdrawal mouth 35, that is the tank 40, lie.
[0085] In the embodiment illustrated, the handling robot 100 is entirely housed in a portion of the inner volume of the case 15 comprised between a plane on which the access openings 50 and the space of the portions of the interface devices 30 protruding to the inside the inner volume of the case 15 lie.
[0086] The handling robot 100 is configured to access the individual stores 45 through the access openings 50.
[0087] Said handling robot 100 comprises a gripping arrangement configured to directly, that is directly in contact, grip, an item P.
[0088] In the illustrated embodiment, the gripping arrangement is equipped with a suction cup 105, for example a plurality of suction cups 105, preferably 4 suction cups 105, adapted for contacting the items P to be moved.
[0089] Each suction cup 105 can comprise a concave surface 110, for example flared, at least partially suitable for directly contacting the items P, that is for contacting a portion of a face of an item P.
[0090] The concave surface 110 may have an external perimeter B, that is facing the outside of the suction cup itself, which is entirely capable of directly contacting the item P. Said concave surface 110 has an axis of symmetry S lying on a horizontal plane.
[0092] For example, the suction cups 105 are rigidly fixed to a single support plate 115 of the gripping arrangement.
[0093] In the illustrated embodiment, the suction cups 105 are arranged at the vertices of an imaginary square lying on a vertical plane, that is the axes of symmetry S of the concave surfaces 110 each intersect a different vertex of an imaginary square lying on a vertical plane.
[0094] Furthermore, each suction cup 105 can be arranged with the axis of symmetry S of the concave surface 110 parallel to the advancement direction T of the items P in the stores 45.
[0095] The gripping arrangement can also comprise a pneumatic circuit (not shown) connected to each suction cup 105 and configured to generate a depression in each of them, that is configured to generate a depression inside the concave surface 110 of each suction cup 105.
[0096] The gripping arrangement is rotatably associated with respect to a pivot axis W, to a support, which pivot axis W is for example transversal to the axes of symmetry S, preferably this pivot axis W is vertical.
[0097] Furthermore, the handling robot 100 comprises an actuation 125 configured to selectively set the gripping arrangement in rotation with respect to the pivot axis W and, for example, to selectively block said rotation in at least two distinct angular positions. That is, the actuation 125 is configured to set the gripping arrangement in rotation with respect to the pivot axis W between at least two distinct angular positions, which are end of stroke positions.
[0098] For example, these two distinct positions are separated by a rotation of about 180° around the pivot W axis.
[0099] In an embodiment not illustrated, the two distinct positions are separated by a rotation of about 90°, for example in such a way as to move the items P above a slide placed inside the vending machine and connected to the withdrawal mouth.
[0100] In another embodiment not yet illustrated, the actuation can be configured to block the rotation in three angular positions, in which the intermediate one is separated from the other two by a rotation of 90°.
[0101] In a first position of said angular positions, the gripping arrangement is turned towards the stores 45 and in a second position of said angular positions the gripping arrangement is turned towards the withdrawal mouth 35.
[0102] In practice, in the first position the suction cups 105 of the gripping arrangement are oriented towards the stores 45 and in the second position the suction cups 105 of the gripping arrangement are oriented towards the dispensing mouth 35.
[0103] The actuation 125 can for example comprise a pneumatic rotary actuator, for example made in one piece with said support of the gripping arrangement.
[0104] In the illustrated embodiment, the pneumatic actuator comprises a box-like body inside which a pin rotatably associated with the box-like body is housed and to which the gripping arrangement is rotationally connected. A pinion is keyed to the pin which engages on two racks, each driven in translation by a respective linear pneumatic actuator so as to rotate the pinion and with it the pin.
[0105] It is not excluded that in an alternative embodiment the actuation may be electric or electro-mechanical.
[0106] The aforementioned handling robot 100 can comprise a Cartesian robot, for example a three-axis Cartesian robot, to which the gripping arrangement support is connected, that is the support of the gripping arrangement is at least directly connected to one of said three axes of the three-axis Cartesian robot.
[0107] In the embodiment illustrated in the figures, the handling robot 100 comprises a first actuator 130 configured to move the gripping arrangement along a sliding axis X coplanar with the advancement direction T, for example substantially horizontal.
[0108] The first actuator 130 can comprise a first element 135, for example a stem, rigidly fixed to the gripping arrangement, or rigidly fixed (without degrees of freedom) to the support plate 115 of the suction cups 105, and a second element 140 with respect to which the first element 135 is slidably associated according to the sliding axis X.
[0109] The gripping arrangement is rotatably associated with the support by direct interposition of the first actuator 130. In other words, the gripping arrangement is fixed to the first actuator 130, which is rotatably associated with the support of the gripping arrangement, that is to the actuation 125, with respect to the pivot axis W.
[0110] For example, the gripping arrangement is integral with the first element 135 of the first actuator 130 and the second element 140 is rotatably associated with respect to the pivot axis W to the support.
[0111] The actuation 125 is therefore configured to set the gripping arrangement in rotation by rotating the first actuator 130 with respect to the pivot axis W, that is by setting the second element 140 of the first actuator 130 in rotation with respect to the pivot axis W.
[0112] It is not excluded that in an alternative embodiment (not illustrated), the support of the gripping arrangement can be rigidly fixed (without degrees of freedom) to the first element 135 of the first actuator 130 and that the actuation 125 acts directly on the gripping arrangement.
[0113] Returning to the illustrated embodiment, the first actuator 130 can be configured to move the suction cups 105 through the access openings 50 of the stores 45 and, thanks to the actuation 125, also towards the withdrawal mouth 35.
[0114] Specifically, when the gripping arrangement is in the first angular position, the sliding axis X is oriented in such a way as to be parallel to the advancement direction T and the first actuator can move the gripping arrangement, that is the suction cups 105, through the access openings 50 of the stores 45. When the gripping arrangement is in the second angular position, the first actuator is facing in the opposite direction with respect to the first angular position and can move the gripping arrangement closer to and away from the withdrawal mouth 35, that is the support element.
[0115] The handling robot 100 can also comprise a second actuator 145, configured to move the support, that is the actuation 125, along a sliding axis Y substantially horizontal and perpendicular to the sliding axis X.
[0116] In particular, the second actuator 145 comprises a first element 150, for example a mobile platform, to which the support, that is the actuation 125, is rigidly fixed (without degrees of freedom) and a second element 155 with respect to which the first element 150 is slidably associated according to the sliding axis Y.
[0117] In an embodiment not illustrated, the support could be made in a single body with the first element 150 of the second actuator 145.
[0118] Furthermore, the handling robot 100 can comprise a third actuator 160, which is configured to move the suction cups 105, that is to move the second actuator 145, along a sliding axis Z substantially vertical and perpendicular to the sliding axes X and Y.
[0119] In particular, the third actuator 160 can comprise a first element 165, for example a pair of trolleys, to which the second element 155 of the second actuator 145 is rigidly fixed (without degrees of freedom), and a second element 170, for example a pair of guides fixed to respective uprights of the support frame 10 of the vending machine 1, with respect to which the first element 165 is slidably associated according to the sliding axis Z.
[0120] The handling robot 100 further comprises a sensor O, for example optical, operatively connected to the control and command unit, said unit being configured to detect by means of the sensor O the presence of an item P at a predetermined distance from the sensor itself.
[0121] Said sensor O is fixed, for example rigidly, to the first actuator 130, for example to the second element 140 of the first actuator 130.
[0122] The sensor O is positioned in such a way as to be at a lower level than the suction cups 105.
[0123] The handling robot 100 comprises a protective case adapted to protect the first actuator 130 and the second actuator 145.
[0124] The vending machine 1 can comprises a further store 180, for example a plurality of further stores 180, housed in the inner volume of the vending machine 1, that is in the inner volume of the box-like body of the case 15.
[0125] In particular, said further store 180 is interposed between the handling robot 100 and the door 25, for example it is rigidly fixed to said door 25.
[0126] Furthermore, the further store 180 can be at least partially vertically aligned with the protruding portion of the interface devices 30, for example also with the tank 40.
[0127] For example, the protruding portion of the interface devices 30 is (completely) superimposed in plan on the further store 180.
[0128] That is, the further store 180 does not protrude towards the inside of the case 15, with respect to a vertical plane which delimits the maximum protrusion towards the inside of said portion of the interface devices 30.
[0129] The further store 180 comprises an opening 185 for access to an inner volume of the further store 180 itself adapted for housing the items P, which access opening 185 faces the access openings 50 of the stores 45.
[0130] The access opening 185 of the further store 180 can be made in a portion of the further store 180 opposite the portion integral with the door 25.
[0131] Furthermore, the further store 180 can comprise a box-like body equipped with the access opening 185 to the products present inside the store itself, for example said access opening 185 lies on a vertical plane, preferably said access opening 185 lies on a plane parallel to door 25. The further store 180 can then also comprise a further opening made in a top portion of the box-like body. The further opening converges into the access opening 185, or is communicating therewith (it is not isolated therefrom).
[0132] In particular, in the embodiment illustrated in the figures, each further store 180 can comprise a box-like body defining a housing volume for the item P, for example shaped like a rectangular parallelepiped, equipped with a bottom wall, adapted to support inferiorly the items.
[0133] The further store 180 can comprise a tubular portion 190 which develops, for example vertically from the bottom wall, preferably from a peripheral portion of the bottom wall. The tubular portion 190 delimits laterally, or along a horizontal plane, the receiving volume of the item P.
[0134] For example, the tubular portion 190 comprises two side walls, preferably flat, opposed to each other, that is opposed to each other and parallel to each other, which develop, for example vertically, from the bottom wall, preferably which develop vertically from opposite end edges of the bottom wall.
[0135] The access opening 185, for access to the receiving volume of the further store 180, can be made in the tubular portion 190 of the box-like body.
[0136] In particular, the access opening 185 is made in a section from the tubular portion 190 interposed between the two side walls.
[0137] In an embodiment not illustrated, the further store 180 is substantially configured as a store 45.
[0138] The further store 180 can comprise a pair of sides, which are protruding in a cantilever manner from the side walls to partially occlude the access opening 185.
[0139] The handling robot 100 is also configured to move the items P with respect to this further store 180, preferably to move the items P from the further store 180 and to release the item P gripped directly at the withdrawal mouth 35, that is the tank 40.
[0140] In an embodiment not illustrated of a vending machine 1 comprising the stores 45, the handling robot 100 and the further store 180, the handling robot 100 can be configured to release an item P directly on a slide or a conveyor belt directly connected to the withdrawal mouth 35 or to the support element if it is present.
[0141] In an embodiment not illustrated, the vending machine comprises: a plurality of stores, a handling robot (for example as described above), a first withdrawal mouth and a second withdrawal mouth. In this embodiment there is only one handling robot, which is configured to selectively move the items present in a predetermined store, at least from said store both to the first withdrawal mouth and to the second withdrawal mouth.
[0143] When a user selects an item P by means of the interface devices 30, the control and command unit activates the handling robot 100 to position the suction cups 105 in front of the access opening 50 of the store 45 containing the selected item P.
[0144] In particular, during this positioning operation in front of the access opening 50, the control and command unit activates only the second actuator 145 and the third actuator 160. If necessary, it also controls the actuation 125 if the gripping arrangement is not in a position directed towards the item to be gripped, that is if the suction cups 105 are not directed towards the item P to be gripped.
[0145] Subsequently, the unit activates the handling robot 100, that is the first actuator 130, so that it inserts the suction cups 105 into the store 45 through the access opening 50 and press the suction cups 105 against the item P.
[0146] Once the suction cups 105 have adhered to item P, the pneumatic circuit is activated, which, by generating a depression in the suction cup 105, ensures a secure grip of the item P.
[0147] At this point the command and control unit activates the third actuator along the sliding axis Z so as to disengage the item P grabbed by the end-of-stroke element. That is, the whole item P is brought to a height just above the maximum height of the end-of-stroke device 75.
[0148] Once this height has been reached, the handling robot 100 is activated so as to bring the item to the withdrawal mouth 35.
[0149] For example, the actuation 125 is activated so as to rotate the gripping arrangement towards the withdrawal mouth 35 and the second actuator 145 and the third actuator 160 are activated in such a way as to position the item P withdrawn above the tank 40, to then release the item P therein.
[0150] Similar operations are performed in the event that it is necessary to withdraw an item from the further store.
1. Automatic vending machine (1) of a plurality of items (P), said distributor (1) comprising:
- a plurality of stores (45) for housing the items (P), each equipped with an access opening (50) to an inner housing volume of the store itself in which the items (P) are housed, and
- a handling robot (100), which is configured to move the items (P) present in a predetermined store (45) through the access opening (50) and comprises:
∘ a gripping arrangement of the items (P), configured to directly grip an item (P),
∘ a support with which the gripping arrangement is rotatably associated with respect to a pivot axis (W), and
∘ an actuation (125) configured to selectively set the gripping arrangement in rotation with respect to the pivot axis (W).
2. Vending machine (1) according to claim 1, wherein the gripping arrangement of the
items (P) is equipped with a suction cup (105) adapted for contacting the items (P)
and a pneumatic circuit connected to said suction cup (105) and configured to generate
a depression.
3. Vending machine (1) according to claim 1, comprising a case (15), in which the stores
(45) of the plurality of stores and the handling robot (100) are at least partially
housed, and a withdrawal mouth (35) of the items (P) made in said case (15).
4. Vending machine (1) according to claim 3, comprising an electronic control unit operatively
connected to the handling robot (100) and configured to actuate said handling robot
(100) so as to move the items (P) releasing them directly at the withdrawal mouth
(35).
5. Vending machine (1) according to claim 1, wherein the case (15) is configured like
a box-like body equipped with an opening and comprises a door (25) connected to said
case (15) and mobile between a first position, in which it blocks the opening of the
case (15), and a second position, in which it allows access to an inner volume of
the case (15), in which the stores (45) of the plurality of stores and the handling
robot (100) are housed.
6. Vending machine (1) according to claim 5, wherein the withdrawal mouth (35) is made
in the door (25).
7. Vending machine (1) according to claim 1, comprising a further store (180) equipped
with an access opening (185) to a housing volume of the further store (180) itself
in which the items (P) are housed, and housed so that the handling robot (100) is
arranged between the stores (45) and the further store (180) and said access opening
(185) faces towards the access openings (50) of the stores (45) of the plurality of
stores.
8. Vending machine (1) according to claim 7, wherein the further store (180) is fixed
to the door (25).
REFERENCES CITED IN THE DESCRIPTION
This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.
Patent documents cited in the description