EP1287503A2 - Method and apparatus for positioning an article handling device - Google Patents
Method and apparatus for positioning an article handling deviceInfo
- Publication number
- EP1287503A2 EP1287503A2 EP01950253A EP01950253A EP1287503A2 EP 1287503 A2 EP1287503 A2 EP 1287503A2 EP 01950253 A EP01950253 A EP 01950253A EP 01950253 A EP01950253 A EP 01950253A EP 1287503 A2 EP1287503 A2 EP 1287503A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- article
- hose
- positioning mechanism
- dispensing
- free end
- 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.)
- Granted
Links
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
- G07F11/04—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
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F7/00—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus
- G07F7/06—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles
- G07F7/069—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles by box-like containers, e.g. videocassettes, books
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
-
- 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
-
- 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
- G07F11/10—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 two or more magazines having a common delivery chute
-
- 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
- G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
-
- 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
- G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
- G07F11/1657—Delivery means using xyz-picker or multi-dimensional article picking arrangements the picking arrangements using suction
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/62—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F5/00—Coin-actuated mechanisms; Interlocks
- G07F5/18—Coin-actuated mechanisms; Interlocks specially adapted for controlling several coin-freed apparatus from one place
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/001—Interfacing with vending machines using mobile or wearable devices
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/002—Vending machines being part of a centrally controlled network of vending machines
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/02—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus
Definitions
- the present invention relates generally to improvements in the design and operation of article handling apparatus and in particular to article handling mechanisms of the type that utilize computer-controlled electromechanical technology, and in the illustrated embodiment a robotically positioned gripper, which uses suction, for example, for grasping and moving a selected article from one area to another, such as from a storage area to a dispensing area.
- US Patent 5,240,139 represents a significant improvement in article handling devices. It describes the use of a negative air pressure lifter (i.e., article pickup or handling mechanism), which uses suction, i.e., a reduced or so-called "negative" air pressure created by a partial vacuum, for making a secure contact to an article to be
- a negative air pressure lifter i.e., article pickup or handling mechanism
- suction i.e., a reduced or so-called "negative" air pressure created by a partial vacuum
- Hose storage is provided in the forenoted US Patent 5,240,139 by use of a longitudinally compressible air hose having about a 3 : 1 compression ratio.
- One end of the hose is connected to a source of negative air pressure which is provided to a support beam which is moved laterally over the top of the freezer.
- the other end of the air hose is connected to an article pickup head.
- Lateral positioning of a compressible hose is satisfactory in the environment of US Patent 5,240,139 since the freezer compartment only occupies the lower half of the interior of the vending machine, leaving the upper half available for the hose and its positioning mechanism.
- servicing i.e.
- a non compressible hose has the advantage that it can be driven and/or guided by direct engagement with the walls of the hose, a much simpler technique as compared to the indirect hose positioning technique of the forenoted US patent 5,240,139. Additionally, a non compressible hose has the advantage of maintaining a constant length in spite of being subjected to changes in vacuum. Even furthermore, a non compressible hose has greater structural integrity and reduced leakage, as compared with, for example telescopic tubing.
- PCT patent publication WO 99/12132 entitled VENDING MACHINE discloses a vending machine having a folded articulated arm for positioning an article gripping suction hose into a freezer for retrieving articles to be dispensed.
- the hose is . non-compressible, and continuous from a base area located beneath the articulated arm to its free end, where it is coupled to an article pickup head.
- a linear actuator and arm mechanism located in the base area is used to drive the hose into and out of the base area, through the articulated arm and into the freezer compartment.
- the hose positioning arrangement of this PCT patent publication has a similar disadvantage as the forenoted US patent 5,240,139, in that a significant volume within the vending machine cabinet is required for the mechanism which positions the hose over and into the storage bins during a package dispensing cycle (i.e., a height almost equal to the height of the article storage bins themselves). Additionally, it is noted that only a relatively small length of hose is required to be stored, corresponding to the amount of hose required to move the article pickup head in the Z direction (i.e., into and out of the freezer), since a significant length of the hose is already stored in the folded articulated arm. Even furthermore, it is noted that this patent publication teaches a relatively complex mechanism for hose positioning, storage and drive.
- VENDING MACHINE FOR ICE CREAM-USING SUCTION HEAD TO PICKUP WRAPPED BLOCKS OF ICE CREAM FROM STACK IN REFRIGERATOR discloses an ice cream vending machine wherein a movable carriage is mounted inside a freezer and laterally positionable over the article storage bins.
- the carriage includes a drive mechanism for lowering an electric cord having a suction motor at its free end into the article storage bins for retrieving the ice cream packages.
- This type of positioning mechanism for an article handling device avoids the problem of hose storage by actually lowering the suction motor into the bin. It's is particularly disadvantageous since the repeated bending and flexing of the electric cord can lead to reliability/failure problems. Additionally, the diameter of the suction motor places severe limitations upon the dimensions of the article storage bins.
- RANDOMLY ORGANIZED ARTICLES describes a vending apparatus including carriage mounted for being laterally positionable over an article storage bin, and includes a drive mechanism for lowering into the storage bin a pickup head having a plurality of suction cups mounted thereon. Each suction cup is individually connected to a substantial length of hose which leads back to a manifold which supplies suction thereto.
- This type of positioning mechanism for an article handling device is particularly disadvantageous since the plurality of suction hoses connected to the pickup head are not provided in a hose storage area, and instead are coiled/dragged beneath the carriage during its repositioning thereby protruding significantly into a space which could more advantageously being used for the storage of articles to be vended/dispensed.
- US patent 4,557,659 the entitled DEVICE FOR SUPPORTING AND HANDLING LOADS BY MEANS OF VACUUM OPERATED SUCTION PADS, describes an article lifting and transport device wherein an electric motor slidably mounted along a raised and rotatable I beam, is used to lower an electrical cord towards an article to be handled.
- the electrical cord has at its free end a pickup head including a plurality of suction cups mounted thereon.
- a suction providing hose which is continuous from a suction generator to the pickup head, is loosely supported between its ends by a series of slides connected to the rotatable I beam.
- This type of positioning mechanism for an article handling device is disadvantageous for substantially the same reason as the forenoted U.S.
- one of the objects of the present invention is to provide new techniques and methods for the design, operation and control of article handling mechanisms.
- the hose is driven in the article extraction direction by passing "THROUGH" the hose positioning mechanism, 3) the hose is constrained for movement moves between the hose storage area and the hose positioning mechanism in the same space in which the hose positioning mechanism moves,
- the hose positioning mechanism carries therein the hose drive means, 5.
- the hose positioning mechanism is an X-Y, R-Theta, or Scissors arrangement as more further described in the following description.
- FIG. 1 is a front perspective view of a vending machine constructed and operating in accordance with the principles of the invention.
- FIG.'s 2 and 3 are front perspective views of the vending machine of FIG. 1, with the front door opened, so as to illustrate the main mechanical and electrical components therein.
- FIG. 4 is a functional block diagram illustrating the cooperation of the main mechanical and electrical components in the vending machine of FIG. 1.
- FIG.'s 5 and 6 illustrate details of the carriage portion of article handling mechanism shown in FIG.'s 2 and 3.
- FIG. 7 illustrates details of the hose guidance mechanism shown in FIG.'s 2 and 3.
- FIG. 8 illustrates an alternative embodiment of the hose positioning mechanism shown in Figure 3.
- FIG.'s 9, 10, 11, 12 and 13 illustrate combinations/orientations of various article handling mechanisms and storage areas.
- FIG. 1 illustrates an environment for the invention described herein, in the form of an article dispenser, such as a point-of-sale (POS) dispenser.
- POS point-of-sale
- Such equipment if embodied as a portable device may comprise and be about the size of a traditional vending machine or as large as a tractor-pulled trailer, and if embodied as a non-portable device may comprise and be embodied as an automated dispensing room or an area located in a permanent structure, such as in a building (aboveground or underground, and with or without interior walls or an enclosing cabinet).
- a permanent structure such as in a building (aboveground or underground, and with or without interior walls or an enclosing cabinet).
- FIG. 1 illustrates a perspective view of a vending machine 10, comprising one embodiment for an apparatus which is constructed and operates according to the present invention.
- Vending machine 10 includes a main cabinet 12 and a front door 14 mounted on a hinge 16 for providing access to the interior of the vending machine for servicing (filling it with articles, maintenance, etc.).
- a service door or port could be positioned anywhere on or as a part of cabinet 12.
- front door 14 is shown in a closed position, forming an enclosure with main cabinet 12, within which various components of vending machine 10 are housed, as explained in more detail below.
- Front door 14 includes a convex-shaped section 18 adjacent a flat section 20; however, these particular shapes are not necessary to the invention.
- the convex- shaped section 18 comprises a translucent plastic display panel 18, which typically has brand name and/or logo graphics displayed thereon, and may even include graphics which illustrate the individual articles that are vendible by vending machine 10, as well as the price and/or selection information for the articles.
- Panel 18 is typically back-light using fluorescent bulbs, not shown.
- a customer retrieval area 22 is formed in the panel 18 on door 14 so that articles stored therein can be discharged to a user of vending machine 10.
- a customer display 24 may be a conventional fluorescent or LED display panel for displaying various items of information to a user of machine 10, such as feedback to the user of the selection made, the amount tended, and if the product is sold out or being vended.
- a bill acceptor slot 26 accepts paper money into a conventional bill acceptor mechanism (mounted inside machine 10 so as to have its user interface portion extend through an aligned opening in flat section 20) for purchasing articles or for making change.
- a coin insertion slot 28 accepts coins into a conventional coin changer (also mounted inside machine 10 so as to have its user interface portion extend through an aligned opening in flat section 20) for purchasing articles or for making change.
- a coin return actuator 30 comprises a conventional push-button mechanism for activating a coin return portion of the coin changer mechanism which, upon actuation returns coins inserted by the current user, to a coin return well 32.
- the coin return portion of the coin changer mechanism also provides change to the coin return well 32 either in response to the purchasing of articles or for making change for paper money or larger coins.
- a credit/debit card slot 34 accepts a plastic credit/debit card inserted into a conventional card reader mechanism (also mounted inside machine 10 so as to have its user interface portion extend through an aligned opening in flat section 20) for allowing a user to pay for purchases via credit/debit cards.
- a door lock mechanism 36 enables front door 14 to be secured so that it cannot be opened without a key.
- display panel 18 may include graphics, as noted above, which indicates the various articles vendible by the machine, as well as their associated price and unique selection number.
- flat section 20 could include a group of graphic article displays and their associated price.
- a conventional keypad push-button mechanism 38 is provided for enabling a user to select a desired article from vending machine 10.
- push-button mechanism 40 could include individual push buttons for each article selection, as well as an associated price display; and even furthermore, a user operated touch screen could replace pushbutton mechanism 40 and display 24.
- machine 10 also includes a conventional telecommunications component that can be used for authenticating credit card purchases, as well as other uses relating to machine control and reporting the inventory and operational status of machine 10 to a remote location, as more fully described later on.
- vending machine 10 is illustrated to include the above described user interface components, in a more minimal embodiment of the invention, most, if not all, of these user interface components could be omitted, and the dispenser could in fact be controlled from a remote location, with or without a local payment system.
- FIG. 2 is a front perspective view of the vending machine of FIG. 1, with the front door open, so as to illustrate the main mechanical and electrical components therein.
- FIG. 3 is a somewhat idealized version of the main components of the article handling mechanism portion of vending machine 10, and is useful for understanding its general operation. Note, some portions of vending machine 10 are shown in these FIGURES cut away in order to better illustrate the interior components.
- the right portion of the front of cabinet 12 includes a vertically mounted support panel 202 which is used for mounting most of the user interface components. More specifically, a hinged mounting bracket 204 is mounted on panel 202 and aligned with an opening in door 14 so that the user interface components, such as the selection button keypad 40, coin insertion slot 30, bill acceptor slot 28, coin return 32, and customer display 24, are all accessible to the user from the front side of door 14.
- the user interface components such as the selection button keypad 40, coin insertion slot 30, bill acceptor slot 28, coin return 32, and customer display 24, are all accessible to the user from the front side of door 14.
- Mounted on the interior of front door 14 are two fluorescent bulb light sources (which are behind protective covers 206. Other numbers of light sources can be used) which emit light for backlighting panel 18.
- the product delivery chute 210 is unconventional in that it is extremely tall, and therefore serves as a security measure to prevent unauthorized access into the machine by insertion of an arm or other grasping mechanism into the customer retrieval area 22 from outside the machine.
- a swinging security door is usually found at the top of chute 210, which swings into a vandal blocking position when the customer pushes in the swinging door at the entrance to the product retrieval area 8.
- a security door could be used in conjunction with product delivery chute 210, especially if chute 210 is not as tall as the one illustrated in Figure 2 and also if the product retrieval area 8 is located higher up on machine 10.
- a conventional bill acceptor mechanism for causing paper money inserted into bill acceptor slot 28 to be drawn into vending machine 10
- a conventional coin changer supplies coins to coin return slot 34 and is located behind panel
- a coin guide guides inserted coins into the coin changer
- a conventional bill validator ascertains proper insertion of paper money into bill acceptor slot 28 .
- a control board 212 comprises a printed circuit board on which circuitry is formed and to which integrated circuit chips are attached.
- Control board 212 includes a microprocessor that is electrically connected to various sensors, motors, the above described user interface elements, as well as other devices within vending machine 10, to control the operation of vending machine 10 as described herein.
- a power supply 214 is mounted on panel 202 and supplies power for the electrical components of vending machine 10.
- a plurality of vertically aligned article storage bins 216 are arranged on the interior floor 217 of cabinet 12, for storing articles 223 to be vended by machine 10.
- the bins could be arranged to sit on a shelf positioned above the refrigeration system.
- An opened-top container 219 can be dimensioned to hold a plurality of article storage bins 216 therein, and used, for example to facilitate the simultaneous handling (i.e., removal ,installation and transportation) of the plurality of bins 216 into/out of the article storage area 215.
- Container 219 also facilitates rapid and accurate positioning of a plurality of the article storage bins into the storage area of the article handling apparatus.
- a carriage 218 (which may be more generally referred to as an X-Y or planar positioning mechanism) is coupled to the interior topside of cabinet 12 and adapted for being controllably positioned by the control board portion 212 of machine 10, to a location centered over (so as to be aligned with) the open top-end of a selected one of article storage bins 216.
- article storage bins 216 are shown to be an ambient environment, bins 216 could in fact the positioned in a refrigerated environment, such as a freezer located in the bottom of storage area 217, and the article transport mechanism enter the bins from a top opening the freezer, such as shown and described in the forenoted U.S. patent 5,240,139.
- a refrigerated environment such as a freezer located in the bottom of storage area 217
- a vertically oriented opening could be used to provide access to the dispensing end of the article storage bins.
- an air hose 220 is continuous from a point before it's exit from a hose storage area 222 over orthogonally positioned rollers 213, to its free end 221.
- Free end 221 includes a weighted portion 225 in combination with a bellows extension tip portion 227.
- article pickup head 224 may comprise only the weighted portion 225, or this portion in combination with a fitting specifically adapted to the type of packages to be dispensed, such as the bellows tip 227 or a compliant tip without a weight.
- Hose 220 has one end coupled to a source of negative air pressure, i.e., suction, which source of suction comprises in the preferred embodiment a blower motor 226, and a free end coupled to the article pickup head 224.
- a source of negative air pressure i.e., suction
- suction which source of suction comprises in the preferred embodiment a blower motor 226, and a free end coupled to the article pickup head 224.
- the word continuous is intended to mean a hose which is connected and acts between it's end points, in order to accomplish the functions required by it, as a unitary/single hose.
- An air hose portion 235 provides suction from blower motor 226 to one port of an air junction box 229, while continuous hose 220 is connected to a second port of air junction box 229.
- Air junction box 229 included at a top portion of hose storage area 222, includes an airflow sensor and vacuum breaker assembly.
- the airflow sensor is used to develop a signal which is applied to the controller of the vending machine and is representative of the airflow through air hose 220.
- the vacuum breaker assembly is used to quickly bring the air pressure in hose 220 to the ambient pressure, thereby facilitating a "quick-release" of an article transported by the article pickup head, into the dispensing chute 210. It is noted that a quick release of the products does not have to occur at the top of dispensing chute 210, and in the event that it is desirable to avoid subjecting the article to forces which result from jarring or dropping, the article pickup head could proceed to the bottom of the dispensing chute 210 before providing the quick release of the article.
- the airflow sensor arrangement may comprises a two-part switch, a first part includes a reed switch mounted on a top portion of box 229, and a second part includes a magnet mounted at the free end of a swinging arm mounted inside box 229. As the arm swings inside box 229 due to changes in airflow, the switch is "toggled", thereby indicating changes in airflow. The use of this airflow signal will be described in greater detail later.
- a novel hose positioning arrangement is provided. As shown generally in FIG 3, and more specifically in Figures 5 and 6, alignment of carriage 218 with a selected one of bins 216 is accomplished in the front/back (Y) direction using a front/back linear slide 228 (shown in a cut away view) mounted to an "L" shaped front/back beam 230 so that carriage 218 can be controllably positioned therealong using slide 228.
- a bottom edge portion of beam 230 includes a rack portion 232 and carriage 218 includes an electric motor 233 that drives a gear (633 of Fig. 6) which engages rack portion 232.
- the hose positioning arrangement causes an article 223 to be moved by pickup head 224 from a storage bin 216 to chute 210, it is positioned past an article identification (ID) device 254 mounted within cabinet 12.
- ID article identification
- a specific type of article ED device is not required for the present invention, and depending upon system constraints, such a device may comprise, for example, a bar code scanner or other optical image/pattern recognition system, or even a non-optical system, such as a radio frequency identification (RFID), or magnetic-based system mounted within cabinet 12. for uniquely identifying and confirming that the article being dispensed is in fact the article that was selected.
- RFID radio frequency identification
- article ID device 254 is mounted within cabinet 12 at a relatively fixed location, the mounting being such that some controlled movement in the orientation of article ID device 254 may be facilitated, in order to help ensure a good "view" of the article being transported, and a high confidence of the transported articles being identified.
- One way to provide such controlled movement for ID device 254 would be to mount it on a piezoelectric substrate, and control board 212 could provide a voltage to the substrate so as to shift the "view" of ID device 254.
- control board 212 could provide a voltage to the substrate so as to shift the "view" of ID device 254.
- by using an appropriately positioned article ID device 254 only a single article ID device 254 is needed. This is particularly useful for a robotic type dispenser, since the robotic apparatus can controllably position, and re-position if necessary, the article in the vicinity of the article ID device 254, thereby helping ensure a reliable ID of the article.
- a bin holder 260 shown in FIG. 2, comprising a pair of rectangular brackets secured in a spaced manner to opposed interior side walls of cabinet 12, is used to maintain the bins situated therebetween in a predetermined position relative to the interior of the vending machine cabinet. This is required in view of the preprogramming of control board 212 which controls the robotic structure for retrieving a selected article from one a selected one of bins 216.
- the hose positioning carriage 218 includes a roller arrangement 502 which comprises three orthogonally positioned rollers 504 at the point where hose 220 enters carriage 218, for redirecting the movement of hose 220 from a substantially horizontal direction along the top interior portion of machine 10 (i.e., in the X,Y direction), to a direction perpendicular thereto (i.e., in the Z direction).
- hose drive mechanism which may comprise a set of conventionally operated "pinch rollers"506 driven by a reversible motor 508 via gear set 510, which in the illustrated embodiment are mounted in carriage 218, but in a further embodiment motor 508/rollers 506 (or some other drive mechanism, such as the one shown from the forenoted PCT publication WO 99/12132) could be mounted somewhere else along the length of hose 220, are used for driving pickup head 224 into/out of the selected bin 216 in order to retrieve articles stored therein.
- pinch rollers 506 could include matching corrugations thereon for assisting the driving of hose 220.
- pinch rollers 506 should comprise a soft rubber material so as to provide a good friction contact to hose 220, and if hose 220 includes structural spiral corrugations along its length, pinch rollers 506 could include matching corrugations for providing a more positive driving force to hose 220.
- a compact robotic structure maximizes the article storage capacity of vending machine 10 and increases the ability of the robotic positioner to maneuver within the maximized storage area.
- a prior art hose positioning mechanism such as provided by the forenoted US patent 5,240,139 or the PCT patent publication WO 99/12132 typically occupied approximately 40 percent of the height dimension inside the cabinet, thereby leaving 60 percent or less for the storage of articles to be vended.
- the hose positioning and drive mechanism comprises less than 25 percent of the interior height of the enclosure, a very desirable result.
- the compact hose positioning and drive mechanism of the present invention is extraordinary in that in the illustrated embodiment it occupies approximately only 15 percent of the interior height of the enclosure.
- this very compact hose positioning and drive mechanism can position the free end of the hose into alignment with a bin of articles, and then have the ability to drive the hose all way to the bottom of the bin.
- the hose is able to be driven a distance which is greater than three times the height of the hose positioning mechanism and in fact, in the illustrated embodiment the hose is driven approximately five times the height of the hose positioning mechanism.
- a telescoping guide mechanism 550 for ensuring that when picker head 224 is lowered by the drive mechanism in carriage 218 into the storage area, it drops into the desired one of bins 216.
- the 90° turn in the direction of the hose which takes place in carriage 218 can form a significant "kink" in hose 220.
- the kink may cause picker head 224 to swing as the hose kink moves past drive rollers 506.
- guide mechanism 550 is provided and comprises a guide plate 552 affixed to the end of two sliding support bars 554. As shown more clearly in Figure7, support bars 554 slide through holes in a plastic (PVC, i.e., poly vinyl chloride) block 556 secured to a wall portion of carriage 218.
- PVC poly vinyl chloride
- Plate 552 is constructed so as to have a hole in the center thereof which is dimensioned to be slightly greater than the diameter of the body portion of picker head 224, yet less than the diameter of a shoulder portion thereof.
- support rods 554 allow support plate 552 to drop, due to gravity, as the same speed as picker head 224 is lowered away from carriage 218.
- plate 552 no longer moves away from carriage 218 and the hole in the center thereof merely provides guidance for the remainder of the descent of picker head 224 into the selected bin 216.
- picker head 224 As picker head 224 is retracted from the bin, after having a package secured thereto due to the suction force created within hose 220, picker head 224 eventually contacts guide plate 552 and then for the remainder of its upward travel, retraction of hose 220 also provides for retraction of guide plate 552.
- carriage 218 is somewhat stabilized by the cooperative action of a bracket 512, positioned on the underside of a top portion of support beam 230 through which slide 228 is constrained to follow, and a "U" shaped lip portion 602 which protrudes from a lower side portion of support beam 230.
- An upwardly pointing portion of the lip 602 is engaged (and in fact “trapped") by a downward facing slot a slide mechanism 604 attached to carriage 218.
- support rods 554 comprise rods having a threaded hole at each end, in which a machine screw can be inserted.
- the head 555 of the screw forms a shoulder portion that prevents rods 554 from falling completely through the holes in block 556, and at the bottom of rods 554 the screws secure plate 552 to the rods.
- plate 552 includes a protective grommet ?? about the hole therein, for preventing damage and reducing wear of hose 220 as it travels through plate 552.
- the height of grommet ?? is preferably greater than the spacing between adjacent turns of the spiral support structure of hose 220.
- hose 220 is preferable constructed of a strong, flexible spiral portion functioning as the spine to form the shape of the hose, formed co-extensively with a flexible and air-tight plastic material which spans adjacent turns of the spiral portion.
- guide mechanism 132 Alternative constructions for guide mechanism 132 are also contemplated.
- a series of telescoping tubing sections, attached to the underside of carriage 218, and through which hose 220 passes, could be used in place of rods 136 and plate 134.
- hose 220 is formed of a continuous material from its connection to the source of suction at one end to the pickup head 224 at its other end, means are necessary for providing hose storage and/or retraction during travel of the pickup head 224 in the X, Y and Z directions, as appropriate during the article dispensing operations.
- Hose storage area 222 has a cross-sectional area which is slightly greater than the cross-sectional area of the hose loop formed therein. Walls 246 and 248 are shown partially cut-away so as to illustrate a gravity feed self-retracting loop tensioner/ retraction mechanism 250 formed in hose 220.
- Loop tensioner 250 is constrained for movement within hose storage area 222, and made somewhat self- retracting by comprising a rolling weight 252 having a groove 253 along its periphery in order to provide constant centering of the weight within hose storage area 222 and for providing a constant "loop forming" tension on hose 220. Furthermore, centering of the grooved rolling weight 252 within hose storage area 222 results in centering of hose 220, thereby preventing hose 220 from rubbing with the walls of hose storage area 222 during X, Y and Z repositioning of pickup head 224.
- rolling weight 252 is dimensioned so as to be slightly larger than the diameter of hose 220 and the width dimension of hose storage area 222 is dimensioned to be only slightly larger than the width dimension of rolling weight 252.
- the specific amount of weight used for rolling weight 252 is a matter of design choice, and depends upon various factors, such as the weight of the articles to be moved, the strength of the motors used to drive the hose in the Z direction, etc.
- this gravity-based retraction/ hose storage technique meets the storage requirements needed for both the X and Y movements of carriage 218 (left/right and front/back), as well as for the Z movement of pickup head 224.
- this gravity-based retraction/ hose storage technique would work equivalently well in an embodiment wherein the robotic hose positioning mechanism used a rotary type device (R, ⁇ ), an articulated arm, telescoping or scissor system, or other technique.
- the illustrated gravity-based retraction/ hose storage technique is not necessary for the present invention, and in fact a fully or partially motorized retraction technique could also be used.
- hose 220 and carriage 218 are shown in the illustrated embodiment, the invention described herein could also be used in a dispensing apparatus/article handler of the type having multiple storage areas and/or robotic article handling mechanisms, such as two robotic mechanisms (both positioned vertically or horizontally or mixed, and one vertically and one horizontally) each one serving a different storage area.
- robotic article handling mechanisms such as two robotic mechanisms (both positioned vertically or horizontally or mixed, and one vertically and one horizontally) each one serving a different storage area.
- each can be tailored for a particular operation. For example, one may have a relatively large diameter pickup head and use a high airflow/modest suction vacuum supply device, while the other may have a relatively small diameter pickup head and use a low airflow/high suction vacuum supply.
- FIGURE 9 illustrates a multiple storage area arrangement 500, where a single article handler of the type previously noted serves 3 adjacent storage areas.
- each area may be for storing stacks of articles aligned in the same direction as in the other areas.
- One storage area 502 may have an ambient environment, while the other storage areas may be cooled, e.g., one area 504 being refrigerated and one area 506 being frozen.
- This arrangement may typically find use for dispensing in a compact, reliable and efficient vending structure: salty snacks (such as bags of potato chips) from the ambient storage area, cooled drinks (such as soda) from the refrigerated storage area, and frozen snacks (such as ice cream) from the frozen storage area.
- an arrangement of this type may be particularly advantageous in that the frozen compartment can be used for maintaining the quality of the stored articles until they are close to being needed for dispensing, as determined by an intelligent controller. At a predetermined appropriate time before dispensing, a certain amount of articles can be moved from the frozen area to the refrigerated area.
- the third storage area is in fact a temporary storage area which is used for individually heating/cooking the articles, such as, e.g. frozen pizzas, using an oven or microwave.
- the quality/shelf life of the frozen pizza is maintained by not moving them to the refrigerated area until the refrigerated area has been depleted to the point that it needs replenishment, at which time they are sequentially moved from the frozen area to the refrigerated area.
- This technique substantially reduces the time needed for heating the pizza while the customer is waiting, while at the same time allowing for storage of the pizza in a frozen manner, thereby substantially increasing its shelf life and reducing the labor costs involved in stocking the machine.
- the refrigerated storage areas can include thermal separators at their top portions, such as an air curtain or sliding thermal panels.
- FIG. 10 illustrates an arrangement where the single article handling mechanism services two horizontally aligned in article storage areas.
- Backspace area 602 being an ambient environment and area 604 being a refrigerated environment.
- the article handling mechanism 606 can be constructed in a manner such as previously described using support beam 230 and carriage 218 so that mechanism 606 can "live” in the ambient area 602, and travel into the refrigerated area 604 through swinging door 608 as needed.
- Areas 602 and 604 can each include their own article ID device 254 or share a common ID device. Additionally, separate hoses and hose positioning mechanisms can also be useful in order to speed up retrieval and delivery of stored articles to a customer.
- FIGURE 11 shows such as a rapid article dispenser, of the type having two horizontally displaced storage areas.
- hoses and hose positioning mechanisms may share a single source of suction (e.g., blower motor 226), airflow sensor and vacuum breaker.
- a single hose, hose positioning mechanism and hose storage area could be used in a further embodiment where the single hose services more than one article storage area, such as the refrigerated and non refrigerated storage areas shown by arrangement 700 in FIGURE 11, wherein support beam 230 and carriage 218 is positionable between the two storage areas having different ambient environments via a door mechanism 702.
- Each robotic article handling mechanism could have its own article ID device 254, or they could share a single article ID device 254.
- Fig. 12 illustrates a vending machine having a single article handling mechanism with dual customer interface areas (each including a product selection apparatus such as a keypad or touch screen, payment system, and product retrieval door), for example, one on the left side and one on the right side, with a common graphics display therebetween.
- This machine can service two purchasers at substantially the same time since customer selections and payment typically take a substantial amount time compared to the actual time needed for the dispenser to deliver the selected product.
- FIGURE 13 A further one of such arrangements is shown in FIGURE 13, where cabinet 600 includes therein an upper area 602 which is non-refrigerated (and may even be heated) and a lower area 604 which is refrigerated (and may even be divided into, e.g., two additional sections, one area 606 being frozen and another area 608 being merely cooled).
- This arrangement is particularly advantageous since hot air tends to rise and cool air tends to sink.
- one storage area may be oriented for vertical storage of products and the other one, or even multiple ones, arranged for horizontal storage. In this case a separate hose, hose positioning mechanism and hose storage area may be required for the differently oriented storage areas. 276
- the article handling mechanism can have other configurations such as the forenoted telescopic tubing, scissors, or R,theta arrangement.
- the articles can be consumer goods, such as office supplies, printer cartridges etc.
- blower motor 226 provides a relatively high volume of airflow but a relatively modest negative air pressure.
- blower motor 226 could comprise a vacuum pump, so as to provide a much more substantial degree of negative air pressure, but, due to size and cost limitations, a correspondingly reduced amount of airflow.
- the diameter of the air hose 220 would be reduced from the diameter illustrated in FIG's 2 and 3, which may be particularly important in some applications of the present invention .
- blower motor 226 comprises a vacuum pump
- blower motor 226 could be used alone or in combination with a storage tank coupled to the suction hose via a valve and air hose, in order to provide a greater volume of airflow.
- a compressor could be used in combination with a venturi device to create a vacuum.
- FIG.4 illustrates a functional block diagram of the general operation of the various aspects of the invention described herein, as embodied in an article dispenser of the type comprising, for example, vending machine 10.
- a control system 400 including a microprocessor 402 and associated memory circuits 404, is constructed on control board 212. Control system 400 may also include the electronic parts of other portions of vending machine 10, as appropriate. Memory circuits 404 include ROM for storage of operating programs (embedded software, as well known, for accomplishing the described herein control of vending machine 10), as well as RAM cache for temporary storage of operational data during system operation as well as other data as may be needed.
- Control system 400 is responsive to user operation of the user payment and selection system 506 (including the coin and bill mechanism 28 and 30 and the selection buttons 40 of FIG. 1) for operating the user interface and article handling apparatus of vending machine 10 so as to dispense the article desired by a user. More specifically, upon proper payment for a selection made by the user using payment and selection system 506, control system 400 operates the X/Y
- Control system 400 engages a hose drive motor 410 (Z-motor) mounted within and carried by carriage 218, so that hose 220 is driven in a direction towards the top article in the aligned bin.
- hose drive motor 410 Z-motor
- control system 400 activates blower motor 226 so as to provide lifting suction at pickup head 224.
- control system 400 causes hose drive motor 410 to reverse its direction so as to retract hose 220 from the aligned bin 216 and thereby lift out from the bin 216 the selected article.
- Carriage 218 is then driven to a position in alignment with the article delivery chute 210.
- the desired article 223 is moved along its way from a storage bin 216 to chute 210, it is positioned past the article ID device 254 for uniquely identifying and confirming that the article being dispensed is in fact the article that was selected.
- control system 400 turns off blower motor 226 and the resulting loss of vacuum causes the selected article to drop into the customer retrieval area 22.
- hose 220 can be driven to the bottom of chute 210 before the article is released.
- position sensor 412 may include the airflow sensor of junction box 229, or in a further embodiment, comprise a mechanically operated plunger-type position sensor associated with pickup head 224. Even furthermore, position sensors 412 may also include a reed switch mounted on a front wall of the cabinet, and a magnet mounted at a leading edge of carriage 218.
- the control system since the control system keeps track of the movement of hose 220 and carriage 218(for example, by sensing pulses from a shaft encoder or other distance measuring device on each of their respective drive motors), the signal generated by the airflow sensor at the time carriage 218 reaches the virtual home can also be used as a check to ensure that control system 400 accurately counted the motor drive pulses, and can re-calibrate the positioning system based on the virtual home, if necessary.
- the above described carriage 218 and robotic hose positioning and drive mechanism are particularly advantageous in the environment of a cabinet, such as in a vending machine, in that it facilitates improved utilization of the interior storage volume of the cabinet. More specifically, in the event that, for example non- storage related components are mounted or reside inside the cabinet, leaving "pockets" of storage area behind or in front of the components, the carriage is easily positionable so as to reach these pockets and make them usable for article storage.
- a communication system 414 is connected to control system 400 so as to provide article inventory and vending machine operation information to a remote location, as well as to allow for control of the operation of the vending machine from a remote location.
- communication system 414 may include a connection to means for making a wire-line and/or wireless transceiver interface through which a communication link with a remote computer can be established. Additionally, the communication system 414 may communicate with a plurality of other similarly connected vending machines in the same general area and communicate therewith using the wire-line interface or wireless communication.
- communication system 414 can provide for communication with multiple vending machines and/or a local server/controller, in a local site along a LAN (local area network), LAWN (a local area wireless network) or a WAN (wide area network).
- the remote computer may comprise a database which receives and/or accumulates the operational data from one or more vending machines, which data is then accessible (via, e.g., the Internet, using a wired or wireless connection) using appropriate encryption, to others, such as route drivers, machine operators, machine owners, product suppliers, etc.
- the remote site may give feedback to the vending machines, such as authorization information, which can control its operation, such as allow its continued operation.
- Support beams 236a and 236b may comprise a support plate 255 having two outwardly facing, i.e., opposed, L-shaped rails 256a and 256b along its longitudinal edges.
- the function of slides 234 is accomplished by fixing a pair of brackets 258 to opposed ends of beam 230, each bracket 258 including a pair of spaced apart and inwardly facing rollers 260 which engage and follow the opposed rails 256 on the support plate 255.
- the spaced apart and inwardly facing rollers 260 could each comprise a set of rollers positioned to be angled 90 degrees with respect to each another, so as to engage or follow the two orthogonal surfaces of the L-shaped rails 256a and 256b. Such arrangement may result in a coupling of carriage 218 to beam 230 which needs less adjustment for proper operation.
- the robotic hose positioning mechanism can position carriage 218 for movement in a vertical plane which is substantially flat (i.e., in the X/Z or Y/Z plane) or in fact a vertical curvilinear plane.
- the robotic hose positioning mechanism may include a rotary device (R, ⁇ ) of the type including an I beam of fixed length (or telescopic sections), for establishing the "R" movement of the gripper/pickup head, which pivots for establishing the " ⁇ " movement.
- the robotic hose positioning mechanism may include an articulated arm or scissor system, or other technique. Accurate control of energization of blower motor 226 is particularly advantageous in the event that the inside of the cabinet, or a portion thereof, is refrigerated, since accurate control would decrease the amount of refrigerated air being displaced by blower motor 226.
- the microprocessor 402 will energize blower motor 226 as the pickup head 224 approaches the desired article, and in fact only when it is in the immediate proximity of the desired article (and not earlier), due to confrol system 400 maintaining updated information about the height of the stack of articles in each bin 216.
- the height is assumed to be at a predefined level upon article filling of the vending machine 10 by the operator.
- Control system 400 may confirm the assumed height by moving the pickup head 224 at a reduced speed towards an article at the top of a bin 216 on the first retrieval attempt after the storage area has been refilled, and then compare the assumed height to the actual height.
- Memory 404 can be pre-programmed with specific article heights in advance, or the heights can be learned by control system 400 by comparison of prior vend heights in each bin. Once the height of the top article is known, control system 400 is also able to always know the height of the next "top” article in that bin. Furthermore, control system 400 is also able to cause the pickup head 224 to approach the articles in that storage area at a higher speed, and only slow down when in the immediate proximity of the next "top” article in that bin. The technique to slow down upon the pickup head 224 approaching the next article also helps ensure that the stored articles will not be damaged by the pickup head 224.
- control system 400 automatically defaults to using the above height detection technique since it can be assumed that the operator may have changed the product load levels and consequently the product heights in each bin.
- blower motor 226 a simpler way of controlling operation of blower motor 226 and the approach of pickup head 224, without knowing the specific article height, would be to turn on the blower motor 226, or slow down the pickup head 224 just prior to the learned stack height of the prior vend.
- energization of the blower motor or other suction creating device is meant to be equivalent to the appearance of a prompt package securing force, i.e., suction, at the pickup head 224.
- the control system since the control system keeps track of the movement of hose 220 and carriage 218 by sensing pulses from a shaft encoder or other distance measuring device on each of their respective drive motors, the signal generated by the switch in airflow junction box 229 at the time carriage 218 reaches the dispensing chute 210 can also be used as a check to ensure that control system 400 accurately counted the motor drive pulses, and can recalibrate its positioning system based on the virtual home, if necessary.
- the pickup tip 227 (shown in Figure 2B) includes pleated or "bellows" type sides and is constructed of a soft compliant rubber or plastic, so that when tip 227 contacts a package to be removed, the sudden increase in negative air pressure inside hose 220 causes the length of tip 227 to suddenly decrease. This effect tends to rapidly and momentarily contract the gripping end of pickup head 224 from the article and might even apply a slight lifting to the package.
- This hose contracting/package lifting can be important, since weight portion 223 of pickup head 224 may be significant. Such weight may have a tendency to crush or otherwise damage a delicate package in the storage area if it makes a forceful contact with the package.
- the length of tip 227 and the aggressiveness of its "pleats" is a matter of design choice, and should be determined so as to provide a hose contraction by an amount which is equal to or greater than the expected downward travel of pickup head 224 due to time delay/lag in effecting a braking and stopping of the z drive motor (310 of FIG. 3), by control system 300 and its associated sensors, and the mechanical linkages associated therewith.
- a sufficiently compliant hose 220 may be designed to provide a desired amount of lift.
- the speed at which pickup head 224 is driven by control system 400 towards a package to be retrieved is reduced as pickup head 224 approaches the stored package.
- control system 400 maintains updated information about the height of each stack of stores articles in the storage bins 10
- appropriate speed control i.e., slow-down
- Such slow down provides some tolerance in the downward travel and reversal of pickup head 224, so as to prevent the weight associated therewith from "crashing" into and thereby crushing a delicate package.
- a similar type of speed control can also be used on the upward direction of pickup head 224, so as to prevent it from crashing into the underside of carriage 218, as well as at the ends of the left/right and front/back travel of carriage 218.
- the above-described mechanism for positioning carriage 218 is particularly advantageous in that it allows for a support beam, such as 22 which is limited in length so that it can travel within the full extent, i.e., wall-to-wall, within the cabinet of the vending machine (and behind corner support gussets, brackets and partitions such as partition 208 of FIG. 8, yet still allow for carriage 218 to extend beyond its front so that a desired article can be positioned into a customer retrieval area which is outside the interior confines of the vending machine cabinet.
- suction providing air hose 220 has been disclosed in the described preferred embodiments, in fact a solid element having a gripper at its free and, such as a mechanically operated claw (or an electromagnetic device or even a self-contained suction generator), could also be used. ... Such equivalents are intended to be encompassed in the scope of the appended claims.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
- Vending Machines For Individual Products (AREA)
- Container Filling Or Packaging Operations (AREA)
- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
- Specific Conveyance Elements (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US20636300P | 2000-05-23 | 2000-05-23 | |
US206363P | 2000-05-23 | ||
PCT/US2001/016894 WO2001095276A2 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for positioning an article handling device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1287503A2 true EP1287503A2 (en) | 2003-03-05 |
EP1287503B1 EP1287503B1 (en) | 2008-10-29 |
Family
ID=22766035
Family Applications (6)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08010434A Withdrawn EP1986165A1 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for including article identification in an article handling device |
EP01954588A Expired - Lifetime EP1287502B1 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for hose storage in an article handling device |
EP01953380A Withdrawn EP1287504A1 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for positioning an article handling device |
EP01945986A Withdrawn EP1313654A2 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for storing articles for use with an article handling device |
EP01950253A Expired - Lifetime EP1287503B1 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for positioning an article handling device |
EP01939400A Expired - Lifetime EP1360658B1 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for including article identification in an article handling device |
Family Applications Before (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08010434A Withdrawn EP1986165A1 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for including article identification in an article handling device |
EP01954588A Expired - Lifetime EP1287502B1 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for hose storage in an article handling device |
EP01953380A Withdrawn EP1287504A1 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for positioning an article handling device |
EP01945986A Withdrawn EP1313654A2 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for storing articles for use with an article handling device |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01939400A Expired - Lifetime EP1360658B1 (en) | 2000-05-23 | 2001-05-23 | Method and apparatus for including article identification in an article handling device |
Country Status (12)
Country | Link |
---|---|
EP (6) | EP1986165A1 (en) |
JP (1) | JP2004524595A (en) |
KR (5) | KR100809984B1 (en) |
CN (8) | CN101059888A (en) |
AT (3) | ATE409931T1 (en) |
AU (9) | AU2001276824B2 (en) |
CA (5) | CA2410044A1 (en) |
DE (3) | DE60134424D1 (en) |
DK (3) | DK1287503T3 (en) |
ES (3) | ES2313970T3 (en) |
MX (4) | MXPA02011578A (en) |
WO (5) | WO2001095276A2 (en) |
Families Citing this family (57)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6920884B2 (en) | 1997-05-29 | 2005-07-26 | Kevin Orton | Method of providing cosmetic/medical therapy |
CN101064048A (en) * | 2002-02-26 | 2007-10-31 | 芒罗·切尔诺马斯 | Displaceable barrier |
US20030181845A1 (en) * | 2002-03-21 | 2003-09-25 | Orton Kevin R. | Preparation and delivery of healthcare services utilizing electrolytic medicament |
CA2489356A1 (en) * | 2002-06-13 | 2003-12-24 | Munroe Chirnomas | Article storage magazine for an article handling device |
US7602284B2 (en) * | 2004-03-04 | 2009-10-13 | Ethicon, Inc. | Sterilizer cassette handling system with data link |
JP2006069698A (en) * | 2004-08-31 | 2006-03-16 | Toyo Itec Co Ltd | Cabinet |
US7623036B2 (en) | 2004-10-29 | 2009-11-24 | Kimberly-Clark Worldwide, Inc. | Adjusting data tag readers with feed-forward data |
US7221269B2 (en) | 2004-10-29 | 2007-05-22 | Kimberly-Clark Worldwide, Inc. | Self-adjusting portals with movable data tag readers for improved reading of data tags |
IL170755A (en) * | 2005-09-08 | 2010-06-16 | John Mcfarland | Dispensing system for tools |
WO2007124261A2 (en) | 2006-04-06 | 2007-11-01 | Juan Uribe | For transferring and organizing articles from a shelf into a container |
GB0711150D0 (en) * | 2007-06-11 | 2007-07-18 | Teknovation Ltd | Apparatus for storing and selectively retrieving articles, and vending machine including such apparatus |
FR2924516B1 (en) * | 2007-11-30 | 2010-06-25 | Laurent Meresse | SYSTEM AND METHOD FOR MANAGING THE AUTOMATIC DISTRIBUTION AND RECEPTION OF OBJECTS |
CN102057408B (en) * | 2008-06-13 | 2014-03-12 | 日本烟草产业株式会社 | Device and method for dispensing tobacco product |
US9569912B2 (en) * | 2008-06-26 | 2017-02-14 | Shopatm Bv (Sarl) | Article storage and retrieval apparatus and vending machine |
CN101853543B (en) * | 2009-03-31 | 2011-11-09 | 富士迈半导体精密工业(上海)有限公司 | Automatic bulb assembling and vending machine |
CN103153551A (en) * | 2009-11-25 | 2013-06-12 | J·T·皮亚特尼克 | Control system for and method of controlling product delivery systems |
US9576419B2 (en) * | 2010-07-01 | 2017-02-21 | The Coca-Cola Company | Merchandiser |
CN102005090A (en) * | 2010-12-06 | 2011-04-06 | 深圳市瑞摩特科技发展有限公司 | Vending machine with functions of commodity sales and after-sale service |
US9522396B2 (en) | 2010-12-29 | 2016-12-20 | S.D. Sight Diagnostics Ltd. | Apparatus and method for automatic detection of pathogens |
CN102332194B (en) * | 2011-06-22 | 2013-01-16 | 杭州以勒自动售货机制造有限公司 | Pick-up platform device for shelf of automatic vending machine |
RU2627497C2 (en) * | 2011-09-12 | 2017-08-08 | Джеймс Б. ВУЛФФ | Technology of fiber orientation for grinding machine |
CN102324142A (en) * | 2011-09-15 | 2012-01-18 | 蔡秀赤 | Convenient vending machine |
US9211498B2 (en) | 2013-03-15 | 2015-12-15 | Makefield Llc | Functional desiccants |
KR101486034B1 (en) | 2013-04-05 | 2015-01-26 | 홍익대학교 산학협력단 | System for managing intelligent building and method thereof |
US9731853B2 (en) | 2014-08-05 | 2017-08-15 | Makefield Llc | Networked notification for dispensable units |
CN104599399B (en) * | 2015-02-05 | 2017-03-08 | 厦门理工学院 | A kind of cake automatic vending machine and its control method |
CN104794422B (en) * | 2015-05-08 | 2017-09-22 | 迪瑞医疗科技股份有限公司 | A kind of Container ID bar code reading device and its implementation |
CN105608792A (en) * | 2015-11-19 | 2016-05-25 | 唐蓝君 | Freezing type vending machine and frozen product distribution method |
US20190156315A1 (en) * | 2016-04-08 | 2019-05-23 | Tomra Systems Asa | Fraud detection |
CN106204925A (en) * | 2016-07-18 | 2016-12-07 | 广西师范大学 | A kind of fingerprint recognition automatic vending machine |
CN109562895B (en) * | 2016-08-05 | 2021-07-27 | 日本烟草产业株式会社 | Delivery device |
CN107077659A (en) * | 2016-09-26 | 2017-08-18 | 达闼科技(北京)有限公司 | A kind of intelligent inventory management system, server, method, terminal and program product |
CN106781009A (en) * | 2016-12-14 | 2017-05-31 | 江苏电科电气设备有限公司 | A kind of busbar vending machine |
IT201700100105A1 (en) * | 2017-09-07 | 2019-03-07 | Alessandro Ratti | Method of counting products in a vending machine and automatic vending machine that carries out this method. |
CN107992820B (en) * | 2017-11-29 | 2021-08-03 | 北京伟景智能科技有限公司 | Self-help goods selling method for container based on binocular vision |
CN108198277B (en) * | 2017-12-01 | 2020-12-11 | 中南大学湘雅医院 | Operating room personnel behavior management system |
CN108244844A (en) * | 2017-12-01 | 2018-07-06 | 中南大学湘雅医院 | Intelligent wardrobe for operating room |
KR102065970B1 (en) * | 2017-12-21 | 2020-02-11 | 전종하 | Vending machine |
CN110009803A (en) * | 2017-12-26 | 2019-07-12 | 广州因文际会品牌策划有限公司 | A kind of computer spare parts and accessories selling system Internet-based |
CN109993891A (en) * | 2017-12-31 | 2019-07-09 | 成都果小美网络科技有限公司 | The control method of Weighing type Intelligent cargo cabinet |
CN108154597A (en) * | 2018-01-31 | 2018-06-12 | 汤维 | A kind of commodity transaction control system that can be achieved to give back automatically and storage medium |
CN108320381B (en) * | 2018-02-10 | 2021-08-20 | 段贺飞 | Partial device for production of automatic fresh-keeping food vending machine |
AT520958A1 (en) | 2018-03-09 | 2019-09-15 | Tgw Logistics Group Gmbh | Robotic system with movement types adapted to product types and operating methods therefor |
CN108961544B (en) * | 2018-04-12 | 2021-04-06 | 江苏金海湾智能制造有限公司 | Automatic vending machine |
CN108481298A (en) * | 2018-05-29 | 2018-09-04 | 国网湖南省电力有限公司 | A kind of robot and its application process of intellectual access live working tools |
CN109064636A (en) * | 2018-07-10 | 2018-12-21 | 安徽豆智智能装备制造有限公司 | A kind of purchase method of the automatic selling cabinet system based on image recognition |
CN110728790B (en) * | 2018-07-16 | 2021-11-05 | 山东新北洋信息技术股份有限公司 | Automatic vending machine and goods channel goods delivery control method thereof |
CN108961550B (en) * | 2018-09-29 | 2024-01-05 | 徐州锡沂康成食品检验检测研究院有限公司 | Multi-specification disposable raincoat vending machine |
KR102002869B1 (en) * | 2018-12-04 | 2019-07-23 | 일월정밀 주식회사 | Modular goods weighing device |
CN109785515B (en) * | 2019-03-12 | 2021-04-27 | 武汉市鸿盛华航旅服务股份有限公司 | Travelling bag movable vending machine |
TWI702179B (en) * | 2019-12-05 | 2020-08-21 | 所羅門股份有限公司 | Fetching system and method |
CN111325910B (en) * | 2020-03-04 | 2022-03-29 | 钱军 | Frog tongue type mechanical arm |
CN111839097B (en) * | 2020-07-27 | 2021-05-18 | 江西金虎保险设备集团有限公司 | Goods shelf capable of automatically putting off shelf for overdue goods |
CN112129341B (en) * | 2020-09-03 | 2022-04-12 | 重庆工商大学 | Security inspection device with monitoring function and convenient to maintain for intelligent supermarket |
DE102020133624A1 (en) * | 2020-12-15 | 2022-06-15 | J. Schmalz Gmbh | Vacuum handling device for sucking, lifting, displacing, lowering and/or depositing objects |
US20220204266A1 (en) * | 2020-12-30 | 2022-06-30 | Trinity Axis Inc. | Systems And Methods To Dispense Items From A Vending Machine |
CN117829714B (en) * | 2024-03-05 | 2024-06-21 | 安徽博诺思信息科技有限公司 | Intelligent storage identification analysis system and method thereof |
Family Cites Families (49)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US100609A (en) | 1870-03-08 | Improved well-borer | ||
US3175669A (en) | 1963-02-26 | 1965-03-30 | Superpack Vending Curacao N V | Device for vending cylindrical objects |
US3977037A (en) * | 1973-10-15 | 1976-08-31 | Sanyo Electric Co., Ltd. | Vacuum cleaner |
DE2455673A1 (en) | 1974-11-25 | 1976-05-26 | Gernot Lucas | Vending machine for ice-cream - used suction head to pick up wrapped blocks of ice-cream from stack in refrigerator |
US3978933A (en) | 1975-01-27 | 1976-09-07 | Smith International, Inc. | Bit-adjacent stabilizer and steel |
US3987933A (en) * | 1975-02-19 | 1976-10-26 | Nils Gosta Sigvard Ishammar | Magazine for wares for use in automatic shops |
GB2003842B (en) * | 1977-06-23 | 1982-01-20 | Dean Vending Int Ltd | Vending machines |
US4212421A (en) * | 1977-12-29 | 1980-07-15 | Scott Robert F | Retrieval and storage device for flexible elements |
JPS594077B2 (en) * | 1978-10-26 | 1984-01-27 | 富士電機株式会社 | Vending machine product shelf |
US4557659A (en) | 1982-09-14 | 1985-12-10 | M. Scaglia S.P.A. | Device for supporting and handling loads by means of vacuum operated suction pads |
US4812629A (en) * | 1985-03-06 | 1989-03-14 | Term-Tronics, Incorporated | Method and apparatus for vending |
US4725186A (en) * | 1986-05-13 | 1988-02-16 | Laminated Papers, Inc. | Lift truck with vacuum load-supporting assembly |
US4839505A (en) * | 1986-05-29 | 1989-06-13 | Videomat Associates | Apparatus and method for storing and retrieving articles |
AU7702887A (en) * | 1986-07-11 | 1988-02-10 | Bar Vender, Inc. | Remotely-controlled vending system |
US5139384A (en) * | 1989-02-23 | 1992-08-18 | Philip Tuttobene | Article vending machine |
DE3942932A1 (en) * | 1989-12-23 | 1991-06-27 | Licentia Gmbh | METHOD FOR DISTRIBUTING PACKAGES O. AE. |
KR0124368B1 (en) | 1990-08-09 | 1997-12-11 | 이우에 사또시 | Automatic vending machine |
JP2994715B2 (en) * | 1990-09-13 | 1999-12-27 | 三洋電機株式会社 | Vending machine mis-sale prevention device |
JPH04123192A (en) | 1990-09-13 | 1992-04-23 | Sanyo Electric Co Ltd | Device for preventing erroneous throw-in of commodity of vending machine |
US5193686A (en) * | 1991-01-22 | 1993-03-16 | White Conveyors, Inc. | Apparatus for loading articles |
US5273183A (en) * | 1992-02-18 | 1993-12-28 | Philip Tuttobene | Article vending machine |
US5240139A (en) | 1992-03-06 | 1993-08-31 | Munroe Chirnomas | Package vending machine |
SG52389A1 (en) * | 1992-08-14 | 1998-09-28 | Imaging Tech Pty Ltd | An apparatus for storing and dispensing articles |
US5390711A (en) | 1992-09-02 | 1995-02-21 | Murphey; James D. | Method and apparatus for making snow cones |
DE69330468T2 (en) * | 1993-08-27 | 2002-04-18 | Munroe Chirnomas | Vending machine for goods packs |
IL107265A0 (en) * | 1993-10-12 | 1994-01-25 | Galai Lab Ltd | Parcel sorting system |
US5503300A (en) | 1994-04-21 | 1996-04-02 | Krh Thermal Systems | Vending machine including refrigeration and oven compartments |
US5450938A (en) * | 1994-05-02 | 1995-09-19 | Xcp, Inc. | Card or cash actuated vending machine assembly |
US5957326A (en) | 1995-03-13 | 1999-09-28 | Ostgaard; John T. | Apparatus for retrieving randomly organized articles |
US5651476A (en) | 1995-06-07 | 1997-07-29 | Dixie-Narco, Inc. | Modular vending machine |
US5770841A (en) * | 1995-09-29 | 1998-06-23 | United Parcel Service Of America, Inc. | System and method for reading package information |
DE29515869U1 (en) * | 1995-10-08 | 1995-12-21 | Bauer, Franz Hans Peter, 87719 Mindelheim | Device for the controlled cashless delivery of electrical energy, gas, water or similar media |
US5797515A (en) | 1995-10-18 | 1998-08-25 | Adds, Inc. | Method for controlling a drug dispensing system |
IL115971A (en) * | 1995-11-14 | 1997-01-10 | Razon Moshe | Computer stereo vision system and method |
US5713487A (en) | 1996-03-11 | 1998-02-03 | Scriptpro L.L.C. | Medicament verification in an automatic dispening system |
US5740581A (en) * | 1996-06-21 | 1998-04-21 | Vacs America, Inc. | Freestanding central vacuum system |
GB2316199B (en) * | 1996-08-06 | 2000-08-23 | Pensacola Limited | A retail trading apparatus |
JP3476648B2 (en) | 1996-11-28 | 2003-12-10 | 日本たばこ産業株式会社 | vending machine |
US6003070A (en) * | 1997-02-25 | 1999-12-14 | Intervvoice Limited Partnership | E-mail system and interface for equipment monitoring and control |
US5971205A (en) * | 1997-03-12 | 1999-10-26 | Michaels; Peter T. | Cigar vending machine |
US6061607A (en) * | 1997-07-18 | 2000-05-09 | St. Onge Company | Order pick system |
US6010069A (en) * | 1997-07-31 | 2000-01-04 | Pitney Bowes Inc. | Remote postage meter resetting system having alternate funding sources |
WO1999012132A1 (en) * | 1997-09-03 | 1999-03-11 | Airgate Sourcing & Supply Pty. Ltd. | Vending machine |
US6230930B1 (en) * | 1997-10-14 | 2001-05-15 | Cross-Given Manufacturing Company | Apparatus and method for vending products |
US6141942A (en) * | 1997-11-28 | 2000-11-07 | Diebold, Incorporated | Apparatus and method for loading medical items in a dispenser module |
US6199720B1 (en) | 1998-03-20 | 2001-03-13 | The Coca-Cola Company | Vending machine |
CN1236936A (en) * | 1998-05-27 | 1999-12-01 | 三洋电机株式会社 | Vending machine |
AU6129499A (en) * | 1998-09-18 | 2000-04-10 | Walker Digital, Llc | Method and apparatus for authenticating vending machine sales data |
CA2380998A1 (en) * | 1999-08-07 | 2001-02-15 | Munroe Chirnomas | Vending machine |
-
2001
- 2001-05-23 MX MXPA02011578A patent/MXPA02011578A/en active IP Right Grant
- 2001-05-23 CN CNA2007100904379A patent/CN101059888A/en active Pending
- 2001-05-23 MX MXPA02011582A patent/MXPA02011582A/en not_active Application Discontinuation
- 2001-05-23 EP EP08010434A patent/EP1986165A1/en not_active Withdrawn
- 2001-05-23 AU AU2001276824A patent/AU2001276824B2/en not_active Ceased
- 2001-05-23 WO PCT/US2001/016894 patent/WO2001095276A2/en active Application Filing
- 2001-05-23 MX MXPA02011581A patent/MXPA02011581A/en active IP Right Grant
- 2001-05-23 CA CA002410044A patent/CA2410044A1/en not_active Abandoned
- 2001-05-23 WO PCT/US2001/016853 patent/WO2002019285A2/en active Application Filing
- 2001-05-23 DK DK01950253T patent/DK1287503T3/en active
- 2001-05-23 DE DE60134424T patent/DE60134424D1/en not_active Expired - Fee Related
- 2001-05-23 AU AU2001268085A patent/AU2001268085A1/en not_active Abandoned
- 2001-05-23 AU AU7682401A patent/AU7682401A/en active Pending
- 2001-05-23 AU AU6492301A patent/AU6492301A/en active Pending
- 2001-05-23 AU AU2001275836A patent/AU2001275836B2/en not_active Ceased
- 2001-05-23 JP JP2002524113A patent/JP2004524595A/en active Pending
- 2001-05-23 KR KR1020027015908A patent/KR100809984B1/en not_active IP Right Cessation
- 2001-05-23 CN CNB018100872A patent/CN1282136C/en not_active Expired - Fee Related
- 2001-05-23 ES ES01954588T patent/ES2313970T3/en not_active Expired - Lifetime
- 2001-05-23 KR KR1020077030568A patent/KR100874679B1/en not_active IP Right Cessation
- 2001-05-23 KR KR1020027015907A patent/KR100809985B1/en not_active IP Right Cessation
- 2001-05-23 WO PCT/US2001/016846 patent/WO2001091071A2/en active Application Filing
- 2001-05-23 ES ES01950253T patent/ES2316455T3/en not_active Expired - Lifetime
- 2001-05-23 DE DE60135984T patent/DE60135984D1/en not_active Expired - Lifetime
- 2001-05-23 EP EP01954588A patent/EP1287502B1/en not_active Expired - Lifetime
- 2001-05-23 CN CNB018100880A patent/CN1243329C/en not_active Expired - Fee Related
- 2001-05-23 DK DK01954588T patent/DK1287502T3/en active
- 2001-05-23 KR KR1020027015909A patent/KR100830081B1/en not_active IP Right Cessation
- 2001-05-23 EP EP01953380A patent/EP1287504A1/en not_active Withdrawn
- 2001-05-23 CA CA002410053A patent/CA2410053A1/en not_active Abandoned
- 2001-05-23 AT AT01954588T patent/ATE409931T1/en not_active IP Right Cessation
- 2001-05-23 EP EP01945986A patent/EP1313654A2/en not_active Withdrawn
- 2001-05-23 AU AU7127201A patent/AU7127201A/en active Pending
- 2001-05-23 CN CNA2006100781497A patent/CN1841433A/en active Pending
- 2001-05-23 DK DK01939400T patent/DK1360658T3/en active
- 2001-05-23 MX MXPA02011579A patent/MXPA02011579A/en not_active Application Discontinuation
- 2001-05-23 CN CNA2006101099946A patent/CN1941006A/en active Pending
- 2001-05-23 CN CNB018100791A patent/CN1261913C/en not_active Expired - Fee Related
- 2001-05-23 AU AU2001271272A patent/AU2001271272B2/en not_active Ceased
- 2001-05-23 AU AU2001264923A patent/AU2001264923B2/en not_active Ceased
- 2001-05-23 WO PCT/US2001/016847 patent/WO2002001525A2/en active Application Filing
- 2001-05-23 AU AU7583601A patent/AU7583601A/en active Pending
- 2001-05-23 CN CNA2007101058368A patent/CN101079162A/en active Pending
- 2001-05-23 CA CA002410060A patent/CA2410060A1/en not_active Abandoned
- 2001-05-23 AT AT01939400T patent/ATE398317T1/en not_active IP Right Cessation
- 2001-05-23 CN CNB018100864A patent/CN1320511C/en not_active Expired - Fee Related
- 2001-05-23 EP EP01950253A patent/EP1287503B1/en not_active Expired - Lifetime
- 2001-05-23 EP EP01939400A patent/EP1360658B1/en not_active Expired - Lifetime
- 2001-05-23 KR KR1020027015910A patent/KR100809986B1/en not_active IP Right Cessation
- 2001-05-23 DE DE60136352T patent/DE60136352D1/en not_active Expired - Lifetime
- 2001-05-23 WO PCT/US2001/016837 patent/WO2002003340A1/en active Application Filing
- 2001-05-23 CA CA002410047A patent/CA2410047A1/en not_active Abandoned
- 2001-05-23 CA CA002410049A patent/CA2410049A1/en not_active Abandoned
- 2001-05-23 AT AT01950253T patent/ATE412955T1/en not_active IP Right Cessation
- 2001-05-23 ES ES01939400T patent/ES2307621T3/en not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
---|
See references of WO0195276A2 * |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1287503B1 (en) | Method and apparatus for positioning an article handling device | |
US7137530B2 (en) | Method and apparatus for positioning an article handling device | |
AU2001271272A1 (en) | Method and apparatus for positioning an article handling device | |
AU2001276824A1 (en) | Method and apparatus for hose storage in an article handling device | |
AU2001264923A1 (en) | Method and apparatus for including article identification in an article handling device | |
US20070284384A1 (en) | Article Contact Detection | |
US20060074524A1 (en) | Method and apparatus for storing articles for use with an article handling device | |
US7063232B2 (en) | Method and apparatus for storing articles for use with an article handling device | |
US6868983B2 (en) | Method and apparatus for positioning an article handling device | |
US20030141315A1 (en) | Method and Apparatus for Article Contact Detection | |
US20030146233A1 (en) | Method and apparatus for including article identification in an article handling device | |
CA2409563C (en) | Method and apparatus for article contact detection in an article handling device | |
US6840399B2 (en) | Method and apparatus for hose storage in an article handling device | |
US6942122B2 (en) | Quick release for article handling mechanism | |
AU2001294508A1 (en) | An article dispensing apparatus | |
US20040026445A1 (en) | Method and apparatus for hose storage in an article handling device | |
AU2007200675A1 (en) | An improved article dispensing apparatus and method |
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 |
|
17P | Request for examination filed |
Effective date: 20021219 |
|
AK | Designated contracting states |
Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR Kind code of ref document: A2 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR |
|
AX | Request for extension of the european patent |
Extension state: AL LT LV MK RO SI |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D |
|
REF | Corresponds to: |
Ref document number: 60136352 Country of ref document: DE Date of ref document: 20081211 Kind code of ref document: P |
|
REG | Reference to a national code |
Ref country code: SE Ref legal event code: TRGR |
|
REG | Reference to a national code |
Ref country code: DK Ref legal event code: T3 |
|
REG | Reference to a national code |
Ref country code: ES Ref legal event code: FG2A Ref document number: 2316455 Country of ref document: ES Kind code of ref document: T3 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20081029 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090330 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20081029 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20081029 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IE Payment date: 20090423 Year of fee payment: 9 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
26N | No opposition filed |
Effective date: 20090730 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MC Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20090531 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
REG | Reference to a national code |
Ref country code: DK Ref legal event code: EBP |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20090531 Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20090531 |
|
NLV4 | Nl: lapsed or anulled due to non-payment of the annual fee |
Effective date: 20091201 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NL Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20091201 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DK Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20090531 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090130 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: MM4A |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20090523 Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20100524 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20090524 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: ES Payment date: 20110613 Year of fee payment: 11 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20081029 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: GB Payment date: 20110622 Year of fee payment: 11 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20081029 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20110616 Year of fee payment: 11 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20110727 Year of fee payment: 11 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20110630 Year of fee payment: 11 |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20120523 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120523 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20130131 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 60136352 Country of ref document: DE Effective date: 20121201 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120523 Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120531 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20121201 |
|
REG | Reference to a national code |
Ref country code: ES Ref legal event code: FD2A Effective date: 20130821 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: ES Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120524 |