US 2015/0021348 A1 · VENDING MACHINE AND ASSOCIATED METHODS

Abstract

A vending machine comprises a robotic arm and a pick mechanism that is coupled to the robotic arm. The pick mechanism is configured to retrieve a vendible product in the vending machine, and the robotic arm is configured to locate the pick mechanism at a location with a x-y coordinate that corresponds to the vendible product. The pick mechanism comprises a first roller, a second roller, and a belt that mechanically links the first and second rollers by forming a loop around the first and second rollers. The belt has a first portion and a second portion on opposing sides of the loop, and the second portion of the belt is coupled to the robotic arm. The pick mechanism further comprises a motor that is configured to rotate the first roller in order to translate the first and second portions of the belt in opposite directions to each other. The pick mechanism further comprises a picker arm extending in the z direction. The picker arm has a proximal portion closest to the first roller and a distal portion furthest from the first roller. The proximal portion is coupled to the first portion of the belt in order to be moved in the z-direction as the first roller is rotated, and the distal portion comprises a product picker for releasably attaching to the vendible product.

Claims20

Dependent claims

A vending machine comprising:

a robotic arm;
and
a pick mechanism coupled to the robotic arm, the pick mechanism configured to retrieve a vendible product in the vending machine;
wherein the robotic arm is configured to locate the pick mechanism at a location with a x-y coordinate that corresponds to the vendible product;
the pick mechanism comprising:
a first roller, a second roller, and a belt that mechanically links the first and second rollers by forming a loop around the first and second rollers, the belt having a first portion and a second portion on opposing sides of the loop, wherein the second portion of the belt is coupled to the robotic arm;
a motor configured to rotate the first roller in order to translate the first and second portions of the belt in opposite directions to each other;
and
a picker arm extending in the z direction, the picker arm having a proximal portion closest to the first roller and a distal portion furthest from the first roller, wherein the proximal portion is coupled to the first portion of the belt in order to be moved in the z-direction as the first roller is rotated;
and the distal portion comprises a product picker for releasably attaching to the vendible product.

7 more elements

A controller for a vending machine, the vending machine comprising:

a pick mechanism configured to retrieve a vendible product in the vending machine, the pick mechanism comprising:
a product picker for releasably attaching to the vendible product;
and
a motor configured to translate the product picker in a z direction towards the vendible product;
and
a product picker sensor configured to sense when the product picker encounters a vendible product,
wherein the controller is configured to:
receive a sensor signal from the product picker sensor and store in memory the location in the z direction of the vendible product as a reference product location;
and
control the speed of the motor in accordance with the reference product location for a subsequent vendible product retrieval.

7 more elements

Dependencies are inferred from the claim text.

Vending machine and associated methods

Life of this patent

Vending machine and associated methods

Life of this patent

Abstract

Claims20