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EP0733246B1 - IMPROVED MINITEL$m(3)-CONSULTABLE COMPUTER-CONTROLLED 24-HOUR AUTOMATIC VENDING MACHINE FOR SALE OR HIRE OF ARTICLES - Google Patents

IMPROVED MINITEL$m(3)-CONSULTABLE COMPUTER-CONTROLLED 24-HOUR AUTOMATIC VENDING MACHINE FOR SALE OR HIRE OF ARTICLES Download PDF

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Publication number
EP0733246B1
EP0733246B1 EP95926991A EP95926991A EP0733246B1 EP 0733246 B1 EP0733246 B1 EP 0733246B1 EP 95926991 A EP95926991 A EP 95926991A EP 95926991 A EP95926991 A EP 95926991A EP 0733246 B1 EP0733246 B1 EP 0733246B1
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EP
European Patent Office
Prior art keywords
finger
article
handling
shelves
door
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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.)
Expired - Lifetime
Application number
EP95926991A
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German (de)
French (fr)
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EP0733246A1 (en
Inventor
Jean-Pierre Trielli
Patrick Trielli
Jacques Trielli
Jean-Luc Amayenc
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Individual
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Individual
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Publication of EP0733246A1 publication Critical patent/EP0733246A1/en
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    • 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
    • G07F7/08—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by coded identity card or credit card or other personal identification means
    • G07F7/10—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by coded identity card or credit card or other personal identification means together with a coded signal, e.g. in the form of personal identification information, like personal identification number [PIN] or biometric data
    • G07F7/1008—Active credit-cards provided with means to personalise their use, e.g. with PIN-introduction/comparison system

Definitions

  • the present invention thus relates to an automatic device for dispensing and / or the recovery of various products with packaging adapted to a system grip as defined in independent claim 1.
  • This appliance or store is made up of an armored cabinet 1 with a reduced floor area, mounted on cylinders 6, allowing handling and compensation of soil faults for the seat of the device.
  • the gripping finger 37 is machined in bronze because this material has good sliding characteristics, both at the level of translation of the finger itself and at level of grip of the product, and guarantees minimal wear.
  • This gripping finger 37 is the only piece of grasping proper of the product, of the more this part is reduced in size, simple and all its faces are useful.
  • the antenna 12 serving as a guide for the wire 20 going from the presence of product 13 at the connection circuit 28 in the gripping case 41. This allows the weighted wire in the middle, to impose a V-fold and a trajectory determined at the time of the translation of the finger.
  • a recess 15 serving as a sliding surface and triggering of the advanced position sensor of the gripping finger
  • a clearance 14 used to allow the flanges of the drive pulley 38 to pass of the finger and the sensor 35 for the retracted position of the finger.
  • the vertical part of this clearance also serves as a trigger surface for the remote position sensor of the finger.
  • the gripping finger 37 is fixed to a toothed belt by a fastener 21 located under the mass, and at the rear, just at the edge of the recess 14. This location was chosen to allow maximum projection of the finger outside the housing grip 41, this to guarantee a minimum distance between the end of the products stored in the shelves 8 and the gripping case 41 to avoid any incident.
  • the guidance for the sliding of the finger is carried out between an angle of the housing of gripping and two of the beveled guides 25, 36.
  • a recess 23 for the passage of the belt has been made over the entire length of the finger.
  • the attachment 21 of the drive belt placed farthest possible backwards to allow maximum finger advance and to ensure gripping and product release.
  • the strap runs along the gripping finger all the way length in a groove 23 provided for this purpose.
  • the front face 19 of the mass of the gripping finger serves as a pusher for drive the product out of the grip box and for the storage of the products in the shelves.
  • the length of the rod 16 of the gripping finger is slightly greater than the distance between the edge of the product and its grip point to allow effective error correction.
  • the width of the input edge 17 is equal to the width gripping point on the product minus the size of a bevel of the guides 24, 25, 36 mounted on the gripping housing 41 to allow error correction maximum horizontal.
  • the front end 18 machined at 45 ° over the entire height of the finger gripping serves to simplify the seizure of the product which is done by simple advance of the finger, and allows vertical error correction.
  • the mass on the back of the finger has the effect of stabilizing it.
  • This system compared to others (ex: pliers), is much simpler, more economical while having a reduced size and weight. It allows, a greater error correction. Indeed, even if the product has been slightly moved in the shelves, it can still be entered.
  • the recess 14 at the rear of the mass has multiple roles:
  • This recess serves as a stop and triggers the recoil sensor 35 of the finger.
  • the diagonal recess 15 starting from the front of the mass serves to excite the sensor 30 finger in advanced position.
  • the slope allows the sensor to slide smoothly.
  • the front vertical plane 19 of the mass serves as a pusher for depositing the products in the shelves. At the limit of this vertical plane is the product presence sensor 13 in the gripping finger.
  • the length of the gripping finger 16 between the vertical pusher plane 19 and the edge of entry 17 has a very precise value because it has several roles.
  • the front end 18 of the gripping finger is inclined by 45 ° to allow a simplified product entry and error correction.
  • this inclined end will even allow objects to be grabbed by simple advancement of the gripping finger 37.
  • the edge: 1 (53), of the coach trigger activates the middle position sensor which causes the door to stop, position: 2.
  • the trigger drive is made of bronze to limit the friction of the sensors, both inclined planes on either side of the coach transmission bar trigger are used to allow the sliding of the door stop sensors.
  • This flat part 54 whose width is equal to the offset to be obtained between the direction opening and closing direction for optimizing door movements, which allows the door to stop at different points according to its direction of progression and therefore optimization of races.
  • This flat part is bordered by two inclined planes 52,53 allowing the sensors to slide smoothly.
  • the fork 55 On either side of the trigger bar transmission bar are the fixing point of the door, and on the opposite side, the fork 55 which receives the screw nut without end mounted with a slight play to limit the efforts of the motor.
  • the entry and exit of the transfer lane are machined at a bevel to facilitate at the front, the introduction of the products and at the rear to correct any arm errors.
  • the electronic unit 42, of simple and reduced design, and the computer 43 are fixed directly inside the right door 3 for accessibility reasons for a possible maintenance.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Warehouses Or Storage Devices (AREA)

Description

- L'invention concerne un magasin entièrement automatique sous toutes ses formes, tant au point de vue robotique (service) qu'au point de vue communication (minitel, marque déposée*):

  • SERVICE : équipé dans le but de proposer aux clients externes au magasin la possibilité de choisir et de prendre son produit. Tout produit peut être distribué par cet appareil à partir du moment ou il est conditionné de manière compatible avec le système de préhension décrit ci-après. Les produits de valeur peuvent être distribués étant protégés par le blindage de la machine. Possibilité de retour du produit pour les systèmes de location, tout cela sans contrainte d'horaire.
  • COMMUNICATION : Le système de communication permettra aux clients sans se déplacer de pouvoir par minitel (marque déposée*), consulter la liste des produits ainsi que leur détail et leur disponibilité :
  • Possibilité de réservation afin de pouvoir aller chercher le produit ultérieurement en étant certain de le trouver.
  • Visualisation de leur état et caractéristiques de compte .
  • Possibilité de messagerie entre le gérant et le client et vis versa
  • Possibilité de dialogue différé entre le client avec son minitel (marque déposée*) et le gérant depuis son terminal de gestion.
- The invention relates to a fully automatic store in all its forms, both from a robotic point of view (service) and from a communication point of view (minitel, registered trademark *):
  • SERVICE: equipped to offer customers outside the store the opportunity to choose and take their product. Any product can be distributed by this device from the moment it is packaged in a manner compatible with the gripping system described below. Valuable products can be distributed being protected by the machine shield. Possibility of product return for rental systems, all without schedule constraints.
  • COMMUNICATION: The communication system will allow customers without moving power by minitel (registered trademark *), to consult the list of products as well as their detail and their availability:
  • Possibility of reservation in order to be able to fetch the product later while being certain to find it.
  • Visualization of their account status and characteristics.
  • Possibility of messaging between the manager and the client and vice versa
  • Possibility of deferred dialogue between the client and his minitel (registered trademark * ) and the manager from his management terminal.

On connaít ainsi la demande de brevet EP-A-0 418 164 qui enseigne une installation de distribution d'articles tels que des cassettes vidéo. Cette installation comprend un système de préhension pour extraire ou pour ranger les articles dans deux groupes d'étagères. Ces articles figurent dans des emplacements qui sont délimités par plusieurs lignes de tiges fixées dans les étagères. D'une part, le système de préhension se présente comme une pince formée de deux plaques qui sont actionnées par un électroaimant. Il s'agit donc d'un organe mécanique relativement élaboré, motorisé et donc d'un certain coût. D'autre part, la délimitation des emplacements requière un grand nombre de tiges.We thus know the patent application EP-A-0 418 164 which teaches an installation of distribution of articles such as videotapes. This installation includes a gripping system for extracting or storing articles in two groups shelves. These articles appear in places which are delimited by several lines of rods fixed in the shelves. On the one hand, the gripping system presents itself like a clamp formed by two plates which are actuated by an electromagnet. he it is therefore a relatively elaborate, motorized mechanical organ and therefore a certain cost. On the other hand, the delimitation of locations requires a large number of stems.

La présente invention a ainsi pour objet un appareil automatique pour la distribution et/ou la récupération de produits divers ayant un conditionnement adapté à un système de préhension tel que défini dans la revendication indépendante 1.The present invention thus relates to an automatic device for dispensing and / or the recovery of various products with packaging adapted to a system grip as defined in independent claim 1.

Cet appareil ou magasin est composé d'une armoire blindée 1 de surface au sol réduite, montée sur vérins 6, permettant la manutention et la compensation de défauts de sol pour l'assise de l'appareil.This appliance or store is made up of an armored cabinet 1 with a reduced floor area, mounted on cylinders 6, allowing handling and compensation of soil faults for the seat of the device.

Sur ses latéraux se trouvent des portes blindées 3, fermées par des serrures de sécurité 44. A l'arrière se trouve l'ensemble des prises de communication et alimentation. On its sides are armored doors 3, closed by security locks 44. At the rear is all the communication and power sockets.

Sur le devant, se présente une façade d'accueil client blindée composée de :

  • Un écran 4 derrière une vitre anti-balle.
  • Un clavier.
  • Un couloir de transfert de marchandises.
  • Une porte métallique coulissante 5 à plusieurs positions d'ouverture et à course optimisée pour protéger le couloir de transfert et le clavier,
  • Une ouverture pour le lecteur de carte client 2
On the front, there is an armored customer reception facade composed of:
  • A screen 4 behind a bulletproof glass.
  • A keyboard.
  • A goods transfer corridor.
  • A sliding metal door 5 with several opening positions and optimized travel to protect the transfer lane and the keyboard,
  • An opening for the customer card reader 2

l'Intérieur de ce magasin se compose de:

  • Deux ensembles d'étagères munies de séparateurs au format de la marchandise disposés parallèlement aux panneaux avant et arrière de l'appareil.
    • Un bras de manutention avec système de préhension entre les ensembles d'étagères.
    • Un couloir de transfert et reconnaissance de produits, fixé sur la façade d'accueil.
    • Un écran 4.
the Interior of this store consists of:
  • Two sets of shelves with dividers in the format of the goods arranged parallel to the front and rear panels of the device.
    • A handling arm with a gripping system between the sets of shelves.
    • A transfer and product recognition corridor, fixed on the reception facade.
    • A screen 4.

Sur la porte latérale droite se trouvent:

  • Un ensemble électronique 42.
  • Un ordinateur gérant l'ensemble du système 43.
On the right side door are:
  • An electronic assembly 42.
  • A computer managing the entire system 43.

L'ensemble d'étagères est composé de deux groupes d'étagères compartimentées pour le stockage . Il est conçu de:

  • deux montants en U 11 munis de fentes 9, 10 correspondant à l'espacement des étagères 8, lui même dépendant des produits à stocker. Les trous permettent le passage des tiges de serrage de l'ensemble.
The set of shelves is made up of two groups of compartmentalized shelves for storage. It is designed to:
  • two U-shaped uprights 11 provided with slots 9, 10 corresponding to the spacing of the shelves 8, itself dependent on the products to be stored. The holes allow the passage of the clamping rods of the assembly.

Chaque étagère est constituée d'une tôle pliée comme suit:

  • Extrémité arrière pliée à 90° vers le haut servant de butée de fond.
  • Extrémité avant pliée à 45° vers le bas, permettant de corriger les éventuelles erreurs verticales du système de préhension.
Each shelf consists of a sheet folded as follows:
  • Rear end bent 90 ° upwards as a bottom stop.
  • Front end bent 45 ° downwards, to correct any vertical errors in the gripping system.

Ce pliage spécifique des étagères 8 a un double rôle:

  • En premier , rôle de maintient de l'étagère dans les fentes 9, 10 des montants en forme de U 11.
  • Le second rôle du pliage avant étant le guidage et la correction d'erreur au moment de la mise en place du produit dans son rayon, celui du pliage arrière étant de servir de butée de fond d'étagère.
This specific folding of the shelves 8 has a double role:
  • First, the role of holding the shelf in the slots 9, 10 of the U-shaped uprights 11.
  • The second role of the front folding being the guidance and the correction of error when placing the product in its radius, that of the rear folding being to serve as a bottom shelf stop.

Perçages à l'avant en limite de pliage pour le passage des séparateurs constitués de tiges rondes en Plexiglas 7, pour leur légèreté et leur flexibilité permettant la correction d'éventuelles erreurs horizontales.
l'ensemble bras vertical est conçu de:

  • Quatre tiges circulaires inox verticales 48, (deux par extrémité) de haut en bas de l'armoire servant de guides et de support de translation verticale de l'ensemble horizontal sur paliers et douilles à billes 46.
  • Deux contrepoids compensant le poids du bras horizontal.
  • Un moteur pas à pas avec son axe de transmission reliant les deux bras verticaux.
  • Quatre poulies dentées et leurs courroies reliées au bras horizontal.
Holes at the front at the bend limit for the passage of the dividers made of round Plexiglas 7 rods, for their lightness and flexibility allowing the correction of any horizontal errors.
the vertical arm assembly is designed to:
  • Four vertical stainless steel circular rods 48, (two per end) from top to bottom of the cabinet serving as guides and support for vertical translation of the horizontal assembly on bearings and ball bearings 46.
  • Two counterweights compensating for the weight of the horizontal arm.
  • A stepper motor with its transmission axis connecting the two vertical arms.
  • Four toothed pulleys and their belts connected to the horizontal arm.

L'Ensemble bras horizontal et rotation boítier de préhension est conçu de:

  • Deux tiges circulaires inox horizontales fixées sur les paliers des montants verticaux, servant de guides et supports de translation horizontale du système de rotation et de préhension.
  • Un moteur pas à pas 47, deux poulies et une courroie dentée en assure le mouvement.
  • Un système de rotation monté sur les deux paliers de douilles à billes de translation horizontale.
The horizontal arm and gripping box assembly is designed to:
  • Two horizontal stainless steel circular rods fixed on the bearings of the vertical uprights, serving as guides and supports for horizontal translation of the rotation and gripping system.
  • A stepping motor 47, two pulleys and a toothed belt ensures the movement.
  • A rotation system mounted on the two bearings of ball bearings in horizontal translation.

Ce système de rotation est constitué d'une plaque acier 40 supportant :

  • Un moto réducteur 29.
  • Une transmission par deux engrenages de diamètres réduits pour optimiser la course horizontale du bras.
  • Une roue dentée en bronze 33 fixée à l'aide de roulements à billes au centre des paliers de douilles à billes servant d'axe et support de rotation de l'ensemble de préhension.
  • Deux capteurs de position 39.
  • Deux pièces 26 en Téflon, montées sur les extrémités du boítier de préhension dont le profil est calculé pour permettre un arrêt en souplesse de la rotation, un maintien en position butée et l'excitation des capteurs sur le système de rotation.
  • Un circuit de liaison avec connecteurs permettant un démontage facile de l'ensemble de préhension.
  • Un roulement à billes 27 monté sur système à ressorts réglable 49, 51 permettant la stabilisation du système de préhension en position de butée.
This rotation system consists of a steel plate 40 supporting:
  • A gear motor 29.
  • A transmission by two gears of reduced diameters to optimize the horizontal stroke of the arm.
  • A bronze toothed wheel 33 fixed by means of ball bearings to the center of the bearings of ball bearings serving as axis and support of rotation of the gripping assembly.
  • Two position sensors 39.
  • Two pieces 26 in Teflon, mounted on the ends of the gripping case whose profile is calculated to allow a flexible stop of the rotation, a maintenance in the stop position and the excitation of the sensors on the rotation system.
  • A connection circuit with connectors allowing easy disassembly of the grip assembly.
  • A ball bearing 27 mounted on an adjustable spring system 49, 51 allowing the gripping system to be stabilized in the stop position.

LE BOITIER DE PREHENSION,THE GRIPPING BOX,

  • Un système de préhension constitué d'un boítier 41 muni de guides biseautés 24, 25, 36 à l'avant, situés sur chacun des quatre cotés, ces guides permettant la correction d'erreurs à l'entrée du produit dans le boítier et une trajectoire précise, une fois celui-ci engagé. Ils servent en même temps de guides de translation pour le doigt de préhension 37.A gripping system consisting of a housing 41 provided with beveled guides 24, 25, 36 at the front, located on each of the four sides, these guides allowing correction errors when entering the product into the housing and a precise trajectory, once it engaged. At the same time they serve as translation guides for the gripping finger 37.

Le boítier de préhension 41 est fixé à l'aide de deux vis sur la roue dentée en bronze 33 du système de rotation. Il est muni à ses deux extrémités, de butées 50 ayant trois rôles:

  • La languette 50 sert pour le déclenchement du capteur de fin de course.
  • La partie inclinée 26 permet une montée progressive du roulement à billes 27 dans son logement de maintien de position.
  • Le roulement à bille 27 cité ci-dessus est monté sur un système à ressorts réglables 49, 51 permettant d'ajuster la dureté du maintien en position butée.
The gripping housing 41 is fixed with two screws on the bronze toothed wheel 33 of the rotation system. It is provided at its two ends with stops 50 having three roles:
  • The tongue 50 is used for triggering the limit switch.
  • The inclined portion 26 allows a gradual rise of the ball bearing 27 in its position holding housing.
  • The ball bearing 27 cited above is mounted on an adjustable spring system 49, 51 making it possible to adjust the hardness of the maintenance in the stop position.

Ce boítier de préhension 41 est constitué de :

  • Un profilé usiné au format du produit à manutentionner plus son couvercle.
  • Un capteur 35 fixé à l'arrière du boítier détectant le recul du doigt 37.
  • Un capteur 30 sur un coté avant du boítier détectant l'avancée du doigt.
  • Cinq guides en Téflon 24, 25, 36 de la longueur des produits à manutentionner dont l'extrémité avant est biseautée sur toute son épaisseur permettant la correction d'éventuelles erreurs.
  • Un guide 25 en Téflon de la longueur du système de préhension dont l'extrémité avant est biseautée sur toute son épaisseur permettant la correction d'éventuelles erreurs et de guide de translation du doigt de préhension.
  • Un doigt de préhension 37 en bronze (détaillé ci-après).
  • Un poulie dentée 38 montée sur roulement à billes à l'arrière du boítier.
  • Une poulie 31 montée directement sur le moto réducteur d'entraínement du doigt de préhension à l'avant du boítier.
  • Un moteur d'entraínement pour le doigt de préhension.
  • Une courroie dentée reliant les 2 poulies décrites ci-dessus et fixée à l'aide d'une attache 21 sous la masse du doigt de préhension 37.
  • Un attache courroie 21 sous le doigt de préhension.
  • Un circuit imprimé 28 de liaison entre tous les éléments électriques du doigt de préhension.
This gripping case 41 consists of:
  • A machined profile in the format of the product to be handled plus its cover.
  • A sensor 35 fixed to the rear of the housing detecting the recoil of the finger 37.
  • A sensor 30 on a front side of the housing detecting the advance of the finger.
  • Five Teflon guides 24, 25, 36 of the length of the products to be handled, the front end of which is bevelled over its entire thickness allowing the correction of any errors.
  • A Teflon guide 25 of the length of the gripping system, the front end of which is bevelled over its entire thickness allowing correction of any errors and of the translation guide of the gripping finger.
  • A bronze grasping finger 37 (detailed below).
  • A toothed pulley 38 mounted on ball bearing at the rear of the housing.
  • A pulley 31 mounted directly on the reduction drive motor of the gripping finger at the front of the housing.
  • A drive motor for the gripping finger.
  • A toothed belt connecting the 2 pulleys described above and fixed with a clip 21 under the mass of the gripping finger 37.
  • A belt clip 21 under the gripping finger.
  • A printed circuit 28 connecting all the electrical elements of the gripping finger.

DOIGT DE PREHENSION :GRIPPING FINGER:

Le doigt de préhension 37 est usiné en bronze car ce matériau a de bonnes caractéristiques de glissement, tant au niveau translation du doigt lui même qu'au niveau de la prise du produit, et garantit une usure minimale.The gripping finger 37 is machined in bronze because this material has good sliding characteristics, both at the level of translation of the finger itself and at level of grip of the product, and guarantees minimal wear.

Ce doigt de préhension 37 est l'unique pièce de saisie proprement dite du produit, de plus cette pièce est de taille réduite, simple et toutes ses faces ont une utilité.This gripping finger 37 is the only piece of grasping proper of the product, of the more this part is reduced in size, simple and all its faces are useful.

Sur le dessus se situe l'antenne 12 servant de guide au fil 20 allant du capteur de présence produit 13 au circuit de liaison 28 dans le boítier de préhension 41. Celle-ci permet au fil lesté en son milieu, de lui imposer une pliure en V et une trajectoire déterminée au moment de la translation du doigt.On the top is the antenna 12 serving as a guide for the wire 20 going from the presence of product 13 at the connection circuit 28 in the gripping case 41. This allows the weighted wire in the middle, to impose a V-fold and a trajectory determined at the time of the translation of the finger.

Sur l'un des cotés, se trouve le capteur de présence produit 13 fixé au bord de l'extrémité avant.On one side, there is the product presence sensor 13 fixed to the edge of front end.

Sur le coté opposé se trouve un évidement 15 servant de surface de glissement et de déclenchement du capteur de position avancée du doigt de préhension, et à l'arrière, un dégagement 14 servant à laisser passer les flasques de la poulie d'entraínement 38 du doigt et le capteur 35 de position reculée du doigt. La partie verticale de ce dégagement sert aussi de surface de déclenchement du capteur de position reculée du doigt.On the opposite side is a recess 15 serving as a sliding surface and triggering of the advanced position sensor of the gripping finger, and at the rear, a clearance 14 used to allow the flanges of the drive pulley 38 to pass of the finger and the sensor 35 for the retracted position of the finger. The vertical part of this clearance also serves as a trigger surface for the remote position sensor of the finger.

Le doigt de préhension 37 est fixé sur une courroie dentée par une attache 21 se trouvant sous la masse, et à l'arrière, juste au bord de l'évidement 14. Cet emplacement a été choisi pour permettre une avancée maximale du doigt en dehors du boítier de préhension 41, ceci pour garantir une distance minimale entre l'extrémité des produits entreposés dans les étagères 8 et le boítier de préhension 41 pour éviter tout incident.The gripping finger 37 is fixed to a toothed belt by a fastener 21 located under the mass, and at the rear, just at the edge of the recess 14. This location was chosen to allow maximum projection of the finger outside the housing grip 41, this to guarantee a minimum distance between the end of the products stored in the shelves 8 and the gripping case 41 to avoid any incident.

Le guidage pour le coulissement du doigt s'effectue entre un angle du boítier de préhension et deux des guides biseautés 25, 36.The guidance for the sliding of the finger is carried out between an angle of the housing of gripping and two of the beveled guides 25, 36.

Un évidement 23 pour le passage de la courroie a été réalisé sur toute la longueur du doigt. Dessous, se situe la fixation 21 de la courroie d'entraínement placée le plus loin possible vers l'arrière pour permettre l'avancée maximum du doigt et garantir la saisie et la libération des produits. La courroie longe le doigt de préhension sur toute sa longueur dans une rainure 23 prévue à cet effet.A recess 23 for the passage of the belt has been made over the entire length of the finger. Below, is the attachment 21 of the drive belt placed farthest possible backwards to allow maximum finger advance and to ensure gripping and product release. The strap runs along the gripping finger all the way length in a groove 23 provided for this purpose.

La face avant 19 de la masse du doigt de préhension sert de poussoir pour chasser le produit hors du boítier de préhension et pour le rangement des produits dans les étagères.The front face 19 of the mass of the gripping finger serves as a pusher for drive the product out of the grip box and for the storage of the products in the shelves.

La longueur de la tige 16 du doigt de préhension est légèrement supérieure à la distance entre le bord du produit et le point de préhension de celui-ci pour permettre une correction d'erreur efficace. La largeur de l'arête de saisie 17 est égale à la largeur du point de préhension sur le produit moins la taille d'un biseautage des guides 24, 25, 36 montés sur le boítier de préhension 41 pour permettre une correction d'erreur horizontale maximale. L'extrémité avant 18 usinée à 45° sur toute la hauteur du doigt de préhension sert pour simplifier la saisie du produit qui se fait par simple avancée du doigt, et permet une correction d'erreur verticale.The length of the rod 16 of the gripping finger is slightly greater than the distance between the edge of the product and its grip point to allow effective error correction. The width of the input edge 17 is equal to the width gripping point on the product minus the size of a bevel of the guides 24, 25, 36 mounted on the gripping housing 41 to allow error correction maximum horizontal. The front end 18 machined at 45 ° over the entire height of the finger gripping serves to simplify the seizure of the product which is done by simple advance of the finger, and allows vertical error correction.

De plus, la masse à l'arrière du doigt a pour effet de le stabiliser.In addition, the mass on the back of the finger has the effect of stabilizing it.

Ce système, comparativement à d'autres (ex: pinces), est nettement plus simple, plus économique tout en présentant un encombrement et un poids réduit. Il permet, une plus grande correction d'erreur. En effet, même si le produit a été légèrement déplacé dans les étagères, celui-ci peut encore être saisi.This system, compared to others (ex: pliers), is much simpler, more economical while having a reduced size and weight. It allows, a greater error correction. Indeed, even if the product has been slightly moved in the shelves, it can still be entered.

L'évidement 14 à l'arrière de la masse a de multiples rôles:The recess 14 at the rear of the mass has multiple roles:

Il sert tout d'abord de dégagement pour laisser passer les flasques de la poulie arrière 38, ainsi que de dégagement 14 pour le capteur de recul 35 du doigt, tout ceci permettant d'obtenir un ensemble de préhension très compact.It serves first of all as a clearance to allow the flanges of the rear pulley to pass 38, as well as clearance 14 for the finger reversing sensor 35, all of this allowing to obtain a very compact grip set.

Le flanc vertical de cet évidement sert de butée et déclenche le capteur 35 de recul du doigt.The vertical side of this recess serves as a stop and triggers the recoil sensor 35 of the finger.

L'évidement en biais 15 partant de l'avant de la masse sert à l'excitation du capteur 30 de doigt en position avancée. La pente permet le glissement régulier du capteur.The diagonal recess 15 starting from the front of the mass serves to excite the sensor 30 finger in advanced position. The slope allows the sensor to slide smoothly.

Le plan vertical avant 19 de la masse sert de poussoir pour déposer les produits dans les étagères. En limite de ce plan vertical se trouve le capteur de présence 13 de produit dans le doigt de préhension.The front vertical plane 19 of the mass serves as a pusher for depositing the products in the shelves. At the limit of this vertical plane is the product presence sensor 13 in the gripping finger.

La longueur du doigt de préhension 16 entre le plan vertical poussoir 19 et l'arête de saisie 17 a une valeur très précise car celle-ci a plusieurs rôles.The length of the gripping finger 16 between the vertical pusher plane 19 and the edge of entry 17 has a very precise value because it has several roles.

Elle est calculée en fonction de l'objet à saisir de la manière suivante:

  • Elle est de deux millimètres supérieure à la distance entre le bord de l'objet à saisir et son point de saisie. Ces deux millimètres servent à compenser une éventuelle dispersion dans les dimensions des objets à saisir, et pour rendre la saisie possible même dans le cas ou l'objet aurait été déplacé et se trouverait en biais dans l'étagère. De même, le capteur de présence 13 du produit se déclenche deux millimètres avant que l'arête de saisie ne puisse attraper le produit, ce qui permet d'avoir une tolérance de plus ou moins deux millimètres sur le point de saisie du produit.
It is calculated according to the object to be entered as follows:
  • It is two millimeters greater than the distance between the edge of the object to be grabbed and its grab point. These two millimeters are used to compensate for a possible dispersion in the dimensions of the objects to be grabbed, and to make the grab possible even in the event that the item has been moved and is at an angle in the shelf. Likewise, the product presence sensor 13 is triggered two millimeters before the gripping edge can catch the product, which allows a tolerance of more or less two millimeters at the gripping point of the product.

Tous ces décalages étant gérés par le logiciel commandant l'ensemble.All these shifts are managed by the software controlling the assembly.

La largeur d'arête de saisie du doigt de préhension est, elle aussi, très importante, elle est calculée comme suit:

  • La largeur d'arête 17 égale la largeur du point de saisie du produit moins l'épaisseur d'un guide du boítier de préhension.
The grasping edge width of the gripping finger is also very important, it is calculated as follows:
  • The edge width 17 equals the width of the point of grip of the product minus the thickness of a guide of the gripping case.

Cette valeur permet une correction maximale des erreurs de positionnement du bras en se servant des biseautages des guides sur le boítier pour recentrer l'objet à prendre. L'extrémité avant 18 du doigt de préhension est inclinée de 45° pour permettre une saisie simplifiée des produits ainsi qu'une correction d'erreur.This value allows maximum correction of arm positioning errors in using the bevelling of the guides on the housing to refocus the object to be taken. The front end 18 of the gripping finger is inclined by 45 ° to allow a simplified product entry and error correction.

Dans certains cas, cette extrémité inclinée permettra même une saisie des objets par simple avancement du doigt de préhension 37.In some cases, this inclined end will even allow objects to be grabbed by simple advancement of the gripping finger 37.

La libération des objets n'est pas effectuée par un mécanisme dans le système de préhension, mais par un simple mouvement vertical du bras vers le bas, ce qui entraíne une simplification importante de l'ensemble.The release of objects is not carried out by a mechanism in the system of gripping, but by a simple vertical movement of the arm down, which results a significant simplification of the whole.

LA FACADE D'ACCUEIL :THE HOST FACADE:

Elle est composée de:

  • Un moniteur couleur 4 fournissant les instructions nécessaires au client utilisant la machine.
  • Un lecteur de carte motorisé 2 pour la reconnaissance des clients.
  • Une porte à plusieurs positions d'arrêt, caractérisée par le fait que le système de transfert et dialogue client, est équipé d'une porte à quatre positions d'arrêt 5, positions variant suivant le sens de mouvement de la porte, afin d'en optimiser la course.
She is made of:
  • A color monitor 4 providing the necessary instructions to the customer using the machine.
  • A motorized card reader 2 for customer recognition.
  • A door with several stop positions, characterized in that the transfer and customer dialogue system, is equipped with a door with four stop positions 5, positions varying according to the direction of movement of the door, in order to optimize the race.

En position:1, le capteur de position fermée est excité par l'arête:2 (52), de l'entraíneur déclencheur.In position: 1, the closed position sensor is excited by the edge: 2 (52), of the driver trigger.

A la première ouverture, dès que le clavier est dégagé, l'arête:1 (53), de l'entraíneur déclencheur excite le capteur de position milieu qui entraíne l'arrêt de porte, en position:2.At the first opening, as soon as the keyboard is released, the edge: 1 (53), of the coach trigger activates the middle position sensor which causes the door to stop, position: 2.

A l'ouverture du couloir de transfert, c'est toujours l'arête:1, de l'entraíneur déclencheur qui excite le capteur de position d'ouverture complète, et arrête la porte en position:3 (53).At the opening of the transfer corridor, it is always the edge: 1, of the coach trigger that excites the full open position sensor, and stops the door in position: 3 (53).

A la fermeture partielle :couloir seulement, (clavier toujours ouvert) , c'est maintenant l'arête:2 (52), qui va exciter le capteur de position milieu, ce qui entraíne l'arrêt de la porte en position:4 ; En cette position, la porte est moins fermée qu'en position:2, ce qui a pour intérêt d'optimiser la course de la porte. En effet, si une nouvelle ouverture est demandée, seule la course du point:4 au point:3, sera nécessaire et non depuis le point:2, donc moins de temps d'attente et moins d'usure.When partially closed: corridor only, (keyboard still open), it's now the edge: 2 (52), which will excite the middle position sensor, which causes the door in position: 4; In this position, the door is less closed than in position: 2, this which has the advantage of optimizing the door travel. Indeed, if a new opening is requested, only the run from point: 4 to point: 3, will be necessary and not from point: 2, therefore less waiting time and less wear.

L'entraíneur déclencheur est en bronze pour limiter les frictions des capteurs, les deux plans inclinés de part et d'autre de la barre de transmission de l'entraíneur déclencheur servent à permettre le glissement des capteurs d'arrêt de porte.The trigger drive is made of bronze to limit the friction of the sensors, both inclined planes on either side of the coach transmission bar trigger are used to allow the sliding of the door stop sensors.

C'est la partie plate 54 dont la largeur est égale au décalage à obtenir entre le sens ouverture et le sens fermeture pour l'optimisation des mouvements de porte, qui permet l'arrêt de la porte à des point différents suivant son sens de progression et donc l'optimisation des courses. Cette partie plate est bordée de deux plans inclinés 52,53 permettant aux capteurs de glisser sans à coup.It is the flat part 54 whose width is equal to the offset to be obtained between the direction opening and closing direction for optimizing door movements, which allows the door to stop at different points according to its direction of progression and therefore optimization of races. This flat part is bordered by two inclined planes 52,53 allowing the sensors to slide smoothly.

De part et d'autre de la barre de transmission de l'entraíneur déclencheur se trouvent le point de fixation de la porte, et à l'opposé, la fourche 55 qui reçoit l'écrou de vis sans fin monté avec un léger jeu pour limiter les efforts du moteur.On either side of the trigger bar transmission bar are the fixing point of the door, and on the opposite side, the fork 55 which receives the screw nut without end mounted with a slight play to limit the efforts of the motor.

Cet écrou est constitué dans une matière tendre, mais aux bonnes caractéristiques de glissements pour atténuer les frictions et les bruits.

  • Un clavier à membrane.
  • Un couloir de transfert équipé de:
  • Trois capteurs optiques de position du produit à transférer.
  • Un crayon optique pour la reconnaissance du produit.
  • Un système d'entraínement composé d'un moteur monté sur support réglable maintenu par des ressorts et équipé d'un galet en caoutchouc pour l'adhérence, avec en face, deux roulements à billes pour serrer et stabiliser le produit à transférer et faciliter son glissement.
  • Une porte à l'arrière du couloir commandée par un moteur, via une vis sans fin, pour fermer l'accès à l'arrière du couloir quand la porte avant est ouverte pour que les clients n'aient jamais accès directement à l'intérieur de l'appareil.
  • Un circuit électronique reliant l'ensemble des composants électrique de la façade (excepté l'écran).
This nut is made of a soft material, but with good sliding characteristics to reduce friction and noise.
  • A membrane keyboard.
  • A transfer corridor equipped with:
  • Three optical position sensors for the product to be transferred.
  • An optical pencil for product recognition.
  • A drive system composed of a motor mounted on an adjustable support held by springs and equipped with a rubber roller for grip, with two ball bearings opposite to tighten and stabilize the product to be transferred and facilitate its slip.
  • A door at the rear of the corridor controlled by a motor, via a worm screw, to close the access to the rear of the corridor when the front door is open so that customers never have direct access to the interior of the device.
  • An electronic circuit connecting all the electrical components of the facade (except the screen).

L'entrée et la sortie du couloir de transfert sont usinées en biseau pour faciliter, à l'avant, l'introduction des produits et à l'arrière corriger d'éventuelles erreurs du bras. Le boítier électronique 42, de conception simple et réduite, et l'ordinateur 43 sont fixés directement à l'intérieur de la porte droite 3 pour des raisons d'accessibilité pour une éventuelle maintenance.The entry and exit of the transfer lane are machined at a bevel to facilitate at the front, the introduction of the products and at the rear to correct any arm errors. The electronic unit 42, of simple and reduced design, and the computer 43 are fixed directly inside the right door 3 for accessibility reasons for a possible maintenance.

Claims (10)

  1. Automatic apparatus for dispensing and/or recovering various kinds of articles provided with a handling system, said apparatus being fitted with two groups of shelves (8) in which locations are defined by means of rods (7), the apparatus being characterized in that:
    said handling system is implemented by means of a handling finger (37) fitted to the packaging of the articles, the handling finger being hook-shaped and designed to co-operate with a notch of the article, and being made of a material that possesses good sliding characteristics;
    and in that said locations are defined by means of a single line of rods (7).
  2. Apparatus according to claim 1, characterized in that each set of shelves (8) is made by means of two channel-section uprights (11), said shelves being inserted in slots (9, 10) of the uprights, each being provided with a front fold extending downwards and a rear fold extending upwards to hold them in said uprights.
  3. Apparatus according to claim 1, characterized in that a transfer and dialog system is fitted with an armored door having a plurality of stop positions (5), which positions vary depending on the direction in which the door is moving, so as to optimize its stroke in the event of multiple openings.
  4. Apparatus according to claim 3, characterized in that said stop positions (5) are defined by means of a trigger driver provided with a transmission bar carrying firstly a fixing point of said door and secondly a fork (55) designed to receive a nut actuated by an endless screw for driving the door, and in that said trigger driver includes a flat portion (54) whose width determines the travel of said door, said flat portion being defined by two sloping planes (52, 53).
  5. Apparatus according to claim 1, characterized in that said handling system is constituted by a box (41) provided with two chamfered guides (24, 25, 36) at the front, situated on each of the four sides, which guides enable errors to be corrected on entry of an article into the box, ensuring an accurate trajectory once said article has been engaged, and serving simultaneously as a guide in translation for said handling finger (37).
  6. Apparatus according to claim 5, characterized in that said box (41) is provided at each of its two ends with an abutment (50), said abutment including a tongue for triggering an end-of-stroke sensor, an inclined portion (26) enabling a ball bearing (27) to rise progressively in its position-maintaining housing, said ball bearing (27) being mounted on an adjustable spring system (49, 51) for adjusting the hardness with which it is held in the abutment position.
  7. Apparatus according to claim 5, characterized in that said handling finger (37) which is the sole part for taking hold of an article comprises:
    · on top, an antenna (12) serving to guide a wire (20) going from a sensor (13) for sensing the presence of an article to a link circuit (28) in said box (41);
    · on one side, said article sensor (13) fixed to the edge of the front end;
    · on the other side, a recess (15) serving as a sliding and trigger surface for a position sensor advanced from said handling finger, and at the back, a setback (14) serving to allow the cheekplates of a drive pulley (38) for the handling finger to pass together with a sensor (35) for sensing the rear position of said finger, the vertical portion of said setback also serving as a trigger surface for the sensor for sensing the rear position of the finger;
    · beneath, a fixing (21) for a drive belt placed towards the rear to enable a handling finger to be advanced when articles are taken hold of and released, said belt running along said finger over its entire length in a groove (23) provided for this purpose;
    · on its front face, a pusher for pushing an article out from said box and for storing an article in the shelves; and
    · a rod (16) of length slightly greater than the distance between the edge of an article and the point at which it is taken hold of, said rod being provided with an edge (17) for grasping of width equal to the width of the holding point on the article minus the size of the chamfer of said chamfered guides (24, 25, 36) to enable horizontal error to be connected, the front end (18) of said rod (16) being machined at 45° over its entire height so as to enable vertical error to be connected, an article being taken hold of merely by advancing said handling finger.
  8. Apparatus according to any preceding claim, characterized in that said handling finger (37) is made of bronze.
  9. Apparatus according to any preceding claim, characterized in that said rods (7) provided to define the locations in said shelves are made of a flexible material.
  10. Apparatus according to any preceding claim, characterized in that said rods (7) provided to define the locations in said shelves are round.
EP95926991A 1994-08-01 1995-07-28 IMPROVED MINITEL$m(3)-CONSULTABLE COMPUTER-CONTROLLED 24-HOUR AUTOMATIC VENDING MACHINE FOR SALE OR HIRE OF ARTICLES Expired - Lifetime EP0733246B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9409786 1994-08-01
FR9409786A FR2724478B1 (en) 1994-08-01 1994-08-01 AUTOMATIC DISTRIBUTOR OF PRODUCTS INTENDED FOR SALE OR RENTAL OPERATING 24H / 24H PILOT BY A COMPUTER AND CONSULTED BY COMPUTER (MODEM)
PCT/FR1995/001021 WO1996004617A1 (en) 1994-08-01 1995-07-28 Improved minitel®-consultable computer-controlled 24-hour automatic vending machine for sale or hire of articles

Publications (2)

Publication Number Publication Date
EP0733246A1 EP0733246A1 (en) 1996-09-25
EP0733246B1 true EP0733246B1 (en) 2001-03-28

Family

ID=9466148

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95926991A Expired - Lifetime EP0733246B1 (en) 1994-08-01 1995-07-28 IMPROVED MINITEL$m(3)-CONSULTABLE COMPUTER-CONTROLLED 24-HOUR AUTOMATIC VENDING MACHINE FOR SALE OR HIRE OF ARTICLES

Country Status (5)

Country Link
EP (1) EP0733246B1 (en)
AU (1) AU3117195A (en)
DE (1) DE69520489D1 (en)
FR (1) FR2724478B1 (en)
WO (1) WO1996004617A1 (en)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA1260117A (en) * 1985-02-14 1989-09-26 Nelson Vending Technology Limited Automatic vending machine
AU5627686A (en) * 1985-03-06 1986-09-24 Term-Tronics Inc. Method and apparatus for vending
US4734005A (en) * 1985-07-19 1988-03-29 Marvin Blumberg Vending machine for video cassettes
US4668150A (en) * 1985-07-19 1987-05-26 Blumberg Marvin R Vending machine for video cassettes
DE3702407A1 (en) * 1986-11-06 1988-05-11 Nsm Apparatebau Gmbh Kg RENTAL AND SALES MACHINE, ESPECIALLY FOR VIDEO CASSETTE, AND CASSETTE BOX FOR VIDEO CASSETTE
US5095195A (en) * 1988-08-03 1992-03-10 Thru-The-Wall Corporation Automated videocassette dispensing terminal with reservation feature
FR2651904A1 (en) * 1989-09-14 1991-03-15 Andromac Technologies INSTALLATION FOR DISTRIBUTING ARTICLES SUCH AS VIDEO CASSETTES.
US5159560A (en) * 1990-06-25 1992-10-27 Newell William C Automated merchandise dispensing and retrieval system
IT1259828B (en) * 1992-07-03 1996-03-28 AUTOMATIC DISTRIBUTOR OF AUDIOVISUAL AND DIGITAL SUPPORTS AND ELEMENT OF ASSOCIATED IDENTIFICATION

Also Published As

Publication number Publication date
WO1996004617A1 (en) 1996-02-15
EP0733246A1 (en) 1996-09-25
FR2724478B1 (en) 1996-12-27
DE69520489D1 (en) 2001-05-03
FR2724478A1 (en) 1996-03-15
AU3117195A (en) 1996-03-04

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