Dispensing device

Abstract

The article sorting and dispensing device includes a pick-and-place mechanism consisting of a nozzle and a metal tank. The nozzle tip is replaceable, and the pick-and-place mechanism is configured to move the nozzle in a translational and rotational direction about at least one axis. The metal tank is in fluid communication with the nozzle through at least one conduit. The apparatus further includes at least an article container that holds small items and can rotate about a predetermined axis, and a control unit that controls the pick-and-place mechanism and the items. The control unit includes a processor and a memory unit in electronic communication with the processor. The memory unit is configured with modules that store instructions for execution by the processor. The instructions include rules for the translational and rotational movements of the pick-and-place mechanism and the container so that small items are picked and dispensed from the article container. The apparatus further includes a feedback mechanism that generates feedback for the control device.

Description

[Technical Field]

[0001] The present invention relates to an article dispenser, and in particular to an electronic article dispenser that uses a pneumatic pick-and-place mechanism for picking up and dispensing articles. [Background Art]

[0002] Small articles such as supplement tablets and capsules become difficult to manage once removed from their packaging. Similarly, small electronic and mechanical components such as resistors, diodes, chips, capacitors, nuts, bolts, and screws also become difficult to manage once taken out of their packaging. In particular, when there are articles of similar shape, size and color, it becomes difficult for a user to identify the articles. By way of example, it becomes difficult for a user to distinguish between two articles of the same color that may have different uses. Similarly, in one example, a user has difficulty distinguishing between two diodes of similar appearance. This problem is further exacerbated when the user is elderly or has cognitive impairment. Furthermore, some people with physical disabilities are unable to handle small articles accurately. By way of example, patients with Parkinson's disease are unable to hold and handle small articles. In another example, users with dementia forget where such articles are stored. [Summary of the Invention]

[0003] The article dispensing apparatus may use a pneumatic pick-and-place mechanism for picking up and dispensing articles. The article dispensing apparatus may further comprise a pick-and-place mechanism.

[0004] The pick-and-place mechanism may include a vertically positioned arm and be configured to move along the Z and X axes using a stepping motor. Furthermore, the arm may be movably coupled to the stepping motor using a rack and pinion gear. The arm may have teeth positioned on its outer surface forming a vertical rack. Additionally, the vertical rack of the movable arm may mesh with a Z pinion coupled to the axis of the Z stepping motor, forming a rack and pinion gear system. The Z stepping motor allows the Z pinion to rotate, thereby enabling the movable arm to move vertically (i.e., along the Z axis) through the meshing of the first pinion with the vertical rack of the movable arm.

[0005] Furthermore, the pick-and-place mechanism may further include an X-stepping motor movably connected to the arm. The pick-and-place mechanism may further include a horizontal rack which may be configured to mesh with an X-pinion positioned on the axis of the X-stepping motor. The X-stepping motor may also be configured, through meshing with the X-pinion and the horizontal rack, to move the arm and the Z-stepping motor together horizontally (i.e., along the X-axis).

[0006] Furthermore, the arm is configured to include at least one nozzle at its lower end. Additionally, the nozzle tip is configured to include different types of nozzle tips. For example, the nozzle tips may include, but are not limited to, tips with rubber pads, bellows, magnets, tips with different opening diameters, etc.

[0007] Furthermore, the item dispensing device may further include an item box assembly. The item box assembly may further include at least one item box and a box rotator. The item box is configured to contain small items dispensed by the item dispensing device. The box rotator may be configured as a circular plate for holding at least one item box. Furthermore, the item box may include a magnet positioned at the bottom of the item holder, and the item box rotator may include a holder rotator that is at least partially ferromagnetic to allow the item holder to magnetically engage with the holder rotator.

[0008] Furthermore, the article dispensing device may further include a container assembly. The container assembly may further include at least one article container and a container rotating device. The container is configured to hold articles already dispensed by the article dispensing device. The container rotating device may be configured as a circular plate for holding at least one container. Furthermore, the container may include a magnet positioned at the bottom of the container, and at least a portion of the container rotating device is ferromagnetic so that the container magnetically engages with the container rotating device.

[0009] Furthermore, the item dispensing device may also include a feedback mechanism. The feedback mechanism is configured to provide feedback at various stages of the item dispensing device.

[0010] The accompanying drawings, in which the same reference numerals indicate identical or functionally similar elements throughout separate figures, are incorporated herein and form part of this specification and are used to further illustrate embodiments that include the concept of the claimed invention and to illustrate the various principles and advantages of those embodiments, together with the following detailed description. [Brief explanation of the drawing]

[0011] [Figure 1a] These are different perspective views of an item sorting and dispensing device. [Figure 1b] These are different perspective views of an item sorting and dispensing device. [Figure 2]This is a front view of the inside of the goods sorting and dispensing device. [Figure 3] This is a separate perspective view of a pick-and-place mechanism. [Figure 4] This is a separate perspective view of the upper support plate. [Figure 5] This is a perspective view of a pick-and-place device without a housing. [Figure 6a] This shows an item sorting and dispensing device without an upper support plate. [Figure 6b] This shows an item sorting and dispensing device without an upper support plate. [Figure 7a] The assembly and exploded views of the container rotating device and the container are shown, respectively. [Figure 7b] The assembly and exploded views of the container rotating device and the container are shown, respectively. [Figure 8] This is a cross-sectional view of the lower part of the item sorting and dispensing device. [Figure 9] This is a perspective view of an unassembled storage box and a storage box rotating device. [Figure 10a] This is a separate perspective view of the locking mechanism. [Figure 10b] This is a separate perspective view of the locking mechanism. [Figure 11] This is a block diagram of the goods sorting and dispensing device. [Figure 12] This is a block diagram showing an item sorting and dispensing device communicating with a database and other computing devices. [Figure 13] This flowchart shows the process of filling or refilling small items in an item sorting and dispensing device. [Figure 14] This flowchart illustrates the steps involved when an item dispensing mechanism receives a dispensing order.

[0012] Those skilled in the art will understand that the elements in the figures are illustrated for simplification and clarity and are not necessarily drawn to scale. For example, the dimensions of some elements in the figures may be exaggerated relative to others in order to better understand embodiments of the invention.

[0013] The components of the apparatus and method are appropriately indicated by conventional reference numerals in the accompanying drawings. In order not to obscure the content of the present disclosure in the detailed description, only specific details related to understanding the embodiments of the present invention are shown. Those details are obvious to those skilled in the art having the benefit of the description herein. DETAILED DESCRIPTION OF EMBODIMENTS

[0014] For a better understanding of the principles of the present disclosure, various embodiments will be specifically described below. It should be noted that the scope of the present disclosure is not limited thereto, and it will be understood that those skilled in the art can easily conceive of changes and further modifications to the present disclosure.

[0015] The articles "a" and "an" are used herein to refer to one or more (i.e., at least one) of the grammatical objects of the article. By way of example, "an element" means at least one element, and may include two or more elements. In the present disclosure, the terms "comprise", "include", "contain", "have", etc., have their inherent meanings, and may mean "comprising", "including", etc. "Consisting essentially of" or "composed essentially of" also has the inherent meaning corresponding thereto. These terms are open-ended, and allow the presence of more content than what is recited, as long as the basic or novel characteristics of the recited content are not changed by the presence of additional content, but exclude embodiments of prior art.

[0016] Herein, an "article" may be defined as a small item that has a predetermined shape and form and is uniform. An "article" may also be defined as a group formed by a plurality of such articles grouped together. By way of example, articles include, but are not limited to, screws, nuts, bolts, tablets, pins, buttons, or electronic components such as capacitors, resistors, diodes, or food products such as chocolate, toffee, etc. Furthermore, the articles as defined above may also be interpreted to cover a wider range of other small items.

[0017] Unless otherwise defined, all technical terms used in this specification have the same meanings as those generally understood by a person skilled in the art to which the present disclosure belongs.

[0018] FIG. 1a and FIG. 1b are different perspective views of an article sorting and dispensing apparatus 100. As can be seen from FIG. 1a, the article sorting and dispensing apparatus 100 adopts a box shape. As shown in FIG. 1a and FIG. 1b, the article sorting and dispensing apparatus 100 may include a housing 102 having a first side wall 104, a front wall 106, a second side wall 108, a rear wall 110, a top wall 112, and a bottom wall 114. These walls, when joined together, form the housing 102 of the article sorting and dispensing apparatus 100. Furthermore, the front wall 106 includes an access door 116 and a push button 118. The push button 118 is configured to cause the access door 116 of the housing 102 to open for a user. Furthermore, a cavity 710 is visible inside the housing 102 through the front wall 106, and forms an accommodating housing 120. An article box 122 is mounted inside the accommodating housing 120 for easy access to articles from the article sorting and dispensing apparatus 100. Furthermore, a strap 124 may be attached to an end portion of the top wall 112, preferably toward the front wall 106. The housing 102 of the article sorting and dispensing apparatus 100 may further include a touch screen 126 attached to the top wall 112.

[0019] Figure 2 is an internal front view of the goods sorting and dispensing device 100 with the housing 102 removed (except for the top wall 112). Here, the goods sorting and dispensing device 100 may include a pick-and-place mechanism 200 for picking up small items and dispensing them according to user instructions. The pick-and-place mechanism 200 may be pneumatically operated. Furthermore, the goods sorting and dispensing device 100 may include a container assembly 202. Furthermore, the container assembly 202 may include at least one goods container 204 which is detachably attached to a container rotating device 206, allowing the goods container 204 to rotate as the container rotating device 206 rotates the container assembly 202. Furthermore, the container rotating device 206 may be configured to have a partition plate 208 for attaching the goods container 204 to the container rotating device 206 (shown in Figure 5). In one example, the goods sorting and dispensing device 100 includes a plurality of goods containers 204 that are mounted in a circular pattern on a partition plate 208 of a container rotating device 206.

[0020] Furthermore, the item sorting and dispensing device 100 may further include an item box assembly (shown in Figure 6), which may include an item box 122 for storing items dispensed from the pick-and-place mechanism 200. The item box 122 may further have slots 318 for storing different items according to user instructions to the item sorting and dispensing device 100. Furthermore, the item box assembly may include an item box rotating device 210. Furthermore, the item box 122 may be attached to the item box rotating device 210, allowing the item box 122 to rotate by the rotation of the item box rotating device 210. Furthermore, the item box 122 may be located inside a housing 120.

[0021] Furthermore, the item sorting and dispensing device 100 may further include a touch panel 126 as a medium for inputting user instructions and displaying information to the user. Furthermore, the pick-and-place mechanism 200 may be mounted using an upper support plate 212. Furthermore, the container rotating device 206 may be mounted using a lower support plate 214. The upper support plate 212 and the lower support plate 214 may be connected to each other by at least support columns 216. In one example, the upper support plate 212 and the lower support plate 214 are connected to each other by four support columns 216. The support columns 216 used for connection may have the same shape, size, and weight. Furthermore, the box rotating device 210 may be mounted above the bottom wall 114 of the housing 102.

[0022] Furthermore, the item sorting and dispensing device 100 may include a push button 118 that can open an access door 116 for easy access to the item container 204 within the housing 102. The item sorting and dispensing device 100 may further include a transfer chute 218 (shown in Figure 6) for connecting the item container 204 and the item box 122. Items picked up from the item container 204 by the pick-and-place mechanism 200, according to user instructions, move through the transfer chute 218 to be dispensed into the item box 122 via the chute exit 220. Dispensing of items may be indicated to the user visually via a touchscreen 126 or aurally via a speaker 222 within the housing 120. Furthermore, the item sorting and dispensing device 100 may further include a dehumidifier chamber 224 molded into the rear wall 110 of the housing 102.

[0023] Figure 3 is a separate perspective view of the pick-and-place mechanism 200. As shown in Figure 3, the pick-and-place mechanism 200 includes a frame 300 that secures all of its components. The pick-and-place mechanism 200 may further include a vertically positioned arm 302, which is used to pick up and place small items. The pick-and-place mechanism 200 may further include a Z-stepping motor 304 that is movably connected to the arm 302 in the Z-axis direction. The pick-and-place mechanism 200 may further include an X-stepping motor 306 that is movably connected to an upper support plate 212 (shown in Figure 4), thereby allowing the pick-and-place mechanism 200 to move in the X-axis direction. Also, as can be seen from the figure, the X-stepping motor 306 and the Z-stepping motor 304 are fixedly connected to the frame 300. In another embodiment, the X-stepping motor 306 and the Z-stepping motor 304 are detachably coupled to the frame 300. Furthermore, the pick-and-place mechanism 200 can move independently of the upper support plate 212.

[0024] Furthermore, the arm 302 of the pick-and-place mechanism 200 may be configured to have a U-shaped cross-section or to be a U-channel 308. In another embodiment, the arm 302 of the pick-and-place mechanism 200 may be configured to have a cylindrical or relatively rectangular cross-section or to be a T-channel. Furthermore, the arm 302 of the pick-and-place mechanism 200 may be configured to have a vertical gear rack 310 incorporated into one of the three outer surfaces of the arm. In one embodiment, the gearing of the vertical gear rack 310 can be customized to better suit the operation of the pick-and-place mechanism. Furthermore, the shaft of the Z-stepping motor 304 may be movably coupled to a Z-pinion 312. The Z-pinion 312 may be coupled to the vertical gear rack 310 of the arm. In one embodiment, the Z-pinion 312 may be formed as a helical gear or a spur gear to correspond to the gears of the vertical gear rack 310 of the rack and pinion gear system. The Z-pinion 312 is movably coupled to the vertical gear rack 310 of the arm, so that the rotation of the Z-pinion 312 allows the arm 302 to move vertically. Furthermore, the movement of the arm 302 is constrained by an arm stopper 314 that prevents it from moving beyond the vertical length of the arm 302. The arm stopper 314 may be formed on the arm 302 toward the end of the vertical gear rack 310 and can prevent the rotation of the Z-pinion 312. Furthermore, the pick-and-place mechanism 200 may further include an arm plate 316 mounted on the frame 300 between the Z-stepping motor 304 and the Z-pinion 312. The arm plate 316 is configured to couple with an arm cover 404 (shown in Figure 4) to prevent unwanted movement of the arm 302 other than Z-axis movement. Furthermore, the arm plate 316 includes a vertical slot 318, corresponding to the arm 302 including at least one slot slide 320 embossed to the vertical length of the arm. Furthermore, a similar slot 318 may be included in the arm cover 404, and a similar slot slide 320 may be included on the opposite side of the arm.The slot slide 320 slides within the slot 318 of the arm plate 316 and the cover plate, preventing movement other than in the Z-axis direction. Furthermore, the arm plate 316 can be detachably connected to the frame 300 of the pick-and-place mechanism 200 using a spacer.

[0025] Furthermore, the shaft of the X-stepping motor 306 of the pick-and-place mechanism 200 may be fixedly connected to the X-pinion 322. The X-pinion 322 may be movably coupled to a horizontal gear rack 324 (shown in Figure 4). In one embodiment, the X-pinion 322 may be formed as a helical gear or a spur gear to correspond to the gears of the horizontal gear rack 324 for a rack and pinion gear system. The horizontal gear rack 324 may be configured to be formed on an upper support plate 212 and may be immovable. When the X-pinion 322 coupled to the horizontal gear rack 324 rotates, it is possible to allow the frame 300 to move horizontally relative to the horizontal gear rack 324. Thus, the pick-and-place mechanism 200 may cause the frame 300 (along with the attached components) to move laterally in the X-axis direction due to the relative motion between the horizontal gear rack 324 and the X-pinion 322 of the X-stepping motor 306. Similarly, the pick-and-place mechanism 200 may move in the Z-axis direction because the relative motion between the vertical gear rack 310 and the Z-pinion 312 of the Z-stepping motor 304 causes the arm 302 (along with the attached component) to move in the Z-axis direction.

[0026] Furthermore, the arm 302 of the pick-and-place mechanism 200 may include a nozzle 326 at the lower end of the arm 302. The nozzle 326 is configured to have a nozzle tip 328 that is detachably attached to the nozzle 326. The tip of the nozzle 326, i.e., the nozzle tip 328, can be replaced according to the requirements of the small items. For example, the tip of the nozzle 326 may be a rubber pad, a magnet, metal, or a similar material. For example, if the item is metallic, a magnetic nozzle may be used. However, if the item is non-magnetic, the tip may be a rubber pad that can hold the item in place with negative pressure. Furthermore, in another configuration, the pick-and-place mechanism 200 may employ multiple nozzles 326, each fitted with the same or different types of nozzle tips 328, so that multiple items can be picked up and dispensed at once. In another example, the nozzle 326 may be one or more of the following: an electric gripper, a pneumatic gripper, a suction cup, a magnetic gripper, a mechanical gripper, an impact gripper, an intrusion gripper, a non-strain gripper, a continuous gripper, a Bernoulli gripper, an electrostatic gripper, a capillary gripper, a cryogenic gripper, an ultrasonic gripper, an intrusion gripper, etc.

[0027] Furthermore, the pick-and-place mechanism 200 may further include a vacuum pump 330 which can be fluidically connected to the nozzle 326 of the robot arm. The vacuum pump may include a metal tank 336 having thick walls capable of accommodating very high and very low pressure fluids. The vacuum pump 330 is used to generate negative pressure within the nozzle 326, enabling the pick-and-place mechanism 200 to generate suction between the nozzle tip 328 and the small object. This allows the nozzle to pick up the small object, which is then removed by the vertical movement of the arm. Furthermore, the pick-and-place mechanism 200 may further include an air filter 332 which is employed to purify the air before it enters the vacuum pump 330. The air filter 332, vacuum pump 330, and nozzle 326 may be fluidically connected to each other via a conduit 334. Furthermore, the vacuum pump 330 is independent of the frame 300 and does not move even if the frame 300 moves relative to the upper support plate 212. In another embodiment, the nozzle 326 may be configured to operate using electrical energy instead of pneumatic energy by using various sensors and / or motors.

[0028] Figure 4 is a disassembled perspective view of the upper support plate 212. As can be seen from the figure, the pick-and-place mechanism 200 is assembled on the upper support plate 212. The frame 300 of the pick-and-place mechanism 200 may be removably attached to the upper support plate 212. In one example, the frame 300 is attached to the upper support plate 212 using nuts and bolts. Furthermore, the X-pinion 322 of the X-stepping motor 306 may mesh with a horizontal gear rack 324 that is mounted widthwise on the upper support plate 212. Furthermore, the side of the frame 300 opposite the X-pinion 322 rests on a slide channel 400 that runs parallel to the horizontal gear rack 324. The slide channel 400 may be attached to channel mounts 402 that may be located at both ends of the slide channel 400. The slide channel 400 may be circular, rectangular, or any required shape, but is not limited to these. In one example, the slide channel 400 may be cylindrical. The frame 300 of the pick-and-place mechanism 200 may include a bearing that slides on the slide channel 400. In one embodiment, the frame 300 of the pick-and-place mechanism 200 includes a circular sliding bearing (not shown) fixedly connected to the frame 300 of the pick-and-place mechanism 200, which meshes with the slide channel 400 and slides in the direction of the slide channel 400. Furthermore, the pick-and-place mechanism 200 is cantilevered to the horizontal gear rack 324 by the meshing of the X pinion 322 with the horizontal gear rack 324. Furthermore, the pick-and-place mechanism 200 is supported on the other side of the slide channel 400 by a sliding bearing of the frame 300 that slides on the slide channel 400. With either side of the frame 300 of the pick-and-place mechanism 200 supported, the pick-and-place mechanism 200 can move independently in the X-axis direction independently of the upper support plate 212. Furthermore, the horizontal gear rack 324 is attached to the upper support plate 212 in a horizontal or widthwise direction so that the arm 302 of the pick-and-place mechanism 200 can traverse a distance of at least half the width of the upper support plate 212.

[0029] Furthermore, the item sorting and dispensing device 100 may, but is not limited to, further include one or more pick-and-place mechanisms 200. In one embodiment, the item sorting and dispensing device 100 may employ two pick-and-place mechanisms 200 such that one pick-and-place mechanism 200 traverses in the X-axis direction and the other pick-and-place mechanism 200 traverses in the Y-axis direction. Similarly, in one embodiment, the item sorting and dispensing device 100 may include two pick-and-place mechanisms 200 such that both pick-and-place mechanisms 200 traverse in either the X-axis direction or the Y-axis direction. Furthermore, the item sorting and dispensing device 100 may employ a pick-and-place mechanism 200 such that the horizontal gear rack 324 is formed in a circular shape, thereby allowing the pick-and-place mechanism 200 to rotate on a rotation axis. In another example, the pick-and-place mechanism 200 is fixed and rotatable on a fixed Z-axis, thereby allowing the arm to be tilted at an angle on the XY axis before extending the arm into the item container. In the above embodiment, the item sorting and dispensing device 100 can access the X, Y, and Z axes according to the requirements of the system. Furthermore, the item sorting and dispensing device 100 may be optimized to access the X, Y, and Z axes in the shortest possible time. In addition, the item sorting and dispensing device 100 may further include an NFC reader 406 near the pick position of the arm 302 of the pick-and-place mechanism 200, as can be seen in Figures 2 and 4.

[0030] Furthermore, Figure 4 also shows a portion of the locking mechanism 500 of the item sorting and dispensing device 100 (shown in Figures 10a and 10b). The locking mechanism 500 includes, but is not limited to, a push button 118 for opening the access door 116 of the item sorting and dispensing device 100. Furthermore, the pick-and-place mechanism 200 may be seen together with an arm cover 404 which can be detachably coupled to an arm plate 316. Furthermore, the arm plate 316 and arm cover 404 may include slots 318 with grooves formed in the vertical or depth direction. The slots 318 of the arm plate 316 and arm cover 404 can engage on both sides of the slot slide 320 of the arm 302 of the pick-and-place mechanism 200 to prevent movement of the arm 302 in directions other than the Z-axis.

[0031] Figure 5 is a perspective view of the pick-and-place device excluding the housing 102. As can be seen from the figure, the item sorting and dispensing device 100 includes a pick-and-place mechanism 200. Furthermore, the pick-and-place mechanism 200 includes a frame 300 mounted on an upper support plate 212. Furthermore, the pick-and-place mechanism 200 includes an arm 302 mounted on an arm plate 316 and an arm cover 404. Furthermore, the pick-and-place mechanism 200 includes a Z-stepping motor 304 coupled to a vertical gear rack 310 of the arm 302 via a Z-pinion 312, and an X-stepping motor 306 coupled to a horizontal gear rack 324. Furthermore, the frame 300 of the pick-and-place mechanism 200 slides on a slide channel 400 mounted on a channel mount 402 using sliding bearings. The rotation of the Z pinion 312 causes the arm 302 to move in the Z-axis direction, and the rotation of the X pinion 322 causes the pick-and-place mechanism 200 to move in the X-axis direction. Furthermore, the nozzle 326 attached to the arm 302 of the pick-and-place mechanism 200 may be in fluid communication with the vacuum pump 330 by using the conduit 334. Furthermore, as can be seen in Figures 2 and 4, the item sorting and dispensing device 100 may include an NFC reader 406 near the pick position of the arm 302 of the pick-and-place mechanism 200. The item sorting and dispensing device 100 can read the NFC tags (described in detail below) of the item containers 204 via the NFC reader 406 for the unique NFC identification of each item container in order to determine the correct item container 204 required for dispensing the items. Furthermore, the item sorting and dispensing device 100 may further include a Hall effect sensor 1032 (not shown), which may be located inside the arm cover 404. Correspondingly, the arm 302 of the pick-and-place mechanism 200 may include a magnet 336a located on the arm, which allows the magnet 336a to move along the arm 302, thereby forming a magnetic field around itself. Furthermore, changes in the magnetic field may be sensed by the Hall effect sensor 1032. Furthermore, the item sorting and dispensing device 100 can determine whether the arm 302 has moved by the Hall effect sensor 1032. Furthermore, in another embodiment, but not limited to this, an optical sensor may be used instead of the Hall effect sensor 1032.

[0032] Furthermore, the item sorting and dispensing device 100 may further include a dehumidifier chamber 224 for maintaining the humidity level within the housing 102 of the item sorting and dispensing device 100. The dehumidifier chamber 224 may use any of the already known dehumidification techniques, such as refrigerants, desiccant, or whole-house dehumidification techniques. In one embodiment, the dehumidifier chamber 224 of the item sorting and dispensing device 100 includes a desiccant dehumidifier such as silica gel beads. Furthermore, one of the walls of the dehumidifier chamber 224 may be separate from the other walls, and such separate wall may allow a slot 318 to be placed in the rest of the dehumidifier chamber 224. The separate wall of the dehumidifier chamber 224 allows easy access to the silica gel beads when the silica gel beads are removed when needed. Furthermore, the dehumidifier chamber 224 allows components within the housing 102 of the item sorting and dispensing device 100, including small items that may be dispensed, to be within the required humidity level.

[0033] Furthermore, the article sorting and dispensing device 100 may further include a container assembly 202. The container assembly 202 may include a container rotating device 206 and at least one article container 204. The article containers 204 may be formed so that multiple article containers 204 are arranged adjacently in a circular arrangement. In one embodiment, the article containers 204 may be formed in a relatively triangular shape when viewed from above, with one end of the article container 204 being wider than the opposite end, so that the article containers 204 are arranged in a circular arrangement. Furthermore, the container rotating device 206 may include at least one partition plate that can function as a accommodating area for mounting the article containers 204 to the container rotating device 206. In another embodiment, the article rotating device 206 includes (but is not limited to) an article container 204 that is originally constructed as a single unit.

[0034] The goods sorting and dispensing device 100 further includes a locking mechanism 500 for an access door 116 attached to the front wall 106 of the housing 102 of the goods sorting and dispensing device 100 (described in detail in Figures 10a and 10b). The locking mechanism 500 may include a mechanical lock, such as a bolt lock or a push-button lock, or an electromechanical lock, or both. In one embodiment, the goods sorting and dispensing device 100 includes a mechanical and electromechanical lock for the access door 116. Furthermore, as can be seen in the figure, the goods sorting and dispensing device 100 includes a lower support plate 214. Furthermore, as can be seen in the figure, the lower support plate 214 may include a projection 502 toward the front of the goods sorting and dispensing device 100, forming part of the housing 120. Furthermore, the access door 116 may be installed such that one edge of the access door 116 is hinged to the projection 502 of the lower support plate 214. Furthermore, the access door 116 is hinged to a projection 502 of the lower support plate 214 using a door hinge 504. Additionally, the access door 116 may be hinged using any of its edges. Furthermore, the door hinge 504 may be one of the following: a strap hinge 124, a butt hinge, a spring hinge, a concealed hinge, a piano hinge, an overlay hinge, a concealed barrel hinge, etc. In one embodiment, the access door 116 of the item sorting and dispensing device 100 uses a spring hinge for opening and closing the access door 116. In another embodiment, the locking mechanism 500 may include a biometric sensor, such as a fingerprint reader, installed on the access door 116, and the user can use the biometric sensor to unlock the locking mechanism 500. Furthermore, such a sensor can also be used for user authentication.

[0035] Figures 6a and 6b show the item sorting and dispensing device 100 without the upper support plate 212 and any components mounted on the upper support plate 212. Furthermore, as can be seen from Figures 6a and 6b, the item sorting and dispensing device 100 further includes a lower support plate 214. The item sorting and dispensing device 100 further includes a lower support plate 214, which may include a projection 502 toward the front of the item sorting and dispensing device 100, forming part of the housing 120. Furthermore, the item sorting and dispensing device 100 may further include a Y-stepping motor 600. The Y-stepping motor 600 may enable the item sorting and dispensing device 100 to displace items in the Y-axis direction. Furthermore, a container rotating device 206 is assembled on the lower support plate 214. The container rotating device 206 may be rotatably connected to the Y-stepping motor 600. Furthermore, the shaft of the Y-stepping motor 600 is immovably connected to the Y-pinion 602. In one embodiment, the Y-pinion 602 may be formed as a pinion gear for an internal gear, which may be a helical gear, a spur gear, or the like. Furthermore, the bottom side of the container rotating device 206 may include an internal gear formed on the inside of the outer circumference of the container rotating device 206, which may be a helical gear, a spur gear, or the like corresponding to the gear of the Y-pinion 602. In one embodiment, the internal gear on the inside of the outer circumference of the bottom of the container rotating device 206 can be coupled to the Y-pinion 602 of the Y-stepping motor 600. Furthermore, the rotation of the shaft of the Y-stepping motor 600 results in the rotation of the Y-pinion 602, which in turn can rotate the internal gear of the container rotating device 206, thereby rotating the container rotating device 206.

[0036] Furthermore, the lower support plate 214 may include at least one post bushing 604 for supporting at least one post. The post bushing 604 may be an external bushing fitted into the upper surface of the lower support plate 214 and the lower surface of the upper support plate 212. Furthermore, the post bushing 604 may be pre-formed on the upper surface of the lower support plate 214 or the lower surface of the upper support plate 212 during the manufacturing process of forming the support plates. In one embodiment, the post bushings 604 are attached to the four corners of the upper surface of the lower support plate 214 and the lower surface of the upper support plate 212 such that each of the post bushings 604 on the upper surface of the lower support plate 214 is axially aligned with each of the corresponding post bushings 604 on the lower surface of the upper support plate 212. Since the support bushings 604 are aligned axially at each corner, the support bushing 604 attached to the upper surface of the lower support plate 214 can support one end of the support column, while the other end of the support column 216 can be supported by the corresponding support bushing 604 attached to the lower surface of the upper support plate 212 at the same corner, so that the axes of the bushings on the lower plate, the axes of the support column 216, and the axes of the bushings on the upper support plate 212 are aligned vertically.

[0037] Furthermore, the container rotating device 206 may include at least one article container 204. The article containers 204 may be formed so that multiple article containers 204 are arranged together in a circle. In one example, the article containers 204 may be formed in a relatively triangular shape when viewed from above, with one end of the article container 204 being wider than the opposite end, so that the article containers 204 are arranged in a circle. Furthermore, the container rotating device 206 may include at least one partition plate that can function as a accommodating area for mounting the article containers 204 to the container rotating device 206. As described above, the rotation of the shaft of the Y-stepping motor 600 results in the rotation of the Y-pinion 602, which in turn rotates the internal gear of the container rotating device 206, thereby causing the container rotating device 206 to rotate. The partition plate 208 can prevent unwanted movement of the article containers 204 in the XY axes during the rotation of the container rotating device 206. Therefore, the item sorting and dispensing device 100 can move items in the X-axis direction through the pick-and-place mechanism 200, in the Y-axis direction through the rotation of the container rotating device 206, and in the Z-axis direction through the arm 302 of the pick-and-place mechanism 200.

[0038] Furthermore, the item sorting and dispensing device 100 may further include a housing 120 that houses the item box assembly 606. Furthermore, the item box assembly 606 may further include a box rotating device 210 (as can be seen in Figure 2). The box rotating device 210 may be formed as a circular plate that rotates on a fixed axis. Furthermore, the bottom wall of the housing 120 may include a notch 608 that connects the internal space of the housing 120 to the space below the housing 120. In one embodiment, the item box 122 is attached to the item box rotating device 210. The box rotating device 210 may also be attached to the bottom wall 114 of the housing 120 below a lower support plate 214, and the bottom wall of the housing 120 functions as a support for the box rotating device 210. The item box assembly 606 may also include an item box stepping motor 610, which may be mounted on and below the housing 120. Here, the item box rotating device 210 may be mounted below the bottom wall 114 of the housing casing 120, and the item box 122 may be mounted above the bottom wall 114 of the housing casing 120, and the notch 608 in the bottom wall 114 of the housing casing 120 allows the item box rotating device 210 to be exposed to the housing casing 120 and to communicate with the item box 122.

[0039] Furthermore, the box turner 210 of the box assembly 606 may further include a circular gear 614, which may be formed as an internal or external gear. The circular gear 614 may be an externally formed gear, which may be mounted on the bottom side of the box turner 210, or the box turner 210 itself may be manufactured to have a circular gear 614 formed on the bottom side of the box turner 210. Furthermore, the shaft of the box stepping motor 610 may have a box pinion gear 612 mounted on one end thereof. The box pinion gear 612 can mesh with the circular gear 614 of the box turner 210. Thus, each time the shaft of the box stepping motor 610 is rotated, the pinion gear rotates, and the circular gear 614 rotates in its place, thereby rotating the box turner 210.

[0040] Figures 7a and 7b are assembly and exploded views of the container rotating device 206 and the article container 204, respectively. Figure 7a specifically shows the article container 204 assembled in a circular shape. As can be seen, the article container 204 may be formed so that multiple article containers 204 are arranged together in a circle. In one embodiment, the article container 204 may be formed in a relatively triangular shape when viewed from above, with one end of the article container 204 being wider than the opposite end, so that the article containers 204 are arranged in a circle. Furthermore, the container rotating device 206 may include at least one partition plate that serves as a accommodating area for mounting the article container 204 to the container rotating device 206. In one embodiment, the container rotating device 206 has multiple partition plates, each partition plate 208 having space capable of accommodating one article container 204. Furthermore, the article container 204 is assembled so as not to occupy space on the rotation axis of the container rotating device 206, thereby leaving a relatively cylindrical space on the rotation axis of the article rotating device. This remaining relatively cylindrical space may be occupied by the transfer chute 218 of the item sorting and dispensing device 100.

[0041] Furthermore, Figure 7b shows an exploded view of the article container 204. The article container 204 may include an outer casing 700 that houses a receptacle 702. The receptacle 702 is configured to be received within the outer casing 700 of the article container 204. The receptacle 702 may be formed in a relatively conical shape, with its inner end being relatively smaller than its outer end. Here, the inner end of the article container 204 may be the end closer to the axis of rotation of the container rotating device 206 when the article container 204 is assembled to the container rotating device 206, while the outer end of the article container 204 may be the end further away from the axis of rotation of the container rotating device 206 when the article container 204 is assembled to the container rotating device. Furthermore, the outer casing 700 and the outer end of the article container 204 may be wider than the inner end. Furthermore, the bottom wall of the receptacle 702 may be formed as an inclined surface 704. In one embodiment, the bottom wall of the receptacle 702 is formed as an inclined surface 704, with the outer end of the receptacle 702 being deeper than the inner end. Furthermore, the inclined surface 704 of the receptacle 702 increases from the inner end to the outer end. In addition, the inclined surface 704 of the bottom wall of the receptacle 702 causes articles held inside the receptacle 702 to slide off the inner end due to the inclined surface 704 of the bottom wall and accumulate at the outer end of the receptacle 702, thereby making the outer end of the receptacle 702 deeper than the inner end.

[0042] Furthermore, the receptacle 702 may have a lip 706 extruded from its outer circumference. Here, the lip 706 of the receptacle 702 may act as a support for the outer casing 700 when the receptacle 702 is received within the outer casing 700. Furthermore, the opening of the outer casing 700 may be configured to receive the lip 706 of the receptacle 702, which may rest on the upper edges of the four walls of the outer casing 700. Furthermore, the receptacle 702 may include an NFC tag 708 that is attached to one of the walls of the receptacle 702. In one example, the NFC tag 708 is attached to the outer surface of the outer end wall of the receptacle 702. Furthermore, the NFC tag 708 may be configured to have a plane whose outer surface may be configured to be used as a writing surface or a printing surface. Furthermore, the outer casing 700 may be configured to be made of a transparent or translucent material so that the NFC writing surface or printing surface is visible from the outside of the outer casing 700.

[0043] Furthermore, as can be seen in the figure, the outer casing 700 may have a cavity 710 formed on the inner surface of the bottom wall. The cavity 710 is configured to receive a magnet 336b within the cavity 710. In one example, the inner surface of the bottom wall of the outer casing 700 has a cavity 710 for receiving a magnet 336b. Furthermore, the container rotating device 206 may further include ferromagnetic elements corresponding to the position of the magnet 336b in the outer casing 700 of the article container 204, thereby allowing the article container 204 to be magnetically attached to the container rotating device 206. This not only prevents unwanted movement of the article container 204 on the container rotating device 206 in the X and Y axes, but also prevents any movement of the article container 204 in the Z axis.

[0044] Furthermore, the article container 204 may further include a container lid 712, which may be defined by a top wall 112 and side walls derived from the top wall 112. Furthermore, the container lid 712 may be formed to fit snugly into the upper opening of the receptacle 702. Furthermore, the bottom edge of the side wall of the container lid 712 is configured to rest on the lip 706 of the receptacle 702. In one embodiment, the container lid 712 is used to cover the receptacle 702 of the article container 204 so that the article that the receptacle 702 can hold does not slide out of the article container 204. Furthermore, in another embodiment, the outer casing 700 of the article container 204 receives a magnet 336c in a cavity 710, on which a receptacle 702 is mounted, supported by the lip 706 of the receptacle 702 on the edge of the side wall of the outer casing 700, and a container lid 712 is used to close the top opening of the receptacle 702. Furthermore, the lid may be, but is not limited to, a screw-top lid, a flip-top lid, a sports cap lid, a cork stopper lid, etc.

[0045] Figure 8 is a cross-sectional view of the lower part of the item sorting and dispensing device 100. As can be seen from the figure, the item sorting and dispensing device 100 may include a transfer chute 218. The transfer chute 218 may be used to transfer items when instructed by the user to move through the transfer chute 218. Furthermore, the item sorting and dispensing device 100 may include a chute slide 800 through which items to be transferred to an item holder pass. The chute slide 800 may be connected to a chute outlet 220, thereby forming a path for transferring items using the transfer chute 218, the chute slide 800, and the chute outlet 220. As an example, items to be transferred pass through the path in the order of transfer chute 218, chute slide 800, and chute outlet 220 before being dropped into the item box 122. Furthermore, the housing 120 can accommodate the chute slide 800 and the chute outlet 220, while the transfer chute 218 extends perpendicularly from the axis of the container rotating device 206 toward the housing 120.

[0046] Furthermore, the item sorting and dispensing device 100 may further include a control room 802 capable of housing a control unit 804. The control unit 804 may include a processor 806, a memory unit 808, an internet 810, etc., for controlling the item sorting and dispensing device 100. Furthermore, the item sorting and dispensing device 100 may include item boxes 122 mounted on a box turner 210 inside a housing casing 120. The box turner 210 may be driven by an item box stepping motor 610 connected to the box turner 210 with a set of gears including an item box pinion gear 612. Furthermore, as can be seen from the figure, a notch 608 in the housing casing 120 allows the item boxes 122 to be mounted on the box turner 210, thereby allowing the item boxes 122 inside the housing casing 120 to be mounted on the box turner 210 outside the housing casing 120. Furthermore, the housing 120 may also include a speaker 222, which can provide sound notifications to the user.

[0047] Figure 9 is a perspective view of an unassembled articles box 122 and a box rotating device 210. As can be seen from the figure, the articles box 122 is formed in a relatively circular cross-section. The articles box 122 may have at least one articles section 900. In one embodiment, the articles box 122 may have multiple articles sections 900. Furthermore, the articles box 122 may include a box cover 902 that functions as a lid for the articles box 122. The box cover 902 may be fitted onto the articles box 122 or screwed to the articles box 122, although this is not limited to using a snap fastener. Furthermore, the box cover 902 may be, but is not limited to, a screw-top lid, a flip-top lid, a sports cap lid, a cork stopper lid, etc. Furthermore, the articles box 122 may be attached to the box rotating device 210 using magnets. Furthermore, magnets 336c may be installed on the articles box rotating device 210 in correspondence with the articles box 122 having one or more iron plates installed at its bottom. Alternatively, the magnet 336c may be mounted on the bottom wall of the goods box 122, corresponding to the fact that the ferric plate may be mounted on the box turntable 210. Furthermore, each goods section 900 of the goods box 122 may have an NFC tag mounted on the outer wall of each goods section 900. Correspondingly, the NFC reader 406 may be mounted below the goods box 122. In one example, the NFC reader 406 may be mounted below the goods box turntable 210 so that the NFC reader 406 does not rotate with the goods box 122 or the box turntable 210. Furthermore, the goods box 122 may include a section indicator 904 which may be mounted in the center of the goods box 122, and this section indicator 904 can associate a section number 906 with each section of the goods box 122. This section number 906 may be associated with the goods dispensed in the goods section 900 of the goods box 122. Furthermore, Figure 8 shows a cross-sectional view of the assembled goods box 122 mounted on the turntable for better understanding.

[0048] Figures 10a and 10b are separate perspective views of the locking mechanism 500 of the article sorting and dispensing device 100. As can be seen from the figures, the locking mechanism 500 may include an access door 116 for accessing article containers 204 on the container rotating device 206. As previously mentioned, the access door 116 may be hinged to a projection 502 of the lower support plate 214. The hinge to which the access door 116 is attached to the projection 502 of the lower support plate 214 may be a door hinge 504. The door hinge 504 may include a hinge mount 1000 which functions as a frame 300 to which the components of the door hinge 504 are assembled. The hinge mount 1000 may be attached to the lower support plate 214, through which the access door 116 may be attached to the door hinge 504. In one embodiment, the access door 116 may open outward from the item sorting and dispensing device 100, and the access door 116 may be hinged horizontally using two door hinges 504 on both sides of the access door 116. Furthermore, the access door 116 may be opened and closed using a hinge spring 1002 installed in one of the hinge mounts 1000, allowing the access door 116 to be spring-loaded. Furthermore, the door hinges 504 may include a hinge gear 1004 mounted on the hinge mounts 1000. The hinge gear 1004 may mesh with a similar gear coupled to the access door 116 in the door hinge 504. The hinge gear 1004 may rotate to open and close the access door 116. In one embodiment, the door hinge 504 on one side of the access door 116 may include a wound spring and be mounted on a hinge mount 1000, while the door hinge 504 on the other side may include a hinge gear 1004 mounted on the hinge mount 1000. In one embodiment, a hinge spring 1002 may enable the access door 116 to open and close by spring, and may also enable the access door 116 to have soft opening and closing.

[0049] Furthermore, the access door 116 may further include a door tab 1006 in the upper central portion of the access door 116. The door tab 1006 may engage with the locking mechanism 500 to close the door. Furthermore, the inside of the access door 116 may include a support rib 1008 over the area of ​​the access door 116. The support rib 1008 may act against any deflection or bending that may occur in the access door 116. Furthermore, the locking mechanism 500 may include a lock mount 1010. The lock mount 1010 may function as a frame 300 to which the components of the locking mechanism 500 are assembled. The locking mechanism 500 may be mounted to the front side of the upper support plate 212 using the lock mount 1010. Furthermore, the locking mechanism 500 may include a latch 1012 that engages with the door tab 1006 of the access door 116. Furthermore, the locking mechanism 500 may include a latch pin 1014 on which a latch 1012 pivots, which is mounted on the lock mount 1010. Furthermore, the locking mechanism 500 may include a push button 118 mounted on the lock mount 1010. Furthermore, the push button 118 may be spring-loaded, with a push button spring 1016 wound around the push button 118, thereby allowing the push button 118 to retract to its original position without manual interference.

[0050] Furthermore, the locking mechanism 500 may include a button lever 1018, which can interact with a push button 118 on one side and with a latch 1012 on the other side. Furthermore, the button lever 1018 can rotate on a lever pin 1020, where the button lever 1018 and the lever pin 1020 are mounted on a lock mount 1010. Furthermore, when the push button 118 is pressed, the button lever 1018, in contact with the push button 118, pivots on the lever pin 1020, thereby pressing the latch 1012. When the latch 1012 is pressed by the button lever 1018, it pivots on a latch pin 1014, thereby allowing the latch 1012 to move and engage / disengage with the door tab 1006. Furthermore, the latch 1012 engages / disengages with the door tab 1006, enabling the opening and closing of the access door 116.

[0051] Furthermore, the locking mechanism 500 may further include a solenoid 1022 mounted on the lock mount 1010. The solenoid 1022 may further include a shaft 1024 that reciprocates back and forth each time the solenoid 1022 is energized. Furthermore, one end of the shaft 1024 may be in contact with the latch 1012. This allows the solenoid 1022 to move the shaft 1024 in a direction such that the latch 1012 is pushed by the shaft 1024, thereby pivoting the latch 1012 on the latch pin 1014, thereby causing the latch 1012 to disengage from the door tab 1006. Furthermore, the locking mechanism 500 may further include an electromagnet 1026 mounted on the lock mount 1010. The electromagnet 1026 may be mounted on the lock mount 1010 such that the magnetic surface of the electromagnet 1026 faces the access door 116. Correspondingly, the inside of the access door 116 includes a ferric disc 1028 mounted on the door such that the magnetic surface of the electromagnet 1026 coincides with the ferric disc 1028 mounted on the access door 116. Here, the electromagnet 1026 can magnetically adhere to the ferric disc on the access door 116 each time the electromagnet 1026 is energized. The electromagnet 1026 can close the access door 116 and prevent it from opening while the electromagnet 1026 is energized. Conversely, the door can be opened when the electromagnet 1026 is not energized.

[0052] Furthermore, the item sorting and dispensing device 100 may further include a feedback mechanism 1030. The feedback mechanism 1030 may include, but is not limited to, sensing the movement of the arm 302 of the pick-and-place mechanism 200, the selection of the correct item container 204, the removal of items from the item container 204, the presence of the item box 122 on the box rotating device 210, the open access door 116, and so on. Furthermore, the feedback mechanism 1030 may include an NFC tag 708 and an NFC reader 908. Furthermore, as can be seen from Figure 7b, the feedback mechanism 1030 may include an NFC tag 708 on the receptacle 702 of the item container 204, which may be attached to one of the walls of the receptacle 702. In one example, the NFC tag 708 is attached to the outer surface of the wall at the outer end of the receptacle 702. Furthermore, the NFC tag 708 may be configured to have a plane whose outer surface may be configured to be used as a writing surface or a printing surface. Furthermore, the outer casing 700 may be configured to be made of a transparent or translucent material so that the writing or printing surface of the NFC is visible from the outside of the outer casing 700. In addition, corresponding to the NFC tag 708 on the receptacle 702 of the article container 204, the feedback mechanism 1030 includes an NFC reader 406 near the pickup zone of the arm 302 of the pick-and-place mechanism 200, as can be seen from Figures 2 and 4. The pickup zone is defined by the volume of space occupied by the arm 302 of the pick-and-place mechanism 200 immediately before the arm 302 moves into the article container 204. In one example, the pickup zone is the volume of space around the arm 302 of the pick-and-place mechanism 200 when the arm 302 is fully retracted and the trajectory of the arm 302 on the Z-axis substantially coincides with the opening of the article container 204. Furthermore, the feedback mechanism 1030 may be able to read the NFC tag 708 of each item container 204 via the NFC reader 406 for the unique NFC identification of each item container in order to determine the correct item container 204 required for dispensing the items.

[0053] Furthermore, the feedback mechanism 1030 may include an NFC tag 708 on the item box 122 of the item sorting and dispensing device 100, which may be attached to the bottom wall of each item section 900 within the item box 122. In one example, the NFC tag 708 is attached to the outer surface of the outer end wall of the receptacle 702. Furthermore, the NFC tag 708 may be configured to have a plane whose outer surface may be configured to be used as a writing surface or a printing surface. Furthermore, the item box 122 may be made of a transparent or translucent material so that the NFC writing surface or printing surface is visible to the user. Correspondingly, the feedback mechanism 1030 may include an NFC reader 406 installed below the item box 122, as can be seen in Figure 9. In one example, the NFC reader 406 may be installed below the item box rotator 210 so that the NFC reader 406 does not rotate with the item box 122 or the item box rotator 210. Furthermore, the feedback mechanism 1030 may be able to read the NFC tags 708 of the item sections 900 in the item box 122 via the NFC reader 406 for the unique identification of each item section 900 in order to determine the correct item section 900 required for dispensing the items. In one embodiment, the user may be notified of the items that have been dispensed.

[0054] Furthermore, as can be seen in Figure 4, the feedback mechanism 1030 may further include a Hall effect sensor 1032, which may be located inside the arm cover 404. Correspondingly, the arm 302 of the pick-and-place mechanism 200 may include a magnet 336a placed on the arm, which allows the magnet 336a to move along the arm 302, thereby forming a magnetic field around itself. Furthermore, changes in the magnetic field may be sensed by the Hall effect sensor 1032. In addition, the feedback mechanism 1030 may be able to determine whether the arm 302 has moved by the Hall effect sensor 1032.

[0055] Furthermore, the feedback mechanism 1030 may also include monitoring the current and resistance values ​​of the Z-stepping motor 304 and the vacuum pump 330, specifically the average (or smoothed) value of the resistance supplied to the Z-stepping motor 304 and the vacuum pump 330, which may be preset. In one embodiment, changes in the resistance values ​​of the Z-stepping motor 304 and the vacuum pump 330 determine whether the arm 302 of the pick-and-place mechanism 200 has reached the item container 204 and whether an item has been picked up by the arm. Furthermore, the feedback mechanism 1030 monitors the resistance values ​​of the Z-stepping motor 304 and the vacuum pump 330 so that changes in the current value of the Z-stepping motor can determine whether the arm 302 of the pick-and-place mechanism 200 has reached the bottom of the item container 204. Because the arm 302 may not be able to get over the bottom of the item container 204, an increase in the motor load may cause the resistance value of the current supplied to the Z-stepping motor 304 to change from a predetermined value. Therefore, a change in the resistance value in the current supplied to the Z-stepping motor 304 may indicate that the arm 302 of the pick-and-place mechanism 200 has reached the bottom of the item container 204.

[0056] Furthermore, the feedback mechanism 1030 can also monitor the resistance value of the current supplied to the vacuum pump 330. In one embodiment, changes in the resistance value of the current supplied to the vacuum pump 330 are monitored by the feedback mechanism 1030 to determine whether an item has been picked up by the arm 302 of the pick-and-place mechanism 200, specifically by the nozzle 326 of the arm. When the arm 302 reaches the bottom of the item container 204, the item sorting and dispensing device 100 turns on the vacuum pump 330, generating negative pressure inside the nozzle 326 of the arm 302, enabling the nozzle 326 to perform suction. Here, the feedback mechanism 1030 can monitor the average value (or smoothed value) of the resistance in the current supplied to the vacuum pump 330. Furthermore, the suction at the nozzle tip 328 causes the negative pressure to cause the items in the item container 204 to adhere tightly to the nozzle tip 328. Furthermore, the adhesion of items to the nozzle tip 328 changes the load on the vacuum pump 330, which may cause the resistance value of the current supplied to the vacuum pump 330 to change from a predetermined value. Therefore, a change in resistance in the current supplied to the vacuum pump 330 may indicate that an article has been picked from the article container 204 by the nozzle 326 of the arm 302.

[0057] Furthermore, the feedback mechanism 1030 may further include an infrared transmitter and an infrared receiver. The infrared sensor may be mounted below the box rotating device 210. Furthermore, the infrared receiver may be mounted inside the housing 120 and on the top wall 112. Furthermore, the box rotating device 210 and the housing 120 are configured so that infrared red light can travel from the infrared transmitter to the infrared receiver without interference or obstruction. Furthermore, the item rotating device may be configured to hold a cup 1034 or other item container 204 of similar shape without the NFC tag 708, so that the infrared transmitter can detect the presence of such a cup 1034 on the box rotating device 210. Furthermore, when such a cup 1034 is placed on the box rotating device 210, the infrared light transmitted by the infrared transmitter may be blocked, thereby allowing the feedback mechanism 1030 to determine that the cup 1034 has been placed on the box rotating device 210, regardless of feedback from the NFC reader 406.

[0058] Furthermore, the feedback mechanism 1030 may further include an optical sensor. The optical sensor may include, but is not limited to, sensing the size of an article, the shape of an article, the texture of an article, the number of articles, etc. Furthermore, the optical sensor may be mounted on the upper support plate 212 and the lower support plate 214. In one embodiment, the optical sensor of the feedback mechanism 1030 may be mounted on the lower surface of the upper support plate 212, and the optical sensor may face the container rotating part 206. Furthermore, in one embodiment, the optical sensor of the feedback mechanism 1030 may also be mounted on the bottom surface of the lower support plate 214, and the optical sensor may face the box rotating device 210. The optical sensor of the feedback mechanism 1030 may be, but is not limited to, a gas tube optical sensor, a photovoltaic solar cell, a semiconductor optical sensor (photodiode), an infrared sensor, a CMOS sensor, a camera sensor, etc. In one embodiment, the optical sensor of the feedback mechanism 1030 includes a camera sensor. In one embodiment, the feedback mechanism 1030 may also include a gyro sensor for determining the change in the rotation angle of the item sorting and dispensing device 100 per unit time, thereby determining whether or not there has been a tilt in the position of the item sorting and dispensing device 100.

[0059] Figure 11 shows a block diagram of the item sorting and dispensing device 100. As can be seen from the figure, the item sorting and dispensing device 100 may include a control unit 804 that controls the operation of the device. The control unit 804 may include, but is not limited to, a processor 806, a memory unit 808, and a communication interface 1100. The processor 806 may be a general-purpose single-chip or multi-chip microprocessor 806 (e.g., ARM (Advanced RISC (Reduced Instruction Set Computer) machine)), a special-purpose microprocessor 806 (e.g., DSP (Digital Signal Processor)), a microcontroller, a programmable gate array, etc. Although only a single processor 806 is shown in the item sorting and dispensing device 100 in Figure 11, alternative configurations may use a combination of processors 806 (e.g., ARM302 and DSP).

[0060] The control unit 804 also includes a memory unit 808 that electronically communicates with the processor 806. The memory unit 808 can be any electronic component capable of storing electronic information. For example, the memory unit 808 can be embodied as a random access memory unit 808 (RAM), a read-only memory unit 808 (ROM), a magnetic disk storage medium, an optical storage medium, a flash memory unit 808 device in RAM, an onboard memory unit 808 included in the processor 806, an erasable programmable read-only memory unit 808 (EPROM), an electrically erasable programmable read-only memory unit 808 (EEPROM) memory unit 808, a register, and combinations thereof.

[0061] In one embodiment, the memory unit 808 contains instructions for the processor 806 to operate the item sorting and dispensing device 100 as instructed. Furthermore, the memory unit 808 of the control unit 804 may include a module having instructions for the processor 806 to execute. In one embodiment, the memory unit 808 of the control unit 804 may include a pick-and-place module 1102, a feedback module 1104, a lock module 1106, and a rotating module 1108. Correspondingly, the control unit 804 can electronically communicate with the pick-and-place mechanism 200, the item box assembly 606, the container assembly 202, the lock mechanism 500, and the feedback mechanism 1030. Furthermore, the control unit 804 of the pick-and-place mechanism 200 may electronically communicate with the database 1110 via the internet 810. Furthermore, the control unit 804 may electronically communicate with a user interface 1114 for user interaction. Furthermore, in one embodiment, the communication interface 1100 may be operably connected to the database 1110 via the internet 810. Furthermore, the database 1110 may be a storage device 808 for remotely storing data acquired from the item sorting and dispensing device 100, and may include data necessary to instruct the item sorting and dispensing device 100.

[0062] In one embodiment, the operation of the pick-and-place mechanism 200 is controlled by instructions contained in the pick-and-place module of the storage unit 808 of the control unit 804. Similarly, the operation of the container assembly 202 and the goods box assembly 606 is controlled by instructions contained in the rotary module 1108 of the storage unit 808 of the control unit 804. Furthermore, the operation of the locking mechanism 500 is controlled by instructions contained in the rotary module 1108 of the storage unit 808 of the control unit 804. Furthermore, the feedback mechanism 1030 is controlled by instructions contained in the feedback module 1104 of the storage unit 808 of the control unit 804. Furthermore, the feedback mechanism 1030 is operably connected to each of the pick-and-place mechanism 200, the container assembly 202, the goods box assembly 606, and the locking mechanism 500.

[0063] Furthermore, various components of a computer system may be connected by one or more buses, which may include power buses, control signal buses, status signal buses, data buses, and so on. For clarity, various buses are illustrated as bus system 1112 in Figure 11.

[0064] Instructions and data may be stored in the storage unit 808, or they may be stored in a database 1110 which can electronically communicate with the control unit 804 via the internet 810 through the communication interface 1100. The module is executable by the processor 806 and can perform some or all of the functions disclosed herein. Execution of instructions may involve the use of data stored in the storage unit 808. Any of the various examples of modules and components described herein may be implemented, in part or in whole, as instructions stored in the storage unit 808 and executed by the processor 806. Any of the various examples of data described herein may be included in the data stored in the storage unit 808 and used during the execution of instructions by the processor 806.

[0065] Figure 12 is a block diagram showing an item sorting and dispensing device 100 communicating with a database 1110 and other computing devices 1200. As can be seen from the figure, the item sorting and dispensing device 100 may include a pick-and-place mechanism 200, a container assembly 202, an item box assembly 606, a locking mechanism 500, a feedback mechanism 1030, a user interface 1114, and a control unit 804. The item sorting and dispensing device 100 may communicate electronically with other computing devices 1200 using the Internet 810. Furthermore, the item sorting and dispensing device 100 may communicate electronically with the database 1110. In one example, the database 1110 maintains records related to the dispensing of small items and stores data. Furthermore, the database 1110 may store data related to time schedules, user information, user history, dispensing history, etc., but is not limited to these.

[0066] Figure 13 shows a flowchart of the process related to filling or refilling small items in the item sorting and dispensing device 100.

[0067] Step 1300 indicates the start of the process for filling / refilling the article container 204.

[0068] Step 1302 indicates that a filling command has been received by the control unit 804 of the item sorting and dispensing device 100. The command may be generated by a user using the computing device 1200 or using the touchscreen 126 of the item sorting and dispensing device 100. Furthermore, the control unit 804 may also generate a loading command based on the command received by the processor 806 from the storage unit 808 of the control unit 804. The control unit 804 may access the database 1110 to determine whether the item container 204 is empty or not.

[0069] Step 1304 describes the step in which the control unit 804 accesses the database 1110 to find an empty item container 204. The storage unit 808 of the control unit 804 records each time an item container 204 becomes empty and sends that information to the database 1110 for recording. The information sent may include a unique identification of the item container 204, along with additional data related to the items and the item container 204, such as the time it became empty, the type of items it contains, a time schedule associated with a particular item, and the position of the item container 204 on the container turntable 206. Once the control unit 804 has identified an empty item container 204, the control unit 804 further determines the direction of rotation of the container turntable 206 so that the required item container 204 can be positioned right next to the access door 116 of the item sorting and dispensing device 100.

[0070] Step 1306 indicates the step in which the control unit 804 instructs the container rotating device 206 to rotate. Furthermore, the control unit 804 determines the shortest distance between the empty article container 204 and the access door 116 of the article sorting and dispensing device 100, and instructs the container rotating device 206 to rotate in the determined direction.

[0071] Step 1308 describes the step of unlocking the access door 116. When the container rotator 206 rotates so that an empty goods container 204 is adjacent to the access door 116, the control unit 804 instructs the locking mechanism 500 to disengage the electromagnet 1026. Furthermore, the locking mechanism 500 cuts off the supply of current to the electromagnet 1026, thereby disengaging the electromagnet 1026 from the ferric disc 1028 attached to the access door 116. Furthermore, after the electromagnet 1026 is disengaged, the door can be opened by pressing the push button 118. Alternatively, an external computing device capable of electronically communicating with the goods sorting and dispensing device 100 via the Internet 810 may be used to instruct the control unit 804 to open the access door 116. In such a case, the control unit 804 may instruct the locking mechanism 500 to energize the solenoid 1022 to press the latch 1012 of the locking mechanism 500, thereby causing the access door 116 to open automatically.

[0072] Step 1310 indicates the step of removing and filling an empty goods container 204. Once the access door 116 of the goods sorting and dispensing device 100 is opened, the goods container 204 may be removed and filled with goods needed for later dispensing. At the time the access door 116 is opened, the control unit 804 does not instruct the pick-and-place mechanism 200. Furthermore, small items may be filled / refilled into the empty goods container 204. This step includes removing the empty goods container 204 from the container turner 206 of the goods sorting and dispensing device 100, removing the receptacle 702 from the outer casing 700, filling the receptacle 702 with small items, writing the details of the small items on the writable / printable surface of the NFC tag 708 on the receptacle 702, returning the filled receptacle 702 to the outer casing 700, and returning it to the container turner 206 through the opened access door 116.

[0073] Step 1312 indicates the step in which the access door 116 is closed. Furthermore, once the control unit 804 recognizes that the locking mechanism 500 is engaged with the door tab 1006 of the access door 116, the control unit 804 instructs the feedback mechanism 1030 to check whether the article container 204 is in place.

[0074] Step 1314 indicates the step in which the control unit 804 identifies the inserted article container 204. Furthermore, the control unit 804 instructs the container rotator 206 to rotate and causes the feedback mechanism 1030 to read the NFC tag 708 of the article container 204 using the NFC reader 406. This allows the control unit 804 to confirm whether a new article container 204 with a new unique identification has been added, or whether an existing article container 204 has been removed from the container rotator 206. In one embodiment, the article sorting and dispensing device 100 may notify the user when an article container 204 is removed from or added to the container rotator 206, and a record of such activity is maintained in the database 1110. Furthermore, the articles in the article container 204 are assigned to the unique identification of the article container 204.

[0075] Step 1316 describes the step of assigning small items to the item container 204. In this step, once the control unit 804 identifies that the access door 116 has been closed and the item containers 204 have been rescanned for their NFCIDs, the control unit 804 prompts a notification on the touchscreen 126 of the item sorting and dispensing device 100 or on a remote computing device 1200 to ask the user for details about the items filled / refilled into the item container 204 to be designated. The data about the items entered by the user may include data relating to the time of filling / refilling, the types of items contained, the time schedule associated with the items, and the position of the item container 204 on the container turntable 206.

[0076] Step 1318 describes the step of storing data related to the item container 204 in the database 1110. In this step, the control unit 804 stores the data related to the item container 204 in the storage unit 808 and transfers the data in modified or unmodified form to the database 1110, which is electronically communicable with the item sorting and dispensing device 100 via the internet 810.

[0077] Furthermore, step 1320 indicates the end of the process for filling or refilling the item sorting and dispensing device 100 with small items.

[0078] Figure 14 is a flowchart illustrating the steps taken when the item dispensing mechanism receives a dispensing order. The order may be generated by a user using the computing device 1200 or using the touchscreen 126 of the item sorting and dispensing device 100. Furthermore, the control unit 804 may also generate an order to dispense items based on a time schedule stored in the storage unit 808 for dispensing orders, based on an order received by the processor 806 from the storage unit 808 of the control unit 804. Before executing the dispensing order, the control unit 804 may access the database 1110 to determine whether the item container 204 is empty or not.

[0079] Step 1400 indicates the start of the process by which the item sorting and dispensing device 100 dispenses items.

[0080] Step 1402 indicates a step in which the control unit 804 checks whether the access door 116 is closed. In this step, the control unit 804 checks the locking mechanism 500 to see if the locking mechanism 500 is engaged and whether the access door 116 is closed and locked. The control unit 804 checks the locking mechanism 500 to see if the electromagnet 1026 is locked, monitors the current value and resistance value of the electromagnet 1026 to determine whether the access door 116 is locked and proceeds to step 1408. If it is not locked, the control proceeds to step 1406.

[0081] Step 1406 indicates a step in which the control unit 804, once it determines that the access door 116 is open, prompts the user to close the access door 116 in order to further the dispensing process, which involves interacting with the item sorting and dispensing device 100 using the user interface 1114 enabled by the touchscreen 126. Alternatively, the user may interact with a remote computing device 1200 that is electronically communicating with the control unit 804 via the Internet 810 and instruct the item sorting and dispensing device 100 to automatically close the access door 116 upon user intervention. Alternatively, the user may close the access door 116 manually.

[0082] Step 1408 describes a step in which the control unit 804 checks whether the item box 122 is in a predetermined position. In this step, the control unit 804 uses a feedback mechanism 1030 to confirm whether the item box 122 has been placed on the item box turner 210. In one embodiment, the item box assembly 606 may be configured to hold the item box turner 210 or a cup 1034 or other container of similar shape without an NFC tag 708, so that the presence of such a cup 1034 on the item box turner 210 can be detected by an infrared transmitter. Furthermore, by placing such a cup 1034 on the item box turner 210, the infrared light transmitted by the infrared transmitter may be blocked, thereby allowing the feedback mechanism 1030 to determine that the cup 1034 has been placed on the item box turner 210. If the item box 122 is detected on the item box turner 210, the flow proceeds to step 1412; otherwise, it proceeds to step 1410. Step 1410 indicates a step in which the control unit 804 requests the user to place the item box 122 onto the box turntable 210. In this step, if the control unit 804 determines that the item box 122 is not on the box turntable 210, it requests the user to place the item box 122 or cup 1034 onto the box turntable 210, enabling the item sorting and dispensing device 100 to dispense the items from the item box 122 or cup 1034. Furthermore, the control unit 804 may request the user to place the item box 122 on the box turntable 210 to further the dispensing process by notifying the user via the user interface 1114, which is implemented by the touchscreen 126. Alternatively, the control unit 804 may communicate with the user using a remote computing device 1200 that can electronically communicate with the control unit 804 via the Internet 810 and notify the user of the same. Furthermore, the user may manually place the item box 122 onto the box turntable 210.

[0083] Step 1412 indicates a step in which the control unit 804 determines whether the item sorting and dispensing device 100 is standing or placed upright. In one example, the feedback mechanism 1030 may include a gyro sensor for determining the change in the rotation angle of the item sorting and dispensing device 100 per unit time, thereby determining whether the position of the item sorting and dispensing device 100 has been tilted. Furthermore, the control unit 804 can use the feedback mechanism 1030 to confirm whether the item sorting and dispensing device 100 is upright or not. If so, proceed to step 1416; otherwise, proceed to step 1414.

[0084] Step 1414 indicates a step in which the control unit 804 prompts the user to place the item sorting and dispensing device 100 in an upright position. In this step, once the control unit 804 determines that the item sorting and dispensing device 100 is in an upright position, the control unit 804 may prompt the user to place the item sorting and dispensing device 100 in an upright position to further the dispensing process by notifying the user via the user interface 1114, which is enabled by the touchscreen 126. Alternatively, the control unit 804 may communicate with the user using a remote computing device 1200 that can electronically communicate with the control unit 804 via the Internet 810 and notify the user of the same. Furthermore, the user may manually adjust the position of the item sorting and dispensing device 100.

[0085] Step 1416 describes the step in which the control unit 804 of the item sorting and dispensing device 100 accesses the database 1110 to identify the items to be dispensed, the unique identification of the item container 204 associated with the items to be dispensed, the time schedule associated with the items to be dispensed, the location of the item container 204, and so on.

[0086] Step 1418 describes the step in which the container rotator 206 rotates to enable the pickup of articles from the article containers 204. When the control unit 804 identifies the unique identification of an article container 204 for an article to be dispensed from the database 1110, the control unit 804 instructs the container rotator 206 to rotate so that the identified article container 204 is directly below the pickup zone of the pick-and-place mechanism 200. Alternatively, the control unit 804 may also instruct the container rotator 206 to rotate until an article container 204 containing the article is identified, and to scan the unique identification information of each article container 204.

[0087] Step 1420 indicates the step in which the vacuum pump 330 is turned on. When the control unit 804 determines that the article container 204 is placed under the pick-up zone of articles to be picked up by the pick-and-place mechanism 200, the control unit 804 of the article sorting and dispensing device 100 turns on the vacuum pump 330, thereby generating negative pressure at the nozzle tip 328 of the arm 302 of the pick-and-place mechanism 200. Step 1422 represents a step of monitoring the current and resistance values ​​supplied to the vacuum pump 330 and the Z-stepping motor 304. In one embodiment, the feedback mechanism 1030 includes monitoring the current and resistance values ​​of the Z-stepping motor 304 and the vacuum pump 330, specifically the average (or smoothed) value of the resistance supplied to the Z-stepping motor 304 and the vacuum pump 330, which may be predetermined, as instructed to the feedback mechanism 1030 by the control unit 804. These values ​​are stored in the memory unit 808 of the control unit 804.

[0088] Step 1424 indicates the step in which the arm 302 of the pick-and-place mechanism 200 descends. At this point, the control unit 804 begins monitoring the current and resistance values ​​of the vacuum pump 330 and the Z-stepping motor 304, and instructs the pick-and-place mechanism 200 to move in the X-axis direction to the pickup zone. Furthermore, when the control unit 804 determines that the pick-and-place mechanism 200 has reached the pickup zone, it instructs the pick-and-place mechanism 200 to descend the arm 302 in the Z-axis direction into the identified item container 204.

[0089] Step 1426 indicates whether the nozzle tip 328 of the nozzle 326 has made contact with an article or reached the bottom of the article container 204. As the arm 302 of the pick-and-place mechanism 200 descends in the X-axis direction into the article container 204, the control unit 804 compares the existing current and resistance values ​​with those of the Z-stepping motor 304 to determine if there has been a change in the values. In one example, the control unit 804 monitors the smoothed or average values ​​of the current and resistance of the vacuum pump 330 and the Z-stepping motor 304. A change in the current and resistance values ​​of the Z-stepping motor 304 observed by the control unit 804 indicates that the nozzle 326 of the arm 302 has made contact with an article or reached the bottom of the article container 204 and cannot proceed further down, which may lead to step 1428. Furthermore, if the control unit 804 does not observe any change in the current and resistance values ​​of the Z-stepping motor 304, it indicates that the nozzle 326 of the arm 302 of the pick-and-place mechanism 200 has not reached the bottom surface of the article container 204 or is in contact with the article, and the process may proceed to step 1430.

[0090] Step 1428 indicates a step in which the arm 302 of the pick-and-place mechanism 200 moves upward in the Z-axis direction. In this step, the control unit 804 instructs the pick-and-place mechanism 200 to move the arm 302 upward on the Z-axis for a second attempt to pick up an item from the item container 204. Furthermore, the control unit 804 may also instruct the pick-and-place mechanism 200 to move in the X-axis direction such that the pickup position of the pick-and-place mechanism 200 in the X-axis direction is different from the position of the arm 302 described in step 1410.

[0091] Step 1430 indicates whether an article has been picked up from the article container 204 by the nozzle tip 328 of the nozzle 326. When the arm 302 of the pick-and-place mechanism 200 is lowered into the article container 204, the control unit 804 compares the existing current and resistance values ​​with those of the vacuum pump 330 to determine if there has been a change in the values. A change in the current and resistance values ​​of the vacuum pump 330 observed by the control unit 804 may indicate that the nozzle 326 of the arm 302 has made contact with an article, the article has been picked up by the nozzle tip 328, and the process proceeds to step 1420. Furthermore, if the control unit 804 does not observe a change in the current and resistance values ​​of the vacuum pump 330, it may indicate that the article has not been picked up, and the process proceeds to step 1416. Furthermore, the steps of the arm nozzle 326 descending to strike the bottom of the receptacle 702 of the article container 204, and the steps of the arm nozzle 326 rising to reposition for another trial, are periodic processes and may be limited to a predetermined number of cycles. In one embodiment, if the number of cycles exceeds a predetermined number, the control unit 804 identifies the article container 204 as empty.

[0092] Step 1432 describes the step of moving the arm 302 of the pick-and-place mechanism 200 to the drop zone. Here, the control unit 804 instructs the pick-and-place mechanism 200 to retract the arm 302 in the X-axis direction and move the pick-and-place mechanism 200 to the drop zone in the X-axis direction. The drop zone can be defined by the volume of space occupied by the arm 302 of the pick-and-place mechanism 200 where the items are dropped into the transfer chute 218. In one example, the drop zone is the volume of space around the arm 302 of the pick-and-place mechanism 200 when the arm 302 is fully retracted and the trajectory of the arm 302 in the Z-axis coincides with the axis of the transfer chute 218.

[0093] Step 1434 indicates the step in which the nozzle 326 drops the picked-up item into the transfer chute 218. In this step, when the control unit 804 identifies that the pick-and-place mechanism 200 is in the drop zone, it further instructs the pick-and-place mechanism 200 to turn off the vacuum pump 330, thereby equalizing the pressure between the nozzle 326 and the picked-up item to atmospheric pressure, allowing the item to detach from the nozzle 326 and fall into the transfer chute 218 below the drop zone. Once the item has fallen into the transfer chute 218, it moves through the transfer chute 218 to the chute slide 800, and finally through the chute exit 220 before finally falling into the item box 122.

[0094] Step 1436 describes the step in which the control unit 804 notifies the user that an item has been dispensed. In this step, once the control unit 804 identifies that the item has been dispensed into the item box 122, the control unit 804 instructs the feedback mechanism 1030 to notify the user of the dispensed item by sounding the speaker 222 or flashing the touchscreen 126. In one embodiment, the feedback mechanism 1030 notifies the user of the dispensed item by sounding the speaker 222 and flashing the touchscreen 126. Alternatively, in another embodiment, the control unit 804 notifies the user by generating a notification on a remote computing device 1200 that is electronically communicating with the item sorting and dispensing device 100 via the internet 810. Next, the user can choose to accept, ignore, or skip the notification by interacting with the user interface 1114 enabled by the touchscreen 126, or by interacting with the remote computing device 1200.

[0095] Step 1438 describes the step in which the control unit 804 saves the event to the database 1110. In this step, when the control unit 804 of the item sorting and dispensing device 100 receives an instruction that a dispensing notification has been accepted, ignored, or skipped, the processor 806 of the control unit 804 saves the dispensing event to the storage unit 808 of the control unit 804, where the event details include, but are not limited to, the dispensing time, the user's response, the number of items dispensed, the unique identification of the item container 204 from which the items were dispensed, the number of items dispensed from the last refill, and the updated time schedule of the items. Furthermore, the processor 806 of the control unit 804 may also update the event on the database 1110, which is electronically communicable with the control unit 804 of the item sorting and dispensing device 100.

[0096] Step 1440 marks the end of the flowchart illustrating the steps taken when the item dispensing mechanism receives a dispensing command. In one embodiment, the item sorting and dispensing device 100 can dispense multiple items under a single dispensing request.

[0097] As used herein, “user interface” generally refers to a system through which a user interacts with an item dispenser. A user interface may include inputs that enable a user to operate the item dispenser, and may include outputs that enable the item dispenser to present information (e.g., electronic text) and / or data, demonstrate the effects of user actions, etc. An example of a user interface on a computing device includes a graphical user interface (GUI) that enables a user to interact with the program in more ways than typing. A GUI can generally provide display objects and visual indicators, as opposed to text-based interfaces, typed instruction labels, or text navigation to represent information and actions available to the user. For example, a user interface may be a display window or display object selectable by the user of the item dispenser for interaction. Display objects can be displayed on the display screen of the item dispenser and can be selected and interacted with by the user using the user interface. As an example, the display of the item dispenser may be a touchscreen capable of displaying display icons. The user can press an area of ​​the display screen where a display icon is displayed in order to select a display icon. In another example, the user may use other suitable interfaces of the item dispensing device, such as a keypad, to select display icons or display objects. For example, the user may use a trackball or arrow keys to move a cursor and highlight and select display objects. In yet another example, the user may use a point-and-click device, such as a computer mouse, to select display objects.

[0098] The operating environments in which embodiments of this disclosure may be implemented are also well known. In typical embodiments, a mobile electronic device such as an e-book reader can be connected to different transmission functions (e.g., via WAP) depending on the implementation. Thus, for example, if the operating environment is a wide-area wireless network (e.g., a 2.5G network, a 3G network, or a 4G network), the transmission function consists of one or more components such as a Mobile Switching Center (MSC) (an extended ISDN switch responsible for handling calls from mobile subscribers), a Visitor Location Register (VLR) (an intelligent database that transiently stores the data necessary to process calls set up or received by mobile devices registered in the VLR), a Home Location Register (HLR) (an intelligent database responsible for managing records for each subscriber), one or more base stations (providing wireless coverage in a cell), a Base Station Controller (BSC) (a switch that acts as a local concentrator for traffic and provides local switching to enable handover between base stations), and a Packet Control Unit (PCU) (a device that isolates data traffic coming from mobile devices). The HLR also controls specific services related to incoming calls. Of course, embodiments relating to this disclosure can also be implemented in other, next-generation mobile networks and devices. A mobile device is a physical device used by an end user (typically a subscriber to a wireless network). Typically, a mobile device is a 2.5G, 3G, or 4G compliant device that includes a subscriber ID module (SIM), which is a smart card carrying subscriber-specific information; a mobile device (e.g., a radio and associated signaling devices); a user interface (or man-machine interface (MMI)); and one or more interfaces to external devices (e.g., a computer, tablet, smartphone, phablet, PDA, etc.). The electronic device may further include memory or a data store.

[0099] In this specification, the term “computing device” should be interpreted broadly. It may include any type of device capable of dispensing articles as described herein. For example, a computing device or article dispensing device may be portable. A computing device or article dispensing device may be a wireless data access device capable of sending and receiving data wirelessly using protocols such as Internet Protocol (IP) and Wireless Application Protocol (WAP). This allows users to access information wirelessly. Wireless data access is supported by many wireless networks, including but not limited to 2G, 3G, 4G, and LTE technologies such as CDPD, CDMA, GSM, PDC, PHS, TDMA, FLEX, ReFLEX, iDEN, TETRA, DECT, DataTAC, Mobitex, and EDGE, and operates on many handheld device operating systems such as PalmOS, EPOC, Windows, FLEXOS, OS / 9, JavaOS, iOS, and Android. Generally, these devices use a graphical display and can access the internet (or other communication networks) with a so-called mini-browser or micro-browser. A mini-browser is a world-wide web browser with a small file size that can accommodate the limited memory constraints of mobile wireless devices.

[0100] The control unit of the item dispensing device may also include one or more communication interfaces for communicating with other electronic devices. The communication interfaces may be based on wired communication technology, wireless communication technology, or both. Examples of communication interfaces include Universal Serial Bus (USB), Ethernet adapters, wireless adapters operating according to the IEEE 802.11 wireless communication protocol, Bluetooth® wireless communication adapters, and infrared (IR) communication ports. The computer system may also include one or more input devices and one or more output devices. Examples of input devices include keyboards, mice, microphones, remote control devices, buttons, joysticks, trackballs, touchpads, and light pens. Examples of output devices include speakers and printers. One particular type of output device typically included in a computer system is a display device. Display devices used with the embodiments disclosed herein may utilize any suitable image projection technology, such as liquid crystal displays (LCDs), light-emitting diodes (LEDs), gas plasma, and electroluminescence. Furthermore, a display controller may be provided to convert the data stored in memory into text, graphics, and / or moving images (as appropriate) that can be displayed on a display device.

[0101] The technologies described herein may be implemented in hardware, software, firmware, or any combination thereof, unless otherwise specified, in a particular manner. Furthermore, functions described as modules, components, etc., may be implemented together in an integrated logical device, or individually as separate, but interoperable logical devices. When implemented in software, the technology can be at least partially realized by a non-transient, processor-readable storage medium containing instructions that, when executed by at least one processor, perform one or more of the methods described herein. These instructions can be organized into routines, programs, objects, components, data structures, etc., which may perform specific tasks and / or implement specific data types, and may be combined or distributed as desired in various embodiments.

[0102] As used herein, non-transient computer-readable storage media (devices) may include RAM, ROM, EEPROM, CD-ROM, solid-state drives ("SSDs") (e.g., RAM-based), flash memory, phase-change memory ("PCM"), other types of memory, other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, or any other media that can be used to store desired program code means in the form of computer-executable instructions or data structures and can be accessed by a general-purpose computer or a special-purpose computer.

[0103] The steps and / or operations of the methods described herein may be interchanged without departing from the claims. In other words, unless a particular order of steps or operations is required for the proper operation of the described method, the order and / or use of any particular steps and / or operations may be changed without departing from the claims.

[0104] The term "decision" encompasses a wide variety of actions, and therefore, a "decision" may include calculation, computation, processing, derivation, investigation, lookup (e.g., looking up in a table, database, or other data structure), confirmation, etc. A "decision" may also include reception (e.g., receiving information), access (e.g., accessing data in memory), etc. Furthermore, a "decision" may include resolution, selection, choice, establishment, etc.

[0105] The terms “equipped with,” “included,” and “possessing” are intended to be inclusive and mean that additional elements other than those listed may exist. Furthermore, it should be understood that any reference in this disclosure to “one embodiment” or “an example” is not intended to be construed as excluding the existence of additional embodiments that also incorporate the mentioned features. For example, any element or feature described in relation to one embodiment of this specification may be combined with any element or feature of any other embodiment described herein, provided that they are compatible.

[0106] This disclosure may be embodied in other specific forms without departing from its spirit or features. The embodiments described are illustrative and not restrictive. Accordingly, the scope of this disclosure is indicated by the appended claims rather than by the above description. Any changes that fall within the meaning and equivalence of the claims shall be included in the claims.

Claims

1. A pick-and-place mechanism comprising a nozzle with a replaceable tip and a tank that is in fluid communication with the nozzle by at least one conduit, wherein the pick-and-place mechanism is configured to move the nozzle in a translational and rotational direction with respect to at least one axis, An article container for holding at least one article, the article container being configured to rotate around a predetermined axis, The system includes a control unit that electronically communicates with the pick-and-place mechanism, The control unit is At least one processor, A memory unit having a module for storing instructions and communicating electronically with the processor, The system includes the pick-and-place mechanism, the article container, and a feedback mechanism that electronically communicates with the control unit, Here, the instruction is executed by the processor such that the article is picked up by the nozzle and dispensed from the article container. The article sorting and dispensing device is characterized in that the feedback mechanism generates feedback for the control unit indicating the position of the article container and the current and resistance values ​​of the pick-and-place mechanism.

2. The article sorting and dispensing apparatus according to claim 1, further comprising a vacuum pump having a tank for the pick-and-place mechanism, wherein the tank is configured to contain high-pressure fluid and low-pressure fluid, and is configured to increase or decrease the air pressure in the nozzle.

3. The article sorting and dispensing device according to claim 1, characterized in that the article container has an inclined shape in which the article container at the first end is more inclined than the article container at the second end, and the inclination of the article container increases from the first end to the second end of the article container.

4. The article sorting and dispensing device according to claim 1 further includes an article container and a container rotating device configured to hold the article container, wherein the container rotating device is configured to rotate about a predetermined axis by a Y-stepping motor and to hold the article container in a predetermined position during rotation.

5. The article sorting and dispensing device according to claim 1, further comprising an article box assembly configured to receive articles dispensed from a pick-and-place mechanism, wherein the article box assembly comprises an article box and an article box rotating device configured to hold the article box, wherein the article box rotating device is configured to rotate about a predetermined axis by an article box stepping motor and to hold the article box in a predetermined position while rotating.

6. The article sorting and dispensing device according to claim 5, characterized in that the feedback mechanism includes an NFC tag, an NFC reader, an optical sensor, a Hall effect sensor, a magnet, and a sensor and converter configured to monitor the position of the article container and the article box, and to monitor the current value and resistance value of the pick-and-place mechanism.

7. The article sorting and dispensing apparatus according to claim 1, characterized in that the storage device of the control unit electronically communicates with a database stored on a remote server via the Internet, and the database is configured to store article characteristics, rules and time schedules for dispensing articles, events during dispensing, dispensing instructions, user data and user history, filling / refilling times, types of articles contained, time schedules related to articles, and data related to the position of article containers on a container rotating device and similar items.

8. The article sorting and dispensing apparatus according to claim 2, characterized in that the feedback mechanism monitors the current value and resistance value of the vacuum pump to identify that the article has been picked up by the nozzle.

9. The article sorting and dispensing device according to claim 1, further comprising a locking mechanism consisting of a mechanical lock and an electromechanical lock.

10. A pick-and-place mechanism comprising a nozzle with a replaceable tip, a tank in fluid communication with the nozzle by at least one conduit, the pick-and-place mechanism configured to move the nozzle in translational and rotational directions along at least one axis, and at least one article container for holding at least one article, The steps include providing the pick-and-place mechanism, the article container, and a feedback mechanism that electronically communicates with the control unit, A step of moving the pick-and-place mechanism in the X-axis direction, wherein the pick-and-place mechanism is configured to move in the X-axis direction, and the nozzle of the pick-and-place mechanism is configured to move in the Z-axis direction, The steps include rotating the item container around an axis so that it aligns with the nozzle of the pick-and-place mechanism, The steps include moving the nozzle of the pick-and-place mechanism in the Z-axis direction and inserting it into the article container, The process involves executing commands stored in a control unit that electronically communicates with the pick-and-place mechanism and the article, the article being picked up by the nozzle and dispensed from the article container, The steps include generating feedback for the control unit via the feedback mechanism to monitor the position of the article container and whether or not the article has been picked up by the nozzle, A method for dispensing articles, characterized by including the following:

Images