Description

The invention relates to a vending machine for dispensing food products such as fresh, fully or partially prepared products and meat products, such as smoothies, burgers, sausages, steaks, etc.

Vending machines, are machines that usually dispense a chosen product after payment. Typically, vending machines are placed in places where many consumers pass by and where mostly manned sales are not possible or not profitable. Sometimes they are also used as a complement to manned sales and sometimes vending machines are also used to sell products with a lower turnover rate, such as cans of soft drinks at a canteen.

Vending machines are typically used to sell sweets, soft drinks (cans and sometimes packets) or (hot) snacks. A characteristic feature of a vending machine is that the products offered in it are usually not fresh, meaning they are either long- (shelf)life products that can be sold like soft drinks or sealed sweets up to a long time under various conditions. Although there are also vending machines set up, and used for dispensing fresh food such as fresh sandwiches, fresh eggs and freshly harvested vegetables, the extent to which this refers to fresh is mostly relative. After all, the eggs have been placed in the vending machine some time before, as have the vegetables. Moreover, the bread rolls are pre-baked (finished) before they enter the vending machine and, when the user buys them, it is difficult to determine how long it has been since the bread was baked, making the degree of freshness difficult to establish.

Vending machines are therefore mostly used for the sale and dispensing of relatively long shelf-life and especially suitable products and are not or insufficiently suitable for dispensing a wide variety of products, very fresh products or products prepared on site. There is therefore a need for an improved vending machine that meets or at least partially meets this need.

In a first aspect, this goal is achieved with a vending machine for dispensing food products, comprising: an enclosure comprising wall sections and an electronic control panel for input by a vending machine user,; a plurality of shelves for stocking one or more types of food products; a dispensing element arranged for dispensing one of said food product chosen by the user; a manipulator arranged for moving said user-selected food product from one of the plurality of shelves to the dispensing element, the manipulator comprising a gripper, a drive shaft and a drive unit comprising a motor, wherein the manipulator is arranged to be contained between at least two opposing wall portions of the housing for manipulating with the gripper within the housing the selected food product about at least a first and second axis and wherein the manipulator includes at two ends of the drive shaft and near the two opposite wall portions a magnet for realizing a magnetic attracting force between the manipulator and one or more magnets on a toothed belt of the first drive unit included in the housing, so that when the toothed belt is driven by the motor of the first drive unit, the gripper can manipulate the selected product over the first and second axes and the selected product can be moved from one shelf to the dispensing element.

The vending machine according to the present description is characterized in that it comprises a manipulator which has a number of advantages over the manipulators currently known in vending machines. Currently known manipulators are designed to provide a single movement. For example, by having an actuator that can set a row of products on a shelf in motion so that the front product falls off the shelf and into a dispensing or take-out element. Such a dispensing element or take-out element is an element of the vending machine where the user can take the selected product from the machine's housing. Typically, this is a compartment or drawer located at the bottom near the bottom of the vending machine that provides access to the vending machine by means of a hinged lid. However, this may also include a drawer from which the product can be removed. The dispensing element according to the present description may be of any type and may comprise either a drawer, an opening, a flap or any other element that is active or passive and that is at least suitable for the user to withdraw the chosen (food) product from the dispenser there. The indicated currently known manipulators may have been provided as a rotating shaft in addition to an actuator, i.e. they are provided with a rotatable spiral in which the food products are contained between the windings of the spiral. By rotating the spiral 360 degrees, the product is moved forward one position and the front product of a shelf will fall into the dispensing element or dispensing drawer. The dispensing element can actually be included at any position of the enclosure, then either at the top, in the middle, or at the bottom, which has the advantage of being easily accessible for wheelchair users.

Such vending machines are not or almost not suitable for a diversity of food products and, moreover, not or almost not suitable for dispensing perishable or very short shelf-life products, nor are they suitable for preparation of a food product in the vending machine itself, with which genuinely fresh or locally prepared products can be provided.

The vending machine according to the present description is suitable for this purpose for several reasons. Firstly, it is provided with a novel type of manipulator based on a drive that is incorporated in the wall parts of the housing and with which at least most of the moving parts are shielded by the housing walls of the vending machine. The wall parts are preferably made of stainless steel and/or POM, making them completely food safe and thus food grade. In an example, one or more other parts of the vending machine are also made of stainless steel and/or POM.

This drive movement provided by the shielded drive is transferred by means of a magnetic connection to a shaft in the housing extending between two opposite wall sections for this purpose. This shaft is equipped at both ends with a magnet that interacts with and is attracted by one or more magnets located on the inside of the wall sections and fitted to a toothed belt. By using a motor to drive the toothed belt, the magnet or magnets on the toothed belt are moved along the trajectory of the toothed belt. In accordance with all aspects and examples of the present description, one or more toothed belts can also be replaced by a worm gear or rack and pinion. Due to the attraction of that magnet at the end of the shaft included in the housing, this shaft can move over one but more particularly over at least two axes, for example over an X-axis and over a Y-axis. These axes are preferably perpendicular to each other. The axes can be translation axes but also, however, rotation axes. As the axis moves and/or rotates, the associated gripper will also rotate. This gripper is preferably itself also provided with a drive for providing a third and/or fourth movement in translation direction perpendicular to the other two axes, and/or rotation about one of those two axes, or about a third axis perpendicular to those two axes. Thus, the manipulator is arranged to provide at least an X and Y movement and or rotation, but more preferably also a Z movement or rotation and still more preferably an X, Y and Z movement and rotation about one or more of those axes. The use of such a manipulator makes the vending machine very suitable for dispensing fresh food products to be prepared, or prepared by the vending machine. In the context of this description, this means all types of food products. So both pre-packaged products with a long shelf life and sealed, vacuum-sealed or gas- sealed, for instance. Typically, these often have a low to very low moisture content, making them long-lasting. However, the vending machine according to the present description, if provided with a preparation element, may add that moisture inside the vending machine. Such a manipulator or following also called a robot will be able to meet the stringent requirements for both handling food and non-food related products. Commonly used in the food industry are delta robots or three- or five-axis scara robots. These robots not only have a complex architecture, but also have many individual components that are subject to food safety requirements. Therefore, lubrication components such as fats and oils, for example, need to be shielded. Maintaining hygiene requirements is therefore challenging.

The present robot or manipulator of the described vending machine has no such drawbacks, as it can pick up and manipulate food products such as meat and is able to reach all coordinates within the working area while moving only a limited number of parts of the robot. Most of the robot is stationary and enclosed in its housing. All moving parts that are susceptible to dirt or dust attachment, for example, or that benefit lubrication, are enclosed in the housing and shielded from the products by one or more wall sections.

The interface between the stationary part, and the moving part, formed by the manipulator, forms a contactless transmission due to the magnetic interface between the two parts. The inventor has come to the surprising insight that the present design not only comprises few moving parts, but also, due to the contactless interface, provides for a very hygienic device that is also robust and versatile.

One or more subsequent examples refer to a robot, which robot is the manipulator according to previous descriptions, aspects and examples.

In one example, the robot for manipulating one or more food products further includes: a stationary base comprising at least one wall section for enclosing in the wall section at least one first drive unit, the first drive unit comprising:

- a toothed belt drive; - a motor for driving the toothed belt, and

- a plurality spaced at fixed intervals on the timing belt incorporated first set of magnets; the robot further comprising: a manipulator, such as a gripper, for manipulating the one or more products, wherein the manipulator is arranged to move the one or more products from a first position to a second position and is arranged to be included on an outer wall of the wall portion of the stationary base and wherein the manipulator includes a magnet for realizing a magnetic attracting force between the manipulator and at least one of the magnets on the toothed belt of the first drive unit, such that when the toothed belt is driven by the motor of the first drive unit, the products can be manipulated by the manipulator about a first translational axis.

In an example, the manipulator further includes a second drive shaft and a second drive unit, which second drive shaft is at least substantially transverse to the first drive shaft, and wherein the second drive shaft includes at least one end of the drive shaft and near the one wall portion a magnet for realizing a magnetic attraction or magnetic attractive force between the second drive shaft and one or more magnets on a toothed belt of the second drive unit included in the housing, so that when the timing belt is driven by the motor of the second drive unit, the selected product can be manipulated by the gripper a third shaft and the selected product can be moved from one shelf to the issue element.

In an example, at least one or more of the first, second and third axes is a translational axis.

In an example, at least one or more of the first, second and third axes is a rotational axis.

In an example, the vending machine further includes: a preparation element arranged for preparing the selected food product, and wherein the preparation element is further arranged to heat the food product.

In an example, the preparation element is included in the housing and comprises a hollow needle, a heating element, a water supply and a control element, wherein the hollow needle extends from at least one wall portion of the housing and is arranged for penetrating a container of the selected product whereupon the control element heats a predetermined amount of water and introduces it into the container through the hollow needle, and wherein the manipulator is arranged to move the selected product from one shelf to the preparation element, and after administration of the heated water to the dispensing element.

The hollow needle may be arranged for inserting hot or boiling water but, according to another example, may additionally be arranged to be tangled. This allows the needle to easily cut through packaging. This is particularly advantageous for certain sealed products, for example. Alternatively, such a cutting device may be provided separately or in combination with a hollow needle wherein said cutting device comprises a metal cutting element capable of cutting through a packaging by means of heat to provide access to the contents of the food product packaging.

In an example, the preparation element includes a microwave oven, and where the manipulator is arranged to move the selected product from one shelf to the preparation element, and after heating in the microwave oven to the dispensing element.

In an example, the preparation element includes a grill plate, which grill plate is included in the housing near at least one of the shelves.

In an example, the grill plate includes a turning element hinged to the grill plate for inverting the selected food product using the turning element.

In one example, the turning element is made of a food-safe material with a thermal conductivity arranged to reach at least a temperature of 70 degrees Celsius when the grill plate is heated.

In one example, the preparation element includes a further manipulator.

In one example, the further manipulator is arranged to move the selected food product between the grilling plate and the turning element.

In one example, the further manipulator is a needle gripper which includes a multitude of needles arranged in parallel in a grid.

In one example, the further manipulator is set up to cooperate with the manipulator for collaboratively manipulating the selected product near the preparation element.

In one example, the gripper of the manipulator is fork-shaped and in particular U-shaped for sliding the gripper under the selected product.

In one example, the shelves at the location of the products are provided with grooves for accommodating parts of the gripper of the manipulator, which grooves preferably involve elongated recesses that extend recessed relative to a main plane of the shelf in the direction of the gripper and correspond in shape to the gripper.

In an example, the wall portion of the stationary base further comprises a second drive unit included perpendicularly to the first drive unit, comprising the second drive unit:

- a toothed belt drive;

- a motor for driving the toothed belt, and

- a plurality of fixed spaced second set of magnets included on the timing belt, wherein the magnet of the manipulator can realize a magnetic attraction between the manipulator and at least one of the magnets on the timing belt of the second drive unit, so that when the timing belt is driven by the motor of the first drive unit, the food products can be manipulated by the manipulator about a second translational axis.

In an example, the stationary base further comprises a second wall portion, overlying the first wall portion, for defining a working area of the manipulator between the two wall portions, wherein the second wall portion is at least arranged for enclosing in the wall portion a third drive unit corresponding to the first drive unit, wherein the first and second drive units are synchronously driven and wherein the manipulator in the working area between the two wall sections is capable of moving the one or more feed products from the first to the second position, and wherein the manipulator comprises a further magnet for realizing a magnetic attraction between the manipulator and at least one of the magnets on the toothed belt of the third drive unit.

In a simplistic embodiment, the robot may comprise a stationary base with a single wall section. In a simple form, that wall part includes a single drive unit that allows the manipulator to be moved along a first linear axis.

In a more elaborate embodiment, however, the base comprises several wall sections and, in particular, at least two overhanging wall sections. In this case, these wall sections each comprise a drive unit so that the manipulator is supported and controlled from two sides. This benefits the stability of the manipulator allowing it to move at higher speeds and/or move more weight and/or operate with higher accuracy.

In another embodiment, multiple drive units are included in a single wall section. This has the advantage that the manipulator can be moved over several linear axes, for example over an X and a Y axis in the case where the drive units are arranged perpendicular to each other.

A wall section may also comprise a plurality of drive units. That is, multiple the X and/or for the Y movement, for example by forming rows of drive units arranged in parallel. In this case, the manipulator can be moved from a first X, Y coordinate to a second X, Y coordinate by the drive unit of the X movement moving the manipulator from the first drive unit for the Y movement to a second drive unit for the Y movement. In this embodiment, there are therefore included a matrix of magnets located on the drive belts of the different drive units.

In a further embodiment, the magnets of the drive unit may also be included in a circular arrangement instead of a straight line. When the magnets form a circle and the magnets of the manipulator possess a corresponding circular arrangement, it becomes possible to rotate the manipulator about an axis of rotation. However, this rotation can also be realized because the manipulator includes a drive shaft that has a gear at the end. By driving the gear, the shaft is rotated and will allow the manipulator or associated gripper to rotate about a rotational axis.

In an example, the stationary base includes a first and a second wall member, cantilevered from the first wall member, for defining a working area of the manipulator between the two wall members, wherein the first wall member includes the first and a second drive unit, and wherein the second wall member includes a third and a fourth drive unit, wherein the manipulator includes at least two magnets facing the first and second wall members, respectively and wherein the first and third drive units can be synchronously controlled for manipulating the one or more food products by the manipulator about the first translational axis, and the second and fourth drive units can be synchronously controlled for manipulating the one or more food products by the manipulator about the second translational axis.

In an example, the manipulator comprises a first and a second pair of axes, each comprising two axes inserted between opposite wall portions parallel to each other and provided with magnets at the location of the wall portions, and wherein the first pair of axes and the second pair of axes are included perpendicularly to each other in the stationary base, and wherein the manipulator further comprises a gripper assembly included in the intersection of the first and second pair of axes.

In one example, the manipulator is provided with a plurality of magnets at the location of the wall sections. In an example, the magnets are included in an array whose spacing corresponds to at least part of the first and/or second set of magnets of the first and/or second drive unit.

Preferably, a wall section comprises a matrix of magnets arranged on the timing belts of the various bi-directionally arranged drive units. The manipulator also comprises a plurality of magnets arranged in a matrix. These magnets correspond in position to at least part of the matrix of magnets in the wall section. As a result, when the toothed belts move, at least some magnets on the toothed belts and the manipulator will always be attracted to each other. In addition, this simplifies the transfer of the manipulator to another drive unit because only some of the magnets will be attracted in the process.

In one example, at least one wall portion of the stationary base includes a plurality of first and second drive units arranged in parallel.

In one example, the at least one wall section includes two first drive units arranged parallel to each other at some distance, between which a plurality of second drive units arranged parallel to each other at fixed distances are included.

In an example, the manipulator further comprises a shaft arranged for rotation about a rotation axis of a gripper attached to the manipulator.

In one example, the rotation is achieved by the shaft being a hollow shaft incorporating a drive shaft which is arranged to rotate the gripper around the rotation shaft when the drive shaft rotates.

In an example, one or more of the magnets of the manipulator and/or one or more of the drive units involves a neodymium magnet.

In an example, one or more of the magnets of the manipulator and/or one or more of the drive units involves an electromagnet.

In one example, the manipulator includes a gripper which includes a matrix of extendable needles arranged to insert into the one or more food products.

In an example, the needles are arranged in groups that are interlocked at different angles in the gripper arranged to insert at different angles into the one or more food products.

In one example, the wall sections are sealed and include a negative pressure, and more specifically, are at least mainly vacuum.

The wall sections are preferably sealed, and more specifically for moisture and/or for air. This can be done by a sealing element such as a gasket or seal, or rubber seal, but also by providing a negative or positive pressure in the housing that prevents the penetration of moisture, dirt and bacteria.

In one example, the wall sections are sealed and include an overpressure.

In one example, the robot includes at least one camera unit for recording the presence of unwanted objects in or near the work area.

In one example, the robot further comprises at least one motion sensor for sensing motion of the manipulator, and comparing the motion of the manipulator with an expected motion, and in case of deviation between the sensed and the expected motion, the drive units are brought to a stop.

In a second aspect, a robotic platform is provided for manipulating one or more food products according to one or more of the preceding claims, which robotic platform comprises a plurality of tiled robots provided in a matrix arrangement, the plurality of tiled robots at least comprising one or more robots according to one or more of the preceding claims.

In one example, which is applicable according to all previous and subsequent aspects of the present description, the robot concerns a tile-shaped robot arranged to form a robot platform comprising several such tile-shaped robots placed against each other. However, in another preferred embodiment, the tiles are also placed at some distance from each other. Moreover, in one example, the robot is equipped with five motors. One motor is placed on the bottom of the tile and more powerful than the other four motors. This single larger motor is arranged for rotational movement of the entire tile, while the other motors are arranged for linear movement in X and Y directions. The four motors are grouped into two groups of two motors to which an electromagnet is attached. The magnet is powerful enough to carry the entire platform in an X direction.

An advantage of the magnets is that they can take over the platform driven by the robot's magnets from each other. Because the magnets can be activated and deactivated, as they are electromagnets, they do not work against each other or cancel each other's magnetic force.

There are preferably two electromagnets per belt to eliminate or at least counteract the rotation deviation. This is achieved because the platform is gripped at two points simultaneously. Thus, per belt, the magnets are synchronized. Preferably, each magnet has a neodymium counter-magnet in the platform that is placed at a certain position depending on the desired movement.

Preferably, the magnets thus concern electromagnets and preferably the magnets comprise neodymium. These are preferably about 15x15mm in diameter with a minimum attraction force of about 0 Newton and a maximum attraction force of about 1000 Newton, but more particularly between 2 and 100 Newton, more particularly between 10 and 80 Newton or 10 and 50 Newton. However, the applied force is preferably matched to the product to be transported.

In accordance with all aspects and examples of the present description, magnets refer to both electromagnets and also permanent magnets, but especially and preferably magnets of neodymium that can be energized. What is meant by this is, that these magnets can be included in a grid. Since the magnets are used to transport a platform, they are preferably dynamic in such a way that the magnetic force can be brought into at least two states of different forces. For example, in a state where the magnets operate at 100% of their original (permanent) magnetic force, and at about 10%. This can be achieved by energizing these neodymium magnets. This can be characterized as a coil enabled magnetic switch or a coil energized magnetic switch. By energizing the magnets, the magnetic force can either go to a state where it is largely cancelled and thus operates at only 10% of the original magnetic force, or be amplified so that it operates at 100% of the magnetic force.

The coil enabled magnetic switch works by activating and shielding the neodymium magnet. For this purpose, a wire with a low electrical resistance, e.g. copper, is used that can be energized with 24V direct current. To this end, the magnet may be contained in the core of a coil made of this (copper) wire that is wound around a carrier. This carrier is preferably made of plastic.

In a non-energized state, the magnet is in the normal state where, for the neodymium magnet, the magnetic force is determined by the intrinsic properties of the magnet. However, when the coil is energized with 24V direct current, the magnetic field generated by the coil will partially or completely cancel out the magnetic field of the magnet realizing a weakened magnetic field.

With this switchable magnetic field, it becomes possible to provide movement to the platform transported by the magnets via a grid of magnets. The platform preferably has a minimum size of 400x400x130mm. The working range of the platform concerns at least 323 mm around the center of the tile. As the robot can rotate 360 degrees, this range relates to a diameter. The platform is preferably maximum 600x1000x130mm, thus matching a common size for cardboard boxes of 600x400mm. As the design is linkable, it actually has no maximum size. Preferably, the robot is made of a single stainless steel plate making the design aseptic.

The range of the robot is preferably about 850mm in X direction and 500mm in Y direction for a platform size of 1000x600mm. However, this range can be increased to about 2850mm in X direction and 1400mm in Y direction.

The working surface of the robot is by its predetermination at least 80% of the surface of the platform and more preferably 85%, and concerns even more preferably about 90%.

Preferably, the most compact tiles have a size of 400x400mm. As these rotate, they are preferably at some distance from each other. To this end, it preferably has circle kept clear of 557.2mm. A tolerance of about 5 mm is added for safety.

For example, a platform can have a size of 390x390 mm for this tile. The maximum distance a platform can span is then 167.2 mm. This is in fact the maximum intermediate distance required to allow rotation. This distance is smaller than half of a platform, which gives advantages for balance. So besides being smaller than half this size, it is also attached to an electromagnet that only relaxes when the neighboring robot of the adjacent platform has taken over the tile.

Consequently, a platform should preferably be no more than 10 mm smaller than the robot tile. This is so that each platform can slide at all times without touching another platform. This is because there is then a gap or distance of 10 mm.

In a third aspect, a manipulator is provided, the manipulator comprising a gripper, the gripper comprising a plurality of needles, which are provided in a matrix arrangement and are movably incorporated into a wall portion of the gripper, and wherein each of the needles is arranged to move in a longitudinal direction of the needle separately from the other needles and is tapered at a first free end, and is provided at a second end with a blocking element for restricting the movement of the needles against the wall portion of the gripper. In an example, the gripper further comprises a motor attached to a wall portion of the gripper for rotating the plurality of needles about a longitudinal axis of the plurality of needles.

In an example, the gripper further comprises a carrier element, wherein the carrier element comprises two mutually movable members, each of the members comprising a plurality of two U-shaped elements, wherein between the two U-shaped elements a deformable material is stretched for causing one of the two U- shaped elements of the two movable members to move between a first and a second state, such that in the first condition the deformable material is included under the plurality of needles for at least substantially completely covering a plane near the free end of the needles and parallel to the wall portion of the gripper for carrying the one or more food products, and in the second condition departs to a side of the gripper so that the plurality of needles can be freely placed over the one or more food products.

In a fourth aspect, a manipulator is provided wherein manipulator comprises a gripper, the gripper comprising at least two sidewalls and a bottom wall, wherein the bottom wall is movably attached to the sidewall such that it can extend relative to the sidewall, the sidewalls comprising at least one magnet incorporated on a toothed belt and driven by a motor in the gripper, the bottom wall comprising guide portions extending along the sidewall which comprise magnets such that when driving the magnets in the sidewall, the bottom portion is extendable relative to the wall portions, and wherein the bottom portion is provided with multiple feedthrough openings for accommodating a plurality of needles attached to the gripper such that the gripper in a first state, with the movable bottom wall engaged against the gripper, is arranged to insert the needles into the one or more food products, and the one or more food products can be ejected from the gripper by extending the movable bottom wall.

In an example, the needles of the gripper are included in the gripper at one or more angles.

In an example, the magnet in the wall part has a magnetic force configured to break up with the extending guide parts in case of unwanted forces on or through the bottom part.

In a fifth aspect, a manipulator is provided, the manipulator comprising a gripper, comprising four motors and four L-shaped gripper elements, each of the motors being arranged to rotate a respective L-shaped gripper element about a longitudinal axis at an angle of at least essentially 90 degrees for sliding the ends of the L-shaped gripper elements under the one or more food products.

In an example, the motors are enclosed in a closed housing and the L-shaped gripper elements are detachably attached to the housing and attracted to the motor by magnetic force, so that when the motor rotates, the L-shaped gripper element rotates about a longitudinal axis.

In a further example, the machine is arranged for ejecting and possibly attaching a readable code such as an RFID chip, barcode or QR code. In this way, after the food has been obtained from the vending machine, eaten or drunk, the consumer can return the packaging to a container equipped with a sensor for recording the readable code. This enables automatic processing of deposits from the packaging by, for example, paying or crediting them directly to a buyer's account. To this end, every packaging can be equipped with a universal readable code, which defines a certain amount of deposit that can be redeemed by anyone. This has the advantage that anyone can return such packaging from the vending machine according to the invention and collect a deposit. This strongly promotes collection of such packaging in a broad sense. The code may also be a scrambled code, meaning that it is not immediately apparent from the code that there is a deposit in and what the amount of it is. This has the advantage of preventing manipulation through modification of the code, or even copying the code to other packaging or objects not obtained from the vending machine. In a further example, the code is unique but meshed by, for example, a pseudonymization procedure using an encryption or hash function. However, the packaging may also include a unique code, which may or may not be hashed, linked to the buyer of the product in the packaging. For example, each package may include a unique code, and on collection, the deposit belonging to the package can be returned to the buyer because its details are linked when issued by the vending machine.

In a further aspect of the present description, a machine arranged for taking such packaging with unique code from the vending machine according to the aspect and example described above is provided. Such a refund bin may comprise a closed bin opened only for packaging from the vending machine as described, and wherein determining whether the packaging originates therefrom is done on the basis of a scanner suitable for detecting the unique code. So, for example, an RFID reader, an optical scanner or a barcode or QR code scanner. Preferably, the deposit will be paid to the user in the form of a credit or refund that can or will be settled with the next purchase.

In another aspect, a carrier bag suitable for including the packaging from the vending machine according to a previous aspect of the present description is provided. The carrier bag is preferably made of sustainable, renewed or recycled or recyclable materials. More particularly, the carrier bag is preferably reusable.

In yet a further example, which example concerns an example for all aspects of the present description, the magnets concern neodymium magnets or electromagnets that where each side comprises a neodymium or electromagnet with mixed poles on each side in a composition that magnetic levitation occurs to prevent contact between magnets separated or not by a wall.

The invention will be explained in more detail using non-restrictive examples shown in the figures. The figures show in:

Figures 1a-1c show a robot according to an aspect of the present description;

Figures 2a-2d show a robotic platform according to another aspect of the present description;

Figures 3a-3c show a robot platform matrix with robot platforms as shown in Figures 2a-2d, according to a further aspect of the present description;

Figures 4a-4c show a gripper according to another aspect of the present description;

Figures 5a-5d show another gripper according to another aspect of the present description;

Figures 6a-6b show another gripper according to yet another aspect of the present description;

Figures 8 and 9 show a vending machine according to a first aspect of the present description;

Figures 10 and 11 show details of a vending machine according to another aspect of the present description which is suitable for introducing hot water into a sealed food product;

Figures 12 and 13 show details of one or more manipulators of a vending machine according to an aspect of the present description; Figures 14 and 15 show details a vending machine according to another aspect of the present description wherein the vending machine is provided with a baking tray suitable for heating various food products;

Figure 16 shows a vending machine according to yet another aspect of the present description which is equipped with a microwave oven for heating various food products.

In Fig. 1 , a robot is shown according to an aspect of the present invention. The robot is arranged for manipulating one or more food products. This may be meat such as raw meat or part or fully processed or prepared meat such as precooked fillets or sausages. Preferably, the robot is arranged to pick up, move and/or manipulate the food products piece by piece. By this is meant that the products can be manipulated in various directions such as an X, Y and a Z direction but also preferably about various axes such as rotation about an X, Y and/or Z axis.

The robot 10 includes a stationary part or a stationary base 11 consisting of wall parts. These wall parts surround an open parti 2 of the robot where the movement of the parts takes place and which defines the working area of the robot, where the products can be manipulated.

The right half of Fig. 1a shows what the inside of the stationary section looks like. It contains a number of motors a drive or guide rollers 13, 14, 15, 16. One or more magnets may be included with the motors and the drive belts which are in particular toothed belts so that a position can be determined and set in a simple and correct manner. These magnets form the coupling with the manipulator 17, 18, 19 located on the inside of the stationary part 11.

The motors, magnets and other moving parts such as toothed belts are completely enclosed in a sealed enclosure consisting of several wall sections. As a result, such parts cannot contaminate the production environment, making them particularly suitable for use in food processing. The manipulator is decoupled from the drive by the enclosed wall parts but retains a transmission by magnetic coupling between the two parts. The magnetic force is thereby precisely chosen so that it is sufficient to maintain the attraction between the manipulator 17, 18, 19 and the actuator 13, 14, 15, 16. On the other hand, this magnetic force is not so strong that in case of blockage of one of the elements or if an undesirable situation occurs such as a presence of a body part of, the force of the magnets is broken, preventing unsafe situation at all times. In particular, this magnetic force is between 10N and 1000N, more particularly between 10N and 500N, even more particularly between 10N and 100N and most particularly between 25N and 75N.

Figures 1 b and 1 c show other views of the robot 10.

With this robot 10, products can be manipulated in both an X, Y, and Z direction. The material of which at least the wall parts but also preferably the other parts of the robot are made is stainless steel or Polyoxymethylene (POM).

The manipulator 19 preferably comprises the gripper (not shown) with which a product can be grasped and held. This gripper is included in the intersection of two axes 17, 18. By moving these axes over two wall portions 11 of the robot, the gripper can be moved in an X and Y direction. For this purpose, a magnet or magnetic material is provided on a first side of the axle 17, 18 facing the wall so that the magnet can be moved on the inside of the wall, which is moved by the toothed belt drives 13, 14, 15, 16. If the timing belts are driven, an impeller element will be moved within the wall of the stationary part of the robot. As this is equipped with a magnet, the magnet or magnetic material on the other side of the wall, in the open part 12 of the robot, will be attracted and move with it. By including several such timing belt drives in several wall sections, several axes 17, 18 of the manipulator can be moved and the gripper, which is included in an intersection of axes 17, 18, will be able to be moved over an X and Y direction. By providing the gripper itself with a motor and shaft, or a timing belt drive, Z directional displacement can also be provided. In addition, further manipulation can be provided by rotation about one of the axes. For example, the gripper 19 can be equipped with an additional motor that provides rotation around a longitudinal axis of the gripper 19 so that the product can be rotated around its axis.

The movement of the Z-direction can also be provided by a spline shaft driven by drive 16. To this end, the shaft protruding from drive 16 is square in shape. That is, it has a square cross section. By rotating this shaft, a movement or drive can be provided. This may drive a further toothed belt in the impeller, causing the magnet on this toothed belt to move in the Z direction, that is, vertically across the wall section 11 , so that a Z movement of the manipulator is provided.

Figs 2a-2d show various views of another aspect of the present description. In it, a robot is shown that is based on the same magnetic transmission, and therefore has the same advantages. This robot also has a covered housing in which only some parts are movable and susceptible to dust and dirt. However, these parts can be easily removed. Indeed, they are nowhere permanently or complexly connected to the stationary part of the robot but are only held in place by the magnetic force, both in static condition, and during movement.

The robot comprises a housing 21 and a tray 22. The tray thereby has the gripper function for, as shown in Fig. 2a, carrying a number of sausages. This tray or more generally gripper, is arranged for manipulation over the top of the housing 21 of the stationary part of the robot 20. T o this end, the tray is equipped with one or more magnets. These magnets are indicated by the dots in Fig. 2d. The magnets are attracted by magnets included in the housing and, in particular, attached to the toothed belt 27 of one of the toothed belt drives 25, 26. This toothed belt drive provides a movement of the manipulator or gripper, in this case a tray 22, in a first direction. Because the toothed belt itself is incorporated on another toothed belt arranged transversely with respect to it, a second direction of movement can be provided. This makes it possible to move the tray in a first and second (X,Y) direction across the top of the housing 21 .

On one of the timing belts 25, 26, the magnet 27 may further feature a series of magnets arranged in an annular shape. By making this annular magnet arrangement rotatable, the tray can also be rotated so that not only the position of the tray can be adjusted, but also its orientation.

The robot 20 as shown in Figs 2a-2d is preferably suitable to provide a matrix arrangement of such robots 20. This is shown in Fig 3a. Included therein are 4x4 robots placed against each other as tiles. Over these tiles, the tray 22 can be moved and preferably rotated. In Figs 3b and 3c, other views and exposed views are shown of this robot matrix arrangement 30.

In Figs. 4a-4c, various views and states are shown of a manipulator or gripper according to another aspect of the present invention. This gripper 40 relates to a so-called perforation gripper which means that it is provided with at least two, but more preferably four or more needles with which a product as shown here a chicken or turkey 42 can be picked up and manipulated.

In Fig. 4a, a housing section 41 of the gripper 40 is shown. Included in this housing part are the motors and is the drive 45. This drive is arranged to move a part of the housing, the bottom plate 46, up and down, thus providing two states. In a first state, shown in Fig. 4a, the needles 44 are free, that is, they have a free end with which they can be inserted into the turkey 42. To this end, the entire gripper 40 can be moved towards the turkey. The needles 44 will thereby insert into the turkey and hold the turkey. The needles are thereby preferably included at an angle so that they will insert into the turkey at different angles and increase the force with which the turkey is held. The turkey, as shown in Fig. 4b, can then be repelled in the other state. This is achieved by moving the bottom plate 46 relative to the housing 41. This is provided because the bottom plate is provided with a curb guide part 44. This guide part is arranged to move along the wall of the housing 41. Because this guide part is provided with one or more magnets, and corresponding magnets are included on the inside of the housing 41 on the actuator 45, the guide part can move up and down in a first direction so that the attached bottom plate 46 also moves up and down and repels the turkey 42 as shown in Fig. 4b.

Fig. 4c shows a view of the gripper 40 with the housing 41 not open, showing clearly the position of the guide part 44.

This gripper 40 also has the same advantages as all versions and aspects of the present description, namely, that most of the components are contained in a closed housing. This has the advantage that dirt and dust cannot penetrate this so that there is no danger to the products to be processed. Moreover, cleaning the gripper or robot is many times easier this way. To this end, the moving part, formed by the plate 46 and connected guide part 44, can easily be separated from the housing 41 , as they are only attracted to each other by magnetic force. Here, too, it is therefore preferred that this magnetic force is chosen such that there is sufficient force to manipulate the products, but the parts can still be easily detached from each other in such a way that, in case of sufficient resistance by unwanted objects or body parts, the moving parts can no longer move.

As indicated, the gripper as per the present description is extremely safe to use and particularly suitable for application as a co-bot, which means that it is arranged for close cooperation with humans in such a safe manner that there are no dangers to humans. This is because the gripper uses magnetic transmissions that have a magnetic strength carefully chosen such that there is sufficient force for picking up, laying down and moving under required speed of the products, but where the force is on the other hand limited that in case of obstruction by a person there is no risk of injury and before this scenario can occur, the magnetic transmission is broken. Preferably, therefore, the gripper is arranged for manipulating goods of up to 10kg.

Figs 5a-5d show further embodiments of a gripper according to an aspect of the present description. This gripper 50 comprises a bed of needles 54 included in a number of rows and columns as a matrix. The needles 54 protrude through a base plate 53 and are partly freely movable therein. That is, the needles are tapered at one end so that they can be inserted into a product, and at the other end are provided with means to restrict further movement. The example shown in the figures shows needles that near the end facing away from the product are provided with a thickening so that the needles can partly slide in and out in a longitudinal direction. These needles 54 are not energized, meaning that they are freely incorporated into the base plate 53. The gripper 50 is attached to the robot via an upper part of the housing 52 and, as shown in the figures, preferably provided with an additional motor 51 so that the entire gripper 50 can be rotated about a longitudinal axis.

Fig. 5c shows an example of the gripper 50 enclosing a piece of maize 55. As can be seen, the needles follow the contours of the product and as such, the product is held so the orientation of the product is fixed. When the gripper moves in an X or Y direction, the product 55 will be carried along because the needles hold the product. When the product also needs to be lifted, and thus a movement in a Z direction needs to be provided, the gripper may be equipped with an additional element 56. This element takes the form of four U-shaped elements on the underside of the gripper at the free end of the needles. A deformable material such as a textile or fabric is included between two U-shaped elements. By moving the two U-shaped elements away from each other, the underside under the needles is enclosed by this deformable material. Thereby, the product, the corn cob in this case, is supported by the deformable material, so that when the gripper is moved in Z direction, the corn cob is supported.

Fig. 6a-6b shows two views of a gripper according to another aspect of the present description. This gripper comprises a stationary part 61 enclosed in a housing. This housing includes motors 63 corresponding to the number of L-shaped elements 62a-62d. These L-shaped elements are arranged to rotate about an axis, and preferably for 90 degrees or more than 90 degrees, so that the ends of the L- shaped elements can be rotated under a product to be manipulated. To this end, these L-shaped elements are provided with magnets 64 that provide a transmission only, as is the case with the other examples and embodiments of the other aspects of the present description, by the magnetic force. To this end, the motors 63 are provided with a magnet or magnets capable of providing a rotation to the magnets of the L- shaped elements such that they can rotate about a longitudinal axis allowing the free ends to rotate under the product.

Also in this version, the magnetic force is such that the L-shaped elements can be easily removed from the housing. This makes them easy to clean, but also provides a particularly safe system, because in the event of unwanted operations, blockages or the presence of unwanted objects, the magnetic force is overcome and the elements are released. On the other hand, the magnetic force is such that even with heavier products and faster movements, the elements remain attached and the magnetic force is not broken.

Fig. 8 shows an example of a vending machine 70 according to one or more aspects of the present description. The vending machine shown here includes, inter alia, a housing 71 , multiple shelves 73 containing various products 74, in this case hamburgers, but these may include all types of food products and, in fact, nonedible products. The products or food products 74 may, after being selected from the vending machine 70 or more specifically from the housing 71 of the vending machine, be taken out by means of a dispensing element 72. This dispensing element or also called take-out or dispensing element may involve a drawer, a flap, sliding element, etc., and provides the user with access to the product 74.

In addition, the vending machine 70 includes a control panel (not shown) that allows a user to determine an input and thus choose which while I products offered in the vending machine 70 he or she wishes to purchase. Often, in a vending machine 70 shown here, different types of products can be offered But it can also be the case that only one type of product is offered, as shown here where hamburgers are offered.

The control panel may be visibly or invisibly included in the vending machine. That is, if visible, that it is suitable for human interaction and thus includes input means such as a keyboard and buttons, and preferably also includes output means such as indicator lights and/or a display. Moreover, provision is also made for an alternative where there is an input means that is set up solely for machine-to- machine communication and with which, for example, a transaction can be carried out via an NFC connection. For example, by holding a tag or dongle against this or in the form of a mobile phone that communicates with the interface or control panel of the vending machine and thus performs a transaction. Typically, the vending machines 70 shown are based on an innovative TYPE of manipulator or robot 76. Currently known manipulators or actuators a are mostly based on in spiral drive shaft, with which products are thrown into a collection tray or dispensing element 72 by rotation of the shaft.

The manipulator according to the vending machine 70 as shown in the present and following figures is based on the foregoing aspects to corresponding examples of the present description which are based on a magnetic transmission and an associated magnetic concept for driving one or more manipulators wherein a large part of the components of the manipulator say are located on the inside of a wall, similarly In the vending machine 70 as shown In the following figures, it included a manipulator or multiple manipulators arranged for moving the food product 74 selected by the user from one of the plurality of shelves 73 to the dispensing element 72.

The shown manipulator 76 comprises at least a gripper, a drive shaft and a drive unit comprising a motor. The manipulator, or at least the drive unit thereof, is included in a wall portion 75. The drive shaft of the manipulator is arranged to be included between at least two opposite wall portions 75 of the housing 71. Thereby, the manipulator 76 can cause the shaft to move or displace over the plane of the wall 75 of the housing 71. Depending on the type of manipulator 76, this displacement is at least over a first axis, but more preferably over at least two axes. In the example shown, the manipulator 76 or robot 76 can cause a gripper to move over a lateral X and Y movement where these two movements or axes are perpendicular to each other. Thus, seen from the front of the automaton 70, the gripper can be moved forward, backward, up and down.

Moreover, the manipulator may be arranged for a rotational movement, which either replaces or complements the translational movement. Consequently, more movements can be provided, for example rotating about the X axis and/or rotating about the Y axis.

Vending machine 70 may include multiple manipulators 76 for providing further freedom of movement of the gripper. Through an additional manipulator connected at least to a further wall portion 75 of the housing 71 , for example the top wall, a movement in a Z direction perpendicular to the aforementioned X and Y directions or axes may be provided. Moreover, in accordance with the previous manipulator, a rotation can also be provided about this Z axis. Using these three freedoms of movement, i.e. translation in X, Y and Z directions, the gripper to the manipulator can grasp any food product 74 in the dispenser 70 and move it to the dispensing element 72.

The vending machine 70 according to a further example includes, in addition to the above components, a unit for preparing the selected food product. Preparation, in the context of the present description, is to be interpreted in the broadest sense of the word, i.e. it includes various forms of preparation, such as, but not limited to, heating with a microwave oven, heating element such as a grill, direct or indirect heating with water, the introduction of hot or boiling water, but also the (additional) cooling or freezing of a product may be among the possibilities. For example, in the case of preparing a smoothie or milkshake, the manipulator can take one or more ingredients off the shelves and introduce them into a better or container, where the ingredients are mixed, blended or otherwise prepared and to which cold can also be added, for example by means of a Peltier element.

Characteristics for the vending machine, as mentioned, is the manipulator based on the same magnetic transmission as the above aspects of the present description. A major advantage of such transmissions is that they are not only very fast and accurate, but also extremely safe. This is because the magnetic force is determined and limited that is present between the magnet or magnets of the drive unit on one (outer) side of the wall section and the magnet or magnets of the drive shaft on the other, inner side of the wall section. By specifically designing it, it can handle more or less forces according to the application before the magnetic force is broken. Therefore, it is preferably designed in such a way that it still has enough force that even with relatively heavy food products and fast movement, there is enough attraction force that the magnetic force does not break, but on the other hand, it does break in case of a problem. For instance, in case someone puts his or her arm against or between the manipulator, or if a product gets stuck for whatever reason. In such cases, the magnetic force will break and there will be no risk of damage to the dispenser 70 and its components, and also no danger to users or operators.

Another important advantage of such a manipulator is that many of the moving parts are shielded in the wall section. These therefore cannot contaminate the food products providing a fully food-safe vending machine.

In line with other manipulators or robots, the drive unit includes one or more motors and a toothed belt drive on which several magnets are attached. Driving the motor will cause the toothed belt to move and likewise for the magnets attached to it. The magnet of the drive shaft on the other side of the wall section will move with it and likewise the gripper attached to the shaft.

Fig. 9 shows two vending machines arranged side by side. The vending machines 70 can be configured such that one or more wall sections are removed. This makes the vending machines 70 linkable with other vending machines to provide a complete robotic kitchen setup. This also makes it possible to combine multiple types of products where one vending machine stocks one type of product and the adjacent vending machine stocks another type of product. Moreover, it is also possible, that one vending machine only stocks products, where the other vending machine also includes one or more preparation products.

Figs 10 and 11 show a detail of a vending machine 70 where products 74 are offered that are included in a sealed or sealed package. Examples include instant noodles. Such products need to be provided with hot water before preparation. For this purpose, the dispenser 70 is provided with a hollow needle 80 attached to a wall portion of the housing 71. This hollow needle is connected to a water reservoir, a heating element and a control element for controlling these parts. The needle can be partially or fully inserted into the container or film in order to penetrate it, after which water can be introduced into the container. In a preferred embodiment, however, it is static and the packaging 74 is brought to the needle by the manipulator 76.

Figs 12 and 13 show details of the manipulator 76. There it can be seen that it consists of one or more long shafts where a gripper 81 can move along this shaft. Because the end of the shaft of the manipulator is attached by means of a magnetic connection to the wall section and more particularly the magnet behind it, if the magnet moves in one or more directions, the shaft will move with it in that direction or directions. Thus, movement is provided at least in an X direction, but more preferably also in a Y direction.

Through a second axis 82, the gripper can also be moved along a further axis providing a Z direction of movement.

Fig. 14 and Fig. 15 show a preferred embodiment of the dispenser 70, which also includes a preparation element arranged for preparing the selected food product, in this case a hamburger 74, wherein the preparation element 83 is thus arranged to heat the food product. The preparation element shown herein relates to a grill plate. This grill plate 83 includes a further part 84 that can move relative to the grill plate 83. In particular, this grill plate is an elongated plate on which the burgers are fried or grilled and is included near at least one of the shelves.

The addition of a preparation element, and in particular the griddle 83 is that it allows not only single food products to be prepared, but entire meals to be composed with it. For example, a meal can be prepared consisting of a hamburger cooked on the grill plate, as well as a portion of vegetables and/or potatoes similarly cooked on the same or a different grill plate. One or more manipulators 76 may then successively serve these products via the dispensing element. Moreover, according to another example, these products may also be assembled into a complete meal before being dispensed, for example by assembling all prepared products on a plate, tray or plate which in its entirety is brought to the dispensing element and can be removed there by the user. In yet another example, in a single vending machine, various types of food products can be offered where of each type of product (meat, vegetable, potato base) there are one or more options to choose from. For example, the user can choose between a burger or sausage, different types of vegetables and potatoes or fries. To this end, in one example, the vending machine is provided with different compartments so that the shelves are arranged for the respective products and temperature and hygiene requirements set thereon. Preferably, a single vending machine therefore has several types of preparation elements, such as a steamer, a grill plate and a microwave oven to apply a desired and corresponding preparation method depending on the type of product.

The grill plate 83 has a moving part 84, or otherwise called, a turning element 84 hinged relative to the grill plate for reversing the selected food product using the turning element. The hamburger or other product may be moved by the manipulator to the grill plate and baked there. After it has been fried on one side for a sufficiently long time, it has to be flipped or flipped. This is done by moving the burger towards the flipping element 84, for example with a needle gripper that slides the burger towards the flipping element 84. Once it is fully or partially on top of that, the reversing element can hinge so that, as shown in Fig. 15, the burger flips. Thereby, one or more manipulators 76 may cooperate with the turning element 84, for example by partially holding back the hamburger so that it is easier to turn it over.

The gripper of one or more manipulators 76 may involve an ejector gripper, meaning they are equipped with a push, pull or hold element that allows the food products to be pushed off one of the shelves, or slide from an opened box onto a lift for further transport into or out of the vending machine.

When the product is rotationally-symmetrical, instead of mirror- symmetrical, it can also be rotated. This allows corn, cylindrical sausages or other.

Moreover, it is also possible to manipulate with several grippers side by side on the same axis at the same time. Thus, one gripper on a manipulator can provide a different movement than another gripper on the same manipulator or on a different manipulator. Moreover, grippers can also work together. For example, a II- shaped gripper can be used to lift a product, corresponding to a forklift, and another needle gripper can be used to slide the product off the gripper again.

In these or other examples, the bottom on which the products lie may be pre-shaped according to the shape of the gripper, e.g. a spoon or U-shape. Thus, a forklift lifting system can be provided while a needle gripper is used to slide the product off and onto a gripper

The housing of the vending machine according to each example can be arranged for various temperature zones, where a high temperature is achieved near the heating, or preparation element, while other parts for stocking products are instead kept at a low temperature and thus food-safe refrigerated or even frozen.

Preferably, the grill plate is sufficiently hot to actually grill the product. This has a further advantage that the turning element in contact with the grill plate, when made of a thermally conductive material, will also heat up. As a result, the turning element will always reach a food-safe heating temperature of, say, 70 degrees Celsius or higher.

The grill plate, and/or the turning element and the manipulator may also be arranged so that the gripper of the manipulator is in thermal contact with it at certain times. Thus, the gripper will also regularly heat up to the food-safe heating temperature.

Finally, Fig. 16 shows another dispenser 70 where the preparation element is a microwave oven and where the products may be meals or other products to be heated in a microwave oven. In this embodiment, the gripper can place the products on the door, which is possible because the door is provided with a carrier element or platform on the inside. When the door opens, the gripper can easily reach it and place the product in or out of the microwave easily. As indicated, the microwave oven can be combined with other preparation appliances or preparation elements such as a grill plate, further microwave oven, steamer, deep fryer, etc. The microwave is particularly suitable for reheating meals that have already been pre-prepared and specially prepared so that moisture can be added at a later time. These meals have a particularly long shelf life and are therefore ideally suited for use in the vending machine described. Moreover, it can be equipped with the described hollow needle to add water to the meal, if desired, prior to reheating in the microwave.

In all the aforementioned examples of the dispenser 70, a tray may form a base for picking up the product. This tray is preferably shaped in accordance with the product. This makes it possible to provide a vending machine using corresponding grippers that does not require vision integration. However, the integration of a vision system is not excluded, but unlike known vending machines it is not a requirement. If it is included, it can be used to determine, for example, whether the product is also in the correct position.