Dispensable unit retrieval mechanism
First Claim
1. A device comprising:
- a container;
a tube having a first end and a second end coupled in fluid communication by a hollow core;
a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions;
a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib;
a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container;
a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container; and
an agitator engaged with the first end of the tube that converts an axial force created by a vertical movement of the tube into a horizontal force parallel to the first horizontal plane for agitation of dispensable units.
4 Assignments
0 Petitions
Accused Products
Abstract
A system enables management of dispensable units by supporting functions such as retrieval, scheduled distribution, analysis, and notifications. To this end, a dispensable retrieval mechanism may be programmed to carry out blind retrievals of dispensable units using a retrieval strategy with a predetermined sequence of retrieval attempts (e.g., fixed or varying two-dimensional retrieval patterns), which may be open loop or closed loop. Techniques may also include the identification of dispensable units through optical sensors and weight measurement devices that can detect, e.g., a texture, a shape, and a size of dispensable units. Such identification can be used to program retrieval attempts by a retrieval robot and in the formulation of the retrieval pattern. Additionally, networked notification systems for dispensable units can be used for updating rules or schedules related to the dispensable units, or alerting users and remote resources of any potential misuse or hazards of the dispensable units.
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Citations
17 Claims
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1. A device comprising:
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a container; a tube having a first end and a second end coupled in fluid communication by a hollow core; a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions; a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib; a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container; a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container; and an agitator engaged with the first end of the tube that converts an axial force created by a vertical movement of the tube into a horizontal force parallel to the first horizontal plane for agitation of dispensable units. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A device comprising:
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a container; a tube having a first end and a second end coupled in fluid communication by a hollow core; a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions; a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib; a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container; and a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container, wherein the nib includes a plurality of bellows that permit the seal of the nib to move relative to the tube as the positioner moves the tube vertically into the container, thereby maintaining a predetermined range of contact forces as the seal of the perimeter contacts contents of the container.
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9. A device comprising:
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a container; a tube having a first end and a second end coupled in fluid communication by a hollow core; a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions; a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib; a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container; a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container; and a biasing element movably coupling an indicating element to the tube and biasing the indicating element in a direction with a predetermined biasing force, the indicating element engaged with the nib such that the indicating element moves relative to the tube when a contact force applied to the nib is greater than the predetermined biasing force on the indicating element, wherein the controller is configured to infer contact of the nib with contents of the container upon detecting a movement of the indicating element relative to the tube. - View Dependent Claims (10, 11, 12, 13)
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14. A device comprising:
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a container; a tube having a first end and a second end coupled in fluid communication by a hollow core; a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions; a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib; a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container; and a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container, wherein the two-dimensional retrieval pattern is determined based on feedback including information related to a previous retrieval attempt.
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15. A device comprising:
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a container; a tube having a first end and a second end coupled in fluid communication by a hollow core; a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions; a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib; a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container; and a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container, wherein the two-dimensional retrieval pattern includes offsetting a position of the nib within the first horizontal plane by a distance greater than half of a cross-sectional width of the nib.
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16. A device comprising:
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a container; a tube having a first end and a second end coupled in fluid communication by a hollow core; a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions; a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib; a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container; a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container; and a carousel with a plurality of containers including the container, the carousel rotatable to position one of the plurality of containers for engagement with the nib. - View Dependent Claims (17)
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Specification