Self-service transaction apparatus and method

• US 5,105,069 A
• Filed: 04/07/1989
• Issued: 04/14/1992
• Est. Priority Date: 04/07/1989
• Status: Expired due to Fees

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Hakenewerth, Paul A., Rohrer, Gene D., Stalberg, Nils G.
• Primary Examiner(s): Levy, Stuart S.
• Assistant Examiner(s): GLEMBOCKI, CHRISTOPHE
• Application Number:
  US07/335,067
• Time in Patent Office: 1,103 Days
• Field of Search: 235/379, 235/381, 235/383, 235/384, 235/385, 369/34, 369/35, 369/36, 364/478, 364/479, 901/6, 901/7, 901/16, 414/225, 902/36, 902/29
• US Class Current: 235/379
• CPC Class Codes: G07D 11/14 Inlet or outlet ports
• CPC Class Codes: G07D 11/16 Handling of valuable papers within containers G07D11/13
• CPC Class Codes: G07D 11/40 Device architecture, e.g. modular construction
• CPC Class Codes: G07F 11/1653 the picking arrangements being collecting buckets
• CPC Class Codes: G07F 11/62 in which the articles are stored in compartments in fixed receptacles
• CPC Class Codes: G07F 19/205 Housing aspects of ATMs
• CPC Class Codes: G07F 7/06 by returnable containers , i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles
• CPC Class Codes: G07F 9/00 Details other than those peculiar to special kinds or types of apparatus coin inlet arrangements G07F1/00; coin-actuated mechanisms, interlocks G07F5/00

Abstract

Transfer of articles of different types between article handling devices within the apparatus and the user outside of it is effected through a limited number of access ports by an article gripping and transporting robot that undergoes multi-directional translational movement and that is capable of gripping articles of different kinds, sizes and shapes. The robot may be and preferably is also used to perform maintenance services upon article handling devices of the apparatus.

Claims

1. A self-service apparatus for conducting banking transactions, comprising:

a housing having restricted access port means for permitting passage of articles into and from said housing;

a dispenser of currency within said housing;

a dispenser of printed statements within said housing;

a repository for deposits within said housing;

a multi-purpose robot having an article gripper movable in translation along orthogonal X, Y and Z axes to and between different locations within said housing, said article gripper transporting currency from said dispenser of currency to said port means, and transporting printed statements from said dispenser of printed statements to said port means, and transporting deposits from said port means to said repository;

said article gripper of said robot including a pair of cooperating gripper jaws, first frame means mounting said gripper jaws for movement toward and away from each other, first drive means upon said frame means for imparting said movement to said gripper jaws, second frame means mounting said first frame means for rotative movement about an axis generally parallel to said gripper jaws, drive means for imparting said movement to said second frame means, third frame means mounting said second frame means for rotative movement about a second axis perpendicular to said first-mentioned axis, drive means for imparting movement about said second axis to said second frame means, fourth frame means mounting said third frame means for substantially vertical translatory movement, drive means carried by said fourth frame means for imparting said substantially vertical movement to said third frame means, fifth frame means mounting said fourth frame means for rotative movement about a substantially vertical axis, drive means for imparting said rotative movement about said substantially vertical axis to said fourth frame means, a base assembly mounting said fifth frame means for translatory movement along orthogonal substantially horizontal axes, drive means carried by said base assembly for imparting said movement to said fifth frame means.