Automated liquid dispensing device and associated method
The present invention is an automated liquid dispenser comprising novel mechanisms for removing a single container from a nested stack of containers, closing the bottom of the container, decapping the container, filling the container, capping the container, and dispensing the filled container to a user.
1. An automated liquid dispensing device, comprising:
a lift plate;
a plurality of stacks of nested containers mounted on the lift plate;
a separator for separating a top container from one of the plurality of stacks of nested containers;
a gripper for grabbing the top container from the separator;
a motorized mechanism for moving the gripper in three dimensions;
a closing structure for receiving the selected container from the gripper and for closing a bottom flap of the top container;
a capper for removing a cap from the top container and for securing the cap back onto the top container; and
a filler for filling the container with liquid.
2. The device of claim 1 , further comprising:
one or more flavor cartridges for adding flavor to the liquid before it is dispensed by the filler.
3. The device of claim 1 , wherein the lift plate is moved vertically by a linear actuator.
4. The device of claim 1 , wherein the separator comprises an aperture for receiving a container and friction members along the aperture for exerting force on the container.
5. The device of claim 1 , wherein the gripper comprises:
a top structure;
a first arm coupled to the top structure;
a second arm coupled to the top structure;
a first finger coupled to the first arm through a first joint;
a second finger coupled to the second arm through a second joint; and
a plunger for engaging with the top structure and the first finger and the second finger, the plunger being movable in a vertical direction by a solenoid;
wherein the first finger and the second finger are pushed inward when the solenoid is off and the first finger and the second finger are pushed outward when the solenoid is on.
6. The device of claim 5 , wherein the gripper further comprises a sensor for causing the solenoid to turn off when the sensor detects a cap.
7. The device of claim 1 , wherein the closing structure comprises a movable ramp for exerting force against a bottom flap of a container as the container is pushed downward into the closing structure.
8. The device of claim 1 , wherein the capper comprises a cap gripping mechanism for grabbing a cap.
9. The device of claim 8 , wherein the capper further comprises one or more fixtures for exerting force downward on a container, whereby the container does not spin when the cap gripping mechanism turns a cap on the container.
10. The device of claim 9 , wherein the capper further comprises two sensors for determining if a cap is contained in the cap gripping locking mechanism.
11. A method for dispensing liquid from a liquid dispensing device, comprising:
grabbing, by a gripper, a container from a supply of nested containers;
placing, by the gripper, the container in a closing structure for closing a bottom flap of the container;
removing, by a capper, a cap from the container;
moving, by the gripper, the container from the capper to a filler;
filling, by the filler, the container with liquid;
moving, by the gripper, the container from the filler to the capper;
securing, by the capper, the cap to the container; and
dispensing the container from the device.
12. The method of claim 11 , further comprising:
adding flavor from one or more flavor cartridges to the liquid before the filling step.
13. The method of claim 11 , further comprising moving, by a lift plate, the supply of nested containers upward.
14. The method of claim 11 , further comprising exerting friction, by friction members, against a second-to-top container when a top container is removed by the gripper.
15. The method of claim 11 , wherein the gripper comprises:
a top structure;
a first arm coupled to the top structure;
a second arm coupled to the top structure;
a first finger coupled to the first arm through a first joint;
a second finger coupled to the second arm through a second joint; and
a plunger for engaging with the top structure and the first finger and the second finger, the plunger being movable in a vertical direction by a solenoid;
wherein the first finger and the second finger are pushed inward when the solenoid is off and the first finger and the second finger are pushed outward when the solenoid is on.
16. The method of claim 15 , wherein the gripper further comprises a sensor for causing the solenoid to turn off when the sensor detects a cap.
17. The method of claim 11 , wherein the closing structure comprises a movable ramp for exerting force against a bottom flap of a container as the container is pushed downward into the closing structure.
18. The method of claim 11 , wherein the capper comprises a cap gripping mechanism for grabbing a cap.
19. The method of claim 18 , wherein the capper further comprises one or more fixtures for exerting force downward on a container, whereby the container does not spin when the cap gripping mechanism turns a cap on the container.
20. The method of claim 19 , wherein the capper further comprises two sensors for determining if a cap is contained in the cap gripping mechanism.