Delivery system

Abstract

A product delivery system for delivering a product from a storage area to a dispensing area, such as for use in a vending machine. The product delivery system may include a vacuum holding device, a robotic positioning system, a reel and cable system, and a controller. A feature is the provision of a picker head with a built-in vacuum generating source that may be carried by a robotically movable arm system.

What is claimed is: 
     
         1 . A product delivery system for delivering product from a storage area to a dispensing area, the product delivery system comprising:
 a product holding device for selective coupling with the product, the product holding device having a vacuum generating assembly; and   a positioning structure coupled to the product holding device for moving the product holding device.   
     
     
         2 . A product delivery system as claimed in  claim 1  wherein the product holding device selectively couples to the product at the storage area, continually carries the product during transportation to the dispensing area, and releases the product at the dispensing area. 
     
     
         3 . A product delivery system as claimed in  claim 1  wherein the product holding device is coupled to a pivoting structure for advancing the product holding device toward a product. 
     
     
         4 . A product delivery system as claimed in  claim 1  wherein the vacuum generating assembly includes an air vacuum pumping mechanism, a drive mechanism to drive the pumping mechanism, air ducting components, and a housing assembly. 
     
     
         5 . A product delivery system as claimed in  claim 1  wherein the vacuum generating assembly includes a suction cup for contacting the product, the suction cup being flexible to generally conform to an exterior surface of the product. 
     
     
         6 . A product delivery system as claimed in  claim 1  wherein the vacuum generating assembly includes a housing, the housing having an exhaust for exiting air substantially proximate to the housing. 
     
     
         7 . A product delivery system as claimed in  claim 1  wherein the vacuum generating assembly is detachable from the positioning structure as a modular unit. 
     
     
         8 . A product delivery system as claimed in  claim 1  wherein the positioning structure is a robotic arm. 
     
     
         9 . A product delivery system as claimed in  claim 8  wherein the robotic arm has a plurality of arm segments wherein each arm segment is joined to an adjacent arm segment by a rotational joint. 
     
     
         10 . A product delivery system as claimed in  claim 9  wherein each of the plurality of arm segments are rotated about the respective rotational joint by a drive system for moving the robotic arm. 
     
     
         11 . A product delivery system as claimed in  claim 8  wherein the robotic arm is telescoping. 
     
     
         12 . A product delivery system as claimed in  claim 8  further comprising a mounting component for the robotic arm. 
     
     
         13 . A product delivery system as claimed in  claim 1  further comprising a reel and cable system, wherein the product holding device is moveable with the reel and cable system. 
     
     
         14 . A product delivery system as claimed in  claim 13  wherein the reel and cable system is operated with a drive system to vertically position the product holding device. 
     
     
         15 . A product delivery system as claimed in  claim 13  further comprising a robotic arm and wherein the reel and cable assembly is coupled to the robotic arm. 
     
     
         16 . A product delivery system as claimed in  claim 13  wherein the reel and cable system comprises a cable that is spooled onto a reel, cable being wound onto the reel to raise the product holding device and the cable being unwound from the reel to lower the product holding device. 
     
     
         17 . A product delivery system as claimed in  claim 13  wherein the reel and cable system includes a cable, and the cable includes an electrical conductor to electrically power the product holding device. 
     
     
         18 . A product delivery system as claimed in  claim 13  wherein the reel and cable system includes a cable that is electrically coupled to a stationary member by a slip ring conductor. 
     
     
         19 . A product delivery system as claimed in  claim 1  further comprising a control system for controlling the product holding device and the positioning structure. 
     
     
         20 . A product delivery system as claimed in  claim 19  wherein the control system monitors an electrical current draw of the vacuum generating assembly to determine when the product holding device has coupled to a product and when a product has been released. 
     
     
         21 . A product delivery system as claimed in  claim 19  wherein the control system includes a means for ramping up the power level provided to the air vacuum generating assembly during activation of the vacuum generating assembly, and the control system includes a means for ramping down the power level provided to the air vacuum generating assembly during the deactivation of the vacuum generating assembly. 
     
     
         22 . A product delivery system as claimed in  claim 19  further comprising a robotic arm and wherein the control system comprises a closed loop feedback monitoring feature for rotational orientation of the robotic arm to provide precise rotational orientation positioning of the robotic arm. 
     
     
         23 . A method of delivering a product from a storage area to a dispensing area comprising:
 providing a product holding device;   providing a vacuum generator carried by the product holding device; and   utilizing the product holding device on a robotic positioning system to transport the product.   
     
     
         24 . A vending machine for dispensing a product to a consumer, the vending machine having a storage area and a dispensing area, the vending machine comprising:
 a product holding device for coupling with the product to move the product from the storage area to the dispensing area, the product holding device having a vacuum generating assembly attached thereto; and   a positioning structure coupled to the product holding device for moving the product holding device.