Abstract: A vending machine comprises a robotic arm and a pick mechanism that is coupled to the robotic arm. The pick mechanism is configured to retrieve a vendible product in the vending machine, and the robotic arm is configured to locate the pick mechanism at a location with a x-y coordinate that corresponds to the vendible product. The pick mechanism comprises a first roller, a second roller, and a belt that mechanically links the first and second rollers by forming a loop around the first and second rollers. The belt has a first portion and a second portion on opposing sides of the loop, and the second portion of the belt is coupled to the robotic arm. The pick mechanism further comprises a motor that is configured to rotate the first roller in order to translate the first and second portions of the belt in opposite directions to each other. The pick mechanism further comprises a picker arm extending in the z direction.

Abstract: A vending machine comprising: a delivery aperture configured to enable a user to remove a vendible product from the vending machine; a delivery unit, movable between a non-user-accessible loading position, distal to the delivery aperture, and a user-accessible delivery position proximal to the delivery aperture; a robotic arm; and a pick mechanism coupled to the robotic arm, the pick mechanism configured to retrieve the vendible product in the vending machine and to provide the vendible product to the delivery unit while the delivery unit is located in the non-user-accessible loading position; wherein, the delivery unit is configured to move the received vendible product from the non-user-accessible loading position to the user-accessible delivery position.

Abstract: A vending machine comprises a robotic arm and a pick mechanism that is coupled to the robotic arm. The pick mechanism is configured to retrieve a vendible product in the vending machine, and the robotic arm is configured to locate the pick mechanism at a location with a x-y coordinate that corresponds to the vendible product. The pick mechanism comprises a first roller, a second roller, and a belt that mechanically links the first and second rollers by forming a loop around the first and second rollers. The belt has a first portion and a second portion on opposing sides of the loop, and the second portion of the belt is coupled to the robotic arm. The pick mechanism further comprises a motor that is configured to rotate the first roller in order to translate the first and second portions of the belt in opposite directions to each other. The pick mechanism further comprises a picker arm extending in the z direction.