Abstract:
Improvements are described for the design and operation of article handling apparatus, such as those which utilize computer-controlled electromechanical technology, and in the illustrated embodiment a robotically positioned suction gripper, for grasping and moving a selected article from an article storage area to an article dispensing area. One or more of such apparatus are particularly advantageous in a vending machine which can have multiple article storage areas. Such areas may have different volumes and even different operating environments. A warehouse environment for the apparatus is also described.

Description:
SUMMARY OF THE INVENTION  
         [0001]    The present invention provides a machine for vending articles. The machine includes at least one compartment including a guide, a head, and a positioning mechanism. The compartment, which is adapted to store the articles, extends along a longitudinal axis extending between first and second ends. The guide extends parallel to the longitudinal axis. The head is extensible into the compartment along a first axis that is generally parallel to the longitudinal axis, and is adapted to engage one of the articles. And the positioning mechanism aligns the head with the guide.  
           [0002]    The present invention also provides a machine for vending articles. The machine includes at least one compartment, a head, a positioning mechanism, and a guide. The compartment, which is adapted to store the articles, includes a generally horizontal axis that extends between first and second ends. The head, which is adapted to engage one of the articles, is extensible into the compartment along a first axis that is generally parallel to the generally horizontal axis. The positioning mechanism aligns the head with the compartment. And the guide, which is provided in the compartment, controls lateral movement of the head with respect to the first axis.  
           [0003]    The present invention also provides a machine for vending articles. The machine includes at least one compartment, a head, a guide, a hose, a feeder, and a positioning mechanism. The compartment includes a longitudinal axis that extends between first and second ends. The first end defines an article portal The head, which is adapted to engage one of the articles, is extensible through the first portal, along a first axis that is generally parallel to the longitudinal axis, and into the compartment. The guide, which controls lateral movement of the head with respect to the first axis, is provided in the compartment. The hose provides a fluid coupling between the head and a pressure source. The feeder displaces the hose so as to extend the head along the first axis. And the positioning mechanism aligns the head with the compartment.  
           [0004]    The present invention also provides a machine for vending articles. The machine includes an enclosure and a handler. The enclosure, which defines an interior space and an exterior space, has an aperture through which articles pass from the interior space to the exterior space. The handler, which occupies less than 25% of the internal space, moves the articles in the interior space and places the articles that are to be dispensed at the aperture.  
           [0005]    The present invention also provides a machine for vending articles. The machine includes an enclosure and a plurality of compartments. The enclosure, which defines an interior space and an exterior space, has an aperture through which articles pass from the interior space to the exterior space. The plurality of compartments, which occupy at least 75% of the internal space, store articles in the interior space.  
           [0006]    The present invention additionally provides a method of vending articles from a machine. The machine includes an interior space that has therein at least one compartment, which extends along a horizontal axis between first and second ends. The compartment has therein a plurality of articles. The method includes aligning a head, which is adapted to engage the articles, with the compartment; extending the head into the compartment along a first axis that is generally parallel to the horizontal axis; engaging one of the plurality of articles with the head; and retracting the head, with the article engaged by the head, along the first axis. The engaging and retracting leave undisturbed non-engaged ones of the plurality of articles.  
           [0007]    The present invention further provides a method of stocking a machine for vending articles. The method includes accessing a compartment, which includes a horizontal axis extending between first and second ends, in an interior space of the machine; and inserting into the compartment, along the horizontal axis, at least one of the articles. 
       
    
    
     BRIEF DESCRIPTIONS OF THE DRAWINGS  
       [0008]    The accompanying drawings, which are incorporated herein and constitutes part of this specification, illustrate embodiments and details of the invention, and, together with the general description given above and the detailed description given below, serve to explain the features of the invention.  
         [0009]    [0009]FIG. 1 is a partially cutaway, perspective view of a vending machine.  
         [0010]    [0010]FIG. 2 is a partially cutaway, perspective view of a detail of the vending machine shown in FIG. 1.  
         [0011]    [0011]FIG. 3 is a schematic view of a further arrangement for the vending machine shown in FIG. 1.  
         [0012]    [0012]FIG. 4 is a schematic view illustrating a detail of the vending machine shown in FIG. 1.  
         [0013]    [0013]FIG. 5 is a schematic view illustrating a further arrangement for the vending machine shown in FIG. 1.  
         [0014]    [0014]FIG. 6 is a schematic view illustrating a further arrangement of the detail shown in FIG. 2.  
         [0015]    [0015]FIG. 7A is a first schematic view illustrating the detail shown in FIG. 2.  
         [0016]    [0016]FIG. 7B is a second schematic view illustrating the detail shown in FIG. 2.  
         [0017]    [0017]FIG. 8 is a schematic view illustrating a detail of the vending machine shown in FIG. 1. 
     
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT  
       [0018]    Referring to FIG. 1, a machine  10  for vending articles  12 (1)- 12 (6) includes an enclosure  100  and a handler  200 .  
         [0019]    In general, the articles  12  can include various consumer products. Preferably, the articles  12  can be food or beverages (e.g., bags of snacks, packs of gum, candy bars, ice cream novelties, individual serving size pizzas, cans of carbonated beverages, containers of juice, etc.), personal hygiene items (e.g., combs and hair brushes, lip balm, razors, bandages, etc.), office supplies (e.g., pens and pencils, staples, note pads, tape, pre-paid), etc. Of course, it is possible for the machine  10  to store and vend other types of goods and services (e.g., telephone calling cards, cinema tickets, etc.).  
         [0020]    The machine  10  can include various types of equipment to prepare the articles  12 . For example, the machine  10  can include refrigeration equipment to keep certain articles cool or frozen. The machine  10  can also include heating equipment, e.g., a microwave oven, to warm certain articles.  
         [0021]    The enclosure  100  can include a body  110  and a door  120 . The enclosure  100  defines an interior space  102  that is thereby separated from a surrounding exterior space  104 . In general, the enclosure  100  provides a container for the articles  12 , which are to be selectively dispensed to the exterior space  104 . Preferably the enclosure occupies a space of approximately (i.e., +/−30% of) 3 feet by 3 feet by 6 feet.  
         [0022]    The body  110  can have a variety of arrangements including a free standing cabinet or a room within a building. In general, the body  110  defines a cavity that is accessible primarily via an aperture  118  at the mouth of the cavity. The door  120  can be movable, with respect to the body, between a first position that occludes the aperture  118  and a second position that provides access to the interior space  102 . For example, the door  120  can be pivotally mounted with respect to the body  110  via hinges, and a latching mechanism can be used to retain the door  120  in the first position. A lock can be used with the latch to provide security.  
         [0023]    Either the body  110  or the door  120  can have an at least partially transparent panel  122  that permits viewing of the interior space  102 . Thus, the articles  12  being vended or the handler  200  can be viewed from the exterior space  104 . Graphics or indicia, such as advertising for the articles  12  or the machine  10 , can be place on any portion of body  110 , the door  120 , or the transparent panel  122 . Lighting can also be provided in the interior space  102  to enhance viewing through the transparent panel  122 .  
         [0024]    A receptacle  130  can provide a space that provides limited communication between the interior space  102  and the exterior space  104 . The receptacle  130  can have a variety of arrangements including interlocked double doors or an elongated passage. In general, the receptacle  130  facilitates dispensing, and at the same time prevents vandalism, of the articles  12  within the machine  10 . The receptacle  130  can be part of either the body  110  or the door  120 .  
         [0025]    The interior space  102  can be partitioned into a number of compartments  140 (1) to  140 (4). Referring also to FIG. 2, each of the compartments  140  has a longitudinal axis  142  extending between a first end  144  and a second end  146 . The longitudinal axis  142  can extend horizontally (i.e., parallel to the horizon), vertically (i.e., parallel to the force of gravity), or obliquely (i.e., at angle between horizontal and vertical; see FIGS. 3 and 4).  
         [0026]    Each compartment  140  can store at least one of the articles  12 . The number and type of articles  12  that are stored in a respective compartment  140 , or the number of compartments  140  holding a particular type of article  12 , can be changed during stocking, as will be described more fully hereinafter.  
         [0027]    The width and height dimensions of the compartments  140 , i.e., measured transverse to the longitudinal axis  142 , can be selected to accommodate the corresponding dimensions of one or more types of articles  12 . The depth dimension of the compartments  140 , i.e., measured along the longitudinal axis  142 , can be selected to accommodate a predetermined number of a particular type of article  12 . As will be described more fully hereinafter, the depth dimension may also be related to location of the compartment  140  within the enclosure  100 .  
         [0028]    One or more tabs  148  can project inward into the compartment  140 . Exhibit A (PCT/US01/16847, filed May 23, 2001, entitled METHOD AND APPARATUS FOR STORING ARTICLES FOR USE WITH AN ARTICLE HANDLING DEVICE) describes various configurations of inwardly projecting tabs. In general, the tabs  148  maintain the orientation or spacing of the articles within the compartment  140 .  
         [0029]    The compartments  140  can be grouped into sets. For example, a horizontal row of compartments  140 (1)- 140 (2) may define first set of compartments  140 , and another horizontal row of compartments  140 (3)- 140 (4) may define a second set of the compartments  140 .  
         [0030]    A first tray  150  may define a common base for simultaneously manipulating the compartments  140  of the first set, and a second tray  150  may define a common base for simultaneously manipulating the compartments  140  of the second set. For example, the trays  150 , 152  may each include a shelf that is displaceable fore and aft, i.e., parallel to the longitudinal axes  142 . Rollers  154  and cooperating ledges  156  may provide an antifriction device facilitating the fore and aft displacement of the trays  150 , 152 . Preferably, the rollers  154  are mounted on the trays  150 , 152  and the body  110  provides the ledges  156 .  
         [0031]    Walls  154  that separate an adjacent pair of compartments  140  within a set may define the compartments  140  of the first and second sets. Or compartments  140  defined by independent structures may be placed on the trays  150 , 152 . It is also envisioned that the trays  150 , 152  could have a common depth dimension, i.e., parallel to the longitudinal axes  142 , and that compartments  140  having different depth dimensions could be placed on the trays  150 , 152 .  
         [0032]    As shown in FIG. 1, the compartments  140  may fitted with a system  160  that prevents articles from being pushed out the first end  144  during axial stocking of the articles  12  from the second end  146 . The system  160  may include a panel  162  that is pivotal from a vending position  164  (as shown in solid lines) to a stocking position  166  (as shown in broken lines). The panel  162  may be operatively connected, e.g., by a Bowden cable, to a retention projection  168  that is movable into a blocking arrangement that at least partially occludes the first end  144 . The retention projection  168  may include an accordion type device that is substantially flat in the vending position  164  and, when the panel  162  is pivoted to the stocking position  166 , has a central portion that is raised when the Bowden cable compresses toward one another end portions that are on either side of the central portion. Thus, when the compartment  140  is being stocked by pushing articles  12  along the longitudinal axis  142  from the second end  146 , the panel  162  is pivoted to the stocking position  166 , and the retention projection  168  prevents articles  12  from being pushed out the first end  144 . When the compartment  140  is sufficiently stocked with articles  12 , the panel  162  is pivoted to the vending position  164  to prevent the articles  12  from being pushed out the second end  146 , and allows the handler  200  to remove an article  12  to be vended from the first end  144 . An advantage of axial stocking is that the article  12  that is stocked in the compartment  140  first in time, is also the article  12  that is first in time to be vended, and the article  12  that is stocked in the compartment  140  last in time, is also the article  12  that is last in time to be vended.  
         [0033]    Of course, the system  160  can have different configurations. For example, the panel  162  may be pivotally mounted with respect to the compartment  140  about a vertical axis rather than a horizontal axis. The panel  162  may be moved with respect to the compartment  140  by an action other than pivoting. A substantially rigid link, rather than the relatively flexible Bowden cable, may be used to operatively connect the panel  162  and the retention projection  168 . And the retention projection  168  can include structures and operations other than an accordion type device. Additionally, panel  162  can be at least partially transparent so as to display the article  12  proximate the second end  146 , or a structure other than a panel, e.g., a handle, can be substituted.  
         [0034]    In a further embodiment of the machine  10 , the trays  150 , 152  may be moved aft, i.e., into the body  110 , during stocking so that the first ends  144  abut an interior surface of the body  110 . That is to say, the trays  150 , 152  can be moved aft, through the working space of the handler  200 , such that the body  110  occludes the first ends  144 . Thus, the body  110  prevents the articles  12  from being pushed out the first end during axial stocking from the second end  146 . As will be described hereinafter, the structure of the handler  200  may at least partially interfere with the trays  150 , 152  being moved aft against the body  110 . In this instance, the trays  150 , 152  may include a notch that receives the handler  200 , and the handler  200  may also prevent articles  12  from being pushed out the first end during axial stocking from the second end  146 .  
         [0035]    A yet further embodiment of the machine  10  can have the trays  150 , 152  movable fore, i.e., out of the body  110  (when the door  120  is in its second position) so as to gain generally unrestricted access to the first and second ends  144 , 146 . Thus, during axial stocking, the first end  144  can be manually occluded. Or if the compartment  140  has an open side, such as when the compartment  140  is defined by the trays  150 , 152  and walls  154 , articles  12  may be stocked transversely to the longitudinal axis  142 . It is also envisioned that the trays  150 , 152  may have a compound movement. For example, at the extent of fore movement parallel to the longitudinal axis  142 , the trays  150 , 152  may be pivoted to an inclined or vertical orientation to further facilitate stocking.  
         [0036]    The machine  10  maximizes the volume of the compartments  140  within the interior space  102  and minimizes the volume required for the handler  200  and additional equipment (e.g., control panel, pressure source, refrigeration/heating equipment, etc.). Preferably, at least 75% of the interior space  102  is devoted to storage for the articles  12 , and less than 25% of the interior space  102  is required for the handler  200  and additional equipment.  
         [0037]    In order to maximize the interior space  102  devoted to storage for the articles  12 , various configurations and arrangements of the compartments  140  are envisioned. For example, it is envisioned that at least some of the compartments  140  that are located behind the control panel or around other equipment may have a reduced depth dimension so as provide an accommodation for the volume occupied by the control panel or other equipment. These reduced depth compartments  140 , which may not be viewable through partially transparent panel  122 , can be used as additional storage capacity for frequently vended articles  12 . In this situation, the machine  10  could vend the articles  12  from these reduced depth compartments  140  prior to depleting the same articles  12  from a compartment  140  that has its second end  144  that is viewable through the partially transparent panel  122 .  
         [0038]    The interior space  102  devoted to storage for the articles  12  could also be maximized, and the volume of the working space required by the handler  200  could be minimized, by staggering the depth dimensions of different ones of the trays  150 , 152 . In general, less space is needed at the first end  144  of the compartment  140  for the handler  200  to move smaller articles  12 . For example, referring additionally to FIG. 5, the smallest volume articles  12  may be placed in compartments  140  on the uppermost tray  150 , and progressively larger articles  12  may be placed on successively lower trays  152  in compartments  140  that have progressively shallower depth dimensions. Thus, the space necessary for moving the articles  12  between the first ends  144  and the handler  200  can be reduced, and the available depth for storage in the compartment  140  can be increased, in accordance with size of the articles  12 .  
         [0039]    The handler  200  moves the article  12  selected by a consumer from its compartment  140  to the receptacle  130 , whereupon the consumer can withdraw the article from the receptacle  130 . Of course, the movement by the handler  200  may include a first movement from the compartment  140  to processing equipment, e.g., a microwave oven, within the enclosure  100 , and a second movement from the processing equipment to the receptacle  130 . Or the movement by the handler  200  may additionally include opening a closure, e.g., a thermal door, in the course of moving the article  12  within the enclosure  100 .  
         [0040]    The handler  200  can include a positioning mechanism  210 , a feeder  240  supported by the positioning mechanism  210 , a hose  250  that is advanced and retracted by the feeder  240 , a head  270  that is displaced by the hose  250  and that engages one of the articles  12 , and a guide  280  that controls movement of the head  270 . These and other features of the handler  200  will now be described hereinafter.  
         [0041]    The positioning mechanism  210  can provide movement to any point on a plane that confronts the first ends  144  of the compartments  140 . The movement in the plane can be achieved by different motions and with different actuators.  
         [0042]    Examples of the different motions can include X-Y coordinate movement, or r-Θ coordinate movement. In the case of X-Y coordinate movement, a first movement is translation along a first axis and a second movement is translation along a second axis that is perpendicular to the first axis. In the case of r-Θ coordinate movement, a first movement is rotation about a first axis and a second movement is translation along a second axis perpendicular to the first axis.  
         [0043]    Examples of different actuators that can implement translation include a pinion driving a rack, a threaded shaft driving a cooperating nut, a pinion driving a cog belt that extends around spaced pulleys, a pneumatically or hydraulically extensible and retractable set of telescopically nested rods, relatively displaceable articulately related links (e.g., a scissors linkage), etc. Examples of different actuators that can implement rotation include a motor, a rack driving a pinion, etc.  
         [0044]    Referring to FIG. 2, there is shown an example of a X-Y coordinate movement using pinions driving a rack. A first motor  212  turns a pair of gears  214  that are fixed for common rotation via a shaft  216 . The gears  214  are operatively engaged with respective racks  218  which are fixed to the body  110 . The first motor  212  and bearings for the shaft  216  are supported on a beam  220 . In turn, the beam  220  is supported for translation relative to the body  110  by antifriction wheels  222  riding in channels  224 . Thus, rotation of the first motor  212  causes rotation of the gears  214  with respect to the racks  218 , which in turn causes the beam  220  to translate in a first side-to-side direction. Reversing the rotation of the first motor  212  will cause the beam  220  to translate in a second side-to-side direction that is opposite to the first side-to-side direction.  
         [0045]    A second motor  226  turns a gear  228  that is operatively engaged with a rack  230  that is fixed to the first beam  220 . The second motor  212  is supported on a carriage  232 . In turn, the carriage  232  is supported for translation along the beam  220  by flanges  234  sliding in channels  236 . Thus, rotation of the second motor  226  causes rotation of the gear  228  with respect to the rack  230 , which in turn causes the carriage to translate in a top-to-bottom direction. Reversing the rotation of the motor  226  will cause the carriage  232  to translate in a bottom-to-top direction.  
         [0046]    When the enclosure occupies a space of approximately (i.e., +/−30% of) 3 feet by 3 feet by 6 feet, the carriage  232  preferably works in a space of less than approximately (i.e., +/−30% of) 10 inches of the depth dimension of machine  10 .  
         [0047]    Thus, a first positioning mechanism, which includes the first motor  212  and the racks  218 , accomplishes a first translation movement that is perpendicular to a second translation movement that is accomplished by a second positioning mechanism, which includes the second motor  226  and the rack  230 .  
         [0048]    In further embodiments of the machine  10 , both of the positioning mechanisms can be similarly supported with antifriction wheels and channel arrangements or with flanges sliding in channels. Different numbers of wheels, flanges, and channels may be implemented. And actuators other than pinions driving racks may be implemented. Also in a further embodiment, the first beam  220  could translate top-to-bottom and bottom-to-top, and the carriage  232  could translate side-to-side relative to the first beam  220 .  
         [0049]    The feeder  240  is supported on and moves with the carriage  232 . The feeder  240  can included a third motor  242  turning a drive roller  244 . The drive roller  244  contiguously engages the surface of the hose  250 . An idle roller  246  is biased against the hose  250  so as to ensure that the engagement between the drive roller  244  and the surface of the hose  250  is sufficient to convert rotation of the drive roller  244  to extension of the hose  250  from the plane of the positioning mechanism  210 . Reversing rotation of the third motor  242  retracts the hose  250 .  
         [0050]    In a further embodiment of the machine  10 , at least the drive roller  244  can have a texture that cooperatively engages a corresponding texture on the surface of the hose. In yet a further embodiment of the machine  10 , a threaded rod can be driven by the third motor  242  and can matingly engage corrugations on the surface of the hose  250 .  
         [0051]    The feeder  240  can further include one or more guide rollers  248  aligning the hose  250  with the feeder  240 . Preferably, these guide rollers  248  are located at positions where the hose  250  is required to flex or bend. A further embodiment of a feeder is shown in Exhibit B (PCT/US01/16894, filed May 23, 2001, entitled METHOD AND APPARATUS FOR POSITIONING AN ARTICLE HANDLING DEVICE).  
         [0052]    The hose  250  is extensible and retractable along an axis that can be orthogonal to the plane of movement in which the positioning mechanism  210  positions the carriage  232 . Referring again to FIGS. 1 and 2, for example, the positioning mechanism  210  can locate the carriage  232  vertically and laterally so as to select one of a plurality of the generally horizontally oriented compartments  140 , and the feeder  240  can extend and retract the hose  250  along a generally horizontal axis so as to enter and withdraw, respectively, from the selected compartment  140 .  
         [0053]    The hose  250  can include more than one portion. For example, FIG. 1 shows a first hose portion  250   a  and a second hose portion  250   b . The first hose portion  250   a  provides a fluid coupling between a pressure source  252  and a pressure control valve  254 , e.g., a pressure relief valve. The second hose portion  250   b  provides a fluid coupling between the pressure control valve  254  and the head  270 .  
         [0054]    In further embodiments of the machine  10 , the hose  250  can be extensible and retractable along an axis that is oblique, i.e., not orthogonal, with respect to the plane of movement in which the positioning mechanism  210  positions the carriage  232 .  
         [0055]    Similarly, the hose  250  can be considered with respect to the feeder  240 . That is to say, a first hose segment can be considered to be the length of the hose  250  extending between the feeder  240  and the pressure source  252 , and a second hose segment can be considered to be the length of the hose  250  extending between the feeder  240  and the head  270 . As the feeder  240  extends the hose  250 , the first hose segment decreases and the second hose segment increases, and as the feeder  240  retracts the hose  240 , the first hose segment increases and the second hose segment decreases. In a further embodiment of the machine  10 , a hose storage system  260  can be used to arrange the first hose segment. The hose storage system  260  can be arranged vertically, as shown in FIG. 1, and can include a pulley  262  contiguously engaging the first hose segment. The pulley  262  can be biased gravitationally (e.g., by a weight, as shown in FIG. 1), biased resiliently (e.g., by a spring), or biased mechanically (e.g., by a linkage). In a further embodiment of the machine  10 , the hose storage system  260  can be oriented horizontally with the pulley  262  biased resiliently or mechanically. A further embodiment of a hose storage system is included in Exhibit B.  
         [0056]    The head  270  can be in fluid communication with the pressure source  252  via the hose  250 , and can be displaced by the feeder  240  via the hose  250 . The head  270  can include a suction cup  272  and a rotary joint  274 . The suction cup  272  can include a flexible member that is activated by the pressure source  252  so as to grip one of the articles  12 . In general, the head  270  provides a gripper that releasably holds an article  12  such that the article  12  can be moved with the head  270 . The rotary joint  274  can couple the head  270  to the hose  250  so that a preferred orientation of the head  270  can be maintained as the hose  250  is extended and retracted by the feeder  240 .  
         [0057]    In further embodiments of the machine  10 , the head  270  can include a mechanical gripper or a magnetic gripper. With either of these grippers, a link that is laterally flexible and generally non-deformable longitudinally, but not necessarily hollow, can be used extend/retract the head  270  with the feeder  240 . Either of these grippers can be operated to grip an article  12  with an actuator at the head  270  or by a remotely located, e.g., at an end of the link that is opposite the head  270 .  
         [0058]    The hose  250  has a generally constant length and is sufficient lateral flexible to be bent as necessary in the feeder  240  and the hose storage system  260 . Thus, the magnitude that the hose  250  extends from the feeder  240  (i.e., the second segment of the hose  250 ) is readily determinable. To determine the direction that the hose extends from the feeder  240 , the guide  280  provide some control of the lateral flexibility of the hose  250  as it is extends into the compartments  140 . Referring to FIG. 2, the guide  280  can include a pair of tracks  282  that are provided in the compartment  140 . These tracks  282  define a path along which the head  270  is guided while being extended to engage an article  12 , and along which the head  270  and an engaged article  12  are retracted.  
         [0059]    The guide  280  can also include an enlarged portion  284  of the head  270 . The enlarged portion  284  is sized to cooperatively interact with the tracks  282  such that the suction cup  272  is oriented to grip an article  12 , and to prevented the suction cup  272  from gripping the surfaces of the compartment  140 .  
         [0060]    In general, the guide  280  within the compartment  140  can be a step portion that extends parallel to the longitudinal axis  142 . Referring to FIG. 8, a further embodiment of the machine  10  can have a guide  280  that includes grooves  286  in the compartments  140 . These grooves  286  can cooperatively interact with the enlarged portion  284  so as to orient the suction cup  272  to grip an article  12 , and to prevented the suction cup  272  from gripping the surfaces of the compartment  140   
         [0061]    The guide  280  can also include a platform  288  that projects from the feeder  240  toward the first ends  144 , i.e., at least partially bridging the working space between the handler  200  and the first ends  144  of the compartments  140 . The platform  288  can include tracks  290  corresponding to the tracks  282 . Like the tracks  282 , the tracks  288  also define the path along which the head  270  is guided while being extended to engage an article  12 , and along which the head  270  and an engaged article  12  are retracted. Further, the platform  288  can provide a support for an article  12  while the positioning mechanism  210  is operated.  
         [0062]    The platform  288  shown in FIG. 2 projects from the feeder  240  a fixed distance. In a further embodiment of the machine  10 , for example as shown in FIG. 5, the platform  288  can have a variable length that adjustably projects from the feeder  240  in accordance with the working space between the handler  200  and the first end  144  of a compartment  140 .  
         [0063]    In a further embodiment of the machine  10 , the guide  280  can include an extension that is relatively rigid with respect to the hose  250 . The extension includes a first portion secured to the head  270  and a second portion secured to the feeder  240 . Preferably, the extension can include a coil of spring metal, which is wound by a spring, that is supported by the feeder  240 , and can further include a member that attaches to the head  270 .  
         [0064]    Referring to FIG. 6, a further embodiment of the machine  10  can have an enlarged portion  284  that includes a dolly  292  that shuttles between the platform  288  and the compartment  140 .  
         [0065]    The handler  200  can also include a transfer mechanism  300  that moves the articles  12  from the head  270  to the receptacle  130 . As shown in FIGS. 1, 4, and  5 , the transfer mechanism  300  can be a conveyor upon which the head  270  releases the article  12  at the back of the machine  10 , transfers the article  12  to the front of the machine  10 , and places the article  12  in the receptacle  130 .  
         [0066]    In a further embodiment of the machine  10 , the transfer mechanism  300  can include a chute. In the case of the handler  200  being located at the front of the machine  10 , as shown for example in FIG. 3, the head  270  can release an article  12  into the chute, which then slides under the influence of gravity, through the chute to the receptacle  130 . In the case of the handler  200  being located at the rear of the machine  10 , the chute can include a first portion that is similar in configuration and orientation to an empty compartment, and a second portion that couples the first portion to the receptacle. In this latter case, the feeder  240  can push the article  12  through the first portion of the chute, and release it in the second portion of the receptacle.  
         [0067]    A method of vending the articles  12  will now be described with respect to the embodiment shown in FIGS. 1 and 2. The positioning mechanism  210  can align the head  270  with the first end  144  of a compartment  140 , or with the guide  280  provided in the compartment  140 . The feeder  240  can then extend the hose  250  so as to displace the head  270  into the compartment  140 . The head  270  can engage the first encountered article  12 , while leaving undisturbed other, non-engaged articles  12  in the compartment  140 . The feeder  240  can then retract the hose  250  so as to withdraw the head  270  with the one article  12  engaged thereto, while leaving undisturbed the other, non-engaged articles  12  in the compartment  140 .  
         [0068]    According to a further method, the machine  10  displays the article  12  that is proximate the second end  146  of the compartment  140 . The article  12  that is displayed can be viewed through the at least partially transparent panel  122  and the panel  162 . This displayed article  12  is consequently the last of the articles  12  removed from the compartment  140  such that the depletion of the articles  12  is indicated only when none of that article  12  is displayed.  
         [0069]    Features of the machine  10  that are not shown in FIGS.  1 - 8  include equipment for refrigerating the articles  12 , equipment for heating the articles  12 , a payment slot and change return, a consumer keypad for entering a selection of the available articles  12 , an output device providing information to the consumer, a microprocessor controlling the operations of the machine  10 , sensor(s) identifying the articles  12  being vended, sensor(s) tracking the movement of articles  12  and the article handler  200 , and a communication link between the machine  10  and an external processor. Exhibits A and B show and describe these features of the machine  10 .  
         [0070]    While the present invention has been disclosed with reference to certain embodiments, numerous modifications, alterations and changes to the described embodiments are possible without departing from the sphere and scope of the present invention, as defined in the appended claims. Accordingly, it is intended that the present invention not be limited to the described embodiments, but that it has the full scope defined by the language of the following claims, and equivalents thereof.  
         [0071]    The following numbered paragraphs provide further details concerning the elements, actions, and/or steps that are contemplated as falling within the scope of the methods and/or apparatus of the present invention.  
         [0072]    1. A machine for vending articles, the machine comprising:  
         [0073]    at least one compartment adapted to store the articles, the compartment extending along a longitudinal axis extending between first and second ends, the compartment including a guide extending parallel to the longitudinal axis;  
         [0074]    a head being extensible into the compartment along a first axis that is generally parallel to the longitudinal axis, the head being adapted to engage one of the articles; and  
         [0075]    a positioning mechanism aligning the head with the guide.  
         [0076]    2. A machine for vending articles, the machine comprising:  
         [0077]    at least one compartment adapted to store the articles, the compartment including a generally horizontal axis extending between first and second ends;  
         [0078]    a head being extensible into the compartment along a first axis that is generally parallel to the generally horizontal axis, the head being adapted to engage one of the articles;  
         [0079]    a positioning mechanism aligning the head with the compartment; and  
         [0080]    a guide being provided in the compartment and controlling lateral movement of the head with respect to the first axis.  
         [0081]    3. The machine according to paragraphs 1 or 2, further comprising:  
         [0082]    a hose providing a fluid coupling between the head and a pressure source; and  
         [0083]    a feeder displacing the hose so as to extend the head along the first axis.  
         [0084]    4. A machine for vending articles, the machine comprising:  
         [0085]    at least one compartment, the compartment including a longitudinal axis extending between first and second ends, the first end defining an article portal;  
         [0086]    a head being extensible into the compartment, the head being extensible through the article portal and along a first axis that is generally parallel to the longitudinal axis, the head being adapted to engage one of the articles;  
         [0087]    a guide being provided in the compartment and controlling lateral movement of the head with respect to the first axis;  
         [0088]    a hose providing a fluid coupling between the head and a pressure source;  
         [0089]    a feeder displacing the hose so as to extend the head along the first axis; and  
         [0090]    a positioning mechanism aligning the head with the compartment.  
         [0091]    5. The machine according to paragraphs 3 or 4, further comprising:  
         [0092]    an enclosure defining an exterior space and an interior space including the first and second sets of compartments, the enclosure including an aperture adapted to pass the articles from the interior space to the exterior space.  
         [0093]    6. A machine for vending articles, the machine comprising:  
         [0094]    an enclosure defining an interior space and an exterior space, the enclosure having an aperture through which articles pass from the interior space to the exterior space; and  
         [0095]    a handler moving articles in the interior space and placing the articles to be dispensed at the aperture, the handler occupying less than 25% of the internal space.  
         [0096]    7. The machine according to paragraph 6, further comprising:  
         [0097]    a plurality of compartments storing articles in the interior space, the plurality of compartments occupying at least 75% of the internal space.  
         [0098]    8. A machine for vending articles, the machine comprising:  
         [0099]    an enclosure defining an interior space and an exterior space, the enclosure having an aperture through which articles pass from the interior space to the exterior space; and  
         [0100]    a plurality of compartments storing articles in the interior space, the plurality of compartments occupying at least 75% of the internal space.  
         [0101]    9. The machine according to paragraph 8, further comprising:  
         [0102]    a handler moving articles in the interior space and placing the articles to be dispensed at the aperture, the handler occupying less than 25% of the internal space.  
         [0103]    10. The machine according to paragraphs 7 or 9, wherein the handler comprises a head, a guide, a hose, a feeder, and a positioning mechanism; the head is adapted to engage one of the articles and is extensible into the compartment along a first axis that is generally parallel to the longitudinal axis; the guide is provided in the compartment and controls lateral movement of the head with respect to the first axis; the hose provides a fluid coupling between the head and a pressure source; the feeder displaces the hose so as to extend the head along the first axis; and the positioning mechanism aligns the head with the compartment.  
         [0104]    11. The machine according to paragraphs 5 or 10, wherein the at least one compartment comprises first and second sets of compartments, respective longitudinal axes of the first set of compartments are generally parallel and lie in a first horizontal plane, and respective longitudinal axes of the second set of compartments are generally parallel and lie in a second horizontal plane that is vertically spaced from the first horizontal plane.  
         [0105]    12. The machine according to paragraph 11, further comprising:  
         [0106]    a first tray defining a common base for the first set of compartments; and  
         [0107]    a second tray defining a common base for the second set of compartments.  
         [0108]    13. The machine according to paragraph 12, wherein the first tray is displaced along the respective longitudinal axes of the first set of compartments such that the first ends of the first set of compartments abut at least one of the enclosure and the positioning mechanism.  
         [0109]    14. The machine according to paragraph 12, wherein the first set of compartments comprise first and second subsets of compartments, the longitudinal axes of the first subset of compartments have a first length, and the longitudinal axes of the second subset of compartments have a second length that is shorter than the first length.  
         [0110]    15. The machine according to paragraph 12, wherein the first tray is displaced along the respective longitudinal axes of the first set of compartments such that the first set of compartments is horizontally displaced from the second tray.  
         [0111]    16. The machine according to paragraph 12, wherein the longitudinal axes of the first set of compartments have a first length, and the longitudinal axes of the second set of compartments have a second length that is shorter than the first length.  
         [0112]    17. The machine according to paragraph 12, wherein the first tray comprises at least one upright separating an adjacent pair of the first set of compartments.  
         [0113]    18. The machine according to paragraphs 5 or 10, wherein the compartment comprises at least one wall and at least one projection, the wall extends parallel to the longitudinal axis and is adapted to laterally position at least one of the articles with respect to the longitudinal axis, and the at least one projection is adapted to maintain an orientation of the articles that are not engaged by the head.  
         [0114]    19. The machine according to paragraphs 5 or 10, wherein the head is selected from the group consisting of at least one of a pneumatic gripper, a mechanical gripper, and a magnetic gripper.  
         [0115]    20. The machine according to paragraph 19, further comprising:  
         [0116]    a rotary joint coupling the head with respect to the hose.  
         [0117]    21. The machine according to paragraphs 5 or 10, wherein the positioning mechanism comprises first and second positioning devices.  
         [0118]    22. The machine according to paragraph 21, wherein the first positioning device moves the feeder along a second axis perpendicular to the first axis, and the second positioning device moves the first positioning device along a third axis perpendicular to the first and second axes.  
         [0119]    23. The machine according to paragraph 21, wherein the first positioning device moves the feeder along a second axis perpendicular to the first axis, and the second positioning device rotates the first positioning device about a third axis parallel to the first axis.  
         [0120]    24. The machine according to paragraphs 5 or 10, wherein the guide comprises a step portion of the compartment, the step portion extending substantially parallel to the respective longitudinal axis.  
         [0121]    25. The machine according to paragraph 24, wherein the head comprises an enlarged portion contiguously engaging the step portion.  
         [0122]    26. The machine according to paragraph 25, wherein the enlarged portion comprises a projection and the step portion comprises a groove contiguously receiving the projection.  
         [0123]    27. The machine according to paragraph 25, wherein the step portion comprises a pair of rails projecting from a wall of the compartment and guiding the enlarged portion.  
         [0124]    28. The machine according to paragraph 27, wherein the wall comprises a bottom horizontal surface of the compartment.  
         [0125]    29. The machine according to paragraphs 5 or 10, wherein the guide comprises an extension that is relatively rigid with respect to the hose, the extension includes a first portion secured to the head and a second portion secured to the feeder.  
         [0126]    30. The machine according to paragraph 29, wherein the extension comprises a resiliently wound strip of spring metal.  
         [0127]    31. The machine according to paragraphs 5 or 10, wherein the enclosure comprises an at least partially transparent panel revealing at least one of the second end of the compartment and the positioning mechanism.  
         [0128]    32. The machine according paragraph 31, wherein the at least partially transparent panel comprises advertising adapted to describe the articles.  
         [0129]    33. The machine according to paragraph 31, wherein the enclosure comprises lighting adapted to illuminate the articles.  
         [0130]    34. The machine according to paragraph 31, wherein the enclosure comprises a body having an aperture and a door movable between a first position occluding the aperture and a second position providing access to the interior space.  
         [0131]    35. The machine according to paragraph 34, wherein the receptacle is mounted on the door.  
         [0132]    36. The machine according to paragraph 34, further comprising a hinge connecting the door to the body, and a lock retaining the door in the first position.  
         [0133]    37. The machine according to paragraphs 5 or 10, wherein a transfer mechanism is adapted to move the articles from the head to the receptacle.  
         [0134]    38. The machine according to paragraph 37, wherein the transfer mechanism consists of at least one of a chute and a conveyor.  
         [0135]    39. The machine according to paragraphs 5 or 10, wherein the feeder comprises a driver contiguously engaging the hose, the driver advances and retracts the hose along the first axis.  
         [0136]    40. The machine according to paragraph 39, wherein the driver comprises a drive roller and a resiliently biased idle roller pressing the hose against the drive roller.  
         [0137]    41. The machine according to paragraph 39, wherein the hose comprises a corrugated hose and the driver comprises a threaded rod cooperatively engaging the corrugated hose.  
         [0138]    42. The machine according to paragraph 39, wherein the feeder comprises a platform extending toward the compartment and supporting the hose.  
         [0139]    43. The machine according to paragraph 42, wherein the platform has a fixed length extending toward the compartment and supporting the hose.  
         [0140]    44. The machine according to paragraph 42, wherein the platform has a variable length extending toward the compartment and supporting the hose.  
         [0141]    45. The machine according to paragraphs 5 and 10, wherein the hose comprises first and second segments, the first segment extends between the pressure source and the feeder, the second segment extends between the feeder and the head, and the feeder displacing the hose changes the relative lengths of the first and second segments.  
         [0142]    46. The machine according to paragraph 45, further comprising:  
         [0143]    a storage system arranging the first segment of the hose as the feeder changes the length of the second segment relative to the length of the first segment.  
         [0144]    47. The machine according to paragraph 46, wherein the storage system is oriented vertically.  
         [0145]    48. The machine according to paragraph 47, wherein the storage system comprises a take-up mechanism acting on the second segment, the take-up mechanism consists of at least one of a gravity activated mechanism and a mechanically biased mechanism.  
         [0146]    49. The machine according to paragraph 46, wherein the storage system is oriented horizontally.  
         [0147]    50. The machine according to paragraph 49, wherein the storage system comprises a mechanically biased take-up mechanism acting on the second segment.  
         [0148]    51. The machine according to paragraph 45, wherein the first segment comprises a relief valve.  
         [0149]    52. A method of vending articles from a machine, the machine including an interior space having therein at least one compartment extending along a horizontal axis between first and second ends, and the compartment having therein a plurality of articles, the method comprising: aligning a head with the compartment, the head being adapted to engage the articles; extending the head into the compartment along a first axis generally parallel to the horizontal axis; engaging one of the plurality of articles with the head, the engaging leaves undisturbed non-engaged ones of the plurality of articles; and retracting along the first axis the head with the article engaged by the head, the retracting leaves undisturbed the non-engaged ones of the plurality of articles.  
         [0150]    53. The method according to paragraph 52, further comprising:  
         [0151]    displaying an example of the plurality of articles.  
         [0152]    54. The method according to paragraph 53, wherein the displayed example comprises the one of the plurality of articles that is last engaged by the head during the engaging and the retracting.  
         [0153]    55. A method of stocking a machine for vending articles, the method comprising:  
         [0154]    accessing a compartment in an interior space of the machine, the compartment including a horizontal axis extending between first and second ends; and  
         [0155]    inserting along the horizontal axis at least one of the articles in the compartment.  
         [0156]    56. The method according to paragraph 55, wherein the inserting comprises concurrently displacing a plurality of the articles along the horizontal axis.