Method and apparatus for picking a package from a dispensing system

A storage apparatus comprising:

• a rack of storage bins;
• and
• a pick head including:
• a platform having a cam with a leading portion and an opposing trailing portion;
• a telescopic pick head drive unit to drive the pick head to an access location corresponding to a selected said storage bin having a floor for supporting a package having a leading portion and an opposing trailing portion, wherein:
• the telescopic pick head drive unit has a spool of drive tape;
• the drive tape has:
• a free end fixed to the platform;
• ready bendability in a first direction to permit storing at the spool upon platform exit;
• and
• relative unbendability in an opposed direction, whereby:
• the drive tape provides axial thrust and platform entry upon unwinding of the spool;
• and
• the drive tape drives the platform by telescoping into and out of the rack from the access location;
• the leading portion of the cam progressively tilts the leading portion of the package away from and off of the floor in the selected said storage bin as the leading portion of the cam progressively telescopes into the selected said storage bin under the package;
• the trailing portion of the cam progressively tilts the trailing portion of the package towards and back on to the floor in the selected said storage bin as the trailing portion of the cam progressively telescopes under and past the trailing portion of the package;
• and
• the telescopic pick head drive unit drives the platform by telescoping out of the selected said storage bin in the rack from the access location such that the trailing portion of the cam engages the trailing portion of the package to drag the package on the floor out of the selected said storage bin.