# US 2019/0102965 A1 · Apparatuses, systems, and methods for the automated dispensing of articles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0102965 A1 - Document ID: US20190102965A1 - Status: Published application - Kind: A1 - Application number: 15/719,671 - Filed: 2017-09-29 - Published: 2019-04-04 - Earliest claimed: 2017-09-29 - Assignees: Aesynt Incorporated - Applicants: Aesynt Incorporated - Inventors: Shawn T. Greyshock; Patrick Joseph Braun; William B. Pattison - Web page: https://patentgrep.com/patent/US20190102965A1 ## CPC - G07F 11/1657: {the picking arrangements using suction} - B25J 15/0061: {mounted on a modular gripping structure} - B25J 15/0616: {with vacuum} - B25J 15/0625: {provided with a valve} - G07F 9/002: {Vending machines being part of a centrally controlled network of vending machines} - G07F 11/1653: {the picking arrangements being collecting buckets} - G07F 11/42: the articles being delivered by motor-driven means - G07F 11/60: the storage containers or supports being rectilinearly movable - G07F 17/0092: {for assembling and dispensing of pharmaceutical articles (medical dispensers for private use, A61J7/00)} - G07G 1/0045: {with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader} - G16H 20/13: delivered from dispensers - A61J 7/0069: {Trays for holding or distributing medicines (display trays A47F3/14; serving trays A47G23/06)} - A61J 7/0076: {Medicament distribution means (with pill counting devices A61J7/02; with time indication A61J7/04; containers or packages with special means for dispensing contents B65D83/00)} - A61J 2205/10: Bar codes - A61J 2205/60: using magnetic or electronic identifications, e.g. chips, RFID, electronic tags - G06K 7/10366: {the interrogation device being adapted for miscellaneous applications} - G06K 7/10861: {sensing of data fields affixed to objects or articles, e.g. coded labels (postal sorting B07C3/14, conveying articles B65G47/48)} - G07F: COIN-FREED OR LIKE APPARATUS (coin sorting G07D3/00; coin testing G07D5/00; {handling coins or paper currencies apart from payment activated apparatus G07D; payment architectures, schemes or protocols G06Q20/00}) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G07G: REGISTERING THE RECEIPT OF CASH, VALUABLES, OR TOKENS - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA - A61J: CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE - G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS ## Abstract Provided herein is a system for automated dispensing of articles. Systems may include: a robotic arm; an end-of-arm tool attached to the robotic arm; a scanning device proximate the end-of-arm tool; and a controller to control the robotic arm and the end-of-arm tool. The end-of-arm tool may include a body and two or more vacuum cups extending from the body, where the controller controls a level of suction provided to each of the two or more vacuum cups individually. Each of the two or more vacuum cups extending from the body may be movable between a retracted position proximate the body, and an extended position away from the body of the end-of-arm tool in response to instruction from the controller. Suction may be provided only to the vacuum cups of the two or more vacuum cups that are disposed in the extended position. ## Claims ### Claim 1 An automated dispensing system comprising: a controller configured to receive a request for an article to be dispensed; a first storage module and a second storage module, wherein each of the first storage module and the second storage module comprise a plurality of trays movable between a storage position and a retrieval position, wherein each tray of the plurality of trays comprises a plurality of storage locations; a robot configured to access the plurality of storage locations of a tray in response to the tray being moved to the retrieval position; and an end-of-arm tool attached to the robot and configured to retrieve the article from a storage location of the tray in response to a request for said article received at said controller. ### Claim 2 (depends on 1) The automated dispensing system of claim 1, wherein the end-of-arm tool comprises: a body; two or more vacuum cups extending from the body, wherein the two or more vacuum cups are movable toward and away the body of the end-of-arm tool; a vacuum source configured to provide suction to each of the two or more vacuum cups; and wherein the controller is configured to cause extension and retraction of each of the two or more vacuum cups independently, and wherein the controller is configured to selectively determine to which vacuum cups suction is provided. ### Claim 3 (depends on 2) The automated dispensing system of claim 2, wherein the controller causes the end-of-arm tool to attach to an article using at least one of the two or more vacuum cups. ### Claim 4 (depends on 3) The automated dispensing system of claim 3, further comprising: a valve controlled by the controller, wherein the valve is used to allow and deny suction to be provided to each of the two or more vacuum cups. ### Claim 5 (depends on 3) The automated dispensing system of claim 3, further comprising: a vacuum gauge in communication with the controller, wherein the controller establishes that a vacuum cup is attached to an article in response to the vacuum gauge registering a relatively high vacuum reading, and wherein the controller establishes that a vacuum cup is not attached to an article in response to the vacuum gauge registering a relatively low vacuum reading. ### Claim 6 (depends on 5) The automated dispensing system of claim 5, wherein the controller generates an alert in response to establishing that a vacuum cup is not attached to an article when it is expected that the vacuum cup is attached to an article. ### Claim 7 (depends on 1) The automated dispensing system of claim 1, further comprising an identifying apparatus attached to the end-of-arm tool, wherein the identifying apparatus is configured to visually distinguish and identify the article based on one or more characteristics of the article. ### Claim 8 (depends on 7) The automated dispensing system of claim 7, wherein the end-of-arm tool is configured to, with the identifying apparatus, determine a unique identifier associated with the storage location. ### Claim 9 (depends on 8) The automated dispensing system of claim 8, wherein the controller determines if the unique identifier associated with the storage location is associated with the requested article. ### Claim 10 (depends on 1) The automated dispensing system of claim 1, wherein each storage module comprises a tray elevator, wherein the tray elevator is configured to move a tray from a retrieval position to an access position, wherein the access position is closer to the robot than the retrieval position of the tray. ### Claim 11 (depends on 1) The automated dispensing system of claim 1, further comprising a memory, wherein the memory is configured to store a unique identification for each of the plurality of storage locations for each of the plurality of trays, and an identification of an article stored in each of the plurality of storage locations. Knowing where those articles are allows us to create optimization to use first to expire, put high use meds closer to accessibility ### Claim 12 A method of operating an automated dispensing system, the method comprising: providing for storage of a plurality of trays in a vertical stack in a storage module, wherein each tray is individually movable between a storage position and a retrieval position, and wherein each tray comprises a plurality of uniquely identified storage locations, and articles disposed in the uniquely identified storage locations; receiving a request for a first article at a controller; causing a tray including a unique storage location having therein the first article to be moved from the storage position to the retrieval position; commanding, by the controller, a robot to retrieve the article from the unique storage location; and dispensing the first article to a dispensing location. ### Claim 13 (depends on 12) The method of claim 12, further comprising causing the tray including the unique storage location to be moved from the retrieval position to an access position by a tray elevator, wherein movement from the storage position to the retrieval position is along a first axis, and wherein movement from the retrieval position to an access position is along a second axis, perpendicular to the first axis. ### Claim 14 (depends on 12) The method of claim 12, wherein commanding the robot to retrieve the article comprises commanding the robot, to attach to the first article using an end-of-arm tool and to remove the first article from the unique storage location. ### Claim 15 (depends on 14) The method of claim 14, further comprising: reading an identification of the unique storage location prior to retrieving the first article using at least one of a barcode scanner or a radio frequency identification reader attached to the end-of-arm tool. ### Claim 16 (depends on 15) The method of claim 15, further comprising: reading an identification of the article using the at least one of a barcode scanner or a radio frequency identification reader attached to the end-of-arm tool; and dispensing the first article to the dispensing location in response to the identification of the article corresponding to the request. ### Claim 17 An automated dispensing system comprising: a controller configured to receive a request for an article to be dispensed; a storage module wherein the storage module comprises a plurality of trays movable between a storage position and a retrieval position, wherein each tray of the plurality of trays comprises a plurality of storage locations; a tray elevator configured to move a tray from a retrieval position to an access position, wherein movement from the storage position to the retrieval position is along a first axis, and wherein movement from the retrieval position to an access position is along a second axis, perpendicular to the first axis; a robot configured to access the plurality of storage locations of a tray in response to the tray being moved to the access position, wherein the access position is closer to the robot than the retrieval position; and an end-of-arm tool attached to the robot and configured to retrieve the article from a storage location of the tray in response to a request for said article received at said controller. ### Claim 18 (depends on 17) The automated dispensing system of claim 17, wherein the end-of-arm tool comprises at least one of a barcode scanner or a radio frequency identification reader, and wherein the at least one of a barcode scanner or a radio frequency identification reader is configured to read an identifier of said article prior to retrieval of said article. ### Claim 19 (depends on 16) The automated dispensing system of claim 16, wherein the end-of-arm tool comprises: an end-of-arm tool having a body; two or more vacuum cups extending from the body, wherein the two or more vacuum cups are movable toward and away the body of the end-of-arm tool; and a vacuum source configured to provide suction to each of the two or more vacuum cups. ### Claim 20 (depends on 19) The automated dispensing system of claim 19, wherein the controller is configured to cause each of the two or more vacuum cups to extend and retract independently, and wherein the controller is configured to selectively determine to which vacuum cups suction is provided.