CA2997230A1 - Method for storing a plurality of identical piece goods in a picking device - Google Patents
Method for storing a plurality of identical piece goods in a picking device Download PDFInfo
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- CA2997230A1 CA2997230A1 CA2997230A CA2997230A CA2997230A1 CA 2997230 A1 CA2997230 A1 CA 2997230A1 CA 2997230 A CA2997230 A CA 2997230A CA 2997230 A CA2997230 A CA 2997230A CA 2997230 A1 CA2997230 A1 CA 2997230A1
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- piece goods
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000001514 detection method Methods 0.000 claims description 27
- 230000008021 deposition Effects 0.000 claims description 8
- 238000000151 deposition Methods 0.000 description 9
- 230000000284 resting effect Effects 0.000 description 8
- 230000000739 chaotic effect Effects 0.000 description 5
- 239000003814 drug Substances 0.000 description 3
- 230000003213 activating effect Effects 0.000 description 2
- 238000005253 cladding Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
Abstract
The invention relates to a method for storing identical piece goods in a picking device in which the number of identical piece goods is automatically detected, and a corresponding picking device. According to the invention, multiple piece goods are arranged in a storage area (21) of a storage device (20) and it is determined that a last piece good has been arranged. If this is detected, then the piece goods are moved into a removal region (25) of the storage device (20), a gripping device of an operating device is moved into the removal region (25), the piece goods are gripped, and are moved out of the removal region (25) and onto a storage table (51) of the operating device. The number of the piece goods arranged in the storage area (21) is determined based on piece goods data detected by a sensor system (80) and size data of the piece goods, after it has been detected that a last piece good has been arranged in the storage area (21).
Description
Method for storing a plurality of identical piece goods in a picking device The present invention relates to a method for storing a plurality of identical piece goods, in particular pharmaceutical packages, in a picking device, and a picking device which is suitable for carrying out the method.
Automated picking devices are frequently used in pharmacies to allow space-saving storage of pharmaceutical packages. The pharmaceutical packages may be stored "chaotically"
in the known picking devices that are suitable for pharmacies; i.e., the pharmaceutical packages are not stored at predetermined storage locations in the device, but, rather, at those storage locations in which enough storage space is currently present. Excessive empty volume may thus be avoided, so that the number of stored pharmaceutical packages per square meter of floor space is significantly increased. Chaotic storage is routinely used for pharmaceuticals or pharmaceutical packages having a fairly low dispensing rate (so-called "slow-moving products").
For pharmaceuticals or pharmaceutical packages having a high dispensing rate, unmixed storage in chute systems is routinely used, in which a plurality of identical pharmaceutical packages is stored in typically inclined storage chutes having a release device situated at the end. If a pharmaceutical situated in a storage chute is required, it is necessary only to activate the release device in order to dispense a pharmaceutical package. If a pharmaceutical is required which is chaotically stored, it must be grasped at its storage location, using an operator unit, and retrieved. Retrieval of a chaotically stored pharmaceutical package takes more time, so that in particular for picking devices having an increased general retrieval frequency, a combination of chaotic and unmixed storage is customary.
Regardless of whether only chaotic or unmixed storage or a combination of storage types is used, it is customary to deposit multiple pharmaceutical packages of the same pharmaceutical in the picking device. In known methods, for this purpose the pharmaceutical packages are either individually placed on a storage device and successively moved into the picking device, or a plurality of identical pharmaceutical packages is deposited on a resting surface of a storage device. The number of deposited pharmaceutical packages is then manually reported to a control unit of the picking device, thus initiating the start of storage. The known methods are time-consuming (successive storage) or prone to error (provision of an incorrect number of deposited pharmaceutical packages).
It is therefore an object of the present invention to provide a method by which a plurality of identical piece goods may be stored in a time-saving inanner and with a reduced frequency of errors. A further object of the present invention is to provide a picking device with which such a method may be carried out.
The object is achieved by a method according to Patent Claim I. In the method according to the invention for storing a plurality of identical piece goods in a picking device which includes at least one rack row, at least one storage device, a control unit, and an operator unit coupled to the control unit, multiple piece goods are placed on a resting surface of a storage device, and it is detected whether a last piece good has been placed on the resting surface. As soon as this is detected, the piece goods are moved along a storage direction into a removal area of the storage device, the storage direction corresponding to the direction of movement of a storage device into the picking device.
When the piece goods have been placed in the removal area, a gripping apparatus of the operating unit is moved into this removal area so that the gripping apparatus is able to access the piece goods, and the piece goods are grasped with the gripping apparatus and moved from the removal area onto a support table of the control unit over an end-face edge of the support table.
The piece goods may be removed from the storage device and stored immediately after they are moved into the picking device. However, the piece goods may also first be temporarily stored on the removal device in their respective removal area; i.e., a fairly large number of piece goods (i.e., multiple groups of piece goods which are identical in each case) is collected on a storage device before the piece goods are moved from their respective removal area by the operator unit.
According to the invention, the number of piece goods situated in the support area is determined based on piece goods data and size data of the piece goods that are detected with at least one sensor system, in particular after it has been established that a last piece good has been placed in the support area.
The piece goods data are detected after the last piece good has been deposited, and may comprise the position or the size of the piece goods and their arrangement with respect to one another, i.e., whether four, for example, piece goods are present as a combination or situated next to one another or at a distance from one another. These data are detected using a sensor system which is suitable for this purpose, for example a light grid combination or a camera system, and may include a plurality of any sensors known to those skilled in the art.
Based on the piece goods data and the size data of the piece goods which are known to the control unit, the control unit can unambiguously detect the number of deposited piece goods, in particular independently of the type of arrangement of the piece goods with respect to one another.
According to the invention, it is therefore no longer necessary to transmit to the control unit the exact number of deposited piece goods prior to the start of storage.
The storage of the piece goods is thus accelerated and the likelihood of errors is reduced, since manual indication of the nuinber of piece goods to be stored may be dispensed with.
It is essential to the invention that the number is determined with an appropriate sensor system after the last piece good is deposited. Precisely where and how this takes place is not essential to the invention.
Automated picking devices are frequently used in pharmacies to allow space-saving storage of pharmaceutical packages. The pharmaceutical packages may be stored "chaotically"
in the known picking devices that are suitable for pharmacies; i.e., the pharmaceutical packages are not stored at predetermined storage locations in the device, but, rather, at those storage locations in which enough storage space is currently present. Excessive empty volume may thus be avoided, so that the number of stored pharmaceutical packages per square meter of floor space is significantly increased. Chaotic storage is routinely used for pharmaceuticals or pharmaceutical packages having a fairly low dispensing rate (so-called "slow-moving products").
For pharmaceuticals or pharmaceutical packages having a high dispensing rate, unmixed storage in chute systems is routinely used, in which a plurality of identical pharmaceutical packages is stored in typically inclined storage chutes having a release device situated at the end. If a pharmaceutical situated in a storage chute is required, it is necessary only to activate the release device in order to dispense a pharmaceutical package. If a pharmaceutical is required which is chaotically stored, it must be grasped at its storage location, using an operator unit, and retrieved. Retrieval of a chaotically stored pharmaceutical package takes more time, so that in particular for picking devices having an increased general retrieval frequency, a combination of chaotic and unmixed storage is customary.
Regardless of whether only chaotic or unmixed storage or a combination of storage types is used, it is customary to deposit multiple pharmaceutical packages of the same pharmaceutical in the picking device. In known methods, for this purpose the pharmaceutical packages are either individually placed on a storage device and successively moved into the picking device, or a plurality of identical pharmaceutical packages is deposited on a resting surface of a storage device. The number of deposited pharmaceutical packages is then manually reported to a control unit of the picking device, thus initiating the start of storage. The known methods are time-consuming (successive storage) or prone to error (provision of an incorrect number of deposited pharmaceutical packages).
It is therefore an object of the present invention to provide a method by which a plurality of identical piece goods may be stored in a time-saving inanner and with a reduced frequency of errors. A further object of the present invention is to provide a picking device with which such a method may be carried out.
The object is achieved by a method according to Patent Claim I. In the method according to the invention for storing a plurality of identical piece goods in a picking device which includes at least one rack row, at least one storage device, a control unit, and an operator unit coupled to the control unit, multiple piece goods are placed on a resting surface of a storage device, and it is detected whether a last piece good has been placed on the resting surface. As soon as this is detected, the piece goods are moved along a storage direction into a removal area of the storage device, the storage direction corresponding to the direction of movement of a storage device into the picking device.
When the piece goods have been placed in the removal area, a gripping apparatus of the operating unit is moved into this removal area so that the gripping apparatus is able to access the piece goods, and the piece goods are grasped with the gripping apparatus and moved from the removal area onto a support table of the control unit over an end-face edge of the support table.
The piece goods may be removed from the storage device and stored immediately after they are moved into the picking device. However, the piece goods may also first be temporarily stored on the removal device in their respective removal area; i.e., a fairly large number of piece goods (i.e., multiple groups of piece goods which are identical in each case) is collected on a storage device before the piece goods are moved from their respective removal area by the operator unit.
According to the invention, the number of piece goods situated in the support area is determined based on piece goods data and size data of the piece goods that are detected with at least one sensor system, in particular after it has been established that a last piece good has been placed in the support area.
The piece goods data are detected after the last piece good has been deposited, and may comprise the position or the size of the piece goods and their arrangement with respect to one another, i.e., whether four, for example, piece goods are present as a combination or situated next to one another or at a distance from one another. These data are detected using a sensor system which is suitable for this purpose, for example a light grid combination or a camera system, and may include a plurality of any sensors known to those skilled in the art.
Based on the piece goods data and the size data of the piece goods which are known to the control unit, the control unit can unambiguously detect the number of deposited piece goods, in particular independently of the type of arrangement of the piece goods with respect to one another.
According to the invention, it is therefore no longer necessary to transmit to the control unit the exact number of deposited piece goods prior to the start of storage.
The storage of the piece goods is thus accelerated and the likelihood of errors is reduced, since manual indication of the nuinber of piece goods to be stored may be dispensed with.
It is essential to the invention that the number is determined with an appropriate sensor system after the last piece good is deposited. Precisely where and how this takes place is not essential to the invention.
2 In one embodiment, the piece goods data may be determined by a support area sensor system associated with a support area before the piece goods are inoved along the storage direction into the removal area. Such a method procedure has the advantage that the exact number of piece goods is certain at an early point in time in the storage process, and therefore enough time remains to establish the optimal method procedure (for example, the location of the removal area, which is not a fixedly defined area, but, rather, which may be selected depending on the subsequent storage location). For example, a camera system or a light grid combination associated with a support area may be used as a support area sensor system for determining the piece goods data.
In one embodiment, the piece goods data may be determined by a storage sensor system associated with a storage device while the piece goods are moving along the storage direction or after the piece goods have moved into the removal area. Such an embodiment has the advantage that the piece goods data are detected within the device, where fewer interference signals are present. The two methods mentioned above for detecting the piece goods data may also be combined to increase the certainty in detecting the number (a discrepancy in the numbers detected by the two sensor systems then indicates an error).
In one embodiment, the piece goods data may be determined by a removal area sensor system associated with a removal area while the piece goods are moving onto the support table.
In this embodiment, the number of piece goods is determined only relatively late in the storage process; however, in this way it may be ensured that the number of piece goods determined corresponds exactly to the number later stored. It is conceivable, for example, that during the moveinent of the piece goods into the removal area, a piece good shifts in such a way that it cannot be cleanly grasped by the gripping apparatus and moved onto the support table. In this embodiment, such a piece good is not "counted." A further advantage of this embodiment is that a sensor system having a very simple design may be used; a sensor which measures the incident quantity of light may be sufficient.
In this embodiment, the piece goods data of the moved piece goods or a corresponding signal from the sensor system may indicate, for example, at what point in time a piece good is moved over the end-face edge of the support table. Based on the size data of the piece goods to be stored, the movement speed of the gripping apparatus (or the particular instantaneous position of the motor), and the piece goods data or the corresponding signal, the control unit can determine the number of piece goods moved onto the support table, so that manual input of the number of the piece goods is not necessary.
In this embodiment, the exact arrangement of the piece goods is not important;
i.e., the piece goods may be placed directly next to one another, or any arbitrary distances between the piece goods may be present. The movement of the gripping apparatus into the removal area of the storage device is always carried out in such a way that it is ensured that all piece goods to be stored are grasped and moved onto the support table. In addition, during the movement of the
In one embodiment, the piece goods data may be determined by a storage sensor system associated with a storage device while the piece goods are moving along the storage direction or after the piece goods have moved into the removal area. Such an embodiment has the advantage that the piece goods data are detected within the device, where fewer interference signals are present. The two methods mentioned above for detecting the piece goods data may also be combined to increase the certainty in detecting the number (a discrepancy in the numbers detected by the two sensor systems then indicates an error).
In one embodiment, the piece goods data may be determined by a removal area sensor system associated with a removal area while the piece goods are moving onto the support table.
In this embodiment, the number of piece goods is determined only relatively late in the storage process; however, in this way it may be ensured that the number of piece goods determined corresponds exactly to the number later stored. It is conceivable, for example, that during the moveinent of the piece goods into the removal area, a piece good shifts in such a way that it cannot be cleanly grasped by the gripping apparatus and moved onto the support table. In this embodiment, such a piece good is not "counted." A further advantage of this embodiment is that a sensor system having a very simple design may be used; a sensor which measures the incident quantity of light may be sufficient.
In this embodiment, the piece goods data of the moved piece goods or a corresponding signal from the sensor system may indicate, for example, at what point in time a piece good is moved over the end-face edge of the support table. Based on the size data of the piece goods to be stored, the movement speed of the gripping apparatus (or the particular instantaneous position of the motor), and the piece goods data or the corresponding signal, the control unit can determine the number of piece goods moved onto the support table, so that manual input of the number of the piece goods is not necessary.
In this embodiment, the exact arrangement of the piece goods is not important;
i.e., the piece goods may be placed directly next to one another, or any arbitrary distances between the piece goods may be present. The movement of the gripping apparatus into the removal area of the storage device is always carried out in such a way that it is ensured that all piece goods to be stored are grasped and moved onto the support table. In addition, during the movement of the
3 piece goods from the removal area onto the support table, it is unimportant whether the exact arrangement of the piece goods is maintained, or whether the piece goods are pulled together prior to the actual movement onto the support table; i.e., gaps which may be present between the piece goods are closed during or after grasping and prior to the movement onto the support table. This is the case, for example, when the gripping apparatus includes gripper jaws, in which one or both gripper jaws are moved toward one another by a pivot motion in the "front" section, resulting in a V-shaped grip profile. During the movement of the gripping apparatus or the gripper jaws from the removal area in the direction of the support table, the piece good farthest from the end-face edge is initially gripped or grasped and moved in the direction of the support table until the first piece good meets the second piece good, which is likewise moved along in the direction of the support table. This type of storage results in an uninterrupted sequencing of a plurality of piece goods.
In such a case, the sensor detects that only one object moves past, namely, a combination of, for example, four piece goods. With knowledge of the dimensions or the piece goods data of the piece goods, the movement speed, or the instantaneous motor position of the gripping apparatus, as well as the signal or the storage information supplied by the sensor, the control unit can unambiguously determine that the combination moved onto the support table comprises four piece goods.
To accurately calculate the number of piece goods moved, the size data (i.e., the dimensions of a single piece good) for the piece goods to be stored must be available to the control unit. If a large number of identical piece goods is to be stored, it is possible, for example, for the size data for the piece goods to be stored to be detected one time prior to the storage of this large number of piece goods and used during each storage operation; i.e., the size data are not renewed prior to each storage operation.
However, if new size data concerning the new piece goods to be stored are not provided when there is a change in the type of piece goods, this may result in a failure to automatically determine the number of piece goods to be stored.
The size data are customarily internally linked with identifying information concerning piece goods. This identifying information is important for the storage and the subsequent retrieval, since the control unit must unambiguously know which piece good is stored at which storage location (whether this involves chaotic storage on a shelf or unmixed storage in a storage chute). However, for strictly determining the number of piece goods, identifying information beyond the size data is not important.
The identifying information is usually applied to the piece goods themselves or to their outer packaging. However, the case may be that the identifying information that is present does not include the size data of the piece goods to be stored. For pharmaceuticals, for example, it is not yet customary for the identifying information associated with the package to contain size data concerning the package.
In such a case, the sensor detects that only one object moves past, namely, a combination of, for example, four piece goods. With knowledge of the dimensions or the piece goods data of the piece goods, the movement speed, or the instantaneous motor position of the gripping apparatus, as well as the signal or the storage information supplied by the sensor, the control unit can unambiguously determine that the combination moved onto the support table comprises four piece goods.
To accurately calculate the number of piece goods moved, the size data (i.e., the dimensions of a single piece good) for the piece goods to be stored must be available to the control unit. If a large number of identical piece goods is to be stored, it is possible, for example, for the size data for the piece goods to be stored to be detected one time prior to the storage of this large number of piece goods and used during each storage operation; i.e., the size data are not renewed prior to each storage operation.
However, if new size data concerning the new piece goods to be stored are not provided when there is a change in the type of piece goods, this may result in a failure to automatically determine the number of piece goods to be stored.
The size data are customarily internally linked with identifying information concerning piece goods. This identifying information is important for the storage and the subsequent retrieval, since the control unit must unambiguously know which piece good is stored at which storage location (whether this involves chaotic storage on a shelf or unmixed storage in a storage chute). However, for strictly determining the number of piece goods, identifying information beyond the size data is not important.
The identifying information is usually applied to the piece goods themselves or to their outer packaging. However, the case may be that the identifying information that is present does not include the size data of the piece goods to be stored. For pharmaceuticals, for example, it is not yet customary for the identifying information associated with the package to contain size data concerning the package.
4 To avoid the above-described case of miscalculation, in one embodiment it may be provided that the control unit is provided with identifying information prior to the movement of the piece goods. A procedure may be followed in which new identifying information is provided prior to each new storage process. However, this is not necessary when a large number of identical piece goods is to be stored, so that this "obligation" to provide new identifying information may be switched off manually or by control by the control unit.
As already noted above, the case may be that no size data are present for the piece goods to be stored (since new identifying information may possibly not include size data, and the data have not yet been entered or learned). To avoid the necessity for manually entering the size data, in one preferred embodiment it is provided that prior to a new storage process, the control unit checks whether size data are present for the piece goods to be stored, and if this is not the case, a user is requested to place a single piece good, whose size data are detected and stored together with identifying information concerning the piece good. After the size data are detected, the additional piece goods to be stored may be retrieved and stored.
Such an embodiment simplifies the storage of "new" piece goods, since the detection of the size data is automated, thus reducing the susceptibility to error.
A detection that a last piece good has been placed on a resting surface may take place, for example, by a user activating a suitable input means, for example a foot pedal or a pushbutton.
To further speed up and simplify the storage operation, in one preferred embodiment it is provided that placing the last piece good of the plurality of piece goods to be stored initiates the storage. For this purpose, in this preferred embodiment, the depositing of a piece good in a detection range of a support detection sensor associated with a resting surface is detected. Thus, in this embodiment, a further operation is no longer necessary after the last piece good is placed; depositing in the detection range of the support detection sensor initiates the movement of the piece goods to the removal area.
If the picking device includes a support area sensor system, in one preferred embodiment it is provided that the arrangement of a last piece good in a support area is determined by the support area sensor system. The sensor system must then be designed in such a way that, on the one hand, the deposited piece goods are detectable, and on the other hand, a piece good is situated in a certain detection range. In that case, a sensor system for detecting the position of the piece goods relative to one another, and the position of at least one piece good in the detection range, is utilized, thus avoiding use of a second sensor system.
As previously indicated, the gripping apparatus is always moved far enough into the removal area that movement of all piece goods from the removal area onto the support table is ensured. In one particular embodiment of the method according to the invention, it is not just the deposition per se, but, rather, the exact deposition location of the last piece good that is determined, and the movement of the gripping apparatus into the removal area is controlled based on the deposition location. The deposition location may be determined by a special
As already noted above, the case may be that no size data are present for the piece goods to be stored (since new identifying information may possibly not include size data, and the data have not yet been entered or learned). To avoid the necessity for manually entering the size data, in one preferred embodiment it is provided that prior to a new storage process, the control unit checks whether size data are present for the piece goods to be stored, and if this is not the case, a user is requested to place a single piece good, whose size data are detected and stored together with identifying information concerning the piece good. After the size data are detected, the additional piece goods to be stored may be retrieved and stored.
Such an embodiment simplifies the storage of "new" piece goods, since the detection of the size data is automated, thus reducing the susceptibility to error.
A detection that a last piece good has been placed on a resting surface may take place, for example, by a user activating a suitable input means, for example a foot pedal or a pushbutton.
To further speed up and simplify the storage operation, in one preferred embodiment it is provided that placing the last piece good of the plurality of piece goods to be stored initiates the storage. For this purpose, in this preferred embodiment, the depositing of a piece good in a detection range of a support detection sensor associated with a resting surface is detected. Thus, in this embodiment, a further operation is no longer necessary after the last piece good is placed; depositing in the detection range of the support detection sensor initiates the movement of the piece goods to the removal area.
If the picking device includes a support area sensor system, in one preferred embodiment it is provided that the arrangement of a last piece good in a support area is determined by the support area sensor system. The sensor system must then be designed in such a way that, on the one hand, the deposited piece goods are detectable, and on the other hand, a piece good is situated in a certain detection range. In that case, a sensor system for detecting the position of the piece goods relative to one another, and the position of at least one piece good in the detection range, is utilized, thus avoiding use of a second sensor system.
As previously indicated, the gripping apparatus is always moved far enough into the removal area that movement of all piece goods from the removal area onto the support table is ensured. In one particular embodiment of the method according to the invention, it is not just the deposition per se, but, rather, the exact deposition location of the last piece good that is determined, and the movement of the gripping apparatus into the removal area is controlled based on the deposition location. The deposition location may be determined by a special
5 sensor system or a sensor system that is already present. With knowledge of the exact deposition location of the last piece good, it is thus possible to control the precise penetration depth of the gripping apparatus into the removal area. Thus, in this embodiment it is not absolutely necessary to always move the gripping apparatus completely into the removal area, thus speeding up the movement of the piece goods from the removal area onto the support table.
The object is further achieved by a picking device according to Patent Claim 10. The picking device according to the invention includes at least one rack row having at least one rack with a plurality of shelves situated one above the other. The piece goods to be stored may be chaotically stored on these shelves, or may be stored in storage chutes formed on the shelves.
The picking device also includes at least one storage device having a resting surface for receiving piece goods to be stored, these piece goods being moved into the picking device by means of the storage device after placement on the resting surface. The picking device further includes an operator unit, coupled to a control unit, with a support table for receiving one or more piece goods, the support table having an end-face edge associated with a storage device.
The operator unit also includes a gripping apparatus by means of which piece goods may be grasped in the removal area of a storage device and moved from the storage device, over the end-face edge, onto the support table. The picking device also includes at least one sensor system, coupled to the control unit, with which piece goods data are detectable and transmittable to the control unit, the control unit being designed in such a way that the number of piece goods situated in the support area is determinable based on the piece goods data and the size data of the piece goods.
Due to using the above-mentioned sensor system with which piece goods data are detectable, the control unit, based on the signal or the piece goods data supplied by the sensor system, optionally using additional data, is able to automatically determine the number of piece goods moved. Details in this regard have already been described with reference to the method according to the invention.
In one embodiment of the picking device, a sensor system is designed as a support area sensor system, with which piece goods data of the piece goods situated in the support area are detectable.
In one embodiment, a sensor system is designed as a storage sensor system, with which piece goods data are detectable while the piece goods are moving along the storage direction or after the piece goods have moved into the removal area.
In one embodiment, a sensor system is designed as a removal area sensor system associated with a removal area, with which piece goods data are detectable while the piece goods are moving onto the support table.
A release device which, when activated, initiates storage of the piece goods is coupled to the control unit; in this storage, the piece goods are moved from the support area into the
The object is further achieved by a picking device according to Patent Claim 10. The picking device according to the invention includes at least one rack row having at least one rack with a plurality of shelves situated one above the other. The piece goods to be stored may be chaotically stored on these shelves, or may be stored in storage chutes formed on the shelves.
The picking device also includes at least one storage device having a resting surface for receiving piece goods to be stored, these piece goods being moved into the picking device by means of the storage device after placement on the resting surface. The picking device further includes an operator unit, coupled to a control unit, with a support table for receiving one or more piece goods, the support table having an end-face edge associated with a storage device.
The operator unit also includes a gripping apparatus by means of which piece goods may be grasped in the removal area of a storage device and moved from the storage device, over the end-face edge, onto the support table. The picking device also includes at least one sensor system, coupled to the control unit, with which piece goods data are detectable and transmittable to the control unit, the control unit being designed in such a way that the number of piece goods situated in the support area is determinable based on the piece goods data and the size data of the piece goods.
Due to using the above-mentioned sensor system with which piece goods data are detectable, the control unit, based on the signal or the piece goods data supplied by the sensor system, optionally using additional data, is able to automatically determine the number of piece goods moved. Details in this regard have already been described with reference to the method according to the invention.
In one embodiment of the picking device, a sensor system is designed as a support area sensor system, with which piece goods data of the piece goods situated in the support area are detectable.
In one embodiment, a sensor system is designed as a storage sensor system, with which piece goods data are detectable while the piece goods are moving along the storage direction or after the piece goods have moved into the removal area.
In one embodiment, a sensor system is designed as a removal area sensor system associated with a removal area, with which piece goods data are detectable while the piece goods are moving onto the support table.
A release device which, when activated, initiates storage of the piece goods is coupled to the control unit; in this storage, the piece goods are moved from the support area into the
6 removal area by means of a storage device. The release device may be designed as a foot pedal or a simple pushbutton, for example, which initiates the storage when activated. However, in one preferred embodiment it is provided that the release device is designed as a support detection sensor, associated with a support area of a storage device, which detects when a piece good or portion of a piece good is deposited in the detection range. Thus, in this preferred embodiment, after the last piece good is deposited no additional further operation must be completed in order to initiate the storage of the deposited piece goods. The depositing of the last piece good in the detection range initiates the storage, so that the storage itself may be carried out more quickly.
If the picking device includes a support area sensor system, in one preferred embodiment it is provided that the release device is provided by the support area sensor system, i.e., that the functionality of the release device is also achieved by the support area sensor system, and thus the number of components may be reduced and the costs for the device may be lowered.
The sensor system for detecting the movement of piece goods over the end-face edge of the support table may be situated on any arbitrary component in the region of the removal area, as long as it is ensured that the movement of a piece good over the end-face edge can be detected with the sensor system. However, in one preferred embodiment it is provided that the sensor system is situated at the end-face edge of the support table itself.
This ensures that the sensor systein is always ideally positioned with regard to the piece goods to be stored, so that it may be ensured that the sensor system is able to detect the movement of the piece goods over the end-face edge, regardless of the nature of the piece goods.
The device according to the invention and the method according to the invention are described in greater detail below, with reference to the appended drawings, wherein:
Figure 1 shows a perspective view of a first embodiment of the picking device according to the invention;
Figure 2 shows a detailed view of the front area of the first embodiment;
Figure 3 shows a top view of the first embodiment;
Figure 4 shows a detailed view of the control unit;
Figures 5a-5e show various stages of the storage according to a first embodiment of the method according to the invention;
Figure 6 shows an example of a sensor system, and Figures 7a and 7b schematically show the signals of the sensor during movement of piece goods over the sensor.
Figure 1 shows a perspective illustration of a first embodiment of the picking device I
according to the invention. The picking device 1 includes a framework structure 2 on which a plurality of cladding elements 3 is mounted. For the sake of clarity, a number of the cladding elements as well as some elements of the framework structure 2 are omitted.
The picking device 1 includes a first rack row 10 having multiple racks, each having a plurality of shelves 12 situated one above the other and extending in a horizontal plane (only three shelves 12 are illustrated in Figure 1; additional shelves are situated above, beneath, and next to those illustrated). The individual shelves 11 of the first rack row 10 are formed by shelf walls 13 and a plurality of the above-mentioned shelves 12. In the embodiment shown, all end faces (loading edges) of the shelves are situated in a vertical plane, which simplifies storage and retrieval of piece goods or pharmaceutical packages to and from the shelves. The shelves shown are designed for chaotic storage of pharmaceutical packages.
In the shown embodiment of the picking device according to the invention, opposite from the first rack row 10 a second rack row 10 is provided, which for reasons of clarity is merely iu indicated; only individual elements of the support frame for this rack row and a shelf 12' having a storage chute 14 for unmixed storage are illustrated.
In the embodiment shown, the picking device includes two storage devices 20, 30 which are situated one above the other and integrated into the first rack row 10, so that shelves 12 are provided above and beneath the two storage devices 20, 30. The storage devices 20, 30 protrude from the picking device at its front, and at the protruding portion include a support area 21, 31, respectively, on which pharmaceutical packages may be deposited for storage.
In Figure I, three identical pharmaceutical packages 6 are situated in the support area 21 of the top storage device 20.
An operator unit 50, which is horizontally and vertically movable on a guide, is provided between the illustrated first rack row and the merely indicated second rack row, and is described in greater detail with reference to Figures 3 and 4. This operator unit is movable along a horizontal guide 55, merely indicated, and a vertical guide 56 in a channel between the two rack rows.
Also situated in the picking device is a retrieval device 40, which in the embodiment shown is designed as a conveyor belt and is indicated between the second rack row and the right outer wall of the picking device. Via the retrieval device, pharmaceutical packages which are moved onto the retrieval device are moved to a removal area 41 of the retrieval device. The pharmaceutical packages can reach the retrieval device for example by being moved onto the retrieval device with the operator unit 50, optionally with connection of an auxiliary retrieval path, not illustrated, in between. At the inclined storage chutes, the pharmaceutical packages may be easily moved onto the retrieval device by activating a release device situated at one end of a storage chute. In such a case, the pharmaceutical packages simply fall by gravity onto the retrieval device.
Lastly, in Figure I a control unit 70 which is coupled to the operator unit, the sensors and sensor systems, and typically the storage devices and the retrieval device, is situated in the front area of the picking device. A door opening 4 is provided in the middle of the front area of the picking device, through which the device may be entered for maintenance purposes and in the event of malfunctions.
Figure 2 shows a detailed view of the front area of the first embodiment of the picking device; in this view, in particular the support area of the storage device 20, 30 is apparent. In Figure 2, two identical pharmaceutical packages 6 are situated in the support area 31 of the bottom storage device 30.
A support area sensor system 200, 300 is situated in each case above the support area of a storage device. For example, the sensor system may be a light grid combination or a camera/camera combination with which piece goods data, i.e., data concerning the position of piece goods on the particular support area, may be determined. Depending on the exact configuration of the support area sensor system, the arrangement of a pharmaceutical package 6 in a detection range 23 may be detected with the support area sensor system, optionally with an accurate determination of the location of the arrangement (based on the width of the storage device 20). An example of a sensor system will be discussed in greater detail below with reference to a subsequent figure.
In the "left" area of the support area sensor system 200, an alternative support detection sensor 24 is indicated with which the above-mentioned functions may be carried out in the event that, in one embodiment, no support area sensor system or no support area sensor system having the above-mentioned functions is installed.
As soon as a piece good is deposited in a detection range 22, 32 or at least partially protrudes into the detection range, an appropriate signal is transmitted to the control unit 70.
The extent to which a pharmaceutical package must protrude into a detection range in order to trigger an above-mentioned signal may be set at the control unit or the support detection sensor, or the sensor system itself.
Also indicated in Figure 2 is an input and/or output device 5 above the top storage device 20, with which information concerning the pharmaceutical packages to be stored may be displayed and/or input.
Figure 3 shows a top view of the first embodiment of the picking device according to the invention; for the sake of clarity, the majority of the support frame 2 is omitted. The storage device 20. which leads from an outer region having the support area 21 to far into the picking device, is apparent on the left side. Four identical pharmaceutical packages 6 are situated in a removal area 25 of the storage device 20. In this illustration, it is also apparent that the storage device is integrated into the first rack row 10, since in the "top" area, shelves 12 and shelf walls 13 are indicated above the storage device 20. The retrieval device 40 together with the removal area 41 is apparent on the right side, and toward the interior of the picking device is adjoined by the second rack row 10', merely indicated. The horizontally and vertically movable operator unit 50 is situated between the first rack row 10 and the second rack row 10', the horizontal guide 55 normally extending over the entire length of the picking device to be able to reach all shelves of the device with the operator unit. The operator unit 50 includes a support table 51 having an end-face edge 52, over which pharmaceutical packages are pulled with a gripping apparatus 60 onto the support table 51.
Also indicated in Figure 3 is a storage sensor system 250, indicated between the removal area 25 and the support area 21, with which the piece goods data of piece goods moved in the storage direction toward the removal area are detected. The exact configuration of the sensor system depends on the particular specific requirements and structural circumstances. Thus, here as well, the use of a camera system or a light grid combination is conceivable; however, the sensor system is not limited to the two designs mentioned above, and all sensor systems which are able to determine the required piece goods data, i.e., the exact arrangement of the piece goods, may be used.
Figure 4 shows a detailed view of the control unit. In the embodiment shown, the gripping apparatus 60 of the control unit 50 includes two gripper jaws 61a, 61b, which via two pivot joints 62a, 62b are pivotable in such a way that the tips 63a, 63b of the gripper jaws 61a, 61b can be moved toward and away from one another without the base of the gripper jaws 61a, 61b being substantially moved. The entire gripping apparatus 60 may be moved above the support table 51 and into the removal area 25 of the retrieval device 20, grasping the pharmaceutical packages 6 in the removal area and pulling them over the end-face edge 52 of the support table 51 over a sensor 80 situated at the removal area and/or over two sensors 81a, 81b at the end-face edge of the support table 52; when the pharmaceutical packages move over the sensors, the sensors generate a signal and relay it to the control unit. In the embodiment shown, one sensor 80 is situated at the removal area 25, i.e., at the storage device 20, and two sensors 81a, 81b are situated at the end-face edge of the support table. This arrangement represents only one possible configuration of sensors. It is also possible to use only one sensor at the removal area or at the end-face edge of the support table. The exact number and configuration of the sensors is not critical, but it is important that the movement of the pharmaceutical packages from the removal area onto the support table can be precisely detected by means of a sensor.
Figures 5a¨e show various stages in the storage of a plurality of identical piece goods or pharmaceutical packages. For simplicity, only the components that are essential for the individual method steps are schematically illustrated in the above-mentioned figures.
Figure 5a shows a storage device 20 having a support area 21 and a detection range 23 of a support detection sensor (not illustrated). Three identical piece goods or pharmaceutical packages 6 are situated in the support area 21 at a distance from one another, the "top"
pharmaceutical package protruding into the detection range 23.
The protrusion of the top pharmaceutical package into the detection range 23 is detected by the support detection sensor (not illustrated) associated with the detection range 23, and is transmitted to the control unit. The piece goods or pharmaceutical packages 6 are then moved via the storage device 20 into a removal area 25, as is apparent in Figure 5b.
The removal area is a section within the picking device which the gripping apparatus accesses for moving the pharmaceutical packages front a storage device onto the support table of the control unit, in that the gripping apparatus is moved into this removal area. The removal area is not a "stationary" area within the picking device, and instead may vary, depending on the position of, for example, the control unit or the deposition location of the piece goods to be stored.
As previously indicated, the gripping apparatus may have two gripping or clamping jaws which may be pivoted, for example. Alternatively, it is also conceivable for the two gripper jaws to be configured to be movable in parallel toward one another, and for the pharmaceutical packages to be clamped or gripped by moving one or two gripper jaws.
In Figure 5c, the two above-mentioned variants, namely, the pivotable gripper jaws and the gripper jaws which are movable in parallel, are indicated in one figure;
in the two illustrations, the gripper jaws 61a, 61b have not yet completely closed; i.e., the pharmaceutical package(s) has/have not yet been grasped. Regardless of the type of gripper jaws used, a clearance 7 is present between the pharmaceutical packages 6 (situated as in this example).
However, the pharmaceutical packages may be situated on the support area 21, without a clearance, between the gripper jaws as a combination of multiple pharmaceutical packages. In the embodiment shown, a sensor 80 which is able to detect a movement of the piece goods onto the support table 51 is associated with the removal area 25. When the pharmaceutical packages move over the sensor, the sensor generates a signal (or a change in signal) which is relayed to the control unit, and based on this signal or the position information of the pharmaceutical packages corresponding to this signal, the control unit can determine the number of pharmaceutical packages moved, using additional data (see Figures 6a, 6b).
Starting from the illustration in Figure 5c, the gripper jaws 61a, 61b of the gripping apparatus are closed until the top pharmaceutical package in the left illustration, and all pharmaceutical packages in the right illustration, is/are clamped or gripped.
lf, as indicated in Figure 5d, the packages are now moved in the direction of the support table 51, via the pivotable gripper jaws (left portion of Figure 5d), initially only the "top"
pharmaceutical package is moved, in particular in such a way that the clearance 7 between the top and the middle pharmaceutical package is eliminated. The combination of the two pharmaceutical packages is then moved to the "bottom" pharmaceutical package upon further movement of the gripper jaws toward the support table 51, resulting in a combination of three pharmaceutical packages with no space in between.
The situation is different for the pharmaceutical packages which have been grasped by the gripping apparatus having the gripper jaws which are movable in parallel, as indicated in the right portion of Figure 5d. Due to the parallel movement of one or both gripper jaws 61a, 61b, all pharmaceutical packages, which have the same dimensions because they are identical, are grasped at the same time, so that no shifting of the pharmaceutical packages toward one another takes place while the gripper jaws move toward the support table 51; i.e., the clearances 7 between the pharmaceutical packages are maintained.
The "result" of the gripping movement is apparent in Figure 5e. In the left illustration with the pivotable gripper jaws 61a, 61b, the three pharmaceutical packages are moved as a combination, with no space in between, onto the support table 51. In the right illustration with the gripper jaws which are movable in parallel, the pharmaceutical packages are moved onto the support table 51 corresponding to their original resting position; i.e., a clearance 7 is still present between the pharmaceutical packages.
Figure 6 shows an example of a sensor system 200 which may be used as a support area sensor system 200, 300 or a storage sensor system 250, 260. The sensor system is a light grid or a combination of two light grids 210, 230 and 220, 240, comprising a horizontal light grid 210, 230 having a plurality of light sources 211 and receivers 231, and a vertical light grid 220, 240 likewise having a plurality of light sources 221 and receivers 241. Light beams 212, 222 are emitted from the light sources 21 I, 221 and received at the receivers 231, 241. The piece goods data are determined based on which light beams reach a receiver.
In the embodiment shown, the light grids appear to be situated at the same height relative to the direction of movement of the piece goods, but in practical terms this is not the case. The light grids are spaced at least far enough apart that the light beams of the grids do not have an interfering effect.
Alternatively, a sensor system may be achieved by a camera system, wherein the data (images) detected by the camera system undergo image processing which provides the necessary piece goods data.
Figures 7a and 7b depict the signal supplied by the sensor 80 as a function of the movement of the pharmaceutical packages onto the support table 51, wherein (in this embodiment) the X axis shows the time axis and the Y axis shows the signal intensity. In this embodiment, it is assumed that the sensor simply measures the intensity of the light striking it.
Different sensors, for example contact sensors, may be used in other embodiments.
Figure 7a depicts the movement of the combination of three pharmaceutical packages over the sensor 80. It is apparent that the intensity of the light detected by the sensor decreases at a point in time tl and once again increases at a point in time t2. The control unit is able to automatically determine the number of pharmaceutical packages moved, based on the time period At12 (12 ¨ tl), the number of changes in signal (position information of the pharmaceutical packages), the movement speed of the gripper jaws, and the identifying inforination concerning the pharmaceutical packages.
In Figure 7a, a change in intensity has been determined only for a time interval t l/t2, and based on the additional information it may be determined that three pharmaceutical packages have been moved onto the support table. The situation is different when the pharmaceutical packages are not pushed or pulled together to form a combination, but, rather, are moved over the sensor with clearances 7 between the pharmaceutical packages. This is depicted in Figure 7b, where a decrease in the light intensity is detected at three points in tittle t2, t4, t6, and an increase in the light intensity is detected at three points in time tl, t3, t5, wherein the period of the decreased light intensity corresponds to a movement of a pharmaceutical package over a sensor. The number of pharmaceutical packages may be unambiguously determined based on this information At12 (t2 ¨ t I ), At34 (t4 ¨t3), and At56 (t6 ¨t5), the movement speed of the gripper jaws, and the identifying information concerning the pharmaceutical packages.
If the picking device includes a support area sensor system, in one preferred embodiment it is provided that the release device is provided by the support area sensor system, i.e., that the functionality of the release device is also achieved by the support area sensor system, and thus the number of components may be reduced and the costs for the device may be lowered.
The sensor system for detecting the movement of piece goods over the end-face edge of the support table may be situated on any arbitrary component in the region of the removal area, as long as it is ensured that the movement of a piece good over the end-face edge can be detected with the sensor system. However, in one preferred embodiment it is provided that the sensor system is situated at the end-face edge of the support table itself.
This ensures that the sensor systein is always ideally positioned with regard to the piece goods to be stored, so that it may be ensured that the sensor system is able to detect the movement of the piece goods over the end-face edge, regardless of the nature of the piece goods.
The device according to the invention and the method according to the invention are described in greater detail below, with reference to the appended drawings, wherein:
Figure 1 shows a perspective view of a first embodiment of the picking device according to the invention;
Figure 2 shows a detailed view of the front area of the first embodiment;
Figure 3 shows a top view of the first embodiment;
Figure 4 shows a detailed view of the control unit;
Figures 5a-5e show various stages of the storage according to a first embodiment of the method according to the invention;
Figure 6 shows an example of a sensor system, and Figures 7a and 7b schematically show the signals of the sensor during movement of piece goods over the sensor.
Figure 1 shows a perspective illustration of a first embodiment of the picking device I
according to the invention. The picking device 1 includes a framework structure 2 on which a plurality of cladding elements 3 is mounted. For the sake of clarity, a number of the cladding elements as well as some elements of the framework structure 2 are omitted.
The picking device 1 includes a first rack row 10 having multiple racks, each having a plurality of shelves 12 situated one above the other and extending in a horizontal plane (only three shelves 12 are illustrated in Figure 1; additional shelves are situated above, beneath, and next to those illustrated). The individual shelves 11 of the first rack row 10 are formed by shelf walls 13 and a plurality of the above-mentioned shelves 12. In the embodiment shown, all end faces (loading edges) of the shelves are situated in a vertical plane, which simplifies storage and retrieval of piece goods or pharmaceutical packages to and from the shelves. The shelves shown are designed for chaotic storage of pharmaceutical packages.
In the shown embodiment of the picking device according to the invention, opposite from the first rack row 10 a second rack row 10 is provided, which for reasons of clarity is merely iu indicated; only individual elements of the support frame for this rack row and a shelf 12' having a storage chute 14 for unmixed storage are illustrated.
In the embodiment shown, the picking device includes two storage devices 20, 30 which are situated one above the other and integrated into the first rack row 10, so that shelves 12 are provided above and beneath the two storage devices 20, 30. The storage devices 20, 30 protrude from the picking device at its front, and at the protruding portion include a support area 21, 31, respectively, on which pharmaceutical packages may be deposited for storage.
In Figure I, three identical pharmaceutical packages 6 are situated in the support area 21 of the top storage device 20.
An operator unit 50, which is horizontally and vertically movable on a guide, is provided between the illustrated first rack row and the merely indicated second rack row, and is described in greater detail with reference to Figures 3 and 4. This operator unit is movable along a horizontal guide 55, merely indicated, and a vertical guide 56 in a channel between the two rack rows.
Also situated in the picking device is a retrieval device 40, which in the embodiment shown is designed as a conveyor belt and is indicated between the second rack row and the right outer wall of the picking device. Via the retrieval device, pharmaceutical packages which are moved onto the retrieval device are moved to a removal area 41 of the retrieval device. The pharmaceutical packages can reach the retrieval device for example by being moved onto the retrieval device with the operator unit 50, optionally with connection of an auxiliary retrieval path, not illustrated, in between. At the inclined storage chutes, the pharmaceutical packages may be easily moved onto the retrieval device by activating a release device situated at one end of a storage chute. In such a case, the pharmaceutical packages simply fall by gravity onto the retrieval device.
Lastly, in Figure I a control unit 70 which is coupled to the operator unit, the sensors and sensor systems, and typically the storage devices and the retrieval device, is situated in the front area of the picking device. A door opening 4 is provided in the middle of the front area of the picking device, through which the device may be entered for maintenance purposes and in the event of malfunctions.
Figure 2 shows a detailed view of the front area of the first embodiment of the picking device; in this view, in particular the support area of the storage device 20, 30 is apparent. In Figure 2, two identical pharmaceutical packages 6 are situated in the support area 31 of the bottom storage device 30.
A support area sensor system 200, 300 is situated in each case above the support area of a storage device. For example, the sensor system may be a light grid combination or a camera/camera combination with which piece goods data, i.e., data concerning the position of piece goods on the particular support area, may be determined. Depending on the exact configuration of the support area sensor system, the arrangement of a pharmaceutical package 6 in a detection range 23 may be detected with the support area sensor system, optionally with an accurate determination of the location of the arrangement (based on the width of the storage device 20). An example of a sensor system will be discussed in greater detail below with reference to a subsequent figure.
In the "left" area of the support area sensor system 200, an alternative support detection sensor 24 is indicated with which the above-mentioned functions may be carried out in the event that, in one embodiment, no support area sensor system or no support area sensor system having the above-mentioned functions is installed.
As soon as a piece good is deposited in a detection range 22, 32 or at least partially protrudes into the detection range, an appropriate signal is transmitted to the control unit 70.
The extent to which a pharmaceutical package must protrude into a detection range in order to trigger an above-mentioned signal may be set at the control unit or the support detection sensor, or the sensor system itself.
Also indicated in Figure 2 is an input and/or output device 5 above the top storage device 20, with which information concerning the pharmaceutical packages to be stored may be displayed and/or input.
Figure 3 shows a top view of the first embodiment of the picking device according to the invention; for the sake of clarity, the majority of the support frame 2 is omitted. The storage device 20. which leads from an outer region having the support area 21 to far into the picking device, is apparent on the left side. Four identical pharmaceutical packages 6 are situated in a removal area 25 of the storage device 20. In this illustration, it is also apparent that the storage device is integrated into the first rack row 10, since in the "top" area, shelves 12 and shelf walls 13 are indicated above the storage device 20. The retrieval device 40 together with the removal area 41 is apparent on the right side, and toward the interior of the picking device is adjoined by the second rack row 10', merely indicated. The horizontally and vertically movable operator unit 50 is situated between the first rack row 10 and the second rack row 10', the horizontal guide 55 normally extending over the entire length of the picking device to be able to reach all shelves of the device with the operator unit. The operator unit 50 includes a support table 51 having an end-face edge 52, over which pharmaceutical packages are pulled with a gripping apparatus 60 onto the support table 51.
Also indicated in Figure 3 is a storage sensor system 250, indicated between the removal area 25 and the support area 21, with which the piece goods data of piece goods moved in the storage direction toward the removal area are detected. The exact configuration of the sensor system depends on the particular specific requirements and structural circumstances. Thus, here as well, the use of a camera system or a light grid combination is conceivable; however, the sensor system is not limited to the two designs mentioned above, and all sensor systems which are able to determine the required piece goods data, i.e., the exact arrangement of the piece goods, may be used.
Figure 4 shows a detailed view of the control unit. In the embodiment shown, the gripping apparatus 60 of the control unit 50 includes two gripper jaws 61a, 61b, which via two pivot joints 62a, 62b are pivotable in such a way that the tips 63a, 63b of the gripper jaws 61a, 61b can be moved toward and away from one another without the base of the gripper jaws 61a, 61b being substantially moved. The entire gripping apparatus 60 may be moved above the support table 51 and into the removal area 25 of the retrieval device 20, grasping the pharmaceutical packages 6 in the removal area and pulling them over the end-face edge 52 of the support table 51 over a sensor 80 situated at the removal area and/or over two sensors 81a, 81b at the end-face edge of the support table 52; when the pharmaceutical packages move over the sensors, the sensors generate a signal and relay it to the control unit. In the embodiment shown, one sensor 80 is situated at the removal area 25, i.e., at the storage device 20, and two sensors 81a, 81b are situated at the end-face edge of the support table. This arrangement represents only one possible configuration of sensors. It is also possible to use only one sensor at the removal area or at the end-face edge of the support table. The exact number and configuration of the sensors is not critical, but it is important that the movement of the pharmaceutical packages from the removal area onto the support table can be precisely detected by means of a sensor.
Figures 5a¨e show various stages in the storage of a plurality of identical piece goods or pharmaceutical packages. For simplicity, only the components that are essential for the individual method steps are schematically illustrated in the above-mentioned figures.
Figure 5a shows a storage device 20 having a support area 21 and a detection range 23 of a support detection sensor (not illustrated). Three identical piece goods or pharmaceutical packages 6 are situated in the support area 21 at a distance from one another, the "top"
pharmaceutical package protruding into the detection range 23.
The protrusion of the top pharmaceutical package into the detection range 23 is detected by the support detection sensor (not illustrated) associated with the detection range 23, and is transmitted to the control unit. The piece goods or pharmaceutical packages 6 are then moved via the storage device 20 into a removal area 25, as is apparent in Figure 5b.
The removal area is a section within the picking device which the gripping apparatus accesses for moving the pharmaceutical packages front a storage device onto the support table of the control unit, in that the gripping apparatus is moved into this removal area. The removal area is not a "stationary" area within the picking device, and instead may vary, depending on the position of, for example, the control unit or the deposition location of the piece goods to be stored.
As previously indicated, the gripping apparatus may have two gripping or clamping jaws which may be pivoted, for example. Alternatively, it is also conceivable for the two gripper jaws to be configured to be movable in parallel toward one another, and for the pharmaceutical packages to be clamped or gripped by moving one or two gripper jaws.
In Figure 5c, the two above-mentioned variants, namely, the pivotable gripper jaws and the gripper jaws which are movable in parallel, are indicated in one figure;
in the two illustrations, the gripper jaws 61a, 61b have not yet completely closed; i.e., the pharmaceutical package(s) has/have not yet been grasped. Regardless of the type of gripper jaws used, a clearance 7 is present between the pharmaceutical packages 6 (situated as in this example).
However, the pharmaceutical packages may be situated on the support area 21, without a clearance, between the gripper jaws as a combination of multiple pharmaceutical packages. In the embodiment shown, a sensor 80 which is able to detect a movement of the piece goods onto the support table 51 is associated with the removal area 25. When the pharmaceutical packages move over the sensor, the sensor generates a signal (or a change in signal) which is relayed to the control unit, and based on this signal or the position information of the pharmaceutical packages corresponding to this signal, the control unit can determine the number of pharmaceutical packages moved, using additional data (see Figures 6a, 6b).
Starting from the illustration in Figure 5c, the gripper jaws 61a, 61b of the gripping apparatus are closed until the top pharmaceutical package in the left illustration, and all pharmaceutical packages in the right illustration, is/are clamped or gripped.
lf, as indicated in Figure 5d, the packages are now moved in the direction of the support table 51, via the pivotable gripper jaws (left portion of Figure 5d), initially only the "top"
pharmaceutical package is moved, in particular in such a way that the clearance 7 between the top and the middle pharmaceutical package is eliminated. The combination of the two pharmaceutical packages is then moved to the "bottom" pharmaceutical package upon further movement of the gripper jaws toward the support table 51, resulting in a combination of three pharmaceutical packages with no space in between.
The situation is different for the pharmaceutical packages which have been grasped by the gripping apparatus having the gripper jaws which are movable in parallel, as indicated in the right portion of Figure 5d. Due to the parallel movement of one or both gripper jaws 61a, 61b, all pharmaceutical packages, which have the same dimensions because they are identical, are grasped at the same time, so that no shifting of the pharmaceutical packages toward one another takes place while the gripper jaws move toward the support table 51; i.e., the clearances 7 between the pharmaceutical packages are maintained.
The "result" of the gripping movement is apparent in Figure 5e. In the left illustration with the pivotable gripper jaws 61a, 61b, the three pharmaceutical packages are moved as a combination, with no space in between, onto the support table 51. In the right illustration with the gripper jaws which are movable in parallel, the pharmaceutical packages are moved onto the support table 51 corresponding to their original resting position; i.e., a clearance 7 is still present between the pharmaceutical packages.
Figure 6 shows an example of a sensor system 200 which may be used as a support area sensor system 200, 300 or a storage sensor system 250, 260. The sensor system is a light grid or a combination of two light grids 210, 230 and 220, 240, comprising a horizontal light grid 210, 230 having a plurality of light sources 211 and receivers 231, and a vertical light grid 220, 240 likewise having a plurality of light sources 221 and receivers 241. Light beams 212, 222 are emitted from the light sources 21 I, 221 and received at the receivers 231, 241. The piece goods data are determined based on which light beams reach a receiver.
In the embodiment shown, the light grids appear to be situated at the same height relative to the direction of movement of the piece goods, but in practical terms this is not the case. The light grids are spaced at least far enough apart that the light beams of the grids do not have an interfering effect.
Alternatively, a sensor system may be achieved by a camera system, wherein the data (images) detected by the camera system undergo image processing which provides the necessary piece goods data.
Figures 7a and 7b depict the signal supplied by the sensor 80 as a function of the movement of the pharmaceutical packages onto the support table 51, wherein (in this embodiment) the X axis shows the time axis and the Y axis shows the signal intensity. In this embodiment, it is assumed that the sensor simply measures the intensity of the light striking it.
Different sensors, for example contact sensors, may be used in other embodiments.
Figure 7a depicts the movement of the combination of three pharmaceutical packages over the sensor 80. It is apparent that the intensity of the light detected by the sensor decreases at a point in time tl and once again increases at a point in time t2. The control unit is able to automatically determine the number of pharmaceutical packages moved, based on the time period At12 (12 ¨ tl), the number of changes in signal (position information of the pharmaceutical packages), the movement speed of the gripper jaws, and the identifying inforination concerning the pharmaceutical packages.
In Figure 7a, a change in intensity has been determined only for a time interval t l/t2, and based on the additional information it may be determined that three pharmaceutical packages have been moved onto the support table. The situation is different when the pharmaceutical packages are not pushed or pulled together to form a combination, but, rather, are moved over the sensor with clearances 7 between the pharmaceutical packages. This is depicted in Figure 7b, where a decrease in the light intensity is detected at three points in tittle t2, t4, t6, and an increase in the light intensity is detected at three points in time tl, t3, t5, wherein the period of the decreased light intensity corresponds to a movement of a pharmaceutical package over a sensor. The number of pharmaceutical packages may be unambiguously determined based on this information At12 (t2 ¨ t I ), At34 (t4 ¨t3), and At56 (t6 ¨t5), the movement speed of the gripper jaws, and the identifying information concerning the pharmaceutical packages.
Claims (16)
1. Method for storing a plurality of identical piece goods in a picking device (1), which comprises at least one rack row (10), at least one storage device (20, 30), a control unit (70), and an operator unit (50) coupled to the control unit (70), wherein multiple piece goods are placed in a support area (21, 31) of a storage device (20, 30), it is detected that a last piece good has been placed in a support area (21, 31), as soon as this is detected, the piece goods are moved along a storage direction into a removal area (25, 35) of the storage device (20, 30), a gripping apparatus (60) of the operating unit (50) is moved into the removal area (25, 35), the piece goods are grasped with the gripping apparatus (60) and moved from the removal area (25, 35) onto the support table (51) over an end-face edge (52) of a support table (51) of the control unit (50), characterized in that the number of piece goods situated in the support area (21, 31) is determined based on piece goods data and size data of the piece goods that are detected with at least one sensor system (80, 81a, 81b, 200, 300, 250, 260), after it has been detected that a last piece good has been placed in the support area (21, 31).
2. Method according to Claim 1, characterized in that the piece goods data are determined by a support area sensor system (200, 300) associated with a support area (21, 31) before the piece goods are moved along the storage direction into the removal area (25, 35).
3. Method according to Claim 1 or 2, characterized in that the piece goods data are determined by a storage sensor system (250, 260) associated with a storage device (20, 30) while the piece goods are moving along the storage direction or after the piece goods have moved into the removal area (25, 35).
4. Method according to one of Claims 1 to 3, characterized in that the piece goods data are determined by a removal area sensor system (80, 81a, 81b) associated with a removal area (25, 35) while the piece goods are moving onto the support table (51).
5. Method according to one of Claims 1 to 4, characterized in that identifying information is transmitted to the control unit (70) before piece goods are deposited in the support area (21, 31).
6. Method according to Claim 5, characterized in that the control unit (70) checks whether size data are present for the piece goods to be stored, and if this is not the case, a user is requested to place a single piece good, whose size data are detected and stored together with identifying information concerning the piece good.
7. Method according to one of Claims 1 to 6, characterized in that the placement of a last piece good in a support area (21, 31) is detected by detecting the placement of a piece good in a detection range (23, 33) of a support detection sensor (22, 32) associated with a support area (21, 31).
8. Method according to Claims 2 to 7, characterized in that the placement of a last piece good in a support area (21, 31) is determined by the support area sensor system (200, 300).
9. Method according to one of Claims 1 to 8, characterized in that the deposition location of the last piece good is determined, and the movement of the gripping apparatus (60) into the removal area (25, 35) is controlled based on the deposition location.
10. Picking device (1) for piece goods, comprising at least one rack row (10) having at least one rack (11) with a plurality of shelves (12) situated one above the other, at least one storage device (20, 30) having a support area (21, 31) for receiving piece goods to be stored, an operator unit (50), which is coupled to a control unit (70), having a support table (51) for receiving one or more piece goods, the support table (51) having an end-face edge (52), and at least one gripping apparatus (60) by means of which piece goods may be grasped in a removal area (25, 35) of a storage device (20, 30) and moved from the storage device (20, 30), over the end-face edge (62), onto the support table (51), a release device (22, 32) that is coupled to the control unit (70), and at least one sensor system (80, 81, 81b, 200, 300, 250, 260), coupled to the control unit (70), with which piece goods data are detectable and transmittable to the control unit (70), the control unit (70) being designed in such a way that the number of piece goods situated in the support area (21, 31) is determinable based on the piece goods data and the size data of the piece goods.
11. Picking device (1) for piece goods according to Claim 10, characterized in that a sensor system is designed as a support area sensor system (200, 300), with which piece goods data of the piece goods situated in the support area are detectable.
12. Picking device (1) for piece goods according to Claim 10 or 11, characterized in that a sensor system is designed as a storage sensor system (250, 260), with which piece goods data are detectable while the piece goods are moving along the storage direction or after the piece goods have moved into the removal area (25, 35).
13. Picking device (1) for piece goods according to one of Claims 10 to 12, characterized in that a sensor system is designed as a removal area sensor system (80, 81a, 81b) associated with a removal area (25, 35), with which piece goods data are determinable while the piece goods are moving onto the support table (51).
14. Picking device (1) for piece goods according to Claim 13, characterized in that the removal area sensor system (80, 81a, 81b) is situated at the end-face edge (52) of the support table (51).
15. Picking device (1) for piece goods according to one of Claims 10 to 14, characterized in that the release device is designed as a support detection sensor (22, 32), associated with a support area (21, 31) of a storage device (20, 30), which detects when a piece good or a portion of a piece good is situated in a detection range (23, 33) of the support area (21, 31).
16. Picking device (I) for piece goods according to one of Claims 12 to 16, characterized in that the release device is provided by the support area sensor system (200, 300).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP15184246.5 | 2015-09-08 | ||
| EP15184246.5A EP3141497B1 (en) | 2015-09-08 | 2015-09-08 | Method for storing a number of identical articles in a commissioning system |
| PCT/EP2016/070863 WO2017042128A1 (en) | 2015-09-08 | 2016-09-05 | Method for storing a plurality of identical piece goods in a picking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2997230A1 true CA2997230A1 (en) | 2017-03-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2997230A Abandoned CA2997230A1 (en) | 2015-09-08 | 2016-09-05 | Method for storing a plurality of identical piece goods in a picking device |
Country Status (10)
| Country | Link |
|---|---|
| EP (2) | EP3141497B1 (en) |
| JP (1) | JP6985251B2 (en) |
| KR (1) | KR20180050674A (en) |
| CN (1) | CN108025870B (en) |
| AU (1) | AU2016320325B2 (en) |
| BR (1) | BR112018004344A2 (en) |
| CA (1) | CA2997230A1 (en) |
| DK (1) | DK3141497T3 (en) |
| ES (2) | ES2955080T3 (en) |
| WO (1) | WO2017042128A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2955080T3 (en) | 2015-09-08 | 2023-11-28 | Becton Dickinson Rowa Germany Gmbh | Order picking device for storing a plurality of identical loose goods |
| DE102019121429A1 (en) | 2019-08-08 | 2021-02-11 | Krones Aktiengesellschaft | Device and method for handling and / or handling piece goods moved in at least one row |
| CN113200275B (en) * | 2021-05-20 | 2023-02-28 | 深圳市库宝软件有限公司 | Packing box arranging method, device, equipment, storage system and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2683384B2 (en) * | 1988-10-22 | 1997-11-26 | アンリツ株式会社 | Card management device |
| JPH0543010A (en) * | 1991-08-09 | 1993-02-23 | Anritsu Corp | Drawer device for workpiece control device |
| ES2104219T5 (en) * | 1993-04-10 | 2002-04-01 | Christoph Schausten | PROCEDURE FOR STORAGE OF PACKED MATERIAL AND DEVICE FOR THE PERFORMANCE OF THE PROCEDURE. |
| DE4318341B4 (en) * | 1993-04-10 | 2009-02-19 | Christoph Schausten | Method for storing pharmacy articles and device for carrying out such a method |
| DE19509951C2 (en) * | 1995-03-18 | 1997-03-13 | Rudolf M Dipl Ing Wagner | Device for unsorted storage of goods or other objects |
| JP2000255717A (en) * | 1999-03-10 | 2000-09-19 | Matsushita Electric Ind Co Ltd | Remaining number managing method for products and product taking out device |
| DE10225332B4 (en) | 2002-06-06 | 2006-11-16 | Wagner, Rudolf M., Dipl.-Ing. | Storage buffer and method for storing piece goods for an automated general cargo warehouse |
| DE102004046176B4 (en) * | 2004-09-23 | 2011-08-18 | KHT Kommissionier- und Handhabungstechnik GmbH, 45881 | Method for computer-controlled storage and retrieval of objects and apparatus for carrying out this method |
| DE102004013353B4 (en) * | 2004-03-17 | 2007-12-13 | Kht Kommissionier- Und Handhabungstechnik Gmbh | Method for transferring block-shaped packing units in an automatic warehouse and warehouse for carrying out the method |
| DE202004004292U1 (en) * | 2004-03-17 | 2004-05-27 | Kht Kommissionier- Und Handhabungstechnik Gmbh | Warehouse for the automatic storage and retrieval of goods, in particular pharmaceutical packs |
| SE0402030L (en) * | 2004-08-16 | 2006-02-17 | Moving Ab | Stock management system and procedure |
| EP1836111B1 (en) * | 2004-11-15 | 2012-01-11 | Arx Limited | Apparatus for storing and for independent dispensing of a plurality of packages |
| DE102005035262B4 (en) * | 2005-07-25 | 2007-12-20 | Modicos Kommisioniersysteme Gmbh | Shelf warehouse with input station |
| DE202006014375U1 (en) * | 2006-09-20 | 2008-02-07 | Gebr. Willach Gmbh | warehouse |
| ES2543807T3 (en) * | 2007-11-28 | 2015-08-24 | Carefusion Germany 326 Gmbh | Procedure for storing medication containers |
| DE102008027646A1 (en) * | 2008-06-05 | 2009-12-17 | LÜTH & DÜMCHEN Automatisierungsprojekt GmbH | System for automatic controlling of storing and/or commissioning of article e.g. pharmaceutical article, in shelf warehouse, has data-processing system generating control signals for controlling warehouse |
| DE102010001569A1 (en) * | 2010-02-04 | 2011-08-04 | Apologistics GmbH, 04416 | Storage system for storing and picking articles, in particular pharmacy articles |
| JP5242633B2 (en) * | 2010-06-03 | 2013-07-24 | 株式会社椿本チエイン | Article sorting system |
| DK2574574T3 (en) * | 2011-09-30 | 2014-04-22 | Carefusion Germany 326 Gmbh | Pharmacy collection device with universal supply and control module |
| DE102012218394A1 (en) * | 2012-10-09 | 2014-04-10 | K2 Kommissioniersysteme Gmbh | Device for storing products e.g. drugs in pharmacy, has separating elements for forming individual compartments, set transverse to bearing surface length, while goods are transferred by a transfer device and removed by operating device |
| DE102013208561A1 (en) * | 2013-05-08 | 2014-11-13 | Gebr. Willach Gmbh | manipulator |
| CN104443585B (en) * | 2014-10-28 | 2016-10-05 | 山东钢铁股份有限公司 | A kind of bar rolled piece counting point bundle method and device |
| ES2955080T3 (en) | 2015-09-08 | 2023-11-28 | Becton Dickinson Rowa Germany Gmbh | Order picking device for storing a plurality of identical loose goods |
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2015
- 2015-09-08 ES ES19162322T patent/ES2955080T3/en active Active
- 2015-09-08 DK DK15184246.5T patent/DK3141497T3/en active
- 2015-09-08 EP EP15184246.5A patent/EP3141497B1/en active Active
- 2015-09-08 EP EP19162322.2A patent/EP3533730B1/en active Active
- 2015-09-08 ES ES15184246T patent/ES2739657T3/en active Active
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2016
- 2016-09-05 KR KR1020187008153A patent/KR20180050674A/en not_active Application Discontinuation
- 2016-09-05 JP JP2018511649A patent/JP6985251B2/en active Active
- 2016-09-05 BR BR112018004344-3A patent/BR112018004344A2/en active Search and Examination
- 2016-09-05 WO PCT/EP2016/070863 patent/WO2017042128A1/en active Application Filing
- 2016-09-05 CN CN201680049936.0A patent/CN108025870B/en active Active
- 2016-09-05 CA CA2997230A patent/CA2997230A1/en not_active Abandoned
- 2016-09-05 AU AU2016320325A patent/AU2016320325B2/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| CN108025870B (en) | 2022-05-17 |
| DK3141497T3 (en) | 2019-08-12 |
| JP2018529599A (en) | 2018-10-11 |
| ES2955080T3 (en) | 2023-11-28 |
| CN108025870A (en) | 2018-05-11 |
| EP3141497B1 (en) | 2019-06-26 |
| JP6985251B2 (en) | 2021-12-22 |
| KR20180050674A (en) | 2018-05-15 |
| BR112018004344A2 (en) | 2018-12-04 |
| WO2017042128A1 (en) | 2017-03-16 |
| AU2016320325A1 (en) | 2018-03-15 |
| ES2739657T3 (en) | 2020-02-03 |
| EP3533730B1 (en) | 2023-08-09 |
| AU2016320325B2 (en) | 2021-09-09 |
| EP3141497A1 (en) | 2017-03-15 |
| EP3533730A1 (en) | 2019-09-04 |
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