CA3113285A1 - Handling device for storing and retrieving bottle-type individual items - Google Patents
Handling device for storing and retrieving bottle-type individual items Download PDFInfo
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- CA3113285A1 CA3113285A1 CA3113285A CA3113285A CA3113285A1 CA 3113285 A1 CA3113285 A1 CA 3113285A1 CA 3113285 A CA3113285 A CA 3113285A CA 3113285 A CA3113285 A CA 3113285A CA 3113285 A1 CA3113285 A1 CA 3113285A1
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- Prior art keywords
- gripping
- gripping jaws
- horizontal direction
- bottle
- jaws
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
- G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
-
- 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
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F7/00—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus
- G07F7/06—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles
- G07F7/0609—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles by fluid containers, e.g. bottles, cups, gas containers
-
- 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
- B65G2201/0235—Containers
- B65G2201/0244—Bottles
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Wrapping Of Specific Fragile Articles (AREA)
- Manipulator (AREA)
Abstract
A handling device for storing and retrieving bottle-type individual items in storage areas of an order picking device comprising: a gripping jaw arrangement (100, 200) having two gripping jaws (11a, 11b; 13a, 13b; 50a, 50b) that are in the form of profile bars, extend in a first horizontal direction and have opposing inner faces (12a, 12b; 14a, 14b; 51a, 51b), said first horizontal direction (X) corresponding to the direction for storing and retrieving individual items, wherein the gripping jaws (11a, 11b; 13a, 13b; 50a, 50b) are designed such that the distance between the inner faces (12a, 12b; 14a, 14b; 51a, 51b) at least partly tapers downwards, so that the inner faces (12a, 12b; 14a, 14b; 51a, 51b) are formed such that the bottle-type individual items can be lifted from below; and comprising a first drive unit (20, 21) coupled to the gripping jaw arrangement (100, 200) for moving the gripping jaw arrangement (100, 200) in the first horizontal direction (X).
Description
ZENZ Patent Attorneys = Riittenscheider StraBe 2 45128 Essen Germany Docket # B00508CA
B-BP
Handling device for storing and retrieving bottle-type individual items The present invention relates to an operating device for placing or retrieving bottle-like piece goods onto or from storage places of a picking device. In particular, the bottle-like piece goods are medicament bottles and similarly shaped medicament packs.
In picking devices known from the prior art, a large number of different and differently dimensioned medicament packs are stored chaotically and in a space-optimized manner on elongated flat shelves or are situated on inclined storage shafts. The stored medicament packs are retrieved with the aid of an operating device, for the purpose of which the medicament packs situated on a shelf are moved onto a tray using clamping jaws of the operating device. The gripping jaws of the operating device, in particular, are designed to retrieve and place medicament packs having a square base.
The "usual" medicament packs to be stored in a picking device differentiate themselves with regard to their dimensions;
however, they usually have a plane base and are orthogonally aligned to the base, have parallel side surfaces and end faces, which again are orthogonally aligned with regard to these side surfaces, so that the medicament packs can be pulled, usually using pivotable clamping jaws, from a storage place onto the tray of the operating device.
Using the known operating devices in known picking devices, bottle-like shaped piece goods or medicament packs can only be stored in a standing manner on their usually circular bottom area. Such storing is however not space optimized because the heights of the bottle-like medicament packs greatly differ.
Also, starting at a certain weight, it is difficult to pull the medicament packs from a storage place onto the tray using the usually used clamping jaws without the risk of the bottle-like medicament packs tipping over during this movement (and making a Date Recue/Date Received 2021-03-18 Docket # B00508CA
further retrieval impossible) or of the clamping jaws bending open during the pulling motion and, for this reason, making the pulling from the storage place impossible. Alternatively, it is possible to store the bottle-like medicament packs in brackets, these brackets being formed like usual medicament packs and correspondingly can be placed or retrieved using known operating devices. This however requires that the medicament bottles before storing are moved into respective brackets and after retrieval are removed from these brackets, which makes the overall handling time consuming. Moreover, different brackets have to be provided for the differently dimensioned bottle-like medicament packs, further complicating the storing of bottle-like medicament packs using the known operating devices.
It is the object of the present invention to provide an operating device which can place and retrieve bottle-like piece goods, in particular medicament packs, which are horizontal, without using specifically adapted brackets.
This object according to the present invention is achieved by an operating device for placing or retrieving bottle-like piece goods onto or from storage places of a picking device according to Claim 1. Furthermore, the object is achieved by an alternative operating device according to patent Claim 6.
The first alternative of the operating device according to the present invention includes a gripping jaw assembly having two profile-rod shaped gripping jaws, which include opposite lying inner surfaces, extending in a first horizontal direction, the first horizontal direction corresponding to the direction of placing and retrieving piece goods. According to the present invention, the gripping jaws are configured in such a manner that the distance of the inner surfaces from each other at least in sections tapers in the downward direction so that the inner surfaces are configured in such a manner that the bottle-like piece goods can be lifted from below. Furthermore, the operating device includes a first actuation unit coupled with the gripping jaw assembly for moving the gripping jaw assembly in the first horizontal direction, so that the lifted piece goods can be removed from or added to a storage place.
B-BP
Handling device for storing and retrieving bottle-type individual items The present invention relates to an operating device for placing or retrieving bottle-like piece goods onto or from storage places of a picking device. In particular, the bottle-like piece goods are medicament bottles and similarly shaped medicament packs.
In picking devices known from the prior art, a large number of different and differently dimensioned medicament packs are stored chaotically and in a space-optimized manner on elongated flat shelves or are situated on inclined storage shafts. The stored medicament packs are retrieved with the aid of an operating device, for the purpose of which the medicament packs situated on a shelf are moved onto a tray using clamping jaws of the operating device. The gripping jaws of the operating device, in particular, are designed to retrieve and place medicament packs having a square base.
The "usual" medicament packs to be stored in a picking device differentiate themselves with regard to their dimensions;
however, they usually have a plane base and are orthogonally aligned to the base, have parallel side surfaces and end faces, which again are orthogonally aligned with regard to these side surfaces, so that the medicament packs can be pulled, usually using pivotable clamping jaws, from a storage place onto the tray of the operating device.
Using the known operating devices in known picking devices, bottle-like shaped piece goods or medicament packs can only be stored in a standing manner on their usually circular bottom area. Such storing is however not space optimized because the heights of the bottle-like medicament packs greatly differ.
Also, starting at a certain weight, it is difficult to pull the medicament packs from a storage place onto the tray using the usually used clamping jaws without the risk of the bottle-like medicament packs tipping over during this movement (and making a Date Recue/Date Received 2021-03-18 Docket # B00508CA
further retrieval impossible) or of the clamping jaws bending open during the pulling motion and, for this reason, making the pulling from the storage place impossible. Alternatively, it is possible to store the bottle-like medicament packs in brackets, these brackets being formed like usual medicament packs and correspondingly can be placed or retrieved using known operating devices. This however requires that the medicament bottles before storing are moved into respective brackets and after retrieval are removed from these brackets, which makes the overall handling time consuming. Moreover, different brackets have to be provided for the differently dimensioned bottle-like medicament packs, further complicating the storing of bottle-like medicament packs using the known operating devices.
It is the object of the present invention to provide an operating device which can place and retrieve bottle-like piece goods, in particular medicament packs, which are horizontal, without using specifically adapted brackets.
This object according to the present invention is achieved by an operating device for placing or retrieving bottle-like piece goods onto or from storage places of a picking device according to Claim 1. Furthermore, the object is achieved by an alternative operating device according to patent Claim 6.
The first alternative of the operating device according to the present invention includes a gripping jaw assembly having two profile-rod shaped gripping jaws, which include opposite lying inner surfaces, extending in a first horizontal direction, the first horizontal direction corresponding to the direction of placing and retrieving piece goods. According to the present invention, the gripping jaws are configured in such a manner that the distance of the inner surfaces from each other at least in sections tapers in the downward direction so that the inner surfaces are configured in such a manner that the bottle-like piece goods can be lifted from below. Furthermore, the operating device includes a first actuation unit coupled with the gripping jaw assembly for moving the gripping jaw assembly in the first horizontal direction, so that the lifted piece goods can be removed from or added to a storage place.
2 Date Recue/Date Received 2021-03-18 Docket # B00508CA
The operating device according to the present invention therefore operates according to a different gripping principle than the known operating devices for cuboidal medicament packs.
The bottle-like piece good, for example, a bottle-like medicament pack, is not clamped or pulled but gripped from below by the gripping jaws and lifted. For this purpose, the alignment of the clamping jaw according to the present invention is necessary to ensure a stable position of the bottle-like piece goods on the gripping jaws. The inner surfaces of the profile-rod shaped gripping jaws at least in sections are configured in such a manner that a secure transport of the bottle-like piece goods in the "trough", which is defined by the inner surfaces of the rod-shaped gripping jaws, is ensured.
In a preferred embodiment of the operating device according to the present invention it is provided that the gripping jaws are configured as a round profiles, so that the inner surfaces are configured in a convex manner to each other. The specification according to the present invention that the distance of the inner surfaces from each other at least in sections tapers in the downward direction, thus, in this embodiment is ensured in that the inner surfaces are configured in a round manner. A further advantage of the profile-rod shaped gripping jaws configured as a round profile is that they feature, in comparison to the "usual" clamping jaws, an increased stability, as a result of which a respective operating device is capable to also place and again retrieve bottle-like piece goods or medicament packs having an increased weight.
In an alternative embodiment of the operating device, it is provided that the gripping jaws are configured as a flat profile having flat inner surfaces. Since it is necessary that the distance of the inner surfaces from each other at least in sections tapers in the downward direction, the flat profiles are positioned to each other in a V-shaped manner.
Bottle-like piece goods can be easily placed and retrieved using gripping jaws configured as a flat profile having flat inner surfaces, which are positioned in a permanent V-shaped manner; however, it is not possible or only possible with great difficulty to place and retrieve "normal" medicament packs, that
The operating device according to the present invention therefore operates according to a different gripping principle than the known operating devices for cuboidal medicament packs.
The bottle-like piece good, for example, a bottle-like medicament pack, is not clamped or pulled but gripped from below by the gripping jaws and lifted. For this purpose, the alignment of the clamping jaw according to the present invention is necessary to ensure a stable position of the bottle-like piece goods on the gripping jaws. The inner surfaces of the profile-rod shaped gripping jaws at least in sections are configured in such a manner that a secure transport of the bottle-like piece goods in the "trough", which is defined by the inner surfaces of the rod-shaped gripping jaws, is ensured.
In a preferred embodiment of the operating device according to the present invention it is provided that the gripping jaws are configured as a round profiles, so that the inner surfaces are configured in a convex manner to each other. The specification according to the present invention that the distance of the inner surfaces from each other at least in sections tapers in the downward direction, thus, in this embodiment is ensured in that the inner surfaces are configured in a round manner. A further advantage of the profile-rod shaped gripping jaws configured as a round profile is that they feature, in comparison to the "usual" clamping jaws, an increased stability, as a result of which a respective operating device is capable to also place and again retrieve bottle-like piece goods or medicament packs having an increased weight.
In an alternative embodiment of the operating device, it is provided that the gripping jaws are configured as a flat profile having flat inner surfaces. Since it is necessary that the distance of the inner surfaces from each other at least in sections tapers in the downward direction, the flat profiles are positioned to each other in a V-shaped manner.
Bottle-like piece goods can be easily placed and retrieved using gripping jaws configured as a flat profile having flat inner surfaces, which are positioned in a permanent V-shaped manner; however, it is not possible or only possible with great difficulty to place and retrieve "normal" medicament packs, that
3 Date Recue/Date Received 2021-03-18 Docket # B00508CA
is, such medicament packs having a rectangular base. In a preferred embodiment, it is therefore provided that the gripping jaws are rotatably mounted so that the gripping jaws with the aid of a second actuation unit are rotatable from a position gripping from below, in which the distance of the inner surfaces at least in sections tapers in the downward direction, into a clamping position, in which the inner surfaces of the gripping jaws, for example, are oriented parallel to each another. A
correspondingly configured operating device makes it possible to place and retrieve the bottle-like medicament packs and also medicament packs having a rectangular base.
On account of the configuration of the gripping jaws according to the present invention, that is, on account of that the distance of the inner surfaces at least in sections tapers in the downward direction, it is possible to place and retrieve bottle-like medicament packs having very different diameters.
However, for gripping jaws which have a predetermined distance to each other it is, even for the alignment of the inner surfaces according to the present invention, only possible to place and retrieve bottle-like medicament packs having a certain diameter or radius. If the diameter of the bottle-like medicament packs is too big, these medicament packs can no longer securely be stored in the trough formed by the inner surfaces having the distance tapering in the downward direction.
If the diameter is too small, reaching from below is simply no longer possible because the gripping jaws are guided past the bottle-like medicament packs.
In a preferred embodiment it is therefore provided that the operating device has a third actuation unit coupled to the gripping jaws, with which the gripping jaws are movable toward and away from each other along a second horizontal direction transverse to the first horizontal direction. For a correspondingly configured operating device, the gripping jaws can be adapted to the diameter of bottle-like configured medicament packs or piece goods. Even in the case in which the gripping jaws are rotatably mounted, thus, the operating device is suitable for placing and retrieving bottle-like medicament packs and "normal" medicament packs, a corresponding
is, such medicament packs having a rectangular base. In a preferred embodiment, it is therefore provided that the gripping jaws are rotatably mounted so that the gripping jaws with the aid of a second actuation unit are rotatable from a position gripping from below, in which the distance of the inner surfaces at least in sections tapers in the downward direction, into a clamping position, in which the inner surfaces of the gripping jaws, for example, are oriented parallel to each another. A
correspondingly configured operating device makes it possible to place and retrieve the bottle-like medicament packs and also medicament packs having a rectangular base.
On account of the configuration of the gripping jaws according to the present invention, that is, on account of that the distance of the inner surfaces at least in sections tapers in the downward direction, it is possible to place and retrieve bottle-like medicament packs having very different diameters.
However, for gripping jaws which have a predetermined distance to each other it is, even for the alignment of the inner surfaces according to the present invention, only possible to place and retrieve bottle-like medicament packs having a certain diameter or radius. If the diameter of the bottle-like medicament packs is too big, these medicament packs can no longer securely be stored in the trough formed by the inner surfaces having the distance tapering in the downward direction.
If the diameter is too small, reaching from below is simply no longer possible because the gripping jaws are guided past the bottle-like medicament packs.
In a preferred embodiment it is therefore provided that the operating device has a third actuation unit coupled to the gripping jaws, with which the gripping jaws are movable toward and away from each other along a second horizontal direction transverse to the first horizontal direction. For a correspondingly configured operating device, the gripping jaws can be adapted to the diameter of bottle-like configured medicament packs or piece goods. Even in the case in which the gripping jaws are rotatably mounted, thus, the operating device is suitable for placing and retrieving bottle-like medicament packs and "normal" medicament packs, a corresponding
4 Date Recue/Date Received 2021-03-18 Docket # B00508CA
configuration is advantageous, since it enables to clamp-grip "normal" medicament packs having very different dimensions.
The previously described embodiments of the operating device achieves the object of the present invention in that the gripping jaws of the operating device are specifically designed so that a gripping from below and lifting of the bottle-like medicament packs is enabled. In order to achieve the previously mentioned object, a variation exists in which the bottle-like medicament packs are not lifted but pulled from the storage place. The known operating devices are also used to "pull"
"normal" medicament packs having rectangular bases from a storage place in the picking device; however, for this purpose, the medicament packs are clamp-gripped by pivoting the clamping jaws. On account of the plane circular bases of the bottle-like medicament packs, clamp-gripping is however to be dismissed -the clamping force would simply not suffice to pull medicament packs formed in such a manner, for example, from the storage location in the picking device. According to the present invention, the alternative operating device includes a tray extending in a first horizontal direction X, which has a placing and a retrieving side. Such a tray is necessary for the alternative operating device, as the bottle-like piece goods or medicament packs are not to be lifted but pulled. Furthermore, the operating device according to the present invention includes a gripping jaw assembly having two gripping jaws movable toward and away from each other along a second horizontal direction Y
transverse to first horizontal direction X, the gripping jaws for carrying out the movement in the second horizontal direction being coupled to a third actuation unit, at least one of the gripping jaws being assigned to a pivot device which, at the end of a gripping jaw facing away from the gripping jaw assembly (thus, the terminal end) has a catching section, which for catching a piece good situated between the gripping jaws is pivotable into the area between the gripping jaws. The operating device further includes a sliding device for sliding a piece good from the tray, and an actuation unit coupled to the gripping jaw assembly for moving the gripping jaw assembly in the first horizontal direction. Different from the first
configuration is advantageous, since it enables to clamp-grip "normal" medicament packs having very different dimensions.
The previously described embodiments of the operating device achieves the object of the present invention in that the gripping jaws of the operating device are specifically designed so that a gripping from below and lifting of the bottle-like medicament packs is enabled. In order to achieve the previously mentioned object, a variation exists in which the bottle-like medicament packs are not lifted but pulled from the storage place. The known operating devices are also used to "pull"
"normal" medicament packs having rectangular bases from a storage place in the picking device; however, for this purpose, the medicament packs are clamp-gripped by pivoting the clamping jaws. On account of the plane circular bases of the bottle-like medicament packs, clamp-gripping is however to be dismissed -the clamping force would simply not suffice to pull medicament packs formed in such a manner, for example, from the storage location in the picking device. According to the present invention, the alternative operating device includes a tray extending in a first horizontal direction X, which has a placing and a retrieving side. Such a tray is necessary for the alternative operating device, as the bottle-like piece goods or medicament packs are not to be lifted but pulled. Furthermore, the operating device according to the present invention includes a gripping jaw assembly having two gripping jaws movable toward and away from each other along a second horizontal direction Y
transverse to first horizontal direction X, the gripping jaws for carrying out the movement in the second horizontal direction being coupled to a third actuation unit, at least one of the gripping jaws being assigned to a pivot device which, at the end of a gripping jaw facing away from the gripping jaw assembly (thus, the terminal end) has a catching section, which for catching a piece good situated between the gripping jaws is pivotable into the area between the gripping jaws. The operating device further includes a sliding device for sliding a piece good from the tray, and an actuation unit coupled to the gripping jaw assembly for moving the gripping jaw assembly in the first horizontal direction. Different from the first
5 Date Recue/Date Received 2021-03-18 Docket # B00508CA
alternative, in which the bottle-like medicament packs on account of the configuration of the gripping jaws according to the present invention are grippable from below, the bottle-like medicament packs are grippable from behind and pullable from a storage place by the operating device of the second alternative approach, since at least one pivot device is assigned to one of the gripping jaws, which can grip a bottle-like piece good to be retrieved from behind.
In the previously mentioned embodiments, it is not necessarily provided that the clamping jaws themselves are able to be pivoted, thus, that they can be moved in such a manner that the two terminal ends of the gripping jaws can be moved toward or away from each other, but that the ends of the gripping jaws assigned to the gripping jaw assembly are kept stationary. This can be advantageous, in particular, if bottle-like medicament packs and also "normal" medicament packs are to be stored, so that it is provided in a preferred embodiment that the gripping jaw assembly has a fourth actuation unit and at least one of the gripping jaws is pivotably mounted at the gripping jaw assembly and is pivotable via the fourth actuation unit.
In particular when clamp-gripping and gripping (bottle-like) medicament packs from below, it can occur owing to the weight of the medicament packs that the gripping jaws bend, the exact type of bending depending on the action of force onto the gripping jaws. In an operating device having gripping jaws configured as a flat profile, it is therefore preferred that the gripping jaws at least in sections have a web extending in the longitudinal direction, which prevents the gripping jaws from bending.
Subsequently, preferred embodiments of the operating device according to the present invention are described with reference to the drawing, in which Figures 1A and 1B show slanted views of a first embodiment of the operating device according to the present invention;
Figure 2A and 2B show detailed views of the first embodiment;
Figure 3 shows a further detailed view of the first embodiment having rotated gripping jaws;
alternative, in which the bottle-like medicament packs on account of the configuration of the gripping jaws according to the present invention are grippable from below, the bottle-like medicament packs are grippable from behind and pullable from a storage place by the operating device of the second alternative approach, since at least one pivot device is assigned to one of the gripping jaws, which can grip a bottle-like piece good to be retrieved from behind.
In the previously mentioned embodiments, it is not necessarily provided that the clamping jaws themselves are able to be pivoted, thus, that they can be moved in such a manner that the two terminal ends of the gripping jaws can be moved toward or away from each other, but that the ends of the gripping jaws assigned to the gripping jaw assembly are kept stationary. This can be advantageous, in particular, if bottle-like medicament packs and also "normal" medicament packs are to be stored, so that it is provided in a preferred embodiment that the gripping jaw assembly has a fourth actuation unit and at least one of the gripping jaws is pivotably mounted at the gripping jaw assembly and is pivotable via the fourth actuation unit.
In particular when clamp-gripping and gripping (bottle-like) medicament packs from below, it can occur owing to the weight of the medicament packs that the gripping jaws bend, the exact type of bending depending on the action of force onto the gripping jaws. In an operating device having gripping jaws configured as a flat profile, it is therefore preferred that the gripping jaws at least in sections have a web extending in the longitudinal direction, which prevents the gripping jaws from bending.
Subsequently, preferred embodiments of the operating device according to the present invention are described with reference to the drawing, in which Figures 1A and 1B show slanted views of a first embodiment of the operating device according to the present invention;
Figure 2A and 2B show detailed views of the first embodiment;
Figure 3 shows a further detailed view of the first embodiment having rotated gripping jaws;
6 Date Recue/Date Received 2021-03-18 Docket # B00508CA
Figure 4 shows a frontal view of the gripping jaws having a moving mechanism;
Figure 5 shows a slanted view of a second embodiment;
Figure 6 shows a detailed view of the second embodiment;
Figures 7A and 7B show detailed views of a third embodiment according to the alternative;
Figure 8 shows a partial top view of the third embodiment;
Figures 9A and 9B show detailed views of the third embodiment; and Figures 10A through 10D show detailed views of the third embodiment.
Figures 1A and 1B show two slanted views of a first embodiment of the operating device according to the present invention, in this embodiment the gripping jaws being rotatably mounted, so that the gripping jaws with the aid of a second actuation unit, formed by actuators 110a, 110b, are rotatable from a gripping position from below shown in Figure 1A, in which the distance of inner surfaces 12a and 12b (not shown) from opposite lying gripping jaws 11a, llb tapers in the downward direction, into a clamping position shown in Figure 1B, in which the inner surfaces 12a, 12b of gripping jaws 11a, llb are aligned parallel to each other. Gripping jaws 11a, llb are part of gripping jaw assembly 100 having a central frame structure 101, to which two actuators 110a, 110b of the second actuation unit are fastened. Gripping jaw assembly 100 and the positioning of actuators 110a, 110b at this gripping jaw assembly is described in greater detail in reference of the subsequent figures.
The operating device shown in Figures 1A and 1B furthermore includes a first actuation unit 20, which is part of a linear drive system, by which gripping jaw assembly 100 is movable along a first horizontal direction X, for the purpose of which the linear drive system includes a threaded spindle 21, through the rotational movement of which the gripping jaw assembly can be moved along the first horizontal direction. Between the two parallel gripping jaws 11a, 11b, a slider 10 is shown, which can be moved via a (not shown) actuation mechanism along the first horizontal direction, in particular, the slider can be used to
Figure 4 shows a frontal view of the gripping jaws having a moving mechanism;
Figure 5 shows a slanted view of a second embodiment;
Figure 6 shows a detailed view of the second embodiment;
Figures 7A and 7B show detailed views of a third embodiment according to the alternative;
Figure 8 shows a partial top view of the third embodiment;
Figures 9A and 9B show detailed views of the third embodiment; and Figures 10A through 10D show detailed views of the third embodiment.
Figures 1A and 1B show two slanted views of a first embodiment of the operating device according to the present invention, in this embodiment the gripping jaws being rotatably mounted, so that the gripping jaws with the aid of a second actuation unit, formed by actuators 110a, 110b, are rotatable from a gripping position from below shown in Figure 1A, in which the distance of inner surfaces 12a and 12b (not shown) from opposite lying gripping jaws 11a, llb tapers in the downward direction, into a clamping position shown in Figure 1B, in which the inner surfaces 12a, 12b of gripping jaws 11a, llb are aligned parallel to each other. Gripping jaws 11a, llb are part of gripping jaw assembly 100 having a central frame structure 101, to which two actuators 110a, 110b of the second actuation unit are fastened. Gripping jaw assembly 100 and the positioning of actuators 110a, 110b at this gripping jaw assembly is described in greater detail in reference of the subsequent figures.
The operating device shown in Figures 1A and 1B furthermore includes a first actuation unit 20, which is part of a linear drive system, by which gripping jaw assembly 100 is movable along a first horizontal direction X, for the purpose of which the linear drive system includes a threaded spindle 21, through the rotational movement of which the gripping jaw assembly can be moved along the first horizontal direction. Between the two parallel gripping jaws 11a, 11b, a slider 10 is shown, which can be moved via a (not shown) actuation mechanism along the first horizontal direction, in particular, the slider can be used to
7 Date Recue/Date Received 2021-03-18 Docket # B00508CA
slide "normal" medicament packs having a plane rectangular base from a tray 2 of the operating device onto, for example, a storage place.
The embodiment shown in Figures 1A and 1B is, owing to its special design, suitable to place and retrieve bottle-like medicament packs and also "normal" medicament packs. As already indicated above, the gripping jaws are rotatably mounted, that is, they can be rotated from the position gripping from below for bottle-like medicament packs shown in Figure 1A into the position shown in Figure 1B, in which inner surfaces 12a, 12b of gripping jaws 11a, 11b are configured parallel to each other. In order to support the clamping effect of the gripping jaws for placing and retrieving medicament packs, gripping jaws at their ends facing away from the gripping jaw assembly can have sections 15a and 15b (not shown) having an increased friction.
In the shown embodiment, the gripping jaw assembly furthermore includes a sensor means 3, by which for example the alignment of tray 2 at a storage surface can be determined. Furthermore, the operating device according to the first embodiment includes a third actuation unit 140, the function of which is explained in greater detail in the subsequent figures.
In Figure 1B, a web 25b can be seen for gripping jaw 11b, which extends in direction X on the outer surface of the gripping jaw and improves rigidity of the gripping jaw, so that the gripping jaw does not bend outwards when, for example, lifting a medicament pack. A corresponding (but not visible) web 25a is formed at the outer surface of gripping jaw 11a.
Figures 2A and 2B show detailed views of the operating device in the region of gripping jaw assembly 100, various components being omitted in Figures 2A and 2B for illustrating components otherwise concealed (actuator 110b in Figure 2A and actuators 110a, 110b in Figure 2B, as well as central frame structure 101). As can be seen from Figures 2A and 2B, actuators 110a, 110b of the second actuation unit are coupled via a (in particular illustrated in detail in Figure 4) transmission having a rotation means 111a, 111b, the rotary axis of which extends in first horizontal direction X. In turn, the rotary means are coupled via a web to gripping jaw holders 112a, 112b,
slide "normal" medicament packs having a plane rectangular base from a tray 2 of the operating device onto, for example, a storage place.
The embodiment shown in Figures 1A and 1B is, owing to its special design, suitable to place and retrieve bottle-like medicament packs and also "normal" medicament packs. As already indicated above, the gripping jaws are rotatably mounted, that is, they can be rotated from the position gripping from below for bottle-like medicament packs shown in Figure 1A into the position shown in Figure 1B, in which inner surfaces 12a, 12b of gripping jaws 11a, 11b are configured parallel to each other. In order to support the clamping effect of the gripping jaws for placing and retrieving medicament packs, gripping jaws at their ends facing away from the gripping jaw assembly can have sections 15a and 15b (not shown) having an increased friction.
In the shown embodiment, the gripping jaw assembly furthermore includes a sensor means 3, by which for example the alignment of tray 2 at a storage surface can be determined. Furthermore, the operating device according to the first embodiment includes a third actuation unit 140, the function of which is explained in greater detail in the subsequent figures.
In Figure 1B, a web 25b can be seen for gripping jaw 11b, which extends in direction X on the outer surface of the gripping jaw and improves rigidity of the gripping jaw, so that the gripping jaw does not bend outwards when, for example, lifting a medicament pack. A corresponding (but not visible) web 25a is formed at the outer surface of gripping jaw 11a.
Figures 2A and 2B show detailed views of the operating device in the region of gripping jaw assembly 100, various components being omitted in Figures 2A and 2B for illustrating components otherwise concealed (actuator 110b in Figure 2A and actuators 110a, 110b in Figure 2B, as well as central frame structure 101). As can be seen from Figures 2A and 2B, actuators 110a, 110b of the second actuation unit are coupled via a (in particular illustrated in detail in Figure 4) transmission having a rotation means 111a, 111b, the rotary axis of which extends in first horizontal direction X. In turn, the rotary means are coupled via a web to gripping jaw holders 112a, 112b,
8 Date Recue/Date Received 2021-03-18 Docket # B00508CA
to which gripping jaws 11a, llb are attached. With the aid of actuators 110a, 110b, the rotary means can be moved in such a manner that the gripping jaws can be moved from the position shown in Figures 2A and 2B into the position gripping from below shown in Figure 3.
In the first embodiment, the gripping jaws are moreover movable toward and away from each other along a second horizontal direction Y transverse to first horizontal direction X. For this purpose, the gripping jaws and the actuators assigned to them, the rotary means and the gripping jaw holders (110a-112a, 110b-112b) are attached to respectively one gripping jaw slide 122a, 122b (see Figure 2B). This gripping jaw slide can be moved along a gripping jaw guide 121a, 121b in second horizontal direction Y. For this purpose, the gripping jaws (including the components assigned to them) in the shown embodiment are attached via the actuators to gripping jaw actuation rods 120a, 120b, which are configured as two toothed bars guided in parallel, having opposite profiles. Viewed from a vertical perspective, a gear wheel 141 coupled to the third actuation unit is situated between gripping jaw actuation rods 120a, 120b. If this gear wheel is rotated with the aid of the third actuation unit, the rotary movement of gear wheel 141 is transferred to the actuators coupled to gripping jaw actuation rods 120a, 120b, as a result of which the gripping jaws can be moved toward and away from each other along second horizontal direction Y transverse to first horizontal direction X.
Figure 3 now shows once again a detailed view of the position gripping from below, that is, of the position in which the gripping jaws of the operating device are moved in such a manner that at least in sections the distance of the inner surfaces from each other is tapered in the downward direction, so that the inner surfaces are configured in such a manner that the bottle-like piece goods can be lifted from below.
With the aid of a frontal view of the gripping jaws including the associated actuation assemblies, Figure 4 illustrates how bottle-like piece goods or medicament packs can be gripped by the gripping jaws according to the present invention. As a function of the exact embodiment of the
to which gripping jaws 11a, llb are attached. With the aid of actuators 110a, 110b, the rotary means can be moved in such a manner that the gripping jaws can be moved from the position shown in Figures 2A and 2B into the position gripping from below shown in Figure 3.
In the first embodiment, the gripping jaws are moreover movable toward and away from each other along a second horizontal direction Y transverse to first horizontal direction X. For this purpose, the gripping jaws and the actuators assigned to them, the rotary means and the gripping jaw holders (110a-112a, 110b-112b) are attached to respectively one gripping jaw slide 122a, 122b (see Figure 2B). This gripping jaw slide can be moved along a gripping jaw guide 121a, 121b in second horizontal direction Y. For this purpose, the gripping jaws (including the components assigned to them) in the shown embodiment are attached via the actuators to gripping jaw actuation rods 120a, 120b, which are configured as two toothed bars guided in parallel, having opposite profiles. Viewed from a vertical perspective, a gear wheel 141 coupled to the third actuation unit is situated between gripping jaw actuation rods 120a, 120b. If this gear wheel is rotated with the aid of the third actuation unit, the rotary movement of gear wheel 141 is transferred to the actuators coupled to gripping jaw actuation rods 120a, 120b, as a result of which the gripping jaws can be moved toward and away from each other along second horizontal direction Y transverse to first horizontal direction X.
Figure 3 now shows once again a detailed view of the position gripping from below, that is, of the position in which the gripping jaws of the operating device are moved in such a manner that at least in sections the distance of the inner surfaces from each other is tapered in the downward direction, so that the inner surfaces are configured in such a manner that the bottle-like piece goods can be lifted from below.
With the aid of a frontal view of the gripping jaws including the associated actuation assemblies, Figure 4 illustrates how bottle-like piece goods or medicament packs can be gripped by the gripping jaws according to the present invention. As a function of the exact embodiment of the
9 Date Recue/Date Received 2021-03-18 Docket # B00508CA
operating device, namely whether the gripping jaws can be moved in second horizontal direction Y transverse to first horizontal direction X, bottle-like piece good 5 can be approached from below or from the side with the aid of the gripping jaws and can be retrieved from a storage place by a vertical movement of the operating device. It can be concluded from Figure 4 that gripping jaws 11a, 11b are attached to gripping jaw holders 112a, 112b, which, in turn, are attached via webs 113a, 113b to rotary means 111a, 111b, which are coupled via a transmission 114a, 114b to actuators 110a, 110b. The operating device according to the present invention makes it possible to place and retrieve bottle-like piece goods along their longitudinal direction. In this instance, it is required that the picking device is correspondingly adapted so that the bottle-like piece goods are securely stored in their storage places. For this purpose, it is for example conceivable that the storage places feature holders that are specifically adapted to the bottle-like piece goods. In the most simple case, it can for example be provided that a storage place 70 has two parallel resting means 71, 72, which enable to store the bottle-like piece goods in the longitudinal direction. The exact type of storing the bottle-like piece goods in the longitudinal direction in the picking device, however, is not part of this invention and, for this reason, shall only be briefly hinted at in a rudimentary manner.
Figure 5 shows a slanted view of a second embodiment of the operating device according to the present invention. In this embodiment, two gripping jaws 13a, 13b are configured as round profiles, which entails that inner surfaces 14a and 14b (not shown) of the clamping jaws are configured in a convex manner to each other. This type of configuration, according to the present invention, also fulfills the requirement that at least in sections the distance of the inner surfaces from each other is tapered in the downward direction so that the inner surfaces are configured in such a manner that the bottle-like piece goods can be lifted from below. The second embodiment also includes a gripping jaw assembly 100 having a central frame structure 101.
In this embodiment, the gripping jaw assembly furthermore Date Recue/Date Received 2021-03-18 Docket # B00508CA
includes an upper gripping jaw guide 150, which subsequently is described in greater detail in reference to Figure 6.
Upper gripping jaw guide 150 includes two elongated holes 151a, 151b configured in second horizontal direction Y, into each of which one nose 161a, 161b of a gripping jaw holder 160a, 160b engages. Gripping jaws 13a, 13b configured as round profiles are attached to gripping jaw holders 160a, 160b configured as L-shapes. As it is indicated in Figure 6, L-shaped gripping jaw holders 160a, 160b are fastened to gripping jaw slides via vertically running pivot axes, of which in Figure 6 only pivot axis 162b can be seen. By moving upper gripping jaw guide 150 in first horizontal direction X, a pivoting of gripping jaws 13a, 13b can be achieved on the basis of the pivotable mounting of gripping jaw holders 160a, 160b at the gripping slides (not precisely visibly in Figure 6). By situating noses 161a, 161b in elongated holes 151a, 151b of upper gripping jaw guide 150 and holding the gripping jaw guides at the vertical pivot axes, these pivot axes are pivoted inwards at the terminal ends when moving the upper gripping jaw guide in the direction of loading sill 2a of tray 2. The movement of upper gripping jaw-guide 150 in first horizontal direction X is caused by fourth actuation unit 210, as it is described in greater detail in reference to the subsequent figures.
Figures 7A and 7B show slanted views of a third embodiment of the operating device according to the present invention, the third embodiment being configured according to the variation. In reference to the third embodiment, first the pivotability of the gripping jaws, which is also provided in this embodiment, is described. The previously described pivotability of the gripping jaws in the second embodiment functions correspondingly.
As it can be concluded from Figure 7A, behind or below sensor 3 a fourth actuation unit 210 is provided. As it can be concluded from Figure 7B, fourth actuation unit 210 is coupled via a coupling piece 211 to slide 271, which with the aid of the actuation unit can be moved on a guide 270 in first horizontal direction X. Slide 271, which, as can be concluded from Figure 7A, carries sensor 3, is connected via coupling elements 272 to an upper gripping jaw guide 250. Via coupling elements 272, the Date Recue/Date Received 2021-03-18 Docket # B00508CA
movement of slide 271 in the first horizontal direction is transferred to upper gripping jaw guide 250, which moves accordingly.
Figure 8 shows a top view onto gripping jaw assembly 200 and it being coupled to fourth actuation unit 210. As can be concluded from Figure 8, noses 261a, 261b extend from L-shaped gripping jaw holders 260a, 260b in elongated holes 251a, 251b, which are formed in upper gripping jaw guide 250. If now the upper gripping jaw guide is moved forward by fourth actuation unit 210 (in Figure 8 moved downward), the L-shaped gripping jaw holders, which are fixed via (in Figure 8 not visible) vertical pivot axes 262a, 262b (see Figures 9A and 9B) at gripping jaw slides 222a, 222b, are pivoted by catching the noses of the gripping jaw holders, so that the ends of the gripping jaws remote from the gripping jaw assembly (thus, the terminal ends) are pivoted towards each other.
Figures 9A and 9b show detailed views of the gripping jaw assembly and it being coupled to fourth actuation unit 210. Via a coupling 211, fourth actuation unit 210 is coupled with slide 271 movable in first horizontal direction X, which is movable on guide 270. Via coupling elements 272, which is only indicated in Figure 8, the movement in first horizontal direction X is transferred to the upper gripping jaw holder. As can be concluded from Figures 9A and 9B, the gripping jaws of the third embodiment are not only pivotable, but they can also be moved along second horizontal direction Y. For this purpose, gripping jaw slides 222a, 222b are attached to gripping jaw actuation rods 220a, 220b, which can be moved via a gear wheel 141 of third actuation unit 140 along second horizontal direction Y.
The movement of gripping jaw slides 222a, 222b is transferred to L-shaped gripping jaw holders 260a, 260b. As can be concluded from Figures 9A and 9B, these gripping jaw holders are coupled via vertical axes 262a, 262b to the gripping jaw slides. In turn, gripping jaws 50a, 50b are attached to the gripping jaw holders. The special type of coupling the gripping jaws within the gripping jaw assembly enables that the gripping jaws along second horizontal direction Y are movable as well as also pivotable.
Date Recue/Date Received 2021-03-18 Docket # B00508CA
In reference to Figures 10A-10D, showing detailed views of the ends of the gripping jaws facing away from the gripping jaw assembly, pivot devices assigned to the gripping jaws are described, these pivot devices already being shown in Figures 7A
and 7B; however, they have not been discussed within the context of these figures. As can be concluded from Figure 10A, respectively one pivot device is assigned to pivot jaws 50a, 50b configured as a flat profile, which in the shown embodiment includes a guide means 61a, 61b extending in first horizontal direction X. A pivot element 62a, 62b is guided through this guide means, each of the pivot elements having at its terminal end a catching section angled by approximately 90 in regard to the longitudinal direction, which in Figure 10A is vertically aligned at the ends of the gripping jaws. The pivot elements are rotatable via (not shown) actuators, the catching section via this rotary movement, as it is shown in Figure 10B, can be rotated into the region between inner surfaces 51a, 51b of the clamping jaws. In order to pull a bottle-like medicament pack resting on a storage place from this storage place using the gripping jaws according to the third embodiment, the catching sections, as soon as the gripping jaws have been moved into the correct position in reference to the first horizontal direction, are pivoted into the region between the gripping jaws and, in so doing, when the gripping jaws are accordingly aligned, are gripping the usually circularly configured base of the medicament packs from behind. As soon as a corresponding gripping from behind is configured, the bottle-like medicament packs can be pulled from the storage location, the parallel gripping jaws serving as guides.
In the variation of the third embodiment shown in Figure 10A, guide means 61a, 61b, through which pivot elements 62a, 62b extend, are situated below the actual gripping jaws. For alternative variations, it is of course possible that guides 61a, 61b are situated above actual gripping jaws 50a, 50b, as this is indicated in Figure 10C. Alternatively, pivot means 62a, 62b can also be guided through the gripping jaws, the recesses in the gripping jaws forming the guide means.
Date Recue/Date Received 2021-03-18 Docket # B00508CA
The pivot device illustrated in reference to the third embodiment, for example, can also be combined with the rod-shaped gripping jaws according to the second embodiment, in this case it possibly lending itself to guiding the pivot elements through the gripping jaws formed as a round profile.
Date Recue/Date Received 2021-03-18
operating device, namely whether the gripping jaws can be moved in second horizontal direction Y transverse to first horizontal direction X, bottle-like piece good 5 can be approached from below or from the side with the aid of the gripping jaws and can be retrieved from a storage place by a vertical movement of the operating device. It can be concluded from Figure 4 that gripping jaws 11a, 11b are attached to gripping jaw holders 112a, 112b, which, in turn, are attached via webs 113a, 113b to rotary means 111a, 111b, which are coupled via a transmission 114a, 114b to actuators 110a, 110b. The operating device according to the present invention makes it possible to place and retrieve bottle-like piece goods along their longitudinal direction. In this instance, it is required that the picking device is correspondingly adapted so that the bottle-like piece goods are securely stored in their storage places. For this purpose, it is for example conceivable that the storage places feature holders that are specifically adapted to the bottle-like piece goods. In the most simple case, it can for example be provided that a storage place 70 has two parallel resting means 71, 72, which enable to store the bottle-like piece goods in the longitudinal direction. The exact type of storing the bottle-like piece goods in the longitudinal direction in the picking device, however, is not part of this invention and, for this reason, shall only be briefly hinted at in a rudimentary manner.
Figure 5 shows a slanted view of a second embodiment of the operating device according to the present invention. In this embodiment, two gripping jaws 13a, 13b are configured as round profiles, which entails that inner surfaces 14a and 14b (not shown) of the clamping jaws are configured in a convex manner to each other. This type of configuration, according to the present invention, also fulfills the requirement that at least in sections the distance of the inner surfaces from each other is tapered in the downward direction so that the inner surfaces are configured in such a manner that the bottle-like piece goods can be lifted from below. The second embodiment also includes a gripping jaw assembly 100 having a central frame structure 101.
In this embodiment, the gripping jaw assembly furthermore Date Recue/Date Received 2021-03-18 Docket # B00508CA
includes an upper gripping jaw guide 150, which subsequently is described in greater detail in reference to Figure 6.
Upper gripping jaw guide 150 includes two elongated holes 151a, 151b configured in second horizontal direction Y, into each of which one nose 161a, 161b of a gripping jaw holder 160a, 160b engages. Gripping jaws 13a, 13b configured as round profiles are attached to gripping jaw holders 160a, 160b configured as L-shapes. As it is indicated in Figure 6, L-shaped gripping jaw holders 160a, 160b are fastened to gripping jaw slides via vertically running pivot axes, of which in Figure 6 only pivot axis 162b can be seen. By moving upper gripping jaw guide 150 in first horizontal direction X, a pivoting of gripping jaws 13a, 13b can be achieved on the basis of the pivotable mounting of gripping jaw holders 160a, 160b at the gripping slides (not precisely visibly in Figure 6). By situating noses 161a, 161b in elongated holes 151a, 151b of upper gripping jaw guide 150 and holding the gripping jaw guides at the vertical pivot axes, these pivot axes are pivoted inwards at the terminal ends when moving the upper gripping jaw guide in the direction of loading sill 2a of tray 2. The movement of upper gripping jaw-guide 150 in first horizontal direction X is caused by fourth actuation unit 210, as it is described in greater detail in reference to the subsequent figures.
Figures 7A and 7B show slanted views of a third embodiment of the operating device according to the present invention, the third embodiment being configured according to the variation. In reference to the third embodiment, first the pivotability of the gripping jaws, which is also provided in this embodiment, is described. The previously described pivotability of the gripping jaws in the second embodiment functions correspondingly.
As it can be concluded from Figure 7A, behind or below sensor 3 a fourth actuation unit 210 is provided. As it can be concluded from Figure 7B, fourth actuation unit 210 is coupled via a coupling piece 211 to slide 271, which with the aid of the actuation unit can be moved on a guide 270 in first horizontal direction X. Slide 271, which, as can be concluded from Figure 7A, carries sensor 3, is connected via coupling elements 272 to an upper gripping jaw guide 250. Via coupling elements 272, the Date Recue/Date Received 2021-03-18 Docket # B00508CA
movement of slide 271 in the first horizontal direction is transferred to upper gripping jaw guide 250, which moves accordingly.
Figure 8 shows a top view onto gripping jaw assembly 200 and it being coupled to fourth actuation unit 210. As can be concluded from Figure 8, noses 261a, 261b extend from L-shaped gripping jaw holders 260a, 260b in elongated holes 251a, 251b, which are formed in upper gripping jaw guide 250. If now the upper gripping jaw guide is moved forward by fourth actuation unit 210 (in Figure 8 moved downward), the L-shaped gripping jaw holders, which are fixed via (in Figure 8 not visible) vertical pivot axes 262a, 262b (see Figures 9A and 9B) at gripping jaw slides 222a, 222b, are pivoted by catching the noses of the gripping jaw holders, so that the ends of the gripping jaws remote from the gripping jaw assembly (thus, the terminal ends) are pivoted towards each other.
Figures 9A and 9b show detailed views of the gripping jaw assembly and it being coupled to fourth actuation unit 210. Via a coupling 211, fourth actuation unit 210 is coupled with slide 271 movable in first horizontal direction X, which is movable on guide 270. Via coupling elements 272, which is only indicated in Figure 8, the movement in first horizontal direction X is transferred to the upper gripping jaw holder. As can be concluded from Figures 9A and 9B, the gripping jaws of the third embodiment are not only pivotable, but they can also be moved along second horizontal direction Y. For this purpose, gripping jaw slides 222a, 222b are attached to gripping jaw actuation rods 220a, 220b, which can be moved via a gear wheel 141 of third actuation unit 140 along second horizontal direction Y.
The movement of gripping jaw slides 222a, 222b is transferred to L-shaped gripping jaw holders 260a, 260b. As can be concluded from Figures 9A and 9B, these gripping jaw holders are coupled via vertical axes 262a, 262b to the gripping jaw slides. In turn, gripping jaws 50a, 50b are attached to the gripping jaw holders. The special type of coupling the gripping jaws within the gripping jaw assembly enables that the gripping jaws along second horizontal direction Y are movable as well as also pivotable.
Date Recue/Date Received 2021-03-18 Docket # B00508CA
In reference to Figures 10A-10D, showing detailed views of the ends of the gripping jaws facing away from the gripping jaw assembly, pivot devices assigned to the gripping jaws are described, these pivot devices already being shown in Figures 7A
and 7B; however, they have not been discussed within the context of these figures. As can be concluded from Figure 10A, respectively one pivot device is assigned to pivot jaws 50a, 50b configured as a flat profile, which in the shown embodiment includes a guide means 61a, 61b extending in first horizontal direction X. A pivot element 62a, 62b is guided through this guide means, each of the pivot elements having at its terminal end a catching section angled by approximately 90 in regard to the longitudinal direction, which in Figure 10A is vertically aligned at the ends of the gripping jaws. The pivot elements are rotatable via (not shown) actuators, the catching section via this rotary movement, as it is shown in Figure 10B, can be rotated into the region between inner surfaces 51a, 51b of the clamping jaws. In order to pull a bottle-like medicament pack resting on a storage place from this storage place using the gripping jaws according to the third embodiment, the catching sections, as soon as the gripping jaws have been moved into the correct position in reference to the first horizontal direction, are pivoted into the region between the gripping jaws and, in so doing, when the gripping jaws are accordingly aligned, are gripping the usually circularly configured base of the medicament packs from behind. As soon as a corresponding gripping from behind is configured, the bottle-like medicament packs can be pulled from the storage location, the parallel gripping jaws serving as guides.
In the variation of the third embodiment shown in Figure 10A, guide means 61a, 61b, through which pivot elements 62a, 62b extend, are situated below the actual gripping jaws. For alternative variations, it is of course possible that guides 61a, 61b are situated above actual gripping jaws 50a, 50b, as this is indicated in Figure 10C. Alternatively, pivot means 62a, 62b can also be guided through the gripping jaws, the recesses in the gripping jaws forming the guide means.
Date Recue/Date Received 2021-03-18 Docket # B00508CA
The pivot device illustrated in reference to the third embodiment, for example, can also be combined with the rod-shaped gripping jaws according to the second embodiment, in this case it possibly lending itself to guiding the pivot elements through the gripping jaws formed as a round profile.
Date Recue/Date Received 2021-03-18
Claims (8)
JOB
Claims
1. An operating device (1) for placing or retrieving bottle-like piece goods onto or from storage places of a picking device, comprising:
a gripping jaw assembly (100; 200) having two profile-rod shaped gripping jaws (11a, llb; 13a, 13b;
50a, 50b), having opposite lying inner surfaces (12a, 12b; 14a, 14b; 51a, 51b), extending in a first horizontal direction, wherein the first horizontal direction (X) corresponds to the direction for placing and retrieving piece goods, wherein the gripping jaws (11a, llb; 13a, 13b; 50a, 50b) are configured in such a manner that the distance of the inner surfaces (12a, 12b; 14a, 14b; 51a, 51b) at least in sections tapers in the downward direction, so that the inner surfaces (12a, 12b; 14a, 14b; 51a, 51b) are configured in such a manner that the bottle-like piece goods can be lifted from below, and a first actuation unit (20, 21) coupled to the gripping jaw assembly (100; 200) for moving the gripping jaw assembly (100;
200) in the first horizontal direction (X).
a gripping jaw assembly (100; 200) having two profile-rod shaped gripping jaws (11a, llb; 13a, 13b;
50a, 50b), having opposite lying inner surfaces (12a, 12b; 14a, 14b; 51a, 51b), extending in a first horizontal direction, wherein the first horizontal direction (X) corresponds to the direction for placing and retrieving piece goods, wherein the gripping jaws (11a, llb; 13a, 13b; 50a, 50b) are configured in such a manner that the distance of the inner surfaces (12a, 12b; 14a, 14b; 51a, 51b) at least in sections tapers in the downward direction, so that the inner surfaces (12a, 12b; 14a, 14b; 51a, 51b) are configured in such a manner that the bottle-like piece goods can be lifted from below, and a first actuation unit (20, 21) coupled to the gripping jaw assembly (100; 200) for moving the gripping jaw assembly (100;
200) in the first horizontal direction (X).
2. The operating device (1) for placing or retrieving bottle-like piece goods onto or from storage places of a picking device as recited in Claim 1, characterized in that the gripping jaws (13a, 13b) are configured as a round profile so that the inner surfaces (14a, 14b) are formed in a convex manner to each other.
3. The operating device (1) for placing or retrieving bottle-like piece goods onto or from storage places of a picking device as recited in Claim 1, characterized in that the gripping jaws (11a, llb; 50a, 50b) are configured as flat profiles having plane inner surfaces (12a, 12b; 51a, 51b).
Date Recue/Date Received 2021-03-18 Docket # B00508CA
Date Recue/Date Received 2021-03-18 Docket # B00508CA
4. The operating device (1) for placing or retrieving bottle-like piece goods onto or from storage places of a picking device as recited in Claim 3, characterized in that the gripping jaws (11a, 11b) are rotatably mounted so that the gripping jaws (11a, 11b) with the aid of a second actuation unit (110a, 110b) are rotatable from a position gripping from below, in which the distance of the inner surfaces (12a, 12b) at least in sections tapers in the downward direction, into a clamping position, in which the inner surfaces (12a, 12b) of the gripping jaws (11a, 11b) are aligned parallel to each another.
5. The operating device (1) for placing or retrieving bottle-like piece goods onto or from storage places of a picking device as recited in Claim 3 or 4, characterized in that the operating device has a third actuation unit (140) coupled to the gripping jaws (11a, llb;
13a, 13b; 50a, 50b), by which the gripping jaws (11a, llb; 13a, 13b; 50a, 50b) are movable toward and away from each other along a second horizontal direction (Y) transverse to the first horizontal direction (X).
13a, 13b; 50a, 50b), by which the gripping jaws (11a, llb; 13a, 13b; 50a, 50b) are movable toward and away from each other along a second horizontal direction (Y) transverse to the first horizontal direction (X).
6. The operating device (1) for placing or retrieving bottle-like piece goods onto or from storage places of a picking device, comprising:
a tray (2) extending in the first horizontal direction (X), having a placing and a retrieving side (2a), a gripping jaw assembly (200) having two gripping jaws (50a, 50b) movable toward and away from each other along a second horizontal direction (Y) transverse to the first horizontal direction (X), wherein the gripping jaws for carrying out the movement in the second horizontal direction (Y) are coupled to a third actuation unit (140), wherein a pivot device (61a, 61b, 62a, 62b) is assigned to at least one gripping jaw (50a, 50b), which at the end of the gripping jaw has a catching section, which is, for catching a piece good situated between the gripping jaws (50a, 50b), at Date Recue/Date Received 2021-03-18 Docket # B00508CA
least in sections pivotable in a region between the gripping jaws, a sliding device (10) for sliding a piece good from the tray (2), and an actuation unit (20, 21) coupled to the gripping jaw assembly (200) for moving the gripping jaw assembly in the first horizontal direction (X).
a tray (2) extending in the first horizontal direction (X), having a placing and a retrieving side (2a), a gripping jaw assembly (200) having two gripping jaws (50a, 50b) movable toward and away from each other along a second horizontal direction (Y) transverse to the first horizontal direction (X), wherein the gripping jaws for carrying out the movement in the second horizontal direction (Y) are coupled to a third actuation unit (140), wherein a pivot device (61a, 61b, 62a, 62b) is assigned to at least one gripping jaw (50a, 50b), which at the end of the gripping jaw has a catching section, which is, for catching a piece good situated between the gripping jaws (50a, 50b), at Date Recue/Date Received 2021-03-18 Docket # B00508CA
least in sections pivotable in a region between the gripping jaws, a sliding device (10) for sliding a piece good from the tray (2), and an actuation unit (20, 21) coupled to the gripping jaw assembly (200) for moving the gripping jaw assembly in the first horizontal direction (X).
7. The operating device (1) for placing or retrieving bottle-like piece goods onto or from storage places of a picking device as recited in one of Claims 3 through 6, characterized in that the gripping jaw assembly (100, 200) has a fourth actuation unit (210, 211), and at least one of the gripping jaws (11a, llb; 50a, 50b) is pivot-mounted at the gripping jaw assembly (100, 200) and is pivotable via the fourth actuation unit (210, 211).
8. The operating device (1) for placing or retrieving bottle-like piece goods onto or from storage places of a picking device as recited in one of Claims 3 through 7, characterized in that the gripping jaws (11a, 11b) at least in sections have a web (25a, 25b) extending in the longitudinal direction.
Date Recue/Date Received 2021-03-18
Date Recue/Date Received 2021-03-18
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP18199138.1A EP3636565B1 (en) | 2018-10-08 | 2018-10-08 | Operator's device for the storing and retrieving of bottle-like piece goods |
| EP18199138.1 | 2018-10-08 | ||
| PCT/EP2019/077117 WO2020074460A1 (en) | 2018-10-08 | 2019-10-07 | Handling device for storing and retrieving bottle-type individual items |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA3113285A1 true CA3113285A1 (en) | 2020-04-16 |
Family
ID=63794394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3113285A Pending CA3113285A1 (en) | 2018-10-08 | 2019-10-07 | Handling device for storing and retrieving bottle-type individual items |
Country Status (9)
| Country | Link |
|---|---|
| EP (1) | EP3636565B1 (en) |
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| AU (1) | AU2019356119A1 (en) |
| BR (1) | BR112021005148A2 (en) |
| CA (1) | CA3113285A1 (en) |
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Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62105804A (en) * | 1985-11-01 | 1987-05-16 | Nippon Steel Corp | Handling device for conveying in and out cylinder body |
| JPH0748004A (en) * | 1993-08-04 | 1995-02-21 | Dainippon Screen Mfg Co Ltd | Substrate holding container and substrate processing device using said container |
| JP2006137577A (en) * | 2004-11-12 | 2006-06-01 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic warehouse and transfer device |
| US9834378B2 (en) * | 2006-12-22 | 2017-12-05 | Brooks Automation, Inc. | Loader and buffer for reduced lot size |
| ATE489326T1 (en) * | 2008-09-15 | 2010-12-15 | Markus Erich Riedl | SHELF HANDLING GRIPPER AND METHOD FOR OPERATING THE SHELF HANDLING GRIPPER |
| EP2256703B1 (en) * | 2009-05-29 | 2015-07-15 | JVM Co., Ltd. | Automated medicine storage and medicine introduction/discharge management system |
| JP2011079657A (en) * | 2009-10-09 | 2011-04-21 | Murata Machinery Ltd | Transfer device and transfer method |
| DE102011084634B4 (en) * | 2011-10-17 | 2015-08-27 | Thomas Meier | Vending machine and method for its operation |
| KR20220166370A (en) * | 2013-09-13 | 2022-12-16 | 심보틱 엘엘씨 | Automated storage and retrieval system |
| WO2015069105A1 (en) * | 2013-11-05 | 2015-05-14 | Ox2 B.V. | Device and method for transporting objects |
| US10294027B2 (en) * | 2015-01-09 | 2019-05-21 | Carefusion Germany 326 Gmbh | Operating device for an order-picking apparatus |
| JP6485333B2 (en) * | 2015-11-18 | 2019-03-20 | 株式会社ダイフク | Article transfer device and article transfer equipment |
| CN205906698U (en) * | 2016-05-19 | 2017-01-25 | 苏州吉成智能科技有限公司 | Box body is got and is put manipulator |
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2018
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2019
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| KR20210069051A (en) | 2021-06-10 |
| JP7411647B2 (en) | 2024-01-11 |
| EP3636565A1 (en) | 2020-04-15 |
| CN112823132B (en) | 2022-12-23 |
| EP3636565C0 (en) | 2024-02-21 |
| AU2019356119A1 (en) | 2021-04-15 |
| SG11202102397QA (en) | 2021-04-29 |
| WO2020074460A1 (en) | 2020-04-16 |
| EP3636565B1 (en) | 2024-02-21 |
| CN112823132A (en) | 2021-05-18 |
| JP2022504486A (en) | 2022-01-13 |
| BR112021005148A2 (en) | 2021-06-15 |
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