RU193746U1 - Banknote tray - Google Patents

Abstract

The utility model relates to the constructive implementation of containers (trays, drawers, cassettes) for placing sheet material, in particular banknotes, and can be used to develop the design of the loading tray designed to function as part of robotic banknote processing systems. The technical result is to simplify the design of the tray. The tray for accommodating banknotes contains a box, open on top and formed by the bottom, two opposite longitudinal walls and two opposite end walls. Inside the box there are transverse separation elements that divide the box into at least two banknote compartments in such a way that each banknote compartment is bounded by two adjacent separation elements. One of the extreme dividing elements is installed with the possibility of movement. Each dividing element comprises a plate connected to the longitudinal walls of the box, and protrusions made on each inwardly facing compartment for accommodating banknotes of the plate surface, with at least one protrusion on each side facing each side facing into the banknotes compartment the edges of the plate. In each plate, as well as in the end wall of the box, located on the side of the dividing element, mounted with the possibility of movement, through samples are made, located relative to each other so that the laser beam can pass simultaneously through all of these through samples. 9 s.p. f-ly, 3 ill.

Description

The utility model relates to the construction of containers (trays, drawers, cassettes) for placing sheet material, in particular banknotes, in devices for receiving, distributing, sorting, counting securities, and can be used to develop the design of the loading tray intended for use in the composition of robotic banknote processing systems, used, for example, in cash-collection centers.

Moreover, the design of a particular tray is largely due to the design features of the equipment with which the tray interacts when operating as part of a banknote processing system, as well as the features of the functional purpose of the tray.

Known designs of payment media trays are typically adapted to work in conjunction with a particular payment means (banknote) retrieval mechanism. The design of the tray should provide free access to the gripping elements and the ability to easily remove banknotes.

Trays intended for use in dispensing ATMs (payment terminals) are carried out taking into account the design of the gripping mechanism for piece-by-piece extraction of banknotes, for example, a mechanism containing a rotating gripping element with many cylindrical sections (rollers) located along the shaft.

In counting and sorting machines, in robotic banknote processing systems, etc., when performing operations that require moving entire bundles of banknotes from the container (tray) or into the container (tray), robotic manipulators with gripping elements having the ability to move apart away from each other and move towards each other, providing reliable capture of a bundle of banknotes. The width of the opening of the gripping elements is usually up to 140 mm. The gripping member assembly is often referred to as a grip of a robotic arm. The direction in which the gripping elements are brought to the tray or the compartment (section) of the banknote capture tray is determined by the design features and layout solution of the robotic cell (system, complex). Often there is a realization of supplying the gripping unit towards the base of the tray and removing the pack in the opposite direction (from the base up), which requires the tray to be made in the form of a box open from above. It is possible to make a recess in one of the side walls of the tray (or in the compartment) to enable the movement of an individual bundle of banknotes by the gripper of the robotic arm with a grip along the bundle.

Inside the tray, separators (separation elements) are performed, separating the bundle of banknotes from each other and determining the zone of occurrence of the gripper to accurately capture the bundle of banknotes and remove it from the tray.

However, in practice, cases of equally full loading of all tray compartments are extremely rare.

Filling the compartment (compartment) of the tray is incomplete, especially when a small number of banknotes are placed in the compartment (which can also tilt spontaneously, blocking access to the gripping elements), can lead to incorrect operation of the gripper arm of the robotic arm when grabbing banknotes and mechanical damage to individual banknotes , including unrecoverable.

In connection with the above factors, the urgent task is to provide the ability to control the length of individual compartments of the tray (or the length of the tray as a whole, in the case of its small dimensions), as well as providing the possibility of positioning the robotic arm and its gripping elements strictly according to the location of the boundaries of each from the compartments of the tray with banknotes placed. At the same time, they are also trying to apply constructive solutions to optimize the number of peripheral equipment that ensures the functioning of the system as a whole.

Known automated systems for processing banknotes, for example, according to patent No. US7377423B2 ["Apparatus and method for processing bank notes", IPC G07D11 / 00, G07D9 / 00, B65H1 / 00, date publ. September 22, 2005], in which banknotes are presented as separate deposits and for each deposit a separate medium (container, box, tray) is used to transport the deposit to the processing device, with each deposit being loaded in a separate pile into its own individual container, in which only one compartment for placing banknotes, and by means of a transport device is delivered to the banknote processing machine, where, in accordance with a predetermined algorithm, processing is performed. However, the use of individual containers with only one compartment (compartment, section) for banknotes for one deposit determines the possible presence of incomplete containers, which reduces the productivity of the processing machine as a whole.

Known tray for placing banknotes according to patent No. RU2139233C1 ["apparatus and tray for the distribution of sheets", IPC B65H3 / 44, B65H1 / 26, G07D11 / 00, date publ. 10/10/1999]. The tray contains a rectangular housing with an open top, having a base (bottom), side walls and end walls. The tray is divided into six compartments for placing banknotes (vaults). Separation is carried out by dividing plates with slots, allowing the feed element to access the sheets stored in the compartments of the tray. The base is made up of the height-adjustable bases of each compartment, which allows you to place sheets (banknotes) of different sizes in height in the tray in different compartments so that the upper edges (cuts) of the sheets lie almost in the same plane. However, this design of the tray provides for collaboration with several nodes of the feed rolls (roller mechanisms) that extract banknotes separately, and the number of roll nodes depends on the number of compartments (storages).

A known container for receiving banknotes intended for use as part of a machine for processing banknotes according to application No. WO2014012664A1 ["Container for receiving sheet-type material, and machine for processing same", IPC B65H1 / 04, B65H1 / 28, B65H1 / 30, date publ. applications 01/23/2014]. The banknote processing machine comprises a plurality of loading containers. The container is made in the form of a box, open at the top, bounded by two end walls (located parallel to each other) and two longitudinal walls (located parallel to each other). The container contains a base (bottom). Inside the box, transverse dividing elements are installed, dividing the box container into compartments. Banknotes in a stack placed in the compartments of the container should be oriented along the vector normal to the plane of the banknote. At the base (bottom) of each compartment, recesses (perforated holes) are made through which pushers (in the form of rods) of the movable device for extracting and separating banknotes pass in order to raise from the base a stack of banknotes located in one compartment above the stacks of banknotes in other compartments, after which, from the stack removed in this way from the compartment, a gripping spiral unit (singler) individually extracts banknotes from the stack and moves them to transport modules for further banknote processing operations - for checking, counting, sort ings. To align the position of banknotes in the stack, an inclined position of the base elements of each compartment is provided. However, making holes in the base of each compartment to enable the stack of banknotes to be ejected by pushing pushers from the top of the compartment with push-ups from the bottom, as well as making the base of each compartment tilted to align the bundle of banknotes, makes the container more difficult, and therefore increases the likelihood of possible failures in work.

When using loading trays made with several sections (compartments) for placing banknotes, most often it is not possible to load all compartments with the same number of banknotes due to the different number of banknotes in different deposits, which requires the possibility of changing the length of the tray (if the tray is not divided into compartments ) or tray compartments.

To adjust the length of the tray (separation of the tray) for placing banknotes in which the banknotes are located at their edges, it is known to use a spring-loaded clamping element, for example, in the form of a plate mounted to slide along the guides inside the tray. To change the clamping force in the design of the tray, a cam mechanism connected to the plate can be used (the design of the tray is known from Patent No. RU2037459C1 “Device for feeding a stack of flat objects and delivering them individually,” IPC B65H1 / 12, B65H31 / 04, published on 19.06. 1995) or ratchet mechanism (the design of the tray is known according to the patent No. US9865118B2 "Cassette replenishment", IPC B65H1 / 00, B65G57 / 00, date of publication application 06.02.2014). Typically, these elements are used in the design of the trays issuing ATMs. The pusher plate provides a constantly generated clamping force of banknotes to each other and to the end wall of the tray (in which the dispensing hole is made) as the banknotes are removed from the tray. However, these mechanisms are characterized by structural complexity and low reliability, subject to frequent jamming, which negatively affects the reliability of the system and its performance, and therefore, in high-performance banknote processing systems, simpler and more reliable structural solutions are used, for example, separation plates installed with the possibility of moving by moving it, taking into account the thickness of the stack of banknotes placed in this compartment of the tray.

The technical solution (prototype), the closest in constructive implementation to the claimed utility model, is a box (tray), designed to accommodate banknotes in it for subsequent processing in a system for processing banknotes [patent No. RU2571193C2 "Box and system for processing banknotes" , IPC G07D9 / 00, date publ. 12/20/2015].

The tray (box) contains a case closed on five sides, which is a box formed by the bottom and vertical walls connected to the bottom - two longitudinal walls located opposite each other (opposite) and two end walls located opposite each other, while the box is open from above.

Non-removable (permanent) transverse dividing elements are installed in the housing, dividing the box (tray) into separate spaces - compartments.

In the longitudinal walls of the casing, vertically arranged dividing grooves are made for installing replaceable dividing elements in them.

Processed banknotes are placed between the dividing elements (in the compartments of the tray). Banknotes are placed in the tray in such a way that they are located in it standing on their edges. Ergonomically optimal and reliable filling of the tray is carried out when installing banknotes on their longitudinal edges.

In the case when a batch (deposit) consists of a small number of banknotes, a problem may arise that the compartment is not completely filled with banknotes. For the correct arrangement of banknotes in the compartment, under which conditions will be ensured for the robotic arm to correctly capture the bundle of banknotes, an additional separation element must be installed in the compartment in the separating grooves, which ensures that, even with a small number of banknotes, they are correctly located in the tray (stand on the longitudinal edges) due to which it is possible to avoid the fall of banknotes and their location flat on the bottom of the box.

As noted earlier, the design of the tray for placing banknotes should be adapted to work with a specific mechanism for extracting banknotes, in connection with which, in a known technical solution, the separation elements are made with a meander-shaped cross-sectional profile and have recesses open from the sides of the spaces formed between them. The recesses provide the ability to extract banknotes formed in the box (tray) between the separation elements of the gap (compartment) using a gripper with comb structures (gripping fingers) included in these recesses. To ensure the possibility of capture with the extreme compartments of the tray at the end walls of the housing, dividing elements are installed. It is also possible to perform in which ridge structures are made on the end walls of the housing, having recesses open from the side of the compartment bounded by the ridge structure.

The tray and the separation elements have means for determining the position of each separation element inside the box (tray) and to determine the presence of banknotes in it. At the bottom of the box (tray) a longitudinal reflective section is made. In one of the recesses of the dividing elements at the bottom of the tray outside the reflective longitudinal section is a second reflective section. In another recess of the separation elements at the bottom of the box within the reflective longitudinal section is a non-reflective section. Reflective and non-reflective sections function when interacting with capture sensors designed to position it above the separation elements by detecting means to determine the position of each separation element of the tray. Above each of the two rows of gripping fingers (gripping elements made in the form of a comb structure on one or the other side of the gripper), two sensors are arranged that are capable of emitting a light beam and detecting reflected light. Based on the aggregate information about the presence or absence of a reflected signal, the control unit makes a conclusion about the presence of banknotes and determines the position of the separation elements, on the basis of which it positions the gripper to remove banknotes from the tray. In accordance with the identified position of the separation elements, the gripper with comb elements separated by a set distance is lowered into the box (tray), the comb comb elements enter the corresponding recesses of the separation elements, move towards each other, while ensuring the gripping (clamping) of banknotes in the compartment after whereupon the notes clamped between the gripping elements are removed from the tray compartment and then fed to the next operation, for example, to a banknote processing machine.

However, it should be noted that the use in the known technical solution of removable separation elements installed in addition to the fixed (permanent) transverse separation elements, complicates the design. In addition, the implementation at the bottom of the tray and in each separating element of means for determining the position of the separating element inside the box (tray) and determining the presence of banknotes also causes a high structural complexity of the known technical solution, as well as the complexity of the structural implementation of peripheral equipment designed for joint operation with the prototype .

The technical result, which is achieved by the claimed utility model, is to simplify the design of the tray for placing banknotes, which, in turn, will provide a simplification of the design of peripheral equipment, in conjunction with which the functioning of the claimed utility model is carried out.

To achieve the above technical result, a tray for accommodating banknotes is proposed, which comprises a box open at the top and formed by the bottom, two opposite (i.e. opposite each other) longitudinal walls and two opposite end walls.

Inside the box there are transverse dividing elements dividing the box into at least two compartments for accommodating banknotes. The specific number of compartments is determined based on the specific configuration and performance of the robotic system, which includes the operation of the tray, as well as the average value of the number of deposit banknotes and the characteristics of the gripper unit of the robotic arm (maximum opening grip) specified in the customer's requirements. Each banknote compartment is bounded by two adjacent separation elements, i.e. represents the gap between the two dividing elements.

One of the extreme separation elements is mounted to move along the longitudinal walls of the box within the compartment for placing banknotes limited by the specified separation element.

Each dividing element comprises a plate connected to the longitudinal walls of the box, and protrusions made on each inwardly facing compartment for accommodating banknotes of the plate surface, with at least one protrusion on each side facing each side facing into the banknotes compartment the edges of the plate.

The number of protrusions on the surface of the plate is selected based on the manufacturability of the design of the elements, taking into account the material used, the technology of manufacturing the elements, the ability to provide a sufficient area of the supporting surface (determined by the total thickness of the supporting protrusions) for the bundle of banknotes, to prevent its bending and to prevent possible damage (rupture) of the banknotes elements when removing bundles of banknotes from the tray during the operation of the tray.

In each plate, as well as in the end wall of the box, located on the side of the dividing element, mounted with the possibility of movement, through samples are made located relative to each other so that the laser beam can pass simultaneously through all these through samples. From the point of view of the geometry of the execution of elements, this means that through all these through samples (holes or grooves), one straight line can be drawn.

It should be noted that in the prototype each dividing element and the bottom of the tray are equipped with reflective and non-reflective means for interacting with sensors mounted on the grip of the robotic arm (peripheral equipment). As a result of this interaction, when moving the gripper of the robotic arm along the tray, the presence or absence of banknotes in each compartment is determined and, accordingly, each subsequent position of positioning of the gripper of the robotic arm is determined. Unlike the prototype, the inventive utility model does not use many reflective and non-reflective means designed to interact with sensors installed on the grip of the robot arm. Instead, in the inventive utility model in each plate, as well as in the end wall of the box, located on the side of the dividing element, mounted with the possibility of movement, through samples are made located relative to each other so that the laser beam (laser rangefinder beam) is allowed to pass simultaneously through all the indicated samples. The specified embodiment allows the control unit of the gripping unit of the robot manipulator to determine the presence or absence of banknotes in each compartment, as well as to determine the coordinates of the position of the movable (movable) separation element (by the coordinate of the banknote closest to the movable separation element) and, as a result, to determine each subsequent location of the capture position robotic arm. Thus, the proposed implementation allows to simplify the design of the tray in comparison with the prototype.

It should also be noted that in the proposed utility model, in comparison with the prototype, the use of additional interchangeable spacer elements installed in each compartment of the tray is excluded. In the proposed technical solution with the ability to move only one separating element is made, namely, one of the extreme separating elements, which (as in the prototype) provides the possibility of placing an incomplete deposit in the tray. Moreover, the proposed technical solution is characterized by a smaller, compared with the prototype, number of structural elements (excluded removable separation elements installed in each compartment), which also allows to simplify the design of the tray compared to the prototype.

The lateral edges of each plate can be connected to the longitudinal walls of the box by means of a protrusion-groove connection, the protrusion being made on each lateral edge of the plate, and the groove corresponding to each protrusion made in the corresponding longitudinal wall of the box, while the groove is open from the upper edge longitudinal wall of the box. The proposed implementation of the connection of the plate with the longitudinal walls of the box seems optimal, since the connection of the type "protrusion-groove" is structurally simple and at the same time is characterized by high reliability.

To increase the rigidity of the separation element, each plate forming the separation element can be connected to the bottom of the box. Moreover, as noted above, the protrusion-groove connection seems to be optimal, as it is structurally simple and at the same time provides high reliability, and therefore the connection of the plate to the bottom of the box can be a protrusion-groove connection in which the protrusions made on the lower edge of the plate, and the slots in response to them are made in the bottom of the box.

To realize the possibility of moving the separation element (taking into account the possible preferred embodiment of the connection of the plate with the longitudinal walls and the bottom of the tray box suggested above), grooves can be made in the longitudinal walls and the bottom of the box in the portion of the banknote compartment limited by the separation element movable corresponding to the protrusions on the lower and lateral edges of the plate forming the specified separation element, and the grooves are arranged in such a way that provides It is possible to move the separation element along the longitudinal walls by reinstalling the separation element to a different position.

However, in the case of a structural embodiment, in which sufficient rigidity of the separation element and reliable fastening is ensured only by connecting the lateral edges of the plate with the longitudinal walls of the box, to realize the possibility of moving the separation element in the longitudinal walls of the box in the section of the compartment for accommodating banknotes limited by the separation element installed with with the possibility of movement, grooves can be made corresponding to the protrusions on the lateral edges of the plate forming the spacer ment, said grooves are arranged in such a way that it is possible to move the separating element along the longitudinal walls by resetting the divider member to another position.

The simplest structural embodiment of the protrusions located on the inwardly facing compartment for accommodating banknotes of the plate surface is one in which each of the protrusions is made in the form of a vertically oriented rectangular element located perpendicular to the plate, while the upper outer part of the specified rectangular element is chamfered. The entrance chamfer provides the possibility of stacking banknotes without mechanical damage in the case of engagement of banknotes on the sharp edge of a rectangular element (protrusion).

In order to ensure the simplest possible structural implementation and to ensure manufacturability of the product design, the through sampling made in each plate can be a groove open at the top made symmetrical with respect to the central vertical axis of the plate, the grooves in the plates being the same and the through sampling made in the end the wall of the box, located on the side of the dividing element, mounted with the possibility of movement, is a hole, the lower borders which extends from the bottom of the box is higher than the lower limit of the groove of any of the plates.

In order to enable the simplest operation of the device that determines the necessary coordinates for setting the gripper movement of the robotic arm, together with which the inventive loading tray is operated, in the end wall of the box, the opposite end wall located on the side of the separation element mounted for movement, there is a hole made in the same way as a hole in the opposite end wall. In the absence of banknotes in the tray, the laser beam (laser rangefinder beam) will pass through all through samples (without reflection from the banknotes) and simply go into the indicated hole (the reflected signal will not enter the control unit).

In order to ensure better alignment and more reliable elimination of bending of the bundle of banknotes, each surface of the plate facing the inside of the compartment for accommodating banknotes may be further provided with a protrusion located under the through sample.

Graphic materials contain an example of a specific implementation of the tray.

In FIG. 1 is a schematic illustration of a general view of a tray.

In FIG. 2 is a schematic illustration of a tray, main view.

In FIG. 3 is a schematic view of a tray, a top view.

The tray contains a box 1 (Fig. 1), which is formed by the bottom 2 (Fig. 1, 2), two longitudinal walls 3, 4 and two end walls 5, 6.

Five transverse dividing elements are installed inside the box, four of which are mounted motionless (in Fig. 1, they are designated as pos. 7), and one is moveable (in Fig. 1, they are indicated in pos. 8) located near the end wall 5. Separating elements are divided a box for four compartments for placing banknotes, with each compartment is limited to two adjacent dividing elements.

Three compartments 9 are bounded by stationary dividing elements 7, and compartment 10 is bounded by a stationary dividing element 7 and movable by dividing element 8. The dividing element 8 has the ability to be reset within compartment 10, which makes it possible to control the length (longitudinal size) of the specified compartment.

As noted earlier, the number of compartments is determined based on the requirements of the customer, as well as the specific configuration and performance of the robotic system, which includes the operation of the tray.

Each dividing element (7, 8) contains a plate 11, the lateral edges of which are connected to the longitudinal walls 3, 4 of the box 1 by means of a protrusion-groove connection. The protrusions 12 are made on the lateral edges of the plate 11, the grooves 13 are made in the longitudinal walls 3, 4 of the box. In this case, the grooves 13 are made open from above. Each of the plates 11 is provided with protrusions (stops) 14.

As noted earlier, the number of protrusions 14 on the surface of the plate is selected based on the manufacturability of the design of the elements, taking into account the material used, the technology of manufacturing the elements, the ability to provide a sufficient area of the supporting surface (determined by the total thickness of the supporting protrusions) for the bundle of banknotes, to prevent its bending and to exclude the possible damage (rupture) of banknotes by gripping elements when removing bundles of banknotes from the tray during the operation of the tray.

In the presented exemplary embodiment, two protrusions (stops) are made on each surface of the plate from the side of each lateral edge 14. It should be noted that on the surfaces of the dividing elements located directly at the end walls 5, 6, which are not facing the inside of the edema for placing banknotes, protrusions (stops) 14 is not necessary, since the gap between the indicated surface of the separation element and the end wall is not designed to accommodate banknotes. The purpose of the protrusions (stops) 14 is to limit and emphasize the location of the stack of banknotes in the compartment and to provide a gap on each side of the stack between the stack of banknotes and the plate 11, necessary for the engagement of the gripping elements of the robotic arm with subsequent capture and retention of the stack of banknotes removal from the compartment. Each protrusion (emphasis) 14 is made in the form of a vertically oriented rectangular element located perpendicular to the plate 11. The upper outer part of the protrusion (emphasis) 14 is made with an entry chamfer (Fig. 1, position 14.1) The entry chamfer 14.1 provides the possibility of stacking banknotes without mechanical damage in the case of engagement of banknotes on the sharp edge of a rectangular element (protrusion) 14.

In each plate 11, a groove 15 is made, open from above, located between the protrusions (stops) 14, symmetrical with respect to the central vertical axis of the plate. In the lower part of each plate 11, below the groove 15, an additional protrusion (emphasis) 16 is made, the height and position of the emphasis 16 being determined so that it does not interfere with the gripping elements when gripping a stack of banknotes.

It should be noted that on the surfaces of the separation elements located directly at the end walls 5, 6, which are not facing the inside of the edema to accommodate banknotes, protrusions (stops) 16 are not necessary, since the gap between the indicated surface of the separation element and the end wall is not intended to place banknotes.

Each plate 11 is made with protrusions on the lower edge of the plate (not shown in FIG.) Connected to mating grooves 17 made in the bottom 2.

To realize the possibility of moving the separating element 8 in the longitudinal walls 3 and 4 of the box 1 in the section of the compartment 10, grooves 13 are made, reciprocal to the protrusions on the lateral edges of the plate 11, and in the bottom 2 of the box 1 in the section of the compartment 10, the grooves 17 are made, corresponding to the protrusions on the lower edge plates 11. The groups of grooves 13 and 17, made in the section of the compartment 10, determine the positions in which it is possible to move the separation element 8 by reinstalling it along the longitudinal walls 3 and 4. This makes it possible to adjust the longitudinal size of the compartment 10.

It should be noted that all separation elements can be made the same in order to ensure the unification of the technology for their manufacture. However, it is possible to make the separation elements 7 and 8 different, in which the separation element 8 may have a different number of protrusions made on the lower edge of the plate 11 than the separation elements 7. Such a different embodiment of the separation elements 7 and 8 will exclude the accidental, involuntary installation of the separation element 7 , bounding the compartment 10, in a position intended for reinstallation of the separation element 8.

A hole 18 is made in the end wall 5 of the box 1. The grooves 15 and the hole 18 are arranged so as to allow the laser beam to pass through them (the direction of the laser beam is not shown in FIG.). Geometrically, the grooves 15 and the hole 18 are made and arranged so that one straight line can be drawn through them.

An opening is made in the end wall 6 (not shown in FIG.) Of the same shape and arrangement as the hole 18 made in the end wall 5. The aforementioned hole in the wall 6 is made for the laser beam to pass through the wall 6 in the absence of banknotes in the tray, which excludes the receipt of a laser beam reflected from the end wall 6 into the robot control unit of the robot grip, and signals that there are no banknotes in the tray, that is, the tray is empty.

Handles 19 are fixed on the end walls 5 and 6 of the tray to hold the tray by the operator when working with the tray.

The functioning of the tray for placing banknotes is carried out as part of a robotic banknote processing system, which also includes a robotic arm that provides for the extraction of banknotes from the tray with their subsequent transfer to other elements (nodes) of the robotic system.

Upon receipt of the deposit, the operator loads it into the tray for placing banknotes. Banknotes of the deposit are placed in the compartments 9 and / or 10 of the tray, while the banknotes are placed in the compartments in such a way that they are located in them standing on their edges. Preferred is the arrangement of banknotes on the edges of the long side. Depending on the number of banknotes in the deposit, the compartments of the tray may be completely or partially filled, or some of the compartments may remain empty.

It should be noted that when placing the bundle of banknotes in the compartment, the protrusions (stops) 14 and 16 provide a gap between the sides of the bundle of banknotes and the side surfaces of the plates 11, which includes gripping elements of the robotic arm, which capture and hold banknotes when they are removed from the compartment. Also, the protrusions (stops) 14 and 16 provide alignment of the bundle of banknotes in the compartment by minimizing the bending of banknotes, which eliminates the possible damage to banknotes by gripping elements when they are captured.

The presented tray execution example provides the possibility of placing a deposit of up to 3000 (three thousand) banknotes.

In case of a large deposit (about 3000 banknotes), all the compartments of the tray are subject to filling. In this case, depending on the number of banknotes in the deposit, the compartment 10, limited by the movable separating element 11, will either have a maximum longitudinal size (the separating element 11 is installed in the position closest to the end wall 5), or its longitudinal size will be adjusted by moving the separating element 11 in position as close as possible to the size of the stack of banknotes to be placed in compartment 10.

In the event of an incomplete deposit, one or more compartments may be empty, and other compartments may be filled in whole or in part. In this case, the adjustment of the longitudinal size of the compartment 10 can be carried out as described above.

In case of a small deposit, it is possible to place banknotes in only one compartment. Moreover, for the placement of banknotes, it is advisable to use the compartment 10, adjusting its longitudinal size as described above.

After loading the tray with banknotes of deposit, the operator feeds the tray, holding it by the handles 19, mounted on the end walls 5 and 6, to the input of the robotic system, after which the robot manipulator begins to interact with the tray, namely, its pickup assembly including gripping elements.

The task of interaction of the robotic arm with the tray is to capture and remove all banknotes from all the compartments of the tray. For this, the robotic system for processing banknotes must “know” in which compartments of the tray there are banknotes and “tell” the robot manipulator the coordinates of the filled compartments, as well as the width of the opening of the gripping elements of the gripper unit of the robot manipulator. Moreover, the width of the compartments 9 and the position of the separation elements 7, bounding the compartments 9, are known in advance and are constant data for the robotic system. While the longitudinal size of compartment 10 is variable (depending on the particular deposit), information about which should be supplied to the robotic system to form a command to capture the robot manipulator (width of the opening of the gripping elements).

To determine the presence of banknotes in the compartments in the robotic system, a laser beam (laser range finder) can be used. The laser beam is guided in a straight line passing through the hole 18 located in the end wall 5 and the grooves 15 made in the plates 11. If there are banknotes in any compartment, the laser beam is reflected from the surface of the extreme banknote and is captured by the corresponding sensor. As a result of this, the robotic system receives information about which compartment of the tray contains the first banknote bundle along the beam and generates a control signal to the robotic arm for moving the gripping unit to the corresponding compartment and opening the gripping elements by an amount corresponding to the longitudinal size of this compartment.

The gripping elements of the robotic arm of the manipulator enter the gaps between the bundle of banknotes located in the compartment and the side surfaces of the plates 11 of the separation elements defining the corresponding compartment, grab the bundle of banknotes, its subsequent removal from the compartment and transfer to other elements (nodes) of the robotic system.

After all the banknotes have been removed from the tray (all compartments will be empty), the laser beam guided in a straight line through the hole 18 and the grooves 15 will not meet the surface of the banknote, from which it can be reflected, and will exit into the hole made in the end wall 6 of the box 1. Thus, the laser beam will not be reflected, and the robotic system "will know" that the tray is empty.

After that, the tray will be removed from the robotic system and can be reused.

Thus, the proposed technical solution with a simpler, compared to the prototype, structural design of the tray allows: to ensure that any number of banknotes is placed in the tray within the maximum allowable (up to one banknote) while ensuring the correct functioning of the gripping unit of the robot manipulator; to position the position of the capture node of the robot manipulator and set the width of the opening of its gripping elements; determine the presence or absence of banknotes in each compartment of the tray.

Claims (10)

1. A tray for accommodating banknotes, characterized in that it comprises a box open at the top and formed by a bottom, two opposite longitudinal walls and two opposite end walls; transverse dividing elements are installed inside the box, dividing the box into at least two banknote compartments in such a way that each banknote compartment is bounded by two adjacent dividing elements; one of the extreme separation elements is mounted to move along the longitudinal walls of the box within the compartment limited to the specified separation element for the placement of banknotes; each dividing element contains a plate connected to the longitudinal walls of the box, and protrusions made on each inwardly facing compartment for accommodating banknotes of a plate surface, with at least one protrusion on each side facing each side facing inside of the banknotes compartment plate edges; in each plate, as well as in the end wall of the box, located on the side of the dividing element, mounted with the possibility of movement, through samples are made located relative to each other so that the laser beam can pass simultaneously through all of these through samples. 2. A tray for accommodating banknotes according to claim 1, characterized in that the lateral edges of each plate are connected to the longitudinal walls of the box by means of a protrusion-groove connection, the protrusion being made on each side edge of the plate, and the groove corresponding to each protrusion is made in the corresponding the longitudinal wall of the box, while the groove is made open from the upper edge of the longitudinal wall of the box. 3. A tray for placing banknotes according to claim 2, characterized in that each plate is connected to the bottom of the box. 4. A tray for accommodating banknotes according to claim 3, characterized in that the connection of the plate to the bottom of the box is a protrusion-groove connection, the protrusions being made along the lower edge of the plate, and the slots corresponding to them are made in the bottom of the box. 5. A tray for accommodating banknotes according to claim 4, characterized in that in the longitudinal walls and the bottom of the box in the section of the compartment for accommodating banknotes, limited by a dividing element installed with the possibility of movement, grooves are made corresponding to the protrusions on the lower and side edges of the plate forming the specified separation element, and the grooves are arranged so that it is possible to move the separation element along the longitudinal walls by reinstalling the separation element in another position. 6. The tray for accommodating banknotes according to claim 2, characterized in that in the longitudinal walls of the box on the section of the compartment for accommodating banknotes, limited by a separating element that is installed with the ability to move, grooves are made corresponding to the protrusions on the lateral edges of the plate forming the separating element, moreover these grooves are arranged so that it is possible to move the separation element along the longitudinal walls by reinstalling the separation element in a different position. 7. A tray for accommodating banknotes according to claim 1, characterized in that each of the protrusions on the surface of the plate facing into the compartment for placing banknotes is made in the form of a vertically oriented rectangular element located perpendicular to the plate, while the upper outer part of the specified rectangular element is chamfered . 8. The tray for placing banknotes according to claim 1, characterized in that the through sampling made in each plate is an open top groove made symmetrical with respect to the central vertical axis of the plate, the grooves in the plates being the same and the through sampling made in the end wall of the box, located on the side of the dividing element mounted with the possibility of movement, is a hole. 9. A tray for accommodating banknotes according to claim 8, characterized in that in the end wall of the box, the opposite end wall, located on the side of the separation element installed with the possibility of movement, there is a hole made in the same way as the hole in the opposite end wall. 10. The tray for accommodating banknotes according to claim 1, characterized in that each surface of the plate facing the inside of the banknote compartment is further provided with a protrusion located underneath the through sample.

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