Apparatus and method for identifying, measuring and positioning piece goods

Apparatus for identifying, measuring and positioning piece goods with an increased throughput of piece goods are provided. An apparatus includes an optically transparent turntable having a support surface for piece goods which support surface extends in an X and Y direction of the apparatus, a first conveying device for arranging a piece good on the support surface of the turntable, a first optical reading device arranged below the turntable for detecting the dimensions of a piece good and an identifier, a second optical reading device for detecting the height of a piece good resting on the support surface and an identifier, a storage area for a plurality of piece goods which storage area is arranged downstream of the turntable, a second conveying device with a gripping device for piece goods, wherein the gripping device is movable over the storage area, at least in an X and Y direction, in such a way that piece goods can be arranged side by side in the storage area in the X and/or Y direction. Methods for identifying, measuring and positioning piece goods are also provided.

BACKGROUND

The present disclosure relates to an apparatus and a method for identifying, measuring and positioning piece goods, in particular pharmaceutical packages.

SUMMARY

One or more embodiments provide an apparatus for identifying, measuring and positioning piece goods. The apparatus includes an optically transparent turntable having a support surface for piece goods extending in an X and Y direction of the apparatus, wherein the turntable cooperates with a rotary drive coupled to a control device and is rotatable about an axis of rotation extending in a Z direction extending orthogonally to the X and Y directions, and wherein the X direction corresponds to a longitudinal axis and the Y direction corresponds to a transverse axis of the apparatus. The apparatus also includes a first conveying device for arranging a piece good on the support surface of the turntable and a first optical reading device arranged in the Z direction below the turntable and coupled to the control device for detecting dimensions of a piece good resting on the support surface and an identifier on one side surface of a resting piece good, which side surface faces the support surface. The apparatus further includes a second optical reading device coupled to the control device for detecting a height of a piece good resting on the support surface and an identifier on a side surface of a resting piece good which side surface is orthogonal to the support surface. The apparatus also includes a storage area arranged downstream of the turntable for a plurality of packaged goods, wherein the arrangement of the turntable and of the storage area defines the longitudinal axis. The apparatus further includes a second conveying device coupled to the control device and having a gripping device for piece goods, wherein the gripping device is movable, at least in the X and Y directions, over the storage area, so that piece goods can be arranged side by side in the storage area in any of the X and Y directions.

One or more embodiments provide a method for identifying, measuring and positioning piece goods. The method includes a) arranging, with a first conveying device, a single piece good on a first side surface on a support surface of an optically transparent turntable, the support surface extending in an X and Y direction, wherein the turntable cooperates with a rotary drive coupled to a control device, and which turntable is rotatable about an axis of rotation extending in a Z direction extending orthogonally to the X and Y directions, and wherein the X direction corresponds to a longitudinal axis and the Y direction corresponds to a transverse axis of an apparatus, b) scanning the first side surface and detecting the X, Y dimensions of the piece good resting on the support surface with a first optical reading device arranged below the turntable in the Z direction, and determining whether an identifier is detected during the scanning of the first side surface, c) scanning a second side surface facing a second reading device, which second side surface is designed orthogonally to the first side surface, and detecting a Z dimension of the piece good resting on the support surface with a second optical reading device, and if no identifier is detected on the first side surface, determining whether an identifier is detected during the scanning of the second side surface, d) rotating the turntable so that a next side surface, which is perpendicular to the first side surface, faces the second optical reading device, if no identifier is detected, wherein the next side surface is scanned with the second reading device, and determining whether an identifier is detected during the scanning of the next side surface, e) repeating step d) until one of three next side surfaces are scanned and an identifier is detected, f) removing the piece good from the turntable and sending the piece good for further use if no identifier was detected in step e), g) determining, by a control device when an identifier and all dimensions of the resting piece good are detected, a storage location in a storage area arranged downstream of the turntable based on one of the detected dimensions and the detected identifier; and, h) gripping the piece good with a gripping device of a second conveying device after determining the storage location and moved to the storage location, whereby the gripping device is moveable in any of the X, Y and Z directions.

One or more embodiments provide a method for identifying, measuring and positioning piece goods. The method includes arranging, with a first conveying device, a single piece good on a first side surface on a support surface of an optically transparent turntable rotatable about an axis of rotation extending orthogonally to the support surface, the support surface corresponding to a longitudinal axis and a transverse axis of an apparatus; scanning the first side surface and detecting longitudinal and transverse dimensions of the piece good resting on the support surface with a first optical reading device arranged below the turntable; determining whether an identifier is detected during the scanning of the first side surface; scanning a second side surface facing a second optical reading device, the second side surface orthogonal to the first side surface; detecting a height dimension of the piece good resting on the support surface with the second optical reading device; determining whether an identifier is detected during the scanning of the second side surface; rotating the turntable so that a next side surface perpendicular to the first side surface faces the second optical reading device, if no identifier is detected, wherein the next side surface is scanned with the second reading device; determining whether an identifier is detected during the scanning of the next side surface; repeating the preceding two steps until one of three next side surfaces are scanned and an identifier is detected; removing the piece good from the turntable and sending the piece good for further use if no identifier is detected; determining, by a control device, when an identifier and all dimensions of the resting piece good are detected, a storage location in a storage area arranged downstream of the turntable based on one of the detected dimensions and the detected identifier; and, gripping the piece good with a gripping device of a second conveying device after determining the storage location and moving the piece good to the storage location, whereby the gripping device is moveable in any of longitudinal, transverse and orthogonal directions.

The foregoing and other features, aspects and advantages of the disclosed embodiments will become more apparent from the following detailed description and accompanying drawings.

DETAILED DESCRIPTION

It is to be understood that the present disclosure includes examples of the subject technology and does not limit the scope of the appended claims. Various aspects of the subject technology will now be disclosed according to particular but non-limiting examples. Various embodiments described in the present disclosure may be carried out in different ways and variations, and in accordance with a desired application or implementation.

For typical apparatuses and corresponding methods, piece goods, such as pharmaceutical packages, which are thereby provided disordered and in large numbers, are isolated, identified and made available for automatic storage. A disadvantage of the known apparatuses and methods is that they have a relatively low throughput, which is not sufficient for large piece good volumes and accordingly large piece good storage. Another disadvantage of known apparatuses and methods is that separated piece goods can thereby only be fed sequentially into storage, which is one reason for the low throughput.

It is an object of the present disclosure to provide an apparatus and a method for identifying, measuring and positioning piece goods, in which the processing speed and flexibility are increased.

An apparatus for identifying, measuring and positioning piece goods, in particular pharmaceuticals, includes an optically transparent turntable with a support surface for piece goods, which support surface extends in an X and Y direction of the apparatus, wherein this turntable cooperates with a rotary drive coupled to a control device and is rotatable about an axis of rotation extending in a Z direction, wherein the Z direction extends orthogonally to the X and Y directions and wherein the X direction corresponds to the longitudinal axis and the Y direction corresponds to the transverse axis of the device. The apparatus further includes a first conveying device for arranging a piece good on the support surface of the turntable and a first optical reading device for detecting the X, Y dimensions of the piece good resting on the support surface, wherein the reading device is arranged in the Z direction below the turntable and is coupled to the control device, and an identifier on one side surface of the resting piece good faces the support surface.

By way of example, the first optical reading device may be a camera which produces an image of the side surface facing the support surface, which is optionally forwarded to the control device which examines the image obtained with regard to the X, Y dimensions and the presence of an identifier. In one or more aspects, the reading device itself can perform the aforementioned analysis of the image and forward the results to the control device. With the help of the identifier, it can be clearly determined which pharmaceutical was arranged in which dispensing form on the turntable. The identifier may be, for example, a barcode. In one or more aspects, a laser can be used as an optical reading device which scans a side surface.

The apparatus may include a second optical reading device, which is likewise coupled to the control device, for detecting the Z dimension (i.e. the height) of the piece good resting on the support surface and an identifier on a side surface orthogonal to the support surface. This second optical reading device can also be a camera, for example, which operates as already described above. Downstream of the turntable is provided a storage area for a plurality of piece goods, wherein the arrangement of the turntable and the storage area to each other defines the longitudinal axis of the apparatus.

The storage area may be provided by a variety of facilities. For example, by a conveying device belt of a storage facility. The storage area is then not a fixed portion of the conveying device belt, but is always provided by the portion or the support surface of the conveying device belt, which is located in a predetermined portion, which can be accessed by the second conveying device. In one or more aspects, a slidable storage tray may provide the storage area or, in the simplest case, an immovable storage table.

The apparatus may include a second conveying device coupled to the control device having a gripping device for piece goods, wherein the gripping device is movable in the storage area, at least in the X and Y directions, such that piece goods can be arranged side by side in the storage area in the X and/or Y directions.

The apparatus according to the disclosure includes the use of two conveying devices, wherein the first is adapted to receive a piece good from an arbitrarily designed supply device and to feed it to the turntable, on which the identification of the piece good takes place, and whereas the second conveying device is provided to pick up the piece goods after identification and measurement and to arrange it in the storage area. According to the disclosure, the second conveying device is designed in such a way that it can be moved in both the X and Y directions over the storage area such that the piece good gripped by the second conveying device can be arranged at any position of the storage area.

According to the disclosure, the storage area is dimensioned so that a plurality of piece goods of “usual” size can be arranged side by side in the X and/or Y directions of the apparatus. This makes it possible to pick up a plurality of piece goods in the storage area or from the storage area during a gripping process by a gripper of a picking apparatus which does not belong to the apparatus according to the disclosure itself. This is not possible in the case of typical apparatuses, since the identified piece goods are always arranged successively at the same position due to the limitations of the known apparatuses, i.e., identified piece goods can only be gripped and stored sequentially, one after the other.

The throughput of the device according to the disclosure is on the one hand increased by the fact that two conveying devices are used, the one for arranging piece goods on the turntable, and the other for gripping piece goods from the turntable and arranging them in the storage area. Due to the design of the second conveying device, it is possible, in terms of storage, to arrange piece goods so that a plurality of piece goods can be gripped simultaneously, which in turn increases the throughput of the apparatus and the storage speed of the picking apparatus which is usually arranged downstream.

In the disclosed apparatus, a first optical reading device is arranged below the turntable and a second optical reading device is arranged laterally of the turntable. If, in the case of the piece goods resting on the turntable, the identifier is arranged on the turntable facing the “lower” side surface of the piece good or is arranged on one of the side surfaces designed orthogonally to the lower side surface of the piece good, an identification of the piece good is possible with the two aforementioned reading devices. Only in the event that only one identifier is arranged on the piece good, which identifier is arranged on the side surface facing away from the surface of the turntable due to the placement of the piece good, no identification is possible with the two reading devices, so that a repositioning of the piece good on the turntable is necessary. To avoid this, it is provided in one or more embodiments of the disclosure that the apparatus has a third optical reading device arranged in the Z direction above the turntable and coupled to the control device for detecting the dimensions of the piece good and/or of an identifier resting on a side surface facing away from the support surface.

In the apparatus according to the disclosure, the piece goods are arranged on the turntable with the first conveying device. How exactly the gripping of a piece good takes place is not substantial for the present disclosure. Regularly, however, the gripping of a piece good from a plurality of piece goods resting on a supply device takes place, wherein the conveying device does not always pick up a piece good at a preferred side surface (e.g., the largest side surface of the piece good), but at the side surface, which is most suitable for picking up the piece good. As a result, it is uncertain in which arrangement the piece good is gripped by the first conveying device. It may happen that a piece good is gripped, for example, at an end face or at a non-largest side surface of the piece good. The piece goods are therefore not always arranged with the same side surface on the turntable (e.g., not always with the largest side surface of the piece good), but depending on how they are picked up by the conveying device or its gripping device. Regularly, however, it is preferred that piece goods be stored resting on the largest side surface, for which it is necessary that the piece goods rest on exactly this largest side surface on the turntable.

In order to be able to achieve this, it is necessary to know the orientation of the piece good gripped or stored with the first conveying device. For this purpose, it is provided in one or more embodiments of the device according to the disclosure that this comprises an optical coarse detection device, such as a 2D or 3D camera, for determining the spatial orientation of a piece good. The spatial orientation can be determined for example after gripping a piece good. If, for example, it is ascertained during the determination of the spatial orientation that a piece good is deposited on a non-largest side surface, i.e. a non-largest side surface facing the support surface of the turntable, the piece good can be repositioned based on the knowledge of the spatial orientation of, for example, the first or second conveying device (e.g., by simply overturning directly after depositing) so that the piece good rests on its largest side surface.

Occasionally, it may happen that the identifier arranged on a side surface on a piece good, for example, is impaired by transport damage such that an identification of a piece good is not possible. In one or more embodiments, it is therefore provided that a discarding device for discharging piece goods is arranged between the turntable and the storage surface. This may be, for example, a flap which can be pivoted in the Z direction and which is opened for discharging a piece good if the identification is not possible.

The exact configuration of the first and/or second conveying device, in particular its gripping device, is not substantial for the present disclosure. In one or more embodiments of the present disclosure, however, it is provided that the first and/or the second conveying device is or are designed as suction grippers which are movable in the X, Y and/or Z direction. Due to the design as a suction gripper, in particular the picking up of piece goods from a plurality of piece goods is facilitated in the first conveying device since, in contrast to, for example, clamping grippers, a close juxtaposition of piece goods does not stand in the way of picking up a piece good. In particular, since the second conveying device or the gripping device of this conveying device is also movable in the Z direction, it is also possible to arrange piece goods on the support surface one above the other. This can be useful, for example, in the case of identical pharmaceutical packages, if experience has shown that they are very frequently and/or repeatedly to be outsourced.

The dimensions and weights of the piece goods to be handled with the apparatus can vary greatly, i.e. heavy small and large light piece goods can be present. In order to optimally adapt a suction gripper to the differently dimensioned and differently heavy piece goods, it is provided in one or more embodiments that a suction gripper has at least two differently dimensioned suction heads.

In one or more embodiments, it is provided that the second conveying device is designed as a clamping gripper which is movable at least in the X and Y directions. The use of a clamping gripper is particularly useful when it comes to relatively large and heavy piece goods, whose gripping with a suction gripper is problematic.

How exactly the piece goods of the first conveying device are provided is not substantial to the present disclosure. In one or more embodiments, however, provision is made for the apparatus to comprise a supply device and a position detection device arranged in the Z direction above the supply device. The position detection device is usually a 3D camera, with which the positioning of different piece goods in a plurality of piece goods can be detected. By the control device coupled to the position detection device, a next optimal gripping surface of a piece good can be determined, via which the piece good can be removed from the plurality of piece goods. In one or more embodiments according to the disclosure, it is possible, without the assistance of a user, to offer a plurality of piece goods by the supply device, which are then fully automatically isolated and identified, and arranged in the storage area for later storage.

A method according to the disclosure for identifying, measuring and positioning piece goods includes a) a single piece good is arranged on a first side surface on a support surface of an optically transparent turntable, which support surface extends in the X and Y directions, by a first conveying device, wherein the turntable cooperates with a rotary drive coupled to a control device and is rotatable about an axis of rotation extending in the Z direction, wherein the Z direction extends orthogonally to the X and Y directions and wherein the X direction corresponds to the longitudinal axis and the Y direction corresponds to the transverse axis of the apparatus. In step b) the first optical reading device arranged in the Z direction below the turntable scans the first side surface and it determines the X, Y dimensions of the piece good resting on the storage surface and determines whether an identifier was detected during the scanning of the first side surface. In step c) a second side surface, which is designed orthogonally to the first side surface, is scanned with a second optical reading device and the Z-dimension (i.e. the height) of the piece good resting on the support surface is detected. If no identifier was detected on the first side surface, it is determined whether an identifier was detected during the scanning of the second side surface, wherein the steps b) and c) can be performed simultaneously or staggered.

First of all, therefore, the “lower” side surface and a side surface of the piece good that is designed orthogonally to it, which may in particular be a pharmaceutical package, are measured and scanned with regard to an identifier. If no identifier can be determined at the lower first side surface and at the second side surface arranged orthogonally to the lower side surface, the turntable is rotated in a step d) such that a next side surface perpendicular to the first side surface faces the second optical reading device, wherein the second reading device scans the next side surface and determines whether an identifier was detected in the scanning of the next side surface. This step d) is repeated according to the disclosure until three next side surfaces are scanned or an identifier is detected. In the event that no identifier was detected, the piece good is removed from the turntable and fed to a further use in a method step e). As soon as an identifier and possibly all dimensions of the piece good resting thereon are determined, a storage location in a “storage area”, which is arranged downstream of the turntable, is determined by a control device on the basis of the dimensions and/or optionally of the identifier. Such a determination is necessary because it should be possible by the method according to the disclosure to arrange piece goods in the storage area, such that several piece goods can be removed from this at the same time. How exactly the piece goods are arranged in the storage area, depends on the one hand on the dimensions of the piece good(s) already resting on the support surface and the removal direction of a gripper, with which a plurality of piece goods can be removed.

After determining the storage location of the piece good in the storage area said product is gripped by a gripping device of a second conveying device and moved to the storage location, for which purpose the gripping device is moved in the X and possibly Y and Z directions.

It is essential in the method according to the disclosure that the piece goods after identification by the second conveying device are not simply moved to a consistently same storage location, from which they are moved or gripped, but that by the controller a storage location is determined in the storage area, namely depending on the dimensions of the piece goods to be stored and the possibly already stored piece goods and the removal direction. It can thereby be achieved that a plurality of piece goods is arranged side by side in such a way that they can be gripped simultaneously with a gripper. How exactly the arrangement of the piece goods has to be made depends on how the gripper accesses the piece goods, for example, whether the gripper is moved along the X or Y direction into the space above the storage surface.

In order to ensure that even in the event that the piece good has only one identifier, a repositioning of the piece good to recognize the identifier is not necessary, it is provided in one or more embodiments that in method step b) a third optical reading device arranged in the Z-direction above the turntable scans a side surface of the piece good, which rests on the turntable, which side surface faces this reading device side, wherein the X, Y dimensions of the piece good resting on the support surface are possibly determined wherein it is determined whether an identifier was detected during the scanning of the side surface.

Before the removal of the piece good, in order to recognize in which orientation the piece good is gripped, it is provided in one or more embodiments of the inventive method that the spatial orientation of the piece good held by the first conveying device is determined in step a) before arranging the piece good on the support surface of the turntable by a coarse detection device. Once the spatial orientation is determined, the controller may already begin to determine the optimal storage location in the storage area.

If a coarse detection device is used, it is provided in one or more embodiments of the method that the coarse detection device is designed as an optical reading device and the piece good is scanned during the determination of the spatial orientation in order to detect an identifier. Depending on the orientation of the identifier, it may happen that an identifier can already be scanned with the coarse detection device. This saves time for the subsequent method steps, so the method can be accelerated.

Often, it is desired that piece goods be stored resting on the largest side surface. However, since it is not ensured when gripping the piece goods by the first conveying device, that the piece goods are gripped by the first conveying device so that they can be placed on a largest side surface on the turntable, it is provided in one or more embodiments that if it is detected during the determination of the spatial orientation that the largest side surface of piece good held by the conveying device is not facing a the support surface, that the piece good is moved after being arranged on the support surface by a conveying device so that the piece good rests on a largest side surface on the support surface.

FIGS. 1aand 1bshow an oblique view and a side view of an apparatus1for identifying, measuring and positioning piece goods2. The apparatus1includes a central optically transparent turntable10with a support surface11. This support surface extends in the X and Y directions, wherein the X direction corresponds to the longitudinal axis of the apparatus. The optically transparent turntable10cooperates with a rotary drive12, via which the turntable is rotatable about an axis of rotation extending in the Z-direction, wherein the Z-direction extends orthogonally to a plane spanned by the X and Y directions. The rotary drive is arranged at a discarding device13, which has a round recess at an end face facing the turntable10, which is adapted to the diameter of the turntable such that only a narrow gap is designed between the discarding device13and the turntable10, over which piece goods2can be easily pushed if necessary. Below the turntable10, a first optical reading device61is arranged and a detection range61aof the reading device61is indicated schematically.

A piece good2resting on the turntable10is scanned by the first optical reading device61in order to determine its X and Y dimensions. Furthermore, an attempt is made to read an identifier which is possibly attached on the side surface of the piece goods2facing the turntable in order to use this identifier to determine the exact kind of pharmaceutical and packing. The first reading device61is coupled to a control device20via lines which are not shown. The determination of the X and Y dimensions and the attempt to detect the identifier are carried out either by the reading device61itself or by the control device20, with the aid of image processing software, for example. Whether the determination of the dimensions and of the identifier is performed by the reading device61itself or the control device20depends on the exact configuration of the reading device61. If this is designed by a simple 3D camera, the actual determination of the dimensions and of the identifier is carried out by image processing software running in the control device20.

On the side of the turntable10and in a range of a supply device70, a second optical reading device62is arranged with a detection area62a, which reading device62is provided for detecting the Z dimension (e.g., the height of the piece good2) and for scanning an identifier on a side surface of the piece good2which side surface extends orthogonally to the storage surface of the turntable10.

The aforementioned supply device70comprises a conveying device belt72and side walls71. The supply device70supplies piece goods2in the X direction, i.e. from upstream of the turntable10with respect to the X direction. The supply device70includes a buffer zone73downstream of the conveying device belt72, in which the movement of delivered piece goods2is stopped and which can take up piece goods2that may slip when gripping a piece good2from a plurality of piece goods2. In the buffer zone73the second optical reading device62is also arranged.

A third optical reading device63having a detection area63ais arranged in the Z direction above the turntable10, wherein the third optical reading device63is provided for detecting an identifier on a side surface of the piece good2facing away from the turntable10. If this has not already been done with the first optical reading device61, the X and Y dimension of the overlaid piece good2can optionally also be determined via the third optical reading device63. Also, the third optical reading device63is connected via lines (again not shown) with the control device20and may be designed according to the first reading device61and operated accordingly, i.e. the determination of the dimensions or the identifier can be performed by the reading device61,63itself or by the control device20.

Downstream of the turntable10a storage device50is provided, which includes a conveying device belt52, wherein a portion of this conveying device belt52provides a storage area51on which piece goods2can be stored after identification. Thus, due to the use of a conveying device belt52, the storage area51is not always provided by the same section but it is provided by different sections of the conveying device belt52depending on the movement of the conveying device belt52. The orientation of the storage device50may be varied. Here, this is designed in the Y direction, wherein stored piece goods2can be moved by the conveying device belt52before they are taken by a gripper (not shown) from the conveying device belt52. As another example, the storage device50may include a movable conveying device plate, by which stored piece goods2are moved. As yet another example, the storage device50may include a non-movable conveying device table, which provides the storage area51.

The conveying device further comprises a guide80extending in the X direction, on which a first conveying device30and a second conveying device40are guided, both of which are coupled to the control device20with lines (not shown), and which are described in more detail with reference to the figures below.

Above the supply device70, a position detection device65is arranged with a detection area65a, wherein the position detection device65is connected to the control device20via lines (not shown). By the position detection device65, piece goods2resting on the conveying device belt72are analyzed and it is determined which piece good2is picked up next from the plurality of piece goods2with the first conveying device30. The position detection device65may be designed, for example, as a 3D camera, which forwards the captured images to the control device20, where it may be determined by image processing software, which piece good2will be taken next.

The piece goods2provided by the supply device70are usually arranged chaotically and disorderly on the conveying device belt72. The piece goods2are thus disordered on the supply device70, i.e. the orientation of the different piece goods2differs, so that a piece good2can rest, for example, on a largest side surface on the supply device70, whilst another can rest on a narrow side surface. How a piece good2is gripped by the first conveying device30is often not detectable with the position detection device65, i.e. the orientation of the gripped piece good2is not known because the control device20cannot determine the other dimensions only from the dimensions of the side surface of a piece good2facing the control device20.

In order to determine the orientation of a piece good2, which was gripped by the supply device70with the first conveying device30, the apparatus1includes a coarse detection device64with a detection area64a, which detection device64is also arranged above the supply device70and laterally to the first conveying device30. With the coarse detection device64, the Z and Y dimension of the received piece goods2can be determined. Based on the X-dimension already known by the position detection device65, the orientation of the gripped piece good2can be determined, so that they may possibly still be varied in preparation of the arrangement on the turntable10or after being stored. For example, if it is determined that the largest side surfaces of the gripped piece good2extend in the Z direction, the piece good2can be overturned after being arranged on the turntable10with the first or the second conveying device30,40, so that the piece good2rests with a largest side surface on the turntable10.

InFIG. 2, the detection areas of the optical reading devices61,62,63are omitted, so that the remaining components of the apparatus1are more visible. InFIG. 3, the optical reader devices61,62,63, the coarse detection device64and the position detection device65are also omitted so that the first and second conveying devices30,40can be accurately seen, which will be described in more detail below.

The first conveying device30comprises an X carriage31which is movable in the X direction on the guide80. The X carriage comprises a Z guide on which a Y guide32is movable in the Z direction. On the Y guide32in turn a holder33is arranged movably in the Y direction, the holder33having a rotary bearing34at its lower end face facing the turntable10on which a gripper35is arranged, which is configured here as a suction pad with a double suction head, which is described in more detail with reference toFIG. 12.

The second conveying device40also comprises an X carriage41which is movable in the X direction on the guide80. Furthermore, the second conveying device40comprises a Y guide42, which is designed integrally with the X carriage41that therefore is not movable on the X carriage41in the Z direction, as it is the case with the first conveying device30. Two brackets43are arranged on the Y guide42of the second conveying device40, which are movable in the Y direction, i.e. away from each other and toward each other. At each holder43, a gripper45is arranged, wherein the gripper45is designed as clamping jaws in the second conveying device40. As shown inFIGS. 2 and 3, a piece good2is held between the clamping jaws45and can be moved with the second conveying device40via the discarding device13to the storage area51arranged downstream of the turntable10. Upstream of the turntable10, the supply device70is arranged to provide a plurality of piece goods (not shown).

FIG. 4shows apparatus1, wherein the reading devices and the detection devices are omitted. In the top view, it can be seen in particular that the supply device70is arranged upstream of the optically transparent rotary plate10and the storage device50is arranged downstream of this turntable10. By way of the supply device70, piece goods (not shown), in particular pharmaceutical packages, are provided, which are then transferred from the first conveying device30to the turntable10, from where they are moved into the storage area51of the storage device50by the second conveying device40.

FIG. 5shows an example apparatus1for identifying, measuring and positioning piece goods2. Here, the second detection device62is arranged slightly differently, namely below the supply device70, which also comprises no buffer zone. The coarse detection device64is arranged differently also, on the guide80of the apparatus1, namely in the vicinity of the turntable10.

FIGS. 6a-6cshow different positions of the second conveying device40in a method for identifying, measuring and positioning piece goods and are intended to illustrate how a piece good2can be moved into the storage area51. InFIG. 6a, four piece goods2are arranged in the storage area51, wherein two identically dimensioned piece goods2are arranged one above the other and the two stacks of piece goods2are arranged one behind the other in the X direction. The storage device50includes a conveying device belt52, by which piece goods arranged in the storage area51are movable in the Y direction. InFIG. 6b, the two stacks of piece goods2are already moved to the “left” so that the storage area51is free for receiving further piece goods2. With the second conveying device40, another piece good2, held by the clamping jaws45, is already moved slightly towards the storage area51in the X direction. Due to the mobility of the second conveying device40in the X direction, it is possible to arrange with this a plurality of piece goods2, inter alia, in the X direction one behind the other in the storage area51.FIG. 6cshows the final position of the piece good2which is still held in the depositing area51by the clamping jaws45. The clamping jaws45are also movable in the Z direction, so that a stacking of piece goods2is possible, which is not illustrated in theFIGS. 6a-6c.

FIGS. 7-9show an example apparatus1for identifying, measuring and positioning piece goods2as well as different process guides with regard to the arrangement of piece goods2in the storage area51. In all ofFIGS. 7-9, the storage device50does not extend in the Y direction, but in the X direction. Here, the storage device50again includes a conveying device belt52, which provides the storage area51for arranging piece goods. InFIG. 7, three piece goods2are arranged side by side in the Y direction in a piece good row2b, wherein the longitudinal axis of the piece goods2is aligned with the longitudinal axis of the storage device50. The piece goods2shown inFIG. 8are arranged rotated by 90°, i.e. the longitudinal axis of the piece goods2of the piece good row2cis aligned with the Y direction. Regardless of the orientation of the piece goods2in the storage area51, the two piece good rows2band2ccan be taken from the conveying device belt52by, for example, a clamping gripper (not shown), for which purpose the clamping gripper is moved in the Y direction over the conveying device belt52. The piece good rows2b,2ccan be removed directly in the storage area51, but it is also possible to first move the piece good row2b,2cfrom the storage area51before removal by the clamping gripper, as shown inFIGS. 7-9.

FIG. 9shows an arrangement of piece goods2in a piece good row2d, wherein the piece goods2are arranged differently such that a piece good2is aligned with the longitudinal axis in the X direction and two piece goods2aligned with the longitudinal axis in the Y direction. Since the control device (not shown) knows the removal direction of the piece good2from the storage device50, it is possible for the control device to arrange the piece goods2on the storage surface51so that a removal of a piece good row2dis possible even with differently arranged or differently wide piece goods2. When using a clamping gripper, for example, it is necessary in such a case that the widest piece good2, which is gripped with the clamping jaws, is arranged on the “back” with respect to an orientation direction in the Y direction, so that it can be gripped by the tips of the clamping jaws such that the piece goods2which are resting in front thereof, are moved when being removed, for example, from the conveying device belt52.

FIG. 10shows the apparatus1, wherein the discarding device13is pivoted away downwardly at it face facing the turntable10, so that piece goods2can be discarded through the opening, for example, in the case of a non-recognition of an identifier.

FIG. 11shows an example apparatus1, wherein both the first conveying device30and the second conveying device40are designed as suction grippers.

FIG. 12shows a detailed view of the first conveying device30designed as a suction gripper. As can be seen inFIG. 12, the suction gripper in the rotary bearing34comprises two suction tubes36a,36bon opposite sides, at the ends of which a suction head35a,35bis respectively arranged. The diameters of the suction heads35a,35bare dimensioned differently, so that they can be adapted to different dimensions of piece goods2to be gripped. If, for example, a piece good2is to be gripped on a very narrow side surface, the suction head35ais used. If a wider or larger side surface is to be gripped, the suction head35bis used.

FIGS. 13a-13cshow a portion of a method for identifying, measuring and positioning piece goods. Here, after gripping a piece good2with the first conveying device30by a coarse detection device64(not shown inFIGS. 13a-13c), the orientation of the piece good2is determined. As can be seen fromFIG. 13a, the piece good2was picked up and deposited on the turntable10in such a way that the two largest side surfaces extend perpendicularly to the support surface11of the turntable10. Since it is regularly preferred to store the piece goods2on a largest side surface, the piece good2shown is overturned with the help of the second conveying device40(seeFIG. 13b), so that it rests on a large side surface on the turntable10prior to storage. The scanning of the side surfaces, in order to recognize the identifier and the dimensions, may be made before or after the overturning.

FIG. 14shows a flow diagram of a method90for identifying, measuring and positioning piece goods. In a first step100, a piece good2is arranged on the optically transparent turntable10. For this purpose, a piece good2is gripped with the first conveying device30and arranged on a first side surface on the support surface11which extends in the X and Y directions. In a step200, the first side surface facing the turntable10of the piece good2is scanned with a first optical detection device61for determining the X, Y dimensions and an identifier. On the basis of the data obtained, which are usually data from a 3D camera, the X and Y dimensions and, if applicable, the identifier, if one has been applied and recognized on this side surface, are determined. This can be done with the first optical reading device61itself or with a control device20. In a step210, a second side surface designed orthogonally to the first side surface is scanned with the second optical reading device62for determining the Z dimension and an identifier. Based on the data obtained, as already described above, the Z dimension of the piece good2is determined. Unless an identifier could be recognized on the first side surface, an attempt is also made to determine an identifier based on the data obtained.

In a subsequent step220, it is then determined whether an identifier was determined at step200or210. If this is not the case, in a step230, the turntable10is rotated so that the second optical reading device62faces a next orthogonal side wall. The next side surface is scanned and analyzed for an identifier. Thereafter, the process is repeated from step220until either an identifier is detected, or all four orthogonal side surfaces are scanned. If no identifier was detected, the piece good is removed from the turntable10in a step240and returned to step100. If an identifier was detected, the control device20determines a storage location in the storage area51in a step300. This is possible because the control device20knows the occupancy of the storage area51and the nature and dimensions of the piece good2.

After determining the storage area51, the piece good2resting on the turntable10is gripped with the second conveying device40in a step400and moved to the storage location in the storage area51. For this purpose, the second conveying device40is moved in the X direction and Y direction into the storage area51. After storing the piece good2, the method is continued at step100until the storage area51is filled. The piece goods2are then removed from the storage area51, for example, by a clamping gripper of a control unit not belonging to the device of a picking apparatus or by moving the storage surface that provides the storage area51so that the piece goods2are removed from the storage area51.

The word “exemplary” or the term “for example” is used herein to mean “serving as an example or illustration.” Any aspect or design described herein as “exemplary” or “for example” is not necessarily to be construed as preferred or advantageous over other aspects or designs. In one aspect, various alternative configurations and operations described herein may be considered to be at least equivalent.

It is understood that the specific order or hierarchy of steps, operations or processes disclosed is an illustration of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps, operations or processes may be rearranged. Some of the steps, operations or processes may be performed simultaneously. Some or all of the steps, operations, or processes may be performed automatically, without the intervention of a user. The accompanying method claims, if any, present elements of the various steps, operations or processes in a sample order, and are not meant to be limited to the specific order or hierarchy presented.