Device and method for identifying, measuring and locating piece goods

Abstract

The present invention relates to a device and a method for identifying, measuring and locating piece goods, which have a higher capacity for handling piece goods than known devices and methods. The device comprises: an optically transparent turntable (10), which comprises a support surface (11) for piece goods extending in the X direction and the Y direction of the device; a first conveying device (30), which is used to arrange the piece goods on the support surface (11) of the turntable (10); a first optical reading device (61), which is arranged below the turntable (10) and is used to detect the size and identifier of the piece goods; a second optical reading device (62), which is used to detect the height and identifier of the piece goods placed flat on the support surface (11); a storage area (51) for a plurality of piece goods, which is arranged downstream of the turntable (10); and a second conveying device (40), which comprises gripping tools (35, 45) for the piece goods, wherein the gripping tools (35, 45) are movable above the storage area (51) in at least the X direction and the Y direction so that the piece goods can be arranged side by side in the storage area in the X direction and / or the Y direction.

Description

Technical Field

[0001] The present invention relates to a device and a method for identifying, measuring and locating piece goods, in particular pharmaceutical packages. Background Art

[0002] The aforementioned devices and corresponding methods are known from the prior art. These devices sort, identify, and automatically deliver large quantities of unorganized piece goods, such as pharmaceutical packaging, to warehouses. However, these known devices and methods suffer from relatively low processing capacity, which is insufficient for handling large quantities of piece goods (and the corresponding large-scale piece goods warehouses). Furthermore, these known devices and methods can only deliver separated piece goods to warehouses sequentially, contributing to their low processing capacity. Summary of the Invention

[0003] The object of the present invention is to provide a device and a method for identifying, measuring and locating piece goods, in which the processing speed and flexibility are increased.

[0004] The apparatus for identifying, measuring, and locating piece goods (particularly pharmaceuticals) according to the present invention comprises an optically transparent turntable having a support surface for the piece goods extending in the X and Y directions of the apparatus, wherein the turntable cooperates with a rotary drive coupled to a control device and is rotatable about a rotation axis extending in the Z direction, wherein the Z direction extends orthogonally to the X and Y directions, wherein the X direction corresponds to the longitudinal axis of the apparatus, and the Y direction corresponds to the transverse axis of the apparatus. The apparatus further comprises a first conveyor device for arranging the piece goods onto the support surface of the turntable, and a first optical reader device arranged below the turntable in the Z direction and coupled to the control device for detecting the X and Y dimensions of the piece goods lying on the support surface and for acquiring an identifier located on the side of the lying piece goods facing the support surface.

[0005] The first optical reader can, for example, be a camera that creates an image of the side surface facing the support surface. This image is transmitted, if necessary, to a control device that checks the acquired image for its X and Y dimensions and the presence of the identifier. Alternatively, the reader itself can perform the aforementioned image analysis and transmit the results to the control device. The identifier makes it possible to unambiguously determine which medication and delivery form is located on the turntable. The identifier can, for example, be a barcode. Alternatively, a laser can also be used as the optical reader to scan the side surface.

[0006] The apparatus also includes a second optical reader, also coupled to the control device, for detecting the Z dimension (i.e., height) of the piece goods lying flat on the support surface and for acquiring identifiers located on the side perpendicular to the support surface. This second optical reader can also be, for example, a camera and operates in the manner described above. A storage area for a plurality of piece goods is provided downstream of the turntable, with the arrangement of the turntable and the storage area relative to each other defining the longitudinal axis of the apparatus.

[0007] The storage area can be provided by a variety of devices, such as a conveyor belt of a storage device. The storage area is not a fixed section of the conveyor belt, but rather a section or support surface of the conveyor belt located within a predetermined section, which the second conveyor device can grasp. Alternatively, a movable storage plate or, in the simplest case, a fixed storage table can provide the storage area.

[0008] Finally, the device according to the invention comprises a second conveyor device coupled to the control device, which comprises a gripping device for the piece goods, wherein the gripping device is movable in at least the X-direction and the Y-direction within the storage area, so that the piece goods can be arranged side by side in the X-direction and / or the Y-direction within the storage area.

[0009] The apparatus according to the present invention differs from known apparatuses in particular by the use of two conveyor devices. The first conveyor device is configured to receive piece goods from a supply device of any design and transport them to a turntable where they are identified. Conversely, the second conveyor device is designed to receive piece goods after identification and measurement and place them in a storage area. According to the present invention, the second conveyor device is designed to be movable in both the X and Y directions over the storage area, allowing piece goods picked up by the second conveyor device to be placed at any location in the storage area.

[0010] According to the present invention, the storage area is dimensioned so that multiple piece goods of "normal" size can be arranged side by side in the X and / or Y directions of the system. This allows grippers of a piece goods sorting device, which is not part of the system according to the present invention, to receive multiple piece goods in or from the storage area during a gripping operation. This is not possible with prior art systems because, due to limitations of known systems, identified piece goods are always arranged sequentially at the same location. This means that identified piece goods can only be gripped and stored sequentially (i.e., one after the other).

[0011] On the one hand, the throughput of the system according to the present invention is increased by using two conveyors: one for placing the piece goods on the carousel, and the other for picking up the piece goods from the carousel and placing them in the storage area. Due to the design of the second conveyor according to the present invention, it is possible to arrange the piece goods for storage in such a way that multiple piece goods can be picked up simultaneously, which in turn increases the throughput of the system and the storage speed of the sorting system, which is usually connected downstream.

[0012] In the apparatus according to the present invention, a first optical reader is arranged below the turntable, while a second optical reader is arranged to the side of the turntable. For piece goods lying flat on the turntable, it is possible to identify the piece goods using the two optical readers if the identifier is arranged on the "lower" side of the piece goods facing the turntable or on a side designed to be perpendicular to the lower side of the piece goods. However, if only one identifier is arranged on the piece goods, and this identifier is arranged on the side of the piece goods facing away from the turntable surface due to the placement of the piece goods, identification cannot be achieved using the two optical readers, necessitating the repositioning of the piece goods on the turntable. To avoid this, a preferred embodiment of the present invention provides that the apparatus includes a third optical reader arranged above the turntable in the Z direction and coupled to the control device. This third optical reader is used to detect the dimensions of the piece goods lying flat on the support surface and / or the identifier located on the side facing away from the support surface.

[0013] In the device according to the present invention, piece goods are arranged on a turntable by a first conveyor. Exactly how the piece goods are picked up is not crucial for the present invention. However, piece goods are usually picked up from a plurality of piece goods lying flat on a supply device, wherein the conveyor does not always receive the piece goods on a preferred side (for example, on the largest side of the piece goods), but rather on the side that is most suitable for receiving the piece goods. As a result, it is not certain in which arrangement the piece goods are picked up by the first conveyor, i.e., it may be possible to pick up the piece goods on an end face of the piece goods or on a side that is not the largest. Therefore, the piece goods are not always arranged on the turntable on the same side, for example, not always on the largest side of the piece goods, but rather depend on how they are received by the conveyor or its gripping tool. However, it is usually preferred that the piece goods are stored lying on the largest side, for which it is necessary that the piece goods lie on the turntable exactly on this largest side.

[0014] In order to achieve this result, it is necessary to identify the orientation of the piece goods gripped or placed by the first conveyor. For this purpose, a preferred embodiment of the device according to the invention provides for a coarse optical detection device for determining the spatial orientation of the piece goods, such as a 2D or 3D camera. For example, the spatial orientation can be determined after the piece goods have been gripped. If, for example, the spatial orientation is determined to indicate that the piece goods have been placed on a side that is not the largest, i.e., the side that is not the largest facing the support surface of the turntable, then based on the knowledge of the spatial orientation, the piece goods can be repositioned by, for example, the first conveyor or the second conveyor (for example, by simply turning them over directly after placement) so that the piece goods lie flat on their largest side.

[0015] Occasionally, an identifier located on one side of a piece load may be damaged, for example due to transport damage, making it impossible to identify the piece load. Therefore, a preferred embodiment provides for a discarding device to be located between the turntable and the storage surface for releasing the piece load. This can be, for example, a cover that can be pivoted in the Z direction. If identification becomes impossible, the piece loader opens the cover to release the piece load.

[0016] The exact design of the first conveyor and / or the second conveyor (in particular their gripping tools) is not crucial for the present invention. However, in a preferred embodiment of the present invention, it is provided that the first conveyor and / or the second conveyor are designed as suction grippers that can be moved in the X, Y and / or Z directions. By being designed as suction grippers, the collection of piece goods from a plurality of piece goods in the first conveyor is particularly simplified, since, unlike, for example, clamping fixtures, the close arrangement of the piece goods side by side does not hinder the picking up of the piece goods. In particular, since the second conveyor or the gripping tools of this conveyor can also be moved in the Z direction, it is also possible to arrange the piece goods one above the other on the support surface. This is meaningful if, based on experience, the same pharmaceutical packages, for example, are to be removed from the warehouse very frequently and / or repeatedly.

[0017] The size and weight of the piece goods to be handled by the device can vary greatly. This means there can be heavy, small pieces as well as large, light pieces. In order to optimally adapt the suction gripper to piece goods of varying sizes and weights, a preferred embodiment provides for the suction gripper to include at least two suction heads of different sizes.

[0018] In an alternative preferred embodiment, it is provided that the second conveying device is designed as a clamping fixture that is movable at least in the X and Y directions. The use of a clamping fixture is particularly useful if the goods involved are relatively large and heavy piece goods, which would be difficult to handle with a suction gripper.

[0019] Exactly how the piece goods are supplied to the first conveyor is not crucial for the present invention. However, in a preferred embodiment, it is provided that the device comprises a supply device and a position detection device arranged above the supply device in the Z direction. The position detection device is usually a 3D camera, by means of which the positioning of different piece goods in a plurality of piece goods can be detected. With the aid of a control device coupled to the position detection device, the next optimal action surface of the piece goods can be determined, via which the piece goods can be removed from the plurality of piece goods. In an embodiment according to the invention, it is possible to supply a plurality of piece goods with the aid of the supply device without user intervention, and then to sort, identify and arrange them fully automatically in a storage area for later storage.

[0020] In the method for identifying, measuring, and locating piece goods according to the present invention, a) a first conveyor device positions a single piece good on its first side on a support surface of an optically transparent turntable extending in the X and Y directions. The turntable cooperates with a rotary drive coupled to a control device and is rotatable about a rotation axis 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 of the device, and the Y direction corresponds to the transverse axis. In step b), a first optical reader device positioned below the turntable in the Z direction scans the first side and measures the X and Y dimensions of the piece good lying on the storage surface, and determines whether an identifier is detected during the scanning of the first side. In step c), a second optical reader device scans a second side, which is positioned orthogonally to the first side and facing the second optical reader device, and determines the Z dimension (i.e., height) of the piece good lying on the support surface. If the identifier is not detected on the first side, a determination is made as to whether the identifier is detected during the scanning of the second side. Steps b) and c) can be performed simultaneously or with a time offset.

[0021] Specifically, the "lower" side of the piece goods, which may be pharmaceutical packaging in particular, and the sides perpendicular thereto, are first measured and scanned for identifiers. If no identifiers are detected on the lower first side and the second side perpendicular thereto, the turntable is rotated in step d) so that the next side perpendicular to the first side faces the second optical reader. The second reader scans the next side and determines whether an identifier is detected during the scanning of the next side. According to the present invention, step d) is repeated multiple times until three subsequent sides have been scanned or an identifier is detected. If no identifier is detected, the piece goods are removed from the turntable in step e) and transported to the next application. Once the identifiers have been detected and, if necessary, all dimensions of the flat-lying piece goods have been determined, a control unit determines a storage location in a storage area downstream of the turntable based on these dimensions and / or, if applicable, the identifiers. This determination is necessary because the method according to the present invention should allow the piece goods to be arranged in the storage area so that multiple piece goods can be removed simultaneously. Exactly how the piece goods are arranged in the storage area for this purpose depends on the size of the piece goods or pieces already placed on the support surface and the removal direction of the gripper, by which the plurality of piece goods can be removed.

[0022] After the storage location of the piece goods in the storage area has been determined, the piece goods are gripped by the gripping tool of the second conveyor and moved to the storage location, for which purpose the gripping tool is moved in the X direction and, if necessary, in the Y and Z directions.

[0023] Crucial to the method according to the invention is that after identification, the piece goods are not simply moved by the second conveyor to the same storage location, from which they are moved further or picked up. Instead, the control device determines the storage location within the storage area, specifically based on the size of the piece goods to be deposited and the size of any piece goods already deposited, as well as the removal direction. This allows for the arrangement of multiple piece goods side by side so that they can be simultaneously grasped by a single gripper. The precise arrangement of the piece goods in this case depends on how the gripper grasps the piece goods, for example, whether it is moved in the X or Y direction into the space above the storage surface.

[0024] In order to ensure that the piece goods do not have to be handled in order to identify the identifier even if there is only one identifier for the piece goods, a preferred embodiment provides that in method step b) a third optical reading device, which is arranged above the turntable in the Z direction, scans the side of the piece goods lying on the turntable facing the reading device and, if necessary, determines the X and Y dimensions of the piece goods lying on the support surface and determines whether the identifier is detected during the scanning of the side face.

[0025] In order to identify the orientation of the piece goods before they are placed, a preferred embodiment of the method according to the invention provides that, in method step a), the spatial orientation of the piece goods held by the first conveyor device is determined by means of a coarse detection device before the piece goods are placed on the support surface of the turntable. Once the spatial orientation has been determined, the control device can already begin determining the optimal storage location in the storage area.

[0026] If a coarse detection device is used, a preferred embodiment of the method provides that it is designed as an optical reader and, while determining the spatial orientation, scans the piece goods to identify the identifier. Depending on the orientation of the identifier, it may be possible for the coarse detection device to also scan the identifier. This saves time in subsequent method steps, thereby accelerating the method.

[0027] It is generally desirable that piece goods be stored in a state where they are lying flat on their largest side. However, since it cannot be guaranteed that the piece goods will be placed on the turntable with their largest side when they are picked up by the first conveyor device, a preferred embodiment provides that if, during the determination of the spatial orientation, it is detected that the largest side of the piece goods held by the conveyor device is not facing the support surface, the piece goods are moved by the conveyor device after being placed on the support surface so that they are placed on the support surface with their largest side. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Preferred embodiments of the device according to the invention and of the method according to the invention are described below with reference to the accompanying drawings, in which:

[0029] Figure 1a shows an oblique view of a first embodiment of the device according to the invention, Figure 1b A side view thereof is shown, including schematically marked detection ranges of the reading device and the detection device;

[0030] Figure 2 Shown Figure 1a and Figure 1b An oblique view of the embodiment shown in , excluding the detection range;

[0031] Figure 3 Another oblique view of the first embodiment is shown, excluding the detection range and the reading device and the detection device;

[0032] Figure 4 shows a top view of a first embodiment;

[0033] Figure 5 A second embodiment of the device according to the invention is shown;

[0034] Figures 6a to 6c The different stages of a first embodiment of the method according to the invention are shown;

[0035] Figure 7 、 Figure 8 and Figure 9 Further embodiments of the method according to the invention are shown, in which the piece goods are respectively arranged in a different manner in the storage area;

[0036] Figure 10 A first embodiment of the device according to the invention is shown;

[0037] Figure 11 A third embodiment of the device according to the invention is shown;

[0038] Figure 12 A detailed view showing the first conveying device of the third embodiment;

[0039] Figures 13a to 13c Another embodiment of the method according to the present invention is shown; and

[0040] Figure 14 A flow chart showing an embodiment of the method according to the invention is shown. DETAILED DESCRIPTION

[0041] Figure 1a and Figure 1bAn oblique view and a side view of a first embodiment of a device 1 according to the invention are shown. The device 1 comprises a central, optically transparent turntable 10, which has a support surface 11. The support surface extends in the X-direction and the Y-direction, wherein the X-direction corresponds to the longitudinal axis of the device. The optically transparent turntable 10 cooperates with a rotary drive 12, by means of which the turntable can be rotated about a rotation axis extending in the Z-direction, wherein the Z-direction extends orthogonally to a plane spanned by the X-direction and the Y-direction. In the embodiment shown, the rotary drive is arranged in a discarding device 13, which has a circular recess on the end face facing the turntable 10, which is adapted to the diameter of the turntable, so that only a narrow gap is formed between the discarding device 13 and the turntable 10, through which gap piece goods can be pushed without any problems if necessary. A first optical reading device 61 is arranged below the turntable 10, wherein Figure 1a and Figure 1b The detection range 61a of the reading device is schematically indicated in the figure. With the aid of a first optical reading device 61, the piece goods lying flat on the turntable are scanned to determine their X and Y dimensions. Furthermore, an attempt is made to read an identifier, which may be located on the side of the piece goods facing the turntable, in order to determine the exact type of medication and packaging based on this identifier. The first reading device 61 is coupled to the control device 20 via a wire (not shown). The X and Y dimensions are determined, and an attempt is made to determine the identifier, by the reading device itself or by the control device, more precisely, with the aid of known image processing software. Whether the dimensions and identifier are determined by the reading device itself or by the control device depends on the exact design of the reading device. If it is formed by a simple 3D camera, the actual determination of the dimensions and identifier is performed by the image processing software running in the control device.

[0042] Arranged laterally on the carousel 10 and in the illustrated embodiment within the region of the feed device 70 is a second optical reader 62 having a detection range 62 a, which is provided for detecting the Z dimension, i.e. the height, of the piece goods and for scanning identifiers located on the side of the piece goods extending orthogonally to the storage surface of the carousel.

[0043] In the illustrated embodiment, the aforementioned supply device 70 includes a conveyor belt 72 and side walls 71. In the illustrated embodiment, the supply device delivers piece goods in the X-direction, more specifically, upstream of the turntable with respect to the X-direction. Downstream of the conveyor belt 72, the supply device 70 includes a buffer zone 73, where the movement of delivered piece goods is stopped and where any piece goods that might slip during removal from the plurality of piece goods can be caught. The second optical pickup device 62 is also positioned in the buffer zone.

[0044] In the illustrated embodiment, a third optical reader 63 with a detection range 63a is arranged above the turntable in the Z direction. The third optical reader is designed to detect identifiers on the side of the piece goods facing away from the turntable. Optionally, the third optical reader can also measure the X and Y dimensions of flat-lying piece goods, if this has not already been accomplished by the first optical reader. The third optical reader 63 is also connected to the control device 20 via cables (not shown) and can be designed and operated similarly to the first reader. This means that the dimensions or identifiers can be determined by the reader itself or by the control device.

[0045] A storage device 50 is provided downstream of the turntable and, in the embodiment shown, comprises a conveyor belt 52, sections of which provide storage areas 51 on which piece goods can be placed after identification. Due to the use of a conveyor belt, the storage area is not always provided by the same section, but rather by different sections of the conveyor belt depending on the movement of the conveyor belt. The orientation of the storage device is not crucial for the present invention. In the embodiment shown, the storage device is formed in the Y direction, wherein the placed piece goods can be further moved by means of the conveyor belt before being removed from the conveyor belt by the clamp. However, the storage device can also include a movable conveyor plate, by means of which the placed piece goods are moved. Alternatively, it is also possible that the storage device includes a non-movable conveyor table, which provides the storage area 51.

[0046] Furthermore, the conveying device also includes a guide member 80 extending in the X direction, on which the first conveying device 30 and the second conveying device 40 are guided. The two are coupled to the control device 20 through unshown wires and will be described more precisely with reference to subsequent drawings.

[0047] A position detection device 65 having a detection range 65a is arranged above the supply device 70. The position detection device is connected to the control device 20 via a wire (not shown). The position detection device 65 analyzes the piece goods lying on the conveyor belt 72 and determines which piece good to pick up next from the plurality of piece goods by the first conveyor device 30. The position detection device can be designed, for example, as a 3D camera that transmits the detected image to the control device, which determines which piece good to pick up next using conventional image processing software.

[0048] The piece goods supplied by the supply device 70 are typically arranged in a chaotic and disorganized manner on the conveyor belt 72. Consequently, the piece goods are located on the supply device in an unorganized manner, i.e., different piece goods are oriented differently, resulting in one piece good, for example, being placed on the supply device with its largest side, while another is placed on its narrow side. It is often not possible to determine with a position detection device how the piece goods were gripped by the first conveyor device; that is, the orientation of the gripped piece goods is unknown, because the control device cannot infer the other dimensions of the piece goods based solely on the dimensions of the side facing it.

[0049] To determine the orientation of the piece goods picked up from the supply device by the first conveyor, the device in the illustrated embodiment includes a coarse detection device 64 with a detection range 64a, which is also arranged above the supply device and to the side of the first conveyor. The coarse detection device can determine the Z and Y dimensions of the received piece goods. Based on the X dimension, which is already known by the position detection device, the orientation of the picked up piece goods can be determined, allowing it to be modified as necessary during preparation for placement on the turntable or after placement. If, for example, it is determined that the largest side of the picked up piece goods extends in the Z direction, the piece goods can be turned by the first or second conveyor after placement on the turntable so that the piece goods lie flat on the turntable with their largest side.

[0050] Figure 2 and Figure 3 Shows other oblique views of the first embodiment, wherein Figure 2 The detection range of the optical reader has been omitted to allow for a better view of the rest of the device. Figure 3 The optical reading device, the rough detection device and the position detection device are also omitted, so that the first conveying device 30 and the second conveying device 40 can be clearly seen, which will be described in more detail below.

[0051] The first transfer device 30 comprises an X slide 31 that can move in the X direction on a guide 80. The X slide comprises a Z guide, on which a Y guide 32 can move in the Z direction. On the Y guide, a support 33 that can move in the Y direction is arranged. The support has a rotary bearing 34 on its lower end face facing the turntable 10, on which a gripping tool 35 is arranged. In the embodiment shown, it is implemented as a suction gripper with a double suction head, which will be referred to. Figure 12 Describe it in more detail.

[0052] The second conveyor 40 also includes an X-slide 41 that can move in the X direction on a guide 80. Furthermore, the second conveyor includes a Y-guide 42, which, in the embodiment shown, is designed as a single piece with the X-slide, i.e., it is not designed to move in the Z direction on the X-slide as in the first conveyor. Two supports 43 are arranged on the Y-guide 42 of the second conveyor, which can move in the Y direction, more precisely, move away from each other and move closer to each other. A gripping tool 45 is arranged on each support 43, wherein the gripping tool 45 in the second conveyor is designed as a gripper. Figure 2 and Figure 3 In the embodiment shown in FIG, the piece goods 2 are held between the clamping jaws 45 and can be moved by the second conveyor device 40, over the discarding device 13, to the storage area 51 arranged downstream of the turntable. A supply device 70 for supplying a plurality of (not shown) piece goods is arranged upstream of the turntable.

[0053] Figure 4 A top view of a first embodiment of the apparatus according to the present invention is shown, with the reader and detection devices omitted. In this top view, it can be seen in particular that the supply device 70 is arranged upstream of the optically transparent turntable 10, while the storage device 50 is arranged downstream of the turntable. Piece goods (not shown), particularly pharmaceutical packages, are supplied by the supply device 70 and subsequently delivered by the first conveyor device 30 to the turntable 10. From there, they are moved by means of the second conveyor device 40 to the storage area 51 of the storage device 50.

[0054] Figure 5 A second embodiment of the apparatus according to the invention is shown in an oblique view. In this embodiment, the second detection device 62 is arranged slightly differently, namely, below the supply device 70, which also does not include any buffer zone. The coarse detection device 64 is also arranged differently from the first embodiment, namely, on the guide 80 of the apparatus, more precisely, near the turntable 10.

[0055] Figures 6a to 6c The figures show different positions of the second conveyor device in a first embodiment of the method according to the invention and are intended to illustrate how piece goods can be moved into the storage area 51. Figure 6a In the embodiment shown, four piece goods are arranged in the storage area 51, wherein in the embodiment shown, two piece goods of the same size are arranged one above the other, and the two piece goods are stacked one after another in the X direction. In the embodiment shown, the storage device 50 includes a conveyor belt 52, by means of which the piece goods arranged in the storage area 51 can be moved in the Y direction. Figure 6bIn the figure, the two piece goods piles have moved further to the "left", making the storage area 51 free to receive other piece goods. By the second conveyor, another piece goods 2 held by the clamp 45 has been moved slightly in the X direction toward the storage area 51. Due to the mobility of the second conveyor in the X direction, it is possible to use it to arrange multiple piece goods, etc. in the storage area 51 one after another in the X direction. Figure 6c The final position of the piece goods 2 still held by the clamping claw 45 in the storage area 51 is shown in FIG. In order to make it possible to stack the piece goods, the clamping claw can also be moved in the Z direction, but Figures 6a to 6c There is no diagram for this.

[0056] Figures 7 to 9 Another embodiment of the device according to the invention is shown with different travel guidance methods for arranging piece goods in the storage area 51. Figures 7 to 9 In all figures, the storage device 50 is designed in a manner different from the storage devices of the previous embodiments, more precisely, the storage device does not extend in the Y direction, but in the X direction. In the embodiment shown, the storage device again includes a conveyor belt 52, which provides a storage area 51 for arranging piece goods. Figure 7 In the embodiment, three piece goods are arranged side by side in the Y direction in the piece goods row 2b, wherein the longitudinal axis of the piece goods is aligned with the longitudinal axis of the storage device 50. Figure 8 In the travel guide shown in FIG, the piece goods are arranged in a state rotated by 90°, i.e., the longitudinal axis of the piece goods in piece goods row 2c is aligned in the Y direction. Regardless of the orientation of the piece goods in the storage area 51, the two piece goods rows 2b and 2c can be removed from the conveyor belt with the help of clamping fixtures (not shown), for example, known to a person skilled in the art, and for this purpose the clamping fixtures are moved above the conveyor belt in the Y direction. The piece goods rows can be removed directly from the storage area, but it is also possible to move the piece goods rows out of the storage area before removal with the help of the clamping fixtures, e.g. Figures 7 to 9 Preset in . Figure 9 An alternative arrangement of piece goods in the piece goods row 2d is shown, wherein Figure 9In the embodiment shown in FIG, the piece loads are arranged differently, with one piece load (the "rearmost") aligned with its longitudinal axis in the X direction, while two piece loads are aligned in the Y direction. Because the direction in which the piece loads are removed from the storage device is known to the control device (not shown), the control device can arrange the piece loads on the storage surface so that even when the piece loads are arranged differently or have different widths, the row 2d of piece loads can be removed. For example, if a clamping gripper is used, it is necessary in this case to position the widest piece load gripped by the gripper jaws at the "rear" position in the Y direction with respect to the removal direction, i.e., to be gripped by the front end of the gripper jaws, so that during removal, the preceding piece load is moved, for example, by a conveyor belt.

[0057] Figure 10 A diagrammatic representation of a first embodiment of the device according to the invention is shown, wherein Figure 10 In the illustration shown in FIG, the discarding device 13 is folded downwards on its end face facing the turntable 10 so that, for example, piece goods can be discharged through the opening if the identifier is not recognized.

[0058] Figure 11 A third embodiment of the device according to the invention is shown, wherein in the embodiment shown both the first conveying device 30 and the second conveying device 40 are designed as suction grippers.

[0059] Figure 12 A detailed view of the first conveying device 30 designed as a suction gripper is shown. Figure 12 As can be seen in the figure, the suction gripper comprises two opposing suction tubes 36a and 36b in a pivot bearing 34, with suction heads 35a and 35b arranged at their ends. The diameters of the suction heads 35a and 35b are sized to different sizes, allowing them to adapt to the varying sizes of the piece goods to be gripped. For example, if a piece of goods is to be gripped on a very narrow side, suction head 35a is used; if a wider or larger side is to be gripped, suction head 35b is used.

[0060] Figures 13a to 13c FIG. 4 shows a part of a method according to another embodiment. In this embodiment, after the piece goods are grabbed by the first conveying device 30, the Figures 13a to 13c (not shown) coarse detection device to determine the orientation of the piece goods. Figure 13aAs can be seen, piece goods are received and placed on the turntable 10 so that their two largest sides extend perpendicularly to the turntable's support surface 11. Since piece goods are generally preferably stored with their largest sides, in the illustrated embodiment, the piece goods are turned over by a second conveyor (see 13b) so that they lie flat on the turntable with their largest sides before being stored. Whether the side scans are performed before or after the flip to identify the identifier and size is irrelevant to the method itself.

[0061] Figure 14 A flow chart shows a preferred embodiment of the method according to the present invention, which is kept very simple. In an initial step 100, piece goods are placed on an optically transparent turntable 10. To this end, the piece goods are picked up by a first conveyor device 30 and placed with their first side on a support surface 11 extending in the X and Y directions. In step 200, the first side of the piece goods facing the turntable is scanned by a first optical detection device to determine the X and Y dimensions and an identifier. Based on the acquired data, typically 3D camera data, the X and Y dimensions are determined, and if necessary, the identifier (if applied to this side and identified) is determined. This can be accomplished by the first optical reader device itself or by a control device. In step 210, a second side, designed to be orthogonal to the first side, is scanned by a second optical reader device to determine the Z dimension and the identifier. Based on the acquired data, the Z dimension of the piece goods is determined, as described above. If no identifier is recognizable on the first side, an attempt is made to determine the identifier based on the acquired data.

[0062] Then, in a subsequent step 220, it is determined whether an identifier was detected in step 200 or 210. If not, in step 230, the turntable is rotated so that the next orthogonal side wall faces the second optical reader 62. The next side wall is scanned and analyzed for identifiers. The method is then repeated several times, starting from step 220, until an identifier is detected or all four orthogonal sides have been scanned. If no identifier is detected, the piece goods are removed from the turntable in step 240 and the process returns to step 100. If an identifier is detected, the control unit determines the storage location in storage area 51 in step 300. This is possible because the control unit knows the occupancy of the storage area and the type and size of the piece goods.

[0063] After the storage area has been determined, in step 400, the piece goods are picked up by the second conveyor while lying flat on the turntable and moved to a storage location in the storage area. To this end, the second conveyor is moved in the X and Y directions to the storage area. After the piece goods have been placed, the method continues in step 100 until the storage area is full. The piece goods are then removed from the storage area, for example, by gripping fixtures of a handling device of the sorting system or by moving the storage surface providing the storage area, thereby removing the piece goods from the storage area.

Claims

1. A device (1) for identifying, measuring and locating piece goods (2), comprising: an optically transparent turntable (10) comprising a support surface (11) for piece goods extending in the X and Y directions of the device, wherein the turntable (10) cooperates with a rotary drive (12) coupled to a control device (20) and is rotatable about a rotation axis 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 of the device and the Y direction corresponds to the transverse axis; a first conveying device (30) for placing piece goods on the supporting surface (11) of the turntable (10); a first optical reading device (61) arranged below the turntable (10) in the Z direction and coupled to the control device (20) for detecting the size of the piece goods placed flat on the support surface (11) and an identifier located on the side of the piece goods placed flat facing the support surface (11); a second optical reading device (62) coupled to the control device (20) for detecting the height of the piece goods placed flat on the support surface (11) and an identifier located on a side of the piece goods placed flat and perpendicular to the support surface; a storage area (51) for a plurality of piece goods, the storage area being arranged downstream of the carousel (10), wherein the arrangement of the carousel and the storage area defines the longitudinal axis; and A second conveying device (40) is coupled to the control device (20) and comprises a gripping tool (45) for piece goods, wherein the gripping tool (45) is movable above the storage area (51) at least in the X direction and the Y direction, so that the piece goods can be arranged side by side in the X direction and / or the Y direction in the storage area.

2. The device (1) for identifying, measuring and locating piece goods (2) according to claim 1, characterized in that The device comprises a third optical reading device (63) arranged above the turntable in the Z direction and coupled to the control device (20), the third optical reading device being used to detect the size of the piece goods placed flat on the support surface (11) and / or an identifier located on the side facing away from the support surface (11).

3. The device (1) for identifying, measuring and locating piece goods (2) according to claim 2, characterized in that The device comprises a coarse optical detection device (64) coupled to the control device, the coarse optical detection device being used to determine the spatial orientation of the piece goods.

4. The device (1) for identifying, measuring and locating piece goods (2) according to any one of claims 1 to 3, characterized in that A discarding device (13) for releasing piece goods is arranged between the turntable (10) and the storage area (51).

5. The device (1) for identifying, measuring and locating piece goods (2) according to any one of claims 1 to 3, characterized in that The first conveying device (30) and / or the second conveying device (40) are designed as suction grippers that can move in the X direction, the Y direction and the Z direction.

6. The device (1) for identifying, measuring and locating piece goods (2) according to claim 5, characterized in that The suction gripper comprises two suction heads (35a, 35b) of different sizes.

7. The device (1) for identifying, measuring and locating piece goods (2) according to any one of claims 1 to 3, characterized in that The second transfer device (40) is designed as a clamping fixture that is movable at least in the X direction and the Y direction.

8. The device (1) for identifying, measuring and locating piece goods (2) according to any one of claims 1 to 3, characterized in that The apparatus (1) comprises a supply device (70) and a position detection device (65) arranged above the supply device in the Z direction.

9. A method for identifying, measuring and locating piece goods, wherein a) arranging individual piece goods with a first side surface on a support surface (11) of an optically transparent turntable (10) extending in the X and Y directions by means of a first conveying device (30), wherein the turntable (10) cooperates with a rotary drive (12) coupled to a control device (20) and is rotatable about a rotation axis 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 of the device (1) according to any one of claims 1 to 8, and the Y direction corresponds to the transverse axis of the device (1) according to any one of claims 1 to 8; b) scanning the first side surface and measuring the X and Y dimensions of the piece goods placed flat on the support surface (11) by a first optical reading device (61) arranged below the turntable (10) in the Z direction, and determining whether an identifier is detected during the scanning of the first side surface; c) scanning, by means of a second optical reading device (62), a second side surface which is designed to be perpendicular to the first side surface and faces the second optical reading device (62) and determining the Z dimension of the piece goods lying on the support surface, 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, wherein steps b) and c) can be performed simultaneously or at a time offset; d) in the case where no identifier is detected, rotating the turntable so that a next side perpendicular to the first side faces the second optical reading device (62), and scanning the next side by the second optical reading device (62) and determining whether an identifier is detected during the scanning of the next side; e) repeating step d) until the next three sides are scanned or the identifier is detected; f) if no identifier is detected, removing the piece goods from the carousel and conveying them to the next application; g) once the identifier has been detected and all dimensions of the piece goods lying flat have been determined, a control device determines a storage location in a storage area (51) arranged downstream of the turntable based on the dimensions and / or the identifier; h) After the storage location is determined, the piece goods are grabbed by a gripping tool (45) of the second conveying device (40) and moved to the storage location, for which the gripping tool (45) is moved in the X direction and / or the Y direction and the Z direction.

10. The method for identifying, measuring and locating piece goods according to claim 9, characterized in that: In method step b), a third optical reader (63) arranged above the turntable (10) in the Z direction scans the side facing the third optical reader (63) and, if necessary, determines the X and Y dimensions of the piece goods lying flat on the support surface (11), and determines whether an identifier is detected during the scanning of the side.

11. The method for identifying, measuring and locating piece goods according to claim 9, characterized in that: In method step a), the spatial orientation of the piece goods held by the first transport device (30) is determined by means of a coarse optical detection device (64) before the piece goods are arranged on the support surface (11) of the turntable (10).

12. The method for identifying, measuring and locating piece goods according to claim 11, characterized in that: The optical coarse detection device (64) is designed as an optical reading device and scans the piece goods in the process of determining the spatial orientation to recognize the identifier.

13. The method for identifying, measuring and locating piece goods according to claim 11 or 12, characterized in that: If it is detected during the determination of the spatial orientation that the piece goods held by the first conveyor device (30) do not have the largest side facing the support surface, then after being arranged on the support surface, the piece goods are moved by means of the first conveyor device (30) or the second conveyor device (40) so that the piece goods are placed on the support surface with the largest side.

Images