Gripper for sorting equipment, method for verifying movement of pharmaceutical packages, and use of sensor assembly

Abstract

The present invention relates to a fixture for a drug packaging sorting device and a method for operating the sorting device. The fixture according to the present invention comprises a bracket extending in a first horizontal direction and a second horizontal direction, the bracket comprising an end section having an end surface extending in an arcuate manner in the second direction, wherein the bracket and the end section define an upper support surface. The fixture further comprises a transport device arranged above the bracket and movable in the first horizontal direction, and at least three sensors arranged in the end section below the support surface, which are used to determine the presence of drug packaging, wherein the sensors are arranged to be spaced apart from each other in the Y direction, and wherein the sensor located outside in the Y direction is arranged to be spaced apart in the X direction from at least one sensor located further inside in the Y direction, so that the arrangement structure of the sensors follows the end surface extending in an arcuate manner.

Description

Technical Field

[0001] The invention relates to a gripper for a sorting device for piece goods, in particular pharmaceutical packages, and a method for operating a sorting device, in particular for verifying the movement of pharmaceutical packages onto a receptacle of such a gripper. Background Art

[0002] In a known fixture for a handling system suitable for sorting equipment for pharmaceutical packaging, the unloading and loading end faces of the fixture's bracket are designed to be straight. In order to move pharmaceutical packages onto or off the bracket, the end face is moved close to a storage location, which can be, for example, a shelf or a conveyor belt for moving pharmaceutical packages into or out of the sorting equipment. To this end, the fixture can be moved forward along the longitudinal axis of the bracket via its bracket, close to the storage location. Alternatively, the fixture can be swung or rotated to bring the bracket closer to the storage location. Therefore, when only a rotational or swinging motion is performed, the straight end face creates a gap between the end face and the storage location, where the width of the gap depends on the width of the bracket. When using a larger fixture with a correspondingly wide bracket, this gap becomes increasingly wider, making it necessary to narrow the gap by moving the fixture after swinging or rotating it. Alternatively, the end face of the bracket can be designed to be curved. This has the effect that after a pivoting or rotational movement for positioning the fixture, the gap is smaller at least in the center of the curved end face, but becomes larger towards the side of the holder.

[0003] When moving a drug package from a storage location to a holder, it can become lodged in the gap between the storage location and the end face of the holder and only be partially pulled onto the holder. This situation can be detected in conventional fixtures with straight end faces by arranging a light barrier on the end face of the holder facing the storage location that can detect drug package retention.

[0004] However, due to the design of the curved end face, there are still sections of the holder that cannot be detected by the light barrier, because the light barrier must be placed in the area of the holder where the holder is not yet bent. This results in the following: although the drug packages are partially flat in the curved area of the holder end face, those incorrect removals that fall outside the detection range of the light barrier are not detected, and the handling device assumes that the drug packages are moved error-free onto the fixture. Summary of the Invention

[0005] The present invention aims to provide a fixture in which an erroneous movement of a drug package onto a holder of the fixture can be detected even when the holder has a curved end surface. Furthermore, the present invention aims to provide a method for verifying the movement of a drug package onto a holder.

[0006] The clamp according to the present invention includes a bracket extending in a first horizontal direction (X direction) and in a second horizontal direction (Y direction) perpendicular to the first horizontal direction. The bracket includes an end section having an end surface extending in an arcuate manner in the Y direction, wherein the end section forms an inbound and outbound end surface, and wherein the bracket and the end section define an upper support surface. The arcuate design of the end surface enables a relatively wide clamp (in the Y direction) to be rotated in front of a storage location without the clamp itself being movable in the Y direction, thereby eliminating an excessively wide gap between the end surface of the clamp and the end surface of the storage location.

[0007] A transport device movable in a first horizontal direction is arranged above the support to move the drug packages from the horizontal storage surface to the support. In order to grab the drug packages, the transport device is first moved in the X direction toward the storage location of the drug packages. Once the transport device is positioned accordingly, the drug packages are grabbed and moved again in the X direction toward the support, whereby the drug packages are pulled onto the support. During this pulling movement, the drug packages move over the end sections having curved end faces. Exactly how the drug packages are grabbed depends on the exact design of the transport device. According to the present invention, the term "moving device" should encompass all devices by which the drug packages can be moved from the storage surface to the support. For example, it is conceivable that the transport device is designed as a suction arm or includes such a suction arm, by means of which the drug packages are pulled onto the support.

[0008] In the clamp according to the present invention, in the end section, a plurality of (three or more) sensors coupled to a control device are arranged below the support surface, the sensors being used to determine the presence of a drug package, wherein the sensors are arranged to be spaced apart from each other in the Y direction, and wherein the sensors located outer in the Y direction are arranged to be spaced apart in the X direction from at least one sensor located further inner in the Y direction, so that the arrangement structure of the sensors follows the arc-shaped extending end surface.

[0009] Here, it is not necessary to align the sensors exactly with the arc shape of the end face. It is also conceivable that the offset in the X direction is, for example, linear. Although alignment with the arc shape is not necessary, this is preferred. Therefore, in a preferred embodiment, it is predefined that the sensors are spaced apart from each other in the X direction so that the distances of the sensors from the arcuate end face are substantially the same, i.e., aligned with the arc shape of the end face. The expression "substantially the same distance" also includes arrangements in which the distance from the end face varies slightly due to manufacturing conditions. The corresponding arrangement of the sensors makes it possible to detect erroneous movement of the drug packaging very accurately. Even if the drug packaging, for example, only lies slightly flat in the outer area of the end section, such erroneous movement can still be detected.

[0010] The aforementioned control device can be part of the gripper itself, but it can also be arranged elsewhere in the sorting system. Due to the arrangement of the sensor in the end section, below the support surface, any sensor capable of detecting flat objects can be used. The sensor can, for example, operate according to the principle of a light scanner, a light sensor, or a tactile sensor. The exact design of the sensor is not crucial to the present invention, as long as it ensures that the presence of piece goods in the end region is detected in the arrangement according to the present invention.

[0011] The clamp according to the present invention also makes it possible to detect incorrect movements or out-of-stock removals of medication packages, where the medication package becomes stuck in the transition area between the storage location and the holder, so that it lies flat only within the end section of the holder. If a light barrier, which can only be arranged in a parallel section of the holder, were used in this case, such incorrect out-of-stock removals would not be detected. However, the use according to the present invention and the arrangement of at least one sensor below the support surface make such detection possible. Furthermore, the use of such sensors has the advantage that they are more cost-effective than light barriers.

[0012] If mention a medicine package in this application, so in the technically significant occasion, also should contain a plurality of medicine packages.Therefore, when medicine packages are arranged accordingly, also may move a plurality of medicine packages on the support from the storage location.

[0013] As explained above, the transport device can, for example, be designed as a suction arm or include such a suction arm. While this design is structurally quite simple, simultaneously moving multiple drug packages from the storage surface to the delivery surface is not straightforward, and moving very heavy drug packages is difficult. Therefore, in a preferred embodiment of the suction clamp according to the present invention, the transport device preferably includes two elongated jaws arranged above the support, extending in the X-direction, with these jaws having clamping surfaces facing each other, and at least one of these jaws is additionally movable, at least partially, in a second horizontal direction. This design of the transport device allows for the simultaneous movement of multiple drug packages. Furthermore, by applying a corresponding clamping force, even heavier drug packages can be moved. Using jaws also has the advantage that they can provide a guiding support for the drug packages even when they are being moved from the support to the storage surface or delivery location. Furthermore, this clamp can be used to move drug packages along the second horizontal direction on the storage surface.

[0014] As explained above, the sensor is used to detect whether the drug package is stuck or stagnant in the end section of the holder during the process of being moved to the holder. However, it is also possible to use the sensor for credibility checks in terms of drug package removal. More specifically, the sensor is used to measure the approximate width of the drug package that has been pulled onto the holder over the end section. To make this possible, a preferred embodiment of the clamp according to the present invention provides for the arrangement of multiple sensors in a mirror-symmetrical manner with respect to the center axis of the holder extending in the X direction. Based on the knowledge of the mirror-symmetrical arrangement of the sensors, it is not difficult to infer the approximate width of the drug package that has been moved to the holder. Depending on the number of sensors, the "resolution" in the credibility check can be increased.

[0015] As already explained, in the clamp according to the present invention, the end section is designed to be arcuate. To ensure a particularly small gap between the end surface and the storage location of the drug packaging, a preferred embodiment provides that the arcuate end surface of the end section is designed as a circular arc, with the center point of the corresponding circle located on the vertical rotation axis of the holder.

[0016] In order to avoid long downtimes of the fixture if one or more sensors fail, a preferred embodiment provides for the end section, including at least one sensor, to be designed as a sensor assembly that can be removed from the holder. This design as a sensor assembly enables rapid replacement, even by "normal" operators if necessary.

[0017] Crucial to the gripper according to the present invention is that the gripper jaws are movable in the X-direction, meaning they can be moved from the holder toward the storage location and back again, with the X-direction generally corresponding to the longitudinal axis of the holder. To ensure gripping or gripping of the pharmaceutical package, it is also necessary that at least one of the gripper jaws is movable in the Y-direction. To ensure particularly efficient and effective gripping of the pharmaceutical package, it is advantageous if both gripper jaws are movable in the Y-direction and at least one is also pivotable. To achieve this, a preferred embodiment of the gripper provides for a jaw guide arrangement for carrying out the aforementioned movement. This jaw guide arrangement comprises a frame structure; at least one first guide and at least one second guide extending parallel to each other and spaced apart in the first horizontal direction in the second horizontal direction; and at least four jaw slides coupled to the guides and driven in the second horizontal direction. Two first jaw slides are assigned to each first guide, and two second jaw slides are assigned to each second guide. At least two jaw slides spaced apart in the first horizontal direction are coupled to the gripper jaws. Furthermore, a drive unit is coupled to the jaw guide arrangement, by which the jaw guide arrangement is driven in a first horizontal direction. The combination of the guide arrangement and the jaw slide allows the jaws to be uniformly moved toward or away from each other and simultaneously deflected, even when the jaw slides do not move simultaneously toward each other on the first and second guide arrangements. Furthermore, the corresponding design of the movement mechanism of the jaws offers the advantage that, due to the guidance of the jaws, a significant clamping force can be exerted on the pharmaceutical package to be moved.

[0018] In the method according to the present invention, in step a), a transport device is moved in the X direction toward a storage location for at least one pharmaceutical package and picks up the at least one pharmaceutical package. The storage location can be, for example, a shelf surface. Alternatively, the storage location can be formed by, for example, a conveyor belt, from which the pharmaceutical package is picked up and moved to the shelf surface. After picking up the pharmaceutical package, in step b), the transport device is moved in the X direction from the storage location toward a support, wherein the at least one pharmaceutical package passes over the curved end surface of the end section and onto the support surface of the support. After the transport device has been moved in the X direction, in step c), a sensor is used to check in the end section whether (at least one) pharmaceutical package is within the sensor's detection range. If so, this means that at least one section of the pharmaceutical package is lying flat within the end section of the support, indicating an error in the movement of the pharmaceutical package from the storage location to the support. If this check yields a positive result, a signal is provided in step d) indicating an error in the first attempt to remove the piece goods from the storage location to the support.

[0019] If a signal indicating an error in the first removal attempt is provided, the result can be a shutdown of the sorting system until the operator has corrected the error. However, in a preferred embodiment of the method for verifying the movement of a pharmaceutical package onto a holder of a gripper, the system is not completely disabled. Instead, the jaws are opened in the Y direction and moved back in the X direction toward the storage location, and the pharmaceutical package arranged in the end section is then grasped with the jaws. In the gripper, the transport device comprises two elongated jaws arranged above the holder, extending in the X direction, and having clamping surfaces facing each other. Since it is known from the inspection where the pharmaceutical package is arranged at least partially in the end section of the holder, the distance required to be moved in the X direction can be estimated based on the existing information about the package. After the pharmaceutical package has been grasped (or at least attempted to be grasped) by the jaws, the method steps b) and c) mentioned above are repeated, i.e., the package is returned to the holder and the end section is inspected. If the second inspection of the end section also obtains a positive result, promptly finds that medicine package is again flat on the end section, then provide the signal that mark takes out the attempt wrong for the second time.In response to this, can stop this facility now, perhaps also may carry out the third time taking out attempt.

[0020] In a preferred embodiment of the method according to the present invention, while at least one pharmaceutical package is being moved toward the holder, the width of the pharmaceutical package is measured by means of a sensor; the measured width is compared with a nominal width known to the control device; and a corresponding signal is provided if a limit deviation between the measured width and the nominal width of the pharmaceutical package is exceeded. In other words, in this preferred embodiment, a further verification of the moved pharmaceutical package is performed. While it is relatively unlikely that a pharmaceutical package other than that expected by the control device of the sorting device is located in a storage location, this could be the case if, for example, an operator moves a pharmaceutical package in the sorting device during error correction. Thus, according to this embodiment of the present invention, safety is further increased by removing the correct pharmaceutical package from the storage.

[0021] The response to the signal indicating an incorrect medication package can be to stop the sorting system due to the unwanted medication package. Alternatively, in a preferred embodiment, after a signal indicating an exceeded limit deviation is provided, the gripper is moved toward the unloading station and the medication package lying on the holder is transferred to the unloading station. This avoids the user having to access the sorting system if they discover an incorrect entry, thus avoiding a shutdown of the sorting system. The medication package that has been removed from the warehouse can be re-entered, and the medication that was originally to be removed can be requested again.

[0022] The present invention also relates to the use of a sensor assembly for verifying the movement of a drug package onto a holder of a fixture for a drug sorting device, the sensor assembly comprising: an end surface extending in an arcuate manner in the Y direction and a plurality of (at least three) sensors arranged below the surface of the sensor assembly, which sensors are used to determine the presence of the drug package, wherein the sensors are arranged to be spaced apart from each other in the Y direction, and wherein the sensors on the outside in the Y direction are arranged to be spaced apart from at least one sensor arranged further in the Y direction in an X direction orthogonal to the Y direction, so that the arrangement structure of the sensors follows the end surface extending in the arcuate manner; and an interface for connecting the sensor assembly to a control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Hereinafter, preferred embodiments of the clamp according to the present invention and the method according to the present invention are described in detail with reference to the accompanying drawings, wherein

[0024] Figure 1a and Figure 1b shows an oblique view of a first embodiment of a clamp according to the present invention;

[0025] Figure 2a 、 Figure 2b A detailed view of the first embodiment in the region of the end section of the bracket is shown;

[0026] Figure 3a 、 Figure 3b Shown without the bracket itself Figure 2a and Figure 2b Detail view of

[0027] Figure 4a 、 Figure 4b shows a jaw guide arrangement structure of a second embodiment of a clamp according to the present invention;

[0028] Figure 5a and Figure 5b A detailed view of the jaw guide arrangement is shown;

[0029] Figure 6 An oblique view of the jaw guide arrangement is shown in a parallel position of the jaws;

[0030] Figures 7a to 7h shows the different stages of a preferred embodiment of the method according to the invention; and

[0031] Figure 8 A flow chart showing a preferred embodiment of the method according to the invention is shown. DETAILED DESCRIPTION

[0032] Figure 1a and Figure 1bTwo oblique views of a first preferred embodiment of the clamp 1 according to the invention are shown, wherein Figure 1a shows an oblique view from above, and Figure 1b The figure shows an oblique view from below. The gripper 1 according to the invention is part of a handling device (not shown) for a sorting system and comprises a support 10 and a transport device which, in this embodiment, comprises two jaws 20a, 20b with opposing clamping surfaces 21a, 21b. At their free ends, the jaws 20a, 20b have sections 22a, 22b coated with a non-slip material.

[0033] At the free end of the jaws, the holder 10 has an end section 70, which in this embodiment is designed as a sensor assembly 72 comprising a plurality of sensors 73, 73a, 73b arranged below the surface of the sensor assembly and capable of detecting the presence of an object within its detection range. The sensors can detect when a medication package is lying flat (at least partially) within the end section.

[0034] Sensor 73a is the outer sensor, while sensor 73b is the inner sensor, wherein a plurality of further sensors 73 are arranged between these sensors. Whether there are one or two inner sensors 73b depends on the exact design of the embodiment; the same applies to the number of further sensors between the outer and inner sensors (wherein this number can also be zero).

[0035] The sensors are arranged to follow the curved end face 71 of the end segment, with small deviations in the exact distance from the end face itself (e.g., due to manufacturing constraints) being insignificant. As can be seen, the sensors are arranged so as to be spaced apart from one another in the Y direction, and the outer sensors 73a are also arranged so as to be spaced apart from the inner sensors 73b in the X direction. The exact spacing of the sensors distributed in the Y direction in the X direction depends on the exact shape of the curved end face and the number of sensors. Thus, for example, two inner sensors 73b may not be spaced apart from one another in the X direction; however, the outer sensors 73a are always arranged so as to be spaced apart from at least one inner sensor 73b in the X direction.

[0036] The end section forms the storage and unloading end face of the holder 10, and the end section and the holder together form a support surface, on which the drug package is placed flat or moved. The end face 71 of the end section is designed to be arc-shaped. For a holder of corresponding width, this is necessary if the holder is only to be swung to guide it to the storage location and not to be moved to the storage location in the X direction, and if the gap between the end face and the storage location is to be kept as small as possible on the plane. In the embodiment shown, the end section is designed as a detachable sensor component, which is connected to the ( Figure 1b ) control device coupling.

[0037] The bracket comprises an elongated opening 11 in the middle, which extends in the storage and removal direction, i.e., in the first horizontal direction X. A sliding element 12 comprising a widened sliding head 13 is arranged in the opening 11. The sliding element 12 can be moved in the elongated opening 11 in the storage and removal direction, or in the first horizontal direction.

[0038] Opposite the end section is a jaw guide arrangement 30, to which the jaws 20a, 20b are connected and which includes mechanical means for advancing and pivoting the jaws. In the upper section, the jaw guide arrangement 30 includes a drive unit 50 with two drives 51, 52 and associated transmissions 53, 54. In the illustrated embodiment, the jaws are advanced and pivoted via these two drives, as will be explained in greater detail with reference to the subsequent figures. The jaw guide arrangement also includes an optical detection device 2, which allows various aspects to be monitored during the storage and unloading process.

[0039] The jaw guide arrangement 30 and all its electronic components are connected to the control device 4, which in the embodiment shown is arranged below the clamping arm 3. The clamping arm 3 itself is fixed to the bracket or to the lower structure of the bracket via a rotary joint.

[0040] To load and unload the pharmaceutical packages, the jaw guide arrangement 30 must be moved in a first horizontal direction (X direction), or in the loading and unloading direction. To this end, in the illustrated embodiment, a drive device 60 is arranged below the carrier, by means of which the jaw guide arrangement 30 is moved, as will be explained in more detail with reference to the subsequent figures. Also arranged below the carrier is a further drive device 7, by means of which the sliding element 12 can be moved in the first horizontal direction within the elongated opening 11.

[0041] Figure 2a 、 Figure 2b and Figure 3a 、 Figure 3bA detailed view of the first embodiment in the region of the end section of the holder 10 is shown, wherein Figure 3a and Figure 3b In the figure, the bracket is omitted to illustrate the lower part of the clamp. Figure 2a and Figure 2b The arrangement of sensors 73, 73a, 73b can be seen, which in the embodiment shown are arranged mirror-symmetrically with respect to the center axis or longitudinal axis MA of the holder 10 of the clamp. In the embodiment shown, in addition to sensors 73, 73a, 73b, the sensor assembly also includes a sensor 74, which is designed to correspond to the other sensors and can be used to measure the length of one or more medication packages (in the X direction) moved onto the holder. To this end, during the movement onto the holder, the medication package is completely moved next to the sliding head 13, more precisely, in such a way that the jaws 20a, 20b are moved backward as a whole. After abutting against the sliding head, the medication package is moved towards the end section until the sensor 74 is activated. Depending on the movement section, the length in the X direction can be measured and compared with the known length.

[0042] Figure 4a and Figure 4b An oblique view of a jaw guide arrangement 30 of a second embodiment is shown, in which the two jaws are swung for gripping. The jaw guide arrangement 30 comprises a frame structure 31, 32, 33a, 33b of slightly different construction, in which a front member 31 surrounds the jaws (and a bracket not shown). At the lower end of the member 31 are fixed movable parts 62a, 62b ("cursors") of a linear drive, by means of which the jaw guide arrangement 30 is movable in a first horizontal direction. The members are referred to as "movable" because they are moved in a first horizontal direction together with the jaw guide arrangement along corresponding fixed parts (which are rotated to move the movable parts). Fixed parts 61a, 61b (see Figure 2a 、 Figure 2b and Figure 3a 、 Figure 3b ) itself can be moved in order to move the movable part, for example by rotating itself, wherein the movable part moves along the longitudinal axis of the fixed part during this rotational movement. In other words, the fixed part is fixed only with respect to its position within the manipulation instrument itself. In an alternative embodiment, for example, it is conceivable that the fixed part is designed as a toothed belt, which is arranged between the longitudinal ends of the manipulation instrument and cooperates with corresponding guide wheels to move the movable part.

[0043] like Figure 4bAs can be seen in the figure, two guides 35 and 36, namely a first guide 35 and a second guide 36, extend parallel to each other in the second horizontal direction Y and spaced apart from each other in the first horizontal direction X between the lateral frame structure members 33a and 33b, with the first guide facing the free end of the clamping jaws. Two clamping jaw slides 40a, 40b and 41a, 41b are arranged on each guide 35 and 36: two first clamping jaw slides 40a, 40b on the first guide 35 and two second clamping jaw slides 41a, 41b on the second guide 36. In the illustrated embodiment of the manipulator according to the invention, sections of the clamping jaw slides surround the projections of the guides 35 and 36, so that they partially rest on these projections.

[0044] Figure 5a and Figure 5b Detailed views of the jaw arrangement of the second embodiment are shown. According to these figures, the jaw slides 40a, 40b; 41a, 41b are connected to drive elements 45a, 45b; 46a, 46b, which are designed as racks in the embodiment shown. The drive elements 45a, 45b assigned to the first guide device 35 or the corresponding first jaw slides 40a, 40b and the corresponding drive elements 46a, 46b assigned to the second guide device 36 are oriented relative to the tooth elements of the rack so that the tooth elements are opposite to each other and form an interlaced area at their free ends. In the interlaced area of the drive elements or the rack, a transmission gear 55, 56 is arranged centrally, which is connected via (in Figure 5a and Figure 5b Transmissions 53 and 54 (not shown) are coupled to the drive devices 51 and 52. The spacing between the jaw slides 40a, 40b, 41a, 41b of the guides and the corresponding transmission gears is consistent, and the transmission gear is positioned precisely between the two jaw slides, so that movement of the transmission gears causes synchronous movement of the jaw slides. When the transmission gears rotate, the jaw slides also move synchronously toward or away from each other, with the same information applying to the jaw slides associated with the two guides 35 and 36.

[0045] The jaw slide of the first guide can thus be moved simultaneously or separately with respect to the jaw slide of the second guide, resulting in greater flexibility in the movement of the jaw slides. The jaw slides of the first or second guide can be moved simultaneously, or only the jaw slide assigned to the first or second guide can be moved. In this way, it is possible (by simultaneously moving the jaw slides of both guides) to move the jaws attached to the jaw slides parallel or in an already oscillating manner without a change in angle, or to oscillate the jaws while moving the jaw slide of only one guide.

[0046] As already explained, the clamping jaws 20a, 20b are coupled to the clamping jaw guide arrangement 30. Figure 4b and Figure 5b In the embodiment shown, the clamping jaws 20a and 20b are connected to the clamping jaw slides 40a and 40b of the first guide device 35 via revolving joints 23a, 43a, and 23b, 43b, respectively, and are connected to the clamping jaw slides 41a and 41b of the second guide device 36 via slotted hole guides 24a, 25a, 44a, and 24b, 25b, 44b, respectively. In alternative embodiments, the revolving joints can also be arranged near the clamping jaw slide associated with the second guide device. In this case, in the combination shown, the slotted hole guide is required to be arranged near the clamping jaw slide associated with the first guide device 35.

[0047] However, the use of a revolute joint / slotted hole guide combination is not mandatory. Although the clamping jaws must be held on the corresponding jaw slide by means of a revolute joint or oscillating joint near at least one guide, the use of a slotted hole guide is not mandatory. Thus, for example, it is conceivable that in an alternative embodiment, the clamping jaws move together with the jaw slide against the restoring force, and that when the jaw slide moves backward, the restoring force causes the clamping jaws to move backward.

[0048] Figure 6 A detailed view of a second embodiment of a jaw guide arrangement 30 is shown, wherein parts of the drive unit 50 and parts of the frame structure are omitted for a better view of the remaining components. Figure 6 In the comparison, the jaws 20a, 20b continue to retract and are oriented parallel to each other. Figure 5a 、 Figure 5b and Figure 6 It can be seen how the movement of the jaw slider on the guide device affects the posture of the jaw.

[0049] In the following, reference Figures 7a to 7h and Figure 8 , describes a preferred embodiment of the method according to the present invention. First, the clamp is moved to the storage location 80 so that the drug packages 6', 6 to be shipped are roughly centered relative to the holder 10 of the clamp, as shown in FIG. Figure 7a As illustrated in the . Figures 7a to 7hOnly a few components of the clamp that are essential for the method itself are shown schematically. In addition to the jaws 20a, 20b, a sliding head 13 is also illustrated, which represents a stop for the drug package when it is pulled onto the holder 10. As marked in the figure, the holder comprises an end section of circular arc design in the Y direction, in which a plurality of sensors 73, 73a, 73b arranged in a mirror-symmetrical manner are arranged. The holder itself is positioned in front of the storage location by deflecting the rack about the vertical axis VA. In order to move the drug package onto the holder, the jaws 20a, 20b of the clamp are first moved in the X direction towards the storage location of the drug package 6', 6, as shown. Figure 7b As soon as the jaws have moved a correspondingly long distance to the storage location, they move towards each other in the Y direction, thereby grabbing the drug packages 6 ', 6 (see also Figure 7b Once the drug package is grasped, in step 120 the jaws 20a, 20b are moved in the X direction from the storage location 80 to the holder 10 of the clamp. Figure 7c In order to move the drug package to the holder, the jaws 20a, 20b move in the X direction to their initial position, in which the clamped one or more drug packages rest on the sliding head 13. Once the complete reverse movement of the jaws has been carried out, it is checked in step 130 whether the drug package 6' is within the detection range of one (or more) sensors 73, 73a, 73b, wherein the approximate position of the drug package can also be determined from this. The detection of whether the drug package is arranged in the end section depends on the type of sensor used, wherein in particular optical scanners, optical sensors and tactile sensors can be used. Exactly how the presence of an object is detected according to the special sensor type is known to those skilled in the art and will not be explained in detail here. If the test shows that no drug package is lying flat in the end section, the clamp is subsequently moved to the storage location of the one or more drug packages lying flat on the holder (step 200). However, if as Figure 7d As shown in FIG, if it is confirmed that a drug package is arranged in the end section, a signal indicating that the first removal attempt of the drug package from the storage location 80 to the holder 10 is incorrect is provided (step 140). Figure 7dIn the situation shown in FIG, the situation is that the drug package 6' has not been completely moved to the holder 10, but is still mostly arranged at the storage location 80, but is also partially arranged in the end section. If the clamp is moved in this situation, it is possible that the drug package 6' will fall from the storage location and, in the worst case, block the subsequent movement process of the operating instrument. The signal provided may, for example, cause the clamp to be unable to move and require operator intervention. However, alternatively, it is also conceivable that the signal initiates a second removal attempt using the clamp. To this end, in step 300, the jaws 20a, 20b are opened in the Y direction and moved in the X direction to the storage location. In the described embodiment, multiple sensors are used in the end section so that the control device can estimate how far the jaws must be moved away from each other in the Y direction based on the activated sensors. If only a small number of sensors are used, a simple process can be used so that the jaws move the maximum distance in the Y direction. Once the gripper jaws have moved a correspondingly long distance in the X direction toward the storage location, an attempt is made to remove the remaining medication package 6' with the gripper jaws (step 310), more precisely by moving the gripper jaws toward each other again in the Y direction. Subsequently, method steps b) and c) are repeated, i.e., moving in the X direction toward the holder and checking the end section for medication packages lying flat (step 320). If medication packages are still found lying flat in the end section, a signal is provided indicating that the second removal attempt was incorrect ( Figure 7h ). In this case, a third removal attempt may be made, or the movement of the gripper may be blocked and operator intervention may be requested.

Claims

1. A fixture (1) for a sorting device having a horizontal storage surface for storing drug packages, the fixture comprising: A bracket (10) extending in a first horizontal direction and in a second horizontal direction orthogonal to the first horizontal direction, the bracket comprising an end section (70), the end section having an end surface (71) extending in an arc shape in the second horizontal direction, wherein the end section (70) forms an end surface for storage in and out of storage, wherein the bracket (10) and the end section (70) define an upper support surface; a transport device arranged above the holder (10) and movable in the first horizontal direction, the transport device being used to move the drug packages from the horizontal storage surface to the holder (10); The invention is characterized in that the clamp (1) includes a plurality of sensors (73, 73a, 73b) coupled to the control device (4) and arranged below the support surface in the end section (70), the sensors being used to determine the presence of drug packaging, wherein the sensors are arranged to be spaced apart from each other in the second horizontal direction, and wherein the sensors located outside in the second horizontal direction are arranged to be spaced apart from at least one sensor located further inside in the second horizontal direction in the first horizontal direction, so that the arrangement structure of the sensors follows the arc-shaped extended end surface (71).

2. The clamp (1) for a sorting device according to claim 1, wherein the sorting device has a horizontal storage surface for storing drug packages, characterized in that The sensors (73, 73a, 73b) are spaced apart from each other in the first horizontal direction so that the sensors are at the same distance from the arc-shaped end surface (71).

3. The clamp (1) for a sorting device according to claim 1, wherein the sorting device has a horizontal storage surface for storing drug packages, characterized in that The transport device comprises two elongated clamping jaws (20a, 20b) arranged above the support (10) and extending in the first horizontal direction, the clamping jaws having clamping surfaces (21a, 21b) facing each other, at least one of the clamping jaws being additionally movable, at least partially, in the second horizontal direction.

4. A clamp (1) for a sorting device according to any one of claims 1 to 3, wherein the sorting device has a horizontal storage surface for storing pharmaceutical packages, characterized in that The sensors (73, 73a, 73b) are arranged in a mirror-symmetrical manner with respect to a central axis (MA) of the bracket (10) extending in the first horizontal direction.

5. A clamp (1) for a sorting device according to any one of claims 1 to 3, wherein the sorting device has a horizontal storage surface for storing pharmaceutical packages, characterized in that The end section is designed as a sensor assembly (72) that is detachable from the bracket (10).

6. A clamp (1) for a sorting device according to any one of claims 1 to 3, wherein the sorting device has a horizontal storage surface for storing pharmaceutical packages, characterized in that The arcuately extending end surface (71) of the end section (70) is designed in the shape of a circular arc, wherein the center point of the corresponding circle is located on the vertical rotation axis (VA) of the bracket (10).

7. The clamp (1) for a sorting device according to claim 3, wherein the sorting device has a horizontal storage surface for storing drug packages, characterized in that The fixture further comprises: The jaw guide arrangement structure (30) comprises: Frame structure (31, 32, 33a, 33b); at least one first guide device (35) and at least one second guide device (36), the first guide device and the second guide device extending in parallel with each other and spaced apart from each other in the first horizontal direction in a second horizontal direction transverse to the first horizontal direction; and at least four jaw slides coupled to the first guide device (35) and the second guide device (36) and driven in the second horizontal direction, wherein two first jaw slides (40a, 40b) are respectively assigned to the first guide device (35) and two second jaw slides (41a, 41b) are respectively assigned to the second guide device (36), and wherein at least two jaw sliders spaced apart in the first horizontal direction are coupled to the jaws (20a, 20b); and A drive unit (60, 61a, 61b, 62a, 62b) coupled to the clamping jaw guide arrangement structure drives the clamping jaw guide arrangement structure (30) in the first horizontal direction via the drive unit.

8. A method for verifying the movement of a pharmaceutical package onto a holder (10) of a fixture (1) according to any one of claims 1 to 7, wherein a) moving the transport device in a first horizontal direction toward a storage location (80) of at least one drug package and gripping at least one of the drug packages; b) moving the transport device from the storage location (80) toward the support (10) in the first horizontal direction; c) after the transport device has moved in the first horizontal direction, checking in the end section (70) by means of the sensors (73, 73a, 73b) whether a drug package is present within the detection range of the sensors; and d) If the test yields a positive result, a signal is provided indicating that the first removal attempt was incorrect.

9. Method for verifying the movement of a pharmaceutical package onto a holder (10) of a clamp (1) according to claim 8, wherein the transport device comprises two elongated jaws (20a, 20b) arranged above the holder (10) and extending in the first horizontal direction, the jaws having clamping surfaces (21a, 21b) facing each other; It is characterized in that If the result of the test according to step d) is positive, the clamping jaws (20a, 20b) are opened in the second horizontal direction and moved again in the first horizontal direction to the storage location (80); Grasping a drug package arranged in the end section (70) with the clamping jaws (20a, 20b); performing method steps b) and c); and In the event of a positive test result, a signal is provided indicating that the second removal attempt was incorrect.

10. Method for verifying the movement of a drug package onto a holder (10) of a fixture (1) according to claim 8 or 9, It is characterized in that During the movement of at least one of the medicine packages toward the holder, measuring the width of the medicine package by means of the sensor (73, 73a, 73b) arranged in the holder; comparing the measured width with a nominal width known to the control device (4); and If a limiting deviation between the measured width and the nominal width of the pharmaceutical packaging is exceeded, a corresponding signal is provided.

11. Method for verifying the movement of a drug package onto a holder (10) of a fixture (1) according to claim 10, It is characterized in that After providing a signal indicating that a limit deviation has been exceeded, the gripper (1) is moved towards an unloading station and the lying pharmaceutical package is handed over to the unloading station.

12. Use of a sensor assembly (72) for verifying the movement of a drug package onto a holder (10) of a fixture (1) of a sorting device for drugs, the sensor assembly comprising: an end surface (71) extending in an arc shape in a second horizontal direction, and a plurality of sensors (73, 73a, 73b) arranged below the surface of the sensor assembly, the sensors for determining the presence of a drug package, wherein the sensors are arranged to be spaced apart from each other in the second horizontal direction, and wherein sensors located outermost in the second horizontal direction are arranged to be spaced apart from at least one sensor located further inwardly in the second horizontal direction in a first horizontal direction orthogonal to the second horizontal direction, such that the arrangement of the sensors follows the arcuately extended end surface (71), as well as An interface for connecting the sensor assembly to a control device.

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