Device and method for stacking stack of value documents

Abstract

The invention relates to a stacking device (1) for stacking a stack (11) of value documents (12). The device (1) comprises a base support structure (10) and a side support structure (20), which together define a receiving space (30) into which a stack (11) of value documents (12) can be inserted. According to the invention, the side support structure (20) comprises one or more longitudinal openings (22), and during the placement of the stack (11) of value documents (12) on the base support structure (10), gripping elements (51) of the robot unit (50) can be moved from an open end region (32) towards the base support structure (10) such that value documents (12) in the stack (11) of value documents (12) are arranged one after the other in the receiving space (30). The invention also relates to a device and a method for stacking a stack (11) of value documents (12).

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to the processing of value documents. In particular, the invention relates to a method and a stacking device for stacking a stack of value documents. The invention further relates to an apparatus comprising said stacking device. BACKGROUND

[0002] Value document processing devices are used in various applications, such as banknote processing devices. Such banknote processing devices can comprise banknote stacking systems, banknote sorting systems, banknote singling systems, or combinations thereof. Typically, value document trays are used to transport value documents to and from respective value document processing devices. For example, a robotic unit can be used to remove value documents from a value document processing device in order to place them in a tray. During removal, the value documents can be present in the form of a stack, i.e. in the form of a stack of value documents comprising a plurality of value documents, such as banknotes. However, some value document processing devices provide stacks of value documents having a small stack size. As a result, a significant effort is paid to remove the stack from the value document processing device and to handle the stack of value documents in automated subsequent processing. SUMMARY

[0003] It can be seen that it is an object of the present invention to facilitate automated subsequent processing of stacks of value documents provided by a value document processing device.

[0004] A stacking device and a method are provided according to the features of the independent claims. Further embodiments are apparent from the dependent claims and the following description.

[0005] According to one aspect, a stacking device for stacking a stack of value documents, such as banknotes, is provided. The stacking device comprises a base support structure configured to receive a stack of value documents thereon. The stacking device further comprises a side support structure extending from the base support structure, such that the base support structure and the side support structure together define a receiving space into which the stack of value documents can be inserted. The side support structure defines an open end region opposite the base support structure, such that the stack of value documents can be inserted into the receiving space through or via the open end region. The side support structure comprises a first side wall having one or more longitudinal openings extending between the base support structure and the open end region. The longitudinal openings of the first side wall are configured to allow a first gripping element of a robotic unit to move within the longitudinal openings from the open end region towards the base support structure during placement of the stack of value documents onto the base support structure, such that the value documents in the stack of value documents are arranged one on top of the other within the receiving space.

[0006] The accumulation device of the present invention allows two or more or multiple small stacks of value documents to be stacked one on top of the other in order to form a large stack of value documents composed of two or more or multiple small stacks of value documents. Thus, the size or height of the stack of value documents can be adjusted before placing the stack into a tray. In particular, the tray can comprise a plurality of tray compartments, each tray compartment having specific dimensions such that the size of the stack to be inserted into the tray compartment should match the specific dimensions of the respective tray compartment. For example, the dimensions of the tray compartments can be designed to receive a stack of 500 value documents, but the value document handling device can only output stacks of 100 value documents. Thus, placing a stack of 100 value documents directly into the tray compartment will result in unoccupied space in the tray compartment, where subsequently filling this unoccupied space in the tray compartment can lead to difficulties. The accumulation device of the present invention overcomes this problem, as multiple stacks of 100 value documents output by the value document handling device can be collected within the accumulation device in order to achieve a larger stack with an adjusted size, which can be inserted into the respective tray compartment. In relation to the example given above, this would mean that five stacks of 100 value documents are collected within the accumulation device before the resulting large stack of 500 value documents is inserted into the tray compartment. Thus, the large stack of 500 value documents can be properly fitted into the tray compartment and no unoccupied space is left in the tray compartment. The basic principle of this example can be transferred to any number of value documents and any stack size.

[0007] The configuration of the accumulation device can allow the robotic unit, in particular the gripping element of the robotic unit, to at least partially insert into the receiving space of the accumulation device such that the stacks of value documents can be placed in such a way that the value documents in the stacks of value documents are arranged one on top of the other within the receiving space, i.e. one on top of the other. In other words, the stacks can be arranged within the receiving space of the accumulation device such that the stacks of value documents are on the base support structure. For example, a first stack of value documents can be placed on the base structure, where the first stack of value documents has a lowermost value document, which represents the lower end of the first stack, and thus is directly on the support surface of the base support structure. The first stack of value documents can also have an uppermost value document, which represents the upper end of the first stack. Then, a second stack of value documents can be placed on the uppermost value document of the first stack. That is, the lowermost value document of the second stack can be directly on the uppermost value document of the first stack. The second stack can have an uppermost value document, on which another stack can be placed. This process can be repeated until the desired accumulation stack size is reached.

[0008] The base support structure can represent a bottom support of the accumulation device that supports a plurality of stacks collected within a receiving space. The side support structure can extend upwardly from the base support structure to provide lateral support for value documents stacked onto the base support structure. In particular, the side support structure can provide lateral confinement, e.g. a wall-like structure that prevents the stacked value documents from falling out of the accumulation device. The side support structure can laterally enclose the receiving space in which the stacked value documents are located. The side support structure further defines an open end region that can represent an opening at the top of the accumulation device via which the receiving space is accessible, and thus via which individual stacks of value documents can be continuously inserted into the receiving space and via which the accumulated stacks of value documents can be collectively, e.g. simultaneously, removed from the receiving space.

[0009] The longitudinal opening can be connected to the open end region such that the grasping element of the robotic unit can be lowered into the longitudinal opening. In particular, the longitudinal opening can extend all the way to the base support structure such that the grasping element of the robotic unit can lower a first stack of value documents downwardly onto the base support structure and / or such that the grasping element of the robotic unit can place a first stack of value documents on the base support structure, in particular on a placement or support surface of the base support structure. The longitudinal opening can even extend beyond the placement or support surface of the base support structure such that the grasping element of the robotic unit can be removed laterally from the accumulation device after placing the first stack of value documents onto the placement or support surface of the base support structure.

[0010] The longitudinal opening can have the shape of longitudinal slots. These longitudinal slots can be arranged in one or both side walls of the side support structure, wherein the longitudinal slots are complementary to one or more fingers of the grasping element of the robotic unit such that the fingers of the grasping element can be stretched into the longitudinal slots when placing a stack of value documents into the accumulation device.

[0011] According to one embodiment, the longitudinal opening of the first side wall extends from the open end region to the base support structure such that the longitudinal opening is configured to allow the first grasping element of the robotic unit to insert into an access region between the base support structure and the lowermost value document of a stack of value documents to lift the stack of value documents from the receiving space.

[0012] The configuration of the longitudinal opening starting from the open end region and extending at least down to the base support structure offers the possibility that a gripping element of the robotic unit can be inserted into the access region of the stacking device in a lateral direction, i.e. in a direction perpendicular to the first side wall, so that the gripping element can be inserted under the lowermost value document of the stack of value documents. A subsequent lifting of the gripping element, i.e. in a direction parallel to the first side wall and / or parallel to the longitudinal opening, can provide a lifting movement for the stack of value documents, thereby moving the stack away from the base support structure. During this lifting, the gripping element can move within and along the longitudinal opening, for example when removing a large stack of the size of the desired stack.

[0013] According to one embodiment, the base support structure comprises a support surface having one or more parallel recesses into which a first gripping element of the robotic unit can be inserted to lift a stack of value documents within the receiving space.

[0014] It is possible that the parallel recesses define the above-mentioned access region between the base support structure and the lowermost value document of the stack of value documents. In other words, one or more fingers of a gripping element of the robotic unit can be introduced into the complementary recesses while moving the fingers in a direction perpendicular to the first side wall. After the one or more fingers have been introduced into their complementary recesses, the gripping element can be lifted towards the open end region of the side support structure to lift the collected stack of value documents out of the receiving space.

[0015] According to one embodiment, the longitudinal opening at least partially overlaps with the parallel recesses of the support surface in order to allow a first gripping element of the robotic unit to be inserted through the longitudinal opening into the parallel recesses.

[0016] In other words, the longitudinal opening is connected to the parallel recesses so that a gripping element of the robotic unit can be moved from the recesses to the longitudinal opening in the first side wall without having to remove the gripping element from the stacking device. This means that, when introducing a stack of value documents into the receiving space, the configuration of the stacking device allows the gripping element to be lowered until the stack of value documents is placed on the placement or support surface of the base support structure so that the gripping element can be removed laterally from the stacking device without interacting with this stack of value documents. After a stacking stack consisting of small stacks of value documents has been collected within the receiving space, the gripping element can again be introduced laterally into the stacking device without interacting with the stacked stack of value documents so that, when the gripping element is moved within the longitudinal opening, the stacked stack of value documents can be lifted from the receiving space.

[0017] According to one embodiment, the longitudinal opening of the first side wall is separated by parallel rod elements of the first side wall, which are connected to the base support structure and extend from the base support structure towards the open end region.

[0018] The pole elements can be present in the form of rigid poles or columns that protrude away from the base support structure. The base support structure can have a rectangular shape defined by corresponding side edges. The pole elements of the first side wall can be arranged at the first side edge of the base support structure. The pole elements can comprise a free end at the open end region of the side support structure.

[0019] According to an embodiment, the accumulation device comprises a compression element for compressing the stack of value documents arranged within the receiving space.

[0020] In particular, the accumulation device can comprise a compression unit comprising an actuation mechanism and a compression element. The compression element can be pivotably attached to the actuation mechanism. The actuation mechanism can be attached to a frame of the accumulation device and can activate a pivoting movement of the compression element, which can press or push the compression element onto the uppermost value document of the stack of value documents collected within the receiving space of the accumulation device. Upon actuation, the compression element can be configured to reach into the receiving space during the pivoting movement of the compression element. For example, the compression element can pass through the longitudinal opening during the pivoting movement of the compression element.

[0021] According to an embodiment, the compression element comprises one or more finger elements configured to be inserted into the longitudinal opening of the second side wall and configured to move within the longitudinal opening of the second side wall towards the base support structure in order to compress the stack of value documents arranged within the receiving space.

[0022] Upon actuation, the finger elements of the compression element can pivot into the receiving space, thereby pressing or pushing the finger elements against the uppermost value document of the stack of value documents collected within the receiving space of the accumulation device. In other words, during the pivoting movement of the finger elements, the finger elements of the compression element reach into the longitudinal opening of the second side wall towards the base support structure. In this way, the usually bulky or loose stack of value documents in the accumulation device is compressed from above by the compression element, so that the robot unit can firmly grasp the compressed stack afterwards and the opening width of its gripping elements is smaller.

[0023] According to an embodiment, the second side wall is arranged opposite the first side wall such that the receiving space is arranged between the first side wall and the second side wall.

[0024] The second side wall can be configured similarly or identically to the first side wall. In particular, the second side wall can comprise pole elements extending from a second side edge of the base support structure, wherein the pole elements of the second side wall define a longitudinal opening within the second side wall. The side support structure can further comprise a third side wall and a fourth side wall opposite the third side wall with respect to the receiving space. Thus, the first, second, third and fourth side walls can together define the receiving space.

[0025] According to an embodiment, the accumulation device comprises a pivot element configured to adjust the tilted orientation of the base support structure relative to the floor element.

[0026] That is, the base support structure, and thus the side support structure, can be tilted or skewed together relative to the floor element of the environment on which the frame or legs of the accumulation device stand. For example, the base support structure can be tilted towards one of the side walls or towards one corner of the base support structure, which means that the base support structure and the side support structure can be tilted in one or two directions. This tilting of the base support structure and the side support structure can ensure that the stacks of value documents continuously placed into the receiving space are aligned. For example, due to the tilting of the base support structure towards one side wall / corner, the stacks of value documents received within the receiving space will be against one or both side walls of the side support structure, which enables the individual value documents of the received stacks to be aligned.

[0027] Furthermore, the size of the receiving space can be adjustable, for example by moving one or more side walls relative to the base support structure, etc.

[0028] According to an aspect, there is provided an apparatus for accumulating stacks of value documents. The apparatus comprises at least one accumulation device as described herein. The apparatus further comprises a robotic unit having a gripping unit for gripping stacks of value documents. The accumulation device is preferably arranged within the working range of the robotic unit. The apparatus can further comprise a value document processing device and / or a value document container / tray and / or an alignment device, which are described later.

[0029] The apparatus further comprises a control unit for controlling the motion of the robotic unit. The control unit is configured to control the robotic unit to place a first stack of value documents into the accumulation device and to place a second stack of value documents, preferably at least one, into the accumulation device, preferably the second stack of value documents has the same condition (e.g. not fit or fit or ATM-fit) and / or the same type (e.g. denomination and / or currency) as the first stack of value documents, such that the first and the second stack of value documents are arranged one stack on top of the other within the accumulation device.

[0030] For example, the control unit is configured to control the robotic unit to place a plurality of stacks of value documents consecutively (i.e. one after the other) into the accumulation device, such that the plurality of stacks of value documents are arranged one stack on top of the other within the accumulation device. Exemplary control sequences applied by the control unit will be described below.

[0031] The control unit can be configured to control the robot unit to adapt the orientation of the second stack of value documents based on a predefined orientation scheme, in particular to make the orientation of the second stack of value documents identical to the orientation of the first stack of value documents, before placing the second stack of value documents into the receiving space of the accumulation device.

[0032] The control unit can control the robot unit to grasp the first stack of value documents, e.g. using grasping elements of the robot unit, and remove the first stack of value documents from an output module of a value document processing device configured for inspecting value documents or from another device configured to receive stacks of value documents and align edges of stacks of value documents, e.g. an alignment device for stacks of value documents. Then, the robot unit can be controlled to place the removed first stack of value documents into the receiving space of the accumulation device. Since this is the first stack of value documents being placed in the still empty accumulation device, the control unit can control grasping elements of the robot unit to lower the grasping elements into the receiving space until the first stack of value documents is placed on a placement or support surface of the base support structure of the accumulation device. In particular, during lowering of the grasping elements, the grasping elements can move within the longitudinal opening of the first side wall. Thereafter, the control unit can control the robot unit to release the first stack of value documents by moving the grasping elements away from each other. Thus, the grasping elements can be removed from the receiving space in a lateral direction, i.e. perpendicular to the first side wall, without interacting with the first stack of value documents already placed on the base support structure.

[0033] Then, the control unit can control the robot unit to grasp the second stack of value documents and remove the second stack of value documents from the output module of the value document processing device or from the other device, e.g. from the alignment device. The second stack can have the same conditions and / or the same type, e.g. denomination and / or currency, as the first stack of value documents. Then, the robot unit can be controlled to place the second stack of value documents also into the receiving space of the accumulation device. Since this is the second stack of value documents being placed in the accumulation device, the control unit can control grasping elements of the robot unit to lower the grasping elements into the receiving space until one of the grasping elements reaches the uppermost face of the first stack of value documents. In particular, during lowering of the grasping elements towards the base support structure, the grasping elements can move within the longitudinal opening of the first side wall. Thereafter, the control unit can control the robot unit to release the second stack of value documents by moving the grasping elements away from each other. Thus, the grasping elements can be removed from the receiving space in a lateral direction, i.e. perpendicular to the first side wall.

[0034] The process can be repeated, with one or more further stacks of value documents being removed from the output module of the value document processing device or from the output module of another device, e.g. from the alignment device, and collected within the accumulation device. Thus, the apparatus of the present application allows for multiple stacks of value documents to be placed successively and individually within the accumulation device, wherein these stacks are placed one after the other in the accumulation device.

[0035] According to one embodiment, the control unit is configured to control the robot unit or a further robot unit to jointly remove the first and second (or multiple) stacks of value documents from the accumulation device (i.e. not the first and second stacks individually, but the stacks combined) and to place them jointly into value document containers which are arranged within the working range of the robot unit or the further robot unit, respectively. Exemplary control sequences will be described below.

[0036] In contrast to placing separate (small) stacks successively into the accumulation device, the control unit can control the robot unit or a further robot unit, in particular the gripping elements of the robot unit, to grasp all value documents in the receiving space of the accumulation device and to jointly remove all value documents from the accumulation device in the form of a single (large) stack of value documents. In particular, a first gripping element can be inserted below the lowermost value document in the accumulation device, i.e. between the lowermost value document and the base support structure. This insertion of the first gripping element can be performed by a lateral movement of the first gripping element perpendicular to the first side wall. At the same time, a second gripping element of the robot unit can be arranged above the uppermost value document in the accumulation device. Then, the gripping elements can be moved towards each other to clamp the single (large) stack of value documents between the first and second gripping elements. The gripping elements can be moved within the longitudinal opening in the first side wall along the longitudinal opening and at the same time towards each other. Thereafter, the clamped single (large) stack of value documents can be lifted and removed from the accumulation device. During the lifting, the gripping elements can be moved within the longitudinal opening away from the base support structure and towards the open end region of the side support structure, thereby jointly (i.e. as one package) removing the single (large) stack of value documents from the accumulation device.

[0037] In particular, the control unit can be configured to control the robot unit to insert the removed single (large) stack of value documents jointly into the value document container (preferably into the top side opening thereof), e.g. into a compartment of the value document container / tray, preferably such that the inserted (single / large) stack of value documents stands on its edges in the container. Such a value document standing on its edges apparatus allows for a large number of stacked value documents to be held densely in the container, while they can still be easily removed from the container by the gripping elements of the robot unit from the top of the container.

[0038] Additionally or alternatively, the control unit can be configured to control the robot unit to insert the removed individual (large) stacks of value documents jointly into an ATM cassette. Preferably, the stacks of value documents of the same type (currency and denomination) with a good condition (fit) removed from one or more accumulation devices are inserted into the respective ATM cassette.

[0039] According to one embodiment, the accumulation device is assigned to at least one specific condition and / or at least one specific type (e.g. currency and / or denomination) of value documents, and the value documents of the second stack of at least one value document have the assigned condition and / or the assigned type (e.g. currency and / or denomination) of the accumulation device. In particular, the value documents of the at least one second stack of value documents can have the same condition and / or type (e.g. currency and / or denomination) as the value documents of the first stack. And the apparatus further comprises at least one (one or more) further / second accumulation device, e.g. identical or similar to the first accumulation device. In comparison to the (first) accumulation device, the further / second accumulation device is assigned to a specific other condition and / or other type (e.g. currency and / or denomination) of value documents. Then, the control unit can be configured to control the robot unit to remove the first and the second stack of value documents from the value document handling device or the value document alignment device and to place the removed first and the second stack of value documents into the (first) accumulation device or the further / second accumulation device according to the condition and / or type (e.g. currency and / or denomination) of the first and the second stack of value documents.

[0040] According to one embodiment, the accumulation device is assigned to more than one specific condition (e.g. fit and ATM-fit) and / or more than one specific type (e.g. more than one denomination of a specific currency) of value documents, and both the first stack of value documents and the at least one second stack of value documents belong to the assigned conditions and / or the assigned types of value documents.

[0041] According to one embodiment, the accumulation device (of the first stack of value documents) is a first accumulation device, and the apparatus further comprises a second accumulation device (identical or similar to the first accumulation device) arranged within the working range of the robot unit. The first accumulation device and the second accumulation device are assigned to different conditions and / or types (e.g. currency and / or denomination) of value documents. The control unit has access to information about the assignment of the first and the second accumulation device to these conditions and / or different types of value documents. The control unit is configured to control the robot unit to place one or more third stacks of value documents of a condition and / or type (e.g. denomination and / or currency) different from the first and the second stack into the second accumulation device. Thus, value document stacks of different conditions and / or types are accumulated and sorted in one step.

[0042] According to an aspect, a method for stacking stacks of value documents is provided. A step of the method comprises removing, by a robotic unit, a first stack of value documents from a value document handling device or from a value document alignment device and placing, by the robotic unit, the removed first stack of value documents into a receiving space of a first stacking device (e.g. a stacking device as described herein). Another step of the method comprises removing, by the robotic unit, a second stack of value documents from the value document handling device or from the value document alignment device, the second stack of value documents preferably having the condition and / or the value document type assigned to the first stacking device, e.g. having the same condition and / or the same type (denomination and / or currency) as the first stack of value documents, and placing the removed second stack of value documents into the receiving space of the first stacking device and arranging the second stack of value documents on top of the first stack of value documents. Another step of the method comprises jointly removing the first stack of value documents and the second stack of value documents from the first stacking device and, preferably, jointly placing the first and second stacks into a value document container, the value document container being arranged within a working range of the robotic unit or of another robotic unit, respectively. The method steps can be performed in the order indicated.

[0043] According to an embodiment, another step of the method comprises adjusting, by the robotic unit, an orientation of the second stack of value documents based on a predetermined orientation scheme prior to placing the second stack of value documents into the receiving space of the first stacking device, in particular such that the orientation of the second stack is identical to the orientation of the first stack.

[0044] According to an embodiment, the method further comprises the steps of:

[0045] - assigning the first stacking device and a second stacking device (identical or similar to the first stacking device) arranged within the working range of the robotic unit to value documents of different conditions and / or different types (e.g. denominations and / or currencies), and

[0046] - removing, by the robotic unit, one or more third stacks of value documents of different conditions and / or different types (e.g. denominations and / or currencies) than the first and second stacks from the same or another value document handling device or from the same or another value document alignment device, and

[0047] - placing the third stacks of value documents into the receiving space of the second stacking device.

[0048] For example, the robotic places a third stack removed from the value document handling device or the value document alignment device and a fourth stack removed from the value document handling device or the value document alignment device into the receiving space of the second stacking device, wherein the robotic places them such that more of the third and fourth stacks are stacked on top of each other in the receiving space.

[0049] Furthermore, the robot unit or the further robot unit can jointly remove the first stack and the second stack from the first accumulation device and place them jointly into a first valuable document container arranged within the working range of the robot unit or the further robot unit, respectively. And the robot unit or the further robot unit can jointly remove the third stack and the fourth stack from the second accumulation device and can place them into a second valuable document container arranged within the working range of the robot unit or the further robot unit, or into one of the at least two compartments of the first container different from the one in which the first stack and the second stack have been placed.

[0050] According to one embodiment, a further step of the method comprises removing, by the robot unit, a third stack of valuable documents from the valuable document processing device or from the valuable document alignment device. A further step of the method comprises assigning the third stack of valuable documents to the second accumulation device based on the predetermined sorting scheme. A further step of the method comprises placing the third stack of valuable documents into the receiving space of the second accumulation device in response to assigning the third stack of valuable documents to the second accumulation device.

[0051] According to one embodiment, a further step of the method comprises removing, by the robot unit, a fourth stack of valuable documents from the valuable document processing device or from the valuable document alignment device. A further step of the method comprises assigning the fourth stack of valuable documents to the second accumulation device based on the predetermined sorting scheme. A further step of the method comprises placing the fourth stack of valuable documents into the receiving space of the second accumulation device in response to assigning the fourth stack of valuable documents to the second accumulation device. The fourth stack can have the same condition and / or type (e.g. denomination and / or currency) as the third stack of valuable documents, which is different from the condition and / or type (e.g. denomination and / or currency) of the first stack and the second stack.

[0052] According to one embodiment, the robot unit places non-conforming valuable documents of two or more types (two or more currencies and / or two or more denominations) into the same accumulation device, i.e. different types of non-conforming valuable documents can be mixed in the respective accumulation device. Thus, the valuable document processing device providing the valuable documents for the accumulation device does not need to sort the non-conforming valuable documents of different types (e.g. currencies and / or denominations) of these mixed currencies and / or denominations. Thus, a valuable document processing device with a smaller number of stackers can be used to provide the stacks of valuable documents.

[0053] According to one embodiment, the apparatus can comprise two or more accumulation devices receiving valuable documents of the same condition and / or type (currency and denomination). Thus, more receiving space is provided for the common condition and / or type of valuable documents (e.g. conforming valuable documents of EUR 50 conforming banknotes). BRIEF DESCRIPTION OF DRAWINGS

[0054] The invention will be described below in conjunction with the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0055] Figure 1 A stacking device for stacking valuable documents is shown;

[0056] Figure 2 It shows including Figure 1 Equipment for stacking devices;

[0057] Figure 3 It shows including Figure 1 The valuable document processing environment for the stacking device;

[0058] Figure 4 A flowchart is shown for a method of stacking valuable documents. Detailed Implementation

[0059] The representations and illustrations in the accompanying drawings may be schematic and not to scale. A better understanding of the above-described stacking apparatus, equipment, and methods can be obtained by reading the illustrated figures and the detailed description below. In all the drawings, the same reference numerals denote the same or at least similar elements.

[0060] Figure 1 A stacking device 1 is shown for stacking valuable documents 12 (e.g., banknotes 12) into a stack 11. The stacking device 1 includes a base support structure 10 on which a first stack 11 of valuable documents 12 can be placed. The stacking device 1 also includes a side support structure 20 extending upward from the base support structure 10, wherein the base support structure 10 and the side support structure 20 together define a receiving space 30 into which the first stack 11 of valuable documents 12 can be inserted. The side support structure 20 defines an open end region 32 opposite to the base support structure 10, such that the first stack 11 of valuable documents 12 can be inserted into the receiving space 30 through the open end region 32. The side support structure 20 includes a first sidewall 21 having a longitudinal opening 22 extending between the base support structure 10 and the open end region 32. The longitudinal opening 22 may be defined by a longitudinal rod element 23 extending from a first side edge of the base support structure 10. The longitudinal opening 22 of the first sidewall 21 may be a slot, which allows the first grasping element robot unit ( Figure 1 (Not shown) During the placement of the first stack 11 of valuable documents 12 onto the base support structure 10, the documents move from the opening end region 32 toward the base support structure 10 within the longitudinal opening 22, such that the valuable documents 12 of the first stack 11 of valuable documents 12 are arranged one by one within the receiving space 30.

[0061] It is particularly noted that the first stack 11 of inserted value documents 12 can not be laid flat with its edges, but can be laid flat on the base support structure in a stacked manner. That is, the lowermost value document 12a can face the support surface 14 or lay surface 14, i.e. the lowermost value document 12a can be positioned directly on the support surface 14 or lay surface 14. All remaining value documents 12 of the stack 11 are stacked one on top of the other onto the lowermost value document 12a.

[0062] The longitudinal opening 22 of the first side wall 21 can extend from the opening end region 32 downwards to the base support structure 10, which allows a first gripping element of a robotic unit to insert an access region 13 between the base support structure 10 and the lowermost value document 12a of the stack 11 of value documents 12. When inserted, the first gripping element of the robotic unit can thus lift a larger bulk stack of value documents 12 out of the receiving space 30. In particular, the first gripping element of the robotic unit can be considered to function similarly to a forklift.

[0063] The support surface 14 or lay surface 14 can comprise a set of parallel and longitudinal recesses 15 into which the first gripping element can be inserted to lay the first stack onto the support surface 14 or lay surface 14, or to lift a larger bulk stack of value documents 12 out of the receiving space 30. The longitudinal opening 22 at least partially overlaps the parallel recesses 15 of the support surface 14, such that after insertion into the recesses 15, the first gripping element can be moved upwards within the longitudinal opening while being inserted into the receiving space 30.

[0064] The stacking device 1 further comprises a compression element 61 for compressing the stack 11 of value documents 12 laid within the receiving space 30. The compression element 61 comprises finger elements 62, each of which can be inserted into the longitudinal opening 24 of the second side wall 25. The finger elements 62 can be moved within the longitudinal opening 24 towards the base support structure 10 in order to compress the stack 11 of value documents 12 laid within the receiving space 30. In particular, the finger elements 62 can press against the uppermost value document 12, thereby compressing the entire stack 11 of value documents 12, for example after several stacks 11 of value documents 12 have been inserted into the receiving space 30. This can be advantageous, as the stacked value documents 12 can sometimes be bulky, which would require the gripping element of the robotic unit to open substantially wide in order to grasp this entire stack 11. However, when compressed, the height of the stack 11 can be reduced, such that the gripping element of the robotic unit can not need to open so wide.

[0065] In the second side wall 25 four longitudinal openings 24 can be present, such that a compression element 61 having four finger-like elements 62 can be inserted into the longitudinal openings 24 and descend within the receiving space 30. In particular, each finger-like element 62 of the compression element 61 can be inserted into a respective one of the longitudinal openings 24 of the second side wall 25. The compression element 61 can be a pivotably movable member, which is actuated by an actuation mechanism of the compression unit 60. The actuation mechanism can comprise a pneumatic compressor. The longitudinal openings 24 of the second side wall 25 are defined or separated by the bar element 26.

[0066] The side support structure 20 can further comprise a third side wall 27 and a fourth side wall 28 opposite the third side wall with respect to the receiving space 30. Thus, the first side wall 21, the second side wall 25, the third side wall 27 and the fourth side wall 28 can together define the receiving space 30. These walls can provide a lateral confinement of the accumulation device 1 and can thus provide a positional stability of the stack 11 received in the accumulation device 1.

[0067] The accumulation device 1 can further comprise a pivot element 70 configured to adjust and / or maintain an inclined orientation of the base support structure 10 with respect to a floor element 80 within a surrounding environment. For example, the pivot element 70 can maintain a pivoted or inclined orientation of the base support structure 10 with respect to a foot element 90 by which the accumulation device 1 stands on the floor element 80.

[0068] Figure 2 A device 100 comprising an accumulation device 1 is shown. In particular, the device 100 comprises the accumulation device 1 and four further accumulation devices 2, 3, 4, 5, wherein each of the further accumulation devices 2, 3, 4, 5 can be identical to the accumulation device 1 as described with respect to Figure 1 In particular, the device 100 comprises the accumulation device 1 and four further accumulation devices 2, 3, 4, 5, wherein each of the further accumulation devices 2, 3, 4, 5 can be identical to the accumulation device 1 as described with respect to Figure 1 In particular, the device 100 comprises the accumulation device 1 and four further accumulation devices 2, 3, 4, 5, wherein each of the further accumulation devices 2, 3, 4, 5 can be identical to the accumulation device 1 as described with respect to Figure 1 In particular, the device 100 comprises the accumulation device 1 and four further accumulation devices 2, 3, 4, 5, wherein each of the further accumulation devices 2, 3, 4, 5 can be identical to the accumulation device 1 as described with respect to

[0069] The device 100 comprises a robot unit 50 having a gripping unit 55 for gripping a stack 11a, 11b, 11c, 11d of value documents 12. The device 100 further comprises a control unit 56 for controlling movements of the robot unit 50. The control unit 56 is configured to control the robot unit 50 to successively place stacks 11a, 11b (and possibly one or more further stacks of value documents) 12 into the accumulation device 1 such that the stacks 11a, 11b of value documents 12 are arranged one below the other within the accumulation device 1.

[0070] In particular, the apparatus 100 can provide a robotic gripping unit 55, controlled by a control unit 56, for continuously (i.e. one after the other) inserting the plurality of small stacks 11a, lib of value documents 12 (one drop one) into the accumulation device 1 in order to collect them within the accumulation device 1, so as to form larger stacks of value documents 12 consisting of a combination of small stacks 11a, lib and possibly other small stacks. The larger amount of collected value document stacks is then removed as a whole from the accumulation device 1 by the gripping unit 55 or by a gripping unit of another robotic unit and placed in, for example, a value document container 300, such as a value document tray 300. In particular, the larger amount of collected value document stacks is inserted into a tray compartment of the value document tray 300.

[0071] The gripping unit 55 can comprise a first gripping element 51 and a second gripping element 52. The gripping elements 51, 52 can be moved towards each other to provide a clamping force to the gripped stack of value documents 12 and can be moved away from each other to release the stack of gripped value documents 12.

[0072] The apparatus 100 can further comprise a value document processing device 200 having a value document output unit 210 with a plurality of value document output compartments, for example for different conditions and / or types of value documents and / or authenticity and / or orientation. In addition, the apparatus 100 can further comprise a value document alignment device (not shown) within reach of the gripping unit 55.

[0073] In one example, the value document processing device 200 stacks 100 value documents in each of its output compartments, i.e. provides a plurality of stacks 11a, lib, lie, lid, each having 100 value documents. However, since the respective compartments of the value document tray 300 can be designed to accommodate 400 or 500 value documents, for example in order to fill them into ATM cassettes in a later step, the accumulation device 1 provides the possibility to collect several stacks 11a, lib, lie, lid of 100 value documents from the output compartments of the value document processing device 200. These several stacks 11a, lib, lie, lid of 100 value documents can be accumulated within the accumulation device 1 until a large stack of 400 value documents or a large stack of 500 value documents has been accumulated, see Figure 2The accumulated large stack of 500 value documents can then be removed from the accumulation device 1 and placed into the respective compartment of the value document tray 300. In other words, the accumulation device 1 provides the possibility to accumulate four or five smaller packs of 100 value documents separately to form larger packs of 400 or 500 value documents, respectively.

[0074] During the transport of the smaller stacks of value documents 12 from the value document processing device 200 or from the alignment device to the accumulation device 1, the value document stacks can be sorted, e.g. according to a predefined sorting scheme, e.g. according to denomination and / or orientation and / or authenticity and / or condition (e.g. conform, non-conform, ATM-conform) of each value document stack. For example, Figure 3 A situation is shown, in which a first value document stack 11a, a second value document stack 11b are inserted into a first accumulation device 1 based on a predetermined sorting scheme, and a third value document stack 11c and a fourth value document stack 11d are inserted into a second accumulation device 2 based on a predetermined sorting scheme. In one example, there can be one or more accumulation devices 1, 2, 3, 4, 5 for each denomination.

[0075] Furthermore, before placing the value document stacks 11a, 11b, 11c, 11d into the respective accumulation devices, the value document stacks 11a, 11b, 11c, 11d can be rotated by the robotic unit such that they are completed in the respective accumulation devices 1, 2, 3, 4, 5 in the same orientation out of the possible four orientations (face up / face down and image upside down). This can facilitate further use of the value documents in later processing steps and / or can avoid later sorting.

[0076] Figure 3 An accumulation device 1 comprising Figure 1 and / or a value document processing environment 1000 of an apparatus 100 comprising Figure 2 is shown.

[0077] The value document processing environment 1000 comprises an alignment device 400, a first robotic unit 500, an upper second robotic unit 50 (e.g. a robotic unit 50 as described above with reference to Figure 2 ) and optionally a third robotic unit (not shown). The remaining components of the value document processing environment 1000 have already been described with reference to Figure 2 The control unit 56 is configured to control the individual components of the value document processing environment 1000. Examples of how the control unit 56 controls the value document processing environment 1000 will be given below.

[0078] In one example, the first robotic unit 500 successively removes stacks 11a, 11b, 11c, 11d of value documents 12 from the same or different compartments of the output module 210 of the value document processing device 200, wherein the stacks 11a, 11b, 11c, 11d consist of value documents 12 that have been examined by the value document processing device 200. Each stack 11a, 11b, 11c, 11d can comprise 100 value documents. The first robotic unit 500 successively transports these stacks 11a, 11b, 11c, 11d of value documents to the alignment device 400, wherein the value document edges of each stack 11a, 11b, 11c, 11d of value documents are successively aligned. Then, the second robotic unit 50 successively grabs each stack 11a, 11b, 11c, 11d of value documents via the long sides of the value documents and removes the stacks 11a, 11b, 11c, 11d of value documents from the alignment device 400 and transports each stack 11a, 11b, 11c, 11d of value documents individually to a respective one of the number of accumulation devices 1, 2, 3, 4, 5 to collect them therein. Then, the second robotic unit 50 or the third robotic unit 600 can successively remove the collected large stacks of value documents from the accumulation devices 1, 2, 3, 4, 5 and place them in one or different compartments of the value document tray 300, e.g. a so-called “handover element”. The collected large stacks of value documents can exist in the form of stacks comprising 200-500. Then, the value document tray 300 can be taken away after it has been filled with large stacks, e.g. by a conveying mechanism for the tray or by a further device providing a respective tray 300 within the working range of the second robotic unit 50.

[0079] Figure 4 A flow chart of a method for accumulating stacks of value documents, e.g. using the apparatus 100 as described with respect to Figure 2 and / or using the value document processing environment 1000 as described with respect to Figure 3 is shown. Thus, with respect to the individual components as part of the method, also reference is made to the above Figures 1 to 3 .

[0080] The step S10 of the method comprises placing, by the robotic unit 50, a first stack 11a of value documents 12 into the receiving space 30 of the first accumulation device 1, e.g. the accumulation device 1 as described with respect to Figure 1 . A further step S30 of the method comprises placing, by the robotic unit 50, a second stack 11b of value documents 12 into the receiving space 30 of the first accumulation device 1 and arranging the second stack 11b of value documents 12 on top of the first stack 11a of value documents 12. A further step S40 of the method comprises jointly removing the first stack 11a of value documents 12 and the second stack 11b of value documents 12 from the first accumulation device 1.

[0081] For example, a further step S20 of the method can comprise, prior to placing the second stack 11b of value documents 12 into the receiving space 30 of the first accumulation device 1, adapting, by the robotic unit 50, the orientation of the second stack 11b of value documents 12 based on the predetermined orientation scheme. For example, the second stack 11b can be re-oriented by rotating the grasping unit 55 of the robotic unit 50 once or twice, such that the second stack 11b can be placed into the first accumulation device 1 in the same orientation as the first stack 11a (of the possible four orientations) that has already been placed into the first accumulation device 1.

[0082] A further step S50a of the method can comprise removing, by the robotic unit 50, the third stack 11c of value documents 12 from the value document processing device 200 or from the value document alignment device 400. A further step S60a of the method can comprise assigning the third stack 11c of value documents 12 to the second accumulation device 2 based on the predetermined sorting scheme. A further step S70a of the method can comprise, in response to assigning the third stack 11c of value documents 12 to the second accumulation device 1, placing the third stack 11c of value documents 12 into the receiving space 30 of the second accumulation device 1.

[0083] A further step S50b of the method can comprise removing, by the robotic unit 50, the fourth stack 11d of value documents 12 from the value document processing device 200 or from the value document alignment device 400. A further step S60b of the method can comprise assigning the fourth stack 11d of value documents 12 to the second accumulation device 2 based on the predetermined sorting scheme. A further step S70b of the method can comprise, in response to assigning the fourth stack 11d of value documents 12 to the second accumulation device 2, placing the fourth stack 11d of value documents 12 into the receiving space of the second accumulation device 2.

Claims

1. A stacking device (1) for stacking (11) valuable documents (12), comprising: A base support structure (10) is configured to receive a stack (11) of valuable documents (12) thereon. A side support structure (20) extends from the base support structure (10) such that the base support structure (10) and the side support structure (20) together define a receiving space (30) into which a stack (11) of valuable documents (12) can be inserted; The side support structure (20) defines an open end region (32) opposite to the base support structure (10), so that the stack (11) of the valuable documents (12) can be inserted into the receiving space (30) through the open end region (32); The side support structure (20) includes a first sidewall (21) having one or more longitudinal openings (22) extending between the base support structure (10) and the open end region (32). The longitudinal opening (22) of the first sidewall (21) is configured to allow the first gripping element (51) of the robot unit (50) to move within the longitudinal opening (22) from the opening end region (32) toward the base support structure (10) during the placement of the stack (11) of valuable documents (12) onto the base support structure (10), such that the valuable documents (12) in the stack (11) of valuable documents (12) are arranged one by one in the receiving space (30).

2. The stacking device (1) according to claim 1. in, One or more longitudinal openings (22) of the first sidewall (21) extend from the opening end region (32) to the base support structure (10) such that the longitudinal openings (22) are configured to allow the first gripping element (51) of the robot unit (50) to be inserted into the access area (13) between the base support structure (10) and the bottommost valuable document (12a) of the stack (11) of the valuable documents (12).

3. The stacking device (1) according to any one of the preceding claims. in, The base support structure (10) includes a support surface (14) with parallel recesses (15) into which the first gripping element (51) of the robot unit (50) can be inserted to elevate the stack (11) of the valuable documents (12) within the receiving space (30). The longitudinal opening (22) preferably overlaps at least partially with the parallel recess (15) of the support surface (14) so ​​as to allow the first gripping element (51) of the robot unit (50) to be inserted through the longitudinal opening (22) and into the parallel recess (15).

4. The stacking device (1) according to any one of the preceding claims. in, The longitudinal opening (22) of the first sidewall (21) is separated by parallel rod elements (23) of the first sidewall (21), the rod elements (23) being connected to the base support structure (10) and extending from the base support structure (10) toward the opening end region (32).

5. The stacking device (1) according to any one of the preceding claims, comprising: Compression element (61) for compressing the stack (11) of the valuable documents (12) arranged in the receiving space (30). The compression element (61) preferably includes one or more finger elements (62) configured to be inserted into one or more longitudinal openings (24) of the second sidewall (25) and configured to move toward the base support structure (10) within the longitudinal openings (24) of the second sidewall (25) to compress the stack (11) of the valuable documents (12) arranged in the receiving space (30).

6. The stacking device (1) according to any one of the preceding claims. in, The base support structure has an inclined orientation, wherein the stacking device preferably includes A pivot element (70) is configured to adjust the tilt orientation of the base support structure (10) relative to the base plate element (80).

7. The stacking device (1) according to any one of the preceding claims. in, The size of the receiving space can be adjusted by moving one or more of the sidewalls relative to the base support structure.

8. An apparatus (100) for stacking (11a, 11b) of valuable documents (12), comprising: Stacking device (1) according to any one of the preceding claims. Robotic unit (50) having gripping unit (55) for gripping stacks (11a, 11b) of valuable documents (12). A control unit (56) is used to control the movement of the robot unit (50); The control unit (56) is configured to control the robot unit (50) to The first stack (11a) of the valuable documents (12) is placed into the stacking device (1), and At least one second stack (11b) of the valuable document (12) is placed into the stacking device (1) such that the first stack (11a) and the second stack (11b) of the valuable document (12) are arranged one after the other in the stacking device (1), wherein the second stack (11b) of the valuable document (12) preferably has the same conditions and / or the same type as the first stack of the valuable document (12), such as denomination and / or currency.

9. The device according to claim 8, in, The control unit is configured to control the robot unit (50) to adapt the orientation of at least one second stack (11b) of the valuable document (12) to a predetermined orientation scheme before placing the second stack (11b) of the valuable document (12) into the receiving space (30) of the stacking device (1, S20), in particular making the orientation of the second stack of the valuable document the same as the orientation of the first stack of the valuable document.

10. The device according to any one of claims 8 to 9, in, The control unit (56) is configured to control the robot unit (50) or another robot unit to jointly remove the first and second stacks (11a, 11b) of the valuable documents (12) from the stacking device (1) and place them jointly into valuable document containers respectively arranged within the working range of the robot unit or the other robot unit.

11. The device according to any one of claims 8 to 10, in, The stacking device is assigned to at least one specific condition and / or at least one specific type of valuable documents, such as currency and / or denomination, and at least one second stack of the valuable documents has the assigned condition and / or assigned type of the stacking device, such as currency and / or denomination. The device further includes at least one additional / second stacking device according to any one of claims 1 to 7, the additional / second stacking device being assigned to at least one other condition and / or at least one other type of valuable document different from the stacking device, the at least one other condition and / or at least one other type of valuable document being such as currency and / or denomination; The control unit is configured to control the robot unit (50) to remove a first stack and a second stack of the valuable documents (12) from the valuable document processing device (200) or the valuable document alignment device, and to place the removed first stack and second stack of the valuable documents (12) into the stacking device or the other / second stacking device depending on the condition and / or type of the valuable documents in the first stack and the second stack, such as currency and / or denomination.

12. The device according to any one of claims 8 to 11, in, The stacking device is a first stacking device, and the device further includes a second stacking device according to any one of claims 1 to 7, wherein the first stacking device and the second stacking device are assigned to valuable documents of different conditions and / or different types, such as currency and / or denominations; The control unit is configured to control the robot unit to place one or more third valuable document stacks with different conditions and / or different types than the first stack and the second stack into the second stacking device (1), such as different conditions and / or different types, for example, denominations and / or currencies.

13. A method for stacking (11a, 11b) valuable documents (12), comprising: The robot unit (50) removes the first stack (11a) of valuable documents (12) from the valuable document processing device (200) or the valuable document alignment device (400, S50a), and places the removed first stack (11a) into the receiving space (30) of the first stacking device (1, S10), which is in particular the first stacking device according to any one of claims 1 to 7; The robot unit (50) removes a second stack (11b) of valuable documents (12) from the valuable document processing device (200) or the valuable document alignment device (400, S50a), the second stack (11b) preferably having the same conditions and / or the same type as the first stack of valuable documents, such as denomination and / or currency, and places the removed second stack (11b) into the receiving space (30) of the first stacking device (1), and arranges the second stack (11b) of valuable documents (12) on top (S30) of the first stack (11a) of valuable documents (12); The robot unit (50) or another robot unit jointly removes the first stack (11a) and the second stack (11b) of the valuable documents (12) from the first stacking device (1, S40), and preferably places the first stack and the second stack (11a, 11b) into a valuable document container arranged within the working range of the robot unit or the other robot unit.

14. The method of claim 13, comprising: Before placing the second stack (11b) of the valuable document (12) into the receiving space (30) of the first stacking device (1, S20), the robot unit (50) adapts the orientation of the second stack (11b) of the valuable document (12) based on a predetermined orientation scheme, in particular making the orientation of the second stack the same as that of the first stack.

15. The method according to any one of claims 13 to 14, comprising: Specifically, the first and second stacking devices according to any one of claims 1 to 7 are assigned to valuable documents of different conditions and / or different types, such as face value and / or currency, and both the first and second stacking devices are arranged within the working range of the robot unit. One or more third stacks (11c) of valuable documents (12) with different conditions and / or different types, such as denominations and / or currencies, are removed from the valuable document processing device (200) or the valuable document alignment device (400, S50a) by a robot unit (50). One or more third stacks (11c) of the removed valuable documents (12) are placed into the receiving space (30) of the second stacking device (1, S70a).

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