Device for handling piece goods, in particular medicines and / or cosmetics, and handling system

Abstract

Device for handling medicines and / or cosmetics, comprising: - at least one receiving unit (4) for handling the piece goods; - at least one extension arm (6) connected to the at least one receiving unit (4), wherein the at least one receiving unit (4) is connected to the extension arm (6) so as to be rotatable about a first axis of rotation (X); and - at least one control device (8) connected to the at least one cantilever arm (6), wherein the at least one cantilever arm (6) is connected to the at least one control device (8) so as to be rotatable about a second axis of rotation (Y); - wherein the first axis of rotation (X) is different from the second axis of rotation (Y), - wherein the at least one receiving unit (4) comprises at least one suction unit (18) for handling the piece goods, - wherein the at least one suction unit (18) has at least one central suction opening (20) for applying a suction force to at least one surface of the piece goods to be handled, and - wherein a substantially circumferential sealing arrangement (22) delimits the at least one central suction opening (20) with respect to a piece of goods to be handled, wherein the substantially circumferential sealing arrangement (22) defines at least one suction chamber (24), characterized in that - that in the at least one suction chamber (24) at least two suction bellows (28) are arranged for applying a suction force to at least one surface of the piece goods to be handled.

Description

The invention relates to a device for handling medicines and / or cosmetics comprising at least one receiving unit for handling the piece good. The invention also relates to a handling system for picking and storing medicines and / or cosmetics.Devices for handling piece goods, in particular medicaments and / or cosmetics, are known from the prior art. In the devices known from the prior art for handling piece goods, however, it has proven disadvantageous that often only piece goods of the same type can be supplied, since piece goods of different sizes, dimensions and / or weights cannot be reliably manipulated by such devices. In particular, it has proven disadvantageous that such different piece goods cannot be reliably deposited on load carriers to be loaded. The positional alignment of the aforementioned devices known from the prior art is likewise disadvantageous in that items cannot be aligned sufficiently precisely on the load carriers.Furthermore, it has proven disadvantageous that piece goods with small dimensions and / or curved surfaces cannot be manipulated in a reliable manner with existing gripping technology and can be deposited on load carriers to be fitted.From DE 10 2007 014 130 A1, n manipulator is known, in particular for repositioning parts, having a handling part formed by an end effector holder or end effector, which can be displaced along a handling path variable in its course by a pivot arm kinematics that can be driven by means of a drive device.DE 20 2017 005 575 U1 relates to a device for transferring articles and in particular flat articles, such as blister packs.DE 26 21 347 A1 relates to a loading and / or unloading device for a processing machine, in particular a punching or nibbling machine.US 2021 / 0 032 031 A1 relates to storage systems and methods for inventory removal, in particular a storage system and a mobile manipulator robot for removing storage articles from the storage system.On the basis thereof, the object of the present invention is to provide a device for handling piece goods, in particular medicines and / or cosmetics, and a handling system which can also handle piece goods of different sizes, dimensions and / or weights reliably.The aforementioned object is achieved according to a first aspect of the present invention in that the apparatus for handling piece goods, in particular medicines and / or cosmetics, comprises: at least one receiving unit for handling the piece goods; at least one boom arm connected to the at least one receiving unit, wherein the at least one receiving unit is connected to the boom arm such that it can rotate about a first axis of rotation; at least one control device connected to the at least one boom arm, wherein the at least one boom arm is connected to the at least one control device such that it can rotate about a second axis of rotation; wherein the first axis of rotation is different from the second axis of rotation.According to a second aspect of the present invention, the object mentioned is achieved in a handling system for picking and storing piece goods, in particular medicines and cosmetics, in that the handling system comprises a device according to the first aspect and at least one load carrier for depositing piece goods; and at least one feed device for feeding piece goods to be picked and stored.As a result, a device for handling piece goods and a handling system can be provided, which enable reliable handling of the piece goods, in particular reliable handling and alignment of the piece goods. In particular, it is also possible to provide a space-saving device for handling piece goods or a space-saving handling system.The piece good to be manipulated can preferably be gripped and / or suctioned in by means of the at least one receiving unit. The at least one receiving unit is connected to a boom arm, so that the positioning of the receiving unit can be changed by means of a rotation and / or a pivoting of the boom arm about the second axis of rotation. By further rotation and / or pivoting of the receiving unit relative to the boom arm about the first axis of rotation, the receiving unit can be precisely adapted to the respective orientation of the piece good to be manipulated.Furthermore, it is preferred that the at least one receiving unit is arranged at an end region of the at least one boom arm, wherein the end region of the boom arm is arranged in particular distal to the second axis of rotation and / or the control device.The control device is preferably configured to control the device for handling piece goods. For this purpose, the control device can comprise, for example, control electronics, at least one (vacuum) source or a pump for generating a negative pressure and / or at least two motors, in particular servomotors, for rotating the at least one receiving unit and the at least one boom arm. Furthermore, the control device can have, for example, one or more pulleys for transmitting the mechanical energy generated by the at least two motors, in particular servomotors, to the at least one receiving unit and / or the at least one boom arm for rotation thereof.Since the first axis of rotation is different from the second axis of rotation, a reliable alignment of the at least one receiving unit for handling the piece good is made possible. In particular, the at least one receiving unit can be aligned relative to a piece good to be received and the piece good can be deposited in a defined position, for example on a load carrier, after the respective manipulation.Furthermore, it is preferred that the first axis of rotation and the second axis of rotation run substantially parallel to one another. This enables a further improved handling of piece goods. Likewise, in a structurally favorable manner, a device for handling piece goods can be provided as a result.The at least one receiving unit comprises at least one suction unit for handling the piece good, wherein the at least one suction unit has at least one central suction opening for applying a suction force to at least one surface of the piece good to be handled. By means of the at least one central suction opening of the at least one suction unit, the piece goods to be manipulated can be reliably suctioned in first and subsequently moved to the desired position. Subsequently, the piece good can be separated from the at least one receiving unit, in particular by reducing the suction force.A substantially encircling sealing arrangement delimits the at least one central suction opening with respect to a piece good to be handled, wherein the substantially encircling sealing arrangement defines at least one suction space. The substantially encircling sealing arrangement allows the suction chamber to be sealed with respect to piece goods to be handled, with the result that sufficient suction force or reduced pressure can be applied in order that even relatively heavy piece goods can be reliably manipulated.At least two suction bellows or suction heads for applying a suction force to at least one surface of the piece good to be handled are arranged in the at least one suction chamber. This makes it possible to reliably suck in or grip even relatively small piece goods which otherwise could not be reliably sucked in or sealed with the substantially encircling sealing arrangement, or piece goods with rounded portions. For example, the at least two suction bellows are designed as at least two suction cups. Preferably, the at least two suction bellows are arranged within the suction chamber in such a way that the substantially encircling sealing arrangement projects beyond the at least two suction bellows in the direction of extent toward the piece good to be picked up, in particular projects beyond it by at least one centimeter. The at least two suction bellows are preferably substantially round, in particular circular.It is furthermore preferred that the at least two suction bellows are in fluidic connection with at least one pump or source, in particular with at least one vacuum source. For example, the at least two suction bellows each have a separate line, which is then combined into one line in a connecting piece. For example, the connecting piece is a component of the receiving unit.Preferably, the suction force is applied via the at least two suction bellows to at least one surface of the piece good to be handled. In such a case, the central suction opening in particular does not have a separate line to at least one pump or at least one vacuum source. In particular, the central suction opening is connected by means of the at least two suction bellows to at least one pump or source, in particular to at least one vacuum source.A further preferred embodiment is characterized in that the at least one suction chamber is connected fluidically to at least one valve, in particular to at least one nonreturn valve. The at least one valve is preferably arranged substantially centrally in the suction chamber, in particular between the at least two suction bellows, and can have a fluidic connection to at least one source or pump, in particular to at least one vacuum pump. In particular, the central suction opening is connected by means of the valve to at least one source or pump, in particular to at least one vacuum source. The valve can preferably be designed to quickly release the sucked-in object from the at least one receiving unit. Likewise, by means of the valve, a substantially constant vacuum level or a substantially constant vacuum during a manipulation of a piece good can be made possible.Furthermore, it is preferred that the valve has at least one closure means, in particular at least one closure flap, for interrupting a fluidic connection from the suction chamber to a pump or source, in particular to a vacuum source or a vacuum pump. For example, the closure means can interrupt the aforementioned fluidic connection if piece goods, in particular piece goods with small dimensions, are to be manipulated by means of the at least two suction bellows.In a further preferred embodiment, the at least one receiving unit is preferably rotatable about the first axis of rotation, in particular rotatable substantially 360° about the first axis of rotation, by means of a first belt drive connected to the control device via the boom arm. By means of a belt drive, a rotation of the receiving unit can be made possible in a manner favorable from a design standpoint. In particular, a rotation of the receiving unit about the first axis of rotation through 360° can be made possible, as a result of which the receiving unit can be reliably adapted to the position of the piece goods to be manipulated and the piece goods can also be deposited precisely after the manipulation.A further preferred embodiment is characterized in that the at least one boom arm is rotatable, in particular rotatable substantially through 360°, about the second axis of rotation preferably by means of a second belt drive connected to the control device. By means of a belt drive, a rotation of the boom arm can be made possible in a manner favorable from a construction standpoint. In particular, a rotation of the cantilever arm about the second axis of rotation through 360° can be made possible, as a result of which the receiving unit can be reliably adapted to the position of the piece goods to be manipulated and the piece goods can also be deposited precisely after the manipulation.Preferably, the receiving unit is rotatable substantially 360° about the first axis of rotation and / or the boom arm is rotatable substantially 360° about the second axis of rotation. In this way, a compact and narrow device for handling piece goods can be provided, since products can be accommodated in different positions by the accommodation unit and placed on a load carrier, for example, on the basis of the possible different angular positions.A further preferred embodiment is characterized in that the first belt drive has at least one first toothed belt and / or that the second belt drive has at least one second toothed belt. By using a first and / or a second toothed belt, reliable control of the boom arm and / or the receiving unit can be made possible, since slip can be substantially avoided. Such a control can likewise be made possible in a cost-effective manner.In a further preferred embodiment, the at least one, first toothed belt is connected to a first belt pulley and a second belt pulley. Preferably, the first pulley is arranged substantially coaxially to the receiving unit and is rotatable about the first axis of rotation. Preferably, the second pulley is arranged substantially coaxially to a hollow shaft of the control device and is rotatable about the second axis of rotation. This allows a space-saving design of the device and a connection of a line from the receiving unit to a pump or source, in particular to a vacuum source, which is favorable in terms of design.A further preferred embodiment is characterized in that the at least one second toothed belt is connected to a third pulley and to a fourth pulley, and that, preferably, the third pulley is arranged substantially coaxially to the second pulley and / or to a hollow shaft of the control device and is rotatable about the second axis of rotation. This allows a space-saving design of the device and a connection of a line from the receiving unit to a pump or source, in particular to a vacuum source, which is favorable in terms of design.A further preferred embodiment is characterized in that the at least one suction unit is in fluidic connection with at least one pump and / or at least one source by means of at least one connecting means, wherein the at least one connecting means preferably comprises at least one boom line connected to the boom arm and at least one control line connected in terms of flow to the boom line, wherein the at least one control line is preferably arranged at least partially within a hollow shaft of the at least one control device. This enables a reliable supply of the receiving unit with negative pressure, so that piece goods to be manipulated can be reliably received and transported. Likewise, by arranging the control line in a hollow shaft, a constructionally favorable connection can be provided from the extension line to the control line.A further embodiment is characterized by at least one sensor for detecting a piece good picked up by the at least one pick-up unit, wherein the at least one sensor detects in particular a movement of the at least one connecting means, in particular of the boom line. This can be used, for example, to detect when the receiving unit has received a piece good, so that the received piece good can subsequently be transported to a desired position. In addition, it can be determined at which point in time the transported piece goods are reliably released from the receiving unit, so that the receiving unit can be moved again. A movement of the at least one connecting means, in particular of the boom line, occurs in particular when the at least one receiving unit is placed on a piece good to be handled and / or a piece good to be handled is released from the receiving unit. For example, the at least one connecting means, in particular the cantilever line, is then moved upwards when being placed on a piece good, so that such a movement can be detected by means of the at least one sensor.Alternatively or additionally, the at least one sensor can measure the pressure, in particular reduced pressure, generated by a pump or source within the at least one connecting means, preferably within the boom line. In this way, in addition to the detection of the reception of a piece good, possible leaks and / or inconsistencies can be detected, so that in a corresponding case, a repair can be initiated.In a further embodiment, the control device has at least one first drive unit, in particular a first motor, preferably a first servomotor, for rotating the receiving unit about the first axis of rotation; and / or the control device has at least one second drive unit, in particular a second motor, preferably a second servomotor, for rotating the boom arm about the second axis of rotation, as a result of which reliable rotation of the receiving unit and / or of the boom arm can be made possible.A further embodiment is characterized in that the handling system further comprises an output device for outputting piece goods arranged on the at least one load carrier and / or a communication means for requesting piece goods to be output. In this way, piece goods required according to requirements can be dispensed.The above-described embodiments and exemplary embodiments of all aspects of the present invention, which are initially fundamentally independent, should also be understood as disclosed in all combinations with one another.Further advantageous exemplary embodiments of the invention can be gathered from the following detailed description of some exemplary embodiments of the present invention, in particular in conjunction with the figures. The figures attached to the application are intended, however, for the purpose of illustration only, but not for the purpose of determining the scope of the invention. The accompanying drawings are not necessarily to scale, and are intended to reflect, by way of example only, the general concept of the present invention. In particular, features included in the figures are not to be considered as a necessary part of the present invention in any way.The invention is explained in more detail below with reference to drawings showing exemplary embodiments. They show in each case schematically: FIG. 1 shows a perspective view of an exemplary embodiment of a device for handling piece goods; FIG. 2 shows a schematic sectional view of the exemplary embodiment of the device for handling piece goods illustrated in FIG. 1 ; FIG. 3 shows a detailed view of a schematic illustration of the exemplary embodiment of a receiving unit shown in FIG. 1 in a perspective view; and FIG. 4 shows a schematic sectional view of the exemplary embodiment of the receiving unit shown in FIG. 3.In the following description of the various embodiments of the invention, components and elements having the same function and the same function are provided with the same reference numerals, even if the components and elements in the various embodiments may have differences in their dimension or shape.FIG. 1 shows a perspective view of an exemplary embodiment of a device for handling piece goods. The apparatus 2 has a receiving unit 4 for handling the piece goods, a boom arm 6 connected to the receiving unit 4 and a control device 8 connected to the boom arm 6. The receiving unit 4 is connected to the boom arm 6 such that it can rotate about a first axis of rotation X along the arrow 10 about a first end 12 or an end region of the boom arm 6. The boom arm 6 is connected with its second end 14 or its other end region to the control device 8 rotatably along the arrow 16 about a second axis of rotation Y.It can be seen that the first axis of rotation X is different from the second axis of rotation Y, wherein the first axis of rotation X runs substantially parallel to the second axis of rotation Y.As can also be seen in particular from FIG. 4, the receiving unit 4 comprises a suction unit 18 for handling or for sucking in the piece good, wherein the suction unit 18 has a central suction opening 20 for applying a suction force to a surface of the piece good to be handled. The central suction opening 20 is delimited by a circumferential sealing lip 22 as a sealing arrangement with respect to a piece good to be handled, wherein a suction chamber 24 is arranged within the sealing lip 22. The sealing lip 22 has a substantially rectangular cross section. Two substantially encircling grooves 26 are arranged on the outer sides of the sealing lip 22, with the result that the extent of the sealing lip 22 can be varied along the first axis of rotation X.In the suction chamber 24, two suction bellows 28 are also arranged for applying a suction force. Furthermore, a valve 30 is arranged between the suction bellows 28. Both the two suction bellows 28 and the valve 30 are fluidically connected by means of lines 32 via a connecting piece 34 to a vacuum source (not shown), for example arranged in the control device 8. It can be seen that the sealing lip 22 projects beyond the two suction bellows 28 in the direction of the piece good to be picked up. The valve 30 has a closure means 36 for interrupting a fluidic connection between the valve 30 and the suction chamber 24. The valve 30 is sealed off, for example, by means of an O-ring 38 to form a housing 40 of the receiving unit 4. Arranged on the upper side of the housing 40 are two pins 42 which are suitable for connecting the receiving unit 4 to the boom arm 6 such that it can rotate about the first axis of rotation X.As can be seen from FIG. 2, the receiving unit 4 is furthermore connected to a boom line 46 by means of a connecting line 44. The connecting line 44 extends through a first belt pulley 48 of a first belt drive 50. the first belt drive 50 further comprises a second belt pulley 52 and a first belt pulley 54. The second belt pulley 52 is arranged on an inner hollow shaft 56 of the control device 8. By means of the first belt drive 50, the receiving unit 4 is rotatable about the first axis of rotation X by substantially 360°. The first pulley 48 is arranged coaxially to the first axis of rotation X, wherein the second pulley 52 is arranged coaxially to the inner hollow shaft 56.The boom arm 6 is connected to the control device 8 by means of a second belt drive 58 and is rotatable about the second axis of rotation Y by substantially 360°. The second belt drive 58 has a second toothed belt 60 which is connected to a third belt pulley 62, wherein the third belt pulley 62 is connected to an outer hollow shaft 64. By rotating the outer hollow shaft 64, the boom arm 6 can be pivoted about the second axis of rotation Y. The outer hollow shaft 64 and the third pulley 62 are arranged coaxially with the second rotation axis Y. The second toothed belt 60 of the second belt drive 58 further comprises a fourth pulley 66 which is connected to a first rotor shaft 68 of a first servomotor 70 for rotating the boom arm 6 about the second axis of rotation Y.The boom arm 6 further comprises a boom frame 72 with an elongated hole 76 arranged in an upper side 74 of the boom frame 72 for guiding the boom line 46. On the upper side 74 of the boom frame 72 is further arranged a sensor 78. The sensor 78 is configured, for example, to measure a movement of the boom line 46. The sensor 78 is connected by means of a connection, in particular by means of an indicated cable 80, to the control device 8 or to a further control unit outside the apparatus 2.The boom line 46 is connected by means of a connecting element 82 to a control line 84 arranged in the interior of the inner hollow shaft 56, wherein the control line 84 is connected or can be connected to a vacuum source, not shown.The inner hollow shaft 56 is furthermore connected to a second rotor shaft 94 of a second servomotor 96 via a third belt drive 86 comprising third toothed belts 88, wherein the third toothed belt 88 is connected to a fifth pulley 90 and a sixth pulley 92. The fifth pulley 90 is preferably disposed coaxially with the second rotation axis Y.The exemplary embodiments / exemplary embodiments of the present invention described in this specification are to be understood as disclosed both individually and in all combinations with one another. In particular, the description of a feature encompassed by an embodiment-unless explicitly explained to the contrary-should not be understood here as meaning that the feature is indispensable or essential for the function of the exemplary embodiment.Terms such as "comprising", "having", "including", "containing" and the like used in the claims do not exclude further elements or steps. The phrase "at least partially" includes both the case "partially" and the case "completely". The phrase "and / or" is to be understood to mean that both the alternative and the combination are to be disclosed, i.e., "A and / or B" means "(A) or (B) or (A and B)". A plurality of units, persons or the like in the context of this specification means a plurality of units, persons or the like. The use of the indefinite article does not exclude a plurality. A single device can carry out the functions of several units or devices mentioned in the patent claims. Reference numerals indicated in the claims should not be regarded as limitations of the means and steps used.List of reference characters2 Device for handling piece goods 4 Receiving unit 6 Boom arm 8 Control device 10 Arrow 12 First end of the boom arm 14 Second end of the boom arm 16 Arrow 18 Suction unit 20 Suction opening 22 Sealing lip 24 Suction chamber 26 Groove 28 Suction bellows 30 Valve 32 Line 34 Connecting piece 36 Closure means 38 O-ring 40 Housing 42 Pin 44 Connecting line 46 Boom line 48 First belt pulley 50 First belt drive 52 Second belt pulley 54 First belt belt drive 56 Inner hollow shaft 58 Second belt drive 60 Second belt drive 62 Third belt pulley 64 Outer hollow shaft 66 Fourth belt pulley 68 First rotor shaft 70 First servomotor 72 Boom frame 74 Upper side of the boom frame 76 Elongated hole 78 Sensor 80 Cable 82 Connecting element 84 Control line 86 Third belt drive 88 Third belt drive 90 Fifth belt pulley 92 Sixth belt pulley 94 Second rotor shaft 96 Second servomotor

Claims

Device for handling medicaments and / or cosmetics, comprising: - at least one receiving unit (4) for handling the piece good; - at least one boom arm (6) connected to the at least one receiving unit (4), wherein the at least one receiving unit (4) is connected to the boom arm (6) such that it can rotate about a first axis of rotation (X); and - at least one control device (8) connected to the at least one boom arm (6), wherein the at least one boom arm (6) is connected to the at least one control device (8) such that it can rotate about a second axis of rotation (Y); - wherein the first axis of rotation (X) is different from the second axis of rotation (Y), - wherein the at least one receiving unit (4) comprises at least one suction unit (18) for handling the piece good, - wherein the at least one suction unit (18) has at least one central suction opening (20) for applying a suction force to at least one surface of the piece good to be handled, and - wherein a substantially encircling sealing arrangement (22) delimits the at least one central suction opening (20) with respect to a piece good to be handled, wherein the substantially encircling sealing arrangement (22) defines at least one suction space (24), characterized - in that at least two suction bellows (28) for applying a suction force to at least one surface of the piece good to be handled are arranged in the at least one suction space (24).Device according to claim 1, characterised in that - the first axis of rotation (X) and the second axis of rotation (Y) run substantially parallel to one another.Device according to claim 1 or 2, characterised in that - the at least one suction chamber (24) is fluidically connected to at least one valve (30), in particular to at least one non-return valve.Device according to one of Claims 1 to 3, characterized - in that the at least one receiving unit (4) is rotatable about the first axis of rotation (X), in particular rotatable substantially 360° about the first axis of rotation (X), by means of a first belt drive (50) connected to the control device (8) via the boom arm (6).Device according to one of Claims 1 to 4, characterized - in that the at least one boom arm (6) is rotatable, in particular rotatable substantially 360°, about the second axis of rotation (Y), preferably by means of a second belt drive (58) connected to the control device (8).Device according to Claim 4 or Claim 5, characterized - in that the first belt drive (50) has at least one first toothed belt (54) and / or - in that the second belt drive (58) has at least one second toothed belt (60).Device according to claim 6, characterised in that - the at least one first toothed belt (54) is connected to a first pulley (48) and to a second pulley (52); - the first pulley (48) is preferably arranged substantially coaxially to the receiving unit (4), in particular to the first axis of rotation (X) of the receiving unit (4) and is rotatable about the first axis of rotation (X); and - the second pulley (52) is preferably arranged substantially coaxially to a hollow shaft, in particular to an inner hollow shaft (56) or an outer hollow shaft (64), of the control device (8) and is rotatable about the second axis of rotation (Y).Device according to claim 6 or 7, characterised in - that the at least one second toothed belt (60) is connected to a third pulley (62) and to a fourth pulley (64); and - that, preferably, the third pulley (62) is arranged substantially coaxially to the second pulley (52) and / or to a hollow shaft, in particular to an inner hollow shaft (56) and / or an outer hollow shaft (64) of the control device (8) and is rotatable about the second axis of rotation (Y).Device according to one of Claims 1 to 8, characterized - in that the at least one suction unit (18) is in fluidic connection with at least one vacuum source by means of at least one connecting means (32, 34, 44, 46, 82, 84); - wherein the at least one connecting means (32, 34, 44, 46, 82, 84) preferably comprises at least one boom line (46) connected to the boom arm (6) and at least one control line (84) connected to the boom line (46) in terms of flow, - wherein the at least one control line (84) is preferably arranged at least partially within a hollow shaft, in particular within an inner hollow shaft (56) and / or an outer hollow shaft (64) of the at least one control device (8).Device according to claim 9, characterised by - at least one sensor (78) for detecting a piece good picked up by the at least one pick-up unit (4), - wherein the at least one sensor (78) detects in particular a movement of the at least one connecting means (32, 34, 44, 46, 82, 84), in particular of the boom line (46).Device according to one of Claims 1 to 10, characterized - in that the control device (8) has at least one first drive unit, in particular a first motor (70), for rotating the receiving unit (4) about the first axis of rotation (X); and / or - in that the control device (8) has at least one second drive unit, in particular a second motor (96), for rotating the boom arm (6) about the second axis of rotation (Y).Handling system for picking and storing medicines and cosmetics comprising - at least one apparatus according to one of Claims 1 to 11; - at least one load carrier for depositing piece goods; and - at least one feed device for feeding piece goods to be picked and stored.Handling system according to claim 12, characterised in that - the handling system further comprises an output device for outputting piece goods arranged on the at least one load carrier and / or a communication means for inputting piece goods to be output.

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