Method and picking device for dispensing consumables in the form of portions and packages - Patents.com

Abstract

The present invention relates to a method and a picking device for dispensing consumables in the form of portions and packages into a target container based on a dispensing request. Known methods and picking devices do not allow picking dispensing requests that contain portions and packages. It is intended to a) analyze the dispensing request and b) grip the packages in a storage area and deliver them to the target container. In step c1), the storage container is gripped by an operating device and delivered to a preparation area, where a predetermined amount of portions is removed from the storage container by a gripper. The gripper is then moved to the target container and the portions are delivered to the target container. The storage container is then delivered again to the storage area by the operating device.

Description

[Technical field]

[0001] The present invention relates to a method and a picking device for dispensing consumables in the form of portions and packages into a target container based on a dispensing request. [Background technology]

[0002] In modern picking devices known from the prior art, a large number of different small objects are stored in a random and space-optimized manner on elongated horizontal storage surfaces. These storage surfaces are provided by a number of shelves, on each of which a large number of small objects are stored in a respective storage area. In a random, space-optimized storage, small objects, such as drug packages, nutritional supplement packages and other consumables (such as bandages) in packages preferably of rectangular parallelepiped shape, are stored in a storage surface in a picking device used in a pharmacy or hospital, such that as many small objects as possible can be stored per unit area of ​​the storage surface. In a random storage, the storage area on a storage surface or shelf is not a permanently defined area of ​​this storage surface with fixed dimensions, but the storage area is defined by the packages stored in the surface area. Furthermore, the dimensions of the free surface area primarily determine which packages are stored there.

[0003] In the above mentioned picking devices, typically only rectangular shaped packages or portions arranged in rectangular shaped carriers are received in the storage area. In the known picking devices, items deviating from a rectangular shape can only be stored if they have a flat base and parallel vertical sides.

[0004] However, these picking devices are unable to stock and prepare non-cuboidally shaped portions, for example in the form of small vials or syringes, for dispensing in combination with "normal" packages.

[0005] In a hospital, it is common for all consumables required, for example, in a ward to be provided together as a dispensing set, whether in packaged or unpackaged form (hereafter referred to as portions). In the ward, the packages and portions contained in the dispensing set are then processed for each patient. Since packages and portions are usually required, the picking device described above cannot fully automatically pick dispensing sets for the ward, at least in the general case where the dispensing set includes portions and packages. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] European Patent Application Publication No. 3854730 [Patent Document 2] European Patent Application Publication No. 3431421 Summary of the Invention [Problem to be solved by the invention]

[0007] The object of the present invention is to provide a method and a picking device which are able to dispense consumables in the form of packages and portions into a target container based on a dispensing request. The consumables can include drug packages and drug portions, as well as other substances required in hospitals in the form of portions and packages, such as packaged dressings, nutritional supplements, etc. [Means for solving the problem]

[0008] This problem is solved by the method according to claim 1. In the method according to the invention for dispensing consumables in the form of portions and packages into a target container on the basis of a dispensing request, in step a) the dispensing request (ZA) is analyzed and the type and quantity of the packages and portions and the storage area in a storage unit of a picking device are determined.

[0009] In step b), in the storage area assigned to the package, the package is grasped by the handling device and delivered to a target container in a picking area of ​​a picking unit of the picking device, the picking area being a stopping area for the target container, in which the package and portions are delivered to the target container.

[0010] In step c1), in the storage area assigned to the portions, the storage container is grasped by the operating device and sent to a preparation area of ​​the picking unit, which is a stopping area for storage containers for portions (not independently accessible and tractable), where an amount of the portion defined by the withdrawal request is removed from the storage container.

[0011] Then, in step c2), a portion in the storage container in the preparation area is gripped by the gripper of the gripping mechanism, and in step c3), the gripper is moved to the target container and the portion is delivered to the target container.

[0012] In step c4), the storage container in the preparation area is delivered by the handling device to a storage area, which may be the storage area in which the storage container was previously located or a newly assigned storage area.

[0013] The order of steps or step combinations b) and [c1), {c2)+c3)}, c4)] is arbitrary, the number of repetitions of the steps or step combinations depends on the withdrawal request, and in the concept of step combinations, steps [c1)~c4)] and {c2+c3)} should be understood, where step c2)+c3) can be executed any number of times in step combinations c1)~c4), and step combinations c1)~c4) can be executed any number of times (each depending on the withdrawal request), possibly being "interrupted" by the execution of step b).

[0014] For an exemplary take-out request containing two different packages and three portions of the same type, for example, first a storage container with the appropriate portions is fed to the preparation area (step c1), then the three portions are fed to the target container by the gripper (steps c2) and c3)), and after the feeding of the storage container to the preparation area, the package is fed to the target container by the handling device (step b)), where the feeding of the package and the portions can be performed at least partially in parallel, since different handling mechanisms are used for those work steps. However, the aforementioned order of the take-out operations is not mandatory, which may also vary, for example depending on the positioning of the handling device with respect to the requested packages and portions. Furthermore, the order may be different, for example if the receiving of the packages or portions is not yet completed at the time of the first processing of the take-out request. With regard to the order of the take-out operations, the method according to the invention is therefore very flexible and is not fixed to a specific order (with respect to packages and portions).

[0015] According to the invention, it is provided that in the picking device, in a storage area, the packages and storage containers for the portions are stored. According to the invention, in step c2), the portions are gripped by a gripper of the gripping mechanism. In an embodiment of the method according to the invention, it is provided that the gripper is displaced to a predefined position to grip the portions in the holding container, which position is assigned to the portions in the storage container. Thus, in this embodiment of the method, the portions in the storage container are arranged in known, predefined, fixed positions, their positions in the storage container are known and, due to the known arrangement of the storage containers in the preparation area, the positions of the individual portions are known and can therefore be directly accessed.

[0016] However, it is also conceivable that portions are arranged in the storage container without a predetermined position, for example simply as "bulk goods", which on the one hand simplifies the arrangement of portions in the storage container and on the other hand increases the receiving capacity of the storage container for certain portions. In such a case, according to the invention, it is provided that portions are gripped from the holding container by a camera taking a picture of the portions arranged in a disorderly manner in the storage container and by image processing software determining the exact arrangement of at least some of the portions, on the basis of which the portions to be gripped are determined and gripped by the gripper. The use of image processing software for determining the exact arrangement of portions is known from the prior art and is disclosed in more detail (see, for example, US Pat. No. 5,399,323), the contents of which are incorporated into the present application. The gripper can be, for example, a suction gripper, which is also disclosed in the aforementioned application.

[0017] Depending on the size of the dispense order, not all packages and portions required for the dispense order may be available at a given time X1. It is also conceivable that several dispense orders available at different times should be dispensed into one target container. In order to be able to at least partially process the dispense order in the former case, and to be able to consolidate several dispense orders in the target container in the latter case, in a preferred embodiment of the method according to the invention, after the removal operation of the dispense order or part of the dispense order, the target container is moved by the operating device to a storage area and the target container is put into storage.

[0018] In order to avoid delaying the processing of the next dispense request in which a "new" target container is required in the picking area after all packages and portions have been dispensed into the target container, in a preferred embodiment of the method it is contemplated that the target container is moved to an ejection area after all portions have been dispensed, from which the target container can be removed, for example, by an operator.

[0019] The "new" target container can be delivered to the picking area, for example, by an operator. In a preferred embodiment of the method, in which manual loading of the picking area is avoided and thus fully automatic processing of multiple removal requests is possible, it is provided that the target container is picked up from the storage area by an operating device and delivered to the picking area. Thus, in this embodiment of the method according to the invention, the empty target container is received in a storage unit of the picking device.

[0020] The storage containers can be delivered to the picking device, for example, by an operator, however, in a preferred embodiment it is contemplated that the storage containers are prepared for storage by an input mechanism and moved from the input mechanism to the storage area by an operating device.

[0021] To document the dispensing request and to increase certainty regarding the dispensing of packages and portions, a preferred embodiment contemplates creating and saving a photograph of an empty and / or fully filled target container before the delivery of the first and / or last portion or package. Based on the photograph of the empty target container, it is possible to document that the target container was in fact empty at the start of dispensing and that no packages or portions not corresponding to the dispensing request were placed in the target container. Depending on the amount of packages and portions, based on the image of the filled target container, the correct execution of the dispensing request may be verified and documented.

[0022] In a further embodiment, it is further contemplated that a photograph of the target container is created and saved after each portion and each package is dispensed.

[0023] In a further embodiment, it is further (additionally) provided that before or after the delivery of each portion and each package, the code of the portion or package is detected and compared with the target code. If the comparison shows that an incorrect package or an incorrect portion has been moved to the target container, the process can be stopped. If the code is "correct", it can for example be stored and, at the end of dispensing, it can be reliably shown that each package and / or portion of the dispensing has been moved to the target container in accordance with the dispensing request. The code can for example be a barcode, a code from an RFID transponder or a data matrix code.

[0024] Detection prior to the actual "dispensing", i.e. before the portion is placed in the target container, can be performed while the portion is being gripped by the gripping mechanism.

[0025] The above problem is further solved by a picking device according to claim 10. A picking device according to the invention for dispensing portions and packages into a target container on the basis of a dispensing request comprises a storage unit comprising at least one shelf row with a plurality of horizontal shelves each having a plurality of storage areas for the packages and storage containers for a plurality of portions, at least one operating device horizontally and vertically displaceable in front of the shelf row, having a placement surface for the packages and the storage containers and a transport mechanism for moving the packages and the storage containers, at least one receiving mechanism by which the packages and the storage containers are moved into the storage unit and from which the operating device can remove the packages and the storage containers, and an identification mechanism for identifying the packages and the storage containers.

[0026] Furthermore, the picking device according to the present invention includes at least one picking unit comprising a preparation station having a preparation area for a storage container, the preparation station being configured so that the storage container is movable from the arrangement surface of the operating device to the preparation area and from the preparation area to the arrangement surface of the operating device, a picking station having a picking area for a target container, the picking station being configured so that a package is movable by the operating device to the target container in the picking area, and a gripping mechanism arranged above the preparation area and the picking area and having a gripper or robot that is vertically and horizontally displaceable, and the gripping mechanism is capable of transporting portions from the storage container in the preparation area to the target container.

[0027] In the device according to the invention, two types of "articles" are stored, namely "normal" packages on the one hand and storage containers in which a number of portions are arranged on the other hand, in order to dispense packages and portions into the target container. Packages and storage containers have in common that they are usually configured in a cuboid shape and can be gripped and transported by the same operating device. The picking device according to the invention comprises, in addition to a storage unit, which can essentially be realized, for example, by the devices known from the prior art mentioned above, at least one picking unit, by which the portions are delivered to the target container. This picking unit comprises a specially configured preparation station and a picking station, the preparation station being configured such that the storage containers are movable from the placement surface to the preparation area and from the preparation area to the resting surface, and the picking station being configured such that the packages are movable into the target container by the operating device. Due to such a special manner of design of the preparation station and the picking station, it is conceivable that the at least one picking unit is integrated into the storage unit or arranged outside the storage unit. Furthermore, it is also conceivable to combine a storage unit with an internal picking unit and at least one external picking unit or with a number of external picking units in a picking device according to the invention.

[0028] By combining a storage unit with a picking unit and storing storage containers containing portions in the storage unit, it is possible to provide a picking device capable of dispensing both packages and portions into target containers.

[0029] As already mentioned above, the portions can be arranged in defined positions in the storage container or arranged randomly in the storage container (as bulk goods, so to speak). In order to enable the grasping of portions in a random arrangement in the storage container, in a preferred embodiment of the picking device according to the invention, it is provided that the picking unit comprises at least one camera, by means of which a picture of the contents of the storage container in the preparation area can be made. In order to furthermore be able to make a picture of the contents of the target container at any time, it is further provided that the camera is arranged or movable in such a way that a picture of the contents of the target container in the picking area can also be made by the camera.

[0030] In an embodiment of the picking device, in which the picking unit is arranged in the storage unit, a preparation area for the storage containers is usually provided by one of the horizontal shelves. In such a case, it is only necessary to place the storage containers directly on the shelf or on the preparation area by means of the handling device. Alternatively, the preparation area can be provided by a section of a conveyor belt or roller conveyor in the picking device. However, when the picking unit is arranged outside the storage unit, it is provided that the picking unit includes a storage container delivery and return mechanism by which the storage containers are movable from the access area of ​​the handling device to the preparation station and from the preparation station to the access area of ​​the handling device. For this purpose, the storage containers are placed on the storage container delivery and return mechanism by the handling device and are moved from there to the preparation station. The storage container delivery and return mechanism can be configured, for example, as a simple conveyor belt.

[0031] In the simplest case of an external arrangement of the picking unit, the preparation station is designed for only one storage container and contains only one preparation area for this storage container. The storage container is then fed directly to the preparation area by the storage container feed and return mechanism and returned from there (to the access area of ​​the operating device). However, this requires that the storage container must be returned to the storage area immediately after the picking operation, otherwise further storage containers cannot be processed.

[0032] If the picking unit is located outside the storage unit, it is contemplated in a preferred embodiment of the picking device according to the invention that the preparation station includes a storage container transport mechanism by which the storage containers are delivered to the preparation area, the storage container transport mechanism being configured such that at least one waiting area for the storage containers is provided. In such a case, it is further contemplated that the storage container delivery and return mechanism includes a delivery means and a return means, since delivery and return take place at different locations.

[0033] In such a case, the picking unit may include at least one waiting area and a preparation area, and may deliver two storage containers containing the portions to the picking unit, where the storage containers containing the portions are first delivered to the waiting area, and then the storage containers are moved from the waiting area to the preparation area.

[0034] If the picking unit is located externally, for the reasons mentioned above, it may be advantageous to send the target container again to the storage unit after the removal of a part or the complete removal request, in order to complete the removal request later, or to send a further removal request to the target container. To enable this, in a preferred embodiment, it is provided that the picking unit includes a target container return mechanism, by means of which the target container is movable from the picking area to an access area of ​​the operating device. The target container is then received by the operating device and sent to the storage area.

[0035] It is further contemplated that when the picking unit is located externally, it includes a package feed mechanism by which the package is movable from the gripping area of ​​the manipulation device to the target receptacle. Such a feed mechanism may be configured, for example, as a simple ramp to which the manipulation device can feed the package, the ramp terminating above the target receptacle in the picking area.

[0036] In the following, preferred embodiments of the picking device according to the invention and preferred embodiments of the method according to the invention will be described in more detail with reference to the drawings. [Brief description of the drawings]

[0037] [Figure 1] 1 is a schematic top view of a first embodiment of a picking device according to the present invention; [Diagram 2] FIG. 4 is a schematic diagram of a second embodiment of a picking device according to the present invention; [Diagram 3] FIG. 13 is a schematic top view of a third embodiment of a picking device according to the present invention; [Figure 4] FIG. 11 is a schematic side view of the third embodiment. [Diagram 5] 1 is a flow diagram of a preferred embodiment of the method according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] Figure 1 shows a first embodiment of a picking device 1 according to the invention, which comprises a storage unit 100 with two parallel shelf rows, each with a number of horizontal shelves 111, each with a number of storage areas 112 for medicament packages 116 and storage containers 113. Between the two shelf rows an aisle 101 is arranged, in which an operating device 120 is vertically and horizontally movable on horizontal guides 102, the vertical guides for the operating device 120 being omitted in the schematic representation according to Figure 1.

[0039] As can be seen in the left shelf row, the upper shelf 111 has two storage containers 113, a target container 115 and a number of packages 116 each arranged in a storage area 112, the storage area itself being determined according to the containers placed on the shelf or the packages and storage containers resting on a surface on the shelf 111 having sufficient dimensions to accommodate them. Thus, the arrangement, number and size of the storage areas per shelf are not fixed but vary depending on the type of containers being stored, i.e. packages or storage containers.

[0040] As shown in the two storage containers 113, the portions 117 stored in the storage containers can be arranged randomly (upper storage container 113) or in a disorganized manner, or can be arranged in storage sections provided in the storage containers (as shown in the lower storage container), the storage sections for the portions being omitted in the merely schematic illustration according to FIG. 1.

[0041] A horizontally and vertically displaceable handling device 120 in front of the shelf row includes a placement table 121 for storage containers and packages and a gripping mechanism 122 by which the packages and storage containers can be moved from the storage area to the placement table and from the placement table to, for example, the storage area. The handling device can be, for example, a jaw gripper (see, for example, US Pat. No. 5,399,313), the disclosure of which is incorporated herein in order to avoid a detailed description of the handling device 120.

[0042] Although not explicitly shown, in the illustrated embodiment, the handling device 120 is also rotatable about a vertical axis. In alternative embodiments, the handling device may be broadly configured such that packages and storage containers can be moved over one end face facing the shelf row onto the loading table and over the other end face from the loading table into, for example, a storage area.

[0043] The picking device 1 according to the invention comprises, in addition to the storage unit 100, a picking unit 200, which in the illustrated embodiment is integrated into the storage unit 100, which may require the omission of shelves in the area of ​​the picking unit depending on the exact arrangement of the shelves. In the illustrated embodiment, the picking unit 200 is arranged in the "right" half of the storage unit 100, the depth of the picking unit 200 corresponding to the depth of the shelves 111. Thereby, certain elements of the picking unit 200 can be realized by a section of shelves, as will be explained in more detail below.

[0044] In the embodiment according to Fig. 1, the picking unit 200 comprises a preparation station 220 with a preparation area 222, which in the embodiment shown is realized as a section of the shelf 111. In the preparation area 222, a storage container 113' containing a number of portions (not shown) is arranged. In addition to the preparation station 220, a picking station 230 is arranged with a picking area 232, which in the embodiment shown is also realized as a part or section of the shelf 111. In the picking area 232, a target container 115' is arranged, into which packages and portions can be dispensed.

[0045] To transfer the portions from the storage container 113' to the target container 115', a gripping mechanism 260 is arranged above the preparation and picking areas and includes a horizontally and vertically displaceable gripper 261 by which the portions can be picked up from the storage container 113' and transferred to the target container 115'. The gripper can be, for example, a suction gripper (see, for example, US Pat. No. 5,399,313), the contents of which are incorporated herein in order to omit a detailed description of the gripper 261.

[0046] The picking unit 200, in the illustrated embodiment, further includes a discharge station 240 having a discharge area 242 in which a target container 115'' is disposed, in which a number of portions 117 and a number of packages 116 are disposed. From the discharge area 242, the target container 115'' can be removed, for example by an operator, as indicated by the dashed area on the outer wall of the storage unit 100.

[0047] The area below the right shelf row also shows a target container 115''' in storage area 112'''. The target container 115''' has been moved by the manipulation device 120 from the picking area to storage area 112''', e.g., for picking additional packages and / or portions into the target container 115''' at a later time.

[0048] 2 shows a second embodiment of the picking device 1 according to the invention. In this embodiment, the picking unit 200 is arranged "outside" the storage unit. By arranging the picking unit 200 outside, the preparation station 220 and the picking station 230 are arranged outside the access area of ​​the operating device 120, so that the operating device 120 cannot move the storage container (and possibly the target container) directly to the corresponding areas of the preparation station 220 and the picking station 230.

[0049] Thus, in this embodiment, the picking unit 200 includes a storage container delivery and return mechanism 270 by means of which the storage containers are movable from an access area 274 of the handling device to a preparation area 222 of the preparation station 220 and from the preparation area to the access area 274 of the handling device, as indicated by the arrow P1. This storage container delivery and return mechanism 270 may be, for example, a simple conveyor belt in the illustrated embodiment. The preparation area 222 is then realized or formed by a section of the storage container delivery and return mechanism 270.

[0050] In the illustrated embodiment, the picking apparatus further includes a target container return mechanism 250 by means of which the target container 115' is movable from the picking area 232 to an access area 254 of the operating device. In an alternative embodiment (where no warehousing or temporary storage of the target container 115' is required), the target container return mechanism 250 can be omitted and, for example, an operator can remove the fully filled target container 115'.

[0051] In the embodiment shown, the picking unit 200 further includes a package feed mechanism 280 by means of which the package 116' is movable by a manipulation device to the target receptacle 115', as indicated by arrow P2. In the simplest case, the package feed mechanism 280 may be a ramp that terminates above the target receptacle 115'.

[0052] FIG. 3 shows a third preferred embodiment, in which the picking unit 200 is likewise shown outside the storage unit 100. In the following, to avoid repetition, only the differences with respect to the second embodiment are described. In this embodiment, the preparation station 220 comprises a storage receptacle transport mechanism 221 (see also FIG. 4), by which the storage receptacle is fed to a preparation area 222, which is configured such that at least one waiting area 223 for the storage receptacle is provided. The storage receptacle transport mechanism is thus able to prepare several storage receptacles for processing in the picking unit without having to interrupt the processing of packages of a current withdrawal request. In alternative embodiments, several waiting areas 223 can also be provided. The storage receptacle transport mechanism 221 can be designed, for example, as a conveyor belt and cooperates with a storage receptacle feed and return mechanism 270 for receiving and transferring the storage receptacles.

[0053] By providing at least one waiting area 223, the feeding and returning of the storage containers must be performed at separate locations, since the storage containers in the waiting area at least potentially impede the return transport of the target containers by the storage container transport mechanism. Thus, in this embodiment, the storage container feeding and returning mechanism 270 includes a feeding means 272 and a returning means 273. The feeding means 272 feeds the storage containers from the access area of ​​the handling device of the preparation station (i.e., a section of the storage container transport mechanism 221 of the preparation station) (see arrow P1'), and the returning means 273 moves the storage containers to the access area of ​​the handling device after the portions have been removed (see arrow P1'').

[0054] FIG. 4 shows a schematic side view of the embodiment according to FIG. 3, in which in the left-hand area of ​​the storage unit 100 the housing 3 of the storage unit has been omitted. In this left-hand area, below the two shelves 111, one can see the receiving mechanism 130 for transferring the packages 116 and the storage containers 113 to the storage unit 100, and the access area of ​​the operating device 120, which removes the storage containers and the packages from the conveyor mechanism, which can be configured for example as a conveyor belt, and transfers them to a storage area. Above the receiving mechanism 130, an identification mechanism 140 is arranged for identifying the packages 116 and possibly the storage containers 113. A control mechanism 2 is furthermore shown at the bottom of the storage unit 100, to which the controlled parts of the storage unit and the picking unit are coupled. The control unit can also be used to analyze the removal request and to determine the storage area.

[0055] In the embodiment according to FIG. 4, a camera 263 is arranged on the gripper 261 of the gripping mechanism 260, by means of which a photograph of the target container can be taken, which is then stored, for example in a control unit, and possibly evaluated (for example to determine the portion to be gripped and its exact position).

[0056] In Fig. 4 it can further be seen that the housing 3 of the picking device comprises two openings 271 for the feeding and returning means of the storage receptacle feeding and returning mechanism and an opening 251 for the target receptacle returning mechanism. Above the target receptacle 115' the housing is further provided with an opening 281 for the package feeding mechanism.

[0057] Also visible in Figure 4 is a storage receptacle transport mechanism 221, by which storage receptacles are delivered to a preparation area 222, which in this embodiment comprises a waiting area for storage receptacles. In addition to the preparation station 220 with the storage receptacle transport mechanism 221, further visible are a picking station 230 and a discharge station 240. These may also comprise transport mechanisms 231 and 241 depending on the exact configuration of the picking unit 200, and actively move target containers from the picking area to the discharge area.

[0058] Based on Fig. 5, a preferred embodiment of the method according to the invention will be described with reference to the embodiment according to Fig. 1 with a picking unit 200 "inside". In step 300, a removal request ZA is first received and analyzed by the control mechanism 2, and the type and quantity of packages 116 and portions 117 in the storage unit 100 of the picking unit 1 and the storage area 112 are determined. Typically, according to step 500, the storage containers 113 assigned to the portions of the removal request are first picked up by the operating device and delivered to the preparation area 222, i.e. in this case lowered to the preparation area 222 by the operating device. The operating device can then be used to carry out step 400 as many times as required, i.e. to pick up and deliver packages of the removal request to the target containers. In parallel, in step 510, the portions 117 in the storage container are gripped by the gripper 261, which in step 520 is moved above the target container (having been moved beforehand to the picking area by the user or the operating device) and the portions are placed or dropped into the target container. Depending on the number of portions in the "in process" state (i.e. portions placed in the preparation area), the two previously described steps are repeated as many times as necessary (this is indicated by the arrow between 520 and 510). Once all portions have been transferred, in step 530, the storage container is gripped by the operating device in the preparation area (the preparation area is in the access area of ​​the operating device) and delivered to the storage area. The previously described steps 500 to 530 are repeated until all portions have been placed in the target container 115'. Then, in step 600, the target container 115' is moved by the operating device to the discharge area 242. Alternatively, this can be done by means of a conveyor mechanism such as a conveyor belt.

Claims

1. 1. A method for dispensing consumables in the form of portions (117) and packages (116) into a target container (115) based on a dispensing request, comprising: a) the withdrawal request (ZA) is analyzed to determine the type and quantity of said packages (116) and portions (117) and the storage area (112) within the storage unit (100) of the picking device (1); b) in the storage area (112) assigned to the package (116), said package (116) is grasped by the operating device (120) and delivered to a target container (115) in the picking area (232) of the picking unit (200) of said picking device (1); c1) in a storage area (112) assigned to a portion (117), a storage container (113) is grasped by the operating device and delivered to a preparation area (222) of the picking unit (200); c2) gripping the portion in the storage container in the preparation area by the gripper (261) of the gripping mechanism (260); c3) the gripper (261) is moved to the target container (115) and the portion is delivered to the target container; c4) the storage container in the preparation area is delivered to a storage area by the operating device; The order of steps or combinations of steps b) and [c1), {c2) + c3)}, c4)] is arbitrary, and the number of repetitions depends on the withdrawal request; method.

2. The gripper is displaced to a predetermined position to grip a portion, and the position is assigned to a portion (117) in the storage container (113).

10. The method of claim 1 for dispensing consumables in the form of portions and packages into a target container based on a dispensing request.

3. The camera (263) takes a photograph of the portions arranged randomly in the storage container (113), and image processing software determines the exact arrangement of at least some of the portions, and based on this, determines and grasps the portion (117) to be grasped, thereby grasping the portion.

10. The method of claim 1 for dispensing consumables in the form of portions and packages into a target container based on a dispensing request.

4. After the processing of the withdrawal request or a part thereof, the target container is moved by the operating device (120) to a storage area of ​​the storage unit (100), and the target container is stored.

10. The method of claim 1 for dispensing consumables in the form of portions and packages into a target container based on a dispensing request.

5. The target container is moved to a discharge area (242) after all packages and portions have been dispensed.

10. The method of claim 1 for dispensing consumables in the form of portions and packages into a target container based on a dispensing request.

6. The target container (115) is picked up from the storage area (112) by the operating device (120) and delivered to the picking area (232).

10. The method of claim 1 for dispensing consumables in the form of portions and packages into a target container based on a dispensing request.

7. The storage container is prepared for storage by a storage mechanism (130) and moved to a storage area by the operating device.

10. The method of claim 1 for dispensing consumables in the form of portions and packages into a target container based on a dispensing request.

8. a photograph of the empty and / or filled target container is created and saved before the first and / or last portion or package is dispensed; 10. The method of claim 1 for dispensing consumables in the form of portions and packages into a target container based on a dispensing request.

9. After each portion and each package is dispensed, a photograph of the target container is created and saved.

9. The method of claim 8 for dispensing consumables in the form of portions and packages into a target container based on a dispensing request.

10. Before or after the delivery of each portion and each package, the code of said portion or said package is detected and compared with a target code.

10. The method of claim 1 for dispensing consumables in the form of portions and packages into a target container based on a dispensing request.

11. A storage unit (100) jn, at least one shelf row having a plurality of horizontal shelves (111) each having a plurality of storage areas (112) for packages (116) and storage containers (113) for a plurality of portions (117); at least one operating device (120) displaceable horizontally and vertically in front of said row of shelves, said operating device having a loading table (121) and a transport mechanism (122) for moving packages and storage containers; at least one receiving mechanism (130) for moving packages (116) and storage containers (113) into said storage unit (100) and enabling said operating device (120) to remove packages (116) and storage containers (113) from said storage unit (100); an identification mechanism (140) for identifying the package (116) and the storage container (113); a storage unit (100) comprising: At least one picking unit (200), a preparation station (220) having a preparation area (222) for a storage container, the storage container being configured to be movable from the loading table (121) of the operating device (120) to the preparation area and from the loading table (121); a picking station (230) having a picking area (232) for a target container, the picking station (230) being configured such that a package is movable by the manipulation device to the target container located in the picking area; a gripping mechanism (260) disposed above the preparation area (222) and the picking area (232) and having a gripper (261) that is vertically and horizontally displaceable; wherein the gripping mechanism is capable of transporting portions from the storage container in the preparation area to the target container. At least one picking unit (200); A picking device for dispensing consumables in the form of portions (117) and packages (116) into a target container (115) based on a dispensing request, comprising:

12. The picking unit (200) comprises at least one camera (263) capable of producing a photograph of the contents of the storage container in the preparation area and / or the target container in the picking area. A picking device (1) for dispensing consumables in the form of portions (117) and packages (116) into a target container (115) based on a dispensing request, according to claim 11.

13. The picking unit (200) includes a storage container delivery and return mechanism (270), which is capable of moving a storage container from an access area of ​​the operation device to the preparation station (220) and from the preparation station to the access area of ​​the operation device. A picking device (1) for dispensing consumables in the form of portions (117) and packages (116) into a target container (115) based on a dispensing request, according to claim 11.

14. the preparation station (220) includes a storage container transport mechanism (221) for delivering storage containers to the preparation area (222), the storage container transport mechanism (221) being configured to provide at least one waiting area (223) for the storage containers; The storage container delivery and return mechanism (270) includes a delivery means (272) and a return means (273). A picking device (1) for dispensing consumables in the form of portions (117) and packages (116) into a target container (115) based on a dispensing request, as claimed in claim 13.

15. The picking unit (200) includes a target container return mechanism (250), and the target container return mechanism (250) is capable of moving the target container from the picking area (232) to the access area of ​​the operation device. A picking device (1) for dispensing consumables in the form of portions (117) and packages (116) into a target container (115) based on a dispensing request, according to claim 13.

16. The picking unit (200) includes a package feeding mechanism (280), by which the package is movable from the operating device to the target container. A picking device (1) for dispensing consumables in the form of portions (117) and packages (116) into a target container (115) based on a dispensing request, according to claim 13.

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