Apparatus and method for stacking valuable documents
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- GIESECKE & DEVRIENT CURRENCY TECHNOLOGY GMBH
- Filing Date
- 2024-07-11
- Publication Date
- 2026-08-05
Smart Images
Figure 2026526078000001_ABST
Abstract
Description
Technical Field
[0001] The present disclosure generally relates to the processing of valuable documents. In particular, the present invention relates to a method and an integrating device for stacking stacks of valuable documents. The present invention also relates to a configuration including the integrating device.
[0002] Background Art Valuable document processing devices are employed in various applications such as, for example, banknote processing devices. Such banknote processing devices may include a banknote stacking system, a banknote sorting system, a banknote unification system, or a combination thereof. Usually, valuable document trays are used to transport valuable documents between respective valuable document processing devices. For example, a robot unit may be used to remove valuable documents from a valuable document processing device in order to place the valuable documents in a tray. During the removal, the valuable documents may exist in a stacked form, that is, in the form of a stack of a plurality of valuable documents, for example, a stack of banknotes. However, some valuable document processing devices provide stacks of valuable documents with a small stacking size. Therefore, it takes a great deal of labor to remove the stack from the valuable document processing device and handle the stack of valuable documents in subsequent automatic processing.
[0003] Summary of the Invention It can be regarded as an object of the present invention to facilitate the subsequent automatic processing of stacks of valuable documents provided by a valuable document processing device.
[0004] An integrating device and a method according to the features of the independent claims are provided. Further embodiments will be apparent from the dependent claims and the following description.
[0005] According to one embodiment, a stacking device is provided for accumulating stacks of valuable documents, such as banknotes. The stacking device comprises a base support structure, which is configured to receive stacks of valuable documents onto the base support structure. 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 stacks of valuable documents can be inserted. The side support structure defines an open end region facing the base support structure, such that stacks of valuable 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 opening of the first side wall is configured to allow the first gripping element of the robot unit to move within the longitudinal opening from the opening end region toward the base support structure while the stack of valuable documents is placed on the base support structure so that the valuable documents of the stack of valuable documents are arranged to overlap each other within the receiving space.
[0006] The stacking device of the present invention allows two or more small stacks of valuable documents to be stacked on top of each other in order to form a larger stack of valuable documents consisting of two or more small stacks of valuable documents. Therefore, the size or height of the stack of valuable documents can be adjusted before the stack is placed in the tray. In particular, the tray may have multiple tray compartments, each tray compartment having specified dimensions, and therefore the size of the stack inserted into the tray compartment should match the specified dimensions of each tray compartment. For example, a tray compartment may be sized to accept a stack of 500 valuable documents, but the valuable document processing device may output only a stack of 100 valuable documents. Therefore, directly placing a stack of 100 valuable documents into the tray compartment may result in unoccupied space within the tray compartment, and subsequent filling of this unoccupied space within the tray compartment may be difficult. The stacking device of the present invention overcomes this problem by being able to collect multiple stacks of 100 valuable documents output by a valuable document processing device into the stacking device in order to achieve larger stacks of adjusted size that can be inserted into each tray compartment. In the above example, this may mean that five stacks of 100 valuable documents are collected into the stacking device before the resulting large stack of 500 valuable documents is inserted into the tray compartment. Thus, the large stack of 500 valuable documents can fit properly into the tray compartment, and no unused space is left in the tray compartment. The basic principle of this example can be applied to any number of valuable documents and any stack size.
[0007] The configuration of the stacking device may allow a robotic unit, particularly a gripping element of the robotic unit, to be at least partially inserted into the receiving space of the stacking device, such that a stack of valuable documents can be placed on top of each other, i.e., stacked, within the receiving space of the stacking device. In other words, the stack can be placed within the receiving space of the stacking device so that the valuable documents are stacked on a base support structure. For example, a first stack of valuable documents may be placed on a base structure, and the first stack of valuable documents has a bottom valuable document representing the lower end of the first stack, and therefore the bottom valuable document is placed directly on the support surface of the base support structure. The first stack of valuable documents may also have a top valuable document representing the upper end of the first stack. A second stack of valuable documents can then be placed on top of the top valuable document of the first stack, that is, the bottom valuable document of the second stack may be placed directly on top of the top valuable document of the first stack. A second stack may have a top layer of valuable documents on which further stacks can be placed. This procedure can be repeated until the desired size of the stacked documents is reached.
[0008] The base support structure may represent the bottom support of the stacking device that supports multiple stacks collected in the receiving space. The side support structure may extend upward from the base support structure and provide lateral support for valuable documents stacked on the base support structure. In particular, the side support structure may provide a wall-like structure that provides lateral restraint, for example, to prevent stacked valuable documents from falling from the stacking device. The side support structure may laterally enclose the receiving space in which the stacked valuable documents are located. The side support structure may further define an open end region that may represent an opening at the top of the stacking device, and the receiving space is accessible through the open end region, so that individual stacks of valuable documents can be continuously inserted into the receiving space through the open end region, and the stacked stacks of valuable documents can be removed collectively from the receiving space through the open end region, for example, simultaneously.
[0009] A longitudinal opening may be connected to an opening end region so that the gripping element of the robot unit can be lowered into the longitudinal opening. In particular, the longitudinal opening may extend entirely downward to the base support structure so that the gripping element of the robot unit can lower a first stack of valuable documents toward the base support structure and / or so that the gripping element of the robot unit can lower the first stack of valuable documents onto the base support structure, in particular onto the mounting surface or support surface of the base support structure. The longitudinal opening may extend further beyond the mounting surface or support surface of the base support structure so that the gripping element of the robot unit can be laterally removed from the stacking device after the gripping element of the robot unit has placed the first stack of valuable documents onto the mounting surface or support surface of the base support structure.
[0010] The longitudinal opening may have the shape of a longitudinal slot. These longitudinal slots may be located within one or two side walls of the side support structure, and the longitudinal slots are complementary to one or more fingers of the gripping element of the robot unit so that the fingers of the gripping element can sink into the longitudinal slots when a stack of valuable documents is placed in the stacking device.
[0011] In one embodiment, the longitudinal opening of the first side wall extends from the opening end region to the base support structure so that the longitudinal opening is configured to allow a first gripping element of the robot unit to be inserted into an access area between the base support structure and the bottommost valuable document of the stack of valuable documents in order to lift the stack of valuable documents out of the receiving space.
[0012] The configuration of the longitudinal opening, which begins at the open end region and extends downward at least to the base support structure, provides the possibility that the gripping element of the robot unit can be inserted laterally, i.e., perpendicular to the first side wall, into the access area of the stacking device, so that the gripping element can be inserted beneath the bottommost valuable document of the stack of valuable documents. Subsequent lifting of the gripping element, i.e., lifting in a direction parallel to the first side wall and / or parallel to the longitudinal opening, can provide a lifting motion to the stack of valuable documents, thereby moving the stack away from the base support structure. During this lifting, the gripping element may move within and along the longitudinal opening, for example, when picking up a large stack of stacks having a desired stack size.
[0013] In one embodiment, the base support structure comprises a support surface having one or more parallel recesses, and a first gripping element of the robot unit can be inserted into one or more parallel recesses to lift a stack of valuable documents in the receiving space.
[0014] The parallel recesses can define the aforementioned access area between the base support structure and the bottommost valuable document in the stack of valuable documents. In other words, one or more fingers of the robot unit's gripping element can be introduced into the complementary recesses while the fingers are moved perpendicular to the first side wall. After one or more fingers are introduced into their complementary recesses, the gripping element can be lifted toward the open end region of the side support structure to lift the collected stack of valuable documents out of the receiving space.
[0015] In one embodiment, the longitudinal opening at least partially overlaps with a parallel recess in the support surface to allow a first gripping element of the robot unit to be inserted into a parallel recess through the longitudinal opening.
[0016] In other words, the longitudinal opening is connected to a parallel recess so that the gripping element of the robot unit can move from the recess to the longitudinal opening in the first side wall without the gripping element being removed from the stacking device. This means that, when introducing a stack of valuable documents into the receiving space, the configuration of the stacking device allows the gripping element to be lowered until the stack of valuable documents is placed on the mounting surface or support surface of the base support structure, so that the gripping element can be laterally removed from the stacking device without interacting with the stack of valuable documents. After the stacked stack, consisting of small stacks of valuable documents, has been collected into the receiving space, the gripping element can be laterally reintroduced into the stacking device without interacting with the stacked stack of valuable documents so that the stacked stack of valuable documents can be lifted out of the receiving space while the gripping element moves within the longitudinal opening.
[0017] In one embodiment, the longitudinal opening of the first side wall is separated by parallel bar elements of the first side wall, which are connected to a base support structure and extend from the base support structure toward the opening end region.
[0018] The bar elements may exist in the form of rigid rods or posts projecting away from the base support structure. The base support structure may have a rectangular shape defined by corresponding side edges. The bar elements of the first side wall may be positioned at the first side edge of the base support structure. The bar elements may have free ends in the open end region of the side support structure.
[0019] In one embodiment, the stacking device includes a compression element for compressing a stack of valuable documents placed within a receiving space.
[0020] In particular, the stacking device may comprise a compression unit including an operating mechanism and a compression element. The compression element may be pivotably mounted to the operating mechanism. The operating mechanism may be mounted to the frame of the stacking device and can actuate the pivoting motion of the compression element, thereby allowing the compression element to be pressed or compressed onto the topmost valuable document of the stack of valuable documents collected in the receiving space of the stacking device. When operated, the compression element may be configured to reach into the receiving space during its pivoting motion. For example, the compression element may reach through a longitudinal opening during its pivoting motion.
[0021] In one embodiment, the compression element comprises one or more finger elements configured to be inserted into a longitudinal opening in a second side wall and to be moved within the longitudinal opening in the second side wall toward a base support structure in order to compress a stack of valuable documents placed in a receiving space.
[0022] During operation, the finger elements of the compression element can be rotated within the receiving space, thereby pressing or rubbing against the topmost valuable documents in the stack of valuable documents collected within the receiving space of the stacking device. In other words, the finger elements of the compression element sink into the longitudinal opening of the second side wall toward the base support structure during the rotational movement of the finger elements. In this way, the bulky or often flimsy stack of valuable documents in the stacking device is compressed from above by the compression element, thereby enabling the robot unit to securely grasp the compressed stack with the small opening width of its gripping element.
[0023] In one embodiment, the second side wall is positioned opposite the first side wall such that the receiving space is located between the first side wall and the second side wall.
[0024] The second side wall may be constructed similarly to or equivalent to the first side wall. In particular, the second side wall may include bar elements extending from the second side edge of the base support structure, the bar elements of the second side wall defining a longitudinal opening within the second side wall. The side support structure may further include a third side wall and a fourth side wall facing the third side wall with respect to the receiving space. Thus, the first, second, third, and fourth side walls may together define the receiving space.
[0025] In one embodiment, the stacking device includes a pivot element configured to adjust the inclined orientation of the base support structure relative to the floor element.
[0026] In other words, the base support structure, and therefore the side support structure, together can be tilted or inclined with respect to the floor element of the environment on which the frame or feet of the stacking device stand. For example, the base support structure can be inclined toward one of the side walls or toward one corner of the base support structure, meaning that the base support structure and side support structure can be inclined in one or two directions. This inclination of the base support structure and side support structure can ensure the alignment of stacks of valuable documents placed continuously within the receiving space. For example, by tilting the base support structure toward one side wall / corner, the valuable documents in the stack received within the receiving space will come into contact with one or two side walls of the side support structure, thereby enabling the alignment of individual valuable documents in the received stack.
[0027] Furthermore, the size of the receiving space may be adjustable, for example, by moving one or more of the side walls relative to the base support structure.
[0028] According to one aspect, a configuration for stacking stacks of valuable documents is provided. The configuration includes at least one stacking device described herein. The configuration further includes a robot unit having a gripping unit for gripping a stack of valuable documents. The stacking device is preferably arranged within the working range of the robot unit. The configuration may further include a valuable document processing device and / or a valuable document container / tray and / or an alignment device described later.
[0029] The configuration further includes a control unit for controlling the movement of the robot unit. The control unit controls the robot unit to place a first stack of valuable documents in the stacking device and, preferably, to place at least one (one or more) second stack of valuable documents of the same condition (e.g., non-conforming or conforming or ATM conforming) and / or the same type (e.g., denomination and / or currency) as the first stack of valuable documents in the stacking device so that the first and second stacks of valuable documents are arranged overlapping each other within the stacking device.
[0030] For example, the control unit is configured to control the robot unit to continuously, i.e., one after another, place a plurality of stacks of valuable documents in the stacking device so that the plurality of stacks of valuable documents are arranged overlapping each other within the stacking device. An exemplary control sequence applied by the control unit will be described below.
[0031] The control unit may be configured to control the robot unit to adapt the orientation of at least one second stack of valuable documents based on a predefined orientation method, particularly before placing the second stack of valuable documents in the receiving space of the stacking device, so that the orientation of the second stack of valuable documents is the same as the orientation of the first stack of valuable documents.
[0032] The control unit can control the robot unit to grasp a first stack of valuable documents using, for example, the robot unit's gripping element, and retrieve this first stack of valuable documents from an output module of a valuable documents processing device configured to check the valuable documents, or from another device, such as a valuable documents stack alignment device configured to receive the valuable documents stack and align the edges of the valuable documents in the valuable documents stack. The robot unit can then be controlled to place the retrieved first stack of valuable documents into the receiving space of the stacking device. Since the first stack of valuable documents is placed in an empty stacking device, the control unit can control the robot unit's gripping element to lower the gripping element into the receiving space until the first stack of valuable documents is placed on the mounting surface or support surface of the stacking device's base support structure. In particular, the gripping element may move within the longitudinal opening of the first side wall while the gripping element is lowering. Subsequently, the control unit can release the first stack of valuable documents by controlling the robot unit to move the gripping elements away from each other. Thus, the gripping elements can be removed from the receiving space laterally, i.e., perpendicular to the first side wall, without interacting with the first stack of valuable documents placed on the base support structure.
[0033] Next, the control unit can control the robot unit to grasp a second stack of valuable documents and to remove this second stack of valuable documents from the output module of the valuable document processing device or from another device, such as an alignment device. The second stack may have the same conditions and / or the same type as the first stack of valuable documents, for example, the same denomination and / or the same currency. Subsequently, the robot unit can be controlled to further place the second stack of valuable documents into the receiving space of the stacking device. Since it is a second stack of valuable documents placed in the stacking device, the control unit can control the gripping elements of the robot unit to lower the gripping elements into the receiving space until one of the gripping elements reaches the topmost valuable document of the first stack. In particular, the gripping elements may move within the longitudinal opening of the first side wall while descending toward the base support structure. Subsequently, the control unit can release the second stack of valuable documents by controlling the robot unit to move the gripping elements away from each other. Therefore, the gripping element can be removed from the receiving space laterally, that is, perpendicular to the first side wall.
[0034] This procedure can be repeated with one or more further stacks of valuable documents that are taken from the output module of a valuable document processing device or from the output module of another device, such as an alignment device, and collected in a stacking device. Thus, the configuration of the present invention allows multiple stacks of valuable documents to be placed sequentially and individually in a stacking device, with the stacks being placed one after the other in the stacking device.
[0035] In one embodiment, the control unit is configured to control a robot unit or a further robot unit to retrieve a first and second (or more) stack of valuable documents from the stacking device together (i.e., retrieve the first and second stacks as a combined stack rather than individually), and to place the first and second stacks together into valuable document containers located within the working range of the robot unit or the further robot unit. An exemplary control sequence is described below.
[0036] In contrast to the sequential placement of individual (small) stacks into the stacking device, the control unit can control a robotic unit or further robotic units, particularly the gripping elements of the robotic units, to grip all valuable documents within the receiving space of the stacking device and to remove all valuable documents in the form of a single (large) stack from the stacking device at once. In particular, a first gripping element can be inserted below the bottommost valuable documents in the stacking device, i.e., between the bottommost valuable documents and the base support structure. This insertion of the first gripping element can be performed by lateral movement of the first gripping element perpendicular to the first side wall. Simultaneously, a second gripping element of the robotic unit can be positioned above the topmost valuable documents in the stacking device. The gripping elements can then be moved toward each other to clamp a single (large) stack of valuable documents between the first and second gripping elements. While being moved toward each other, the gripping elements can be moved along the longitudinal opening within the longitudinal opening in the first side wall. Subsequently, the single (large) stack of valuable documents being held can be lifted and removed from the stacking device. During lifting, the gripping elements may move within the longitudinal opening away from the base support structure towards the open end region of the side support structure, thereby removing the single (large) stack of valuable documents from the stacking device as a whole, i.e., as a package.
[0037] In particular, the control unit may be configured to control the robot unit to insert a single (large) stack of retrieved valuable documents into a valuable documents container (preferably with an open top), such as a valuable documents container / tray compartment, preferably so that the inserted (single / large) stack of valuable documents stands upright with their edges facing down inside the container. This configuration of the valuable documents standing upright with their edges facing down allows for the container to hold a large stack of valuable documents at a high density while still being easily removable from the container by the robot unit's gripping element from the top of the container.
[0038] Additionally or alternatively, the control unit may be configured to control the robot unit to insert a single (large) stack of retrieved valuable documents into an ATM cassette in a single batch. Preferably, stacks of the same type (currency and denomination) of valuable documents that are suitable (fitted) and retrieved from one or more stacking devices are inserted into their respective ATM cassettes.
[0039] In one embodiment, the stacking device is assigned to at least one specific condition and / or at least one specific type of valuable documents, e.g., currency and / or denomination, and the valuable documents in at least one second stack of valuable documents are those of the condition and / or type assigned to the stacking device, e.g., currency and / or denomination. In particular, the valuable documents in at least one second stack of valuable documents may be of the same condition and / or type as the valuable documents in the first stack, e.g., the same currency and / or the same denomination. The configuration also further comprises, for example, at least one (or more) further stacking devices that are identical or similar to the first stacking device. The further stacking device is assigned to other specific conditions and / or other types of valuable documents other than the (first) stacking device, e.g., other currencies and / or other denominations. The control unit may then be configured to control the robot unit to remove the first and second stacks of valuable documents from the valuable document processing device or the valuable document sorting device, and to place the removed first and second stacks of valuable documents in the first and second stacks in the (first) stacking device or in a further / second stacking device, depending on the conditions and / or type of valuable documents in the first and second stacks, such as currency and / or denominations.
[0040] In one embodiment, the stacking device is assigned to two or more specific conditions (e.g., conformity and ATM conformity) and / or two or more specific types of valuable documents (e.g., two or more denominations of a particular currency), and both the first and at least one second stack of valuable documents belong to the assigned conditions and / or assigned types or valuable documents.
[0041] In one embodiment, the stacking device (for the first stack of valuable documents) is the first stacking device, and the configuration further comprises a second stacking device (identical or similar to the first stacking device) located within the working range of a robot unit. The first and second stacking devices are assigned to different conditions and / or different types of valuable documents, for example, different currencies and / or different denominations. The control unit has access to information regarding the assignment of the first and second stacking devices to different conditions and / or different types of valuable documents. The control unit is configured to control the robot unit to place one or more third stacks of valuable documents with different conditions and / or different types, for example, different denominations and / or different currencies, into the second stacking device. This allows stacks of valuable documents with different conditions and / or different types to be stacked and sorted in a single step.
[0042] According to one embodiment, a method for accumulating stacks of valuable documents is provided. A step of the method includes a robotic unit removing a first stack of valuable documents from a valuable document processing device or a valuable document sorting device, and the robotic unit placing the removed first stack into the receiving space of a first stacking device, for example, the stacking device described herein. Another step of the method includes a robotic unit removing a second stack of valuable documents from a valuable document processing device or a valuable document sorting device, preferably having the same conditions and / or type of valuable documents (denominations and / or currency) as the first stack of valuable documents, from the same conditions and / or type (denominations and / or currency) as the first stack of valuable documents, placing the removed second stack into the receiving space of the first stacking device, and placing the second stack of valuable documents on top of the first stack of valuable documents. Another step of the method includes removing the first stack of valuable documents and the second stack of valuable documents together from the first stacking device, and preferably placing the first stack and the second stack together in a valuable documents container located within the working range of a robotic unit or further robotic unit. The method steps may be performed in the order shown.
[0043] In one embodiment, another step of the method includes having a robotic unit orient a second stack of valuable documents based on a predefined orientation scheme, in particular before placing the second stack of valuable documents into the receiving space of the first stacking device, such that the orientation of the second stack is the same as the orientation of the first stack.
[0044] In one embodiment, the method is -The further step of assigning different conditions and / or different types of valuable documents, such as different denominations and / or different currencies, to a first stacking device and a second stacking device (identical or similar to the first stacking device), both located within the working range of the robot unit, -A further step by robot unit to retrieve one or more third stacks of different conditions and / or different types, such as different denominations and / or different currencies, from the same valuables processing device or another valuables processing device or from the same valuables sorting device or another valuables sorting device, and - A further step of placing a third stack of valuable documents into the receiving space within the second stacking device. Includes.
[0045] For example, the robot places a third stack, taken from a valuable document processing device or a valuable document sorting device, and a fourth stack, also taken from a valuable document processing device or a valuable document sorting device, into the receiving space of the second stacking device, and the robot places further third and fourth stacks so that they are stacked on top of each other in the receiving space.
[0046] Furthermore, a robot unit or a further robot unit may remove the first stack and the second stack together from the first stacking device and place them together in a first valuable documents container located within the working range of the robot unit or the further robot unit. Alternatively, a robot unit or a further robot unit may remove the third stack and the fourth stack together from the second stacking device and place them together in a second valuable documents container located within the working range of the robot unit or the further robot unit, or in one of at least two compartments of the first container, different from the compartment in which the first and second stacks are placed.
[0047] In one embodiment, another step of the method includes having a robotic unit remove a third stack of valuable documents from a valuable documents processing device or a valuable documents sorting device. Another step of the method includes assigning the third stack of valuable documents to a second stacking device based on a predefined sorting scheme. Another step of the method includes placing the third stack of valuable documents into the receiving space of the second stacking device in response to assigning the third stack of valuable documents to the second stacking device.
[0048] In one embodiment, another step of the method includes having a robotic unit remove a fourth stack of valuable documents from a valuable documents processing device or a valuable documents sorting device. Another step of the method includes assigning the fourth stack of valuable documents to a second stacking device based on a predefined sorting scheme. Another step of the method includes placing the fourth stack of valuable documents into the receiving space of the second stacking device in response to assigning the fourth stack of valuable documents to the second stacking device. The fourth stack may have the same conditions and / or the same type as the third stack of valuable documents, e.g., the same denomination and / or the same currency, but different conditions and / or types, e.g., the same denomination and / or the same currency, as the first and second stacks.
[0049] In one embodiment, the robotic unit places two or more types (two or more currencies and / or two or more denominations) of non-conforming valuable documents into a single stacking device, i.e., different types of non-conforming valuable documents may be mixed within their respective stacking devices. This eliminates the need for the valuable document processing device that provides the valuable documents to the stacking device to sort the different types of non-conforming valuable documents (e.g., currencies and / or denominations) for these mixed currencies and / or denominations. Thus, a valuable document processing device with fewer stackers can be used to provide a stack of valuable documents.
[0050] In one embodiment, the configuration may comprise two or more stacking devices that accept valuable documents of the same conditions and / or the same type (currency and denomination). This provides more acceptance space for frequently used conditions and / or types of valuable documents, for example, for 50 euro banknotes.
[0051] The present invention will be described below in conjunction with the following figures, where similar numbers indicate similar elements. [Brief explanation of the drawing]
[0052] [Figure 1] This shows a stacking device for collecting stacks of valuable documents. [Figure 2] Figure 1 shows the configuration including the integrated device. [Figure 3] Figure 1 shows a valuable document processing environment including the stacking device. [Figure 4] This diagram shows a flowchart of a method for collecting stacks of valuable documents.
[0053] Modes for carrying out the invention The representations and examples in the drawings are schematic and may not be to scale. A better understanding of the assembly apparatus, configuration, and method described above can be obtained by examining the figures provided in conjunction with the detailed description below. Throughout the figures, the same reference numerals indicate the same or at least similar elements.
[0054] Figure 1 shows a stacking device 1 for accumulating stacks 11 of valuable documents 12, such as banknotes 12. The stacking device 1 comprises a base support structure 10 on which a first stack 11 of valuable documents 12 can be placed. The stacking device 1 further comprises a side support structure 20 extending upward from the base support structure 10, and 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 facing the base support structure 10 so 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 comprises a first side wall 21 having a longitudinal opening 22 that extends between the base support structure 10 and the open end region 32. The longitudinal opening 22 may be defined by a longitudinal bar element 23 extending from the first side edge of the base support structure 10. The longitudinal opening 22 of the first side wall 21 may be a slot that allows a first gripping element robot unit (not shown in Figure 1) to move within the longitudinal opening 22 from the opening end region 32 toward the base support structure 10 while placing the first stack 11 of valuable documents 12 onto the base support structure 10 such that the valuable documents 12 of the first stack 11 of valuable documents 12 are arranged to overlap each other within the receiving space 30.
[0055] It should be noted that the valuable documents 12 of the inserted first stack 11 do not necessarily have to have their edges facing downwards, but may instead be placed in a stacked state on the base support structure. That is, the bottommost valuable document 12a may face the support surface 14 or the mounting surface 14, i.e., the bottommost valuable document 12a may be placed directly on the support surface 14 or the mounting surface 14. All the remaining valuable documents 12 of the stack 11 are stacked on top of each other on top of the bottommost valuable document 12a.
[0056] The longitudinal opening 22 of the first side wall 21 may extend downward from the opening end region 32 to the base support structure 10, thereby allowing the first gripping element of the robot unit to be inserted into the access region 13 between the base support structure 10 and the bottommost valuable document 12a of the stack 11 of valuable documents 12. Thus, when inserted, the first gripping element of the robot unit may be able to lift larger stacks of valuable documents 12 from the receiving space 30. In particular, the first gripping element of the robot unit can be considered to operate similarly to a forklift.
[0057] The support surface 14 or mounting surface 14 may include a set of parallel, longitudinal recesses 15 into which a first gripping element can be inserted for placing a first stack on the support surface 14 or mounting surface 14, or for lifting a larger stack of valuable 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 so that the first gripping element can move upward within the longitudinal opening after being inserted into the recesses 15 and while it is inserted into the receiving space 30.
[0058] The stacking device 1 further comprises a compression element 61 for compressing a stack 11 of valuable documents 12 placed in a receiving space 30. The compression element 61 comprises finger elements 62, each of which can be inserted into a longitudinal opening 24 of a second side wall 25. The finger elements 62 can be moved toward the base support structure 10 within the longitudinal opening 24 to compress the stack 11 of valuable documents 12 placed in the receiving space 30. In particular, the finger elements 62 can press on the topmost valuable documents 12, thereby compressing the entire stack 11 of valuable documents 12, for example, after several stacks 11 of valuable documents 12 have been inserted into the receiving space 30. This can be advantageous because stacked valuable documents 12 can sometimes be bulky, which may require the gripping elements of a robot unit to open wider to grip the entire stack 11. However, when compressed, the height of the stack 11 can be reduced so that the gripping elements of the robot unit do not need to be spread so wide.
[0059] Four longitudinal openings 24 may be present in the second side wall 25 so that a compression element 61 having four finger elements 62 can be inserted into the longitudinal openings 24 and lowered within the receiving space 30. In particular, each finger element 62 of the compression element 61 can be inserted into each of the longitudinal openings 24 of the second side wall 25. The compression element 61 may be a rotatably movable component actuated by an operating mechanism of the compression unit 60. The operating mechanism may include an air compressor. The longitudinal openings 24 of the second side wall 25 are defined or separated by bar elements 26.
[0060] The side support structure 20 may further include a third side wall 27 and a fourth side wall 28 facing 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 lateral constraints for the stacking device 1 and thus ensure the positional stability of the stack 11 received within the stacking device 1.
[0061] The stacking device 1 may further include a pivot element 70 configured to adjust and / or maintain the inclined orientation of the base support structure 10 relative to the floor elements 80 in the surrounding environment. For example, the pivot element 70 can maintain the pivot or inclined orientation of the base support structure 10 relative to the foot elements 90 standing on the floor elements 80.
[0062] Figure 2 shows a configuration 100 including the stacking device 1 of Figure 1. In particular, configuration 100 comprises the stacking device 1 of Figure 1 and four further stacking devices 2, 3, 4, and 5, each of which further stacking devices 2, 3, 4, and 5 may be equivalent to the stacking device 1 described with respect to Figure 1. All stacking devices 1, 2, 3, 4, and 5 may be placed on floor elements 80 within a valuable document processing environment.
[0063] Configuration 100 comprises a robot unit 50 having a gripping unit 55 for gripping stacks 11a, 11b, 11c, and 11d of valuable documents 12. Configuration 100 further comprises a control unit 56 for controlling the movement of the robot unit 50. The control unit 56 is configured to control the robot unit 50 so that the stacks 11a, 11b (and optionally one or more additional stacks of valuable documents) 12 are placed in the stacking device 1 in a continuous manner, such that the stacks 11a, 11b of valuable documents 12 are arranged overlapping each other in the stacking device 1.
[0064] In particular, configuration 100 may provide a robotic gripping unit 55 controlled by a control unit 56, which is used to collect several small stacks 11a, 11b of valuable documents 12 in the accumulating device 1, that is, to insert them one after another and stack them one by one, so as to form a larger stack of valuable documents 12 consisting of a combination of the small stacks 11a, 11b and possibly even smaller stacks. The larger collected valuable document stack is then removed in its entirety from the accumulating device 1 by the gripping unit 55 or a gripping unit of another robotic unit and placed, for example, in a valuable document container 300, for example, a valuable document tray 300. In particular, the larger collected valuable document stack is inserted into a tray section of the valuable document tray 300.
[0065] The gripping unit 55 may comprise a first gripping element 51 and a second gripping element 52. The gripping elements 51 and 52 may be moved toward each other to provide clamping force on the gripped stack of valuable documents 12, and may be moved toward each other to release the gripped stack of valuable documents 12.
[0066] Configuration 100 may further include a valuable document processing device 200 having a valuable document output unit 210 having multiple valuable document output compartments for different conditions and / or types and / or authenticity and / or orientation of valuable documents. In addition, Configuration 100 may also include a valuable document alignment device (not shown) within reach of the gripping unit 55.
[0067] In one example, the valuable document processing device 200 stacks 100 valuable documents in each of its output compartments, i.e., provides multiple stacks 11a, 11b, 11c, and 11d, each containing 100 valuable documents. However, since each compartment of the valuable document tray 300 may be sized to accommodate 400 or 500 valuable documents, for example, to be filled into an ATM cassette in a later step, the stacking device 1 provides the possibility of collecting several stacks 11a, 11b, 11c, and 11d of valuable documents, each containing 100 valuable documents, from the output compartments of the valuable document processing device 200. These several stacks 11a, 11b, 11c, and 11d of 100 valuable documents can be accumulated in the stacking device 1 until a large stack of 400 or 500 valuable documents is accumulated (see Figure 2). Next, this large stack of 500 valuable documents can be removed from the stacking device 1 and placed in each compartment of the valuable document tray 300. In other words, the stacking device 1 offers the possibility of stacking four or five smaller packages of 100 valuable documents each to form larger packages of 400 or 500 valuable documents.
[0068] During the transport of smaller stacks of valuable documents 12 from the valuable document processing device 200 or from the alignment device to the stacking device 1, sorting of the valuable document stacks may be performed, for example, according to a predefined sorting scheme, such as the denomination and / or orientation and / or authenticity and / or condition (e.g., conforming, non-conforming, ATM conforming) of each valuable document stack. For example, Figure 3 shows a situation where a first valuable document stack 11a and a second valuable document stack 11b are inserted into the first stacking device 1 based on a predefined sorting scheme, and a third valuable document stack 11c and a fourth valuable document stack 11d are inserted into the second stacking device 2 based on a predefined sorting scheme. In one example, there may be one or more stacking devices 1, 2, 3, 4, 5 for each denomination.
[0069] Furthermore, the valuable document stacks 11a, 11b, 11c, and 11d may be rotated by a robotic unit before being placed in their respective stacking devices, resulting in them entering each stacking device 1, 2, 3, 4, and 5 in the same orientation out of four possible orientations (surface facing up / down and image upright or inverted). This may facilitate further use of the valuable documents in subsequent processing steps and / or avoid subsequent sorting.
[0070] Figure 3 shows a valuable document processing environment 1000 including the stacking device 1 of Figure 1 and / or the configuration 100 of Figure 2.
[0071] The valuable document processing environment 1000 comprises an alignment device 400, a first robot unit 500, a second robot unit 50, for example, the robot unit 50 shown in Figure 2 above, and optionally a third robot unit (not shown). The remaining components of the valuable document processing environment 1000 have already been described with reference to the referenced Figure 2. The control unit 56 is configured to control the individual components of the valuable document processing environment 1000. An example of how the valuable document processing environment 1000 can be controlled by the control unit 56 is shown below.
[0072] In one example, the first robot unit 500 continuously retrieves stacks 11a, 11b, 11c, and 11d of valuable documents 12 from the same or different sections of the output module 210 of the valuable document processing device 200, where stacks 11a, 11b, 11c, and 11d consist of valuable documents 12 checked by the valuable document processing device 200. Each stack 11a, 11b, 11c, and 11d may contain 100 valuable documents. The first robot unit 500 continuously transports these valuable document stacks 11a, 11b, 11c, and 11d to the alignment device 400, where the edges of the valuable documents in each valuable document stack 11a, 11b, 11c, and 11d are continuously aligned. Next, the second robot unit 50 sequentially grasps each stack 11a, 11b, 11c, and 11d via the long edge of the valuable documents, removes the valuable document stacks 11a, 11b, 11c, and 11d from the alignment device 400, and transports each of the stacks 11a, 11b, 11c, and 11d individually to one of several stacking devices 1, 2, 3, 4, and 5, collecting them within one of the stacking devices 1, 2, 3, 4, and 5. Then, the second robot unit 50 or the third robot unit 600 can sequentially remove the collected large valuable document stacks from the stacking devices 1, 2, 3, 4, and 5 and place them in one or a different section of the valuable document tray 300, for example, a so-called "transfer element." The collected large valuable document stacks may exist in the form of stacks containing 200 to 500 documents. The valuable documents trays 300 can then be transported after being filled into large stacks, for example, by a tray transport mechanism or by further devices that provide each tray 300 within the working range of a second robot unit 50.
[0073] Figure 4 shows a flowchart of a method for accumulating stacks of valuable documents using, for example, the configuration 100 described in relation to Figure 2, and / or the valuable document processing environment 1000 described in relation to Figure 3. Therefore, Figures 1 to 3 described above are also referenced for the individual components that are part of the method.
[0074] Step S10 of the method includes placing the first stack 11a of the valuable documents 12 into the receiving space 30 of the first stacking device 1, for example, the stacking device 1 described with reference to Figure 1, by the robot unit 50. Another step S30 of the method includes placing the second stack 11b of the valuable documents 12 into the receiving space 30 of the first stacking device 1, and placing the second stack 11b of the valuable documents 12 on top of the first stack 11a of the valuable documents 12 by the robot unit 50. Another step S40 of the method includes removing the first stack 11a and the second stack 11b of the valuable documents 12 together from the first stacking device 1.
[0075] For example, another step S20 of the method may include the robot unit 50 oriented the second stack 11b of the valuable documents 12 based on a predefined orientation scheme before placing the second stack 11b of the valuable documents 12 into the receiving space 30 of the first stacking device 1. For example, the second stack 11b may be reoriented by rotating the gripping unit 55 of the robot unit 50 once or twice so that the second stack 11b can be placed in the first stacking device 1 in the same orientation (of four possible orientations) as the first stack 11a was placed in the first stacking device 1.
[0076] Another step S50a of the method may include having the robot unit 50 remove the third stack 11c of the valuable documents 12 from the valuable documents processing device 200 or the valuable documents sorting device 400. Another step S60a of the method may include assigning the third stack 11c of the valuable documents 12 to the second stacking device 2 based on a predefined sorting scheme. Another step S70a of the method may include placing the third stack 11c of the valuable documents 12 into the receiving space 30 of the second stacking device 1 in response to assigning the third stack 11c of the valuable documents 12 to the second stacking device 1.
[0077] Another step S50b of the method may include having the robot unit 50 remove the fourth stack 11d of the valuable documents 12 from the valuable documents processing device 200 or the valuable documents sorting device 400. Another step S60b of the method may include assigning the fourth stack 11d of the valuable documents 12 to the second stacking device 2 based on a predefined sorting scheme. Another step S70b of the method may include placing the fourth stack 11d of the valuable documents 12 into the receiving space of the second stacking device 2 in response to assigning it to the second stacking device 2.
Claims
1. A stacking device (1) for accumulating stacks (11) of valuable documents (12), A base support structure (10) is configured to receive a stack (11) of valuable documents (12) onto the base support structure (10), A side support structure (20) extending 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 stack (11) of valuable documents (12) can be inserted, Equipped with, The side support structure (20) defines an open end region (32) facing the base support structure (10) such that the 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) comprises a first side wall (21) having one or more longitudinal openings (22) that extend between the base support structure (10) and the open end region (32), The longitudinal opening (22) of the first side wall (21) is configured to allow the first gripping element (51) of the robot unit (50) to move within the longitudinal opening (22) toward the base support structure (10) while the stack (11) of valuable documents (12) is placed on the base support structure (10) such that the valuable documents (12) of the stack (11) of valuable documents (12) are arranged to overlap each other within the receiving space (30). Integration device (1).
2. One or more longitudinal openings (22) of the first side wall (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 region (13) between the base support structure (10) and the bottommost valuable document (12a) of the stack (11) of valuable documents (12). The integration device (1) according to claim 1.
3. The base support structure (10) comprises a support surface (14) having parallel recesses (15), and the first gripping element (51) of the robot unit (50) can be inserted into the parallel recesses (15) to lift the stack (11) of valuable documents (12) in the receiving space (30). The longitudinal opening (22) preferably overlaps, at least partially, with the parallel recess (15) of the support surface (14) in order to allow the first gripping element (51) of the robot unit (50) to be inserted into the parallel recess (15) through the longitudinal opening (22). The integration device (1) according to claim 1 or 2.
4. The longitudinal opening (22) of the first side wall (21) is separated by parallel bar elements (23) of the first side wall (21), the bar elements (23) are connected to the base support structure (10) and extend from the base support structure (10) toward the opening end region (32), The integration device (1) according to any one of claims 1 to 3.
5. The receiving space (30) includes a compression element (61) for compressing the stack (11) of valuable documents (12) placed within it. The compression element (61) preferably comprises one or more finger elements (62) configured to be inserted into one or more longitudinal openings (24) of the second side wall (25) and to be moved within the longitudinal openings (24) of the second side wall (25) toward the base support structure (10) in order to compress the stack (11) of valuable documents (12) placed in the receiving space (30). The integration device (1) according to any one of claims 1 to 4.
6. The base support structure has an inclined orientation, and the accumulating device is preferably, The system includes a pivot element (70) configured to adjust the inclined orientation of the base support structure (10) relative to the floor element (80), The integration device (1) according to any one of claims 1 to 5.
7. The size of the receiving space can be adjusted by moving one or more of the side walls relative to the base support structure. The integration device (1) according to any one of claims 1 to 6.
8. A configuration (100) for accumulating stacks (11a, 11b) of valuable documents (12), The integrating device (1) according to any one of claims 1 to 7, A robotic unit (50) having a gripping unit (55) for gripping a stack (11a, 11b) of valuable documents (12), A control unit (56) for controlling the movement of the robot unit (50) Equipped with, The control unit (56) controls the robot unit (50), The first stack (11a) of valuable documents (12) is placed inside the stacking device (1), and Preferably, at least one second stack (11b) of valuable documents (12) of the same conditions and / or the same type as the first stack of valuable documents, for example, the same denomination and / or the same currency, is placed in the stacking device (1) such that the first and second stacks (11a, 11b) of valuable documents (12) are arranged to overlap each other within the stacking device (1). Composition (100).
9. The control unit is configured to control the robot unit (50) to adjust the orientation of at least one second stack (11b) of the valuable documents (12) based on a predefined orientation scheme, in particular, before placing the second stack (11b) of the valuable documents (12) into the receiving space (30) of the stacking device (1), so that the orientation of the second stack of valuable documents is the same as the orientation of the first stack of valuable documents (S20). The configuration described in claim 8.
10. The control unit (56) is configured to control the robot unit (50) or a further robot unit to retrieve the first and second stacks (11a, 11b) of valuable documents (12) from the stacking device (1) in one go, and to place the first and second stacks (11a, 11b) in one go into valuable document containers located within the working range of the robot unit or the further robot unit, respectively. The configuration according to claim 8 or 9.
11. 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 the valuable documents in the at least one second stack of valuable documents are those of the assigned condition and / or type of the stacking device, such as currency and / or denomination. The configuration further comprises at least one additional / second stacking device according to any one of claims 1 to 7, which is assigned to at least one other condition and / or at least one other type of valuable documents, such as currency and / or denominations, in addition to the stacking device. The control unit is configured to control the robot unit (50) to retrieve the first and second stacks of valuable documents (12) from the valuable document processing device (200) or the valuable document sorting device, and to place the retrieved first and second stacks of valuable documents (12) in the stacking device or the further / second stacking device, depending on the conditions and / or type of the valuable documents in the first and second stacks, for example, currency and / or denominations. The configuration according to any one of claims 8 to 10.
12. The stacking device is a first stacking device, and the configuration further comprises a second stacking device according to any one of claims 1 to 7, wherein the first and second stacking devices are assigned to different conditions and / or different types of valuable documents, for example, different currencies and / or different denominations. The control unit is configured to control the robot unit to place one or more third stacks of valuable documents in the second stacking device (1) that have different conditions and / or different types, such as different denominations and / or different currencies, than the first and second stacks. The configuration according to any one of claims 8 to 11.
13. A method for accumulating stacks (11a, 11b) of valuable documents (12), The robot unit (50) removes the first stack (11a) of valuable documents (12) from the valuable document processing device (200) or the valuable document sorting device (400) (S50a), and places the removed first stack (11a) into the receiving space (30) of the first stacking device (1), particularly as described in any one of claims 1 to 7 (S10). The robot unit (50) retrieves a second stack (11b) of valuable documents (12) preferably of the same conditions and / or the same type, for example, the same denomination and / or the same currency, from the valuable document processing device (200) or the valuable document sorting device (400) (S50a), places the retrieved second stack (11b) in the receiving space (30) of the first stacking device (1), and positions the second stack (11b) of valuable documents (12) on top of the first stack (11a) of valuable documents (12) (S30). Includes, The robot unit (50) or a further robot unit retrieves the first stack (11a) and the second stack (11b) of the valuable documents (12) from the first stacking device (1) in one go (S40), and preferably places the first stack and the second stack (11a, 11b) together in a valuable document container located within the working range of the robot unit or the further robot unit. Methods that include...
14. The robot unit (50) adjusts the orientation of the second stack (11b) of the valuable documents (12) based on a predefined orientation scheme, including, before placing the second stack (11b) of the valuable documents (12) into the receiving space (30) of the first stacking device (1), in particular, so that the orientation of the second stack is the same as the orientation of the first stack (S20), The method according to claim 13.
15. The first stacking device and the second stacking device, both located within the working range of the robot unit, in particular according to any one of claims 1 to 7, are assigned to different conditions and / or different types of valuable documents, for example, different denominations and / or different currencies. The robot unit (50) retrieves one or more third stacks (11c) of valuable documents (12) having different conditions and / or different types, for example, different denominations and / or different currencies, from the valuable document processing device (200) / the valuable document sorting device (400) / the valuable document sorting device (400) (S50a). Placing one or more of the removed third stacks (11c) of the valuable documents (12) into the receiving space (30) of the second stacking device (1) (S70a) The method according to claim 13 or 14, including the method described in claim 13 or 14.