Gripper for a picking device and method for operating a picking device - Patents.com

Abstract

The present invention relates to a gripper for a picking device for medication packages and a method for operating the picking device. Known grippers do not allow for determining whether a medication package has been properly transferred to the gripper's tray table. To address this, the gripper according to the present invention has a tray table (10) with an end (70) having first and second horizontally extending edges and an arcuate front (71) extending in a second direction, the tray table (10) and the end (70) defining an upper support surface. The gripper further includes a transport device (20a, 20b) disposed above the tray table (10) and movable in a first horizontal direction, at least three sensors (73, 73a, 73b) disposed at an end (70) below the support surface for determining the presence of a drug package, the sensors being disposed at a distance from each other in the Y direction, and the outer sensor (73a) being disposed at a distance in the X direction from at least one sensor (73b) disposed further inward in the Y direction, such that the sensor arrangement is oriented toward the arcuately extending front (71).

Description

[Technical field]

[0001] The present invention relates to a gripper for a picking device for piece goods, in particular drug packages, and a method for operating the picking device, in particular for verifying the movement of drug packages onto a tray table of such a gripper. [Background technology]

[0002] In grippers of known operating systems for picking devices for drug packages, the loading and unloading face of the tray table of the gripper is straight. This front is moved to transfer the drug packages onto or from the tray table to a storage location, which may be, for example, a shelf or a conveyor belt for transferring the drug packages into or out of the picking device. For this purpose, the gripper with its own tray table can be moved forward to the storage location along the longitudinal axis of the tray table. Alternatively, the gripper can be pivoted or rotated to bring the tray table closer to the storage location. A straight front then requires that a gap remains between the front and the storage location when only performing a rotational or pivoting movement, the width of the gap depending on the width of the tray table. When larger grippers are used with a corresponding wide tray table, this gap becomes wider and wider, so that in such cases it is necessary to reduce the gap by moving the gripper after pivoting or rotating it. Alternatively, the front of the tray table can be formed in a curved manner. This requires that after a pivot or rotation movement to position the gripper, the gap is smaller at least in the center of the curved front, but increases to the sides of the tray table. Summary of the Invention [Problem to be solved by the invention]

[0003] When transferring a medication package from a storage location onto the tray table, it may happen that the medication package is left hanging in the gap between the storage location and the front of the tray table and is only partially pulled out onto the tray table. In the case of known grippers with straight front sides, this may be detected by a light barrier located on the front of the tray table facing the storage location to detect that the medication has stuck.

[0004] However, depending on the design of the curved front, a part of the tray table remains, which cannot be detected by the light barrier, because this light barrier must be placed in an area of ​​the tray table where the tray table is not yet curved. This causes such an erroneous removal, which does not extend into the detection area of ​​the light barrier, to be unrecognized and the handling device (handling device) to assume correct transfer of the drug package to the gripper, despite the drug package being partially placed in the curved part of the front of the tray table.

[0005] It is an object of the present invention to provide a gripper by which erroneous movement of a medication package onto a tray table can be detected even with a curved front of the tray table.It is another object of the present invention to provide a method for verifying the movement of a medication package onto the tray table. [Means for solving the problem]

[0006] This object is achieved by a gripper for a picking device with a horizontal storage surface for the storage of drug packages according to claim 1. The gripper according to the invention extends in a first horizontal direction (X direction) and in a second horizontal direction (Y direction) perpendicular to the first horizontal direction, and has an end with an arcuate front extending in the Y direction, said end being provided with a tray table forming a loading and unloading front, said tray table and said end defining an upper support surface. The arcuate design of the front also allows the gripper extending in the Y direction to be rotated in front of the storage location in such a way that a gap is not left too wide between the front of the gripper and the front of the storage location, without allowing the gripper itself to move in the Y direction.

[0007] A first horizontally movable transport device is arranged above the tray table to move the drug package from the horizontal storage surface onto the tray table. To grip the drug package, the transport device is first moved in the X direction to the storage location of the drug package. Once the transport device is properly positioned, the drug package is gripped and the transport device is again moved in the X direction towards the tray table, thereby pulling the drug package onto the tray table. In this pulling movement, the drug package is moved over an edge having an arc-shaped front. How exactly the drug package is gripped varies depending on the exact design of the transport device. According to the present invention, the term transport device is intended to cover all devices with which the drug package can be moved from the storage surface onto the tray table. For example, it is conceivable that the transport device is designed as or includes a suction arm, by means of which the drug package is pulled onto the tray table.

[0008] In a gripper according to the present invention, a plurality of (three or more) sensors coupled to a control device are arranged at a lower end of the support surface to determine the presence of a drug package, the sensors being arranged at a distance from each other in the Y direction, and in the Y direction, an outer sensor is arranged at a distance in the X direction from at least one sensor arranged further inward in the Y direction, such that the arrangement of the sensors is oriented towards an arc-extending front.

[0009] The sensors do not need to be precisely aligned to the arcuate shape of the front. It is also conceivable, for example, that the offset in the X direction is linear. Alignment with the arcuate shape is not necessary, but is preferred. Thus, in a preferred embodiment, it is provided that the sensors are spaced apart from each other in the X direction such that they are substantially the same distance from the arcuate front, i.e. aligned with the arcuate form of the front. The formulation "substantially the same distance" also includes such arrangements where the distance from the front varies slightly due to manufacturing. The corresponding arrangement of the sensors allows very accurate detection of erroneous movement of the drug package, for example when the drug package is slightly located within the outer region of the end.

[0010] The aforementioned control device may be part of the gripper itself, but may also be located at a different location on the picking device. Any sensor capable of detecting the presence of an object may be used for placement of the sensor under the edge and support surface. The sensor may operate, for example, based on the principle of an optical scanner, optical sensor or tactile sensor, and the exact configuration of the sensor for the present invention is not essential, as long as it is ensured that the sensor can detect the presence of a piece of goods at the edge in the placement of the present invention.

[0011] With the gripper according to the invention, it is also possible to detect such erroneous movement or removal of the drug package whereby the drug package remains hanging in the transition area storage location / tray table, so that the package rests only on the edge of the tray table. In such a case, using a light barrier, which can only be placed on the parallel part of the tray table, such erroneous removal would not be detected. However, the use and placement of at least one sensor below the support surface according to the invention allows such detection. The use of the aforementioned sensor has the additional advantage of being cheaper than a light barrier.

[0012] In this application, when a drug package is mentioned, several drug packages should also be included if it makes technical sense, so that by proper arrangement of the drug packages, several drug packages can be moved from the storage location onto the tray table.

[0013] As mentioned above, the transport device can be designed as or include, for example, a suction arm. Although such a design is structurally rather simple, it is not possible for several drug packages to be transferred simultaneously from the storage surface onto the tray, and the transfer of very heavy drug packages is only possible with difficulty.

[0014] Thus, in a preferred embodiment of the suction gripper according to the invention, the transport device preferably comprises two elongated clamping jaws extending in the X-direction and with clamping surfaces facing each other, at least one of the clamping jaws being additionally movable in at least a second horizontal section. In this embodiment of the transport device, several drug packages can be moved simultaneously. Furthermore, heavier drug packages can be moved when applying a corresponding clamping force. The use of clamping jaws also has the advantage that the drug packages can be guided in the case of their transfer from the tray table to the storage surface or delivery location. Furthermore, such a gripper can be used to move the drug packages on the storage surface along the second horizontal direction.

[0015] The sensor serves, as described above, to detect whether the drug package has stuck to the edge of the tray table when it is moved onto the tray table. In addition, however, it is also possible to use the sensor for a plausibility check on the removed drug package, by using the sensor to determine the approximate width of the drug package being pulled over the edge onto the tray table. To make this possible, in a preferred embodiment of the gripper according to the invention, it is provided that a number of sensors are arranged mirror-symmetrically with respect to the central axis of the tray table extending in the X direction. Based on knowledge of the mirror-symmetric arrangement of the sensors, it is possible to simply conclude the approximate width of the drug package moved onto the tray table. Depending on the number of sensors, the "resolution" can be improved during the plausibility check.

[0016] As already mentioned, the edge is formed in an arc in the gripper according to the invention. In order to ensure that the gap between the front of the drug package and the storage location is particularly small, in a preferred embodiment it is provided that the arc front of the edge is in the shape of a circle, the centre of the corresponding circle being located on the vertical axis of rotation of the tray table.

[0017] In order to avoid long downtimes of the gripper in case of failure of a sensor or sensors, in a preferred embodiment it is provided that the end containing at least one sensor is formed as a sensor assembly removable from the tray table. The corresponding design of the sensor assembly allows for a quick replacement, possibly even by a "normal" operator.

[0018] In the gripper according to the invention, it is essential that the clamping jaws are movable in the X direction, which means that they can be moved from the tray table to the storage location and back again, the X direction regularly corresponding to the longitudinal axis of the tray table. To ensure clamping or gripping of the drug package, it is also necessary that at least one of the clamping jaws is movable in the Y direction. To make the gripping of the drug package particularly effective and efficient, it is advantageous for both clamping jaws to be designed to be movable in the Y direction and at least one to be pivotable as well. To achieve this, in a preferred embodiment of the gripper, it is provided that the gripper has a jaw guide assembly for performing the aforementioned movements. The jaw guide assembly comprises a frame structure, at least first and second guides extending in a first horizontal direction parallel to each other and spaced apart in a second horizontal direction, and at least four jaw carriages coupled to the guides and driven in a second horizontal direction, where two first jaw carriages are associated with the first guides and two second jaw carriages are associated with the second guides, and at least two jaw carriages spaced apart in the first horizontal direction are coupled to the clamp jaws. A drive unit is further coupled to the jaw guide assembly, with which the jaw guide assembly is driven in the first horizontal direction. The use of the combination of guides and jaw carriages allows the clamp jaws to be moved towards or away from each other evenly, and allows one of the clamp jaws to be pivoted when the jaw carriages are not moved simultaneously on the first and second guides. The corresponding embodiment of the movement mechanism of the clamp jaws has the further advantage that due to the guides of the clamp jaws, a significant clamping force can be applied to the drug package to be moved.

[0019] The above object is further achieved by a method for verifying the transfer of a drug package onto a tray table of a gripper for a picking device according to claim 8. In the method according to the invention, in step a), the transport device is moved in the X direction to a storage location of at least one drug package and at least one drug package is gripped. The storage location may be, for example, a shelf surface. Alternatively, the storage location may also be formed, for example, by a conveyor belt from which the drug package is gripped in order to transfer it to the shelf surface. After gripping the drug package, the transport device is moved in step b) from the storage location to the tray table in the X direction and the at least one drug package is transferred over an end arc-shaped front onto a support surface of the tray table. After moving the transport device in the X direction, it is checked in step c) by the end sensor whether at least one drug package is present within the detection area of ​​the sensor. If this is the case, it means that at least a part of the drug package is at the end of the tray table, indicating an incorrect transfer of the drug package from the storage location onto the tray table. If the test is positive, a signal is provided in step d) indicating a first incorrect removal attempt of the piece good from the storage location to the tray table.

[0020] Providing a signal indicative of a first erroneous removal attempt may result in the picking device being shut down until the error is corrected by the operator. In a preferred embodiment of the method for verifying the movement of a drug package onto a tray table of a gripper, the transport device includes two elongated X-direction extending clamp jaws arranged above the tray table, with clamping faces facing each other, and the device is not completely shut down, but rather the clamp jaws open in the Y direction and are again moved in the X direction to a storage location, and then the drug package placed on the end is gripped by the clamp jaws. Since it is known based on the check that the drug package is placed (and where it is placed) at least on a section of the end of the tray table, how far the movement must be made in the X direction can be estimated based on the information present on the package. After the drug package has been gripped by the clamp jaws (or at least one attempt to grip it), the process steps b) and c) described above are performed again, i.e. the package is returned to the tray table, and an end test is performed. If the second check of the end is also positive, i.e. the drug package is determined to be resting on the end again, a signal indicative of a second erroneous extraction attempt is provided. In response, the device may now be shut down, or a third removal attempt may be performed.

[0021] In a preferred embodiment of the method according to the invention, the width of the drug package is determined by moving at least one drug package towards the tray table by a sensor, the determined width is compared with a nominal width known to the control device, and a corresponding signal is provided when a limit deviation between the determined width and the target width of the drug package is exceeded. Thus, in this preferred embodiment, there is a further verification of the moved drug package. Although it is relatively unlikely that a drug package not expected by the control device of the picking device is located in the storage location, this may happen, for example, if an error correction by an operator replaces a drug package in the picking device. Thus, the embodiment according to the invention again increases the certainty that the correct drug package is removed.

[0022] A response to a provided signal indicating an improper medication package may be for the picking device to be stopped due to the unexpected medication package. Alternatively, in a preferred embodiment, it may be provided that after providing a signal indicating that the limit deviation is exceeded, the gripper is moved towards an unloading station and the drug packages placed on the tray table are transferred to the unloading station. This avoids that the user must enter the picking device if an improper deposit is detected, which avoids a standstill of the picking device. The drug packages thus removed may be reloaded and the drugs to be initially unloaded may be requested again.

[0023] The present invention further relates to the use of a sensor assembly having an arcuate front extending in the Y direction and a number of sensors (at least three) arranged under a surface of the sensor assembly for determining the presence of a drug package, the sensors being arranged at a distance from each other in the Y direction and the outer sensors in the Y direction being arranged at a distance in an X direction perpendicular to the Y direction from at least one sensor arranged further inwards in the Y direction, such that the arrangement of the sensors is oriented towards the arcuate front, and an interface for connecting the sensor assembly to a control device to verify the movement of a drug package on a support table of a gripper of a picking device for drugs.

[0024] In the following, preferred embodiments of the gripper according to the invention and the method according to the invention are explained in more detail with reference to the drawings. [Brief description of the drawings]

[0025] [Figure 1a] 1 shows a perspective view of a first embodiment of a gripper according to the invention; [Figure 1b] 1 shows a perspective view of a first embodiment of a gripper according to the invention; [Figure 2a] FIG. 2 shows a detailed view of the first embodiment in the region of the end of the tray table. [Figure 2b] FIG. 2 shows a detailed view of the first embodiment in the region of the end of the tray table. [Figure 3a] FIG. 2b shows a detail of FIG. 2a without the tray table itself. [Figure 3b] FIG. 2b shows a detailed view of FIG. 2b without the tray table itself. [Figure 4a] 13 shows a jaw guide assembly of a second embodiment of a gripper according to the present invention. [Figure 4b] 13 shows a jaw guide assembly of a second embodiment of a gripper according to the present invention. [Figure 5a] A detailed view of the jaw guide assembly is shown. [Figure 5b]A detailed view of the jaw guide assembly is shown. [Figure 6] FIG. 13 shows a perspective view of the jaw guide assembly when the clamp jaws are in a parallel position. [Figure 7a] Figures 7a to 7h show different stages of a preferred embodiment of the method according to the invention. [Figure 7b] Figures 7a to 7h show different stages of a preferred embodiment of the method according to the invention. [Figure 7c] Figures 7a to 7h show different stages of a preferred embodiment of the method according to the invention. [Figure 7d] Figures 7a to 7h show different stages of a preferred embodiment of the method according to the invention. [Figure 7e] Figures 7a to 7h show different stages of a preferred embodiment of the method according to the invention. [Figure 7f] Figures 7a to 7h show different stages of a preferred embodiment of the method according to the invention. [Figure 7g] Figures 7a to 7h show different stages of a preferred embodiment of the method according to the invention. [Figure 7h] Figures 7a to 7h show different stages of a preferred embodiment of the method according to the invention. [Figure 8] 1 shows a flow chart of a preferred embodiment of the method according to the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Figures 1a and 1b show perspective views of a preferred embodiment of a gripper 1 according to the invention, where 1a is a perspective view from above and 1b is a perspective view from below. The gripper 1 according to the invention is part of an operating device (not shown) for a picking device and comprises a tray table 10 and a transport device which in this embodiment comprises two clamping jaws 20a, 20b with opposite clamping faces 21a, 21b. At their free ends the clamping jaws 20a, 20b have portions 22a, 22b coated with an anti-slip material.

[0027] At the free end of the clamp jaws, the tray table 10 has an edge 70 which in this embodiment is a sensor assembly 72 having a number of sensors 73, 732, 73b disposed below the surface of the sensor assembly and capable of detecting the presence of objects within their detection areas. The sensors can detect when a drug package (at least sections) is resting on the edge.

[0028] Sensor 73a is an outer sensor and sensor 73b is an inner sensor, with a number of further sensors 73 located between the plurality of further sensors. Whether there are one or two inner sensors 73b depends on the exact configuration of the embodiment, as well as the number of further sensors between the outer and inner sensors (which number may also be zero).

[0029] The sensors are oriented towards the front 71 of the arc-shaped edge, and small deviations (e.g. due to production) on the exact distance from the front are not critical. As can be seen, the sensors are placed at a distance from each other in the Y direction, and the outer sensor 73a is also placed at a distance in the X direction from the inner sensor 73b. The exact distance from each other in the X direction of the sensors distributed in the Y direction depends on the exact shape of the arc-shaped front and the number of sensors. For example, the two inner sensors 73a may not be spaced apart from each other in the X direction, but the outer sensor 73a is always placed at a distance from at least one inner sensor 73b in the X direction.

[0030] The end forms the load and unload front of the tray table 10 and, together with the tray table, forms the support surface on which the drug packages rest or move. The front 71 of the end is arc-shaped. This is necessary if the corresponding wide tray table is only pivoted to approach the storage location and is not additionally moved in the X direction towards the storage location, and the gap between the front and the storage location should be kept as small as possible. In the embodiment shown, the end is formed as a detachable sensor assembly which is coupled with a control device (shown in FIG. 1b) via connection means (not shown).

[0031] The tray table comprises in the centre an elongated opening 11 extending in the loading and unloading direction, i.e. in a first horizontal direction X. In the opening 11 a sliding element 12 is arranged with an enlarged sliding head 13. The sliding element 12 can be moved in the elongated opening 11 in the loading and unloading direction and in the first horizontal direction.

[0032] At the opposite end is located the jaw guide assembly 30, to which the clamp jaws 20a, 20b are connected and which includes the mechanism for moving and pivoting the clamp jaws. In the upper section, the jaw guide assembly 30 includes a drive unit 50 having two drives 51, 52 and associated gears 53, 54. The clamp jaws are moved and pivoted by these two drives in the embodiment shown, as will be explained in more detail with reference to the following figures. The jaw guide assembly further includes an optical detection device 2 by which various aspects can be monitored during the loading and unloading operations.

[0033] The jaw guide assembly 30 and all of its electronic components are connected to a control device 4, which in the embodiment shown is located under an attachment arm 3. The attachment arm 3 is itself fixed to the tray table or substructure of the tray table via a swivel joint.

[0034] To load and unload a medication package, the jaw guide assembly 30 must be moved in a first horizontal direction (X direction) or the loading and unloading direction. For this purpose, as will be explained in more detail with reference to the subsequent figures, a drive 60 is arranged in the embodiment shown below the tray table, by means of which the jaw guide assembly 30 is moved. Also arranged below the tray table is a further drive 7, by means of which the sliding element 12 is movable in the elongated opening 11 in a first horizontal direction.

[0035] 2a, 2b and 3a, 3b show a detailed view of the first embodiment in the region of the end of the tray table 10, in which the tray table is omitted in 3a and 3b to show the lower part of the gripper. 2a and 2b show the arrangement of the sensors 73, 73a, 73b, which in the embodiment shown are arranged in mirror symmetry with respect to the central or longitudinal axis MA of the tray table 10 of the gripper. In the embodiment shown, the sensor assembly includes a sensor 74 in addition to the sensors 73, 73a, 73b, which is formed corresponding to the other sensors and serves to determine the length (X-direction) of the drug package(s) moved on the tray table. For this purpose, the drug package is moved by being moved back completely by the clamp jaws 20, 20b when it moves completely on the tray table to the sliding head 13. Upon contact with the sliding head, the drug package is moved towards the end until the sensor 74 is activated. Based on the movement distance, the length in the X-direction can be determined and compared with a known length.

[0036] 4a and 4b show perspective views of a second embodiment of the jaw guide assembly 30, in which both clamp jaws are pivoted for gripping. The jaw guide assembly 30 includes a slightly different frame structure 31, 32, 33a, 33b, with the front component 31 engaging around the clamp jaws (and the tray table, not shown). The lower end of the component 31 is fitted with linearly driven movable parts 62a, 62b ("runners"), with which the jaw guide assembly 30 can be moved in a first horizontal direction. The components are called "movable" because they move together with the jaw guide assembly along a fixed part (which rotates to move the movable part) corresponding to the first horizontal direction. The fixed parts 61a, 61b (see Figs. 2a, 2b and 3a, 3b) themselves may be moved, for example by rotating, to move the movable parts, which are moved along the longitudinal axis of the fixed parts during the rotational movement. The fixed parts are therefore fixed only in relation to their position within the handling device itself. In an alternative embodiment, it is for example conceivable that the fixed parts are designed as toothed belts formed between the longitudinal ends of the handling device and cooperating with corresponding deflection rollers for moving the mobile parts.

[0037] As can be seen in Fig. 4b, two guides 35, 36, a first guide 35 and a second guide 36, are parallel to each other and spaced apart in a first horizontal direction X and extend in a second horizontal direction Y between the lateral framework components 33a, 33b, the first guide facing the free ends of the clamping jaws. Two jaw carriages 40a, 40b, 41a, 41b are arranged on each of the guides 35, 36, the two first jaw carriages 40a, 40b being arranged on the first guide 35 and the two second jaw carriages 41a, 41b being arranged on the second guide 36. In the illustrated embodiment of the operating device according to the invention, a part of the jaw carriages surrounds the protrusion of the guides 35, 36, so that the jaw carriages partially rest on this protrusion.

[0038] Figures 5a and 5b show detailed views of the jaw assembly of the second embodiment. From these figures it can be seen that the jaw carriages 40a, 40b, 41a, 41b are connected with drive elements 45a, 45b, 46a, 46b, which in the embodiment shown are formed as racks. The drive elements 45a, 45b associated with the first guide 35 and the corresponding first jaw carriage 40a, 40b, and the corresponding drive elements 46a, 46b associated with the second guide 36 are aligned with respect to the tooth elements of the racks, such that the toothed elements are opposite each other and form an overlapping area at their free ends. The drive gears 55, 56 are in each case arranged in the center of the overlapping area of ​​the drive elements or racks and are coupled to the drives 51, 52 via gears 53, 54 (not shown in Figures 5a and 5b). The distances between the jaw carriages 40a, 40b, 41a, 41b of the guides and the corresponding drive gears are identical, so that the drive gears are exactly centered between the two jaw carriages, so that the movement of the drive gears causes a synchronous movement of the jaw carriages. When the drive gears rotate, the jaw carriages are therefore moved synchronously towards or away from each other, and the corresponding jaw carriages are applied to the jaw carriages associated with the two guides 35, 36.

[0039] Thus, the jaw carriage of the first guide can be moved simultaneously or separately relative to the jaw carriage of the second guide, resulting in a large flexibility in the movement of the jaw carriages. The jaw carriages of the first and second guides may be moved synchronously, or only the jaw carriage associated with the first or second guide may be moved. In this way, it is possible to move the clamp jaws, which are mounted parallel to the jaw carriages or already pivoted, simultaneously without angular adjustment (by moving the jaw carriages of both guides simultaneously) or to pivot the jaws if only the jaw carriages of the guides are moved.

[0040] As already mentioned, the clamp jaws 20a, 20b are coupled to the jaw guide assembly 30. This coupling can be seen in Figs. 4b and 5b. In the illustrated embodiment, the clamp jaws 20a, 20b are connected to the jaw carriages 40a, 40b of the first guide 35 via pivots 23a, 43a, 23b, 43b, respectively, and to the jaw carriages 41a, 41b of the second guide 36 via slot guides 24a, 25a, 44a; 24b, 25b, 44b. In an alternative embodiment, the hinge may also be disposed on the jaw carriage associated with the second guide, and in this case, then, in the illustrated combination, a slot guide is required to be disposed on the jaw carriage associated with the first guide 35.

[0041] However, the use of a rotary joint / slot guide combination is not mandatory. The clamp jaws must be held in at least one guide of the corresponding jaw carriage by a rotating or swivel joint, but the use of a slot guide is not mandatory. Thus, for example, it is conceivable that the clamp jaws are moved with the jaw carriage against a resetting force in an alternative embodiment, and when returning the jaw carriage, the resetting force moves the clamp jaws rearward.

[0042] Figure 6 shows a detailed view of the jaw guide assembly 30 of the second embodiment, with the drive unit 50 and part of the framework structure omitted for a better view of the remaining components. In Figure 6, the clamp jaws 20a, 20b have moved further together and are aligned parallel to each other. In a comparison of Figures 5a, 5b and 6, it can be seen how the position of the clamp jaws is affected by the displacement of the jaw carriage on the guide.

[0043] With reference to Figures 7a to 8, a preferred embodiment of the method according to the invention will now be described. First, the gripper is moved to the storage location 80, as shown in Figure 7a, so that the drug package 6', 6 to be removed is approximately centrally located with respect to the tray table 10 of the gripper. In Figures 7a to 7h, only some components of the gripper are shown diagrammatically, which as such are essential for the method. In addition to the clamping jaws 20a, 20b, a sliding head 13 is shown, which represents a stop when the drug package is pulled onto the tray table 10. As shown in the figures, the tray table comprises an end that is arcuate in the Y direction and in which a number of mirror-symmetrically arranged sensors 73, 73a, 73b are arranged. The tray table itself is put into position by pivoting the table about a vertical axis VA at the front of the storage location. In order to move the drug package towards the tray table, first, as shown in Figure 7b, the clamping jaws 20a, 20b of the gripper are moved in the X direction to the storage location of the drug package 6', 6 (step 100). Once the clamp jaws have been moved correspondingly farther to the storage location, they are moved towards each other in the Y direction so that the drug package 6', 6 is gripped (see also FIG. 7b, step 110). Once the drug package has been gripped, in step 120 the clamp jaws 20a, 20b are moved in the X direction from the storage location 80 to the gripper's tray table 10, which is shown in FIG. 7c. To move the drug package onto the tray table, the clamp jaws 20a, 20b are moved in the X direction back to their original position with the gripped drug package or packages abutting against the sliding head 13. Once the complete return movement of the clamping jaws has been performed, in step 130 it is checked whether the drug package 6' is present in the detection area of ​​one (or more) of the sensors 73, 73a, 73b, where the approximate position of the drug package can be determined, whereby the detection of whether the drug package is placed on the edge depends on the type of sensor used, meaning in particular optical scanners, optical sensors and tactile sensors. How exactly the presence of an object is detected as a function of a particular type of sensor is known to those skilled in the art and will not be described in more detail here. If the check reveals that no drug package is lying on the edge, the gripper is subsequently moved to the drug package or to the storage location of the package placed on the tray table (step 200). However, if it is found that the drug package is deposited on the edge, as shown in FIG. 7d, a signal is provided indicating a first erroneous removal attempt of the drug package from the storage location 80 to the tray table 10 (step 140). In the situation shown in FIG. 7d, the drug package 6' is not completely moved onto the tray table 10, but is still largely located in the storage location 80, but also partially located at the end. If the gripper is moved in this situation, the drug package 6' may fall out of the storage location and, in the worst case, block the subsequent movement operation of the manipulation device. For example, the provided signal may make the gripper operation impossible and require the intervention of the operator. Alternatively, it is also conceivable that this signal initiates a second removal attempt with the gripper. For this purpose, in step 300, the clamping jaws 20a, 20b are opened in the Y direction and moved in the X direction to the storage location. In the described embodiment, multiple sensors are used at the end, so that the control device can use the activated sensors to evaluate the distance the clamping jaws have to move apart in the Y direction. If only a few sensors are used, the procedure is simply to move the clamping jaws in the Y direction as far as possible.When the clamp jaws are correspondingly moved away in the X direction to the storage location, an attempt is made to grip the stuck drug package 6' with the clamp jaws by retracting the clamp jaws in the Y direction (step 310). Process steps b) and c) are then repeated, i.e., moving in the X direction towards the tray table and checking the edge for a resting drug package (step 320). If it is determined that the drug package is still resting on an edge, a signal is provided indicating a second erroneous removal attempt (FIG. 7h). In this case, a third removal attempt may be made or gripper movement is prevented and operator intervention is requested.

Claims

1. A gripper (1) for use in a picking device having a horizontal storage surface for the storage of drug packages, comprising: A control device (4); a tray table (10) having an end (70) extending in a first horizontal direction and in a second horizontal direction orthogonal to said first horizontal direction, said end (70) having an arcuate front (71) extending in said second horizontal direction, said end (70) forming a loading and unloading front, said tray table (10) defining an upper support surface by said end (70); a transport device (20a, 20b) disposed above the tray table (10) and movable in the first horizontal direction to move medication packages from a horizontal storage surface onto the tray table (10); Including, the gripper (1) includes at least three sensors coupled to the control device (4) arranged at the end (70) below the upper support surface for determining the presence of a drug package, the at least three sensors being arranged at the end (70) at a distance from each other in the second horizontal direction; At least one inner sensor (73b) is disposed inside the outer sensor (73a) in the second horizontal direction; the outer sensor (73a) is disposed at a distance from the inner sensor (73b) in the first horizontal direction; A gripper (1), characterized in that the at least three sensors are arranged along the arcuately extending front (71).

2. A gripper (1) for use in a picking device having a horizontal storage surface for storing drug packages, as described in claim 1, characterized in that the sensors (73, 73a, 73b) are arranged at a distance from each other in the first horizontal direction such that the sensors are substantially at the same distance from the arcuate front (71).

3. A gripper (1) for use in a picking device having a horizontal storage surface for storing drug packages, as described in claim 1 or 2, characterized in that the transport device comprises two elongated clamping jaws (20a, 20b) extending in the first horizontal direction and arranged above the tray table (10), with clamping surfaces (21a, 21b) facing each other, and at least one of the clamping jaws being additionally movable at least partially in the second horizontal direction.

4. A gripper (1) for use in a picking device having a horizontal storage surface for storing drug packages, as described in any one of claims 1 to 3, characterized in that the sensors (73, 73a, 73b) are arranged mirror-symmetrically with respect to a central axis (MA) of the tray table (10) extending in the first horizontal direction.

5. A gripper (1) for use in a picking device having a horizontal storage surface for storing drug packages, as described in any one of claims 1 to 4, characterized in that the end is formed as a sensor assembly (72) removable from the tray table (10).

6. A gripper (1) for use in a picking device having a horizontal storage surface for storing drug packages, as described in any one of claims 1 to 5, characterized in that the arcuate front (71) of the end (70) is curved in an arc, the center of the corresponding circle being located on the vertical rotation axis (VA) of the tray table (10).

7. The gripper includes: A jaw guide assembly (30) comprising a framework structure (31, 32, 33a, 33b); at least first and second guides (35, 36) extending parallel to and in the first horizontal direction and spaced apart from one another in the second horizontal direction transverse to the first horizontal direction; at least four jaw carriages (40a, 40b, 41a, 41b) coupled to said guides (35, 36) and driven in said second horizontal direction, where two first jaw carriages (40a, 40b) are assigned to said first guide (35) and two second jaw carriages (41a, 41b) are assigned to said second guide (36), and at least two jaw carriages (40a, 41a; 40b, 41b) spaced apart in said first horizontal direction are coupled to clamp jaws (20a, 20b), and a drive unit (60, 61a, 61b, 62a, 62b) coupled to the jaw guide assembly (30) for driving the jaw guide assembly (30) in the first horizontal direction; A gripper (1) for use in a picking device with a horizontal storage surface for the storage of drug packages, according to any one of claims 3 to 6, characterized in that it further comprises:

8. A method for verifying the transfer of a drug package (6, 6') onto a tray table (10) of a gripper (1) according to any one of claims 1 to 7, comprising: a) the transport device is moved in the first horizontal direction to a storage location (80) of at least one drug package (6, 6') and the at least one drug package is gripped; b) the transport device is moved from the storage location (80) in the first horizontal direction to the tray table (10); c) after moving the transport device in the first horizontal direction by means of the sensors (73, 73a, 73b) at the end (70), it is checked whether a drug package (6') is present in the detection area of ​​the sensors; and d) A method for verifying the movement of a drug package (6, 6') onto the tray table (10) of the gripper (1), characterized in that if the check is positive, a signal is submitted indicating a first erroneous removal attempt.

9. the transport device includes two elongated clamping jaws (20a, 20b) extending in the first horizontal direction and positioned above the tray table (10) and having mutually facing clamping surfaces (21a, 21b); In case of a positive check according to step d), said clamping jaws (20a, 20b) are opened in said second horizontal direction and moved again in said first horizontal direction to said storage location (80), A drug package placed at said end (70) is gripped by said clamp jaws (20a, 20b); Steps b) and c) of the method are carried out, and A method for verifying the movement of a drug package (6, 6') onto a tray table (10) of a gripper (1) as claimed in claim 8, characterized in that if this check is positive, a signal is provided indicating a second erroneous removal attempt.

10. when moving the at least one medication package (6) towards the tray table, a width of the medication package (6) is determined by the sensors (73, 73a, 73b) located in the tray table; The determined width is compared to a desired width known to the control device (4); and A method for verifying the movement of a drug package (6, 6') onto a tray table (10) of a gripper (1) as claimed in claim 8 or 9, characterized in that when a limit deviation between the determined width and a desired width of the drug package is exceeded, a corresponding signal is provided.

11. A method for verifying the movement of drug packages (6, 6') by a gripper (1) onto a tray table (10), as claimed in claim 10, characterized in that after providing a signal indicating exceedance of a limit deviation, the gripper (1) is moved towards an unloading station and the number of drug packages present is transferred to the unloading station.

12. A front (71) extending in an arc in a second horizontal direction extending perpendicular to the first horizontal direction; at least three sensors (73, 73a, 73b) disposed under a surface of the sensor assembly for determining the presence of a drug package, said sensors being disposed at a distance from each other in said second horizontal direction; and a plurality of sensors (73, 73a, 73b) in which the outer sensors in the second horizontal direction are arranged at a distance in the first horizontal direction from at least one sensor (73b) arranged further inward in the second horizontal direction, such that the arrangement of the sensors is oriented toward the arcuate front; an interface for connecting said sensor assembly to a control device for verifying the movement of the drug package (6, 6') onto a tray table (10) of a gripper (1) of a picking device for drugs; Use of a sensor assembly (72) comprising: The sensor assembly (72) is formed so as to be detachable from the tray table (10), and when attached to the tray table (10), the arcuately extending front (71) constitutes an end of the tray table (10).

Images