Removal device for removing playing cards arranged vertically in a container
Patent Information
- Application Number
- PCT/AT2026/060057
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-03-14
- Filing Date
- 2026-03-02
- Publication Date
- 2026-09-17
Smart Images
Figure AT2026060057_17092026_PF_FP_ABST
Abstract
Description
[0001] Removal device for removing playing cards arranged vertically in a container
[0002] The invention relates to a removal device for taking stacked playing cards from a container and to a manipulation device for manipulating playing cards. The invention also relates to a ball transport unit for the vertical manipulation of playing cards.
[0003] Various methods for sorting playing cards and removing them from containers are known in the prior art. Such manipulation of stacks of playing cards is particularly advantageous for games that involve a large number of different playing cards, which are traded and acquired by collectors. To enable the storage or exchange of cards on a larger scale, or the operation of an online trading platform for such cards, an automated system for manipulating these cards is required.
[0004] The invention addresses the first problem of automatically removing cards from containers. The invention solves this problem with the characterizing features of claim 1. It is provided that a removal wall, in particular adapted to the length and width of the playing card, is arranged vertically and in a receiving plane for removing a playing card from a stack of playing cards aligned parallel to the receiving plane.
[0005] in which at least one ball transport unit is provided, which projects a transport ball out of the removal wall,
[0006] - wherein the receiving plane is defined by two coordinate directions lying in it, namely a vertical first coordinate direction and a second coordinate direction normal to it, and - wherein the at least one transport ball is controlled by means of a drive such that the end region of the transport ball projecting from the removal wall is rotatable in both coordinate directions .
[0007] An advantageous manipulation of the cards in the dispensing unit provides that at least one guide ball unit with a guide ball is provided in the dispensing wall, wherein the at least one guide ball is rotatably mounted, so that the area of the guide ball protruding from the dispensing wall is rotatable in both coordinate directions when force is applied to the guide ball.
[0008] In order to exert sufficient pressure on the playing card when removing it from the container by means of the transport ball, the width of the removal wall may be between 70 percent and 95 percent of the width of the playing card to be removed.
[0009] For this purpose, it may also be provided that a feed device is provided which applies pressure to the stack or container in which the playing cards are located, so that the playing cards stacked parallel to the receiving plane are pressed against the removal wall onto at least one transport ball.
[0010] This can be further improved by designing the feed device as a conveying unit designed to transport containers containing stacks of vertically stacked playing cards and playing cards aligned parallel to the receiving plane towards the dispensing wall and to apply a pressure force.
[0011] In order to bring a container into the removal area of the removal device, the feed device may be provided with a conveying surface from which a number of additional transport balls protrude upwards.
[0012] and that the feed device has at least one container in which a stack of playing cards can be stacked in such a way that individual playing cards can be aligned vertically and parallel to the receiving plane. In order to ensure safe removal and to exert sufficient pressure on the playing card to be removed, the container may be provided with an upwardly open removal opening designed to accommodate the removal wall and through which holding pressure can be exerted on playing cards stacked in the container when the container moves on the conveying surface.
[0013] In order to guide a container straight through the removal device, it can be provided that the container has a second further opening open at the top on the side opposite the first removal opening, which is designed to accommodate the removal wall, wherein the second further opening in particular has the same shape as the first removal opening.
[0014] A second object of the invention is to move cards within a two-dimensional manipulation area, ideally a plurality of cards simultaneously. The invention achieves this by a manipulation device for the two-dimensional manipulation and movement of vertically arranged playing cards in a manipulation plane, comprising two opposing, spaced, and in particular parallel, manipulation walls, wherein the manipulation plane lies in the intermediate area between the manipulation walls.
[0015] - wherein the manipulation plane is defined by two coordinate directions lying within it, namely a vertical first coordinate direction and a second coordinate direction normal to it, and
[0016] wherein in at least one of the manipulation walls, in particular in both manipulation walls, ball transport units comprising one transport ball each are provided, wherein the transport balls protrude from the respective manipulation wall and are aligned towards the intermediate area,
[0017] - wherein the transport balls are controlled by means of a drive such that the end area of the transport ball protruding from the respective manipulation wall can be rotated in both coordinate directions, and
[0018] - wherein the transport balls are arranged such that
[0019] a) Playing cards can be manipulated by manipulating the transport balls in at least one defined manipulation area, which forms a part of the intermediate area between the manipulation walls, and b) Playing cards are held at least in the manipulation area by the transport balls and, if necessary, by other holding elements.
[0020] A simple design, which avoids an unnecessary number of manipulation elements and yet allows sufficiently secure manipulation of the playing cards in the manipulation area, provides for additional holding and guiding elements protruding from the manipulation walls, which are designed to hold playing cards at least in the manipulation area, to hold them perpendicular to the manipulation walls by applying pressure, and at the same time to allow movement of the playing cards perpendicular to the two coordinate directions.
[0021] A simple further development, which enables manipulation and guidance with essentially identical elements and thus simplifies the manufacturing of components, provides that at least one of the manipulation walls includes at least one guide ball unit with a guide ball, which preferably forms a further holding and guiding element for holding a playing card in the manipulation area. For the simple and secure holding of vertically oriented playing cards between the manipulation walls, it can be provided that the transport balls and, if applicable, the guide balls of the two manipulation walls project above a central plane located between the manipulation walls, in particular one equidistant from both manipulation walls.
[0022] A simple advanced training system that achieves the manipulation and guidance of playing cards using a simple mechanical setup, and with which manipulation areas of any size can be achieved, provides that the transport balls are arranged on at least one manipulation wall in a pattern periodic to both coordinate directions.
[0023] wherein in particular in each area of the manipulation walls the size of a playing card there is at least one transport ball present in at least one of the manipulation walls.
[0024] For the same purpose, the arrangement of holding elements can be such that the transport balls and the guide balls are arranged on at least one manipulation wall in a pattern that is periodic in both coordinate directions.
[0025] wherein, in particular, in each area of the manipulation walls, the size of a playing card, at least two of the following elements are designed to hold a playing card: transport balls or guide balls or other holding elements.
[0026] To determine the position of playing cards in the manipulation area, it may be provided that a number of position sensors are provided to determine the current position of playing cards or boundaries of playing cards in the manipulation area, in particular optical sensors such as infrared detectors, which are designed to determine whether a playing card is located in a certain area of the manipulation area.
[0027] To create images of playing cards in the manipulation area, it may be provided that at least one of the manipulation walls, in particular both manipulation walls, has recesses for creating digital images, wherein an image recording device is provided in each case, the recording area of which passes through the recesses and is directed towards a part of the manipulation area.
[0028] To create complete images of playing cards in the manipulation area, it may be provided that an image capture control device is provided, which is designed to move the individual transport balls of the manipulation walls, especially in the immediate vicinity of the recording area of the image capture device, and to determine the position of a playing card located in the recording area and to cause the image capture device to create at least one digital image of the playing card.
[0029] It may be advantageous to provide that the image acquisition control device is designed to
[0030] a) to cause the image recording device or devices to take a number of images,
[0031] b) to determine the position and orientation of the captured playing card at the time of recording based on sensor data or image data and to assign it to the determined digital image of the recording, and
[0032] c) to create an overall image of at least one side of a playing card, in particular both sides of the playing card, from a plurality of captured images and the associated position and orientation information, and to keep it available, in particular on a readable memory. In both manipulation devices and removal devices according to the invention, it can be provided, in order to improve the holding effects of the individual transport and / or guide balls, that at least one transport ball and / or at least one guide ball is resiliently mounted in the direction normal to the receiving plane or manipulation plane, or that at least one further transport ball is resiliently mounted normal to the conveying surface.
[0033] A preferred method for controlling the transport balls involves using electromagnets to control the transport balls in the coordinate directions.
[0034] In both manipulation devices and removal devices according to the invention, it can be provided that the transport balls and / or the further transport balls and / or the guide balls are coated with an adhesive substance, in particular silicone, to improve the holding effects of the individual transport and / or guide balls.
[0035] An advantageous combination of a manipulation device and a removal device according to the invention provides that the receiving plane and the manipulation plane are parallel to each other and wherein the removal wall of the removal device continues one of the manipulation walls of the manipulation device.
[0036] The transport balls, and optionally the guide balls, of the dispensing wall and the transport balls, and optionally the guide balls, of the manipulation walls of the manipulation device are arranged such that a playing card can be picked up via the dispensing wall and drawn into the manipulation area of the manipulation device. With such a unit, playing cards can be removed from a container, manipulated, and optionally reassembled into stacks in a manipulated manner.
[0037] A simple design for such a combination provides that the periodic pattern of the transport balls and / or guide balls continues on the removal wall, which extends from the manipulation wall.
[0038] To further simplify the mechanical design, it may be provided that a plurality of dispensing devices are used, wherein the individual dispensing walls of the dispensing devices each continue the same manipulation wall. In order to enable manipulation of cards from several stacks that can be removed simultaneously, it may be provided that the same conveying unit is used for all dispensing devices and that the conveying level of the conveying unit is dimensioned such that containers with card stacks can be placed against all dispensing walls by means of the conveying unit.
[0039] For the simple manipulation of playing cards in a vertical direction, the invention provides a ball transport unit. This unit comprises a transport ball and a wall section with a recess for a transport ball, the transport ball protruding from the wall section.
[0040] wherein a magnet, in particular a permanent magnet, is provided inside the transport sphere and wherein a number of electromagnets for magnetic manipulation of the transport sphere are arranged in the wall section in the area around the recess of the transport sphere, wherein the electromagnets are controlled and designed in such a way that the part of the transport sphere protruding from the recess of the wall section is rotatable in both directions parallel to the course of the wall section.
[0041] To improve the grip of vertically manipulated playing cards during manipulation by the ball transport unit, it may be provided that the transport ball is coated with an adhesive substance, in particular silicone.
[0042] In another advantageous embodiment, it is provided that the wall section from which the transport ball protrudes,
[0043] - is arranged vertically and / or perpendicularly and / or
[0044] - with the vertical an angle of less than 45°, in particular less than 20°.
[0045] In a further advantageous embodiment, it is provided that bearing balls are arranged below the transport ball, which support the transport balls in the recess, wherein the point of the transport ball that lies vertically below the center of gravity or center of the transport ball either rests directly on a bearing ball or is surrounded by several contact points of bearing balls and the transport ball.
[0046] In a further advantageous embodiment, it is provided that the wall section forming the recess of the ball transport unit has a layered structure comprising a base layer, a middle layer and a top layer, wherein the base layer has a hemispherical recess against which a number of bearing balls rest.
[0047] where the transport ball rests on the bearing balls,
[0048] wherein the middle layer adhering to the base layer continues the hemispherical recess of the base layer and in particular has a thickness of about 15-25 percent of the diameter of the transport sphere or the recess,
[0049] wherein the bearing balls are arranged between the hemispherical recess continuing in the middle layer and the transport ball,
[0050] wherein the middle layer is adjoined by the top layer, which closes off the cavity formed between the transport ball on the one hand and the base layer and middle layer on the other hand for receiving the bearing balls, and
[0051] wherein the top layer has a thickness such that the transport ball protrudes from the top layer or the wall section by approximately 1-2 mm.
[0052] Fig. 1 shows an embodiment of a stack transport unit in which a stack of playing cards is arranged. Fig. 1a shows the empty container without cards in a front view. Fig. 2 shows, among other things, a first embodiment of a removal device according to the invention, which removes a playing card from a stack transport unit. Fig. 2a shows a section through the arrangement shown in Fig. 2, through the stack of cards and the removal device, with a view in the x-coordinate direction. Fig. 2b shows a section through the arrangement shown in Fig. 2, through the stack of cards and the removal device, with a view in the y-coordinate direction.
[0053] Fig. 3 shows a preferred embodiment of a manipulation device according to the invention for the two-dimensional manipulation and movement of vertically arranged playing cards in a vertical manipulation plane. Fig. 3a shows a section of one of the two manipulation walls in a front view. Fig. 3b shows a detail from Fig. 3 with a card located in the intermediate area between the two manipulation walls, viewed in the direction of the x-coordinate.
[0054] Figures 4a and 4b show preferred forms of periodic patterns of transport and guide balls.
[0055] Fig. 5 shows a preferred embodiment of a manipulation device according to the invention, with which images of playing cards can be created. Fig. 5a shows a section through the embodiment shown in Fig. 5 and through a playing card in the receiving area of an image receiving device. Fig. 6 shows a combined embodiment of a removal device to which a manipulation device is connected.
[0056] Fig. 6a shows a section through the execution form with a view in the direction of the y-coordinate. Fig. 6b shows one of the two manipulation walls in a front view.
[0057] Fig. 7 shows a ball transport unit according to the invention. Fig. 7a shows a ball transport unit according to the invention in sectional view.
[0058] Fig. 1 shows an embodiment of a container 10. This container 10 is designed to hold a stack 11 of playing cards 1 vertically. The container 10 includes a base 12, which is designed to be transported horizontally, e.g., via a conveyor belt. Furthermore, the container 10 has a holding and clamping device 13 that holds the individual playing cards 1 vertically stacked in the predetermined position. Such a holding and clamping device 13 is advantageously designed with angle profiles projecting perpendicularly or normally from the base 12.Although a variety of different configurations of the holding and clamping devices 13 are generally possible, the holding and clamping device 13 always has a removal opening 14, which is arranged such that the playing card 1a nearest to the removal opening 14, located at the top of the stack and hereinafter referred to as the "top card", is visible through the removal opening 14 at one end of the card stack 11. The removal opening 14 is open upwards on the side furthest from the base 12. The removal opening 14 is bounded by two retaining elements 13a of the holding and clamping device 13. The retaining elements 13a lie flat against the same side of the top playing card 1a and prevent the top playing card 1a from falling out of the stack transport unit 10. The removal opening 14 located between the retaining elements 13a allows access to the top playing card 1a.
[0059] The stack transport unit 10 has a further opening 15, which is opposite the dispensing opening 13. Advantageously, the dimensions of this opening correspond to those of the dispensing opening 14, which has the particular advantage that cards can be removed from both sides or ends of the card stack 11.
[0060] The dispensing opening and the further opening are both open at the top. This has the significant advantage – in connection with the invention – that a dispensing device shown in Fig. 2 can access the container 10 from above and thus completely empty the container 10.
[0061] The invention basically processes vertically oriented stacks of cards 11, which are advantageously transported in a container 10 as shown in Fig. 1. Therefore, the embodiments of the invention shown below are always presented in connection with a container.
[0062] A preferred embodiment of a dispensing device 2 according to the invention is shown in more detail in Fig. 2. This dispensing device 2 is designed for dispensing playing cards 1 from the container 10. The playing cards 1, arranged vertically in the container 10, each have the same predetermined length and width. The dispensing device 2 is oriented such that it can dispense playing cards 1 from the container 10 when they are located in a predetermined receiving plane A. The dispensing device 2 has a dispensing wall 20 in or parallel to this receiving plane A. The receiving plane A is defined by two coordinate directions x, z lying within it, namely a vertical first coordinate direction z and a second coordinate direction x normal to it.
[0063] If the top playing card la of the stack 11 contained in container 10 is located within the area of this removal wall 20, it is removed from the container along the removal wall 20, as described below. The removal wall 20 and the receiving plane A are typically approximately parallel to each other, so that the top card la, one face of which is exposed at the removal opening 14 of container 10, can be removed from container 10 by means contained on the removal wall 20. After the removal of the top card la, another card is now located at the top of the stack 11 and can thus be removed from container 10 as the "top" card la.
[0064] To remove a card 1 from the container 10, at least one ball transport unit 210 is provided in the removal wall 20. This ball transport unit 210 (Fig. 7, 7a) comprises a transport ball 21 driven externally by means of a drive 211. Typically, the drive 211 is designed by one or more electromagnets E whose action can be controlled. These electromagnets are configured to exert a magnetic force on a magnet, in particular a permanent magnet, located inside the transport ball 21, according to predetermined criteria, causing the transport ball 21 to rotate.
[0065] The removal wall 20 has a recess for the transport ball 21, in which, in addition to the transport ball 21, a number of bearing balls L are also provided. These bearing balls are arranged between the recess and the transport ball 21 and are designed to support the transport ball 21 within the recess. The bearing balls L typically have a diameter between 5% and 20% of the diameter of the transport ball 21. A preferred configuration of a ball transport unit 210 is shown in Fig. 7a. The wall of the ball transport unit 210 shown here has a layered structure comprising a base layer 27, a middle layer 28, and a top layer 29. This structure offers the particular advantage that all layers 27, 28, and 29 can be manufactured using 3D printing. The base layer 27 has a hemispherical recess against which the bearing balls L rest.The transport ball 21 rests on the bearing balls L and is half-received by the base layer 27, with the other half protruding from the base layer 27. The middle layer 28, which abuts the base layer 27, continues the hemispherical recess of the base layer 27. It has a thickness of approximately 15-25 percent of the diameter of the transport ball 21. Bearing balls L are arranged between the hemispherical recess continued in the middle layer 28 and the transport ball 21. The cover layer 29 adjoins the middle layer 28. The cover layer 29 closes the cavity formed between the transport ball 21 on the one hand and the base layer 27 and middle layer 28 on the other, which accommodates the bearing balls L. The cover layer 29 has a thickness such that the transport ball 21 protrudes approximately 1-2 mm from the cover layer 29 or the removal wall 20.In all configurations of ball transport units 210, it can be advantageous if the contact point of the transport ball 21, i.e., the single point of the transport ball 21 that lies vertically below the center of gravity or midpoint of the transport ball 210, either rests directly on a bearing ball L or is surrounded by several contact points between bearing balls L and the transport ball 21. This results in low friction caused by the force of gravity on the ball, and the ball moves freely, even if the manipulation or removal wall is vertical or nearly vertical.
[0066] The transport ball 21 is controlled by the drive 211 such that the end portion of the transport ball 21 projecting from the removal wall 20 is rotatable in both coordinate directions x, z of the removal wall 20. The transport ball 21 of the ball transport unit 210 is arranged in the removal wall 20, with a portion of the ball projecting from the removal wall 20. Typically, the height of the portion of the transport ball 21 projecting from the removal wall 20 is between 1 mm and 2 mm.
[0067] Although it is generally sufficient if only one ball transport unit 210 is provided in the removal wall 20, it can be advantageous to provide several ball transport units 210 or several transport balls 21 protruding from the removal wall 20, in particular to ensure that the playing card la to be removed from the container 10 is subjected to a sufficient removal force at all times to safely remove it from the container 10.
[0068] In addition to the transport balls 21, the removal wall 20 may also contain guide balls 22, whose task is to hold the playing card la in the area of the removal level A during its removal from the container 10.
[0069] Transport balls 21 and guide balls 22 are typically of the same design and typically have similar or identical diameters and outer surfaces. Since guide balls are not driven by electromagnets E, they do not need to have magnetic properties; however, the use of permanent magnet guide balls 22 also does not entail any disadvantages.
[0070] For this reason, a guide ball unit 220 can also be provided in the extraction wall 20. In such a guide ball unit, at least one guide ball 22 is rotatably mounted, so that the portion of the guide ball 22 projecting from the extraction wall 20 is rotatable in both coordinate directions x, z when force is applied to the guide ball 22.
[0071] To form a guide ball unit 220, a recess for the guide ball 22 is provided in the removal wall 20, wherein the guide ball 22 is supported in this recess in the same manner as the transport ball 21 is supported as described above. In addition to the support ball 22, a number of bearing balls L are also provided in the recess, arranged between the recess and the guide ball 22, and designed to support the guide ball 22 in the recess. The bearing balls typically have a diameter between 5% and 20% of the diameter of the guide ball 22.
[0072] The dispensing wall 20 is adapted to the container 10 and its dispensing opening 14. Specifically, this adaptation allows the container 10 to be moved perpendicular to the receiving plane A towards the dispensing wall 20. Due to its adaptation to the dispensing opening 14, the dispensing wall 20 can pass through it, so that the individual playing cards of the card stack 11 are clamped in the container 10 by the dispensing wall 20, specifically between the dispensing wall 20 and the wall of the holding and clamping device 13 of the container 10 that forms the further opening 15. The further opening 15 has the same shape as the dispensing opening 14, so that the dispensing wall 20 can also pass through the further opening when the entire card stack 11, i.e., all playing cards 1, has been removed from the container 10.
[0073] To achieve a good clamping effect of the card stack while simultaneously ensuring sufficient stability and efficient card removal, the width of the removal wall 20 is between 60% and 80% of the playing card 1 to be removed. The removal wall typically has a shape with a constant width towards the bottom; optionally, the removal wall 20 may be rounded at its lower edge. However, different shapes of removal walls 20 can be provided to accommodate different containers 10. In the present embodiment of the invention, a feed device 3 is also provided, which moves the container 10 and the card stack 11 contained therein, in which the playing cards 1 are located, towards the removal wall 20 in a direction y normal to the receiving plane A.The playing cards 1 stacked parallel to the receiving plane A are pressed against the removal wall 20 and thus ultimately onto the transport ball (n) 21 .
[0074] Although the feed device 3 can be designed in fundamentally different ways, for example as a conveyor belt, it is also possible, as in the receiving wall 20, to provide transport balls 32. For this purpose, the feed device 3 has a horizontal conveying surface 30 from which a number of further transport balls 32 protrude upwards. These, like the transport balls 32, are controlled or driven by electromagnets E. The container 10, in which the stack 11 of playing cards 1 can be stacked in such a way that the individual playing cards 1 can be aligned vertically to the conveying surface and parallel to the receiving plane A, forms part of the feed device 3.
[0075] The playing card 11a removed from the container can then be manipulated by any means, for example by means of a robot or other automated systems. A preferred embodiment with which the removed playing card 11a can be manipulated with the manipulation device shown in Fig. 3 below will be described later with reference to Fig. 6.
[0076] Figures 3, 3a, and 3b show a preferred embodiment of a manipulation device 4 according to the invention for the two-dimensional manipulation and movement of vertically arranged playing cards 1 in a manipulation plane M. The manipulation device 4 comprises two opposing and spaced-apart parallel manipulation walls 41, 42. The manipulation plane M lies in the intermediate area 43 between the manipulation walls 41, 42, in the present embodiment in the medial plane between the two manipulation walls 41, 42. The common position of the manipulation walls 41, 42 and the manipulation plane M is determined by two coordinate directions x, z lying within it, namely a vertical first coordinate direction z and a second coordinate direction x normal to it. Playing cards 1 transported in the present manipulation device 4 can be transported in both coordinate directions x, z.
[0077] To manipulate the playing cards 1, ball transport units 440 are provided in both manipulation walls 41, 42. These are designed analogously to the ball transport units 210 of the removal wall 20 (Fig. 2; Fig. 2a) and each comprises transport balls 44. The transport balls 44 protrude from the respective manipulation wall 41, 42 and are oriented towards the intermediate area 43 between the two manipulation walls 41, 42. The transport balls 44 are controlled – analogous to the transport balls in Fig. 2 – by means of a drive such that the end portion of the transport ball 44 protruding from the respective manipulation wall 41, 42 is rotatable in both coordinate directions x, z. In this way it is possible to manipulate the playing card 1 in the area of the manipulation plane M according to the x- or z-coordinate .
[0078] As with the removal wall shown in Fig. 2 and 2a, it is possible to arrange further holding and guiding elements projecting from the manipulation walls 41, 42, which are designed to hold playing cards 1 at least in the manipulation area by applying pressure in the direction of the y-coordinate or normal to the manipulation walls 41, 42, and at the same time allow movement of the playing cards 1 normal to the two coordinate directions x, z.
[0079] It is not necessary for both manipulation walls 41, 42 to contain both ball transport units 410 and guide ball units 450. It is also possible for ball transport units 410 to be formed only in one of the manipulation walls 41, 42, and for the other manipulation wall to contain only guide ball units 450. Likewise, it is possible to provide only guide ball units 450.
[0080] The transport balls 44 or the transport ball units 410 are arranged such that playing cards 1 can be manipulated by manipulating the transport balls 44 in at least one defined manipulation area M, which forms a sub-area of the intermediate area 43 between the manipulation walls 41, 42. This is particularly the case if the transport balls 44 or the transport ball units 410 are arranged such that each playing card located in the manipulation area M touches a transport ball 44, regardless of its position within the manipulation area M.
[0081] To hold the cards vertically between the two manipulation walls 41, 42, additional holding elements can be provided besides the transport balls 44. In the simplest case
[0082] The manipulation device 4 comprises exclusively transport spheres 44 that protrude from both manipulation planes 41, 42. If the transport spheres are each arranged such that a playing card is held in the manipulation area M from both sides by at least two transport spheres, the playing cards 11 can be transported safely.
[0083] Instead of the transport balls 44, other holding elements may also be used, as long as it is ensured that the playing card 1 can be manipulated at any position of the manipulation area by means of a transport ball 44, i.e., moved in the x or z direction.
[0084] As further holding elements, additional holding and guide balls 45 projecting from the manipulation walls 41, 42 can be provided, which are designed and distributed such that playing cards 1 are held at all positions of the manipulation area M by applying pressure perpendicular to the manipulation walls 41, 42. The guide ball 45 is contained in a guide ball unit 450, which is formed in the respective manipulation wall 41, 42.
[0085] As already mentioned, regardless of the type of additional holding elements used, so many transport balls 44 and transport ball units 410 are provided, or arranged in such a distributed manner, that manipulation of the playing cards 1 normal to the two coordinate directions x, z is possible at any point in the manipulation area M.
[0086] To design the entire manipulation area so that each card within it is both securely held and manipulable in both coordinate directions, the transport and guide balls can be arranged in a periodic pattern, as shown in Figures 4a and 4b. Figure 4a shows the transport balls 44 and guide balls 45 arranged in a manipulation wall 41, corresponding to the size of an imaginary playing card. Figure 4b shows the arrangement of the transport balls 44 and guide balls 45 on the opposite manipulation wall 42.This arrangement ensures that the playing card 1 in each position interacts with at least one guide ball 45 of at least one of the two manipulation walls 41, 42 and is held by at least two guide balls 45 or transport balls 44 of each of the two manipulation walls 41, 42 in the intermediate area between the two manipulation walls 41, 42.
[0087] Figure 3c shows a section through the two manipulation walls 41, 42, also showing a section through the transport and guide balls 44, 45 and a section through a playing card 1. The median plane between the two manipulation walls 41, 42 is also shown. The transport and guide balls 44, 45 each have the same diameter or radius and project from the manipulation walls 41, 42 to the same height of between 1 mm and 2 mm. The manipulation walls 41, 42 are arranged such that the ends of the transport and guide balls 44, 45 furthest from the manipulation walls 41, 42 each project beyond the imaginary median plane between the manipulation walls 41, 42, in particular by ... mm. This results in playing cards 1, which are located in the area between the manipulation walls 41, 42, being held and slightly bent by the transport and guide balls 44, 45.This does not affect the playing cards 1, but allows them to absorb the holding forces emanating from the transport and guide balls 44, 45.
[0088] If balls of different sizes are used on the two sides of the manipulation walls 41, 42, it may also be sufficient if the transport balls 44 and, if applicable, the guide balls 45 of the two manipulation walls 41, 42 project over a central plane located between the manipulation walls 41, 42, which is not necessarily equidistant from both manipulation walls 41, 42.
[0089] Figures 5 and 5a show another preferred embodiment of a manipulation device that allows the position of the playing cards 1 to be recorded in real time and also images of the playing cards to be created. For this purpose, recesses 46, 47 for creating digital images are provided in both of the manipulation walls 41, 42. These recesses are not directly opposite each other, so that images of one side of the playing card 1 are taken at a different location within the manipulation area than images of the other side of the playing card 1. Two image acquisition devices 461, 471 are provided in the area of the manipulation device. The acquisition area 462, 472 of these image acquisition devices each passes through the recesses 46, 47 in one of the manipulation walls 41, 42.
[0090] It is not necessary for a playing card 1 to be captured in such a way as to create a complete image of it when it is located at a position within the manipulation area. Rather, it is also possible to move the playing card 1 through the capture area 462, 472 of an image capture device 461, 471 in such a way that a multitude of images are created during this movement, which – when combined – form a complete image of the playing card 1. Different image generation algorithms can be used for this purpose.
[0091] It is possible to create images in such a way that individual images are assembled without knowledge of the position of the respective playing card 1. The individual images are assembled in such a way that similar image areas are identified in each individual image, and that a complete image is created in this way by referencing all individual images to each other via similar image areas.
[0092] It is also possible to determine the position of a playing card 1 during manipulation by measurement or to predict it based on the control of the transport ball units 440. It is also possible to combine both methods. For example, a light barrier arranged between the two manipulation walls 41, 42 can be used to determine when an edge of a playing card 1 reaches a specific point in the manipulation plane. Further positional information, which allows conclusions to be drawn about the movement of the playing card, can then be determined based on the control of the respective transport ball units 440. Similarly, the x- and z-positions of the playing card can be determined when it moves through the recording area 462, 472 of an image recording device 461, 471. These positions can then be used to assemble the individual images created.
[0093] Instead of light barriers, image recording devices 461 and 471 can also be used to determine the position of a playing card 1 in the manipulation area. If the images of edges of a playing card 1 created by the respective image recording device 461 and 471 are present, this edge information can be used to identify the position of this playing card. Likewise, it is possible to determine the movement of the playing card by comparing two images of the playing card taken sequentially, provided the same area of the playing card is contained in both images.
[0094] To enable this procedure, an image acquisition control device, for example in the form of a microcontroller or a computer, is provided, which is designed to move the individual transport balls 44 of the manipulation walls 41, 42, in particular in the vicinity of the recording area 462, 472 of the image acquisition device 461, 471, and to determine the position of a playing card 1 located in the recording area 462, 472 and to cause the image acquisition device 461, 471 to create at least one digital image of the playing card 1.
[0095] The image acquisition control unit performs the following steps for this purpose:
[0096] a) it causes the image recording device 461, 471 or the image recording devices 461, 471 to take a number of images,
[0097] b) based on sensor data and / or image data, it determines the position and orientation of the captured playing card 1 at the time of recording and assigns this sensor data and / or image data to the determined digital image recording, and c) it creates an overall image of at least one side of a playing card 1 from a plurality of captured images and the associated position and orientation information and keeps this overall image available.
[0098] Furthermore, it is also possible to create images of both sides of playing card 1 by separately determining images of each side of playing card 1. Since the movement of playing card 1 in the manipulation area can either be specified by the image acquisition control device or this movement is at least known to the image acquisition control device, it can combine the two created images of playing card 1 based on the available movement path.
[0099] The design of the transport balls 21, 44 or guide balls 22, 45 can in principle be carried out in the same way for the manipulation device or the removal device.
[0100] Both transport balls 21, 44 and guide balls 22, 45 are advantageously spring-mounted in the direction normal to the receiving plane A or manipulation plane A. If the feed device has 3 transport balls 32 or guide balls, these can also be spring-mounted normal to the conveying surface 30. In all cases, the transport balls 21, 44 can be manipulated by electromagnets E as drives, so that the part of the ball protruding from the respective receiving or manipulation wall or conveying surface 30 moves in the x- or z-coordinate direction.
[0101] Advantageously, the transport balls 21, 44, the further transport balls 32, and also the guide balls 32 can be coated with an adhesive substance such as silicone to enable improved adhesion of the playing cards 1 or container 10.
[0102] A further embodiment, shown in Figures 6 and 6a, demonstrates an arrangement or combination of the embodiments shown in Figures 2, 4, and 6. In this embodiment, the dispensing device 2 and the manipulation device 4 are integrated such that playing cards 1 removed from a container 10 by the dispensing device 2 can be drawn directly into the manipulation device 4 and manipulated by it. The receiving plane A and the manipulation plane M are parallel to each other. The dispensing wall 20 of the dispensing device 2 extends one of the manipulation walls 41 of the manipulation device 4; that is, the dispensing wall 20 and the manipulation wall 41 are arranged on the same support plate.Furthermore, the transport balls 21 and the guide balls 22 of the removal wall 20, and the transport balls 44 and the guide balls 45 of the manipulation walls 41, 42 of the manipulation device 4, are arranged such that the periodic pattern of the transport balls 44 and guide balls 45 continues on the removal wall 20, which extends from the manipulation wall 41. In this way, a playing card 1 is picked up via the removal wall 20 and can be retracted into the manipulation area M of the manipulation device 2.
[0103] In the embodiment of the invention shown in Figures 6, 6a and 6b, further dispensing devices 2a, 2b are provided, wherein the individual dispensing walls 20 each extend the same manipulation walls 41. In this way, it is possible to draw and manipulate playing cards 1 from different containers 10 via different dispensing devices 2a, 2b. If necessary, individual playing cards 1 can also be returned to a container 10 via a dispensing wall 20. In this way, it is possible to redefine the order and position of individual playing cards 1 in the stacks 11 of the containers 11.
[0104] It is also possible to use the same feed device 3 for all dispensing devices 2 and to convey containers 10 with different stacks of cards 11 to all dispensing walls 20 by means of the conveyor unit and to remove cards 11 from these stacks of cards 11 or return them to these stacks. It is particularly advantageous if the feed device 3 also has a ball drive with transport balls 32, since in this case the feed device is able to manipulate the individual containers 10 in the x and y directions, as well as to rotate them around the Z-axis, so that the containers 10 can be easily guided to the individual dispensing devices 2, 2a, 2b and, if necessary, also rotated or aligned in their rotation towards the dispensing devices.To accurately determine the position and rotational orientation of the containers, it is possible to use state-of-the-art image processing methods.
[0105] An alternative embodiment of the invention shown in Figures 6, 6a and 6b: The two manipulation walls 41, 42 and the removal wall 20 – as well as the receiving plane and the manipulation plane M – are tilted at a predetermined angle α of 10 degrees relative to a vertical plane. The cards 1 in the container 10 are also tilted at the predetermined angle α relative to the vertical, so that the cards 1 lie parallel to the removal wall 20 and can be easily drawn from it into the manipulation unit 4. Reference numerals:
[0106] 1 (playing) cards
[0107] the top (playing) card
[0108] 10 containers
[0109] 11 stacks (of playing cards)
[0110] 12 Floor (of container 10)
[0111] 13 Mounting and clamping device 13a Retaining elements
[0112] 14 Disposal opening (of the container) 15 Further opening
[0113] Coordinate directions
[0114] A On recording level
[0115] W wall section
[0116] 2. Removal device
[0117] 2a, 2b further extraction devices 20 extraction wall
[0118] 210 ball training sports unit
[0119] 211 Drive
[0120] 21 transport ball
[0121] 220 guide ball unit
[0122] 22 guide balls
[0123] 27 Base layer
[0124] 28 Middle class
[0125] 29 Top layer
[0126] E Electromagnet
[0127] L Bearing ball 3 Feed device
[0128] 30 funding area
[0129] 32 transport balls
[0130] 4 Manipulation device
[0131] 41, 42 Manipulation walls
[0132] M Manipulation area
[0133] 43 Intermediate area (between the manipulation walls) 440 Ball transport unit ( en)
[0134] 44 transport balls
[0135] 450 guide ball unit ( en)
[0136] 45 guide ball
[0137] 46, 47 cutouts (for digital image creation)
[0138] 461, 471 Image recording devices
[0139] 462 472 Recording area of the image recording devices
Claims
Patent claims:
1. Removal device ( 2 ) for removing playing cards ( 1 ) of a predetermined length and width arranged vertically in a container ( 10 ), a removal wall (20) adapted in particular to the length and width of the playing card (1), arranged vertically and in a receiving plane (A) for removing a playing card (1) from a stack (11) of playing cards (1) aligned parallel to the receiving plane (A), in which at least one ball transport unit ( 210 ) is provided, which projects a transport ball ( 2 1 ) out of the removal wall ( 20 ), - wherein the recording plane (A) is defined by two coordinate directions (x, z) lying in it, namely a vertical first coordinate direction (z) and a second coordinate direction (x) normal to it, and - wherein the at least one transport ball (21) is actuated by means of a drive (211) such that the end region of the transport ball (21) projecting from the removal wall (20) is rotatable in both coordinate directions (x, z).
2. Removal device according to claim 1, wherein at least one guide ball unit (220) with a guide ball (22) is provided in the removal wall (20), wherein the at least one guide ball (22) is rotatably mounted, so that the region of the guide ball (22) projecting from the removal wall (20) is rotatable in both coordinate directions (x, z) when force is applied to the guide ball (22).
3. Removal device according to claim 1 or 2, characterized in that the width of the removal wall ( 20 ) is in the range between 70 percent and 95 percent of the width of the game card ( 1 ) to be removed .
4. Removal device according to claim 1 or 2, wherein a feed device (3) is provided which applies pressure to the stack (11) or the container (10) in which the playing cards (1) are located, so that the playing cards (1) stacked parallel to the receiving plane (A) are pressed against the removal wall (20) onto the at least one transport ball (21).
5. Removal device according to claim 4, wherein the feed device (3) is designed as a conveying unit which is configured to convey containers in which stacks of vertically stacked playing cards and playing cards (1) aligned parallel to the receiving plane are located towards the removal wall (20) and to apply a pressure force to them.
6. Removal device according to claim 5, characterized in that the feed device (3) has a conveying surface (30) from which a number of further transport balls (32) protrude upwards, and that the feed device ( 3 ) has at least one container ( 10 ) in which a stack ( 11 ) of playing cards ( 1 ) can be stacked in such a way that they can be aligned vertically and parallel to the receiving plane (A) from individual playing cards ( 1 ).
7. Dispensing device according to claim 6, characterized in that the container (10) has an upwardly open dispensing opening (13) which is designed to receive the dispensing wall (20) and through which a holding pressure can be exerted on playing cards (1) stacked in the container (10) when the container (10) moves on the conveying surface (30).
8. Dispensing device according to claim 7, characterized in that the container (10) has on the side opposite the first dispensing opening (14) a second further opening (15) open at the top, which is designed to receive the dispensing wall (20), wherein the second further opening (15) in particular has the same shape as the first dispensing opening (14).
9. Manipulation device (4) for the two-dimensional manipulation and movement of vertically arranged game cards (1) in a manipulation plane (E), comprising two opposing, spaced-apart, and in particular parallel, manipulation walls (41, 42), wherein the manipulation plane (E) lies in the intermediate area (43) between the manipulation walls (41, 42). - where the manipulation plane ( E ) is defined by two coordinate directions ( x , z ) lying in it, namely a vertical first coordinate direction ( z ) and a second coordinate direction ( x ) normal to it , and wherein in at least one of the manipulation walls (41, 42), in particular in both manipulation walls (41, 42), ball transport units (440) each comprising a transport ball (44) are provided, wherein the transport balls (44) protrude from the respective manipulation wall (41, 42) and are aligned towards the intermediate area (43), - wherein the transport balls ( 44 ) are controlled by means of a drive such that the end region of the transport ball ( 2 1 ) projecting from the respective manipulation wall ( 41 , 42 ) is rotatable in both coordinate directions ( x , z ), and - wherein the transport spheres ( 44 ) are arranged such that s a) Playing cards ( 1 ) are manipulable by manipulating the transport spheres ( 44 ) in at least one fixed manipulation area (M) which forms a part of the intermediate area between the manipulation walls ( 41 , 42 ), and b) Playing cards ( 1 ) are held at least in the manipulation area (M) by the transport balls ( 44 ) and, if applicable, by further holding elements.
10. Manipulation device (4) according to claim 9, wherein further holding and guiding elements projecting from the manipulation walls (41, 42) are provided, which are designed to hold playing cards (1) at least in the manipulation area (M), to hold them by applying pressure normal to the manipulation walls (41, 42), and at the same time to allow movement of the playing cards (1) normal to the two coordinate directions (x, z).
11. Manipulation device (4) according to one of claims 9 or 10, wherein at least in one of the manipulation walls (41, 42) at least one guide ball unit (450) with a guide ball (45) is provided, which preferably forms a further holding and guiding element for holding a playing card (1) in the manipulation area (M).
12. Manipulation device (4) according to one of claims 9 to 11, wherein the transport balls (44) and, if applicable, the guide balls (45) of the two manipulation walls (41, 42) project over a central plane located between the manipulation walls (41, 42), in particular equidistant from both manipulation walls (41, 42).
13. Manipulation device (4) according to one of claims 9 to 12, wherein the transport balls (44) are arranged on at least one manipulation wall (41, 42) in a pattern periodic in both coordinate directions (x, z), wherein in particular at least one transport ball (44) is present in each area of the manipulation walls (41, 42) the size of a playing card (1).
14. Manipulation device (4) according to claim 13, wherein the transport balls (44) and the guide balls (45) are arranged on at least one manipulation wall (41, 42) in a pattern periodic in both coordinate directions, wherein in particular in each area of the manipulation walls ( 41 , 42 ) the size of a playing card ( 1 ) at least two of the following elements are designed to hold a playing card: transport balls ( 44 ) or guide balls ( 45 ) or other holding elements .
15. Manipulation device (4) according to one of claims 9 to 14, wherein a number of position sensors are provided for determining the current position of playing cards or boundaries of playing cards in the manipulation area (M), in particular optical sensors such as infrared detectors, which are designed to determine whether a playing card (1) is located in a certain area of the manipulation area (M).
16. Manipulation device (4) according to one of claims 9 to 15, wherein in at least one of the manipulation walls (41, 42), in particular in both manipulation walls (41, 42), recesses (46, 47) are provided for the creation of digital images, wherein in each case an image acquisition device (461, 471) is provided, the acquisition area (462, 472) of which passes through the recesses (46, 47) and is directed towards a partial area of the manipulation area (M).
17. Manipulation device (4) according to one of claims 9 to 16, wherein an image capture control device is provided, which is designed to move the individual transport balls (44) of the manipulation walls (41, 42), in particular in the vicinity of the reception area (462, 472) of the image capture device (461, 471), and to determine the position of a playing card (1) located in the reception area (462, 472) and to cause the image capture device (461, 471) to produce at least one digital image of the playing card (1).
18. Manipulation device (4) according to claim 17, wherein the image of the composition control device is designed to a) cause the image acquisition device (461, 471) or the image acquisition devices (461, 471) to take a number of images, b) to determine the position and orientation of the captured game card ( 1 ) at the time of recording based on sensor data or image data and to assign it to the determined digital image of the recording, and c) to create an overall image of at least one side of a playing card ( 1 ), in particular both sides of the playing card ( 1 ), from a plurality of captured images and the associated position and orientation information and to keep available, in particular on a readable memory.
19. Manipulation device or removal device or according to one of claims 1 to 18, wherein at least one transport ball ( 21 , 44 ) and / or at least one guide ball ( 22 , 45 ) is resiliently mounted in the direction normal to the receiving plane (A) or manipulation plane (A) or that at least one further transport ball ( 32 ) is resiliently mounted normal to the conveying surface .
20. Manipulation device or removal device according to one of the preceding claims, wherein the transport balls ( 21 , 44 ) are controlled by electromagnets to be conveyed in the coordinate directions ( x , z ).
21. Manipulation device or removal device according to one of the preceding claims, wherein the transport balls ( 21 , 44 ) and / or the further transport balls ( 32 ) and / or the guide balls ( 32 ) are coated with an adhesive substance, in particular silicone.
22. The arrangement comprises a manipulation device (4) according to one of claims 9 to s 2 1 and at least one removal device (2) according to one of claims 1 to s 8 and 19 to s 2 1, wherein the receiving plane and the manipulation plane are parallel to each other and wherein the extraction wall ( 20 ) of the extraction device ( 2 ) continues one of the manipulation walls ( 41 , 42 ) of the manipulation device ( 4 ), wherein the transport balls, if applicable the guide balls, of the removal wall and the transport balls, if applicable the guide balls, of the manipulation walls of the manipulation device are arranged such that a playing card can be received over the removal wall ( 20 ) and drawn into the manipulation area (M) of the manipulation device ( 2 ).
23. Arrangement according to claim 22, wherein the periodic pattern of the transport balls (44) and / or guide balls (45) continues on the removal wall (20) continuing the manipulation wall (41, 42).
24. Arrangement according to claim 22 or 23, wherein a plurality of extraction devices ( 2 ) are provided, wherein the individual extraction walls ( 20 ) of the extraction devices ( 2 ) each continue the same manipulation wall ( 41 , 42 ).
25. Arrangement according to claim 24, wherein the same conveying unit is provided for all s removal devices ( 2 ) and the conveying level of the conveying unit is dimensioned such that s containers ( 10 ) with card stacks ( 11 ) can be placed against all removal walls ( 20 ) by means of s the conveying unit . 2 6. Ball transport unit ( 210 ) comprising a transport ball ( 21 ) , a wall section (W ) with a recess for a transport ball ( 21 ) , wherein the transport ball ( 21 ) protrudes from the wall section , wherein inside the transport sphere ( 21 ) a magnet, in particular a permanent magnet , is provided and wherein in the wall section in the area around the recess of the transport sphere ( 21 ) a number of electromagnets ( E ) are arranged for magnetic manipulation of the transport sphere ( 21 ), wherein the electromagnets ( E ) are controlled and designed such that the part of the transport sphere ( 21) protruding from the recess of the wall section is rotatable in both directions parallel to the course of the wall section .
27. Ball transport unit ( 210 ) according to claim 2 6 , wherein the transport ball ( 21 ) is coated with an adhesive substance, in particular silicone .
28. Ball transport unit ( 210 ) according to claim 2 6 or 27 , wherein the wall section (W) from which the transport ball ( 21 ) protrudes , - arranged vertically and / or perpendicularly - with the vertical an angle of less than 45°, in particular less than 20°.
29. Ball transport unit (210) according to one of claims 26 to 28, wherein bearing balls (L) are arranged below the transport ball (21) which support the transport balls (21) in the recess, wherein the point of the transport ball (21) which lies perpendicularly below the center of gravity or center point of the transport ball (210) either rests directly on a bearing ball (L) or is surrounded by several contact points of bearing balls (L) and the transport ball (21).
30. Ball transport unit according to one of claims 26 to 29, wherein the wall section (W) forming the recess of the ball transport unit (210) comprises a layered structure comprising a base layer (27), a middle layer (28) and a top layer (29), wherein the base layer has a hemispherical recess against which a number of bearing balls (L) are located, wherein the transport ball (21) rests on the bearing balls (L), wherein the middle layer (28) abutting the base layer (27) continues the hemispherical recess of the base layer (27) and in particular has a thickness of about 15-25 percent of the diameter of the transport ball (21) or the recess, wherein the bearing balls (L) are arranged between the hemispherical recess continued in the middle layer (28) and the transport ball (21). wherein the middle layer (28) is adjoined by the top layer (29), which closes off the cavity formed between the transport ball (21) on the one hand and the base layer (27) and middle layer (28) on the other hand for receiving the bearing balls L, and wherein the top layer (29) has a thickness such that the transport ball (21) protrudes from the top layer (29) or the wall section (20) by approximately 1-2 mm.