DESCRIPTION

The present patent relates to robotic dispensers and in particular concerns a new compact robotic dispenser for pharmacies, for the placing, storage and picking of generically packaged products.

The new robotic dispenser can also be suitably configured or equipped with one or more additional and integrated modules for the automatic dispensing of products in general, configured to serve one or more vending machines.

The new robotic dispenser is especially configured for the handling and storage of small and medium-sized packages, that is, parallelepipeds or generically cylindrical items or even envelopes, with sides roughly ranging from 30 mm to 200-250 mm.

The new robotic dispenser is especially suitable for pharmacies, both for sale to the public and for hospitals as well as for the handling, storage and dispensing of any packaged product, whether a medicine or other product.

In one of its possible embodiments which will be better described and claimed hereinafter, the new dispenser may also comprise an integrated module for the automatic dispensing of products in general, which can be connected to standard vending machines commonly found in pharmacies.

The history of pharmacy automation began in the mid-eighties. In those years the first applications were developed to better manage space, as well as picking and placing of pharmaceutical products.

Since then, a series of semi-automatic, automatic machines or more or less rational and functional systems have been developed for the management of these products.

These systems, hereinafter referred to as robots, are distinguished by their capacity, speed and a necessary balance between the space occupied and the quantity of products stored.

Over the years, especially in pharmacies, there has been a growing need for space dedicated to free access by customers with a greater number of over the counter and self-service products.

In addition, the increased number of different medications managed by the national health system has been added to the also increased number of commercial products such as cosmetics, supplements, and the numerous range of seasonal and specific wellness products. Electronic communication devices and areas intended for the so-called "pharmacy services", such as diagnostic services, has also increased.

Therefore, the efficient use of space remains an essential factor for the installation of a robotized dispenser in a pharmacy, where the "capacity per volume", that is, the ratio between the volume of the machine and the quantity of boxes it is able to store is very relevant.

Similarly, it is important to evaluate the physical impact on the pharmacy when a robotized dispenser is installed. In fact, it significantly modifies the space available for display, services, customers, logistics, as well as the set of activities and infrastructure needed for the provision of products to the public.

Robotized dispensers in the prior art are almost all about 2,600 mm high but they can usually be reconfigured to have different heights; their length depends on the modular configuration adopted; their width is less than 200 cm when they are based on a single aisle miniload equipped with a single handling system, while their width is greater than 200 cm when they are based on a two aisle miniload equipped with a single handling system each, with one or two picking systems, to optimize the use of available space.

Very complex and invasive automatic systems are also known, installed in the vicinity of the sales counter and exhibition points, and/or connected to remote areas, for example located laterally, above, or below the counter and customer access level, with various types of conveying systems to the counter.

All automation systems of this type need to be loaded. Manually loaded systems are known in the prior art. These are generally shelf based systems, that is, the packages are placed on shelves.

Gravity loading systems involving vertical positioning are also known. In this case, the operator directly places the products into a loading/acceptance area, commonly called the "manual loading" area.

Other semi-automatic loading systems are also known in the prior art, where the operator places a package inside a pocket or on a conveyor belt.

Each package placed on the loading area is first identified by reading its product code. Following identification, the package is forwarded to its destination. Following this operation, one or more existing devices, which may be of various types, take charge of the package and automatically place it in the corresponding storage area.

This process takes time and also requires the assistance of at least one operator.

Fully automatic loading systems are also known.

All currently known systems must ensure an adequate ratio between the space occupied by the machine and the quantity of packages stored. Currently, after twenty years of this evolving technology, we see that these robots are still too bulky and take up too much space, still negatively impacting the other activities not directly involved in the loading, storage, and dispensing of packages.

In addition, the picking process of automatic dispensers known to the prior art have different efficiencies and speeds. For example, some systems pick each chosen package individually and deposit it on a conveyor belt that conveys it to the counter. In contrast, other systems pick all the packages (complete prescription) to be dispensed and group them before unloading them all together on the conveyor belt, thus trying to rationalize and speed up the picking times.

Automatic dispensers for products commonly used in pharmacies and available to users round the clock are also known in the prior art. Normally these distributors dispense various types of products, in addition to drugs and medical aids, such as personal hygiene products or the like, which can be packaged in various shapes, sizes and stiffnesses, such as envelopes, bags, plastic packages, etc.

Normally these distributors comprise user interface means, through which the user selects a product. Thus the control system of the vending machine controls the operation of a series of dispensing units which pick up the selected product from a storage area and convey it to an outlet accessible to the user.

The object of the present patent is a new compact robotic dispensing system for pharmacies, for the placing, storage and picking of generically packaged products, with the possible one or more additional and integrated modules for the automatic dispensing of products in general, configured to serve an automatic vending machine.

The main object of the present invention is to reduce the overall dimensions as much as possible, optimizing the ratio between the volume of the system and its capacity to store packages. With the system described herein, with the same performance, the space needed is in fact reduced by 30% compared to the space occupied by the best robots in use today.

Another object of the present invention is to automate the loading and storage processes as well as the dispensing of the stored packages themselves, optimizing these processes so as to maximize speed and efficiency.

An important advantage of the present invention is its extremely compact configuration which makes it installable not only in premises with limited space but also in positions, for example, above or below the pharmacy counter or the operators' stations in general, thanks to its limited weight compared to existing robots, which makes it installable even on floors with a load capacity of just 250 kg/m ² .

Yet another object of the present invention is its capacity to integrate one or more possible modules for the automatic dispensing of products of various kinds, in order to serve an automatic vending machine. This module will optionally and preferably be of the manual loading type. The new robotic dispensing system is therefore easily configurable according to the customer's needs. These and other direct and complementary objects are achieved by the new compact robotic dispensing system for pharmacies, for the placing, storage and picking of packaged products characterized in that it includes: at least one unit made up of two or more shelving units or storage cabinets sliding with respect to the support surface, said cabinets in turn comprising one or more vertically superimposed shelves; a pulling system, for selectively translating one or more of said cabinets along at least a first horizontal axis X, at least between a stand-by position and an operating position and vice versa; a handling unit, suited to transfer one or more packages from inside one of said cabinets, when placed in said operating position, to a conveyor belt and vice versa, where said handling unit in turn comprises at least one conveyor belt parallel to said axis X, means for translating said conveyor belt along at least one vertical axis Z and along at least a second horizontal axis Yl, and at least one robotic picking system capable of grasping/releasing at least one package; at least one first conveyor belt, hereinafter referred to as the loading belt, suited for conveying one or more packages between a loading point and said handling unit; at least one second conveyor belt, hereinafter referred to as an unloading belt, suited to convey one or more packages between said handling unit and a dispensing point.

In a further alternative embodiment, the new robotic dispenser can also comprise at least one further integrated automatic dispensing module for vending machines, where said integrated module in turn comprises at least one storage shelf or cabinet, in turn comprising one or more shelves or channels for containing products in general, and means for causing the automatic selective ejection of said products from said shelves. Said means are, for example, those normally installed in vending machines, which cause the selected product to be ejected.

Said at least one cabinet of the storage module is oriented like said sliding cabinets, and it too can slide from said stand-by position to said operating position.

Said handling unit will therefore be able to selectively manage both the packages that it picks up from the sliding cabinets, which will be sent for example to the pharmacist's counter, while the products that will be unloaded from the integrated module cabinet will be sent directly, by means of special conveying systems, to the 24-hour vending machine from which they were requested.

The characteristics of the new robotic dispensing system will be better clarified by the following description with reference to the drawings, attached by way of a non-limiting example.

Figure 1 shows a schematic three-dimensional view of the robotic dispensing system (100) with two units made up of cabinets (10) and a central aisle (11) where a single handling unit (2) operates.

Figure 2 shows a three-dimensional view of a single unit (10) of cabinets (1) and one handling unit (2).

Figure 3 shows a three-dimensional view of the robotic dispensing system (100) with the addition, with respect to the robotic dispensing system in Figure 2, of two cabinet units (10) and a central aisle (11) for the operation of a single handling unit (2).

Figure 4 shows a three-dimensional view of part of the robotic dispensing system (100') in a second possible embodiment, and in particular a single cabinet unit (10') is shown where, in addition to sliding cabinets (1), there is also an integrated module (70) suitable for serving a 24- hour automatic vending machine. The dispensing system (100) comprises a containment structure (101), with walls not shown in the figure, inside which there are one or more units (10) of two or more modular shelves or cabinets (1).

The cabinets (1) of each unit (10) are arranged side by side and all oriented parallel to a first horizontal axis X.

In particular, the cabinets (1) preferably develop along a substantially vertical plane, oriented parallel to said first horizontal axis X, and are configured so that it is possible to access their interior through one or both of their main sides (la).

In the example in Figure 1, the dispensing system (100) comprises two units (10) of cabinets (1), aligned along said first horizontal axis X and where an aisle (11) is determined by said two units

(10) with a width preferably at least equal to the length of said cabinets (1).

Each cabinet (1) comprises one or more vertically superimposed shelves with variable pitch that rationalize every millimeter of available height.

Therefore, said unit (10) is made up of a dense set of cabinets (1).

Each cabinet (1) is able to slide parallel to said first horizontal axis X from a stand-by position (A) to an operating position (B), in which the cabinet (1) was translated for example in said aisle

(11).

For this purpose, each cabinet (1) is mounted on guides, preferably telescopic, having a stroke of about 150 cm, or in any case preferably equal to the length of the cabinet (1) itself, to enable it to be fully extracted from the unit (10).

The translation of each cabinet from the stand-by position to the operating position takes place individually, for example and preferably by means of a pulling system (12), which is preferably part of a handling unit (2) described and claimed below.

The repositioning of each cabinet within the unit (10) takes place conveniently with the same mechanism.

The dispensing system (100) also comprises at least one said handling unit (2), suited to transfer one or more packages from inside one of said cabinets (1), when they are located in said operating position (B), towards a conveyor belt (3, 4, 5) and vice versa.

Said handling unit (2) in turn comprises a conveyor belt (21) and means (22) for translating said conveyor belt (21) along a vertical axis Z.

Said conveyor belt is bidirectional, that is, it can run selectively parallel to said X axis, in both directions.

Said handling unit (2) in turn also comprises a robotic picking system (23) suitable for grasping/releasing at least one package. Said robotic picking system (23) can for example but not exclusively be of the type with suction cup grasping members or in any case configured to grasp/release packages of any shape: parallelepiped, cylindrical or in the form of envelopes.

In particular, said robotic picking system (23) is able to transfer one or more packages on any shelf inside a cabinet (1), when it is placed in said operating position (B), towards said conveyor belt (21) and vice versa.

Said handling unit (2) comprises means, such as guides or vertical uprights (22), for translating said conveyor belt (21) and said robotic picking system (23) vertically along said axis Z.

Said handling unit (2) also comprises means, such as guides or horizontal tracks (24, 25) for translating said conveyor belt (21), said robotic picking system (23) and said pulling system (12), integrally with each other, along a second horizontal axis Yl, orthogonal to said first horizontal axis X. In particular, said second horizontal axis Yl is orthogonal to said cabinets (1) when they are placed in said operating position (B).

Thus, by moving along said second horizontal axis Yl, the handling unit (2) is located in a position corresponding to the cabinet (1) to be moved, wherein said pulling system (12) engages the cabinet (1), extracts it from the cabinet unit (10) and moves it to the operating position where one or more packages are picked or placed.

As noted, said conveyor belt (21) slides reversibly in both directions so that, as shown in Figure 1, it can transfer a package from/to a conveyor belt (3, 4, 5) positioned indifferently on the right or left.

Said robotic picking system (23) can therefore perform the following movements: a movement in a vertical direction along said axis Z, jointly with said bidirectional conveyor belt (21); a movement along said second horizontal axis Yl, jointly with said bidirectional conveyor belt (21), to be positioned in proximity to the package to be picked; a horizontal movement in a horizontal direction Y parallel to said second horizontal axis Yl and independently of said conveyor belt (21), to perform the picking/placing of packages from/to the bidirectional conveyor belt (21) and from/to the cabinet (1); a horizontal movement along said first horizontal axis X with respect to said conveyor belt (21), to pick up one or more packages placed on it.

The following is a summary of the kinematics of the components of the new robotic dispensing system (100):

1) Handling unit (2), comprising said pulling system (12), said conveyor belt (21) and said robotic picking system (23): a) axis Yl: the handling unit (2) translates integrally along said horizontal axis Y1 to position said pulling system (12), said conveyor belt (21) and said robotic picking system (23) in correspondence with the cabinet (1) to be extracted;

2) Pulling system (12): a) axis Y 1 : integral with said conveyor belt (21) and said robotic picking system (23); b) axis X: to perform the extraction and repositioning of a cabinet (1);

3) Conveyor belt (21): a) axis Yl: integral with said pulling system (12) and said robotic picking system (23); b) axis Z: integral with said robotic picking system (23), to raise/lower to the level corresponding to a selected shelf of a cabinet (1) and to the level corresponding to the loading (3) / unloading (4, 5) belts; c) axis X: direction of movement of the conveyor belt (21), to move the packages loaded on it;

4) Robotic picking system (23): a) axis Y 1 : integral with said pulling system (12) and said conveyor belt (21); b) axis Z: integral with said conveyor belt (21); c) axis Y parallel to said axis Yl: to enter the cabinet (1) and carry out the picking/placing of one or more packages in the cabinet (1) and on the conveyor belt (21); d) axis X: for picking/placing of one or more packages along said conveyor belt (21).

The robotic dispensing system (100) comprises at least one loading belt (3), that is, a conveyor belt for loading packages into the cabinets (1), suited to convey one or more packages between one or more loading points (31) and said handling unit (2).

The robotic dispensing system (100) also comprises at least one unloading belt (4, 5), that is, a conveyor belt for unloading and dispensing packages, suited to transport one or more packages between said handling unit (2) and one or more dispensing points (41, 51).

Said loading belt (3) and unloading belt (4) are for example superimposed.

The robotic dispensing system also preferably comprises at least one diverting device mounted on or near said loading belt (3) and suited to move the packages loaded on said bidirectional conveyor belt (21) so as to define the position of said packages for the subsequent picking by said robotic picking system (23).

The new robotic dispensing system (100) also preferably comprises at least one electronic control unit and at least one interface (6) by means of which an operator can control/command picking and placing operations.

The new robotic dispensing system (100) also preferably comprises at least one device (32) for reading the package codes, connected to said control unit and to said interface, and/or for checking/recording the loaded and/or dispensed packages and/or for determining the size of the packages to be loaded.

As noted, the robotic dispensing system may comprise delimiting walls with openings suited for the loading and/or dispensing of packages. Openable doors (33), preferably automatic, may be mounted on said openings.

Said delimiting walls also suitably include doors/hatches for access and inspection purposes.

The new robotic dispensing system (100) is suitably equipped with mechanical support and stabilization equipment.

The new robotic dispensing system (100) also comprises at least one device for reading medical prescription codes, connected to said control unit, and corresponding to one or more packages to be picked.

The operation of the new robotic dispensing system is described below:

1) Loading and storage process

As noted, the robotic dispensing system (100) comprises at least one loading point (31) in which a package to be loaded is positioned. Said loading point (31) can, for example, comprise an inlet belt that transports the package near the inlet door (33). In this inlet position, the package has coordinates X = 0, Y = 0, Z = 0, for example.

The package is properly oriented, manually or automatically, according to its dimensions.

When the package is in said inlet position, sensors are activated which measure and/or verify the dimensions of the package.

Said code reader reads and recognizes the package.

The package is assigned a defined position within one of said cabinets.

At this point, the inlet door (33) of the loading point (31) opens and the package is transferred onto said loading belt (3) which, sliding, takes the package inside the dispensing system (100) and unloads it on the conveyor belt (21) of the handling unit (2).

The packages are conveyed individually and as previously oriented.

When the package is positioned on the conveyor belt (21), it is moved, by means of said diverting device, to a stored and recognizable position by said robotic picking system (23).

At this point the handling unit (2) moves on said second horizontal axis Y1 to the predefined cabinet (1) in which the package is to be placed.

Said pulling system (12) extracts the predefined cabinet, translating it along said first horizontal axis X, from the stand-by position (A) to the operating position (B) and the conveyor belt (21) is translated vertically into the correct position in proximity of said predefined cabinet (1), at the level of the storage shelf.

The robotic picking system (23) grasps the package and transfers it to the predetermined position inside said predefined cabinet (1).

The loading time is therefore reduced compared to traditional systems, which require longer times for positioning the picking system, the time necessary for the operator to read the package code, and place it on the inlet belt.

2) Dispensing process

The robotic dispensing system preferably comprises a system for reading the codes on a prescription or on an order in general. Each code corresponds to a package that will be picked according to a substantially similar and opposite process to the one described above. The conveyor belt (21) unloads the requested package or packages onto an unloading belt (4, 5) intended to bring the packages to a dispensing point, preferably to the dispensing point (41, 51) corresponding to the one where the prescription was read.

The dispensing process takes place according to the following steps: reading of one or more codes on a prescription or order in general; automatic identification of the package to be dispensed, which is in a predefined position in one of said cabinets (1); positioning of the handling unit (2) near said predefined cabinet (1); moving said cabinet into said operating position (B) by translating it along said first horizontal axis X; positioning of the conveyor belt (21) and translation of said robotic picking system (23) to pick said package and position it on said conveyor belt (21); repositioning of said cabinet (1); repetition of the aforesaid steps until all the required packages are picked; positioning the conveyor belt (21) in correspondence with an unloading belt (4, 5) and transferring said one or more packages onto said unloading belt (4, 5); transfer of the packages by means of said unloading belt (4, 5) to the dispensing point (41, 51).

The steps for positioning the cabinet (1), the conveyor belt (21) and the robotic picking system (23) occur simultaneously, effectively reducing the time required for dispensing the packages.

The system in its entirety uses a new concept in the handling and storage of packages in order to improve the volume capacity and speed up both the storage process and the picking and dispensing process.

This system shows its usefulness in particular as it facilitates the management of medicines and products in general with high and low turnover with a single method.

The robotic dispensing system (100) preferably comprises several single-depth shelves or cabinets (1), that is, where there is a single row of packages on each shelf, where said cabinets are arranged side by side and parallel to each other, all oriented parallel to said first horizontal axis X. The cabinets can be grouped into a single unit or into multiple units, leaving an aisle between two neighboring units, where the cabinets will be moved to an operating position for picking/placing the packages and where said handling unit operates.

This configuration makes the robotic dispensing system extremely compact reducing its overall volume compared to other systems having the same storage volume.

Furthermore, this configuration makes the robotic dispensing system incrementable in a simple manner and without requiring any modification of the handling unit (2), which remains identically structured.

The robotic dispensing system can in fact be expanded by increasing the number of cabinets (1) making up the single unit (10), thus essentially simply by lengthening the stroke of the handling unit (2) along said second horizontal axis Y 1.

Furthermore, the robotic dispensing system can be expanded by adding a second unit (10) close to the first unit (10) leaving an aisle (11) between the two neighboring units (10), where said handling unit (2) operates, which can thus serve both mirroring units (10).

To extract a package positioned in any of the cabinets (1) of a unit (10) it is therefore sufficient to translate the cabinet (1) along the horizontal axis X to the operating position in the aisle, where the robotic picking system (23) of the handling unit (2) will pick the desired package.

As noted, the cabinet translation system (1) is preferably based on a pulling system and is preferably mounted on said handling unit (2). Thus a single pulling system can extract all the cabinets (1) from one or both of the facing units (10).

The handling system installed in the new robotic dispensing system does not use gravity systems which can damage packages.

Said cabinets (1) are preferably formed of superimposed shelves, preferably with adjustable and/or modular height, for example with a pitch of 17.5 mm in order to use the available height as much as possible.

The translation of each cabinet (1) takes place in such a way that the extraction is complete, thus taking full advantage of the surfaces.

As shown schematically in Figure 4, the new robotic dispensing system (100') can also be integrated with one or more additional modules (70) for automatic dispensing configured to serve 24-hour vending machines.

In the example of the figure, said module (70) comprises at least one cabinet (71) having a geometry similar to said sliding cabinets (1), that is, having a substantially parallelepiped shape extending mainly on a vertical plane arranged parallel to said first horizontal direction (X).

In the example shown in the figure, said cabinet (71) of the integrated module has substantially the size of two of said sliding cabinets (1) side by side.

In the example, said cabinet (71) is also arranged side by side with said sliding cabinets (1), thereby being fully integrated in the overall dimensions of the cabinet unit (10').

Said cabinet (71) of the integrated module (70) can slide, like the others, parallel to said first horizontal axis (X) from said stand-by position (A) to said operating position (B).

Said cabinet (71) comprises one or more shelves or areas or channels for storing products in general, of any shape and size, intended to be sent to an automatic 24-hour vending machine.

In the preferred embodiment, said integrated module (70) comprises means for the automatic dispensing of said products contained in said at least one cabinet (71), which cause the selective output of said products towards one or both of its main sides, that is, the sides lying on the vertical plane parallel to said first horizontal axis X.

Said cabinet (71) of the integrated module (70) is preferably of the manual loading type, and for this reason it will be suitably arranged inside the robotic dispenser in a peripheral position of the cabinet unit (10'), so as to be accessible by an operator who has to load the products to be dispensed.

Said automatic dispensing means are connected to the robotic dispensing system (100') control system which in turn will be connected to the control system of an automatic 24-hour vending machine. The 24-hour vending machine may be of the known type, for example equipped with an interface through which a user can request that a product be dispensed, and a dispensing point or area where the selected and ordered product is delivered to the user. It is therefore envisaged that there are conveying means, for example sliding belts or the like, to convey said products from a picking point of the robotic dispenser to said dispensing area of the 24-hour vending machine.

The robotic dispensing system (100') therefore selectively manages both the packages ordered at the counter by the pharmacist, which will be handled as previously described, and the products requested from the 24-hour vending machine which will instead be managed as described below.

As mentioned, the cabinet (71) of the integrated module (70) is manually loaded with a plurality of products. When a user uses the 24-hour vending machine and requests the dispensing of a product, the robotic dispensing system (100') control unit communicates with said dispensing means of the integrated module (70) and with said handling unit (2).

Said handling unit (2) then translates along said horizontal axis (Yl), that is, along the aisle (11), until it is placed in a position corresponding to said cabinet (71).

Said cabinet (71) translates into said operating position (B), while said handling unit (2) places said conveyor belt (21) at the height suitable to receive the product stored in the cabinet (71). When the delivery means of the integrated module (70) triggers the product to be ejected, it falls on the conveyor belt (21) of the handling unit (2).

At this point the handling unit (2) operates as already described, transporting the aforementioned product to a conveyor belt to then be transported to the 24-hour vending machine.

Therefore, with reference to the preceding description and the attached drawings the following claims are made .