Automatic bill handling system
Disclosed herein are devices, systems, and methods for automatic handling of bank notes, gambling tickets, bills, or other types of paper notes. The disclosed devices, systems, and methods are directed to, or include, various robot arms, which may be articulated, that are configured to open a bill storage container, remove a bundle of bills, load the bundle on a bill conveying device, and load the bundle of bills in a bill storage case. The systems include one or more control devices to control the operations of the components that move the bill bundle.
1. An automatic bill handling system, comprising:
a box conveying device configured to convey a bill storage container in which bills are stored;
a first robot arm configured to unlock the bill storage container using a key and open a lid of the bill storage container;
a second robot arm configured to extract bills stored in the bill storage container;
a bill conveying device configured to convey the bills extracted by the second robot arm;
a bill storage case configured to accumulate the bills extracted from the bill storage container; and
a third robot arm configured to grasp bills conveyed by the bill conveying device and accumulate the bills in the bill storage case.
2. The automatic bill handling system of claim 1 , further comprising:
a printer configured to print a sheet for identifying the bills of the bill storage container; and
a fourth robot arm configured to place the sheet on the bills after the bills have been conveyed by the bill conveying device; wherein:
the third robot arm is operable to grasp the bills with the sheet and accumulate the bills with the sheet in the bill storage case.
3. The automatic bill handling system of claim 2 , further comprising an arranging mechanism configured to arrange bills on the bill conveying device, wherein the fourth robot arm places the sheet on the bills that have been arranged.
4. The automatic bill handling system of claim 2 , further comprising:
an imaging device configured to measure a thickness of the bills grasped by the third robot arm;
a control device configured to calculate a thickness of the bills accumulated in the bill storage case based on image data obtained by the imaging device; and
a case storage mechanism configured to replace the bill storage case with another bill storage case when the thickness of the bills accumulated in the bill storage case exceeds a predetermined amount.
5. The automatic bill handling system of claim 1 , further comprising a box image sensor configured to determine a type of the bill storage container, the box image sensor being provided in a vicinity of the box conveying device, wherein:
the first robot arm is operable to:
identify a key type for the bill storage container based on the determined type of the bill storage container; and
unlock the bill storage container using the identified key type for the bill storage container.
6. The automatic bill handling system of claim 5 , wherein:
the box image sensor is operable to identify a position and/or an inclination of a key hole of the bill storage container based on the determined type of the bill storage container.
7. An automatic bill handling method comprising:
unlocking a bill storage container using a key with a first robot arm;
opening a lid of the unlocked bill storage container with the first robot arm;
extracting, using a second robot arm, bills stored in the bill storage container in a posture in which the lid of the bill storage container has been opened;
conveying the extracted bills by a bill conveying device;
grasping the bills conveyed by the bill conveying device with a third robot arm; and
accumulating the bills in a bill storage case.