DE102022111833A1 - Robot for inserting and sorting folding box blanks - Google Patents

Abstract

The present invention relates to a system for the individual removal and further processing of stacks 11-13 of different types A-C arranged in blocks on supports U. A fully loaded base U is delivered to a feed station 10. A robot-based removal device 20 is designed not only to remove individual stacks 11 of a first type A of stack elements from the base U and to feed them to a stack receptacle 41 of a further processing device 40 for further processing of the individual stack elements, but also to remove individual stacks 12, 13 at least a second type B, C of stacking elements at the feed station 10 and deposited at a rejection station 31, 32. This eliminates the need to first pre-sort the originally delivered base U with stacks of different types A-C by hand or using a sorting robot.

Description

The invention relates to a depalletizing system and method, i.e. a system or method by which stacks of stacking elements (in particular paper or cardboard blanks for folding boxes) arranged on a base (in particular a Euro pallet or an industrial pallet made of wood or plastic) are arranged. , unpacked for further processing. Such depalletizing systems serve to remove stacks of blanks arranged on the pallet from the pallet/support in blocks in order to send them for further processing, in particular processing in a folding box gluing machine or an inspection machine for checking the print image of the individual blanks.

It is generally known to use a robot-assisted lifting device to remove the stack of blanks, which enables automated lifting and transfer of part or all of the stacking elements of a stack of blanks. Such a system is, for example, in DE 10 2011 082 967 B4 described.

However, stacking elements are usually not only stacked according to type on a pallet/support. For example, it is common for stacks of folding boxes with different printed images and/or different blank shapes to be arranged next to and/or one above the other on the same pallet. This means that printing costs and press set-up times as well as packaging and delivery costs can be minimized.

The delivered pallets must then be sorted accordingly before the stacking elements (especially the folding boxes) are processed further. A folding box gluing machine can usually only be set to process one type of folding box. If a folding box that is different (e.g. in terms of print image, shape, cardboard paper thickness) is then to be processed, the folding box gluer must first be stopped and changed over.

Therefore, delivered pallets are usually first “sorted” before automated processing by a depalletizing system. This means that all stacking elements that do not belong to the desired type A are removed from the pallet. These currently unneeded stacking elements of types B, C, ... must then be stored in a suitable manner before they are ready for further processing.

Traditionally, this sorting is usually done by hand by removing the stacking elements that do not belong to type A. Not only is this time-consuming and labor-intensive, but it also leaves behind a correspondingly “plundered” pallet, the stacking arrangement of which may then become unstable and which is more complicated for the blank insertion robot to process.

Another conventional option is automated sorting using so-called sorting robots. These can redistribute a delivered mixed pallet with N different types of stacks onto N individual pallets, on which only single-type stacks are then arranged. However, this means that in addition to the cost and space required for the blank insertion robot, at least the same amount of cost and space must be provided for the sorting robot.

The object of the present invention is to overcome these disadvantages and to create a cost-effective and space-saving depalletizing system that is at least not inferior to conventional systems in terms of processing speed.

The present invention solves this problem through the system with the features of present claim 1. The remaining claims relate to preferred exemplary embodiments and a corresponding processing method.

The invention eliminates the need for an upstream restacking process because the removal device is not only designed as a blank insert for transferring the blank stacks from the feed station to the stack receiving unit of the stack element further processing device, but can also take on the sorting function by stacking stacks that are not Corresponding to the type currently required at the further processing device, it is deposited at the rejection station. This dual function of the removal device means that the traditional pre-sorting of pallets of mixed types can be eliminated, thus creating a space-saving, cost- and resource-saving depalletizing system.

According to a preferred exemplary embodiment, the position-dependent distribution of the different types of stacking elements on the pallet or base delivered to the feed station is stored in machine-readable form (for example in a so-called CF2 file). The position distribution data stored in this way is then read out by the control of the removal device in order to control the removal device so that it either feeds individual stacks to the stack receptacle or temporarily stores them at the rejection station, depending on the type stored for its position. The removal device So it “knows” in advance which type of stacking elements it will find in which pallet position. Based on this, the removal process can be carried out quickly and efficiently.

Alternatively or in addition to this, the removal device can also have a suitable sensor system in order to recognize the type of stacking elements of each stack delivered to the feed station and, depending on the type recognized, either feed the stack to the stack receptacle or deposit it at the rejection station. This (e.g. optical) sensor system can be used as a supplementary fine-tuning and error control to the previously saved type positions of the control or can replace it as an independent and independent control.

According to a preferred exemplary embodiment, the control of the removal device (e.g. via an operating interface or a central control) detects the readiness of the stack receiving device of the further processing device (in particular the folding box gluing machine) to receive further stacks. If the stack receptacle is currently not ready to receive further stacks of type A, it controls the removal device so that it only removes stacks of other types B, C, ... of stacking elements from the feed station and deposits them at the rejection station. This means that waiting times or breakdowns in the further processing device can be used for re-sorting and the work of the depalletizing system can be controlled more efficiently overall.

According to a preferred exemplary embodiment, the removal device has, in addition to the conventional lifting device for lifting and transferring the stacks of blanks, a gripping device with which the emptied pallets can be gripped so that they do not slip, transported through the air and placed on the rejection station. This means that the empty pallets can be stacked on top of each other at the rejection station and then transported away in bundles.

The stacks of blanks are usually arranged in blocks on several levels on the pallet. So-called intermediate sheets made of paper or cardboard are arranged as protective elements between the individual floors or laterally between the individual stacks. According to the invention, it is advantageous if the removal device can also remove these protective elements after all the stacks on a floor have been removed. The protective elements can be lifted off the pallet, for example, using vacuum suction cups provided on the removal device.

A particularly suitable embodiment of the removal device has proven to be a robot that can be pivoted about a vertical axis and has at least one robot arm, at the end of which a working head is provided. By setting different rotational positions of the robot arm around a robot base, the working head can reach the feed station, the stack receptacle of the stack element further processing device, the storage location for the protective elements and/or the reject station. Both the lifting device for the blank stacks and the gripping device for the empty pallets can then be arranged in a particularly efficient manner on the working head of the robot arm.

An exemplary embodiment of the invention is described in more detail below with reference to the drawing. In it shows 1 a schematic top view of a depalletizing system according to the exemplary embodiment of the invention.

That in the 1 The depalletizing system shown is located in an area secured by wire mesh. This so-called safety cage 1 has several secured entrances. On the one hand, a feed gate 2 for full pallets U and a discharge gate 3 for empty pallets U and/or for pallets U with rearranged stacks 12, 13. On the other hand, access for operating personnel; in the example shown, a sliding gate 4 near the stack receptacle 41 of a folding box gluing machine 40 and a further access door 5 on the storage stack 50 of the intermediate sheets serving as protective elements, which are also stacked on a pallet U in the example shown.

The full pallets U are driven, for example, with a forklift or a hand pallet truck through the feed gate 2 and placed on the floor or a table at the feed station 10. In the example shown, stacks 11-13 are arranged in blocks in three rows and four columns on pallet U. There can be several such 3x4 arrangements in levels one above the other on pallet U. Between the individual floors (and optionally also between individual stacks) there are intermediate sheets made of paper or cardboard as protective elements (not shown). The grid-like arrangement in three rows and four columns is only to be understood as an example. The invention can be applied to any positioning of the stacks, regardless of the number of rows and columns and the overall arrangement geometry.

At the time shown, there are still eight stacks of cardboard blanks on pallet U: 3 stacks 11 of type A, 3 stacks 12 of type B, 2 stacks 13 of type C. Only the stacks 11 of type A are currently intended for the folding box gluer 40 be fed for further processing. The Stacks 12 of type B and the stacks 13 of type C must first be temporarily stored and may be ready for further processing in the folding box gluing machine 40 at a later point in time.

The full pallets U with the blank stacks 11-13 positioned thereon are, as already mentioned, transported to the feed station 10 in order to be emptied there by the removal device 20. The removal device 20 is realized by a robot, the base 22 of which rests on a raised base 24 with four legs. A pivotable robot arm 21 is articulated on the base 22, the working head 23 of which can be rotated about the longitudinal axis of the robot arm 21 and, by rotating the robot arm 21 around the base 22, the feed station 10, the stack receptacle 41, the rejection station 30, 31 and the intermediate sheet storage can reach 50.

A lifting device is attached to the work head 23 in order to lift a stack 11 of type A from the pallet U at the feed station 10 and to transfer it to the stack receptacle 41. Such a lifting device is, for example, from DE 10 2011 082 967 B4 known and the disclosure thereof is hereby incorporated by reference.

Stacks 12, 13 of types B or C are also lifted by the lifting device on the work head 23, but are then not transferred to the stack holder 41 but to the rejection station 30, 31. In the example shown, stacks 12 of type B are placed on a pallet U at a first rejection station 30 and stacks 13 of type C are placed on another pallet U at a second rejection station 31. However, it is also possible to have only one common pallet U for both types B, C or more than two pallets U to be provided at the rejection station 30, 31, especially if there are more than three different types on the pallet U delivered to the feed station 10.

Through the re-sorting process, other types of pallets (Euro pallets, industrial pallets, etc.), pallet sizes (e.g. DIN sizes 6, 3B, etc.) or stack arrangement geometries can also be used for the re-sorted stacks 12, 13 at the rejection station 30, 31 use. The new pallet types, sizes and arrangement geometries can then be selected so that they allow even more efficient processing of the stacks 12, 13 on the folding box gluer 40 compared to the original pallet type, size and arrangement geometry of the pallet U at the feed station 10, for example because the stacks 12, 13 on the new base U are already arranged in the correct orientation for the later transfer to the stack receptacle 41 or the stacks are arranged less closely next to one another so that they can be lifted more easily by the removal device 20. In particular, the re-sorted stacks 12, 13 can also be stacked higher at the rejection station 30, 31 than on the pallet U originally fed to the feed station 10. This reduces the time lost due to a pallet change later when processing the stacks 12, 13.

In the exemplary embodiment 1 Not shown but also included in the invention is the possibility of arranging the pallets U at the rejection station 30, 31 not only next to each other but also one above the other in levels of a scaffold or the like. This allows space to be saved and the number of varieties that can be resorted at the same time to be increased.

The removal device 20, implemented as a robot, is connected to a controller 25, which can access a previously stored position distribution of the different types A-C of blank stacks 11-13 on the delivered pallet U. By referencing this stored position distribution (for example in a CF2 file), the control can initiate the corresponding transfer operation of the removal device 20 depending on the type A-C stored for the respective stacking position; So feed stack 11 of type A to the stack receptacle 41 and place stacks 12, 13 of types B and C on the first and second rejection stations 30, 31, respectively.

Alternatively or in addition to this, the working head 23 can also detect the type A-C of the stacks 11-13 on the delivered pallet U using optical sensors (not shown). This can be used to check and fine-tune the pre-saved position distribution or be used as a standalone, sensor-based control.

If all stacks 11-13 of a floor have been transferred by the lifting device, the intermediate sheet is removed from the pallet U and placed on the storage stack 50. For this purpose, the working head 23 has a further device, for example working with negative pressure, by means of which it can lift the intermediate sheet upwards, move it over the storage stack 50 by means of a pivoting movement and place it there.

If necessary, the removal device 20 according to the invention can use these intermediate sheets again as protective elements for the stacks 12 (e.g. stacked in several tiers) on the pallet U at the first rejection station 30 or the stacks 13 on the pallet U at the second rejection station 31. The working head 23 of the removal device 20 then lifts the intermediate sheets on the storage stack 50 and places them, for example Protective element between two floors of stacks 12 of type B at the first rejection station 30.

Once all stacks of blanks 11-13 and intermediate sheets of all levels have been removed from the pallet U, the removal device 20 must wait until the next full pallet U arrives at the feed station 10. To do this, the empty pallet U must first be removed from there. This is advantageously also carried out by the removal device 20. For this purpose, the robot arm 21 on the working head 23 has, in addition to the lifting device for the blank stacks 11-13, a gripping device for grasping and lifting the emptied pallet U through the air. The gripping device is in a purely schematic view 2 not shown. It can be realized, for example, by two clamping jaws that grip under the pallet on the side and can be extended and retracted by an electrical and/or pneumatically controlled movement on the working head 23.

The empty pallets U can be collected (advantageously stacked one on top of the other) either at the storage stack 50 or at the rejection station 30, 31 and then removed from the safety cage 1 through the gate 3 or the door 5. However, it is also possible here that an empty pallet U is not removed, but is used immediately for the next re-sorting process, for example by the removal device 20 depositing it at the second rejection station 32 in order to then create stacks 12, 13 that cannot currently be processed by the folding box gluing machine 40 to store on it temporarily.

Also included in the scope of protection of the invention is the possibility of later using the stacks 12, 13 of types B and C stored at the rejection station 30, 31 for further processing directly from this location. Instead of the pure pallets U with the stacks 12 and 13 of types B and C positioned on them first being driven from the rejection station 30 or 31 to the feed station 10, the stacks 12 and 13 of types B and C could also be transported directly removed from the rejection station 30 or 31 and fed to further processing by the further processing device 40. If the folding box gluing machine 40 has finished processing the folding boxes of type A and has been switched to processing folding boxes of type B, for example, the robot arm 21 of the removal device 20 could remove the stacks 12 directly from the rejection station 30 and individually from the stack receptacle 41 feed.

In summary, the present invention relates to a system for the individual removal and further processing of stacks 11-13 of different types A-C arranged in blocks on supports U. A fully loaded base U is delivered to a feed station 10. A robot-based removal device 20 is designed not only to remove individual stacks 11 of a first type A of stack elements from the base U and to feed them to a stack receptacle 41 of a further processing device 40 for further processing of the individual stack elements, but also to remove individual stacks 12, 13 at least a second type B, C of stacking elements at the feed station 10 and deposited at a rejection station 31, 32. This eliminates the need to first pre-sort the originally delivered base U with stacks of different types A-C by hand or using a sorting robot.

Reference symbol list

1

Safety cage

2

Feed gate for full pallets

3

Rejection gate for empty or rearranged pallets

4

Sliding gate

5

door

10

feed station

11

Blank stack type A

12

Blank stack type B

13

Cutting pile type C

20

removal device

21

Robot arm

22

Robot base

23

Working head

24

base

25

steering

30

First diversion station

31

Second diversion station

40

Further processing device (folding box gluing machine)

41

Stack recording

50

Storage for protective elements

U

Base/pallet

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102011082967 B4 [0002, 0022]

Claims (10)

System for processing stacks (11-13) of stacking elements arranged on a base (U), with a feed station (10) to which the stacks (11-13) arranged on the base (U) are delivered, one to a control (25) connected removal device (20), which is designed to remove individual stacks (11) of a first type (A) of stack elements from the base (U) and a stack receptacle (41) of a further processing device (40) for further processing of the individual stacking elements, and to a rejection station (31, 32), at which emptied documents (U) and/or stacks (12, 13) that cannot currently be processed by the further processing device (40) are stored, characterized in that the removal device (20 ) is designed to remove individual stacks (12, 13) of a different type (B, C) of stacking elements from the first type (A) at the feed station (10) and deposit them at the rejection station (31, 32). System after Claim 1 , wherein the position-dependent distribution of the different types of stacking elements (A, B, C) of the stacks (11-13) on the base (U) delivered to the feed station (10) is stored in the control (25) of the removal device (20). , and the controller (25) controls the removal device (20) so that it either feeds or sends individual stacks (11-13) to the stack receptacle (41) depending on the type (A, B, C) stored for its position the rejection station (31, 32). System after Claim 1 or 2 , wherein the removal device (20) is designed to use a sensor system to recognize the type (A, B, C) of the stacking elements of each stack (11-13) delivered to the feed station (10) and, depending on the recognized type (A, B, C) either feed the stack (11-13) to the stack receptacle (41) or deposit it at the rejection station (31, 32). System according to one of the preceding claims, wherein the control (25) of the removal device (20) is designed to detect the readiness of the stack receptacle (41) to receive further stacks (11) and, if the stack receptacle (41) is currently not ready to receive further stacks (11) of the first type (A), the removal device (20) is controlled so that it only receives stacks (12, 13) of the other type (B, C) of stack elements from the feed station (10 ) is removed and deposited at the rejection station (31, 32). System according to one of the preceding claims, wherein the removal device (20) comprises: a lifting device for lifting and transferring all or at least some of the stacking elements of a stack (11-13), and/or a gripping device for gripping and transferring the emptied base (U). System after Claim 5 , wherein the removal device (20) has: a robot arm (21), on whose working head (23) the lifting device and / or the gripping device are arranged, and a base (22) on which the robot arm (21) is pivotally attached, that the working head (23) of the robot arm (21) can reach the feed station (10), the stack receptacle (41) and/or the rejection station (31, 32) by setting different rotational positions around the base (22). System according to one of the preceding claims, wherein the stacks (11-13) are stacked in several levels on the base (U) and a protective element is arranged between the individual levels, in particular an intermediate sheet made of paper or cardboard, and the removal device (20) is designed to remove the protective element underneath from the base (U) after all stacks (11-13) of a floor have been removed and to feed it to a storage station (50). System according to one of the preceding claims, wherein the stacking elements are paper or cardboard blanks, in particular folding box blanks, and the different types (A-C) are characterized by differences in the print and/or the cutting shape of the stacking elements, and/or the further processing device (40) is a folding box gluing machine or a print image inspection system, and/or the base (U) is a pallet, in particular a Euro pallet or an industrial pallet made of wood or plastic. Method for processing stacks (11-13) of stacking elements arranged on a base (U), in which the stacks (11-13) arranged on the base (U) are delivered to a feed station (10), individual stacks (11) a first type (A) of stacking elements are removed by a removal device (20) from the base (U) at the feed station (10) and fed to a stack receptacle (41) of a further processing device (40) for further processing of the individual stacking elements, and individual Stack (12, 13) one of the first kind (A) different, further types (B, C) of stacking elements are removed by the removal device (20) from the base (U) at the feed station (10) and deposited at a rejection station (31, 32) at which emptied documents ( U) and/or stacks (12, 13) that cannot currently be processed by the further processing device (40) are stored. Procedure according to Claim 9 , whereby, after the further processing device (40) has been switched from further processing the stack elements of the first type (A) to those of the further type (B, C), individual stacks (12, 13) of the further type (B, C) of stack elements are removed by the removal device (20) directly from the base (U) at the rejection station (31, 32) and fed to the stack receptacle (41) of the further processing device (40) for further processing of the individual stack elements.

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