DE102006040053A1 - Automation system for handling e.g. fired brick, has conveying device with transferring table designed such that goods are arranged together, and robotic palletizer with gripper to grip goods provided at table and to stack on pallet - Google Patents

Abstract

The system has a stack gripper (4) for gripping a piece of goods in a layer by layer manner, and a conveying device with a storage table (6) for storing of the goods gripped by the stack gripper. The conveying device is arranged in such a manner that the goods are transported in a row-wise manner, where the conveying device has a transferring table (22) designed in such a manner that a preset number of goods are arranged together. A robotic palletizer (24) has a palletizer gripper (26) for gripping of the goods provided at the transferring table and for stacking on a pallet. An independent claim is also included for a method for automatic handling of piece of goods stacked in transverse and longitudinal rows.

Description

The The invention relates to an automation system and a method for the automatic handling of piece goods, in particular the layers Recording of burned bricks and their composition and palletizing for the Further transport to the intermediate or end customer.

Under cargo This particular but not exclusively bricks understood, ie usually cuboid Stones heat-treated (burnt) in a kiln during their production become. Under bricks within the meaning of the present application here especially so-called paving stones and so-called bricks Understood. Paving stones generally serve as a floor covering. in this connection becomes common one of its two flat sides directed upwards as a visible side laid. The paving stones are usually made of solid material. Facing stones are also called clinker bricks and serve to the facade design. Facing stones can be made of solid material or for weight saving and material saving purposes as well the heat insulation also have hollow chambers.

Under layerwise recording here is the simultaneous recording of several stones, namely understood the inclusion of at least one row. Under layers In particular, the inclusion of all stones will also be recorded Location or layer of a fuel stack understood.

With The automation system can in principle also other stones handle automatically, which did not undergo firing during their manufacture become.

at The production of bricks is not yet fired rough stones (Green compacts) stacked in batches in layers. In every single location are the stones here in longitudinal and transverse rows arranged. Under longitudinal row here is a Series of stones understood, each in their longitudinal direction connect to each other, i.e. bump her with their short transverse sides to each other. In contrast, will Under a transverse row understood a row, at which the stones each adjoining each other in their transverse direction, i. at where the stones abut each other on their long sides. During the firing process, the stones shrink, leaving their original shape Change position. this leads to that a pile of stones coming out of the kiln, in the Hereinafter referred to as kiln stack, no uniform stone positioning the individual stones shows. Rather, gape between the individual rows Gaps, which vary from fuel stacks to fuel stacks. by virtue of this very high positional inaccuracy of the individual stones as well the individual rows is an automated, layer-wise gripping the stones difficult. To the stones coming from the kiln for the Further transport to final or intermediate customer suitable for palletizing, The stones are therefore common today implemented manually and individually.

aggravating for the Automation is still that there are different stones which are both in terms of their geometry, their size and, to differentiate their weight. Also, there are sometimes significant differences in the nature of the sizing of the individual stones in the kiln stack. So For example, the bricks are usually with their flat sides stacked on top of each other, in the manner of a layer composite which each layer is rotated by 90 ° to the adjacent layers. The two front long sides The bricks differ in terms of their Surface finish. Namely, that is only one of these front long sides designed as a visible side. In the kiln stack are the bricks now oriented in such a way that their visible sides in each case inward are turned. Usually are therefore the stones of the outermost Longitudinal row around its longitudinal axis turned 180 °, so that their visible side in the fuel stack points inwards.

The Paving stones, in contrast, are common upright, i. they lie with their frontal long sides to each other. To increase the stacking strength are additional either so-called flat layers or indented layers provided. By flat layer is meant a layer in which the paving stones - like the Facing stones - too are arranged with their flat sides to the adjacent layers. Under retracted layer is understood an arrangement in which upright stones are provided, for example, however no stones are arranged in every second row.

Of the Invention is based on the object, the automated handling layered piece goods to enable namely in particular its inclusion of a stack with subsequent palletizing for the Further transport.

The The object is achieved by an automation system according to claim 1 and by the method according to claim 28. Preferred embodiments and further developments are laid down in the subclaims. The with regard to the automation system mentioned developments mutatis mutandis to the Transfer procedure and vice versa.

Subcomponents of the automation system, in particular the design of the respective Vacuum gripper, the clamping gripper, or the vacuum device or individual components thereof are also inventive independently of the combination of features of claim 1 inventive. The filing of divisional applications for these subcomponents or individual components is reserved.

The hereinafter described in more detail with reference to the drawing automation system consists of several essential individual components, each for to be innovative. Likewise, the overall process is after the automated system is running, as well as process aspects each considered inventive in itself. In particular, by the interaction of the following individual components, but also through the coordinated procedure the individual components is connected to the automation system of the special advantage that achieves an automatic, reliable and secure Process flow allows which is the handling of general cargo allows especially stones that differ in terms of their geometry, weight or Stack arrangement differ and their location in the room undefined is.

It each show in partially schematic and greatly simplified representations:

1 a view of an automation system,

2A a perspective view of a vacuum gripper,

2 B a side view of the vacuum gripper,

2C that with a circle in 2A marked detail of the vacuum gripper in an enlarged view,

3A a perspective view of a vacuum segment of the vacuum gripper,

3B a sectional view through the vacuum segment along the line 3B-3B in 3A .

4A a side view of a connection part of the vacuum gripper, and

4B a plan view of the connector according to 4A,

5A a perspective view of a clamping gripper,

5B a top of the in 5a illustrated Klemmgreifers,

5C a basic part of a lower part of the clamping gripper in a perspective view,

5D a variable clamping module of the lower part in a perspective view,

6A a perspective view of trained as a vacuum gripper palletizing gripper,

6B a view of the underside of the palletizer according to 6A such as

6C a sectional view through the Palettiergreifer according to the in 6B shown section line 6C-6C.

In the figures are the same acting parts with the same reference numerals Mistake.

In the 1 illustrated automation system has as essential components:
A picking robot 2 with a stack gripper 4 , a storage table 6 , a longitudinal conveyor 8th , one at the beginning of the longitudinal conveyor 8th arranged turning device 10 , one at the end of the longitudinal conveyor 8th and transverse to this transverse conveyor 12 , one at the beginning of the cross conveyor 12 arranged stop device 14 , one end on the cross conveyor 12 and parallel to the longitudinal conveyor 8th extending control belt conveyor 16 , one in the course of the control belt conveyor 16 arranged singulator 18 with subsequent control zone 20 , one end on the control belt conveyor 16 arranged transfer table 22 , a palletizing robot arranged near it 24 with a palletizing grapple 26 , The components 6 . 8th . 12 . 16 and 22 form a conveyor system, which is arranged on a pedestal.

Furthermore, the automation system comprises a vacuum device 27 with as large a vacuum as possible. In the embodiment of the centrally arranged vacuum device 27 large-volume hollow chamber arms 27A in the manner of a gallows to the robots 2 . 24 guided. In the central part of the vacuum device 27 is arranged a vacuum pump not shown here. In addition to the hollow chamber arms 27A is a kind of vacuum tank 27B arranged. End to the hollow chamber arms 27A there is one piece of hose in each case 27C That over the hollow chamber arms 27A and the vacuum tank 27B Provided volume for the vacuum reservoir is approximately one cubic meter.

With the help of this automation system are stones 28 layer by layer of fuel stacks 30 gripped and by appropriate measures on a pallet 32 layered in layers in a defined and desired manner for further transport. This measure These include depositing in layers, possibly turning and / or turning the stones 28 , their conveying, their compilation, their isolation, their control and finally their reception by the palletizing robot 24 , The fuel stacks 30 be with the help of on rails 34 guided kiln cars 36 near the picking robot 2 brought. Every kiln car 36 hereby sets several kiln stacks 30 ready. In the exemplary embodiment, these are six pieces. The unloaded kiln cars 36 drive under the pedestal.

• A: Entstapeln und lageweises Ablegen der Steine 28 mit Hilfe des Entnahmeroboters 2,
• B: Zusammenstellen von Querreihen mit einer vorbestimmten Anzahl an Steinen 28,
• C: Ausrichten und Vereinzeln der Steine 28,
• D: Kontrolle der Steine 28,
• E: Zusammenführen der Steine 28 zu einer Querreihe mit einer vorgegebenen Anzahl an Steinen 28, die der Anzahl der Steine 28 einer Querreihe auf der Palette 32 entspricht,
• F: Greifen der derart vorbereiteten Querreihen und Stapeln gegebenenfalls unter Einlegen von Schutzlagen mit Hilfe des Palettierroboters 24.

The automated procedure can be subdivided into the following sub-steps:

• A: unstacking and lay by layer the stones 28 with the help of the removal robot 2 .
• B: Composing cross rows with a predetermined number of stones 28 .
• C: Aligning and separating the stones 28 .
• D: control of the stones 28 .
• E: Merging the stones 28 to a transverse row with a given number of stones 28 that is the number of stones 28 a transverse row on the pallet 32 corresponds,
• F: gripping the thus prepared transverse rows and stacks optionally with the insertion of protective layers with the aid of the palletizing robot 24 ,

The following is first based on 1 the method described. The structure and operation of the essential individual components will be explained in more detail in connection with the other figures.

Because the stones 28 about the height of the kiln stack 30 usually have different colorations from light to dark and the stones 28 on the pallet 32 be as mixed as possible, are several kiln stack 30 destacked in parallel, with the individual kiln stack 30 be unstacked differently, ie the removal robot 2 takes from different kiln stacks 30 Stone layers from different heights of the respective kiln stack.

As a robot 2 . 24 are preferably used so-called six-axis industrial robots. Because the stones 28 are relatively heavy, is the smallest possible gripping width, ie the smallest possible distance of the stack gripper 4 sought from its central vertical axis robot in order to size the robot as small as possible. It is therefore envisaged that the unstacking is carried out such that initially the robotic kiln stack 30 be unstacked and then the kiln car 36 on to the robot 2 goes, so that the next kiln stack 30 can be unstacked.

For determining the position of the kiln stack 30 In each case at the beginning of a Entstapelungsvorgangs a search drive is performed, in which the removal robot 2 with the stack gripper 4 moved a few centimeters diagonally laterally over the expected normal stacking position. As soon as a first stacking edge is detected with the aid of a sensor system, now only in one of the two directions is further moved until the second stacking edge is reached, so that finally a longitudinal and a transverse edge of the stack are recognized. From this, the current stack position is then determined on the basis of known data and used as a basis for the further stacking process.

With the help of the stack gripper 4 in each case the topmost stone layer of the respective kiln stack 30 resorted. Under certain circumstances, depending on the design of the stack gripper 4 , several, especially two layers are gripped simultaneously in a gripping operation. Depending on the orientation of the stones 28 on the kiln stack 30 The layers are either on the storage table 6 or directly on the longitudinal conveyor 8th following the turning device 10 stored.

In the 1 is on the table 6 a stone situation represented. This includes in the exemplary embodiment seven longitudinal rows of four stones, ie seven longitudinal rows and four transverse rows. Due to the merely schematic representation of the size ratios of this stone layer in relation to the stack gripper 4 and that of each kiln stack 30 shown heavily distorted. The cross-sectional area of the kiln stack 30 In reality, of course, this corresponds approximately to the area of a stone layer and the pile gripper 4 covers the entire stone layer.

With regard to the interference immunity is further provided that is controlled in particular by means of a light barrier, whether under circumstances when recording a stone layer another stone 28 from an underlying layer sticks to the gripped stone layer. In this case, a signal is emitted so that the operating personnel can remove the stone from the further layer. Finally, in the event that a stone from a stone layer was not included and still on the kiln stack 30 has remained lying, before re-gripping another stone layer checks whether the stone to be gripped stone is free. Otherwise, that would damage the stacking gripper 4 threatening. In this test, it is provided that the stack gripper 4 transverse to the kiln stack 30 approaches, so not from above in the direction of the Z-axis 43 is put on. The stack gripper 4 hereby moves slightly above the stone layer to be gripped laterally, ie in the longitudinal and / or transverse direction 38 . 42 and detects with the help of a sensor system, whether the stone to be gripped is free. Also in this case, when detection of a stone 28 an error signal is issued so that the operator can remove the stone. In addition, the upper stone layer is cleaned in particular by blowing off in this cross ride.

In the embodiment, facing bricks with hollow chambers as stones 28 illustrated with their flat sides on the tray table 6 rest. Generally, the stones become 28 not on their flat sides, but upright on the pallet 32 palletized. They will therefore be on the pallet 32 stacked on their long frontal long sides. Therefore, in the kiln stack 30 Stones stacked on their flat sides 28 rotated by 90 °. This is done with the help of the turning device 10 , This is able to rotate one or two rows of stone at 90 ° and on the longitudinal conveyor 8th store.

After the turning device 10 lie the stones 28 therefore with a long front side upwards. This long front side is at the same time a visible side, which is also on the pallet 32 should be directed upward. In the case of the handling of facing bricks shown in the embodiment 28 however, if the last (left) longitudinal row is facing outwards with its "bad" end face, turning it by 90 ° would result in this bad side being directed upwards, and it is therefore intended that with the stacking gripper 4 in such a case, the last longitudinal row after discontinuation of the remaining stones 28 the stone layer again raised and a total of 180 ° around the Z-axis 43 is turned. The stack gripper 4 is therefore able to grab both an entire stone layer and a single row.

After the turning device 10 The longitudinal rows are individually or in pairs in the longitudinal direction 38 further promoted. The stones standing on their long front sides 28 be here in the embodiment by means of conveyor chains 40 on which they rest, further transported. Longitudinal 38 at the end of the longitudinal conveyor 8th the individual longitudinal rows become the cross conveyor 12 pass, which is in the transverse direction 42 extends. Perpendicular to that of the longitudinal and transverse directions 38 . 42 spanned plane extends a Z-axis 43 out of the paper plane. The conveyor chain 40 this extends somewhat into the cross conveyor 12 into and pushes the individual longitudinal rows successively against the stop device 14 , The stop device 14 has a sensor device not shown here, in particular a force sensor. Upon reaching a predetermined force, a first stop 44 moved into the conveyor line, so that subsequent longitudinal rows no longer on the cross conveyor 12 reach. Due to the known friction of the stones 28 on the longitudinal conveyor 8th and the cross conveyor 12 , their weight, the conveying speed of the conveyor chain 40 , etc., there is a direct relationship between the number of stop devices 14 adjacent stones 28 and the one of these on the stop device 14 applied force. This is exploited to the startup of the stop 44 to induce.

In the drawing are the joined stones 28 only shown for purposes of clarity even with a small distance from each other. In reality, the individual stones are 28 with their flat sides directly to each other.

The next step is the conveyor chain 40 First lowered slightly, so that on the cross conveyor 12 located stones 28 no longer on the conveyor chain 40 rest. The cross conveyor 12 has as conveying elements - as well as the storage table 6 - Rollers or rollers 46 on. With their help, now the transverse rows in the transverse direction 42 transported further. By a corresponding speed control of the individual rollers 46 If necessary, equalization of the transverse rows is achieved.

End of the cross conveyor 12 run two conveyor belts 48 the control belt conveyor 16 in the cross conveyor 12 into it. These extend in the negative longitudinal direction 38 , Once the first transverse row in the transverse direction 42 seen first conveyor belt 48 happened, drives controlled by a sensor a second stop 50 high, so that a subsequent transverse row strikes against this. The previous transverse row runs up to the second conveyor belt 48 further. In the embodiment, a third stop 52 arranged against which the stones 28 in turn strike and aligned.

For further promotion of the stones 28 drives the conveyor belt 48 up a bit in the Z direction to the individual stones 28 to be able to grab. Conversely, the rollers can 46 be lowered slightly in this area. The stones 28 be in negative longitudinal direction 38 to the separating device 18 transported. In this there is a separation of the stones, ie between the stones a particular defined distance is set. At the same time takes place in the singling treatment device 18 also an alignment of the stones 28 , as when translating from the cross conveyor 12 on the control belt conveyor 16 a twisting of the stones 28 can be done.

Following to the singulator 28 takes place in the control zone 20 a visual inspection. Chunks are removed from the conveyor belt 48 taken. In the embodiment is between the conveyor belts 40 a reject band 54 arranged on which the broke stones pushed down become. According to a preferred embodiment, the control takes place semi-automatically, by the operating personnel defective stones 28 merely be marked, for example, with a pen and the marking subsequently identified by means of an automatic, in particular optical recognition and automatically by means of a suitable mechanical device from the conveyor belt 48 be removed.

After the control zone 20 become the stones 28 again to transverse rows on the transfer table 22 pushed together. The transfer table 22 is here designed such that exactly a predetermined number of stones 28 is pushed together. For this purpose, a suitable sensor and suitable stop elements or stops are arranged. Preferably, this is at the end of the conveyor belts 48 each one not shown here front stop provided against the stones 28 to run. Furthermore, a position sensor also not shown here is arranged, which detects when the transverse row reaches to a certain point, which thus detects when a certain number of stones 28 is present. As soon as this is detected, a rear stop moves up or the following stones 28 are pinched and no longer reach the transfer table. Enough space for gripping the transverse rows with the palletizing gripper 26 to have is not shown front stop according to an expedient embodiment in the negative longitudinal direction 38 movable, so that overall the transverse row is still something in the negative longitudinal direction 38 continues to move forward. For converting the two transverse rows, in a first alternative, the first transverse row of the palletizing gripper is first 26 taken and then grabbed the second transverse row and then together on the pallet 32 set. According to a second alternative, the two transverse rows are initially adjacent to each other in the space between the two conveyor belts 48 pushed and simultaneously grabbed from this collapsed state of the palletizer gripper together. The dimensions are chosen such that parallel to the gripping already the next cross stacks on the transfer table 22 can be pushed together. This has the advantage that short clock rates can be achieved.

For the gentlest possible gripping of the stones 28 is the palletizing grapple 28 designed as a vacuum gripper that holds the stones 28 only with the help of negative pressure and without mechanical gripping elements receives. Preferably, the stack gripper is 4 designed as a vacuum gripper. The design of the palletizing gripper 26 As a vacuum gripper has the decisive advantage that after the control zone 20 no mechanical stress handling of the stones 28 more is done. The gripping and settling with the help of the palletizing gripper 26 done very gently and without the risk of injury to the stones 28 , Usually, between the individual stone layers on the pallet 28 Protective layers, for example made of paper or cardboard inserted. These are preferably also automatically placed on the topmost stone layer.

The vacuum for the palletizing gripper 26 or the stack gripper 4 is via the vacuum device 27 provided. About the end of the hollow chamber arm 27A attached hose piece 27C is a flexible connection of the gripper 4 . 26 reached.

A particularly preferred embodiment of the vacuum gripper 4A designed stack gripper 4 is described below on the basis of 2A to 2C . 3A . 3B and 4A . 4B explained. The vacuum gripper 4A includes a connector 60 , with the help of which he reaches the last axis of the picking robot 2 is connected. The connection part 60 is therefore designed in the manner of an adapter. The connection part 60 serves both for mechanical connection with the removal robot 2 as well as to connect the hose piece 27A to the vacuum gripper 4A with the vacuum device 27 connect to.

At the connection part 60 are preferred in the embodiment, a plurality of plate-like, in particular square vacuum segments 62 both mechanically and pneumatically connected. The individual vacuum segments 62 are not rigidly arranged but movable. Namely, both tilting movement about the transverse direction is preferable 42 as well as a tilting movement about the longitudinal direction 38 allowed. Preferably, furthermore, a height compensation in the direction of the Z-axis 43 intended. To enable this three-dimensional compensation movement, the individual vacuum segments 62 in each case via a centrally arranged fastening element 64 mechanically with one support arm each 66 of the connection part 60 connected.

The total of four support arms 66 end in a common base part 68 , about which the connection with the removal robot 2 he follows. To enable the tilting movements is the fastener 64 in this case preferably in the manner of a ball joint bearing with the vacuum segment 62 , in particular with a spider 70 , connected. To enable the compensatory movement in the Z direction 43 is still an elastic return element, in particular a compression spring 72 , for each of the vacuum segments 62 intended. By enabling the compensating movement, it is ensured that each of the vacuum segments 62 as even as possible and over the entire surface on the respective stones 28 so that a secure vacuum gripping is possible.

Every vacuum segment 62 also includes a connection piece 74 , each to a vacuum manifold 76 of the connection part 60 is connected via a flexible hose not shown here. The vacuum manifold is again on the in the 2 to 4 not shown hose piece 27C to the vacuum device 27 connected. For controlling and applying the vacuum to the individual vacuum segments 62 is also an actuator, namely a slider 78 provided automatically with the vacuum loading of the individual vacuum segments 62 is controlled.

To the individual vacuum segments 62 each to retrieve a defined position within a common plane, are between two adjacent vacuum segments 62 each return elements provided. On the one hand, these are tension springs in the exemplary embodiment 73A , in the bores of the formed as a hollow chamber profile support cross 70 intervention. Furthermore, at the edge of the vacuum segments 62 in each case a further two-part return element 73B provided, which admittedly allows a tilting movement, but at the same time limits the tilting movement. The further return element 73B comprises a first base part, which on a vacuum segment 62 is attached and with one arm over the adjacent vacuum segment 62 attacks. At the end of the arm tension springs are provided, which in a further vacuum segment 62 intervene arranged plate. The two parts of the return element 73B are best in 3A to recognize.

Each of the vacuum segments 62 has a vacuum cassette extending over the entire surface 80 on (see esp. 3B ). This stands with the vacuum connection 74 and forms a closed cavity. Towards the bottom is the vacuum cassette 80 through a perforated plate 82 limited. In the perforated plate 82 are arranged a variety of smallest suction holes, which are all subjected to negative pressure. It is therefore not on the exact relative position between the vacuum gripper 4A and the stones to be picked 28 at. Rather, a large suction is possible because the individual suction openings do not need to be aligned exactly with the stones. Over the entire surface of the perforated plate 82 , so over the entire surface of the respective vacuum segment 62 , there is a suction. The individual suction openings are in this case evenly spaced in a range of a few millimeters. The diameter of the suction openings is preferably in the range up to about 3 mm, in particular in the range between 0.5 and 1.5 mm. In order to ensure efficient suction, it is furthermore preferably provided that the diameter of the respective suction opening varies. In particular, he takes from the cavity of the vacuum cassette 80 directed inside of the perforated plate 82 to the opposite, accessible from the outside outside. The opening diameter hereby preferably reduces from about 1.5 mm to 0.5 mm.

The vacuum segment 62 is further designed such that at its through the perforated plate 82 defined suction side an elastic adaptation to the sometimes rough surface of the stones 28 is achieved. Bumps are therefore offset by this elasticity, so every single stone 28 safely and firmly sucked. To ensure this is at the bottom or outside of the perforated plate 82 an elastic leveling layer, in particular a foam fleece 84 arranged. This is in this case designed such that the suction air can flow through as resistant as possible. For this purpose, the foam fleece 84 For example, a plurality of small suction channels, so that the entire foam fleece has a kind of honeycomb structure. The suction ducts expediently have the same pitch as the suction holes of the perforated plate 82 up and cursing with these.

Preferably an open-cell foam is used, which flows through the Air also allowed away from such suction channels. By use an open-pore foam becomes a particularly uniform and large-scale suction allows.

In particular, when using an open-pore foam fleece, it is possible to completely dispense with the suction channels. In an expedient embodiment, the foam fleece 84 Therefore, formed without such suction channels and has only an open-pored, air-permeable foam. The thickness of the foam fleece 84 is preferably a few centimeters, for example about 2 to 4 cm.

According to an expedient development is further provided that the foam fleece 84 with the help of a not shown in the figures Klettver statements on the perforated plate 82 is attached. The hook and loop fastener preferably extends over the entire surface of the perforated plate 82 , is attached to this by gluing and has flow-through holes, in particular the same pitch and the same number as the suction holes of the perforated plate 82 are arranged, with which they are also aligned. By using the Velcro fastener is a simple and repeated mounting and dismounting of the foam fleece 84 allows. This can therefore be easily replaced, for example, for cleaning or replacement purposes. Alternatively, the foam fleece 84 directly on the perforated plate 82 glued.

As already described in the description of Ge explained velvet method, takes place when approaching the kiln stack 30 a position determination. Furthermore, it is checked whether there is still an unidentified stone 26 located on the upper now to be gripped stone location. As shown by the enlarged view according to 2C can be seen, are at a corner on a front face of the vacuum gripper 4A several attachment positions 90 for the attachment of sensors, such as ultrasonic, light sensors or other sensors provided with which is detected, whether a free method is possible.

With a view to a safe and reliable process, it is further provided that, when driving over the side of the stone to be gripped, it is blown off in order to remove dust and sand particles. These are at the front end of the vacuum gripper 4A with this ahead of the kiln stack 30 moves laterally, blowing devices 92 intended. In the exemplary embodiment, these are two each across the width of a vacuum segment 62 extending blowpipes, which have down in here unrecognizable way blowing openings. The blowing devices 92 are connected to a suitable compressed air system in a manner not shown here.

To total the weight of the vacuum gripper 4A To keep as low as possible, only hollow chamber profiles, in particular made of aluminum, are used in its construction. All mechanically bearing elements, such as the spider 70 , the support arms 66 , the base part 68 , are therefore designed as aluminum hollow body.

In particular, by the combination of the features summarized below summarized again allows the vacuum gripper described here 4A a safe and reliable, trouble-free gripping of an entire stone layer. The individual components are preferably, but not necessarily used in combination with each other. The individual features are the particular open-cell foam fleece 84 ; the variable / segmental design of the gripper with the possibility of adjusting in three directions of each vacuum segment 62 ; the particular micro Velcro attachment via the Velcro fastener; the design of the individual vacuum segments with vacuum vacuum cassettes 80 with its perforated plate at the bottom 82 with the suction openings varying in diameter; the design of the gripper in lightweight construction; the integrated position determination of the kiln stack 30 ; the integrated sensors for obstacle testing during start-up; the blow-off devices 92 in particular associated with the lateral approach to the kiln stack 30 ; and the provision of the largest possible vacuum reservoir via the vacuum device 27 ,

For very heavy stones and / or stones with a very large proportion of hollow chambers, it may be advantageous instead of the vacuum gripper 4A a mechanical clamping gripper 4B to use, as he below to the 5A to 5D is described. This clamping gripper 4A consists essentially of two parts, namely an upper part 100 ( 5B ) and a lower part 102 ( 5C . 5B ), together. The top 100 has a central mounting plate 104 for attachment to the picking robot 2 on. Laterally to this mounting plate 104 are two L-carriers 106 attached, at the end of each rail 108 is arranged. About controllable cylinders, especially pneumatic cylinders 110 , the distance between the rails can be 108 be varied. These rails 108 serve when gripping a stone layer only for fixing and guiding the outer transverse or longitudinal rows of a particular layer. The actual mechanical clamping is via the bottom part 102 accomplished.

A special feature of this base 102 is now seen in the fact that it is designed so that it is able to clamp each row of stones individually. This makes it possible, by suitable control, to record and deposit the individual rows of stones differently. Especially with the facing stones 28 , where - how to 1 described - when placing on the table 6 is still a rotation of the outermost row of stones made by 180 °, this function of the clamping gripper 4B really important. About the clamping gripper 4B namely, it is possible to sell the complete stone layer down to the outermost row and the still clamped outermost row of stones with the clamping gripper 4B rotate in one operation by 180 ° and only then set down.

To enable this separate detection and clamping of each stone row, the lower part has 102 a in 5C represented basic part 112 and a variable clamping module provided for each row of stones 114 on how it is 5D can be seen. The basic part 112 has several guide tubes 116 on, on one end side of a terminal block 118 is attached. The terminal block is formed from one of the number of rows of stones to be gripped corresponding number of jaws 120 , each about a horizontal pivot axis 122 are pivotable and can make a certain compensating movement. Each jaw 120 in this case has two jaw members, in particular made of an elastic material, such as rubber on. The height of the jaws 120 in this case is dimensioned such that the clamping gripper 106 total for simultaneous gripping of two stone layers is formed. Due to the usually on their flat sides stacked facing stones, this height is only about 10 to 20 cm.

At the other end of the guide tubes 116 is a cross connector plate 124 arranged. In the middle are on the guide tube 116 several connectors 126 vorgese hen, which is a respective guide tube 116 gripping mechanically and on the other hand with the upper part 100 mechanically firmly connected.

Furthermore, between two adjacent guide tubes each clamping parts 128 clamped, the stationary and slip-proof on the guide tubes 116 are attached. The clamping plates 128 each have a central piston rod receptacle 130 on. Furthermore, combined connector clamp plates 132 provided, which are formed both as a clamping plate and as a connector.

Between each two adjacent guide tubes 116 will each be one of the in the 5D illustrated clamping modules 114 arranged. This each includes a controllable air cylinder 110 which is between two opposite guide plates 134 is arranged. A piston rod 136 of the compressed air cylinder 110 extends over the one guide plate 134 out and is in the assembled state with its end rod end 138 in the piston rod holder 130 the respective clamping plate 128 held tight. Opposite to the piston rod 136 is a jaw on a support arm 120 attached. This is the same as the jaws 120 of the basic part 112 educated. The guide plates 134 each have two guide openings, through which in the mounted state in each case a guide tube 116 is guided, as in particular from 5A can be seen.

Due to the structure described here, it is possible by individual control of the pneumatic cylinder 110 of the lower part 102 the distance between two opposite jaws 120 to vary.

The design of the palletizing gripper 26 will be discussed below in connection with 6A to 6C explained in more detail. The palletizing grapple 26 is also designed as a vacuum gripper and has with respect to the vacuum gripper functionality the same essential design features as the vacuum gripper 4A up to the 2 to 4 was described, and how in particular from the representations 6B . 6C can be removed.

The palletizing grapple 26 is on the vomit table 22 adapted to gripping stone rows. Since in the present case of the described automation process two rows of stones are to be grabbed, the palletizing gripper 26 through two vacuum segments 150 educated. The two vacuum segments 150 are over a holding plate 152 connected with each other. The holding plate 152 serves at the same time for connection to the palletizing robot 24 , Furthermore, each vacuum segment 150 its own vacuum connection 154 on. This is in turn with the help of a slider 156 lockable trained. Via a central suction connection 158 becomes the palletizing grapple 26 to the hose piece 27C connected. Via the suction connection 158 there is a distribution to the two vacuum connections 154 , This is done in a manner not shown here, for example, the Saganschluss 158 connected via hose pieces with the vacuum connections. Every vacuum segment 150 has a supplementary vacuum segment at the ends 160 on, which is designed as a completely self-contained vacuum segment and separated from the remaining vacuum segment 150 can be acted upon with vacuum. For this purpose, a separate further suction connection is in each case 162 provided, which is connected as needed. The complementary vacuum segment 160 can therefore be switched on if necessary. By this measure, there is a simple way the same Palettiergreifer 26 to use for different lengths of stone rows. In other words, with short rows of stones, the supplementary vacuum segment becomes 160 switched off, in order not to achieve an excessive pressure loss during suction. Only when needed it is switched on.

2

removal robot

4

stack gripper

4A

vacuum gripper

4B

clamping gripper

6

tray table

8th

longitudinal conveyor

10

turning device

12

cross conveyor

14

stop device

16

Control belt conveyors

18

separating device

20

control zone

22

Delivery table

24

palletizing

26

Palettiergreifer

27

vacuum device

27A

Hohlkammerarm

27B

vacuum tank

27C

hose Connector

28

stone

30

kiln stack

32

palette

34

rail

36

kiln cars

38

longitudinal direction

40

conveyor chain

42

transversely

43

Z-axis

44

first attack

46

roll

48

conveyor belt

50

second attack

52

third attack

54

Committee tape

60

connector

62

vacuum segment

64

fastener

66

Beam

68

base

70

supporting cross

72

compression spring

73A

mainspring

73B

fuse element

74

spigot

76

vacuum manifold

78

pusher

80

vacuum cartridge

82

perforated sheet

84

foam mat

90

mounting position

92

blower

100

top

102

lower part

104

mounting plate

106

L-carrier

108

rail

110

Air Cylinder

112

base

114

terminal module

116

guide tube

118

terminal block

120

jaws

122

swivel axis

124

cross-connector

126

Interconnects

128

clamp

130

Piston rod receiver

132

Connector clamp

134

guide plate

136

piston rod

138

Piston rod head

150

vacuum segment

152

Retaining plate

154

vacuum connection

156

pusher

158

suction

160

Supplementary vacuum segment

162

suction

Claims (34)

Automation system for automatic handling of transverse and longitudinal rows on a stack ( 30 ) stacked piece goods ( 28 ), in particular of fired bricks, comprising - a stack gripper ( 4 . 4A . 4B ) for the position-wise automatic gripping of piece goods ( 28 ), - a conveyor with a storage table ( 6 ) for depositing the from the stack gripper ( 4 . 4A . 4B ) general cargo ( 28 ), wherein the conveying device is set up in such a way that the piece goods ( 28 ) are transported in rows and a transfer table ( 22 ), which is designed such that a predetermined number of piece goods ( 28 ) and - a palletizing robot ( 24 ) with a palletizing gripper ( 26 ) for automatically gripping the on the transfer table ( 22 ) and for automatic stacking on a pallet ( 32 ). Automation system according to Claim 1, in which the stack gripper ( 4 . 4A . 4B ) has a sensor system by means of which the current position of the stack ( 30 ) is detectable. Automation system according to Claim 1 or 2, in which the stack gripper ( 4 . 4A . 4B ) a blowing device ( 92 ) for blowing off impurities, which depend on the position of the piece goods ( 28 ) are located. Automation system according to one of the preceding claims, in which a turning device ( 10 ) for turning a number of the piece goods as required ( 28 ) around a transverse to the conveying direction ( 38 ) extending row axis is provided in particular by 90 °. Automation system according to one of the preceding claims, in which the conveying device comprises a plurality of, in particular, three conveyors (90) arranged at right angles to one another. 8th . 12 . 16 ) and in the transition between two conveyors ( 8th . 12 . 16 ) at least one, preferably two spaced stops ( 14 . 44 . 50 . 52 ) are provided and the conveyor is designed such that a predetermined number of cargo rows against the respective stop ( 14 . 50 . 52 ) and be separated from the following general cargo series. Automation system according to one of the preceding claims, in which the conveying device comprises a separating device ( 18 ) for separating the piece goods has. Automation system according to one of the preceding claims, in which the singling device ( 18 ) in the conveying direction ( 38 ) is arranged downstream of a control device for automatic identification of rejects and which is formed in particular for the automatic removal of the reject parts of the conveyor. Automation system according to claim 7, in which the conveyor device in the region of the control device has two spaced-apart conveyor belts ( 48 ) on which the general cargo ( 28 ) in exactly one row per conveyor belt ( 48 ), wherein between and preferably additionally slightly below the conveyor belts ( 48 ) a reject belt ( 54 ) for transporting away from the conveyor belts ( 48 ) disposed reject parts is arranged. Automation system according to one of the preceding claims, in which the palletizing gripper ( 26 ) as a vacuum gripper for the row-wise Grei fen of several cargo ( 28 ) is formed exclusively by means of negative pressure. Automation system according to one of the preceding claims, in which a rail ( 30 ) and preferably two each on one side of the stack gripper ( 4 . 4A . 4B ) passing rails ( 30 ) for weighing ( 36 ) are provided, the (in particular from a kiln coming stack ( 30 ) in the gripping area of the stack gripper ( 4 . 4A . 4B ), whereby the rail ( 30 ) is carried out under the conveyor, in particular on a pedestal, so that the unloaded carriages ( 36 ) can be driven under the conveyor. Automation system according to one of the preceding claims, in which a vacuum device ( 27 ) for providing a vacuum for the Palletiergreifer ( 26 ) and / or the stack gripper ( 4A ) is provided, wherein the vacuum device ( 27 ) a trained in the manner of a gallows hollow chamber arm ( 27A ) and the internal volume of the hollow chamber arm ( 27A ) Part of the vacuum device ( 27 ) is provided vacuum volume. Automation system according to one of the preceding claims, in which the stack gripper ( 4A ) as a vacuum gripper ( 4A ) is trained. Automation system according to Claim 12, in which the stack gripper ( 4A ) a plurality of movably arranged vacuum segments ( 62 ), which are each tiltable about a longitudinal and / or transverse axis and preferably also allow height compensation. Automation system according to claim 12 and / or 9, wherein the stack gripper ( 4A ) and / or the Pallettiergreifer ( 26 ) for forming a vacuum segment ( 62 ) a vacuum cassette ( 80 ) connected to the vacuum device ( 27 ) and connected to a suction side of a perforated plate ( 82 ) is completed with a plurality of suction openings. Automation system according to claim 14, in which the diameter of the suction openings in the range between 0.5 mm and 1.5 mm and in particular from the inside to the outside reduced to the suction side. Automation system according to claim 14 or 15, wherein on the suction side in front of the perforated plate ( 82 ) an elastic leveling layer, in particular a foam fleece ( 84 ) is provided. Automation system according to claim 16, in which the compensating layer has suction channels which, in particular with the suction openings of the perforated plate (US Pat. 82 ) are aligned. Automation system according to claim 16 or 17, when used as leveling an open-cell foam becomes. Automation system according to one of claims 16 to 18, wherein the leveling layer with the aid of a Velcro fastener on the perforated plate ( 82 ) is attached. Automation system according to one of Claims 14 to 19 and Claim 9, in which the pallet gripper ( 26 ) in the direction of the piece goods row to be gripped a supplementary vacuum segment ( 160 ) is provided, which, if necessary, can be acted upon by negative pressure, so that different lengths of cargo rows are available. Automation system according to one of Claims 1 to 11, in which the stack gripper is a mechanical clamping gripper ( 4B ), which is designed such that each piece goods row of a position to be gripped individually and independently of adjacent piece goods rows by clamping between two jaws ( 120 ) is tangible. Automation system according to claim 21, in which one of the clamping jaws (for each of the items to be clamped) 120 ) in the longitudinal direction of the piece goods with the help of a printing cylinder ( 110 ) is arranged displaceably. Automation system according to one of the preceding claims 21 or 22, in which the clamping gripper ( 4B ) a plurality of parallel to the longitudinal direction of the piece goods row extending guide elements ( 116 ), wherein between adjacent guide elements ( 116 ) each one of the impression cylinder ( 110 ) via guide plates ( 134 ) with the sliding jaw ( 120 ) is stored. Automation system according to one of Claims 21 to 23, in which the clamping jaws ( 120 ) on a perpendicular to the longitudinal direction of the piece goods row extending pivot axis ( 122 ) pivotable gela are. Automation system according to one of Claims 21 to 24, in which the clamping gripper ( 4B ) two edge rails ( 108 ), which extend in the longitudinal direction of the cargo rows and serve as a stop for the outer Stückgutreihen. Automation system according to Claim 25, in which the distance between the rails ( 108 ) via a controllable cylinder ( 110 ) are variable. Automation system according to one of Claims 21 to 26, in which the clamping gripper ( 4B ) the rails ( 108 ) upper part ( 100 ) and a jaws ( 120 ) lower part ( 102 ), which are each arranged as a separate module crosswise to each other. Method for automatic handling of piece goods stacked in transverse and longitudinal rows ( 28 ), in particular of fired bricks, in which - by means of a stacking gripper ( 4 . 4A . 4B ) the general cargo ( 28 ) are gripped automatically in layers - the gripped position of the stack gripper ( 4 . 4a . 4b ) on a storage table ( 6 ) is disposed of a conveying device, - the piece goods ( 28 ) with the conveyor in rows to a transfer table ( 22 ), - on the transfer table ( 22 ) a predetermined number of piece goods ( 28 ) and - those on the transfer table ( 22 ) provided by a palletizing robot ( 24 ) with a palletizing gripper ( 26 ) automatically and on a pallet ( 32 ) are stacked automatically. Method according to claim 28, in which on the conveying device the position on the delivery table ( 6 ) stored item lot series with a defined number of piece goods ( 28 ) and separated from the rest of the cargo and on the transfer table ( 22 ) to be provided. Method according to Claim 28 or 29, in which the piece goods ( 28 ) aligned and separated, then controlled and possibly sorted out and then brought together again and on the transfer table ( 22 ) to be provided. Method according to one of Claims 28 to 30, in which for assembling transverse rows with the defined number of piece goods ( 28 ) the individual longitudinal rows of the deposited layer in the longitudinal direction ( 38 ) by means of a longitudinal conveyor ( 8th ) against a stop device ( 14 ) are formed, so that form transverse rows, wherein by a sensor device, in particular a force sensor, the number of against the stop device ( 14 ) accumulated longitudinal rows is detected and another stop ( 44 ) is started up in the conveying path as soon as the defined number of piece goods ( 28 ) is reached. Method according to Claim 31, in which the transverse rows are subsequently conveyed by means of a transverse conveyor ( 12 ) in the transverse direction ( 42 ) and in this case separated from each other and in each case two transverse rows in pairs another, in the longitudinal direction ( 38 ) oriented conveyor ( 16 ) be handed over. A method according to claim 32, wherein the further conveyor ( 16 ) two conveyor belts ( 48 ) between which a reject belt ( 54 ) runs, be thrown on the rejects. Method according to one of Claims 28 to 33, in which on rails ( 34 ) movable carriages ( 36 ) Stack ( 30 ) with general cargo ( 28 ) the stack gripper ( 4 . 4A . 4B ) are provided for destacking, the rails continue underneath the conveyor, and the unloaded carriages ( 36 ) are moved away below the conveyor.