DE102010006785A1 - Method for layer-wise depalletizing of products of product pile, involves moving product or product row horizontally such that vertical suction gap is formed between products or product rows or between products and suction sealing - Google Patents

Abstract

The method involves moving a product or a product row (15,16) horizontally such that a vertical suction gap is formed between the products or product rows or between products and a suction sealing. A vertically movable suction gripper fixes the products of the upper most product layer in their loosened position. A horizontally movable clamping gripper (7-10) clamps the upper most product layer and removes the lower sided sucked intermediate layers from the product stack. An independent claim is also included for a device for layer-wise depalletizing of products of a product pile.

Description

The invention relates to a method and a device for depalletizing layers of products of a product stack, if necessary. With separation of the intermediate layer according to the preamble of patent claim 1 or 6.

With the subject of DE 42 22 355 C2 is a gripping device for gripping, in particular suction and lifting a piece goods known in which a can be placed on the piece goods suction box is used, which is connected to a vacuum device.

The side edges of the suction box are designed as air-impermeable curtains.

However, such an arrangement has the disadvantage that it does not offer the possibility to remove the intermediate layer, which is arranged on the respective product layer either at the top or at the bottom secured.

When separating or depalletizing products which rest on a product stack and wherein each product layer is separated from each other by an intermediate layer, there is the problem of removing the intermediate layer under the product layer or controlled on the product layer.

For geometrically heterogeneous products, which are arranged in a product layer, this is done without major problems, because when lifting the top product layer between the individual products, which are arranged in rows and columns, form suction gaps and then the suction through the product layer through on the underlying intermediate layer acts, which is thus raised with and can be sold to a separating station.

Regardless of the weight of the respective product, the desired suction gaps, which ensure that the intermediate layer is taken when lifting the product layer, also by the fact that the products are irregular and between product-related already form suction gaps, so that on and for There are no difficulties, due to the forming suction gaps and applying a vacuum with the lifting of the product layer to take on the underlying adhesive liner.

However, there are problems with certain product compositions. If there are products that have a very smooth surface and which are very close to each other, there is no possibility that suction gaps will form on the top of the product layer when vacuum is applied, and thus it is difficult to form the ones located at the bottom of the product layer Remove intermediate layer with the product layer upwards and separate.

The invention is therefore based on the object, a method and an apparatus for the depot depalletizing of products, if necessary. With separation of the intermediate layer, educate so that even with very smooth and closely abutting product layers and products formed from it reliably forms a suction gap, so that when a vacuum from above this vacuum engages through the suction gap down and the intermediate layer adheres to the underside of the product layer and can be isolated with the top product layer.

To achieve the object, the invention by a method according to independent claim 1 and characterized by a device according to independent claim 6.

Advantageous developments are the subject of the dependent claims 2-5.

An essential feature of a preferred embodiment of the invention is that in a first process step the depalletizing gripper with its clamping grippers applies in particular on all sides of the product layer, whereby no vacuum is applied in the region above the product layer,
that in a second process step, at least the upper product layer of the product stack is mechanically moved in a horizontal plane so that at least on some product rows of the product layer form vertical suction gaps, that in a next process step, the suction pads are supplied with vacuum, that next the vacuum chamber, the above the product layer is optionally formed by the versatile circumferential suction curtain, is also placed under vacuum,
in a next method step, the suction grippers move downwards in the vacuum chamber and place them on the surface of the product layer, thereby fixing the uppermost product layer,
that in a next method step the vacuum formed in the vacuum chamber is created by the suction gaps formed thereby,
that in a next method step, the suction gripper now decreases the uppermost product layer by moving the entire depalletizing gripper from the product stack, whereby the intermediate layer arranged on the underside is also taken along by the suction gaps formed vertically between the uppermost product layer.

A circulating suction curtain (sealing) is not absolutely necessary, because of a large Suction via a fan and air flow or vacuum can be achieved in the columns.

With the given technical teaching, there is the significant advantage that it is now possible for the first time to reliably remove the intermediate layer arranged on the underside of a product layer, even if the products in the product layer lie tightly and positively against one another and practically no air (suction air) can flow through gaps between the individual products of the product layer.

According to the invention, the method accordingly relates to a loosening of the upper product layer of the product stack in such a way that one or more vertical suction gaps arise, said suction gaps must be continuous from top to bottom as possible to the top of the intermediate layer air-tight, so that the intermediate layer by the applying Vacuum with the topmost product layer is taken.

With the arrangement of an intermediate layer on the underside of the product layer, there is the significant advantage that the product layer is stabilized by the still adhering intermediate layer and can not fall apart.

There are in the prior art product layers in which the intermediate layer rests on top, which is associated with the disadvantage that this intermediate layer is then no longer suitable for stabilizing the abzunehmenden product layer or it requires an additional gripping force to handle the situation or it Certain products may only be seized when handled on a tableau (liner).

The present invention thus relates to all mechanical processes which are suitable for loosening the uppermost product layer such that vertically continuous suction gaps result at least between one or more rows of the uppermost product layer, which suction gaps are to pass through to the underlying intermediate layer.

For the fulfillment of the technical teaching, to provide a loosening of the product layer, a number of methods and devices are provided, which should all be included in the subject invention.

These methods and devices enjoy protection in isolation, but also protection in any combination with each other.

In a first embodiment of the invention, it is provided that the Depalettiergreifer consists of four arranged at an angle of 90 ° to each other clamping grippers and that at least two mutually opposite clamping gripper are equipped with vacuum grippers, which in a certain process state of the above method airtight to create the outer side of the respective outer product line of the product layer and pull this product line apart from the remaining product lines, so that at least on the inner side of each of the outer product rows there are vertically continuous suction gaps.

In this embodiment, therefore, two opposing clamping grippers are formed with vacuum grippers, which create on the outside of each product line of the product layer.

In a development of the present invention, it is provided that instead of the formation of clamping grippers with vacuum grippers, a mechanical displacement of at least two rows of the product layer takes place.

For this purpose, oppositely directed plunger or controllable cylinder can attack at any position, wherein the one plunger or controllable cylinder z. B. one row of products in one direction and the other ram or controllable cylinder moves one of the adjacent rows of products in the other direction, so as also to ensure that form between the rows of products or in the frontal region of the product rows suction gaps, up to the underlying liner extend.

Here, the ram / cylinder movement is relatively arbitrary.

There may be two opposite and an opposing sliding movement exporting plunger or controllable cylinder may be present, and in another embodiment, it may be provided that only in the same direction moving plunger or controllable cylinder attach to a row of products, so that only a single product against all other stationary product lines is moved.

Instead of using mechanical tappets or controllable cylinders, it is of course also possible to use so-called pneumatic tappets. These are pneumatically controlled elements that also apply a corresponding displacement force to each product line in the product layer, removing one row of product from the other and allowing suction gaps to form vertically between the product lines.

In a third embodiment of the invention, it is provided that a loosening of the product layer takes place in that pneumatically controlled elements are directed from above onto the product layer and blow into the gaps between the product layers in order to separate the products from one another by a pneumatic blowing force and also thereby forming suction gaps.

In a fourth embodiment, it is provided that a mechanical loosening of the product layer is effected by applying on the side or at the top of the product layer (usually edge side) rotary gripper, which are also suitable, one or more products in the product line of to remove the other products to ensure that there are vertical suction gaps between the products.

In a fifth embodiment, it may be provided that the provided in the Depalettiergreifer already suction pads that perform a vertical movement to the top of the product layer, are designed to be horizontally displaceable in a certain way, so as to put on when sitting and gripping, z. B. the outermost layer of the product layer to provide the suction pads arranged in this row with a horizontal displacement force, so as to remove, for example, the outermost row of product layer from the other rows, thereby allowing intermediate, vertically continuous suction gaps.

In the following the invention will be explained in more detail with reference to drawings showing only one embodiment.

Show it:

1 : Schematically depalletizing plant according to the invention, in which the intermediate layers are separated in a product stack

2 : the side view of a product layer of a product stack with schematically arranged clamping grippers

3 : the proceeding process at the transition from the 2 on the 3 with forming suction gaps

4 : a section through the arrangement after 3

5 : An embodiment of a Depalettiergreifer before the formation of Saugspalten

6 : the depalletizer grapple after 5 after the formation of the suction gap

7 a modified embodiment in which the product rows of a product layer are mechanically or pneumatically shifted from each other

8th : the result of the shift to 7

9 : one opposite 7 and 8th modified embodiment in which only a single product row is moved against the other product lines

10 a further embodiment in which the product layer is loosened up by blowing air acting from above

11 : the result of loosening up 10

12 A further embodiment in which mechanical rotary grippers, for example, roll-on grippers or friction grippers, act on the sides of the product layer in a vertical or horizontal manner

13 : one opposite 5 and 6 modified embodiment in which the loosening movement of the product layer is not done by lateral attacking vacuum gripper, but by a horizontal displacement movement of some or more of the arranged in Depalettiergreifer suction pads

14 : one opposite the 5 and 6 modified method.

In the 1 In general, a Depalettieranlage for separating products is shown. A product stack 1 consists of a large number of product layers arranged one above the other 2 , each product location 2 . 3 from the remaining product layer by an intermediate layer 4 . 5 is disconnected.

Now it is important that every product situation 2 . 3 so with a Depalettiergreifer 6 to be taken, that in each case the intermediate layer 4 . 5 at the product location to be taken 2 . 3 attached to the bottom.

For this purpose, the Depalettiergreifer 6 arranged with four evenly distributed on the circumference and at an angle of 90 ° to each other arranged clamping grippers 7 . 8th . 9 . 10 equipped and will by a robot 11 operated, with the appropriate control of Depalettiergreifers 6 the top product location 2 with the underlying adhesive layer underneath 4 takes out and in the direction of the arrow 14 on a liner singulator table 12 transported. There will be the liner 4 away.

Instead of arranging a liner singulation table 12 Other measures can also be taken, for example, the top product layer 2 with the attached liner 4 be pushed together or formed into a new stack, each with the liner 4 then at the product location 2 adheres.

In 2 is a schematic side view of the Depalettiergreifer 6 shown, where it can be seen that two opposing clamping gripper 7 . 8th inside with suction feet 13 equipped, located on the side surfaces of the product layer 2 invest.

The remaining clamping grippers 9 . 10 Although you can also use vacuum grippers 13 be equipped, but this is not necessary for the solution.

It is also possible, for. B. a clamping gripper 7 with vacuum grippers and an angle of 90 ° and arranged clamping gripper 9 or 10 also equipped with vacuum grippers and vacuum grippers 13 on the clamping gripper 8th to be dropped.

In 3 is now the effect of the clamping gripper with the vacuum grippers arranged thereon 13 shown.

The clamping grippers 7 . 8th will be briefly in the direction of the arrow 20 pulled apart, with the vacuum on the vacuum grippers 13 remains created, so that in the space between the respective product line 15 . 16 a suction gap 17 . 18 results. This is in 4 shown.

By the vertically down each continuous suction gap 17 . 18 can now the suction air 19 except for the liner 4 down, and when lifting the product layer 2 is now the liner 4 on the bottom side by the suction air with at the bottom of the product layer 2 held and can not fall off.

The 5 and 6 show a mechanical engineering of the process, where it can be seen that the four clamping gripper 7 - 10 running around the product stack 1 surrounded and a suction curtain 21 with four sides running all around to the side surface of the upper product layer 2 invests.

For illustrative reasons of presentation here is the liner 4 away from the bottom of the product layer 2 Although this still adheres to the bottom and through the underlying product layer 3 is supported.

For separating the upper product layer 2 with the depalletizer grapple 6 after the 5 and 6 Therefore, it forms in the area of the suction curtain 21 a vacuum chamber 23 which can be placed under a vacuum.

It can also be seen that on the inside of the opposite clamping gripper 7 . 8th Vacuum gripper 13 are arranged, located outside the suction curtain 21 are located and which are adapted to the side surface of each product line 15 . 16 to apply.

In the interior of the vacuum chamber 23 are also raised and lowered trained suction pads 22 arranged with one from the vacuum chamber 23 separate vacuum circuit can be controlled.

The clamping grippers 7 - 10 can in the arrow directions 24 be slidably or pivotally adapted to the size of the product location 2 adapt.

According to 6 Now according to the inventive method to a loosening of the uppermost product layer 2 Ensuring that a vacuum is applied to the external vacuum gripper 13 is created and the clamping gripper 7 . 8th briefly in the direction of the arrow 24 each be moved away from each other, causing the product layer 2 is relaxed and at least in the range of each outermost product line 15 . 16 a linear suction gap 17 . 18 results, by the now the suction air 19 can flow through it. So the suction air reaches 19 also on the arranged at the bottom liner 4 and thus can be at the product location 2 attach without the risk of it falling off. In a next procedural step, focusing on 6 is then provided that the suction pads 22 drive vertically down and focus on the surface of the product 2 invest. As soon as the suction gap 18 . 19 is formed, the vacuum is applied to the suction pads 22 created, and then the vacuum chamber 23 evacuated and the clamping force through the clamping gripper 7 - 10 on all circumferential side surfaces of the product layer 2 applied.

It is assumed that the vacuum on the suction pads 22 already created, so that it sucking at the top of the product layer 2 lie around a re-compression of the uppermost product layer with disappearance of the suction gap 17 . 18 to prevent.

The under vacuum 22 at the top of the product layer 2 applying suction pads 22 fix the upper product layer 2 in the way that the suction gaps 17 . 18 stay upright.

In this process state then moves the entire Depalettiergreifer 6 in the direction of the arrow 14 and isolated the entire product situation 2 with the underlying adhesive layer underneath 4 to another station, z. B. on the liner singulation table 12 ,

The 7 and 8th now show a mechanical loosening of the product layer 2 , wherein in the illustrated embodiment, mechanical plunger or controllable cylinder 25 are present, the offset from each other on different product lines 15 . 16 attack the example in the direction of the arrows 26 to perform an opposite movement.

This will be the product lines 15 . 16 shifted against each other, as in 8th is shown. It then form frontal Saugspalte 17 . 18 in the direction of the suction curtain, which is no longer in the air-tight condition 21 so that too over this suction gap 17 . 18 suction air down to the intermediate layer 4 can get.

It goes without saying that the mechanically acting plunger or controllable cylinder 25 can also be replaced by pneumatically controlled elements.

The 9 shows that mechanically interconnected via the connection 27 ram or controllable cylinder 25 can be used, which then, for example, a sliding movement only in the direction of arrow 26 execute and, for example, only the product line 15 shifts while the adjacent product line 16 stop.

Here too, edge-side suction gaps are formed, which are down to the intermediate layer 4 go down and so sticking the liner to the bottom of the product layer 2 allow, if suitable suction air is applied.

The 10 and 11 show as a further embodiment that instead of a laterally attacking pneumatic or mechanical displacement force and a corresponding displacement force from above to the product position 2 can be created.

In the embodiment shown here are pneumatically controlled elements 28 used in the indicated arrow directions in the space between the product layer 2 blow in with strong blowing power, as well as suction gaps 17 . 18 to build.

Instead of pneumatically operated pneumatically controlled elements 28 Of course, mechanically acting separating elements can be used, such. As separating knife, wedge-shaped separating elements and the like, which sink to the top of the product layer.

As a further embodiment is in 12 showed that so-called Aufrollgreifer also edge 29 to the edges of the product layer 2 can create.

Each roll-up gripper 29 consists of a circumferentially driven belt 31 in the direction of arrows, for example 32 is driven.

By putting on the straps 31 on the margins are thus the external products in each case a product line 15 . 16 in the direction of the arrow 30 transported to the outside, so that then inner suction gaps 17 . 18 result.

It is of course possible, the Aufrollgreifer 29 not at the edge in the horizontal plane to the side surface of the product layer 2 but these reel grippers can also be on the bottom of the product layer 2 hang up and thereby ensure a singling or pulling apart of the individual products in the product range.

In 13 is as a further embodiment in addition to the embodiment of the 5 and 6 illustrated that the suction pads shown in these figures 22 anyway, in the direction of the arrow 34 down to the surface of the product layer 2 Move, now at least marginal still displaceable in the horizontal direction in the direction of the arrow 33 can be driven.

So as soon as in the extreme row 15 . 16 on the top of the product layer 2 and the vacuum applied suction pads have been applied to the top, a shift in the direction of the arrow 33 triggered, and thus become the outer product lines 15 . 16 moved away from each other, and there are intermediate suction gaps 17 . 18 ,

Overall, the present invention describes a method and a device in which a large number of possibilities are claimed as essential to the invention, such as loosening of a product layer in such a way that the product layer between itself vertical suction gaps 17 . 18 is formed so that it is ensured that when applying a vacuum, the suction force up to the applied on the bottom side liner 4 extends.

The invention is not limited to that, for example, according to 2 and 3 itself the clamping gripper 7 . 8th with vacuum grippers 13 are equipped over the entire length.

It is sufficient for the realization of the present invention, if the respective clamping gripper 7 . 8th only at the edge with vacuum grippers 13 is provided, or it is sufficient in another embodiment, the individual vacuum gripper by hydraulic movement elements or pneumatic moving elements still form slidably in the horizontal direction. In this way, then to the respective terminal gripper 7 . 8th on the inside of one or more movable in the horizontal direction trained suction pads 13 present, so that by the controlled sliding movement of the respective suction pad this on the side surface of a product line 15 . 16 can be placed and, for example, only a single product or two arranged at the corners of each product range 15 . 16 pulls out so as to form a vertically continuous suction gap.

So while the 2 to 3 each product series 15 . 16 showed that form a line-by-line continuous suction gap, it is sufficient in the previously described embodiment, individual products from the product range 15 . 16 from the other products in the product range 15 . 16 to lift off, thereby also forming suction gaps.

It is therefore not necessary to solve the problem that a complete range of products is lifted and separated from the other, stationary product lines.

14 shows such a relation to the 5 and 6 modified procedure for not the complete product series 15 . 16 the highest product situation 2 be moved but only individual products using individually movable suction pads 22 in conjunction with cylinders. This makes it possible to the non-shifted products and thus the location 2 to realize a gripping force F with the mechanical clamping and the position 2 thus stabilizing on all sides. This can of course with every product situation 2 . 3 individually, provided they are the top product 2 . 3 is.

LIST OF REFERENCE NUMBERS

1

product stack

2

product location

3

product location

4

liner

5

liner

6

Depalettiergreifer

7

clamping gripper

8th

clamping gripper

9

clamping gripper

10

clamping gripper

11

robot

12

Interlayer separation table

13

Vacuum gripper

14

arrow

15

product range

16

product range

17

suction gap

18

suction gap

19

suction

20

arrow

21

Saugvorhang

22

Suction pads

23

Vacuum chamber

24

arrow directions

25

Plunger or controllable cylinder

26

arrow

27

connection

28

pneumatically controlled element

29

Aufrollgreifer

30

arrow

31

belt

32

arrow

33

arrow

34

arrow

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been 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 4222355 C2 [0002]

Claims (6)

Method for depalletizing products of a product batch ( 1 ), which consists of vertically superimposed product layers ( 2 . 3 ) and horizontally adjacent product lines ( 15 . 16 ), the vertical product layers ( 2 . 3 ) by horizontal sheet or disc-shaped intermediate layers ( 4 . 5 ) are separated from each other, with one on the product stack ( 1 ) Depalletable gripper ( 6 ) with horizontally movable clamping grippers ( 7 - 10 ) for clamping the uppermost product layer ( 2 . 3 ) whose side edges are used in particular as air-impermeable suction curtains ( 21 ) are formed, within which a vacuum chamber connectable to a vacuum device ( 23 ) above the product stack ( 1 ), characterized in that at least one product separating element ( 13 ; 22 ; 25 ; 28 ; 29 ) to the top product layer ( 2 . 3 ), if necessary. creates there, and from at least one product or at least one product series ( 15 . 16 ) horizontally so that at least one vertical suction gap ( 17 . 18 ) between products or product lines ( 15 . 16 ) or between these and the suction curtain ( 21 ) and that then vertically movable suction pad ( 22 ) the products of the highest product position ( 2 . 3 ) fix in their loosened position, and then that the horizontally movable clamping gripper ( 7 - 10 ) the topmost product layer ( 2 . 3 ) and together with the underside ( 4 . 5 ) from the product stack ( 1 ) lose weight. A method according to claim 1, characterized in that the at least one product-separating element ( 13 ; 22 ; 25 ; 28 ; 29 ) at least one horizontally sucking vacuum gripper ( 13 ) or at least one of the vertically sucking suction pads ( 22 ) or at least one horizontal pushing or pulling plunger or controllable cylinder ( 25 ) or at least one vertically blowing pneumatically controlled element ( 28 ) or at least one horizontally sliding or pulling roll-up gripper ( 29 ). Process according to claim 1 or 2, characterized in that the product separation element ( 13 ; 22 ; 25 ; 28 ; 29 ) on at least one of the clamping grippers ( 7 - 10 ) is arranged. A method according to claim 3, characterized in that at least one product separation element ( 13 ; 22 ; 25 ; 28 ; 29 ) on two opposing clamping grippers ( 7 - 10 ) are arranged. Method according to one of claims 1 to 4, characterized in that the product separation elements ( 13 ; 22 ; 25 ; 28 ; 29 ) a horizontal displacement of at least two product rows ( 15 . 16 ) of the topmost product layer ( 2 . 3 ) in the same or in at least two opposite and / or mutually perpendicular directions ( 26 ) cause. Device for carrying out the method according to one of claims 1 to 5, comprising one on the product stack ( 1 ) Depalletizing gripper ( 6 ) with horizontally movable clamping grippers ( 7 - 10 ) for clamping the uppermost product layer ( 2 . 3 ) whose side edges, in particular, as air-impermeable suction curtains ( 21 ) are formed, characterized in that vertically movable suction pads ( 22 ) for fixing the products of the uppermost product layer ( 2 . 3 ), and at least one product separating element ( 13 ; 22 ; 25 ; 28 ; 29 ) for horizontally moving and separating at least one product or at least one product series ( 15 . 16 ) from the topmost product layer ( 2 . 3 ), wherein the at least one product separating element ( 13 ; 22 ; 25 ; 28 ; 29 ) at least one horizontally sucking vacuum gripper ( 13 ) or at least one of the vertically sucking suction pads ( 22 ) or at least one horizontal pushing or pulling plunger or controllable cylinder ( 25 ) or at least one vertically blowing pneumatically controlled element ( 28 ) or at least one horizontally sliding or pulling roll-up gripper ( 29 ).

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