DE102010015299A1 - Cargo handling system for automatic loading and unloading storage compartment, has handler moved from conveyor that is connected with stack, where cargo is received from conveyor, stopped in stack and moved from conveyor to stack - Google Patents

Abstract

The system (10) has a continuous conveyor (24) positioned between a transporting unit and a storage compartment and connected with an under-carriage (14). The conveyor conveys a cargo (20) from the transport unit to the storage compartment and vice versa, and is formed over the whole width of the storage compartment. A handler is decouplably moved from the conveyor, the cargo is removed from a stack (22), and the conveyor is connected with the stack, where the cargo is received from the conveyor, stopped in the stack and moved from the conveyor to the stack.

Description

The present invention relates to a system for handling piece goods for, preferably automatic, loading and unloading of a loading space in which the piece goods are stacked or stacked and which is at least one side horizontally accessible.

The DE 197 19 748 C2 discloses a system for handling piece goods for, preferably automatic, loading and unloading a loading space in which the piece goods are stacked and which is at least one side horizontally accessible, comprising a transport unit for transporting the piece goods in the vicinity of the Loading space or from this, a chassis, which is positioned between the transport unit and the loading space, and an automatic handling machine, which is arranged on or on the chassis and a gripper device for removing a piece goods from the stack and / or for depositing a piece goods on the stack, and a continuous conveyor, which also positioned between the transport unit and the load compartment, connected to the chassis and designed for conveying piece goods from the transport unit to the loading space and vice versa over substantially the entire width of the loading space. With the known system, the distance between a transport unit and piece goods to be unloaded, which is usually quite large so that the working space of a robot is not obstructed by the transport unit, can be reduced. However, it has the disadvantage that the continuous conveyor and the gripper device are connected to each other, so that complicated movements of the system or the robot must be made with gripper device especially for less uniform piece goods or unsorted stacks. This is counteracted by a rapid, in particular automatic, loading and unloading of piece goods into or out of, for example, containers.

The invention is thus based on the object, a faster, in particular automatic loading and unloading of piece goods in and out of cargo spaces, which are accessible at least on one side horizontally.

• – eine Transporteinheit zum Transportieren der Stückgüter in die Nähe des Laderaumes bzw. von diesem weg,
• – ein Fahrgestell, das zwischen der Transporteinheit und dem Laderaum positioniert ist, und
• – einen Handhabungsautomaten, der auf oder an dem Fahrgestell angeordnet ist und eine Handhabungseinrichtung zum Entnehmen eines Stückgutes von einem Stapel und/oder zum Absetzen bzw. Schieben eines Stückgutes auf dem/den Stapel aufweist, und
• – einen Stetigförderer, der ebenfalls zwischen der Transporteinheit und dem Laderaum positioniert, mit dem Fahrgestell verbunden und zum Fördern von Stückgut von der Transporteinheit zum Laderaum hin und umgekehrt vorzugsweise über im wesentlichen die gesamte Breite des Laderaumes gestaltet ist,

wobei die Handhabungseinrichtung gestaltet ist, um sich von dem Stetigförderer entkoppelt zu bewegen und ein Stückgut von dem Stapel zu entnehmen und auf den Stetigförderer zu verbringen sowie ein Stückgut von dem Stetigförderer zu nehmen und auf dem Stapel abzusetzen bzw. von dem Stetigförderer auf dem Stapel zu schieben. Anstelle der Transporteinheit könnte auch ein nachgelagerter Prozess, wie zum Beispiel ein Roboter direkt hinter dem Stetigförderer, vorgesehen sein. Zum Entladen könnte man als Handhabungseinrichtung anstelle eines Greifers zum Beispiel ein Klotz verwenden, da das Stückgut, wie zum Beispiel Pakete, einfach hineingeschoben werden können.According to the invention, this object is achieved by a system for handling piece goods for, preferably automatic, loading and unloading a loading space in which the piece goods are stacked or stacked and which is at least one side horizontally accessible comprising

• A transport unit for transporting the piece goods close to or from the loading space,
• A chassis positioned between the transport unit and the cargo space, and
• - An automatic handling machine, which is arranged on or on the chassis and has a handling device for removing a piece goods from a stack and / or for depositing or pushing a piece goods on the / the stack, and
• A continuous conveyor also positioned between the transport unit and the loading space, connected to the chassis and designed to convey piece goods from the transport unit to the loading space and vice versa preferably over substantially the entire width of the loading space,

wherein the handling device is designed to move decoupled from the continuous conveyor and remove a piece of goods from the stack and spend on the continuous conveyor and to take a piece of goods from the continuous conveyor and settle on the stack or from the continuous conveyor on the stack slide. Instead of the transport unit could also be a downstream process, such as a robot directly behind the continuous conveyor, be provided. For unloading, for example, a log could be used instead of a gripper as a handling device, since the piece goods, such as parcels, can simply be pushed in.

Advantageously, the transport unit is connected to the chassis. But it is also sufficient if the chassis and the transport unit move synchronously.

Furthermore, it can be provided that the transport unit is a conveyor belt.

According to a particular embodiment of the invention, a front edge of the continuous conveyor facing the loading space can be height-adjustable with a purely vertical trajectory.

In particular, it can be provided that the front edge of the continuous conveyor is height adjustable over the entire height of the cargo space.

According to a further particular embodiment of the invention, the continuous conveyor comprises four transport elements which are arranged in a T-shape, wherein the handle of the T points away from the accessible side of the loading space and consists of two successively arranged transport elements and wherein on both sides of the front, turned to the load compartment Transport element per a transport element is arranged, which together with the front transport element are arranged in a common plane. In general, the transport elements may be, for example, conveyor belts, rollers, wheels, balls and even air (as air cushion).

Advantageously, the substantially common plane of the three transport elements extends horizontally over an upper height adjustment area and is tilted toward the loading space via a lower height adjustment area.

Appropriately, the continuous conveyor for adjusting the height of the three transport elements and tilting thereof comprises a combination of a parallel kinematics, which is mounted on the chassis via two linear bearings, and a crank kinematics, which connects via a pivot bearing the parallel linkage with the chassis.

In particular, it can be provided that the transport elements directly following the transport unit are designed to be telescopic. This ensures that the horizontal distance between the front edge of the continuous conveyor and the trailing edge thereof, which is adjacent to the conveyor unit, remains constant even when adjusting the height and / or inclination of the continuous conveyor. Depending on the design but could also be another transport element telescopic to close the gap.

Alternatively, it is also conceivable that a fifth transport element is provided towards the transport unit, whose end lying to the loading space is arranged below the end of the nearest transport element of the continuous conveyor.

Finally, the handling device may comprise a gripper device, in particular a suction gripper or a needle gripper.

The invention is based on the surprising finding that an automatic discharge is only efficiently possible by the decoupling of the continuous conveyor from the handling device. In the case of the above DE 197 19 748 C2 Known system can be the layers of superimposed cargo always unloaded level by level, since the continuous conveyor and the gripper device are coupled together. In contrast, in the present invention, the leading edge of the continuous conveyor can also be arranged below the uppermost layer / line / layer of piece goods, for example several layers below it, and the piece goods of different layers can be pulled onto the continuous conveyor. As a result, the position of the continuous conveyor must be changed less frequently. This is less time consuming.

In addition, the above-mentioned decoupling also enables lateral lifting of a piece good. Namely, in the known system, the gripper device is coupled to the continuous conveyor such that it can only be moved horizontally, parallel to the front of a stack of parcels, and moved back and forth. This is based on the idea of handling parcels juxtaposed and stacked horizontally from a stack of parcels using a vacuum gripper, each of the top parcels one after the other within a stack of parcels horizontally out of the parcel stack that not the weight of the entire package, but only a small percentage of the weight, which is defined by the adhesive or Gleitreibungskonstanten must be spent.

Further features and advantages of the invention will become apparent from the appended claims and the following description, in which several embodiments of the present invention are explained in detail with reference to the schematic drawings, in which:

1 a perspective view of a system for handling cargo for loading and unloading a cargo space in which the cargo is stacked and which is at least one side horizontally accessible, according to a particular embodiment of the present invention shows;

2 a side view of the system of 1 shows;

3a - 3e the continuous conveyor to the in the 1 and 2 shown system, in different configurations in use;

4 shows a continuous conveyor in an alternative embodiment of the invention;

5 shows a continuous conveyor in a further alternative embodiment of the invention;

6 shows a continuous conveyor in a further alternative embodiment of the invention; and

7 shows a continuous conveyor in a further alternative embodiment.

That in the 1 and 2 shown system 10 includes a conveyor belt 12 or a telescopic conveyor as a transport device for transporting piece goods in the vicinity of a loading space (not shown) or away from, a chassis 14 that is between the conveyor belt 12 and the Loading space is positioned, and an automatic handling machine 16 in the form of a robot on the chassis 14 is arranged and a gripper device 18 in the form of a suction gripper for removing a piece goods 20 , for example, a package, from a stack 22 and for depositing a piece goods on the stack, and a continuous conveyor 24 also between the conveyor belt 12 and the cargo space is positioned with the chassis 14 connected and for conveying piece goods from the conveyor belt 12 towards the cargo space and vice versa over substantially the entire width of the accessible side of the cargo space is designed. Said continuous conveyor can also be referred to as active conveyor, since it is actively adjustable in height.

On the chassis 14 are two upright columns 26 and 28 arranged at a distance to each other transversely to the conveying axis F. These serve to guide a two-track guide profile 30 , the two horizontal guide profiles 32 and 34 Includes, by a horizontal cross member 36 on the side to the stack 22 are connected with each other. Together with the gripping device 18 , which has a scara kinematics on the cross member 36 attached, form the guide profile 30 and the cross member 36 the robot 16 ,

Part of the continuous conveyor 24 extends in conveying axis or direction F between the two columns 26 and 28 therethrough. As the gripper device 18 not on the continuous conveyor 24 attached, it can be different from the continuous conveyor 24 move decoupled and a piece goods 20 from the stack 22 take and on the continuous conveyor 24 spend as well as a piece goods 20 from the continuous conveyor 24 take and on the pile 22 drop.

The conveyor belt 12 is with the chassis 14 connected via a joint.

The in the 1 and 2 shown continuous conveyor 24 has a total of five transport elements, here conveyor belts, of which three, namely 38 . 40 and 42 in the conveying direction F behind the other or depending on the configuration in use overlapping arranged and one 44 such as 46 each left and right of the front transport element 38 and approx. 20 mm higher than the latter are arranged. When unloading serve the two transport elements 44 and 46 for transporting piece goods to the center, that is to the transport element 38 , in turn, the piece goods to the transport element 40 transported, the latter the cargo to the transport element 42 transports the piece goods to the conveyor belt 12 transported. The transport element 40 is on the frame of the continuous conveyor 24 mounted and the transport element 42 is with the chassis 14 connected.

As in conjunction with the 3a to 3e results are the three transport elements 38 . 44 and 46 in almost one plane (more precisely, the lateral transport elements 44 and 46 approx. 20 mm higher than the middle transport element 38 arranged in order to achieve a better transition of the cargo) and is the front edge facing the loading space 48 Height adjustable with a purely vertical trajectory. This is done by a parallel kinematic 50 that have two linear bearings 52 and 54 (hidden) on the chassis 14 stored, in combination with a crank kinematics 56 that have a pivot bearing 58 (concealed) the parallel kinematics 50 with the chassis 14 connects, realizes. Through the height adjustment over the entire height, the transport elements 38 . 44 and 46 in many gripping cases directly to the edge of a piece good, for example a package edge, to be driven.

Both linear bearings 52 and 54 are connected to a body (not shown) (for example a spring, gas spring, a rubber buffer), which can change its length according to need, to the movements of the parallel kinematic 50 to influence. If, as in the 3d shown, the longitudinal conveying elements 38 and 40 have reached a nearly horizontal position, reaches the linear bearing 54 his final position. After that, the linear bearing 52 moved further to the rear. As a result, the conditions of a parallel kinematic 50 no longer given and moved are the transport element 38 not parallel to the ground, but tilts to the stack 22 downward. As a result, even the lowest piece goods can be unloaded by means of the system.

If the system 10 running backwards, the continuous conveyor can also be used for the automatic loading of piece goods. For loading, the gap between the transport elements must be 40 and 42 be closed. In the present case, this is done by the transport element 42 over the transport element 40 is moved. The piece goods are from the conveyor belt 12 to the front edge 48 of the continuous conveyor 24 transported. From there they are depending on the desired loading position on the left transport element 44 or the right transport element 46 transported until they are directly in front of the final position (on the stack in, for example, a container). The robot or the gripper device 18 In this case, the piece goods must only "push in" into the container until the piece goods reach the continuous conveyor 24 has completely left. At that moment, the next piece of cargo can be promoted and invited. This can be done in parallel. If a piece goods to be loaded on the left side of the stack, in the meantime a cargo can be promoted on the right transport element. This saves time.

As already indicated above, the show 3a to 3e different configurations of the continuous conveyor 24 , Based on the configuration of 3a in which the transport elements 38 . 44 and 46 are in a common relatively high level, the other figures show how their height is lowered to handle piece goods from lower layers. It can be seen clearly that the trailing edge 60 of the rearmost transport element 46 in principle always at the same height as the conveyor belt 12 and that of the continuous conveyor 24 horizontally occupied area between the front edge 48 and the trailing edge 60 remains constant. This is achieved by the trailing edge 62 of the transport element 40 above the transport element 42 located. If then the transport elements 38 . 44 and 46 jointly adjusted in height, that is lowered, remains through effective shortening of the transport length of the transport element 42 said distance constant.

4 shows an alternative embodiment of a continuous conveyor 24 , This has only three transport elements, namely a front transport element 64 and two behind it in the conveying direction subsequent transport elements 40 and 42 on. The transport element 64 It is designed so that it conveys general cargo both in the transverse and in the longitudinal direction. This can be done for example by rollers that allow both a longitudinal and a transverse movement in order to be able to transport the piece goods from the middle position to the left or to the right and vice versa. Then it would also be useful to attach position measuring systems to the conveyor belts, which can determine the position of the piece goods. For loading, the gap between the transport elements must be 40 and 42 be closed. In the present case, this is done by the transport element 42 over the transport element 40 is moved.

The in the 5 shown embodiment of a continuous conveyor 24 is different from the one in the 1 to 3e shown embodiment in that the transport element 42 by a telescopic element, such as a scissor runway 66 is replaced. Then it is not necessary that the trailing edge 62 of the transport element 40 above the scissor runway 66 is arranged, and is also readily or without modification or position loading possible.

6 again shows an alternative embodiment of a continuous conveyor. This one has just like the one in the 1 to 3e shown continuous conveyor in the front area the three transport elements 38 . 44 and 46 on, but in the rear area instead of the transport elements 40 and 42 a telescopic element, for example a scissor runway 68 on.

Again alternatively shows 7 an embodiment of a continuous conveyor 24 , This differs from the embodiment of FIG 6 in that the scissors runway 68 through telescopic band 70 is replaced.

• – die Taktzeiten werden verkürzt.
• – Erhöhung des Durchsatzes.
• – Reduzierung des Energieverbrauchs.

Shortening the transport routes achieves the following advantages:

• - The cycle times are shortened.
• - Increase of throughput.
• - Reduction of energy consumption.

• – Reduzierung der Stückgutverlustrate: Der Abstand zwischen Unterkante und Boden (oder Transportband) kann auf ein Minimum verringert werden. Im Fall des Stückgutverlustes fällt das Stückgut nicht ungebremst zu Boden, sondern nur ein paar Zentimeter auf den Stetigförderer.
• – Vereinfachung der Berechnungen: Der Greifpunkt und die Bahnberechnung müssen weniger genau geplant werden. Das Prinzip des definierten Greifens weicht dadurch einem Prinzip, das keine Kantenerkennung erfordert. Eine grobe Erkennung der Stückgutoberfläche reicht aus.
• – Vermeidung von Sonderfällen: Der Deckenhöhefall wird dadurch beseitigt, dass das Stückgut vom Stapel gezogen und vom Stetigförderer abgeholt wird. Eine Greiferverdrehung ist nicht mehr notwendig.

The possibility of height adjustment achieves the following advantages:

• - Reduction of the cargo loss rate: The distance between bottom edge and bottom (or conveyor belt) can be reduced to a minimum. In the case of loss of parcels, the parcels do not fall unbraked to the ground, but only a few centimeters on the continuous conveyor.
• - Simplification of calculations: The gripping point and the path calculation need less accurate planning. The principle of defined gripping differs thereby a principle that does not require edge detection. A rough recognition of the cargo surface is sufficient.
• - Avoidance of special cases: The ceiling height drop is eliminated by pulling the piece goods off the pile and collecting them from the continuous conveyor. A gripper rotation is no longer necessary.

• – Die Struktur ist besonders schlank und lässt den Raum unter den Transportbändern frei. Kameratechnik kann nun nicht nur über den Transportbändern, sondern auch darunter angebracht werden.
• – Das gesamte System kann mit nur einem Antrieb in der Höhe positioniert werden. Das Kippen der Vorderkante, nachdem die tiefste Position erreicht ist, wird mit dem gleichen Antrieb realisiert.
• – Die Vorderkante des Stetigförderers fährt eine vertikal absolut gerade Bahn. Bei einer Änderung der Höhe des Stetigförderers muss der Roboter nicht vor- oder rückwärts bewegt werden, um die Änderung in der Länge des Roboters zu kompensieren.
• – Wenn Packstücke auf dem Boden liegen, kann das oberste Transportband gekippt werden, um den vertikalen Abstand zu reduzieren.
• – Mit einer an der Vorderkante montierten Vorrichtung kann ein Stückgutstapel gestützt werden, um zu verhindern, dass er während des Entnehmen des oberen Stückgutes umkippt.

The combined thrust crank parallel kinematics have the following advantages:

• - The structure is very slim and leaves the space under the conveyor belts free. Camera technology can now be mounted not only on the conveyor belts, but also below.
• - The entire system can be positioned in height with only one drive. The tilting of the leading edge, after the lowest position is reached, is realized with the same drive.
• - The front edge of the continuous conveyor moves a vertically absolutely straight path. When changing the height of the continuous conveyor, the robot does not have to be moved forwards or backwards to compensate for the change in the length of the robot.
• - If packages are lying on the ground, the upper conveyor belt can be tilted to reduce the vertical distance.
• - With a mounted on the front edge device, a stack of pieces can be supported to prevent it from tipping over during the removal of the upper piece goods.

The features of the invention disclosed in the foregoing description, in the drawings and in the claims may be essential both individually and in any combination for the realization of the invention in its various embodiments.

LIST OF REFERENCE NUMBERS

10

system

12

conveyor belt

14

chassis

16

handling Machine

18

Gripper device

20

cargo

22

stack

24

Continuous conveyors

26, 28

columns

30

guide profile

32, 34

guide profiles

36

crossbeam

38, 40, 42

transport elements

44, 46,

transport elements

48

leading edge

50

parallel kinematics

52, 54

linear bearings

56

Crank kinematics

58

pivot bearing

60

trailing edge

62

trailing edge

64

conveyor belt

66

Scissors Runway

68

Scissors Runway

70

telescopic belt

F

conveying axis

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 19719748 C2 [0002, 0015]

Claims (11)

System ( 10 ) for handling general cargo ( 20 ) for the, preferably automatic, loading and unloading of a hold in which the piece goods ( 20 ) are stacked or stacked and which is accessible horizontally at least on one side, comprising - a transport unit for transporting the piece goods ( 20 ) in the vicinity of the loading space or away from it, - a chassis ( 14 ) positioned between the transport unit and the load compartment, and - an automatic handling machine ( 16 ) mounted on or on the chassis ( 14 ) is arranged and a handling device for removing a piece goods ( 20 ) from a stack ( 22 ) and / or for settling or pushing a piece goods ( 20 ) on the stack ( 22 ), and - a continuous conveyor ( 24 ), which is also positioned between the transport unit and the load compartment, with the chassis ( 14 ) and for conveying piece goods ( 20 ) is preferably formed from the transport unit to the loading space and vice versa, preferably over substantially the entire width of the loading space, wherein the handling device is designed to move away from the continuous conveyor (8). 24 ) decoupled to move and a piece goods ( 20 ) from the stack ( 22 ) and on the continuous conveyor ( 24 ) as well as a general cargo ( 20 ) of the continuous conveyor ( 24 ) and on the stack ( 20 ) or from the continuous conveyor on the stack ( 20 ). System ( 10 ) according to claim 1, characterized in that the transport unit with the chassis ( 14 ) connected is. System ( 10 ) according to claim 1 or 2, characterized in that the transport unit comprises a conveyor belt ( 12 ). System ( 10 ) according to one of claims 1 to 3, characterized in that a front edge facing the loading space ( 48 ) of the continuous conveyor ( 24 ) is height adjustable with a purely vertical trajectory. System ( 10 ) according to one of the preceding claims, characterized in that the leading edge ( 48 ) of the continuous conveyor ( 24 ) is height adjustable over the entire height of the cargo space. System ( 10 ) according to claim 4 or 5, characterized in that the continuous conveyor ( 24 ) four transport elements ( 38 . 44 . 46 . 68 ; 38 . 44 . 46 . 70 ), which are arranged T-shaped, wherein the stem of the T facing away from the accessible side of the loading space and from two successively arranged transport elements ( 38 . 68 respectively. 38 . 70 ) and wherein on each side of the front, to the cargo space facing transport element per a transport element ( 44 respectively. 46 ) is arranged. System ( 10 ) according to claim 6, characterized in that the substantially common plane of the three transport elements ( 38 . 44 . 46 ) horizontally and tilted over a lower Höhenverstellbereich to the loading space over an upper Höhenverstellbereich. System ( 10 ) according to claim 7, characterized in that the continuous conveyor ( 24 ) for adjusting the height of the three transport elements ( 38 . 44 . 46 ) and tilting the same a combination of a parallel kinematic ( 50 ), which has two linear bearings ( 52 . 54 ) on the chassis ( 14 ) is mounted, and a crank kinematics ( 56 ), which have a pivot bearing ( 58 ) the parallel kinematics ( 50 ) with the chassis ( 14 ) includes. System ( 10 ) according to one of claims 6 to 8, characterized in that the directly following the transport unit transport element ( 68 ) is designed telescopic. System ( 10 ) according to one of claims 6 to 8, characterized in that a fifth transport element ( 42 ) is provided towards the transport unit, whose end facing the loading space below the end of the nearest transport element ( 40 ) of the continuous conveyor ( 24 ) is arranged. System ( 10 ) according to one of the preceding claims, characterized in that the handling device comprises a gripper device ( 18 ), in particular a suction gripper or a needle gripper.

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