DE102013204095A1 - Method and device for positioning, aligning and / or grouping articles, piece goods or containers - Google Patents

Abstract

A device (10) for aligning and / or grouping a number of piece goods and / or containers (14) within a defined movement space (12) is disclosed, to which at least one feed device (16; 16a, 16b) for feeding the at least a row of piece goods and / or containers (14) transported upstream is arranged upstream of the movement space (12), and at least one discharge device (20) is arranged downstream for the removal of grouped goods and / or in layers (38) arranged piece goods and / or containers (14) is. The device (10) comprises at least one manipulation device (22) for displacing and / or rotating individual piece goods and / or containers (14) or groups of several piece goods or containers (14) within the movement space (12), which at least one In the horizontal direction movable and / or rotatable slide element (24) for contacting the respective piece goods and / or containers (14) or the groups with several piece goods or containers (14) on at least two adjacent side surfaces and for their displacement and / or rotation . In addition, the slide element (24) is assigned an actuator for sensor- and / or position-controlled exertion of a vertically directed pressure force (FZ) on the piece goods or containers (14) or the group contacted with several containers (14) or piece goods. Furthermore, a corresponding method for aligning and / or grouping a number of piece goods and / or containers (14) conveyed in succession in at least one row is disclosed, which are conveyed in the horizontal direction to the movement space (12).

Description

The present invention relates to a method for positioning, aligning and / or grouping a number of consecutively conveyed articles, general cargo and / or containers with the features of independent method claim 1. The invention also relates to a corresponding apparatus for performing the method with the Features of the independent apparatus claim 8.

In the promotion, handling and subsequent packaging of articles, containers or general cargo such as. Packages or container bundles, which are transported in a row one behind the other on a horizontal conveyor, there is usually the need for a resort to the items, cargo and / or container in one stackable arrangement, ie in the spatial arrangement of a stackable layer, so that they can be stacked in the packaging machine in pallet layers. To avoid the e.g. consecutively conveyed in a single row article or other cargo such as containers in a stackable layer arrangement, successively transported containers or cargo each have to be subjected to different displacement and / or rotational movements, which, for example, with so-called. Portal gripping systems or articulated gripping systems can be done. Here, within a movement space such as, for example, a transfer table or in the area of a wide belt conveyor conveyed by a horizontal conveyor article, container or piece goods by means of the gripper individually detected and moved to a defined position and / or rotated, possibly with simultaneous further transport in the horizontal conveying direction , Depending on the bundle layer to be configured or grouped, general cargo or article position, different positioning movements for successive articles, piece goods or containers are to be carried out in each case until the desired layer image has been completed. This layer arrangement can then be further transported as a whole and, for example, handed over to a palletizing device.

Regardless of the portal gripper systems or articulated gripper gripping systems used, multi-phase movements are required for each collection of a bundle or piece goods: the gripper arm must be lowered onto the container or piece goods before the gripping tongs can close and grip the container or piece goods. Thereafter, a displacement and / or rotational movement in the horizontal direction, before the gripper is opened again to release the piece goods or container and lifted upwards. Due to the fast clocked variety of such movements, it has proven to be advantageous to arrange two or more such arrangements with grouping tables and their respective associated handling and / or manipulation devices behind one another, optionally fed by two or more parallel feed belts with articles conveyed in rows, General cargo or containers.

The mentioned grouping systems are known in numerous different variants. In addition, the reveal DE 201 15 478 U1 and the WO 03/022717 A1 each different devices for discharging objects from article streams. The discharge takes place with controllable manipulators, which move the articles laterally.

Since these known handling devices either only know a single direction of displacement for conveyed articles or require multi-phase displacement movements of articles, containers or piece goods relatively complex gripper systems with numerous axes of movement, power supply lines, etc., various alternative handling systems have been proposed. So revealed the WO 2009/011634 A1 a Gruppiersystem with a pivotable about a vertical axis arm on which a slider is movably mounted with suction. The slider can convey individual containers or packaged goods from a horizontal conveyor belt in the lateral direction to a grouping table and thereby possibly rotate, wherein the suction elements hold the container during the rotation and / or displacement operation on the slider. These supporting suction elements require an additional supply of negative pressure and slow down the entire grouping process due to the switching times for setting up and switching off the negative pressure during each handling operation.

In view of the construction and maintenance costs of the known gripper systems and the functional limitations of the known slider systems, which work with negative pressure, a primary aim of the present invention is to provide a simplified method and a device that is as simple and manageable as possible for resorting to article, general cargo. and / or rows of containers to make available, which in particular a fast and with respect to the positioning of the article, container or piece goods reliably working and precisely repeatable layering should be possible.

These objects of the invention are achieved with the objects of the independent claims. Features of advantageous developments of the invention will become apparent from the dependent claims. Thus, in order to achieve the stated object, the invention provides a method for positioning piece goods and / or containers, which are arranged horizontally Direction on a conveyer within a range of motion. In the method, individual or groups of two, three or more to be positioned piece goods or containers by means of a movable at least in the horizontal direction and / or rotatable manipulation device at least two, but at most three vertical side surfaces of the moving piece goods or containers contacted and then by means of a in positioned horizontally within the movement space directed positioning movement. At least during a positioning movement, which has an acceleration component directed counter to the vertically contacted side surfaces, the manipulation device additionally exerts a vertical pressure force directed onto the surface or upper side of the piece goods or bundles or groups of piece goods or containers. A directed against the vertically contacted side surfaces of the container or container groups acceleration component means in particular a delay component, which can lead to more delaying manipulation means that the container or piece goods or the pack or group of units wants to replace the manipulation device. In order to counteract such a detachment movement, a vertical pressure force is exerted, which presses the containers or piece goods from above onto the surface of the movement space and prevents the detachment and thus incorrect positioning due to the increased static friction.

The method according to the invention provides that the manipulation device positions the displaced and / or turned piece goods or packages or the shifted and / or rotated group of several pieces or packages at least briefly before reaching a respective target position by a pressing process directed vertically onto a surface of the movement space and / or fixed to the contacted side surfaces. In order to be able to ensure the accuracy of the manipulation movements of all piece goods, packages or packaged goods or packages even at higher rotational and / or displacement speeds and the associated strong delays in the achievement of the respective target positions, the at least one manipulation device is at least during a deceleration phase before reaching the respective target position of a displaced and / or turned piece or bundle or a shifted and / or rotated group of several piece goods or containers within the movement space from the top of the piece or container or the group of several piece goods or containers pressed.

This reliably prevents the displaced and / or turned general cargo, containers or groups with loose goods or containers from the manipulation device can replace, since they are not enclosed, clamped or gripped by this on all sides, but only contacted in a way that a Angled slider element of the manipulation device engages the cargo or container or the cargo or container group on two adjacent sides or on non-parallel sides and thus move in a defined manner and / or can rotate.

The described possibilities of interaction between the manipulation device and a container or piece goods to be manipulated or a group of piece goods or containers to be manipulated require a certain spatial design and certain possibilities of movement and action of the manipulation device, on the one hand to the size of the container to be handled or Piece goods or pack or group of parcels and on the other hand are tuned to the desired rotation and / or displacement movements. In order to be able to carry out the desired manipulations and influencing of the piece goods or containers, the manipulation device comprises a plurality of contact surfaces, which are applied to the containers to be moved and / or rotated or piece goods and / or over which a temporally limited vertical pressure is exerted and / or at least can be partially used as sensor contact surfaces.

If, in connection with the design of the manipulation device and its contacting the general cargo to be influenced, containers or groups with cargo or containers on at least two adjacent or non-parallel side surfaces, so it can, for example, a contacting the goods or containers to handle an L-shaped design of a slider element of the manipulation device to be meant. Such an L-shaped slider can contact a cuboid or piece goods on two adjacent side surfaces and move in this way and / or rotate. However, this definition is not intended to be limiting, since the manipulation device can handle all types of packaged or packaged goods alike, even if they do not have a cuboid shape, where an L-shaped slide can not attack at two side surfaces adjoining at 90 ° angles , However, the formulation of the non-parallel side surfaces also includes contacting non-cuboid general cargo or containers, for example. Such polygonal, cylindrical or other design.

In addition to this slide element, which may preferably have an L-shaped configuration, the manipulation device for Realization of the scope of the invention further comprises an upper contact surface, the underside of which can exert a controllable pressure on an upper side of a contacted container or piece goods or a group of packaged or grouped goods to a greater delay after previous displacement and / or rotation a detachment of the container or Good to prevent cargo or the pack or group of goods from the L-slider reliable. Normally, this upper contact surface simultaneously forms a connection to movable suspension elements of the manipulation device, for example to sliding support elements of a gantry robotic system or the like.

For clarification, it should already be pointed out at this point that the term manipulating device in the present context means the movably suspended and with controllable pressure on the container or piece goods or the pack or group of packs acting, a defined spatial extension having functional element depending on the embodiment, an L-shaped slide and an upper contact surface may have. Furthermore, this definition of the manipulation device may include suitable actuators that provide for temporary pressurization in the vertical direction. By contrast, the drive devices that provide for the movements of the manipulation device within the defined range of motion, such as, for example, linear drives of a gantry robotic system, are no longer covered by this definition. Although these are present, they can alternatively also be replaced by drive elements of an articulated-arm robot or by other suitable drive units.

A preferred embodiment of the method according to the invention can provide that the vertical contact pressure of the manipulation device on the piece goods or container or the group of several piece goods or containers is controlled by evaluation of sensor signals. These sensors can optionally detect the position, the speed or even the acceleration of the respective manipulation device and / or its relative position to the currently shifted and / or rotated piece goods or containers or pack or group of parcels and, depending on this, control the manipulation device in such a way that at least towards the end of a displacement and / or rotational movement, a fixation of the manipulated piece goods or container takes place by the manipulation device is pressed vertically downwards, so that from above a contact force acts on the manipulated objects, which prevents them from prematurely from the slide element of the manipulation device replace.

Optionally, in the method, at least two containers and / or piece goods can be moved, positioned, displaced and / or rotated at least in phases at the same time by means of at least two manipulation devices. In this case, it makes sense that the at least two manipulation devices are arranged to be movable independently of one another within the movement space, so that the desired independent movement of the different piece goods or packs or groups is made possible.

The method according to the invention is used primarily for the production of defined, regular arrangements or groupings of piece goods or containers, in particular of palletizable layer images, which can subsequently be palletized and stacked. For this purpose, the packages or piece goods run on one or more tracks randomly or pre-grouped on a conveyor belt and are conveyed to a so-called. Movement space, which may be formed, for example, by a so-called. Gruppierband. In this movement space or on this so-called Gruppierband the container or piece goods with staggered arranged manipulation, handling or shifting devices - formed, for example, by robots with moving slides - moved transversely to the direction and rotated or only moved or only rotated or not at all manipulated. The aim of these operations is to produce downstream of the movement space or Gruppierbandes a stackable layer image, which is aligned by a slider or stopper in the direction and is laterally centered by moving or sliding strips.

Optionally, a feed belt or a plurality of parallel feed belts can be provided. In the case of a two-lane inlet, the handling or manipulation devices or the robots can be staggered for better utilization of the maximum working space, so that they can reach and manipulate the pre-grouped containers or piece goods on each half. The displacement and rotation of the packages or piece goods preferably takes place via a simple L-shaped slide. This L-shape of the slider is oriented in its basic position on the suspension of the robot so that the maximum acceleration during translation and rotation of the container takes place with the closed side. If, for example, the front edge of the L-shaped slide is opposite to the direction of movement of the container, this results in alignment of the container when the robot is synchronized with the container speed. If the displacement and rotation of the Gruppierbandmitte outward, the other surface of the L-slider is seen from the container on the center of the belt. In a movement of outside to the inside, the orientation of the L-slider is mirrored to the container.

The manipulation device or the L-slider can basically attack from any arbitrary side to the container or piece goods and these rotate, decelerate, accelerate or position in combined and / or non-linear movement in the desired manner.

The L-shaped slider has no active element for the positive fixing of the container, as would be the case, for example, in a conventional jaw gripper. For this reason, it can be expected with high performance and the associated relatively high accelerations, that at low friction between mat chain and bottom of the container, the package or piece goods from the intended end position slip. This risk of slippage is especially when braking when the delay of the slider is so large that the inertial forces of the container are greater than the frictional forces counteracting the movement. To prevent these effects, the containers are pressed against the mat chain at least during their braking from above. For this purpose, for example, an element for frictional connection (for example elastomer mat with a high coefficient of friction to the container) can be provided on an underside of the manipulation device, which presses on the container from above and prevents incorrect positioning. It should be remembered in this context on the above-mentioned upper deck surface of the manipulation device, the underside interacts to produce the temporarily controllable vertical pressure with the top of the container or piece goods or the pack or group of parcels and in this way can prevent the detachment of the slide surface ,

In a multiaxial movable manipulation element or a so-called. Multi-axis robot, this element can be activated without an additional actuator; The robot executes a short feed stroke perpendicular to the container from above, thus creating the desired frictional connection to the container. However, an increased contact pressure of the container on the mat chain leads to higher displacement forces, which add up to the inertial forces of the container to be overcome by the robot. Therefore, it is advantageous if the control of the robot presses only at the time with the elastomer mat on the container in which the centrifugal or deceleration forces act in a direction in which the slider is open, since in this phase the container the L -shaped contact surfaces of the slide could leave in the direction of the forces acting. By means of the dynamic pressing process according to the invention, the packages or piece goods can be positioned very accurately, even when working with high displacement and / or rotational speeds.

Due to the at least briefly carried out Anpressvorgang the container on the mat chain in the movement space strong delays in the form of steeper braking ramps can be realized in the robot system, since in this case the frictional forces of the container resulting from the pressure counteract the inertial forces of the moving masses of Roboterstrukuren, slide and container. Since the handling devices of modern robot controllers have the characteristic that they can provide accurate information about position, orientation, speed and acceleration of the manipulation devices and thus of the container at any time, the pressing process can be initiated from the top of the container at exactly the right time.

In addition, it is possible with the aid of suitable acceleration sensors to detect the magnitude and direction of the occurring accelerations on the slider in order to control the pressing from above. Furthermore, sensors in the slide are conceivable which detect a deviation of the position of the container in the slide and thus in turn can control the height of the contact pressure from above. Thus, for example, a spring-loaded metal sheet could deliver a switching pulse in such moments, in which the container is released from the slider wall due to the high inertial forces. Then the Anpressvorgang is initiated from above, so that there is only a slight incorrect positioning, which is irrelevant in the further course of the grouping and palletizing. This system would have the advantage that it can adapt to the new conditions with changing friction coefficients (learning software). A robot structure which is particularly suitable for this sliding, turning and pressing operation can be provided, for example, by gantry robots or also by so-called tripod robots, with displacement possibilities in three different spatial directions and rotation possibilities about a vertical axis.

A further embodiment variant of the positioning method according to the invention can provide that during a rectilinear positioning movement, which has a negative braking acceleration, which is directed at least against a contacted vertical side surface, in addition, a vertical pressure force is applied to the surface of the piece goods or bundles or group of piece goods or containers. Further, in the method, during a non-linear positioning movement having a negative braking acceleration or a positive acceleration counteracting at least one contacted vertical side surface, in addition, a vertical compressive force directed to the surface of the piece goods or pack or group of packaged goods or containers may be exerted become. By this additionally exerted vertical pressure forces is reliably prevented under all circumstances, that the piece goods to be positioned or container or the cargo or pack group separates from the vertical side surfaces of the manipulation device, especially in strong braking delays or in fast rotations or other non-linear or non-linear movements within the movement space.

To achieve the above object, the invention proposes, in addition to the method described in various aspects, a device for aligning and / or grouping a number of piece goods and / or containers within a defined range of motion, for example. By a horizontal conveyor such as a so-called Gruppierband or a mat chain o. The like. May be formed. This horizontal conveyor or the Gruppierband is at least one feed device for feeding the transported in at least one row successively transported piece goods and / or containers to the movement space and at least a discharge conveyor for further transport or removal of grouped and / or arranged in layers cargo and / or containers downstream. Furthermore, the movement space or Gruppierband a manipulation device for moving and / or rotation of individual cargo and / or containers or groups of several cargo or containers within the movement space is assigned. This manipulation device comprises at least one at least in the horizontal direction movable and / or rotatable slide element for contacting the respective packaged goods and / or packs or groups with several packaged goods or containers at least two adjacent or non-parallel side surfaces and their displacement and / or rotation , According to the invention, the slider element is coupled to an actuator which can trigger sensor-and / or position-controlled a vertically directed pressure force on each contacted piece goods or containers or the contacted group with multiple containers or cargo. The slider element of the at least one manipulation device has an L-shaped contact surface for contacting the / to be moved and / or to be rotated piece goods or containers or unit or container group at least two adjacent or non-parallel side surfaces and a support surface for controllable contacting a top of General cargo or container or the general cargo or container group.

In addition, the actuator assigned to the slide element can be controllable as a function of the sensor signals of at least one acceleration sensor assigned to the slide element. Optionally, the actuator associated with the slide element can also be controllable as a function of the sensor signals of at least one pressure sensor assigned to the slide element. Such a pressure sensor can in particular detect a contact pressure between one of the side surfaces of the piece goods, container or the cargo or container group and the L-shaped contact surface of the slider element, so that when the beginning of detachment of the container or piece goods in the horizontal direction, a compressive force can be exerted from above in order to prevent the detachment process with a strong delay of the L-shaped slider.

A combination of the motion control of the manipulation devices with suitable optical sensors such as, for example, a camera or multiple cameras may be useful. On the one hand, these optical sensors or cameras can detect the course of movement of the containers or piece goods to be manipulated within the movement space. In addition, however, can also be provided an optical detection, so as to detect the piece goods or container positions on the feeders and recognize to make depending on the current position of transferred into the movement space containers or cargo an adapted positioning of the corresponding manipulation facilities.

As mentioned above, the device may optionally have two or more independently displaceable within the movement space arranged and / or rotatable manipulation devices for the simultaneous displacement and / or rotation of two piece goods or articles or cargo or article groups. It may also be useful to use a variant of the device which has two or more feed devices opening into the movement space for feeding piece goods and / or containers transported in each case in at least one row in succession to the movement space.

Furthermore, a preferred variant of the device according to the invention provides that the movement space is assigned a horizontal conveying device for continuously conveying the piece goods or containers from the at least one feed device to the discharge device. In addition, the movement space in the conveying direction of the piece goods or containers can be assigned at least two manipulation sections, each with at least one manipulation device.

In summary, several advantages of the invention over the known State of the art. The container manipulations made possible by the invention with high accelerations and decelerations with simultaneous dynamic pressing from above lead to the lowest cycle times. An additional actuator for clamping or holding the container during its displacement and / or rotational movement can be dispensed with. Also, no vertical stroke must be performed after releasing the package, as is required with conventional jaw grippers. The manipulation device has a relatively low-mass, simply constructed and robust against collisions slider. It can be low-mass robot systems, eg. With so-called. Deltakinematik, in which all drives are fixed to the frame, but the moving parts are very stiff, can be used to move the container highly dynamic.

Instead of or in addition to the above-mentioned sensors can also be provided that the respective positions of the manipulation devices and their movements, in particular also their respective point of contact or point of interest on cargo or container can be detected by means of optical sensors such as. Cameras. Optionally, the signals of a plurality of optical sensors or multiple cameras can be evaluated, which should be able to jointly detect the movement space and map in a suitable manner to allow the control device as low-delay control of the manipulation device. Possibly. Optionally, the monitoring sensors designated as optical sensors, which detect the general cargo and / or container positions within the movement space and are intended to image in a manner that can be processed by the control device, may also be formed by differently operating sensors, for example by ultrasonic sensors or the like.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

1 shows a schematic view of an embodiment of a device according to the invention for aligning and / or grouping of packages or piece goods.

2 shows two schematic views of a conveyor section of the device according to 1 ,

3 shows two schematic views of alternative variants of the device according to 1 ,

4 shows in three perspective detail views of a variant of a manipulation device of the device according to 1 as well as the forces and accelerations acting on the container during a deceleration process of the manipulation device.

5 shows a schematic plan view of the manipulation device according to 4 ,

For identical or equivalent elements of the invention, identical reference numerals are used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are merely examples of how the device or method of the invention may be configured and are not an exhaustive limitation.

The schematic plan view of 1 shows a variant of a device according to the invention 10 , the alignment and / or grouping of packaged goods, piece goods, containers o. The like. Article within a defined, circumscribed movement space 12 serves. The range of motion used to align and group articles 12 optionally may have a smooth surface suitable for the displacement of the article or may also be formed by a moving surface of a horizontal conveyor, for example by a belt conveyor, a mat conveyor chain or the like. For the sake of simplicity, the packaged goods or general cargo to be grouped and / or aligned will be general as a container 14 denotes, but not limiting, but merely exemplary to understand. The containers 14 become a movement space in a continuous row at a time 12 conveyed what by means of a feed belt 16 takes place, for example, by one with a constant conveying speed 18 promotional band can be formed. At one of the feed belt 16 opposite side of the movement space 12 there is a conveyor belt 20 for the removal of grouped and / or arranged in layers containers 14 , The 1 shows an ordered supply of containers 14 in regular formatting and equally spaced on the feed or feed belt 16 that the containers 14 with constant conveying speed 18 to the movement room 12 the device 10 promoted. Optionally, the containers 14 also in a disorderly way to the movement space 12 to get promoted. Also variants with two or more parallel feed belts 16 for transporting the same or different containers 14 to the movement room 12 are useful.

The device 10 has a manipulation device 22 for displacement and / or rotation the individual container 14 within the movement space 12 on. This manipulation device 22 comprises in the illustrated embodiment, a horizontally movable and rotatable slide element 24 that has an L-shaped contact surface 26 for contacting individual containers 14 on two adjacent side surfaces and on their displacement and / or rotation.

The adjoining side surfaces of the containers 14 refer here to cuboid container 14 so that the contacting with the L-shaped contact surface 26 can also be characterized by the fact that these non-parallel side surfaces of the container 14 attacks. For non-cuboid containers, general cargo or containers 14 If necessary, no contact can be made on adjoining side surfaces, but possibly only at different, perpendicular or at a different angle to each other, ie in particular non-parallel side surfaces. This also applies, for example, to cylindrical containers 14 or piece goods, which can be contacted in line contact on two sides, which are separated by an angular segment of about 90 °.

In addition, the manipulation device 22 with a control device 28 for controlling the course of movement of the slide element 24 within or in the outlines of the movement space 12 coupled. The control device 28 evaluates the output signals 30 one of the manipulation device 22 associated, but not specifically designated sensor device 32 out, the information about the movement characteristics of the slider element 24 the manipulation device 22 and / or the respective moving container 14 can deliver. Based on the sensor signals 30 generates the control device 28 a meaningful control signal 34 , on the basis of which the horizontal sliding and / or rotational movements of the slider element 24 the manipulation device 22 to be controlled. In addition, the control signal defines 34 the time of a vertical compressive force with which the container 14 immediately before reaching a target position in the movement space 12 on the surface of the movement space 12 is pressed to unwanted detachment of the container 14 from the L-shaped contact surfaces 26 of the slide element 24 to prevent. For this purpose, the slider element 24 a top-side support surface 36 on, by means of an actuator, not shown here, if necessary, at least briefly on the top of each contacted and moved and / or rotated container 14 can be pressed in order to position this as accurately as possible to a desired layer image 38 from several regularly positioned containers 14 to be able to realize.

In the manner described is an exact positioning of the slider element 24 in relation to the containers to be moved and / or rotated 14 allows. The containers 14 Thus, with the help of the device 10 exclusively by the sliding movements of the variably movable slide element 24 brought to their desired end positions, so that finally definable layer images 38 (see. 2 and 3 ), which are suitable for subsequent palletizing. In addition, by short-term as needed activation with the lateral contact surfaces 26 firmly connected upper side bearing surface 36 of the slider element 24 the container 14 during a deceleration process after displacement and / or rotation on the surface of the movement space 12 pressed, what inexact positioning or incorrect positioning with corresponding slipped layer image 38 can effectively prevent.

The 1 still leaves one in the conveying direction 18 the movement space 12 downstream so-called Aufrückbereich 40 recognize the the conveyor belt 20 is upstream. What in this context as Aufrückbereich 40 is designated, normally comprises a plurality of successive conveying and handling sections of the device according to the invention 10 , so for example. Another movement space for the displacement and / or rotation of containers 14 that the in 1 illustrated first movement space 12 without the intervention of the manipulation device 22 have happened. This further movement space can preferably with a similar manipulation device 22 Be equipped so that not all of the feeder device 16 or the two or more feeders 16 in the movement room 12 transported articles containers 14 within the first space of movement 12 must be moved and / or rotated, but possibly only in the downstream subsequent movement space.

Because the movement spaces 12 are normally formed as horizontal conveyors with continuously moving belt conveyors or mat chains o. The like., On which the container 14 steadily right towards the discharge conveyor 20 moved and at the same time by means of the manipulation device 22 or the two or more manipulating devices are rotated and / or displaced, comprises the Aufrückbereich 40 usually a suitable stowage device, where the frontmost located container 14 braked and dammed up to a layer image 38 is completed. Possibly. can connect to the variably in the conveying path or removable from this storage device - formed, for example. By a raised and lowered jib - another Auflagetisch connect, on which the layer images 38 by means of the side Deliverable slide strip in the transverse direction to the conveying direction 18 compacted and between the containers 14 remaining gaps are closed. At this support table then closes only the Abförderband 20 so that the Aufrückbereich 40 in existing packaging machines, normally two, three or four consecutive conveyor sections for forming and accurately aligning the desired palletizable layers.

In the in 1 merely indicated Aufrückbereich 40 become the gradually completed layer images 38 shifted to the right, causing the movement space 12 largely free of already finished containers 14 or piece goods is kept and the action space of the manipulator 22 is not increasingly limited. In this way, there are very few containers 14 at the same time within the movement space 12 because the finished containers 14 further into the Aufrückbereich 40 from where they - after accumulation and lateral compaction - as a complete container layer with the discharge conveyor 20 be transported, for example, to a not shown here palletizer. As mentioned, the Aufrückbereich 40 For example, be equipped with movable contact strips, sliders, longitudinal strips o. The like. To the layer image 38 zusammenzuschieben in the desired manner and located therein gaps between individual containers 14 close.

The schematic representations of 2a and 2 B each illustrate schematically a typical configuration of a device 10 which may be part of a packaging machine where rows of containers 14 by means of a feed belt 16 or two or more parallel feed belts 16 to the first movement room 12a where they are transported by means of a first manipulation device 22a be moved in the desired manner and / or rotated, unless they are a subsequent further movement space 12b be left with another similar manipulation device 22b Is provided. In an equipment of the device 10 with two parallel feed belts 16 corresponding 2a and 2 B If necessary, it may make sense from the first feeder conveyor 16a in the movement room 12a conveyed containers 14 with the first manipulation device 22a to treat and from the second feeder conveyor 16b in the movement room 12a conveyed containers 14 to let pass first there and only in the second movement room 12b with the second manipulation device 22b to treat, that is to turn in the desired manner and / or move until a finished layer image 38 which is subsequently forwarded. Thus, for example, a second movement space 12b downstream storage area 42 a horizontally adjustable dust bar 44 have, which is transverse to the conveying direction 18 can be lifted or lowered into the product flow to it the container layer 38 pile up and the between the containers 14 remaining gaps in the conveying direction 18 close.

At the storage area 42 can be another support table 46 connect with the laterally deliverable slide rails 48 is provided, with the help of the container layer 38 is further compressed by the side between adjacent containers 14 be closed gaps, so that a closed layer image 38 for subsequent palletizing to the discharge conveyor 20 can be handed over.

Usually all are in the conveying direction 18 successively arranged components of the device 10 namely the first movement room 12a , the second movement room 12b , the dew area 42 as well as the further support table 46 each formed as a horizontal conveyor, so that the container 14 There each with constant conveying speeds in the direction of the discharge conveyor 20 can be moved. In the illustrated embodiment of the 2a and 2 B thus form the second movement space 12b downstream storage area 42 and the other support table 46 together the Aufrückbereich 40 ,

The schematic representation of 2 B illustrates an alternative direction of movement of the manipulation devices 22 next to the in 2a shown manner in which they in the conveying direction 18 on the back of the containers 14 can attack, as well in the conveying direction 18 on the front side to the containers 14 If necessary, they can easily decelerate and, compared to the regular conveying speed, they can slightly decelerate while holding the containers 14 rotate and / or move as shown. The rotation and / or displacement of the individual containers 14 can, for example, according to the within the second movement space 12b shown manner or done in many other ways.

The further influences, displacements and / or rotations for producing the layer images shown 38 can already use the 2a done manner shown. In this context, it should again be noted that the manipulation facilities 22 basically in every direction on the individual containers 14 can act, ie both in the 2a shown as well as in the 2 B illustrated manner as well as in any combination of the attack directions shown on the container 14 ,

Since in the representations of the 2a and 2 B it is assumed by way of example that the containers 14 on each other subsequent horizontal conveyors are transported at approximately the same speeds, the distances remain successive container 14 during their grouping and palletizing within the movement spaces 12a and 12b approximately equidistant from each other. The distances are only in the following storage area 42 so far reduced that thereby the desired layer image 38 is produced. Clarification should also be mentioned that the representation of the 2 does not correspond to the real movements in all details, but merely to indicate how the individual containers through the manipulation devices 22a and 22b moved and / or rotated.

The schematic representations of 3a and the 3b each illustrate that the container 14 on the conveyor belt 16 by no means must be carried with constant distances and constant, regular alignment. The manipulation device 22 is capable of sloping containers 14 in each case different orientation in the manner shown to regular ply images 38 to complete. In such cases, however, it may be advantageous if the control device 28 additionally with an optical sensor such as a camera 50 o. The like. Is coupled and their optical sensor signals 52 evaluates, preferably in addition to the sensor signals 30 the sensor device 32 that of the manipulation device 22 assigned. Based on the sensor signals 30 and the optical sensor signals 52 generates the control device 28 one for each individual container 14 suitable meaningful control signal 34 , on the basis of which the horizontal sliding and / or rotational movements of the slider element 24 the manipulation device can be made to the desired layer image 38 to be able to produce.

The 3b shows a further alternative embodiment, in which not only the movement space 12 , but also the feed belt 16 an optical sensor in the form of another camera 51 is assigned, whose output signals 53 also the control device 28 be made available based on the evaluated signals 52 and or 53 the positioning and movements of the manipulation device 22 controls. Basically, it may be enough if one of the two sensors 50 or 51 is present, with a simpler and more accurate control of the manipulation device but in the presence of both shown sensors or cameras 50 and 51 by means of the evaluation of both output signals 52 and 53 is relieved.

As the schematic representation of 3b clarifies, the direction of movement of the manipulation devices 22 optionally also take place in the manner shown, in which they in the conveying direction 18 on the front side to the containers 14 attacks and this may slightly delay compared to the regular conveying speed, while they are the container 14 rotates and / or shifts in the manner shown. In contrast, the shows 3a the alternative direction of movement, in which the manipulation device 22 in the conveying direction 18 on the back of the containers 14 attacks and this rotates and / or shifts. Basically, the rotation and / or displacement of individual containers 14 take place in the manner shown or in many other ways.

Also with the in 3a and 3b shown configurations is the movement space 12 downstream Aufrückbereich 40 merely indicated, but usually includes several successively arranged horizontal conveyor sections, eg. In the in 2 shown arrangement or sequence. The representations of the 1 to 3 are therefore not to scale to understand, but serve to illustrate the principle of the layer formation and the removal of the finished bundle layers 38 , In addition, in connection with the indicated displacement and / or rotational movements, it should again be pointed out that not all individual containers 14 on the conveyor belt 16 or the two feeder belts 16a and 16b to the movement room 12 must be transported, respectively, since in particular in a straight line from the feed belt 16 next container 14 possibly without further intervention to the layer image 38 can be transported. As in 2 indicated, optionally, two or more such slide elements 24 be arranged one behind the other, so that the first slider element 24 passing container 14 from a following similar slide element 24 can be moved and / or rotated in the desired manner. Possibly. must be the position of some containers 14 on her way to the intended location 38 can not be changed because it fits unchanged in the layer formation. In this way, the performance of the layer formation can be increased.

Furthermore, it should be noted that in the 1 to 3 as a container 14 Optionally, each piece of goods may alternatively be formed in each case by groups of two, three or more identical or different piece goods, articles or packs, which normally each have the same external dimensions, so that they are accessible from the manipulation devices 22 can be detected and manipulated simultaneously during a displacement and / or turning operation.

The perspective detail view of 4a shows a variant of the manipulation device 22 the device according to 1 , One on the surface 54 or transport level of the movement space located container 14 with multiple by means of foil, strapping or other outer packaging held together beverage containers 56 is in touching contact with the slider element 24 the manipulation device 22 and is by means of the L-shaped contact surface 26 that with their longer vertical contact surface 58 on one longitudinal side of the container 14 and with their shorter vertical contact surface 60 on the narrow side of the container 14 is present, in the desired manner within the movement space 12 (see. 1 to 3 ) and / or rotated. The top side support surface 36 can, for example, by an elastic or soft-elastic pressure plate 62 be formed on the upper cap 64 the beverage container 56 can push and thereby if necessary the container 14 in the slide element 24 fix and on detachment from touching contact with the L-shaped contact surface 26 can prevent. The elastic or soft-elastic pressure plate 62 the upper side support surface 36 is over an L-shaped connecting plate 66 with the longer side 58 of the contact surface 26 of the slider element 24 firmly connected, wherein the individual parts can be screwed together or otherwise firmly or detachably connected to each other. The parts are interconnected such that the horizontally oriented top of the L-shaped connecting plate 66 a stable connection to a - not shown here - movable support arm of the manipulation device 22 allows for the rotation and displacement movements as well as the vertical against the surface 54 the movement space directed Andrückvorgänge on the container 14 to transmit with the desired accuracy.

The movable support arm of the manipulation device, not shown here 22 can in principle attack any part of the manipulation device and be firmly connected to this, provided that part is sufficiently stable and can transmit the applied forces with the necessary accuracy. Thus, for example, the support arm on the L-shaped connecting plate 66 or on the slider element 24 attack, especially on the longer side 58 the contact surface 26 of the slider element 24 ,

At the vertical section of the connecting plate 66 is the contact surface 26 anchored stable, so that overall a stable structure of the slider element 24 is formed.

The perspective detail view of 4b shows in the view according to 4a in a deceleration of the manipulation device 22 at the container 14 attacking and effective forces and accelerations. Will the container 14 by slowing down in the direction of the arrow 68 with the original displacement speed v moving slider element 24 delayed with the negative braking acceleration a, so there is a risk that the container 14 under the effect of the inertial force F _TR acting on the surface in its center of gravity 54 in the direction of the arrow 68 move on and off the contact surface 26 wants to replace. Although this Ablöseeffekten, which leads to a mispositioning of the container 14 can lead in the proposed layer image, the normally acting frictional force F _R1 between the bottom of the container 14 and the surface 54 the movement space, but this is the weight F _{G of} the container 14 dependent frictional force F _{R1 is} relatively low, so that it is not sufficient for stronger decelerations a to the container 14 in touching contact with the contact surface 26 to keep. Such pronounced braking delays a, however, make sense to the container 14 to be able to position as quickly as possible and thereby to be able to realize a high container throughput in the grouping and layer formation in the device according to the invention.

For this reason, the manipulation device allows 22 an at least short-term vertical pressing in the Z direction according to 4c , which by applying a vertical compressive force F _Z on the upper side bearing surface 36 of the slider element 24 he follows. This vertical compressive force F _Z is optionally exerted via a suspension element of a support arm, not shown, which may be suspended, for example, on a gantry robot and has a controllable actuator to the vertical pressure forces F _Z as needed in the manipulation device 22 to be able to initiate. Optionally, such an actuator may also be part of the manipulation device 22 be and, for example, in the area of their top pressure plate 62 be arranged, which must have a pressure-rigid connection with the support arm in this case in order to transmit the pressure forces F _Z in the required accuracy can.

In otherwise unchanged parameters of the delay, ie at constant inertial force F _TR and unchanged weight results from the vertical pressure force F _Z a significantly increased effective contact pressure F _{P of} the container 14 on the surface 54 where: F _P = F _Z + F _G , because the effective contact force F _{P of} the container 14 on the surface 54 the movement space is the sum of the weight F _G and the additionally applied pressure force F _Z , by vertical delivery of the manipulation device 22 supporting and moving support arm (not shown) is formed. As already explained above, the actuator applying the pressure force F _Z can optionally be part of the manipulation device 22 or also part of the motion control (eg gantry robot or multi-axis robot) of the manipulation device 22 be. This motion control of the manipulation device 22 Although it is indispensable for ensuring the functionalities according to the invention, by definition it does not form part of the actual manipulation device 22 in the narrow sense.

When using a multi-axis robot to guide the manipulation device 22 If necessary, the briefly applied compressive force F _Z can be activated without an additional actuator since the robot is capable of a short delivery stroke vertically from above onto the container 14 exercise and in this way to produce the desired increased frictional force F _R2 . However, since an increased contact pressure F _{P of} the container 14 on the surface 54 the mat chain or movement surface leads to higher displacement forces, which are to be overcome by the robot inertial forces of the container 14 add, it is advantageous if the control of the robot only at the exact time with the elastomer mat of the pressure plate 62 on the container 14 pushes, in which the centrifugal or deceleration forces act in a direction in which the slider 26 is open, ie the container 14 the L-shaped contact surfaces 26 of the slider 24 could leave F _TR in the direction of the acting forces. This brief activation of the robot can also be referred to in the present context as so-called "dynamic pressing".

Like the 4c it's the surface 54 acting resultant pressing force F _P slightly greater than the pressing force F _Z , while the now acting frictional force F _{R2 is} significantly greater than the original frictional force F _R1 , so that the detachment of the container 14 can be effectively reduced even with heavy braking. The flexibility of the soft-elastic pressure plate 62 facilitates the exact guidance of the container 14 as the closure lid 64 in the yielding underside of the pressure plate 62 the bearing surface 36 can penetrate, causing relative movement between the container 14 and the slider element 24 can be largely prevented.

The schematic representation of 5 finally shows a plan view of the manipulation device 22 according to 4 , By the contact pressure of the container 14 on the surface 54 the mat chain or horizontal conveyor of the movement space can in the robot system or in the handling system of the manipulation device 22 Relatively steep braking ramps can be realized, since here the frictional forces F _{R of} the container resulting from the contact pressure 14 the inertial forces F _{TR of} the moving masses of robot structures, slides 24 and containers 14 counteract. Modern robot controllers have the characteristic that they at any time precise information about position, orientation, speed and acceleration of the container 14 deliver and thus be able to initiate the pressing process from above at exactly the right time. It is also conceivable that with suitable acceleration sensors, the size and direction of the accelerations occurring at the slide 24 be detected in order to control the pressing of the top. The interaction of the sensors is already based on the 1 clarified.

As an alternative construction, it is conceivable to equip the slide element with suitable sensors, which is a deviation of the position of the container 14 in the slide 24 detect and thus in turn can control the height of the contact pressure F _Z from above ( 4b ). For example, could a spring-loaded sheet metal 70 at the moment an initiator 72 or several initiators 72 Press in which the container 14 due to the high inertial forces F _TR of the L-shaped contact surface 26 begins to replace. Immediately after the initiators have responded 72 The pressing process can be initiated from above, so that there is only a slight mispositioning, which is irrelevant in the further course of the grouping and palletizing. The vertical compressive force F _Z is dimensioned so that the required frictional forces F _R2 can be formed.

Like the top view of the 5 shows, the spring-loaded sheets 70 each in the edge area 74 the two perpendicular contact surfaces 58 and 60 the L-shaped contact surface 26 movably mounted and, for example, in the vicinity of each edge of the contact surfaces 58 respectively. 60 arranged initiators 72 over a small spring 76 against the contact surfaces 58 and 60 be supported. With touching contact of the container 14 at the contact surface 26 become the sheet metal sections 70 each against the springs 76 pressed, causing the initiators 72 each deliver a defined sensor signal. The container dissolves 14 now from one of the contact surfaces 58 and or 60 off, so presses the corresponding spring 76 against the sheet 70 and lifts this from the contact surface 58 respectively. 60 which causes the assigned initiator 72 responds and provides a modified sensor signal, which is the contact pressure on the support surface 36 (see. 4 ) can trigger.

Such a system also has the advantage that it can adjust to the new conditions with changing friction coefficients (learning software).

The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or changes of the invention can be made without departing from the scope of the following claims.

LIST OF REFERENCE NUMBERS

10

 Device for aligning and / or grouping containers

12

 movement space

12a

 first movement room

12b

 second movement room

14

 container

16

 Feed belt, feed belt

16a

 first feed belt

16b

 second feed belt

18

 conveyor speed

20

 discharge belt

22

 manipulation device

22a

 first manipulation device

22b

 second manipulation device

24

 slide element

26

 Contact surface, L-shaped contact surface

28

 control device

30

 output

32

 sensor device

34

 control signal

36

 top side support surface

38

 Layered image, bundle layer

40

 Aufrückbereich

42

 reservoir area

44

 restrictor bar

46

 support table

48

 push strip

50

 Camera, optical sensor

51

 another camera

52

 optical sensor signal

53

 Output signal (the other camera)

54

 Surface (of the movement space)

56

 Beverage containers, containers

58

 longer vertical contact area

60

 shorter vertical contact surface

62

 pressure plate

64

 Closure lid (the container)

66

 connecting plate

68

 movement direction

70

 spring-loaded sheet metal

72

 Initiator (sensor)

74

 edge region

76

 compression spring

a

 deceleration

v

 Movement speed, displacement speed

F _G

 weight force

F _P

 contact force

F _R1

 original friction force

F _R2

 increased friction force

F _Z

 vertical pressure force

F _TR

 inertial force

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 20115478 U1 [0004]
• WO 03/022717 A1 [0004]
• WO 2009/011634 A1 [0005]

Claims (15)

Method for positioning piece goods and / or containers ( 14 ) horizontally on a conveyor within a range of motion ( 12 ), whereby individual or groups of two, three or more piece goods or containers ( 14 ) by means of a manipulating device which can be moved and / or rotated at least in the horizontal direction ( 22 ) at least two, but at most three vertical side surfaces of the piece goods or containers to be moved ( 14 ) are contacted and then by means of a horizontally within the movement space ( 12 ) positioning positioning movement, wherein by means of the manipulation device ( 22 ) at least during a positioning movement, which has an acceleration component directed counter to a contacted vertical side surface, additionally to the surface or upper side of the piece goods or containers ( 14 ) or group of general cargo or containers ( 14 ) directed vertical compressive force (F _Z ) is applied. Method according to Claim 1, in which the manipulation device ( 22 ) the positioned, shifted and / or rotated piece goods or containers ( 14 ) or the positioned, displaced and / or rotated group of several piece goods or containers ( 14 ) at least briefly before reaching a respective target position by a vertical on a surface ( 54 ) of the movement space ( 12 ) positioned pressing and / or fixed to the contacted side surfaces. Method according to Claim 1 or 2, in which the manipulation device ( 22 ) at least during a deceleration phase before reaching the respective target position of a displaced and / or rotated piece goods or container ( 14 ) or a shifted and / or rotated group of several general cargo or containers ( 14 ) within the movement space ( 12 ) from above onto the piece goods or containers ( 14 ) or the group of several general cargo or containers ( 14 ) is pressed. Method according to one of claims 1 to 3, in which the vertical contact pressure (F _Z ) of the manipulation device ( 22 ) to the general cargo or container ( 14 ) or the group of several general cargo or containers ( 14 ) under evaluation of sensor signals ( 30 . 52 . 53 ), whereby sensors ( 32 . 50 . 51 . 72 ) the position, speed (v) and / or acceleration (a) of the respective manipulation device ( 22 and / or their relative position to the currently shifted and / or rotated general cargo or container ( 14 ) or group of containers or general cargo. Method according to one of claims 1 to 4, wherein at least two containers ( 14 ) and / or piece goods at least in phases at the same time by means of at least two manipulation devices ( 22 ; 22a . 22b ) are moved, moved and / or rotated, which at least two manipulation devices ( 22 ; 22a . 22b ) independently within the movement space ( 12 ) are movably arranged. Method according to one of claims 1 to 5, wherein during a rectilinear positioning movement, the at least one against a contacted vertical side surface ( 26 ) directed negatively directed braking acceleration, in addition to the surface of the piece goods or containers ( 14 ) or group of general cargo or containers ( 14 ) directed vertical compressive force (F _Z ) is applied. Method according to one of claims 1 to 5, wherein during a non-linear positioning movement, the at least one against a contacted vertical side surface ( 26 ) directed negatively directed braking acceleration and / or a positive acceleration, in addition to the surface of the piece goods or containers ( 14 ) or group of general cargo or containers ( 14 ) directed vertical compressive force (F _Z ) is applied. Contraption ( 10 ) for positioning, aligning and / or grouping a number of piece goods and / or containers ( 14 ) within a defined range of motion ( 12 ), to which at least one feed device ( 16 ; 16a . 16b ) for feeding the in at least one row in a row transported piece goods and / or containers ( 14 ) to the movement space ( 12 ) and the least one discharge device ( 20 ) for the removal of grouped and / or in layers ( 38 ) arranged piece goods and / or containers ( 14 ) and at least one manipulation device ( 22 ) for positioning, displacement and / or rotation of individual piece goods and / or containers ( 14 ) or groups of several general cargo or containers ( 14 ) within the movement space ( 12 ) which at least one at least in the horizontal direction movable and / or rotatable slide element ( 24 ) for contacting the respective piece goods and / or containers ( 14 ) or groups with several general cargo or containers ( 14 ) at at least two adjacent or non-parallel side surfaces and for their positioning, displacement and / or rotation, wherein the slide element ( 24 ) an actuator for the sensor and / or position-controlled exercise of a vertically directed pressure force (F _Z ) on the respectively contacted general cargo or container ( 14 ) or the contacted Group with several containers ( 14 ) or piece goods is assigned. Device according to Claim 8, in which the slider element ( 24 ) of the at least one manipulation device ( 22 ) an L-shaped contact surface ( 26 ) for contacting the / to be moved and / or to be rotated piece goods or containers ( 14 ) Cargo or bundle group on at least two adjoining or non-parallel side surfaces and a bearing surface ( 36 ) for the controllable contacting of an upper side of the piece goods or container ( 14 ) or the general cargo or container group. Apparatus according to claim 8 or 9, in which the said slider element ( 24 ) associated actuator in dependence on the sensor signals ( 30 ) at least one of the slide element ( 24 ) associated acceleration sensor ( 32 ) is controllable. Apparatus according to claim 8 or 9, in which the said slider element ( 24 ) associated actuator in dependence on the sensor signals ( 30 ) at least one of the slide element ( 24 ) associated pressure sensor ( 72 ), which pressure sensor ( 72 ) a contact pressure between one of the side surfaces of the piece goods, Gebindes ( 14 ) or the cargo or container group and the L-shaped contact surface ( 26 ) of the slider element ( 24 ) detected. Device according to one of claims 8 to 11, which at least two independently within the movement space ( 12 ; 12a . 12b ) displaceable and / or rotatably arranged manipulation devices ( 22 ; 22a . 22b ) for the simultaneous displacement and / or rotation of two piece goods or containers ( 14 ) or general cargo or container groups. Apparatus according to claim 12, which has two or more in the movement space ( 12 ; 12a . 12b ) feeding facilities ( 16 ; 16a . 16b ) for feeding in each case in at least one row in a row conveyed piece goods and / or containers ( 14 ) to the movement space ( 22 ; 22a . 22b ) having. Device according to one of claims 8 to 13, wherein the movement space ( 12 ) a horizontal conveyor for continuously conveying the piece goods or containers ( 14 ) from the at least one feed device ( 16 ) to the discharge device ( 20 ) assigned. Device according to one of claims 8 to 14, wherein the movement space ( 12 ; 12a . 12b ) in the conveying direction ( 18 ) of general cargo or containers ( 14 ) at least two manipulation sections each having at least one manipulation device ( 22 ; 22a . 22b ) assigned.

Images