DE102015215347A1 - Method for moving at least one handling device designed for handling unit loads, device for handling piece goods and certain working track for a handling device - Google Patents

Abstract

A method for moving at least one handling device designed for handling unit loads and a device for handling unit loads are disclosed. The device comprises at least one handling device for manipulating piece goods and actuators, by means of which the handling device can be moved along a plurality of work paths (20, 22, 24), so that the handling device passes predetermined fixing positions. A control device (S) for moving the at least one handling device is connected to the actuators. The control device is provided for independent comparison of the plurality of working webs (20, 22, 24) with regard to at least one of the following criteria: a) the respective formation of drive torques (A1, A2, A3) of the actuators during movement of the at least one handling device (7) b) the relative duration required by the at least one handling device (7) for movement along the plurality of work webs (20, 22, 24), c) the formation of moments which are due to the plurality of work webs (20, 22, 24); at least one handling device (7) act during their movement along the plurality of work paths. By way of the control device (S), a specific work path (24) can be predefined from the plurality of work paths (20, 22, 24) taking into account the criteria. Furthermore, a movement of the at least one handling device via the actuators can be initiated by the control device (S) along the specific working path (24).

Description

The present invention relates to a method for moving a handling device designed for handling piece goods and a handling device for handling piece goods. Furthermore, the present invention relates to a device for handling piece goods and a certain working path for a handling device.

Handling devices known from the prior art can, for example, be placed above a horizontal conveyor, wherein the handling devices can grasp, rotate and if necessary move laterally to a transport direction of the horizontal conveyor on the horizontal conveyor transported piece goods. In this way, a particular spatial arrangement can be made of piece goods, which forms a basis to push piece goods or containers together in subordinate Gruppierstationen to stackable cargo or bundle layers.

Such a handling device is for example from the EP 2 388 216 A1 known. This known gripping device has two horizontally spaced and arranged on an intermediate support via mechanical connections gripping arms. The gripper arms can be moved toward each other to detect objects. Further, the gripping arms with defined force in the vertical direction and against the carrier from the carrier can be solved. At the free end, both gripping arms have clamping jaws which are in surface contact with the respective objects when objects are detected.

Another gripping device shows, for example, the DE 102 04 513 A1 , There, a plurality of opposing gripping arms are guided in a central piece. A gripper arm is displaceable by means of an actuator with respect to another gripping arm, so that both gripping arms can be closed. At the lower ends of the gripping arms gripping portions for gripping building material packages are provided on the mutually facing sides.

If such gripping devices are to manipulate piece goods or containers, the start-end and, if necessary, intermediate points are predetermined beforehand in the prior art, which the gripper device uses to pick up piece goods and manipulate them. The respective trajectory along which the gripping device moves to pass the start-end and intermediate points is previously input manually and by a user into a controller.

Practice has shown that the respective movement path along which the gripping device moves has a strong effect on the throughput of piece goods that can be manipulated via the gripping device as well as on premature failure or wear of the gripping device. For example, it may be that a suboptimal choice of a trajectory leads to gear damage. Furthermore, a suboptimal choice of a trajectory can lead to a low throughput, which in practice is to be kept as high as possible, with further damage or defects or premature fugue being undesirable.

An object of the invention can therefore be seen to provide a possibility which at least partially avoids the aforementioned disadvantages.

The above object is achieved by a device, a method and a certain work path, which comprise the respective features in claims 1, 5 and 15. Further advantageous embodiments are described by the subclaims.

The invention relates to a device for handling piece goods and in particular containers, beverage containers or the like. The device has at least one handling device for manipulating piece goods. The at least one handling device can have a gripping and / or clamping unit, by means of which piece goods can be picked up, moved and possibly rotated.

Furthermore, the device may have a horizontal conveyor. The at least one handling device can be positioned hanging and above the horizontal conveyor. The position may usefully be chosen such that the at least one handling device can receive and manipulate piece goods during their transport through the horizontal conveyor of the horizontal conveyor and laterally offset to a transport direction of the horizontal conveyor selectively and optionally selectively rotate. A selective lateral displacement and possibly a selective lateral rotation can be specified via a control device. It is also conceivable that the at least one handling device in a manipulation can delay or accelerate piece goods, which are transported by the horizontal conveyor relative to a transport speed of the horizontal conveyor to align piece goods accordingly.

Furthermore, the device comprises an actuator or a plurality of actuators, via which or via which the at least one handling device can be moved along a plurality of work paths so that the at least one handling device passes a predetermined fixed position or a plurality of predetermined fixed positions. In this case, it is expedient to provide at least two, but also more than two, fixed positions which the at least one handling device passes. For example, it may be that the fixed positions are manually specified in a control device which will be described below. The fixed positions may include a start position and an end position, which are part of the plurality of work paths along which the at least one handling device can be moved.

In addition, a control device is provided which communicates with the actuator or the plurality of actuators for movement of the at least one handling device. The actuator or the plurality of actuators may each comprise one servomotor or several servomotors. The control device can effect a defined movement of the handling device along the plurality of work paths via the actuator or via the plurality of actuators in order to manipulate piece goods during a movement of the at least one handling device.

• a) der jeweiligen Ausbildung von Antriebsmomenten der ein oder mehreren Aktoren bei Bewegung der mindestens einen Handhabungseinrichtung entlang der mehreren Arbeitsbahnen,
• b) der relativen Dauer bzw. Zeitdauer, welche die mindestens eine Handhabungseinrichtung zur jeweiligen Bewegung entlang der mehreren Arbeitsbahnen benötigt.
• c) der Ausbildung von Momenten, welche auf die mindestens eine Handhabungseinrichtung bei ihrer Bewegung entlang der mehreren Arbeitsbahnen einwirken,

It is further provided that the control device is provided for the independent comparison of the plurality of work paths with regard to at least one or more of the following criteria or quality criteria:

• a) the respective formation of drive torques of the one or more actuators upon movement of the at least one handling device along the plurality of work paths,
• b) the relative duration or time duration which the at least one handling device requires for the respective movement along the plurality of work paths.
• c) the formation of moments which act on the at least one handling device as it moves along the plurality of work paths,

It is conceivable here that the at least one handling device is moved via the control device taking into account the fixed position or the plurality of fixed positions along the plurality of work paths, wherein the criteria a) and / or b) and / or c) detected or detected and subsequently compared with each other become. It may also be the case that the control device has intelligent logic in order to determine and compare the criteria a) and / or b) and / or c) for the several work paths, taking into account the one or more fixed positions without active movement of the handling device.

Furthermore, a specific work path from the plurality of work paths can be predetermined via the control device taking into account the criterion or the plurality of criteria. In addition, a movement of the at least one handling device via the actuator or via the multiple actuators can be caused by the control device along the particular work path.

For example, an intelligent logic can be stored in the control device, which, taking into account the criteria a) and / or b) and / or c) and optionally a further criterion d), which will be described below, makes a decision for a particular work path , The particular work path, which is predefined via the control device, can in this case be designed such that drive moments of the one or more actuators do not exceed or be kept low during a movement of the handling device along the particular work path, so that premature wear or wear occurs If necessary, damage to gears or other components during movement of the at least one handling device along the particular working path can be excluded. Practice has also shown that large fluctuations in drive torque can lead to premature wear or failure. Accordingly, the particular working path can be such or accordingly can be specified via the control device, a certain working path, in which drive torques of the actuator or the plurality of actuators are subject to slight fluctuations or run as evenly as possible. In addition, the particular work path, which is predetermined via the control device, be designed such that by means of a cyclic movement of the at least one handling device along the particular work piece packaged goods with a defined or high throughput can be manipulated.

It is also conceivable that information about the particular work path can be optically output by the control device or possibly by a display connected to the control device. In addition, further information regarding the criteria a) and / or b) and / or c) and / or of the criterion d), which will be described below, can be visually displayed via the control device or optionally via a display. In particular, it may be that information regarding expected drive torques when moving the at least one Handling device along the particular work path are displayed optically or are visually output via the display. It is also conceivable that information regarding the expected duration in the case of cyclical movement of the at least one handling device can be optically output along the determined working path or can be visually displayed via a display in communication with the control device.

It may be that information about the particular work path is output via a display, with the particular work path requiring manual approval so that movement of the at least one handler over the actuator or over the multiple actuators may be caused by the controller along the particular work path. In further embodiments, it may be that the control device specifies a specific work path and then independently and without manual consent causes a movement of the at least one handling device via the one or more actuators.

At least one handling device may be formed in preferred embodiments together with a plurality of actuators as a tripod. Accordingly, the at least one handling device embodied as a tripod can comprise at least three actuators, which if necessary can be formed by servomotors. In this context, if a tripod is mentioned, it refers to a so-called parallel kinematics robot, which normally has three motor-movable upper arms, which are articulated on an upper suspension, and at the outer ends of which lower arms are articulated, whose lower ends meet in a tool head, which is movable by the differently controllable upper arms in connection with the corresponding movements of the lower arms within a defined range of motion. It should be noted, however, that the term "tripod" as used primarily in the present context should not be understood as limited to three arms; Thus, the parallel kinematic robot optionally also have only two such arms ("Duopod") or four arms ("Quadpod"), all of which are hereby to fall under the definition of the term "tripod" used.

The at least one handling device embodied as a tripod or as a parallel kinematic robot can have a clamping and / or gripping unit, by means of which the at least one handling device embodied as a tripod or a parallel kinematic robot can receive and manipulate a general cargo or a plurality of individual goods. The clamping and / or gripping unit can be positioned over at least three arms of the handling device embodied as a tripod or as a parallel kinematic robot, wherein the at least one handling device embodied as a tripod or a parallel kinematic robot is suspended in a stationary manner. When moving the at least one handling device therefore does not necessarily the entire handling device must be moved, if piece goods can be manipulated by means of at least one handling device. The at least one handling device embodied as a tripod or as a parallel kinematic robot can be fixed to a supporting structure, for example, suspended and possibly above a horizontal conveying device. The position of the at least one handling device designed as a tripod or as a parallel kinematic robot can usefully be chosen such that the at least one handling device designed as a tripod or a parallel kinematic robot can pick up and manipulate general cargo from the horizontal conveyor.

It is conceivable for a respective strain sensor or a plurality of strain sensors to be arranged on the arms of the at least one handling device designed as a tripod or a parallel kinematics robot in order to form moments acting on the at least one handling device as it moves along the plurality of work paths. capture. It is also possible to provide a plurality of acceleration sensors arranged on the at least one handling device in order to detect the formation of moments which act on the at least one handling device as it moves along the plurality of work paths. Possibly. It is also possible to provide only one acceleration sensor arranged on the at least one handling device in order to detect the formation of moments which act on the at least one handling device as it moves along the plurality of work paths.

In further embodiments, the at least one handling device designed as a tripod or parallel-kinematics robot can be assigned in each case at least one sensor or a plurality of sensors for determining the previously described criterion a). The sensor or the plurality of sensors may be configured as torque transducers which are mechanically interposed between one arm or a plurality of arms of the at least one handling device designed as a tripod or a parallel kinematics robot and a respective actuator. The trained as a torque transducer sensor or the plurality of each designed as a torque sensor sensors can therefore be mechanically coupled with a respective transmission output shaft of the actuators and with the respective arm or working arm in combination.

It is also conceivable that the control device for independent comparison of the plurality Working paths with respect to the relative energy demand of the actuator or the plurality of actuators upon movement of the at least one handling device along the plurality of work paths as criterion d) is formed. Furthermore, a specific work path can be predetermined from the plurality of work paths and a movement of the at least one handling device via the actuator or the plurality of actuators by the control device along the particular work path can be initiated via the control device taking into account the criterion d).

It is also conceivable that the control device as a further criterion e) will specify a position or multiple positions to obstacles or objects, with which the at least one handling device could collide in a manipulation of cargo. The control device may take into account the position or the plurality of positions in a comparison of the plurality of work paths. If the control device determines that during a movement of the at least one handling device along a work path or along several work paths, the at least one handling device collides with an obstacle or object, the control device can cause this work path or the plurality of work paths not to be predetermined Be given working path, along which the at least one handling device is moved to manipulate cargo.

As previously mentioned, the device may comprise at least one horizontal conveyor for transporting piece goods. The at least one horizontal conveying device can be positioned such that a movement of the at least one handling device takes place along the determined working path at least in sections parallel to a transport direction of the at least one horizontal conveying device.

The invention also relates to a method for moving at least one handling device designed for handling unit loads. Features previously described for the device may also be provided for the method described below. In addition, features, which are described below to conceivable embodiments of the method according to the invention, may be provided in apparatus according to the invention. In particular, the particular working web described below can be specified both in conceivable embodiments by means of the device according to the invention and be provided in conceivable embodiments of the method according to the invention.

As part of the method, a plurality of fixed positions are predetermined, which the at least one handling device moves or passes during its movement.

• a) der Ausbildung von Antriebsmomenten eines Aktors oder mehrerer Aktoren bei jeweiliger Bewegung der mindestens einen Handhabungseinrichtung entlang der mehreren Arbeitsbahnen,
• b) der relativen Dauer bzw. Zeitdauer, welche die mindestens eine Handhabungseinrichtung zur jeweiligen Bewegung entlang der mehreren Arbeitsbahnen benötigt,
• c) der Ausbildung von Momenten, welche auf die mindestens eine Handhabungseinrichtung bei ihrer Bewegung entlang der mehreren Arbeitsbahnen einwirken.

A control device independently compares, taking into account the fixed positions, several work paths along which the at least one handling device for manipulating unit loads can be cyclically moved, at least with respect to one or more of the following criteria:

• a) the formation of drive torques of one or more actuators with respective movement of the at least one handling device along the plurality of work paths,
• b) the relative duration or time required by the at least one handling device for the respective movement along the plurality of work paths,
• c) the formation of moments which act on the at least one handling device as it moves along the plurality of work paths.

The plurality of fix positions may be usefully located on the plurality of work paths, so that the at least one handling device passes or approaches the fixed positions during its movement. Moments which act on the at least one handling device can be detected by means of corresponding sensors which are arranged on the at least one handling device.

In addition, the control device, taking into account the criterion or the plurality of criteria before a certain work path from the multiple work paths before. Thereupon, a movement of the at least one handling device via the actuator or via the multiple actuators along the determined working path can be initiated by the control device.

In particular, embodiments have proven in which the at least one handling device is moved along the determined working path in the context of a closed curve. A movement of the at least one handling device about the complete curve can in this case be designed as a cycle within which the at least one handling device manipulates piece goods.

It may also be the case that the multiple work paths are compared with one another with respect to criterion a) and criterion b), the control device taking into account criteria a) and / or b) or both criteria a) and b) a specific work path the prescribes a plurality of work paths and a movement of the at least one handling device is caused along the particular work path via the control device. For this purpose, an intelligent logic can be stored on the control device, which comprises a weighting with regard to the criteria a) and / or b) and predetermines a specific work path from the plurality of work paths by means of the intelligent logic. It is also conceivable that the handling device is moved along the plurality of work paths, wherein the criteria a) and / or or b) and / or c) and or d), which criterion is described below, are detected or detected.

It is thus conceivable that the control device compares the several work paths with one another as regards the relative energy requirement of the one or more actuators when the at least one handling device moves along the plurality of work paths as criterion d). Thereupon, taking into account criterion d), the control device can specify a specific work path from the plurality of work paths and initiate a movement of the at least one handling device along the determined work path via the control device. Furthermore, the previously mentioned criteria a) and / or b) and / or c) can be taken into account in order to specify a specific work path from the several work paths.

In further embodiments, the control device can also be specified as criterion e) one or more positions to obstacles and / or objects, with which the handling device could collide during a movement. The control device may take into account the position or the plurality of positions in a comparison of the plurality of work paths. If the control device determines that during a movement of the at least one handling device along a work path or along several work paths, the at least one handling device collides with an obstacle or object, the control device can cause this work path or these several work paths not to be predetermined Be given working path, along which the at least one handling device is moved to manipulate cargo.

As previously mentioned, at least one handling device can be designed as a tripod or as a parallel kinematic robot. Accordingly, the at least one handling device can have at least three arms, possibly also only two arms or even four arms, to each of which at least one actuator is associated and which are connected at their respective free end to a clamping and / or gripping unit. The actuators of the at least three (two) arms can be controlled at the same time via the control device for moving the clamping and / or gripping unit along the determined work path in order to manipulate a general cargo or a plurality of goods by means of the clamping and / or gripping unit. The actuators of the at least three arms or the at least three arms of the at least one handling device are therefore possibly in operative connection with one another in order to move the clamping and / or gripping unit for manipulating piece goods along the specific working path and to manipulate piece goods.

For conceivable embodiments, it may also be provided that the previously described criterion a) is determined via a torque transducer connected to the control device and coupled to the actuator or via a plurality of torque sensors connected to the control device and coupled to the actuators. In particular, the torque sensor or the plurality of torque sensors can be coupled to a respective transmission output shaft of the actuators.

In addition, it may be that the at least one handling device receives and manipulates a general cargo or a plurality of goods from a horizontal conveyor during their movement along the particular work path, wherein the general cargo or the plurality of goods remains in surface contact with the horizontal conveyor or remain. The horizontal conveying device may have a transport direction for piece goods, wherein the at least one handling device displaces piece goods during manipulation obliquely to the transport direction and / or rotates about a vertically oriented axis. If necessary, the piece goods can stand up in a plurality of rows and at a distance from one another on the horizontal conveyor or be transported via the horizontal conveyor.

• – einen ersten Bahnabschnitt, der sich horizontal in einer X-Richtung erstreckt,
• – eine erste in einer lotrechten Z-Richtung nach oben verlaufende kurvenförmige Umlenkung, die an den ersten Bahnabschnitt anschließt,
• – einen zweiten Bahnabschnitt, der an die erste kurvenförmige Umlenkung anschließt und gegenläufig zur X-Richtung orientiert ist,
• – eine zweite kurvenförmige Umlenkung, die an den zweiten Bahnabschnitt und an den ersten Bahnabschnitt anschließt und in Z-Richtung nach unten verläuft,
• – wobei eine relative Beabstandung des ersten Bahnabschnittes gegenüber dem zweiten Bahnabschnitt in X-Richtung abnimmt.

Furthermore, the present invention relates to a particular work path, which is predetermined or can be predetermined by a previously described control device, which is designed as part of the device according to the invention and / or the method according to the invention. The particular work path comprises the following characteristics:

• A first track section that extends horizontally in an X direction,
• A first curved deflector extending upwards in a vertical Z-direction and adjoining the first path section,
• A second path section adjoining the first curved deflection and oriented counter to the X direction,
• A second curved deflector which adjoins the second web section and the first web section and runs down in the Z direction,
• - Wherein a relative spacing of the first web section relative to the second web section in the X direction decreases.

Practice has shown that handling devices designed to manipulate piece goods have little wear on movement along such particular work paths with described characteristics and yet can manipulate high throughput goods. For this reason, the plurality of work paths or all of the several work paths which the control device compares with one another may comprise the described characteristics. If a horizontal conveyor is provided, then the X-direction can extend in or parallel to the transport direction of the horizontal conveyor. The Z-direction can therefore be oriented perpendicular to the X-direction or perpendicular to the transport direction of the horizontal conveyor.

In particular, embodiments have proven in which a radius of the second curved deflection increases when approaching the first track section. It may also be that an amount of a relative spacing of the first web section relative to the second web section is at least partially at least two thirds of the amount of the greatest possible freedom of movement of the at least one handling device in the vertical Z direction.

Furthermore, the at least one handling device can have a specific working space within which the at least one handling device can be moved, wherein the first and the second path section as well as the first and second curved deflections enclose an area whose amount is more than 60% of the amount of the Area corresponds, which is formed by the work space.

• – einen ersten Bahnabschnitt, der sich horizontal in einer X-Richtung erstreckt,
• – eine erste in einer lotrechten Z-Richtung nach oben verlaufende kurvenförmige Umlenkung, die an den ersten Bahnabschnitt anschließt,
• – einen zweiten Bahnabschnitt, der an die erste kurvenförmige Umlenkung anschließt und gegenläufig zur X-Richtung orientiert ist,
• – eine zweite kurvenförmige Umlenkung, die an den zweiten Bahnabschnitt und an den ersten Bahnabschnitt anschließt und in Z-Richtung nach unten verläuft,
• – wobei eine relative Beabstandung des ersten Bahnabschnittes gegenüber dem zweiten Bahnabschnitt in X-Richtung abnimmt.

The invention also relates to a particular work path for at least one handling device, which can receive piece goods from a horizontal conveyor during its movement and manipulate without interruption of the movement. Prior to already conceivable design of certain trajectories described features that can be used for the device or the method are also conceivable for the invention described below certain working path and are not redundantly mentioned for reasons of a compressed scope of the patent application. The particular work path has the following characteristics:

• A first track section that extends horizontally in an X direction,
• A first curved deflector extending upwards in a vertical Z-direction and adjoining the first path section,
• A second path section adjoining the first curved deflection and oriented counter to the X direction,
• A second curved deflector which adjoins the second web section and the first web section and runs down in the Z direction,
• - Wherein a relative spacing of the first web section relative to the second web section in the X direction decreases.

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 plan view of a first embodiment of a device according to the invention.

2 shows a schematic perspective view of a handling device, as may be provided in various embodiments of the invention.

3 shows several working ways, as may be present in various embodiments of the invention.

4 shows in two perspective views ( 4A and 4B ) Further aspects, as may be present in conceivable embodiments of the present invention.

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 invention may be configured and are not an exhaustive limitation.

The 1 shows a schematic plan view of a first embodiment of a device according to the invention 1 , The device 1 is intended for handling general cargo 3 , present designed as several to a respective container 5 combined beverage containers.

The device 1 includes a horizontal conveyor 10 on which the piece goods 3 or container 5 stand up at a distance from each other and are guided in the transport direction TR. During their transport by means of the horizontal conveyor 10 the piece goods pass 3 two handling devices 7 , wherein by means of the handling devices 7 cargo 3 be selectively rotated. In 1 are piece goods 3 already from the handling equipment 7 are detected and rotated about a vertical axis through an angle of 90 °.

The handling equipment 7 are on a respective support structure 12 hung such that a respective detection range of handling equipment 7 over a section of the horizontal conveyor 10 extends. The handling equipment 7 or the detection ranges of handling equipment 7 are spaced apart in the transport direction TR.

The presentation of the 1 shows only a turning of piece goods 3 around a vertically or vertically oriented axis. The handling equipment 7 However, they can be designed such that they each piece goods 3 or container 5 obliquely to the transport direction TR of the horizontal conveyor 10 can offset. The handling equipment 7 each have a freedom of movement, the in 1 is indicated as the Y direction and runs horizontally and perpendicular to the transport direction TR.

Were piece goods 3 over the respective handling device 7 manipulated, the respective handling device 7 the manipulated cargo 3 release, this from the horizontal conveyor 10 be transported further in the transport direction TR.

The handling equipment 7 can also be guided in and opposite to an X-direction, which is oriented parallel to the transport direction TR and aligned with the transport direction TR. This makes it possible to handle the handling equipment 7 in transport direction TR in synchronism with the piece goods 3 to move so that the piece goods 3 through the handling facilities 7 each can be received without any movement of the cargo 3 must be interrupted for this purpose. Were the piece goods 3 or container 7 by means of the respective handling device 7 captured, the piece goods can 3 or container 7 by means of the handling device 7 relative to a transport speed of the horizontal conveyor 10 accelerated or decelerated in the X direction. After release of the manipulated piece goods 3 become the handling devices 7 each in the Z direction and opposite to the X direction out to further cargo 3 or container 5 from the horizontal conveyor 10 to receive and manipulate. With receipt of piece goods 3 Can the handling equipment 7 therefore synchronous with the piece goods 3 or be moved at a speed in the x direction, which a transport speed of the horizontal conveyor 10 equivalent.

In particular, when moving the handling equipment 7 in the X direction or in the direction opposite to the X direction and in the Z direction are for the movement of the handling devices 7 provided actuators 9 (see. 2 ) loaded with a high drive torque. This can lead to premature wear of transmission components, provided the trajectories of handling equipment 7 be chosen such that very high drive torque or highly inhomogeneous drive torque for a movement of handling equipment 7 needed. Be speeds of handling equipment 7 throttled to reduce the high drive torque, the throughput of manipulated piece goods per unit time decreases, which is undesirable in practice.

To avoid this problem, a control device S is provided, which is used to move the handling devices 7 with their actors 9 (see. 2 ). The control device S are predetermined several or at least two fixed positions, which are the handling devices 7 should approach to piece goods 3 to be able to manipulate. The fixed positions can here a respective start position and a respective end position for the handling equipment 7 include, as part of a cycle of movement of the handling equipment 7 be traveled to on the horizontal conveyor 3 transported piece goods 3 to manipulate selectively.

If the fixed positions are specified, the control device S compares a plurality of work paths, taking into account the fixed positions 20 . 22 respectively. 24 (see. 3 ) independently of several criteria. The several work paths 20 . 22 respectively. 24 are in this case such that the fixed positions on the multiple work paths 20 . 22 respectively. 24 are localized, so that the handling equipment 7 as described below, as it travels along a particular one of the plurality of work paths 20 . 22 respectively. 24 the fixed positions happened.

• a) eine jeweilige Ausbildung von Antriebsmomenten A1 bis A3 (vgl. 3) der ein oder mehreren Aktoren 9 bei jeweiliger Bewegung der Handhabungseinrichtungen 7 entlang der mehreren Arbeitsbahnen 20, 22 und 24,
• b) eine jeweilige Dauer, welche die mindestens eine Handhabungseinrichtung 7 zur jeweiligen Bewegung entlang der mehreren Arbeitsbahnen 20, 22 und 24 benötigt,
• c) die Ausbildung von Momenten, welche auf die Handhabungseinrichtungen 7 bei ihren Bewegungen entlang der mehreren Arbeitsbahnen 20, 22 und 24 einwirken,
• d) einen jeweiligen Energiebedarf der ein oder mehreren Aktoren 9 bei Bewegung der Handhabungseinrichtungen 7 entlang der mehreren Arbeitsbahnen 20, 22 und 24.

The criteria with regard to which the multiple work paths 20 . 22 and 24 are compared by the controller S, include in the embodiment of 1 :

• a) a respective design of drive torques A1 to A3 (see. 3 ) of the one or more actuators 9 with respective movement of handling equipment 7 along the several work paths 20 . 22 and 24 .
• b) a respective duration, which the at least one handling device 7 to the respective movement along the several work paths 20 . 22 and 24 needed
• c) the training of moments related to the handling equipment 7 in their movements along the several work paths 20 . 22 and 24 act,
• d) a respective energy requirement of the one or more actuators 9 during movement of handling equipment 7 along the several work paths 20 . 22 and 24 ,

It may be the case that the control device S several working paths 20 . 22 respectively. 24 along which the handling devices 7 can be moved compares, by the controller S, an active movement of the handling equipment 7 along the several work paths 20 . 22 and 24 causes and thereby determines the criteria a), b), c) and d) or detected. In further embodiments, it is conceivable that the control device S has intelligent logic or that an intelligent logic is stored on the control device S, by means of which the control device S, taking into account the fixed positions and the criteria a), b), c) and d) a certain work path 24 from the several work paths 20 . 22 and 24 pretends. Information about the particular work path 24 or for example to the movement of the handling device 7 Occurring drive torques A1 to A3 for the actuators 9 , can be visualized on a display. After a manual agreement, the control device S can move the handling devices 7 about the respective actuators 9 along the particular work path 24 causing the handling devices 7 cargo 3 from the horizontal conveyor 10 accept and manipulate.

2 shows a schematic perspective view of a handling device 7 as may be provided in various embodiments of the invention. The handling device 7 can for the embodiment of a device 1 according to 1 be provided.

In 2 is the handling device 7 as so-called. Tripod 8th or as a parallel kinematic robot 8th with a frame 11 formed and includes three arms 14 independently of each other via an associated actuator 9 can be moved. The actors 9 are connected to the control device S, which has a defined and coordinated movement of the arms 14 about the actors 9 pretends to be general cargo 3 to manipulate. These are the arms 14 with a common clamping and / or gripping unit 30 mechanically in contact. The clamping and / or gripping unit 30 has two opposing jaws 32 whose relative distance can be increased and decreased to general cargo 3 to seize for the purpose of a manipulation and to release temporally afterwards. A release is made by increasing the relative distance between the jaws 32 , The as a tripod 8th or as a parallel kinematic robot 8th trained handling device 7 or the clamping and / or gripping unit 30 as a tripod 8th or as a parallel kinematic robot 8th trained handling device 7 is via the controller S along the particular work path 24 (see. 3 ) emotional. This will be the actors 9 loaded with low drive torque. In addition, the throughput remains above the tripod 8th or as a parallel kinematic robot 8th trained handling device 7 manipulable piece goods 3 high.

The 3 shows several work paths 20 . 22 . 24 as may be present in various embodiments of the invention. As already mentioned above, the control device S is given a plurality of fixed positions, which are a handling device 7 to pass or start moving. If these are known, the control device S compares several potential work paths 20 . 22 and 24 with each other, in which several work paths 20 . 22 and 24 the handling device 7 approach or can pass the fixed positions.

In 3 were the several or three laboratories 20 . 22 and 24 with respect to a respective drive torque A1 to A3 three actuators 9 compared to each other. The handling device 7 for which the drive torques A1 to A3 in 3 are thus shown as a tripod 8th or as a parallel kinematic robot 8th (see. 2 ), which three actuators 9 owns to three arms 14 to move independently of each other and thus a clamping and / or gripping unit 30 for the purpose of manipulating piece goods 3 to position. By reference to A1 is a drive torque of a first actuator 9 in terms of multiple worklways 20 . 22 and 24 Plotted over time, with reference to A2 is a drive torque of another actuator 9 in terms of multiple worklways 20 . 22 and 24 Plotted over time, with reference to A3 is a drive torque of a third actuator 9 of the tripod 8th or the parallel kinematics robot 8th (see. 2 ) with regard to the several work paths 20 . 22 and 24 plotted over time. digit 26 refers to the respective drive torque A1 to A3 of the three actuators 9 at certain work area 24 , As can easily be seen, the respective drive torque has A1 to A3 at a certain trajectory 24 opposite the other movement paths 20 and 22 a lower maximum rash and greater homogeneity over time. This is accompanied by a lower load on transmission components and less wear.

The particular work path 24 has a first track section 40 which extends horizontally in an X direction. Like the handling device 7 along the first track section 40 or moved in the X direction, this can be a synchronous movement of the handling device 7 together with general cargo 3 take place, wherein the handling device 7 or optionally the clamping and / or gripping unit 30 (see. 2 ) of the handling device 7 one or more piece goods 3 from a horizontal conveyor 3 answers. Upon movement of the handling device 7 along the particular work path 24 in the X direction or along the first path section 40 may be a delay or acceleration of one or more received cargo 3 through the handling device 7 respectively.

A first, in a vertical Z-direction upwardly extending curved deflection 42 closes at the first track section 40 at. Were one or more piece goods 3 upon movement of the handling device 7 along the first track section 40 manipulated, the handling device 7 after release of one or more piece goods 3 in the upward direction of the manipulated piece goods 3 moves away and follows the course of the first curved deflection, which digit 42 in 3 points.

At the first curved deflection 42 closes a second track section 44 at. Here is the handling device 7 for receiving further general cargo 3 moved in the opposite direction to the X direction. The second track section 44 runs non-parallel or at an angle to the first path section 40 , A second curved deflection 46 closes at the second track section 44 and to the first track section 40 or connects the first track section 40 and the second track section 44 together.

A relative spacing of the first web section 40 opposite the second track section 44 decreases homogeneously in the X direction. Practice has shown that certain trajectories 24 with characteristics according to 3 low drive torques A1 to A3 for actuators 9 require and yet a high throughput for manipulation of piece goods 3 allow. Convenient for the lowest possible training of drive torques A1 to A3 of actuators 9 also have characteristics according to 3 proven, in which a radius of the second curved deflection 46 approaching the first track section 40 increases.

A workspace within which the handling device 7 can be moved is in 3 by reference with numeral 50 shown. It can be seen here that the first and the second web section 40 and 44 and the first and second curved deflections 42 and 46 with each other an area 60 whose amount is more than 60% of the amount of the area covered by the working area 50 is formed.

The two perspective views of 4 show further aspects, as they may be present in conceivable embodiments of the present invention. Also the handling device 7 from the 4A and 4B is as a tripod 8th or as a parallel kinematic robot 8th trained and has three arms 14 that can be moved relative to each other. The perspective detail view of 4B shows here that the arms 14 one undercarriage each 17 and a top train 16 include. About a respective actuator 9 may be the top train 16 to be rotated about a horizontal axis to the respective arm 14 to move.

The respective upper train 16 and the respective actor 9 are also a transmission 18 and a sensor 19 , in the present case designed as a torque transducer 21 , interposed. The sensor 19 or torque transducer 21 is to the output shaft of the transmission 18 coupled and thereby able to move the handling device 7 or the tripod 8th or the parallel kinematics robot 8th along the several work paths 20 . 22 and 24 one over the actor 9 to the arm 14 or upper train 16 each determined torque.

Next is the sensor 19 or torque transducer 21 with the control device S in connection. This can be done considering the above the sensor 19 or torque transducer 21 each detected torque a respective particular work path 24 from the several work paths 20 . 22 and 24 select or specify and a movement of the handling device 7 or the tripod 8th along the particular work path 24 cause.

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

1

 contraption

3

 cargo

5

 container

7

 handling device

8th

 Tripod, parallel kinematic robot

9

 actuator

10

 Horizontal conveyor

11

 frame

12

 Support structure, support structure

14

 Poor, poor

16

 top pull

17

 Beam

18

 transmission

19

 sensor

20

 working web

21

 torque

22

 working web

24

 Working lane, particular working lane

26

 Drive torque of the particular work path

30

 Clamping and / or gripping unit

32

 jaw

40

 First track section

42

 First curved deflection

44

 Second track section

46

 Second curved deflection

50

 Workspace, workspace

A1

 drive torque

A2

 drive torque

A3

 drive torque

S

 control device

TR

 transport direction

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

• EP 2388216 A1 [0003]
• DE 10204513 A1 [0004]

Claims (18)

Contraption ( 1 ) for the handling of general cargo ( 3 ), comprising - at least one handling device ( 7 ) for manipulating piece goods ( 3 ), - at least one actuator ( 9 ), over which the at least one handling device ( 7 ) along several work paths ( 20 . 22 . 24 ), so that the at least one handling device ( 7 ) passes one or more predetermined fixed positions, - a control device (S), which for moving the at least one handling device ( 7 ) with the one or more actuators ( 9 ), wherein the control device (S) for independent comparison of the plurality of work paths ( 20 . 22 . 24 ) is provided on the basis of at least one or more of the following criteria: a) the respective design of drive torques (A1, A2, A3) of the one actuator ( 9 ) or the multiple actuators ( 9 ) upon movement of the at least one handling device ( 7 ) along the several work paths ( 20 . 22 . 24 ), b) the relative duration of the at least one handling device ( 7 ) for movement along the plurality of work paths ( 20 . 22 . 24 ), c) the formation of moments, which on the at least one handling device ( 7 ) act in their movement along the plurality of work paths, wherein by the control device (S) taking into account the at least one criterion or taking into account a plurality of criteria a particular work path ( 24 ) from the several work paths ( 20 . 22 . 24 ) is predeterminable or fixable, and wherein a movement of the at least one handling device ( 7 ) via the one actor ( 9 ) or via the multiple actuators ( 9 ) by the control device (S) along the particular work path ( 24 ) can be initiated. Apparatus according to claim 1, wherein the at least one handling device ( 7 ) together with several actuators ( 9 ) as a tripod ( 8th ) or as a parallel kinematic robot ( 8th ) is trained. Device according to Claim 2, in which an actuator ( 9 ) or several actuators ( 9 ) as a parallel kinematic robot ( 8th ) or as a tripod ( 8th ) handling device ( 7 ) one sensor each ( 19 ) or several sensors ( 19 ) is assigned to determine the criterion a) or are. Device according to Claim 3, in which a sensor ( 19 ) or several sensors ( 19 ) as a torque transducer ( 21 ) which is an arm ( 14 ) or several arms ( 14 ) as a parallel kinematic robot ( 8th ) or as a tripod ( 8th ) at least one handling device ( 7 ) and a respective actuator ( 9 ) is mechanically interposed or are. Device according to at least one of Claims 1 to 4, in which the control device (S) for the independent comparison of the plurality of working paths ( 20 . 22 . 24 ) with regard to the relative energy demand of the actuator ( 9 ) or the multiple actuators ( 9 ) upon movement of the at least one handling device ( 7 ) along the several work paths ( 20 . 22 . 24 ) is designed as criterion d), wherein a specific working path (15) is formed by the control device (S) taking into account criterion d) 24 ) from the several work paths ( 20 . 22 . 24 ) is predetermined, and wherein a movement of the at least one handling device ( 7 ) via the actuator ( 9 ) or the multiple actuators ( 9 ) by the control device (S) along the particular work path ( 24 ) can be initiated. Device according to at least one of claims 1 to 5, comprising at least one horizontal conveyor ( 10 ) for the transport of general cargo ( 3 ), which at least one horizontal conveyor ( 10 ) is positioned such that a movement of the at least one handling device ( 10 ) along the particular work path ( 24 ) at least in sections parallel to a transport direction (TR) of the at least one horizontal conveyor ( 10 ) he follows. Method for moving at least one for handling unit loads ( 3 ) handling device ( 7 ), in which method one or more fixed positions are predefined, which the at least one handling device ( 7 ) moves during its movement, wherein a control device (S) taking into account the fixed position or the plurality of fixed positions several work paths ( 20 . 22 . 24 ), along which the handling device ( 7 ) by means of an actuator ( 9 ) or by means of several actuators ( 9 ) for manipulating piece goods ( 3 ) can be cyclically moved, at least with respect to one of the following criteria or with respect to several of the following criteria independently compares: a) the formation of drive torque (A1, A2, A3) of the actuator ( 9 ) or multiple actuators ( 9 ) with respective movement of the at least one handling device ( 7 ) along the several work paths ( 20 . 22 . 24 ), b) the duration of which the at least one handling device ( 7 ) for the respective movement along the plurality of work paths ( 20 . 22 . 24 ), c) the formation of moments, which on the at least one handling device ( 7 ) At her Acting movement along the plurality of work paths, wherein the control device (S) taking into account the criterion or the plurality of criteria, a particular work path ( 24 ) from the several work paths ( 20 . 22 . 24 ) and a movement of the at least one handling device ( 7 ) along the particular work path ( 24 ) is caused via the control device (S). Method according to Claim 7, in which the at least one handling device ( 7 ) along the particular work path ( 24 ) is moved within a closed curve. Method according to Claim 7 or 8, in which the plurality of work paths ( 20 . 22 . 24 ) are compared with one another, at least with regard to criterion a) and criterion b), wherein the control device (S), taking into account criteria a) and b), determines a specific work path ( 24 ) from the multiple work paths ( 20 . 22 . 24 ) and a movement of the at least one handling device ( 7 ) along the particular work path ( 24 ) is caused via the control device (S). Method according to at least one of Claims 7 to 9, in which the control device (S) has the plurality of work paths ( 20 . 22 . 24 ) with regard to the relative energy demand of the actuator ( 9 ) or the multiple actuators ( 9 ) during a movement of the at least one handling device ( 7 ) along the several work paths ( 20 . 22 . 24 ) as criterion d), taking into account criterion (d) a particular work path ( 24 ) from the several work paths ( 20 . 22 . 24 ) and a movement of the at least one handling device ( 7 ) along the particular work path ( 24 ) is caused via the control device (S). Method according to at least one of claims 7 to 10, wherein the at least one handling device ( 7 ) at least three arms ( 14 ), each of which has at least one actuator ( 9 ) and which are connected via a respective free end region with a common clamping and / or gripping unit ( 30 ), the actuators ( 9 ) of the at least three arms ( 14 ) via the control device (S) for moving the clamping and / or gripping unit ( 30 ) along the particular work path ( 24 ) can be controlled at the same time in order, by means of the clamping and / or gripping unit ( 30 ) one or more general cargo ( 3 ) to manipulate. Method according to Claim 11, in which the criterion a) is communicated via one or more to the control device (S) and to the actuators ( 9 ) coupled torque transducer ( 21 ) is detected. Method according to at least one of claims 7 to 12, wherein the at least one handling device ( 7 ) while moving along the particular work path ( 24 ) a piece goods ( 3 ) or several general cargo ( 3 ) from a horizontal conveyor ( 10 ) receives and manipulates, whereby the general cargo ( 3 ) or the several piece goods ( 3 ) in surface contact with the horizontal conveyor ( 10 ) stay. Certain work path ( 24 ), which is predetermined by a control device (S) according to at least one of claims 1 to 6 and / or claims 7 to 12, the particular working path ( 24 ) comprising the following characteristics: a first web section ( 40 ) which extends horizontally in an X-direction, - a first in a vertical Z-direction upwardly extending curved deflection ( 42 ) connected to the first track section ( 40 ), - a second track section ( 44 ) connected to the first curved deflection ( 42 ) and oriented in opposite directions to the X direction, - a second curved deflection ( 46 ) connected to the second track section ( 44 ) and to the first track section ( 40 ) and extends in the Z direction downwards, - wherein a relative spacing of the first path section ( 40 ) opposite the second track section ( 44 ) decreases in the X direction. A certain working track according to claim 14, wherein a radius of the second curved deflection ( 46 ) when approaching the first path section ( 40 ) increases. A certain working track according to claim 14 or 15, wherein an amount of the relative spacing of the first track section (Fig. 40 ) opposite the second track section ( 44 ) at least partially at least two-thirds of the amount of the greatest possible freedom of movement of the at least one handling device ( 7 ) in the vertical Z direction. A certain working track according to one or more of claims 14 to 16, wherein the at least one handling device ( 7 ) a specific workspace ( 50 ), within which the at least one handling device ( 7 ), wherein the first and second web sections ( 40 . 44 ) and the first and the second curved deflection ( 42 . 46 ) with each other an area ( 60 ) amounting to more than 60% of the area covered by the working area ( 50 ) is formed. Certain work path ( 24 ) for at least one handling device ( 7 ), which general cargo ( 3 ) from a horizontal conveyor ( 10 ) while his movement and manipulate without interruption of the movement, the particular work path ( 24 ) comprising the following characteristics: a first web section ( 40 ) extending horizontally in an X-direction, - a first curved (upwardly extending in a perpendicular Z-direction) 42 ) Deflection, which adjoins the first track section, - a second track section ( 44 ) connected to the first curved deflection ( 42 ) and oriented in opposite directions to the X direction, - a second curved deflection ( 46 ) connected to the second track section ( 44 ) and to the first track section ( 40 ) and extends in the Z direction downwards, - wherein a relative spacing of the first path section ( 40 ) opposite the second track section ( 44 ) decreases in the X direction.

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