DE102017002478A1 - DEVICE FOR RECORDING STACKED OBJECTS - Google Patents

Abstract

The invention relates to a device for receiving stacked objects (14) with a telescopic conveyor (12), a front side of the telescopic conveyor (12) coupled at least vertically adjustable unloading unit (16) and a gripper (22) for receiving an object (14). from a stack and for moving the object (14) onto the unloading unit (16). It is proposed that the gripper (22) is adapted to exert an at least substantially horizontal pulling or pushing force on the object (14).

Description

The invention relates to a device for receiving stacked objects, in particular packages or articles.

In logistics centers and factories, containers or swap bodies are frequently loaded and unloaded in ever faster cycles. These can contain stacked objects, such as packages or other items, in ordered or unordered stacks. Also packages or pallets must be loaded and unloaded with objects, which are arranged in orderly or disorderly stacks or must be absorbed by such stacks.

The inclusion of objects, in particular packages, of disordered stacks is nowadays usually done manually by a worker who transfers the removed objects after receiving a conveyor.

However, attempts have also been made to facilitate this work by partial automation or to automate it completely.

There are some examples of automatic unloading of trucks or containers with 5-axis grippers. Such a system is for example in the US 9,533,841 B1 disclosed. A gripper is mounted on a carriage and is retracted into a truck, with a conveyor belt is tracked. The grapple is mounted at a fixed height on the cart and has an amplitude or reach or arm length that allows it to be picked up over the entire height of the container.

Under the BEUMER Parcel Picker® brand, the BEUMER Group GmbH & Co. KG offers a modified telescopic belt conveyor with an unloading unit coupled to the front side, which the operator can actively steer and which is height-adjustable. The unloading unit can be retracted by the operator into a container or truck to be unloaded. The packages to be unloaded can be pulled onto the conveyor system via a manually guided package manipulator with a long handle. The unloading unit extends over the entire width of the container to be unloaded, so that the operator can not move within the container next to or in front of the unloading unit in order to intervene manually if necessary. From the operator's point of view, the objects to be unloaded can not be reached by hand without the use of the long handle package manipulator. Manual intervention in the unloading process requires the unloading unit to be moved out of the container.

The invention has for its object a simple and flexible device for receiving stacked objects, in particular packages to provide.

The object is achieved by a device for receiving stacked objects with the features of claim 1. Advantageous embodiments of the invention will become apparent from the dependent claims.

The invention relates to a device for receiving stacked objects with a telescopic conveyor, a front side coupled to the telescopic conveyor, at least vertically adjustable unloading unit and a gripper for receiving an object from a stack and for moving the object on the discharge unit.

In particular, it is proposed that the gripper is designed to exert an at least substantially horizontal pulling or pushing force on the object. A lifting of the object and a required complex mechanics can be avoided. Preferably, the substantially horizontal pulling or pushing force acts on only a single vertical side surface of the object and not on two opposite side surfaces.

It is also proposed that the gripper is attached to a horizontally extending rail. The combination of the vertically adjustable and in advance embodiments also movable in the conveying direction unloading unit with the gripper attached to a horizontally extending rail a flexible insert for receiving arranged at different heights objects is possible.

In particular, the device may comprise a carriage which can be moved in and out of a container or swap bodies to load or unload them. The objects to be unloaded may be, for example, packages or other items that are delivered in ordered or unordered stacks. Also, package carriages or pallets can be unloaded with the device, with the objects being picked up by ordered or unordered stacks.

In order to facilitate the simple drawing also of lying on the bottom of the container, the swap body, the pallet or the trolley objects, the unloading is movable in an advantageous embodiment of the invention to the ground.

The gripper can be moved on the rail and the device can for this purpose include a corresponding actuator or manually shifted by a user on the rail. Depending on the configuration of the invention, the rail can be designed as a mounting rail for mounting different grippers or as a roller or slide rail. The rail can be mounted at a fixed height, but is adjustable in height in advantageous embodiments of the invention, in particular independently of the discharge unit. However, if the device is designed exclusively or primarily for receiving objects with a predetermined height, the rail is advantageously adjusted simultaneously with the unloading unit.

It is also proposed that the rail is designed to fasten several grippers side by side. The grippers can be used simultaneously to increase the throughput or can be designed differently, so that depending on the object a suitable gripper can be used.

According to a preferred embodiment of the invention, the gripper or at least one of the grippers is designed as a suction gripper. As a result, a flexible, non-destructive recording of the objects can be ensured.

It is also proposed that the suction gripper has an at least substantially horizontal suction direction and is designed to emphasize the object on the unloading unit. As a result, a lifting of the object can be avoided and the suction pad can be designed according to smaller forces, which in turn allows lower pressure losses during suction.

In a particularly advantageous embodiment of the invention, the device comprises a plurality of parallel, independently operable suction pads. The number of suction cups used can be adapted to the object to be extracted or to the size and weight of the latter. As a result, energy losses and pressure losses, which are usually associated with noise, can be avoided.

It is also proposed that the gripper comprises a horizontally retractable lance and a gripping unit, wherein the gripping unit can be brought by extending the lance into contact with the object and the object can be pulled out by retracting the lance. The bim emphasis of the object mitzubewegende mass of the gripper can be kept low in this way.

In an advantageous embodiment of the invention, the device comprises a control unit for adjusting the height of the unloading unit and for actuating the gripper. The control unit is preferably at least partially automated. However, the control unit may additionally include a user interface for manually operating the device with a joystick or other operating means. In this case, the control unit can in particular also be designed for the control unit of the extension and retraction of the lance, if the device comprises such a lance.

Furthermore, the inventors propose to equip the device with an image acquisition unit. Then, the control unit should be designed to evaluate image data of the image acquisition unit, to determine a size and / or position of an object to be recorded in a next step from image data of the image acquisition unit. The unloading unit and / or the gripper can then be actuated by the control unit depending on the detected size and / or position.

In an advantageous embodiment of the invention, the gripper comprises a plurality of independently operable gripper units, in particular suction pads. The control unit can then be designed to determine a number of gripper units used to pick up the object, depending on the determined size of the object. By minimizing the number of grippers used, energy saving potentials can be tapped and pressure losses reduced.

Furthermore, it is proposed that the control unit is designed to detect from the image data a lower edge of an object to be recorded in a next work step and to move a conveying plane of the unloading unit to the height of the lower edge. The object can then be pulled forward on a substantially flat surface, in which conveying plane substantially steadily continues the upper side of the underlying object or the bottom of the container, the swap, the pallet or the trolley.

It is also proposed that the unloading unit can be moved horizontally and orthogonally to a conveying direction, in particular with respect to a carriage with which the unloading unit can be moved in and out in the conveying direction of the conveyor system, into the container or the swap body.

In order to allow manual intervention by the operator, it is proposed that a width of the unloading unit is at least 50 cm smaller than an internal width of an ISO container of about 2.4 m. The operator can thereby also stand within the container next to the unloading unit or run past it, without having to extend the device completely out of the container.

Further features and advantages will become apparent from the following description of the figures. The entire description, the claims and the figures disclose features of the invention in specific embodiments and combinations. The person skilled in the art will also consider the features individually and combine these with other combinations or subcombinations in order to adapt the invention as defined in the claims to its needs or to specific fields of application.

• 1 eine perspektivische Ansicht einer Vorrichtung nach einem Ausführungsbeispiel der Erfindung;
• 2 eine weitere Ansicht der Vorrichtung nach 1;
• 3 eine schematische Darstellung zum Einfahren der erfindungsgemäßen Vorrichtung in einen Lastkraftwagen,
• 4 eine Detailansicht eines Sauggreifers der erfindungsgemäßen Vorrichtung aus den Figuren 1 -3und
• 5a - 5e eine Folge von Verfahrensschritten zur Aufnahme eines Objekts von einem Stapel und zum Bewegen des Objekts auf eine Entladeeinheit der Vorrichtung aus den 1 - 4.

Here are:

• 1 a perspective view of a device according to an embodiment of the invention;
• 2 a further view of the device according to 1 ;
• 3 a schematic representation for retracting the device according to the invention in a truck,
• 4 a detailed view of a suction pad of the device according to the invention of Figures 1 -3und
• 5a - 5e a sequence of method steps for picking up an object from a stack and for moving the object onto a discharge unit of the device from the 1 - 4 ,

1 - 3 show a first embodiment of the invention.

A device according to the invention for receiving stacked objects is on a carriage 10 mounted in a container or in a swap body ( 3 ) can be retracted and extended. The device comprises a telescopic conveyor 12 the objects to be unloaded 14 ( 5a - 5e ), in particular packages, to a static conveyor system (not shown) of a logistics center.

The device comprises a front side of the telescopic conveyor 12 coupled height-adjustable and adjustable transversely to the direction of discharge 16 and a frame 18 with a horizontally oriented, above the telescopic conveyor 12 arranged rail 20 , At the rail 20 is a gripper 22 to capture an object 14 attached, for example screwed or on the rail 20 moveable or moveable. The gripper 22 is designed to be the object 14 from a pile and pick up the object 14 on the unloading unit 16 to move. The gripper 22 is attached via a pivotable about a horizontally oriented axis or rotatable arm on the rail 20, so that a height adjustment of the gripper 22 not only by a height adjustment of the rail 20 but also about a pivoting of the arm is possible.

The rail 20 is wide enough to attach multiple grippers 22 to allow side by side, even if the rail 20 in the embodiment illustrated in the figures with only one gripper 22 is equipped, however, which comprises a plurality of, each designed as a suction pads and independently controllable units.

The suction pad 22 has an at least substantially horizontal suction direction and is thus aligned to move the object 14 from the stack to the unloading unit 16 can pull without lifting it.

The suction pad 22 is in 4 shown in more detail. The units are arranged in parallel, independently operable suction pad 22a - 22c, each with a horizontally retractable and extendable lance 24a - 24c and a gripping unit 26a - 26c , The gripping units designed as suction heads 26a - 26c can by extending the respective lances 24a - 24c in contact with the object 14 be brought, the object 14 suck in and the object 14 can then by retracting the lance 24a - 24c be drawn.

The device further comprises a computer-designed control unit 28 for height adjustment of the discharge unit 16 , to operate the gripper 22 and to the control unit 28 the retraction and extension of the lances 24a - 24c , The control unit 28 includes a user interface 30 with a joystick or multiple levers and a monitor or other suitable device allowing manual intervention in otherwise largely automated unloading. In the in 3 The example shown is the user interface 30 a wireless, portable remote control. In other embodiments, the user interface may be fixed to the cart 10 be connected, which may also include a seat for the operator.

On a frame 18 , the rail 20 carries, is designed as a camera image capture unit 32 mounted, their images to the control unit 28 be transmitted.

5a - 5e illustrate the operation of the device according to the invention. In a first, in 4a The illustrated step will become the control unit 28 Image data of the image acquisition unit 32 and determined by means of suitable image processing software, a size and / or position of an object to be included in a next step 14 from image data of the image acquisition unit 32. The corresponding object is in 5a hatched shown. In one embodiment of the invention comprises the image capture unit 32 several cameras that take a picture from different angles and thus a three-dimensional capture of the ablated stack of objects 14n enable. Of course, depth information can also be obtained via other techniques, such as infrared or ultrasound reflection. Furthermore, embodiments of the invention are conceivable in which information about the size or the weight are determined by means of bar codes or QR codes that are applied to the objects 14 or in which known information about the composition of the stack is evaluated. Which of the objects 14 can be determined by an algorithm that can take into account, in addition to the expected stability of the remainder of the stack in the removal and traverses of the device. Often, but not necessarily always, is the highest object on the stack 14 will be unloaded next.

You control unit 28 in this way gathers information about the size, shape and position of the next object to be unloaded 14 on the stack and controls the unloading unit 16 and / or the gripper 22 depending on the detected size and / or position.

Is the object to be recorded 14 identified, the control unit 28 moves the on the frame 18 height-adjustable gripper 22 to a height in which the suction pad 22 centered in front of a front of the object 14 stands and drives the horizontally on a rod or telescopic rod retractable gripper 22 towards the front surface of the object 14 and brings a suitable number of gripper units 26a - 26c by extending the appropriate lances 24a - 24c in contact with the front of the object 14, as shown in FIG 5b is shown.

The control unit 28 further detects from the image data a lower edge of an object 14 to be picked up in a next working step and adjusts the height of the unloading unit 16 such that the conveying plane of the unloading unit 16 is moved to the height of the lower edge ( 5c ) and then moved up to the stack, so that the conveying plane, ie an upper side of conveyor belts of the discharge unit 16 , which is continued at the leading edge by a ramp-like wedge extension, with the top of under the object to be removed 14 lying object 14 is aligned and forms a substantially continuous plane with this top. ( 5d ). At this level, the object 14 then becomes with the suction pads 22 can be brought forward until it is on the unloading unit 16 or the conveyor belts of the conveyor system or the unloading unit 16 lies ( 5e ). For removal, the gripper 22 from the path of the object 14 panned or driven up, before the next object 14 taken from the pile.

The order of in 5b - 5d shown steps can be changed or the various movements can be performed simultaneously. The 5b - 5d Sequence is chosen only for clarity.

Even if the discharge unit 16 in the 5d illustrated example to a leading edge of the arranged under the package to be removed package or object 14 is moved, the removal unit 16 may also be placed obliquely on the top of an object 14 for removing objects lying further away on the stack.

The gripper units 26a - 26c can also be used to align the objects 14 and thereby also transmit a thrust to the object. If a front side of the object to be extracted 14 is inclined, this can be achieved by taking the object 14 with one or more vacuum units and at the same time holding or pushing back with other vacuum units until the front side is straight and can therefore be pulled out with minimal suction. They suction units may further include flexible squeegee, which are at irregularities of the surface of the object 14 to adjust.

The unloading unit 16 is also transverse to the conveying direction of the conveyor system horizontally on the carriage 10 movable and a width of the unloading unit 16 is at least 50 cm smaller than an inside width of an 8-foot wide ISO container. The user can therefore also with retracted unloading 16 go next to them or pass them to manually intervene in the unloading process, such as wedged objects 14 to move.

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

• US 9533841 B1 [0005]

Claims (15)

Device for receiving stacked objects (14) with a telescopic conveyor (12), a front end of the telescopic conveyor (12) coupled at least vertically adjustable unloading unit (16) and a gripper (22) for receiving an object (14) from a stack and the Moving the object (14) onto the unloading unit (16), characterized in that the gripper (22) is adapted to exert an at least substantially horizontal pulling or pushing force on the object (14). Device after Claim 1 , characterized in that is attached to a horizontally extending rail (20). Device after Claim 2 , characterized in that the rail (20) for attachment of a plurality of grippers (22) is designed side by side. Device according to one of the preceding claims, characterized in that the gripper (22) is designed as a suction pad (22). Device after Claim 4 , characterized in that the suction gripper (22) has an at least substantially horizontal suction direction and is designed to emphasize the object (14) on the unloading unit (16). Device after Claim 5 characterized by a plurality of independently operable suction pads (22) arranged in parallel. Device according to one of the preceding claims, characterized in that the gripper (22) comprises a horizontal extendable and retractable lance (24a - 24c) and a gripping unit (26a - 26c), wherein the gripping unit (26a - 26c) by extending the lance (24a - 24c) can be brought into contact with the object (14) and the object (14) can be pulled out by retracting the lance (24a - 24c). Device according to one of the preceding claims, characterized by a control unit (28) for height adjustment of the unloading unit (16) and for actuating the gripper (22). Device according to the Claims 7 and 8th , characterized in that the control unit (28) further to the control unit (28) of the extension and retraction of the lance (24a - 24c) is designed. Device according to one of Claims 8 and 9 characterized by an image acquisition unit (32), wherein the control unit (28) is designed to evaluate image data of the image acquisition unit (32), a size and / or position of an object (14) to be recorded in a next step from image data of the image acquisition unit (32) to determine and operate the unloading unit (16) and / or the gripper (22) depending on the detected size and / or position. Device after Claim 10 , characterized in that the gripper (22) comprises a plurality of independently operable gripper units (26a - 26c), in particular suction gripper (22), wherein the control unit (28) is adapted to a number of gripper units used to receive the object (14) (26a-26c) depending on the determined size of the object (14). Device after Claim 10 or 11 , characterized in that the control unit (28) is adapted to detect from the image data a lower edge of an object to be recorded in a next step (14) and to move a conveying plane of the unloading unit (16) to the height of the lower edge. Device after Claim 2 or after Claim 2 and another of the preceding claims, characterized in that the gripper (22) on the horizontal rail (20) is movable. Device according to one of the preceding claims, characterized in that the unloading unit (16) is movable horizontally and orthogonal to a conveying direction of the conveyor system. Device according to one of the preceding claims, characterized in that a width of the discharge unit (16) is at least 50 cm smaller than an inner width of an ISO container.

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