DE102018132593A1 - Device and method for handling piece goods moved in succession in at least one row - Google Patents

Abstract

The invention relates to a method and a device (10) for handling piece goods (2) moved one behind the other in at least one row (1). The piece goods (2) are continuously transported in a row (1) without gaps or with minimal gaps directly in succession as a closed formation (F). At least one transported piece of goods (2, 2 *) is gripped and / or non-positively and / or positively from the closed formation (F), spatially separated in alignment in the direction of transport and in a defined relative target position (P) and / or relative target orientation compared to the following Bulk goods (2). A plurality of piece goods (2) each arranged in a relative target position and / or target orientation form a piece goods row (8) of a piece goods layer (9). The piece goods row (8) is transferred into a layer formation module (15) by a force acting within a transport plane for the piece goods (2) perpendicular to the direction of transport (TR).

Description

The present invention relates to a method and a device for handling piece goods moved in succession in at least one row in accordance with the features of the independent claims.

In known methods for packaging and / or palletizing piece goods such as parcels, bundles or the like, these are first conveyed on transport devices conveying in lines and shifted, aligned and / or compiled in a suitable manner in order to generate desired layer images, which are then stacked several times can be stacked, for example on pallets prepared for this purpose. These treatment steps can be used in particular in plants for the treatment of containers for beverages.

The piece goods in question can be, for example, parcels, boxes, boxes, containers or clusters. In order for the pallets mentioned to be safe for transport, the compiled layer images, which are also referred to as compiled measures, must meet certain requirements. Conventionally, preparatory measures are necessary for the formation of such cycles, which consist, for example, of grouping or collecting the piece goods, which are initially transported regularly or stepwise on a so-called allocation belt, on an intermediate conveyor belt in order to collect them and / or group them on a layer formation belt or to hand over a layer formation table.

It is known from the prior art to transfer piece goods individually from a feed belt to a conveyor belt, which means that individual piece goods are transferred to the conveyor belt on the feed belt. This transfer can take place in that each individual piece goods is transferred individually to the conveyor belt due to a speed difference between the feed belt and the conveyor belt, it being possible for there to be control by optical sensors such as light barriers.

It is also conceivable to transfer the piece goods individually from the conveyor belt by gradually moving the layer formation belt. In order to transfer individual piece goods from the conveyor belt to the layer formation belt in such a way, the layer formation belt can be moved in synchronized steps with the conveyor belt exactly by a length of a piece goods in the direction of transport. Depending on the desired layer formation, these cycles or groupings or parts of the grouped piece goods can also be rotated on the conveyor belt, in order then to be transferred to the layer formation belt.

An improvement in the throughput can be achieved in particular by increasing the speed in the series formation. For example, in the EP 1456101 B1 described method and by means of the device described there, the formation of rows before the provision at the layer formation station and during the transport of the packaged goods. Here, the packaged goods are brought to the desired distances and, if necessary, also in the correct orientation, in particular the rotational position, and positioned in the correct position. The distances between the packaged goods are generated by using conveyor sections arranged one behind the other with controllable and controllable drives which are operated at different speeds. The row formation device has at least one monitoring device for determining and monitoring the formation of the distance between the packaged goods. The spaced packaged goods can then, depending on the desired orientation, still be brought into the desired rotational position within the packaged goods layer to be formed. A packaged goods row is then formed in accordance with the layer scheme to be formed, the packaged goods being able to be arranged in different orientations within the packaged goods row. The packaged goods row is then handed over to the layer formation station to form a packaged goods layer suitable for palletizing. In particular, the location is gradually built up from several rows. The construction of this known row forming device is relatively complex and complicated, especially since it requires a large number of belts, which are required for spacing and / or rotation of the packaged goods

The object of the invention is to increase the speed in the formation of piece goods layers and thus the throughput of a corresponding device for forming piece goods layers compared to the devices known from the prior art.

The above object is achieved by a method and a device for handling piece goods moved in succession in at least one row, which comprise the features in the independent patent claims. Further advantageous embodiments are described by the subclaims.

The invention relates to a method for handling piece goods moved in succession in at least one row. The piece goods are continuously transported in a row without gaps or with minimal gaps directly in succession as a closed formation.

The piece goods can be articles, packages, container assemblies, containers, cartons or the like which are moved in a row in a row. act. For example, it can be provided that a plurality of identical or different articles are combined to form a container or mixed container by a cardboard packaging, by one or more strapping, by a film packaging or the like. Furthermore, a plurality of beverage containers, which are held together, for example, by shrink packaging, by a strapping band or by a plurality of strapping bands, each form a piece goods. The piece goods moved in series one behind the other can be of the same or different design depending on the requirements of subsequent handling devices.

The term closed formation means a largely seamless sequence of piece goods that are transported one after the other. The closed formation in the sense of the present invention can have a finite length and comprise a limited number of piece goods, after which a gap and such a gap may possibly be followed by another such formation which is subsequently transported. Such a sequence can be repeated, possibly also several times, many times or in an indefinite number. The closed formation can also be transported as an endless formation, which has no interruption and comprises any number of piece goods.

From this closed formation, at least one transported piece of goods is gripped and / or non-positively and / or positively, spatially separated from the closed formation in the direction of transport and brought into a defined relative target position and / or target orientation with respect to subsequent piece goods of the formation, the target position and / or target alignment is formed in alignment with the row of the supplied piece goods. If in the context of the present invention there is a jamming detection of piece goods, this also includes a force-fit and / or friction-fit detection, a force-fit and / or friction-fit gripping or picking up piece goods. All these variants of picking up, grasping and / or gripping piece goods can equally be combined with a form-fitting grasping, gripping or picking up of piece goods.

A plurality of piece goods arranged in an aligned relative target position and / or target orientation form a piece goods row of a piece goods layer provided for palletizing. The majority of piece goods, which form a piece goods row of the piece goods layer, are then transferred together into the layer formation module. The transfer to the layer formation module takes place in particular in a single process step. Here, a force acts perpendicular to the direction of transport on the piece goods row within a transport plane for the piece goods or parallel to it. In particular, the piece goods row, which is in alignment with the piece goods of the formation, is pushed out of alignment perpendicular to the aligned arrangement.

According to one embodiment of the invention, it is provided that at least one piece goods that have been detected and separated from the formation are transferred in alignment with the formation of the subsequent piece goods by rotating through 90 degrees or without rotation into the relative target position and / or target orientation. If in the context of the present invention there is talk of a target position and / or target orientation, this can mean in particular that the piece goods can be detected, moved and / or rotated, the piece goods optionally also being able to be moved (without rotation).

According to one embodiment of the invention, it is provided that at least one piece goods detected is transferred to the relative target position and / or target orientation by shifting on the transport level, wherein in this embodiment there is no lifting of the at least one piece goods detected. Alternatively, it can be provided in a further embodiment that the at least one piece goods detected is lifted, for example, by a small amount in order to cancel the contact with the top of the transport level and a friction between the piece goods and the transport level when the piece goods are transferred to the target position and / or To cancel or decrease target alignment.

According to one embodiment it is provided that a distance or a gap is formed between the piece goods, which form a piece goods row of a piece goods layer, after being arranged in their respective target position and / or target orientation. In particular, between at least one piece goods detected in a first method step that has been transferred to a first aligned target position and / or target orientation and at least one piece goods recorded in a second method step that has been transferred to a second aligned target position and / or target orientation Gap should be formed. This gap is preferably removed before the piece goods row formed in alignment with the formation is transferred to the layer formation module. Alternatively, it can be provided that the piece goods of a piece goods row are already arranged directly adjacent to one another in their respective target position and / or target orientation.

In the following, a process sequence for the formation of a general cargo row and transfer to a layer formation module is to be explained using an exemplary embodiment. In a first method step, for example, two foremost piece goods of the formation that is fed in without gaps are detected and separated from the following piece goods by an additional speed component being impressed on the two piece goods in the direction of transport. In addition, the piece goods are rotated 90 degrees around an axis of rotation perpendicular to the transport plane for the piece goods. The piece goods are then released in a defined first target position. The defined first target position is, in particular, a relative position to the trailing general cargo of the formation, since both the general cargo in the target position and the general cargo of the formation continue to move at the same speed in the same direction, in particular the direction of transport. The target orientation of the two piece goods in the first target position has changed compared to the piece goods of the formation due to the rotation.

In a second process step, for example, three piece goods are detected from the front end of the formation and spaced apart by an additional speed component in the direction of transport from the subsequent piece goods of the formation until the three piece goods have reached their second defined target position relative and in alignment with the subsequent piece goods. The target alignment of the three general cargo in the second target position corresponds to the alignment of the general cargo within the formation. In a third process step, analogous to the first process step, two piece goods can again be detected and brought into alignment with the subsequent piece goods of the formation by impressing a speed component in the transport direction in combination with a superimposed rotation into a third target position and target orientation.

The piece goods arranged in the first, second and third target positions are on the one hand in each case in alignment with the following piece goods of the formation and together form a piece goods row of the piece goods layer to be trained. Due to the continuous movement of the piece goods of the formation and the same continuous movement of the piece goods in their respective target position, the relative arrangement of the piece goods to one another remains the same. According to one embodiment, it can be provided that the piece goods of the piece goods row are arranged in succession when arranged in the respective target position. Alternatively, you can choose between the two general cargo rotated by 90 degrees in the first target position and target orientation and the front of the three general cargo in the second target position and the rear of the three general cargo in the second target position and the two general cargo in the third target position and target orientation a distance or a gap may be formed. This gap is preferably removed before the row of articles is transferred to the layer formation module.

The removal of the gaps can be effected, for example, in that the piece goods, which form a piece goods row, run against a stop element in a fourth method step, which prevents further movement of the piece goods in the transport direction, as a result of which the gaps between the piece goods are closed in their respective relative target position become. Now the closed batch of goods can be transferred to the layer formation module in a fifth process step. In the meantime, further piece goods can already be captured by the formation and transferred in alignment with the target positions and / or target alignment to the formation in order to prepare a second piece of piece goods.

In order to correctly record the piece goods from the formation, according to one embodiment, spatial coordinates and / or position data of at least one piece goods to be detected and positioned are determined and used for the calibration of the current and / or subsequent method steps. This option is described in more detail below in connection with the device according to the invention.

In order to carry out the above-described method, in particular a device or handling device for handling piece goods moved in succession in at least one row is used. Such a device comprises at least one manipulator for piece goods and a detection area assigned to the manipulator. Furthermore, at least one transport device is provided, by means of which directly consecutive piece goods in the row are transported continuously in a transport direction almost without spacing as a closed formation into the detection area of the at least one manipulator.

The detection area is to be understood in particular as the area in which the manipulator and / or moving parts of the manipulator are arranged, can move within definable limits and can thereby perform positioning steps and / or other handling steps on the piece goods supplied in the formation and into the detection area . A further conveying device, for example a horizontal conveying device, can be assigned to the detection area, for example, which is in particular the same Speed and in the same transport direction as the feeding transport device. Alternatively, transport devices for supplying piece goods and conveyor devices in the detection area of the manipulator can also be formed by successive transport sections of a single conveyor device.

Of the piece goods supplied in formation, at least one piece goods, in particular at least one foremost piece goods of the formation, is detected in a clamped and / or non-positive and / or positive manner by the at least one manipulator within its detection range. This at least one piece good is separated from the subsequent piece goods of the formation and transferred into a target position and / or target alignment, in particular into a target position and / or target alignment in alignment with the formation of the subsequent piece goods.

The device further comprises a transfer module and a layer formation module. The slide module has a push element with which a plurality of piece goods, which form a piece goods row, can be transferred to a layer formation module. The piece goods are arranged and aligned within the piece goods row according to a defined position scheme. The arrangement of the piece goods within the piece goods row was created in advance by the manipulator, who has brought the piece goods into a defined target position and target orientation in relation to the subsequent piece goods of the formation.

The thrust element is preferably arranged parallel to the transport direction and is also designed to be movable perpendicular to the transport direction, in particular in a horizontal plane on or above the transport plane for the piece goods.

According to one embodiment, the transfer module comprises a conveyor device, in particular a conveyor belt or the like. The conveyor can preferably be operated at different speeds at least for a short time. For example, it can be provided that the conveyor device is operated briefly at an increased speed after all piece goods of a piece goods row formed by the manipulator have entered the transfer module. As a result, a distance to subsequent piece goods of a further piece goods piece is increased.

In order to remove gaps between the piece goods within a piece goods row, for example, the transfer module can comprise a first stop element which extends in particular transversely to the direction of transport of the piece goods of the piece goods row and / or the formation. In particular, the first stop element extends transversely to the transport direction on the transport plane. The piece goods of the piece goods series are moved against the stop element. Since the foremost piece goods of the first target position, which are already in contact with the stop element, are prevented from being transported further in the transport direction, the piece goods of the second target position run against the latter, thereby closing the gap, etc.

Furthermore, it can be provided that the layer formation module is assigned a second stop element, which is in particular parallel to the transport direction of the piece goods of the formation, in particular parallel to the transport plane. The piece goods row is transferred from the transfer module into the layer formation module by means of a force acting perpendicular to the direction of transport of the formation, which is generated in particular by the push element. In this case, the first row of general cargo of the general cargo layer to be produced is pushed in particular against the second stop element. The second piece goods row formed by the manipulator in subsequent process steps is pushed against the first piece goods row during transfer into the layer formation module, etc., until the complete piece goods layer is generated according to a predetermined layer diagram and can be fed to further palletizing.

While the general cargo row is being transferred from the transfer module into the layering module, it can be provided that the conveying device of the transfer module is stopped at least briefly. This in particular prevents the general cargo from shifting against each other within the general cargo row and thus incorrect positioning. This also prevents a collision with a row of piece goods subsequently formed.

According to one embodiment, the at least one manipulator can be assigned at least two clamping and / or gripping means which are arranged opposite one another, in particular arranged in pairs opposite one another, and which are used for clamping and / or non-positive and / or positive locking as well as for separating and selectively transferring the respective General cargo in the target positions and / or target orientations interact with one another, in particular in pairs. The clamping and / or gripping means of the manipulator are preferably aligned parallel to the direction of transport of the piece goods coming into formation during the detection of the piece goods.

After being brought into their respective defined target position and / or target orientation, the piece goods are moved by the at least two themselves opposite clamping and / or gripping means released. The clamping and / or gripping means, which can be set against each other, allow quick gripping, moving, positioning and releasing of the piece goods at the desired speed with the desired positioning precision. Other manipulators can also be used advantageously, for example those designed as multi-axis robots, as parts of such multi-axis robots, as delta kinematics robots or so-called tripods.

In connection with the method described above, it has already been mentioned that the detection of the piece goods can be adapted on the basis of determined data. Provision is preferably made for the manipulator and / or the detection area of the manipulator to be assigned at least one detection means for determining spatial coordinates and / or position data and / or outline data of at least one piece good to be detected and positioned, in particular for determining corresponding data of the piece goods previously transported closed formation. The determined spatial coordinates and / or position data and / or outline data are transmitted in particular to a control unit which is designed to control and / or adapt and / or calibrate the manipulator and / or the method steps to be carried out by the manipulator on the basis of the determined data. In particular, the control unit calculates the movement sequence of the manipulator again, compares the calculated movement profile with the current movement profile of the manipulator and adjusts it accordingly if necessary.

The detection means is formed, for example, by an optical sensor device. The sensor-determined values are used in particular for the selective activation, activation and / or movement of the clamping or gripping means of the manipulator by the control unit of the handling device. The optical sensor device can be an edge scanner which determines the corresponding spatial coordinates and / or position data and / or outline data for the piece goods of the closed formation located at the foremost front and / or its outline edge pointing forward. Alternatively, the sensor device can also be formed by at least one camera with a downstream image evaluation, from the data of which the control unit can obtain or derive the desired data for the piece goods located in front. The sensor devices mentioned are to be understood as examples. In principle, however, other sensor variants can also be used, for example ultrasonic sensors or the like. Other suitable sensors can also be used advantageously by a person skilled in the art.

Furthermore, the sensor device can also be provided as at least one optical sensor device that is spatially and / or functionally assigned and movable to the detection area of the at least one manipulator. At least the manipulator and / or other conveyor components of the device, for example the transport device, via which the piece goods are fed to the detection area or a horizontal conveyor device, etc., assigned to the detection area are calibrated and / or controlled on the basis of the determined spatial coordinates and / or position data and / or outline data . Furthermore, the determined data can also be used in feedback of the position of the movable optical sensor device. For example, the acquisition of the corresponding data can trigger an activation or inactivation of the optical detection device, carry along the optical sensor device with the transport device and / or horizontal conveyor device or the like. As soon as there are deviations in the container dimensions and / or the conveying speed or similar. can be corrected accordingly for all subsequent cycles or manipulation steps.

Alternatively, it can be provided that the detection means is arranged on the manipulator in such a way that it can recognize spatial coordinates and / or position data and / or outline data of a piece goods moving within the detection range of the at least one manipulator. It is preferably provided that the detection means is arranged on a non-rotating component of the manipulator. When the manipulator is moved, in particular in a plane parallel to the transport plane for the piece goods and / or when the manipulator is raised or lowered relative to the transport plane for the piece goods, the detection means arranged on the manipulator is moved accordingly. However, there is no rotation of the detection means, so that the relative orientation of the detection means within the device always remains the same.

The control unit of the handling device in particular generally controls the movement of the manipulator and / or other machine components of the device. The control unit preferably contains stored information on a grouping to be formed from a multiplicity of piece goods for a palletizable position, the respective target positions and / or target orientations of the piece goods forming part of the information and the respective piece goods having a respective specific position and / or relative orientation in assign to the respective grouping. In particular, the control unit contains stored information relating to a plurality of rows of piece goods, which can form a layer capable of being palletized, wherein a plurality of piece goods are arranged in alignment within a piece goods row. The piece goods within the piece goods row can have the same orientation as the piece goods of the formation, or the piece goods within the piece goods row can have an orientation that is rotated by 90 degrees with respect to the piece goods of the formation.

• • unterschiedliche Zielpositionen und/oder Zielausrichtungen, insbesondere ob die Stückgüter mit Rotation oder ohne Rotation in die Zielpositionen und/oder Zielausrichtungen gelangen und/oder
• • Informationen zum Ziel- Lagenschema, d.h. Anordnung der Stückgüter in Relation zueinander in der jeweiligen Ziellage und/oder
• • Informationen zur Ausbildung von Stückgutreihen in Vorbereitung der Ausbildung einer palettierfähigen Lage und/oder
• • Anzahl der Formationen im Zulauf der Vorrichtung, insbesondere einreihiger oder mehrreihiger Zulauf von Stückgütern etc.

The control unit can in particular be an electronic and / or programmable control unit such as a PLC. Different tax regulations and / or tax data, with which different piece goods - for example six-packs and four-packs - can be clamped, released and / or otherwise handled and / or moved, can be stored in this. The control unit can in particular contain the following recipes / data or control regulations and / or data:

• • different target positions and / or target orientations, in particular whether the piece goods reach the target positions and / or target orientations with or without rotation, and / or
• • Information on the target location scheme, ie arrangement of the piece goods in relation to each other in the respective target location and / or
• • Information on the formation of batches of goods in preparation for the formation of a layer capable of being palletized and / or
• Number of formations in the inlet of the device, in particular single-row or multi-row inlet of piece goods, etc.

In the method described here and by means of the device described, the formation of a distance and the rotation of piece goods to form a piece goods row, wherein several piece goods rows form a piece goods layer capable of being palletized, are combined in a common process step, which can thereby be carried out much faster. In particular, the piece goods do not have to be spaced apart in a first step, stopped in a second step and rotated in a third step. Instead, a batch series, in which the batches can have different orientations, takes place in a continuous process.

At this point, it should be expressly mentioned that all aspects and design variants which were explained in connection with the device according to the invention equally relate to or may be partial aspects of the method according to the invention. Therefore, if there are certain aspects and / or relationships and / or effects at a point in the description or also in the definition of claims for the device according to the invention, then this applies equally to the method according to the invention. Conversely, the same applies, so that all aspects and design variants that have been explained in connection with the method according to the invention also relate to or may be partial aspects of the device according to the invention. If, therefore, at one point in the description or also in the definition of claims for the method according to the invention, certain aspects and / or relationships and / or effects are mentioned, this applies equally to the device according to the invention.

• 1 bis 15 zeigen schematisch einen sinnvollen zeitlichen Ablauf eines Ausführungsbeispiels des Verfahrens zum Umgang mit in mindestens einer Reihe hintereinander bewegten Stückgütern durch eine entsprechende Vorrichtung oder Handhabu ngsvorrichtu ng.
• 16 zeigt eine erste Ausführungsform einer fertig ausgebildeten palettierfähigen Lage.
• 17 zeigt eine zweite Ausführungsform einer fertig ausgebildeten palettierfähigen Lage.

In the following, exemplary embodiments are intended to explain the invention and its advantages with reference to the attached figures. The size relationships of the individual elements to one another in the figures do not always correspond to the real size relationships, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

• 1 to 15 schematically show a meaningful chronological sequence of an embodiment of the method for handling piece goods moved in at least one row one behind the other by means of a corresponding device or handling device.
• 16 shows a first embodiment of a fully formed palletizable layer.
• 17th shows a second embodiment of a fully formed palletizable layer.

Identical reference numerals are used for identical or identically acting elements of the invention. Furthermore, for the sake of clarity, only reference numerals are shown in the individual figures which are necessary for the description of the respective figure. The illustrated embodiments merely represent examples of how the device according to the invention or the method according to the invention can be designed and do not constitute a final limitation.

The 1 to 15 schematically show a meaningful chronological sequence of an embodiment of the method for handling in at least one row 1 piece goods moved one after the other 2nd by an appropriate handling device 10th , in particular a sequence of the method for handling piece goods 2nd for the formation of a general cargo line 8th according to a predetermined layer scheme for creating a general cargo layer.

According to the in the 1 to 15 shown series 1 become general cargo 2nd continuously continuously, especially without gaps, in the direction of transport TR promoted. Alternatively, rows can also be used 1 are delivered, each the number of piece goods 2nd include, for example, for the formation of a layer of general cargo 2nd are required for further processing. Alternatively, rows can also be delivered, each with the number of piece goods 2nd for the formation of a general cargo range described below 8th include. Such a row can be followed by further rows of the same type or shorter or longer, it being possible for there to be distances between successive rows.

The distances and lengths of the respective rows make sense depending on the desired layer pattern or the processing speed of the manipulator used 5 or according to the maximum movement speeds of the moving parts of the manipulator that can be maintained in the long run during regular operation 5 . Endless rows are also conceivable 1 with an essentially consecutive sequence of piece goods, which is within a coverage area 4th of the manipulator 5 be transported until a planned or unplanned plant stop occurs.

If in the present context of a seamless sequence or of consecutive general cargo 2nd is mentioned, this includes both the case of touching piece goods 2nd as well as the case of individually spaced piece goods 2nd , these cases being random and / or due to small size deviations of the piece goods 2nd etc. can be attributed.

General cargo 2nd Within the meaning of the present invention or the exemplary embodiment described, individual articles, packages or containers can be, for example. Packages or bundles can, for example, be more shrink-wrap bundles and / or strapping bundles or the like, with normally several articles such as containers, liquid and / or beverage containers being combined into bundles.

The handling device shown 10th includes a transport device 3rd , about which consecutive general cargo 2nd in the first row 1 uninterrupted and / or with continuous transport speed v3 in a detection area 4th at least one manipulator 5 the handling device 10th be transported. The detection area 4th in the present context means in particular the maximum and / or the program-controlled movement space of the manipulator 5 .

Like it 1ff . can be recognized, the detection area 4th or its outer spatial limit may be greater than the outer limits of a horizontal conveyor 6 specify the piece goods on their approximately horizontal upper side 2nd transported and / or by means of the manipulator 5 positioned and / or moved. Usually, however, the detection area is 4th of the manipulator 5 the sensible range of motion in which piece goods to be detected can be located and / or in which the piece goods to be placed can be positioned. The top of transport device 3rd and horizontal conveyor 6 are in particular arranged in a common horizontal plane, which is also referred to as the transport plane.

The transport device 3rd is, for example, at least one conveyor belt or at least one other suitable conveyor device on which the piece goods 2nd are preferably transported (in each case) in a single row, with piece goods being in each case directly following one another 2nd there is no or only a slight, possibly process-related and / or predetermined gap. In particular, the transport device 3rd be formed by an endless revolving conveyor belt, an endless conveyor chain or the like, so that the piece goods 2nd to the horizontal conveyor 6 can be delivered and transported. The in line 1 on the transport device 3rd general cargo 2nd thus run in a so-called closed formation F in the detection area 4th of the manipulator 5 a.

Furthermore, it is optionally possible for the piece goods 2nd on a transport device 3rd or on several, in particular parallel, transport devices 3rd multi-row, especially in several parallel rows to the detection area 4th of the manipulator 5 be transported there. The parallel rows can be spaced apart from one another or largely without spacing from one another on the at least one transport device 3rd be transported.

The manipulator 5 is for clamping and / or positive and / or non-positive receipt of piece goods 2nd within the detection area 4th trained and equipped. The one from the manipulator 5 recorded general cargo 2nd - ie usually those in the formation F first, incoming general cargo 2nd - are subsequently used to distinguish them from the rest of the formation F or the overall formation arranged piece goods 2nd with the reference symbol 2 * designated. For example, the manipulator intervenes 5 at least one, preferably at least two or three, arranged one after the other in the closed formation F incoming general cargo 2 * , separates this from the single row formation F the general cargo 2nd and transfers the at least one recorded and from the series 1 separated general cargo 2 * or the separated group of two or three piece goods arranged in a row 2 * each in a target position P and / or target orientation, as will be described in detail below. It is provided that the general cargo 2 * or the group of general cargo 2 * through the manipulator 5 in the direction of transport TR from the formation F the general cargo 2nd is spaced by an additional speed component in the direction of transport is impressed on the piece goods / piece goods detected. A superimposed rotary movement can be provided, the piece goods 2 * or the group of general cargo 2 * in addition to the general cargo 2nd the formation F is twisted.

If generalizing from a manipulator in the present case or generally in the context of the present invention 5 is mentioned, it can be specifically for the transfer of the at least one piece goods 2 * part of the manipulator provided in the target position P and / or target orientation 5 for example, a tool head, a gripper head or the like. act, which is, for example, held and mounted on movably mounted cantilever arms, which cantilever arms can in turn typically be mounted on a frame or the like. Such a manipulator suspension or manipulator arrangement - also known as a parallel kinematics arrangement - enables the desired mobility of the gripper head (also: the manipulator 5 ), the general cargo 2 * can capture, move, position, place, rotate etc. in the desired manner in order to determine the respective target positions and / or target orientations for the piece goods 2 * to be able to start. However, other suitable manipulator configurations are also conceivable, for example those with portal robot guides or the like. These other manipulator configurations can optionally relate to individual, several or all of the design variants which are mentioned in connection with the present description of the figures and / or the entire description of the invention.

Are parallel rows of general cargo 2nd via the transport device 3rd to the detection area 4th of the manipulator 5 transported there, it can be provided, for example, that the manipulator 5 or its movable and / or its with the piece goods 2 * interacting parts at least one piece good 2nd every parallel row 1 can grip and edit.

The schematic top view of the 1 shows in particular the arrival of the piece goods 2nd as a series 1 or in essentially complete formation F via the transport device 3rd with a transport speed v3 , the general cargo 2nd in the direction of transport TR the detection area 4th of the manipulator 5 the handling device 10th are fed. The detection area 4th is in particular the horizontal conveyor 6 assigned, whose the general cargo 2nd , 2 * bearing surface itself at a speed v6 emotional. In particular, the speed v6 the horizontal conveyor 6 the transport speed v3 the transport device 3rd correspond. In particular shows 1 the seamless continuation of the transport of general cargo 2nd the series 1 or formation F on the horizontal conveyor 6 , especially before the manipulator detects and handles it 5 as well as normally again after reaching a respective target position P and / or target alignment.

Optionally, the transport speed v3 and the speed v6 also differ slightly, provided it can be guaranteed that the uninterrupted conveyance of general cargo 2nd , 2 * to the horizontal conveyor 6 is maintained. The in line 1 / Formation F via the transport device 3rd incoming general cargo 2nd can at least with differing v3 and v6 due to the higher transport speed v3 if necessary back pressure of the following piece goods 2nd on the horizontal conveyor 6 pushed over and transported there without interruption. However, it is necessary to reduce this dynamic pressure by means of suitable measures, for example by means of a rubberized conveyor belt of the horizontal conveyor device 6 and / or by means of a rubberized conveyor belt of the transport device 3rd , optionally also by a between the transport device 3rd and the horizontal conveyor 6 located so-called brake band, which by a piece goods 2nd bearing surface is characterized with a particularly high coefficient of friction. These or other suitable measures ensure precise positioning of the respective piece goods 2nd at the respective detection location in the detection area 4th so that a precise takeover by the manipulator 5 is to be guaranteed. However, it should be emphasized that such measures for reducing any back pressure that may exist or have arisen are not desirable, even if they are indispensable or sensible to use depending on the selected configuration of the moving parts.

In 1 is shown that the manipulator 5 the two in the direction of transport TR first, incoming general cargo 2 * the series 1 detected. By the manipulator 5 in the direction of transport TR an additional speed component on the two piece goods recorded 2 * applies, he spaced them from the following piece goods 2nd the series 1 ( 2nd ). As also in 3rd is shown, the manipulator performs 5 additionally a 90 ° turn around an axis of rotation perpendicular to the transport plane for the piece goods 2nd , 2 * out. Then the manipulator is released 5 of the two piece goods recorded 2 * who are now in their target position P1 and targeting. The target position P1 is, in particular, a defined relative target position in relation to trailing, not yet recorded piece goods in the series 1 . Due to the continuous movement of the horizontal conveyor 6 at a speed v6 that of the transport speed v3 the piece goods on the transport device 3rd corresponds, the distance between those in the target position remains P1 arranged general cargo 2nd and the trailing one, not yet from the manipulator 5 recorded general cargo 2nd the series 1 always the same.

The one from the manipulator 5 recorded general cargo 2 * are transferred, pushed and / or rotated, in particular, in a single, preferably uninterrupted manipulation step into the target position P, P1 and / or target orientation, the target position P, P1 being in alignment with the subsequent piece goods 2nd the series 1 located.

As in 5 shown, the manipulator detects 5 in a further procedural step, the two again first in the detection area 4th incoming general cargo 2nd the series 1 and moves it by moving it in the direction of transport TR ( 6 and 7 ) in a target position P2 ( 7 ), which are in flight to the subsequent general cargo 2nd the series 1 located. After reaching the target position P2 the manipulator detaches itself from the two piece goods 2 * and moves again against the transport direction TR ( 8th ) for picking up further piece goods 2nd the series 1 ( 9 ). The two according 9 recorded general cargo 2 * are in turn by moving in the transport direction TR ( 10th ) and by means of a superimposed rotation by 90 degrees ( 11 ) in a target position P3 and targeting transferred ( 12 ).

The manipulator 5 can in this embodiment and / or in connection with the entire present invention, for example. By a gripper head 20th with side jaws 22 or similar be educated (cf. 1 ) or such a gripper head 20th with side jaws 22 include, which typically when capturing the piece goods 2 * are mutually deliverable in order to grasp the piece goods by clamping and / or non-positively and / or positively, whereas the clamping jaws 22 can be opened again when the target position P is reached. If in the present context or in the present description, therefore, from a manipulator 5 and / or of a gripper or gripper head, these terms can be used as synonyms; if necessary, the gripper or gripper head is also a subassembly or part of the more comprehensive manipulator 5 to watch.

It can optionally be provided that the manipulator 5 the registered general cargo 2 * for example by a small amount, in particular from the support contact to the top of the horizontal conveyor 6 brings, transported to the target position P and then on the horizontal conveyor 6 within the detection area 4th discontinued. As already described, this transfer movement can be a rotary movement of the manipulator 5 together with the registered general cargo 2 * be overlaid. Alternatively, it can be provided that the manipulator 5 the general cargo 2 * on the horizontal conveyor 6 moves without it completely from the surface of the horizontal conveyor 6 takes off by in particular a speed component and / or a directional component on the piece goods detected 2 * applies. Again, a superimposed rotary movement of the manipulator can occur 5 be provided.

With regard to the described rotary movements, the gripper head of the manipulator can be rotated endlessly 5 be particularly advantageous since in this way a rapid further rotation of the manipulator during the return movement to the row 1 can take place back, which may require a shorter period of time than a reverse rotation in the opposite direction. In this way, the rotatable direction of the gripper head in such an endless manner with a basically unlimited angle of rotation always enables the directions of rotation which can be carried out more quickly; this affects both the positioning of the recorded general cargo 2 * as well as "empty runs" during the return movements of the manipulator 5 towards the row 1 to get more general cargo 2nd , in particular at least one other general cargo 2nd to record.

In the manipulation steps described here, it is provided in particular that the manipulator 5 or its gripper head at least when gripping the piece goods 2 * and when released in the target position P and target orientation is moved with a positioning speed that is approximate or transport speed v3 corresponds with which the closed formation F the general cargo 2nd on the transport device 3rd moves and / or speed v6 with which the manipulator 5 General cargo positioned in a respective target position P and target orientation 2 * on the horizontal conveyor 6 move.

In the time window between the capture of the piece goods 2 * through the manipulator 5 and their release in the target position P is the speed of the manipulator 5 in many cases in the direction of transport versus the transport speed v3 of the formation F increased to the recorded general cargo 2 * from the rest of the formation F in the direction of transport TR correspond to spaced.

Those in the target positions P1 , P2 , P3 and target orientations on the horizontal conveyor arranged piece goods 2nd form a groupage 8th the general cargo position to be created 9 (see. 16 and 17th ). The general cargo range 8th is in the direction of transport TR forwarded and on a transfer belt 11 transferred ( 14 ). The transfer belt 11 can be operated at least at times at speeds that differ from the transport speed v3 the transport device 3rd and / or the speed v6 the horizontal conveyor 6 differentiate. For example, it can be provided that the transfer belt 11 is driven at an increased speed after all general cargo 2 * that a general cargo line 8th forming on the transfer belt 11 have transgressed. In this context, for example, a stop element 12 transverse to the direction of transport TR the general cargo 2nd , 2 * be provided so that the general cargo 2 * that a general cargo line 8th forming, in the direction of transport TR be pushed together.

It is then provided that the general cargo row 8th for example with a perpendicular to the direction of transport TR acting force, for example one in 15 shown, perpendicular to the transport direction TR acting push bar 13 or similar into the layering module 15 is transferred. For this it can be advantageous if the movement of the transfer belt 11 while pushing the general cargo position 8th is stopped at least briefly.

The layer formation module 15 can continue parallel to the direction of transport TR arranged stop bars 16 against which the general cargo rows 8th be pushed. The stop bar 16 limits in particular one of the side edges of the layer to be formed 9 .

The related to the 1 to 15 Layer formation can be described with the handling device described above 10th and the method described above take place significantly faster than in the case of the conventionally known methods, in which a turning station is necessary in order to turn pre-separated packaged goods as required, in particular according to the layer scheme to be formed, or to divert them by 90 degrees. In particular, the packaged goods no longer have to be stopped for turning, but can be spaced apart and rotated at the same time in a common process step.

To that of the transport facility 3rd in the detection area of the manipulator 5 incoming general cargo 2nd The handling device can be able to detect the exact position 10th at least one suitable sensor 20th for automated position detection of incoming general cargo 2nd and calibration of the manipulator based thereon 5 include.

In 3rd a first embodiment is shown as an example, in front of the detection area 4th a light barrier 21st is arranged. Such a light barrier detects the front edge of each one in the detection area 4th incoming general cargo 2nd . The position data determined can be used to calibrate the movement pattern of the manipulator 5 can be used, this may be necessary in particular if there are process-related gaps in the inflow of the formation F balance. Such a light barrier arrangement can be used advantageously in particular if the piece goods each directly upon entering the detection area 4th of the manipulator 5 tapped by this and transferred to a target position and / or target orientation. Depending on the absorption capacity of the manipulator 5 and in coordination with the layer scheme to be formed, it should be provided that only the piece goods arranged first and detected by the light barrier 2nd from the manipulator 5 is recorded and moved accordingly. Alternatively, at least one immediately following general cargo can be used 2nd also recorded and moved.

In 5 is an example of a second embodiment of a sensor 20th indicated. In particular, this is a movable sensor 22 . This can be, for example, a movably designed and / or arranged light barrier 23 , a movably designed and / or arranged laser edge scanner 24th or act another suitable movably designed and / or arranged optical detection means, which is suitable, certain parameters of a piece good 2nd recognizable optically.

The movable sensor 22 is particularly in a range of motion 30th parallel to the direction of transport TR the general cargo 2nd on or parallel to the horizontal conveyor 6 movable. The range of motion 30th is limited by a start point and an end point and thus defines the detection area 32 of the sensor 22 . The sensor 22 is arranged, for example, on a running carriage, which is connected via a running rail, a toothed belt drive or the like. parallel to the direction of transport TR the general cargo 2nd between the start point and the end point within the range of motion 30th can be moved. The sensor 22 in particular is not mechanical to the manipulator 5 coupled. Furthermore, the mobility of the sensor 22 not the mobility of the manipulator 5 coupled. In particular, the sensor 22 has its own drive via which the sensor 22 preferably parallel to the direction of transport TR of incoming general cargo 2nd or against the direction of transport TR of incoming general cargo 2nd can be moved.

The mobile sensor 40 recognizes at least one specific parameter of the first in the detection area 32 incoming general cargo 2nd . For example, the sensor recognizes 22 a leading edge of the leading piece goods at the starting point of its range of motion 30th and thus with the entry of the incoming piece goods 2nd the formation F in the detection area 32 of the sensor 22 . Now the sensor 22 at a speed v6 carried in parallel with the sensed piece goods until it is passed through the manipulator 5 captured and from the formation F is separated. Because the sensor 22 after the at least one piece goods arranged at the very front are separated 2nd the sensor can no longer detect position data 22 now against the direction of transport TR moves until it again has a leading edge of what is now the foremost piece goods of the formation F detected. The exact position determined in this way is sent to a control unit 25th transmitted, which then the movement pattern of the manipulator 5 can adjust accordingly. The movable sensor 22 can in particular have the features described in the patent application DE 10 2016 213 400 have been described, the content of which is hereby included in the present description.

In 7 is an example of a third embodiment of a sensor 20th for recognizing spatial coordinates and / or position and / or outline data of one within the detection range 4th of the at least one manipulator 5 moving general cargo 2nd shown with the sensor 20th directly at the manipulator 5 arranged and is accordingly designed to be movable with this. That through the sensor 20th determined data are sent to an assigned control unit 25th transmitted to the manipulator after appropriate evaluation of the data 5 and / or further conveyor components of the handling device 10th controlled and / or recalibrated. For example, the manipulator's movement program 5 for the subsequent steps according to the recorded data of the general cargo 2nd can be adapted to always ensure safe picking off of the piece goods 2nd to guarantee. Alternatively or additionally, the control unit 25th the general cargo 2nd feeding transport device 3rd or the coverage area 4th of the manipulator 5 assigned horizontal conveyor 6 control and / or calibrate on the manipulator 5 not detected or by the manipulator 5 General cargo brought into a target position P and / or target orientation 2nd , 2 * at a constant speed v3 or v6 further in the direction of transport TR be performed.

It is preferably provided that the sensor 20th on a non-rotating component of the manipulator 5 is arranged. When the manipulator moves 5 especially in a plane parallel to the transport level for the general cargo 2nd becomes the sensor 20th due to the arrangement on the manipulator 5 moved accordingly. It is preferably provided that when the manipulator or parts of the manipulator are rotated to rotate at least one piece goods detected, there is no rotation of the sensor 20th takes place, so the relative orientation of the sensor 20th within the handling device 10th always the same.

With the sensor 20th it can preferably be an optical detection device, in particular a laser scanner 28 . The transmitter and receiver are located in one device. The laser beam sent is reflected by the object to be detected. As soon as the receiver detects the reflected light, the switching output integrated in the device changes its state and transmits the signal to the control device 25th . The laser scanner is preferred 28 such on the manipulator 5 arranged that the optical axis of the emitted laser beam is substantially perpendicular to the transport surface for the piece goods 2nd within the detection area 4th of the manipulator 5 is trained. This means that this can be done first in the detection area 4th of the manipulator 5 incoming general cargo can be recorded. In particular, a front edge of the piece goods arranged foremost 2nd the formation F recognized.

The one on the manipulator 5 arranged sensor 20th can in particular have the features described in the patent application DE 10 2017 206 995 have been described, the content of which is hereby included in the present description.

16 and 17th show different embodiments of fully formed palletizable layers 9 . The location 9a according to 16 is made up of three identically designed batches 8th educated. Against the situation 9b according to 17th from two different general cargo series 8a , 8b formed within the location 9b are arranged alternately.

The embodiments, examples and variants of the preceding paragraphs, the claims or the following description and the figures, including their different views or respective individual features, can be used independently of one another or in any combination. Features described in connection with one embodiment are common to all Embodiments applicable, unless the features are incompatible.

Although “schematic” representations and views are generally used in the context of the figures, this does not mean in any way that the figure representations and their description should be of secondary importance with regard to the disclosure of the invention. The person skilled in the art is quite capable of extracting enough information from the schematically and abstractly drawn representations that facilitate his understanding of the invention, without having to draw from the drawn and possibly not to scale proportions of the piece goods and / or parts of the device or other drawn elements would be impaired in any way. The figures thus enable the person skilled in the art as a reader to derive a better understanding of the general and / or abstract concept of the invention formulated in the claims and in the general part of the description on the basis of the specifically explained implementations of the method according to the invention and the specifically explained mode of operation of the device according to the invention.

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 leaving the scope of the following claims.

Reference symbol list

1

line

2nd

General cargo

2 *

General cargo captured by the manipulator

3rd

first transport device

4th

Detection area

5

manipulator

6

Horizontal conveyor

8, 8a, 8b

General cargo range

9, 9a, 9b

location

10th

Handling device

11

Transfer belt

12

Stop element

13

Cantilever

15

Layering module

16

Stop bar

20th

sensor

21st

Photoelectric barrier

22

movable sensor

23

movably designed and / or arranged light barrier

24th

movable laser edge scanner

25th

Control unit

28

Laser button

30th

Range of motion

32

Detection area

F

formation

TR

Direction of transport

v3

Transport speed

v6

speed

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• EP 1456101 B1 [0006]
• DE 102016213400 [0073]
• DE 102017206995 [0077]

Claims (13)

Method for handling piece goods (2) moved in succession in at least one row (1), in which - In a row (1) without gaps or with minimal gaps, consecutive piece goods (2) are continuously transported as a closed formation (F) and - at least one transported piece goods (2, 2 *) from the closed formation (F) is gripped and / or non-positively and / or positively, in alignment with the closed formation (F) in the direction of transport spatially aligned with the following piece goods (2) of the formation ( F) is separated and brought into a defined relative target position (P) and / or - target orientation in relation to subsequent piece goods (2); - wherein a plurality of piece goods (2) arranged in an aligned relative target position and / or target orientation form a piece goods row (8) of a piece goods layer (9); - The one piece goods row (8) of the piece goods layer (9) forming a plurality of piece goods (2) is transferred together by a force acting within a transport plane for the piece goods (2) perpendicular to the transport direction (TR) into a layer forming module (15). Procedure according to Claim 1 , wherein the at least one detected piece goods (2) is transferred to the relative target position (P) and / or target orientation by rotating through 90 degrees or without rotating. Procedure according to Claim 1 or 2nd , wherein the at least one recorded piece goods (2) is brought into the relative target position (P) and / or target orientation by shifting on a transport surface. Procedure according to Claim 1 or 2nd , wherein the at least one recorded piece goods (2) is at least minimally raised when brought into the relative target position (P) and / or target orientation. Method according to one of the preceding claims, wherein gaps can be formed between the piece goods (2) forming a piece goods row (8) of the piece goods layer (9) in their respective relative target position (P) and / or target orientation, the gaps before the piece goods row is transferred (8) are removed in the layer formation module (15). Method according to one of the preceding claims, wherein spatial coordinates and / or position data and / or outline data of at least one piece good (2) to be detected and positioned are determined and used for the calibration of the current and / or subsequent method steps. Device (10) for handling piece goods (2) moved in succession in at least one row (1), comprising at least one manipulator (5) for piece goods (2, 2 *) with a detection area (4) assigned to the manipulator (5), - At least one transport device (3), via which immediately consecutive piece goods (2) of the row (1) in a transport direction (TR) almost without spacing as a closed formation (F) continuously into the detection area (4) of the at least one manipulator (5) are transportable, - The at least one manipulator (5) for clamping and / or non-positive and / or positive receiving and for separating and transferring into a target position (P) and / or targeting at least one piece good (2, 2 *) from which by means of the at least one Transport device (3) is designed to transport closed formation (F) into its detection area (4), - The device comprising a transfer module (11) and a layer formation module (15); - wherein the transfer module (11) comprises a thrust element (13) for transferring a group of articles (8) of articles (2) into the layer formation module (15), the articles (2) being arranged within the series of articles (8) according to a defined position diagram and are aligned; - The thrust element (13) is arranged parallel to the transport direction (TR) and is designed to be movable perpendicular to the transport direction (TR). Device (10) after Claim 7 , wherein the transfer module (11) comprises a conveyor, in particular a conveyor belt. Device (10) after Claim 8 , wherein the conveyor can be operated at different speeds, Device according to one of the Claims 7 to 9 , wherein the push-over module (11) is assigned a first stop element (12), which extends in particular transversely to the transport direction (TR) of the piece goods (2) of the formation (F), in particular wherein the first stop element (12) extends transversely to the transport direction ( TR) extends. Device according to one of the Claims 7 to 10th , The layer formation module (15) is assigned a second stop element (16), which extends in particular parallel to the transport direction (TR) of the piece goods (2) of the formation (F), in particular wherein the second stop element (16) extends parallel on the transport plane extends. Device according to one of the Claims 7 to 11 , the manipulator (5) and / or the Detection area (4) of the manipulator (5) at least one detection means (20) for determining spatial coordinates and / or position data and / or outline data of at least one piece good (2) to be detected and positioned. Device after Claim 12 , wherein the determined spatial coordinates and / or position data and / or outline data can be transmitted to a control unit (25), the control unit (25) being designed in operative connection with the manipulator (5), the manipulator (5) using the determined spatial coordinates and / or position data can be calibrated.

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