DE102019128197B4 - Depalletizing arrangement with a device for depalletizing stackable general cargo containers and method for depalletizing stackable general cargo containers - Google Patents

Abstract

Depalletizing arrangement (38) with a device (9) for depalletizing stackable general cargo containers (2, 6), the device (9) having a holding device (11) arranged thereon and for detachable suction engagement with a side wall (3, 4) of the container ( 2, 6) has suction means (12, 13) and a support plate (14) that can be moved relative to the holding device (11) to support the container (2, 6), and has a receptacle (15) with at least one support (16), on which the holding device (11) is arranged and the device (9) has an engagement device (18) which is designed for releasable engagement with a recess (5) in a side wall (3, 4) of the container (2, 6), characterized characterized in that the depalletizing arrangement (40) has a manipulator (40) with a support structure (39) and on the support structure (39) there is arranged a rotary mount (41) which is rotatable relative thereto and the device (9) on the rotary mount (41) is arranged to be movable relative to the manipulator (40), the engagement device (18) being arranged on the receptacle (15) and being designed to be movable relative to the support plate (14) in the direction of the vertical axis.

Description

The present invention relates to a depalletizing arrangement with a device for depalletizing stackable general cargo containers, the device having a holding device with suction means arranged on it and designed for detachable suction engagement with a side wall of the container and a carrying plate that can be moved relative to the holding device to support the container, and a receptacle has at least one carrier on which the holding device is arranged and the device has an engagement device which is designed for releasable engagement with a recess in a side wall of the container, according to the preamble of claim 1. The invention also relates to a method for depalletizing of stackable general cargo containers according to claim 17.

The stackable general cargo containers mentioned above can be disposable containers in the form of cartons, for example, or reusable containers made of plastic or cardboard material, or collapsible boxes, i.e. containers with collapsible side walls. In principle, the containers can contain any type of article, which is intended, for example, for daily use or consumption.

The variety of containers mentioned above can often be found in the area of fruit and vegetables, i.e. piece goods which, due to their perishability, have to be handled quickly and yet carefully in the distribution center.

Transshipment or handling of the general cargo containers filled with fruit and vegetable products or salads often takes place in pallet warehouses, where the products mentioned are delivered in the containers mentioned on standardized pallets and must be depalletized or depalletized from the pallets for further handling of the containers. For this purpose, in the aforementioned pallet stores or distribution centers for fruit and vegetables, the containers are depalletized by hand, that is, removed manually from the pallet, and the removed container is then placed on another pallet.

It has also been shown that the fruit and vegetable products are delivered to the distribution centers in containers with standardized dimensions, which usually have a base area of 600 by 400 mm with different heights or a base area of 300 by 400 mm with different heights .

Disposable containers often have centering tabs or stacking lugs arranged in the area of the sides or transverse edges, which are each arranged in the corner area of the upper edges of the disposable containers, which are often made of cardboard material.

To this end, the reusable containers and collapsible boxes often have handle recesses or recessed grips formed in the side walls or transverse walls, with which these reusable containers and collapsible boxes can be lifted manually.

An additional problem with the fruit and vegetable products mentioned is that they often have a high moisture content, which means that packs made of cardboard material have to be supported from below when depalletizing in order to avoid damage to the pack. However, other items contained in the general cargo containers with dimensions that deviate from the dimensions mentioned, such as chocolate, meat, fish and sausages or other foods or drugstore items or the like must be handled with care when handling the general cargo containers in order not to damage the contents damage, which also presupposes that damage to the container itself must be avoided.

Based on DE 199 59 285 B4 a vacuum gripping system for gripping an object and handling device for handling the object have become known. In the known vacuum gripping system described here, a suction head with a plurality of suction means is described on a boom of a manipulator in the form of an industrial robot, which is attached to a side wall of an object to be manipulated and can fix this by means of a holding force brought about by the generation of negative pressure. For further stabilization and fixation of the object to be manipulated, this known vacuum gripping system has a second suction head arranged at right angles to the suction head, which can be brought into contact with the top or top side of the object to be manipulated in order to generate negative pressure in the area of the second Suction head exert a lifting force.

The object thus lifted can then be stabilized by sliding a mechanical lower gripper into the gap between the lifted object and the object underneath.

This known vacuum gripping system is not suitable for depalletizing containers with Fruit and vegetable products, since the containers in which the fruit and vegetable products are delivered to the distribution centers on pallets do not have any tops on which the second suction head could be arranged, but rather the containers holding the fruit and vegetable products at the top or on the top are regularly open.

Based on EP 2 874 925 B1 a gripper head for transporting general cargo containers has become known, which has a suction bar which can be brought into contact with a side wall of the container to be manipulated in order to exert a lifting force on the general cargo container by generating negative pressure in order to create a gap between the general cargo container and the to create underlying container, in which a support plate to support the container to be manipulated can be introduced from below.

Based on EP 0 697 356 A1 a device for stacking or unstacking of stackable goods has become known, which has a driven endless pair of chains with two chains between which gripping devices are arranged such that they can be swung out.

Based on DE 27 24 978 A1 a method and a device for stacking boxes have become known.

Based on DE 79 35 243 U1 a device for transferring piece goods equipped with recesses has become known.

Based on EP 2 441 709 A1 a device of a depalletizing arrangement according to the preamble of claim 1 has become known.

Based on EP 2 874 925 B1 a gripper head for transporting general cargo containers has become known.

Based on DE 199 59 285 B4 a vacuum gripping system for gripping an object and a handling device for handling an object using the gripping system have become known.

An order picking system with a robot has become known on the basis of US 2008/0 267 759 A1.

A handling device equipped with vacuum clamping tongs has become known on the basis of US 2007/0 280 812 A1.

Attempts have already been made to depalletize packages using a gripper system that has also become known, with an industrial robot with a boom on which laterally adjustable pressure plates are arranged. However, this known gripper system is not suitable for depalletizing containers containing fruit and vegetable products due to the fact that the unit load container is held by a clamping force exerted on the side walls of the container by the pressure plates, since the pressure plates would crush the non-returnable containers, which would would lead to bruises on the fruit and vegetable products and damage them as a result.

Cargo containers of the type mentioned are often stored or temporarily stored in high-bay warehouses, which have shelves or rows of shelves on both sides of a storage aisle required for the operation of a manipulator in the form of a robot, with the manipulator serving both rows of shelves starting from the storage aisle.

Proceeding from this, the object of the present invention is to create a depalletizing arrangement with a device for depalletizing stackable general cargo containers, which are filled with fruit and vegetable products, for example, and the general cargo containers are in the form of disposable containers as well as reusable containers or collapsible boxes can be present, which can be operated in a storage aisle with product rows arranged on both sides of the storage aisle. In addition, a method for depalletizing stackable general cargo packages that can contain fruit and vegetable products or other items is also to be provided.

To solve this problem, the invention has the features specified in claim 1 with regard to the depalletizing arrangement. Advantageous configurations of the depalletizing arrangement are described in the further claims.

In addition, with regard to the method to be created, the invention has the features specified in claim 17, with advantageous configurations of the method being described in the further claims.

The invention provides a depalletizing arrangement with a device for depalletizing stackable general cargo containers, the device having a holding device with suction means arranged on it and designed for detachable suction engagement with a side wall of the container and a carrying plate that can be moved relative to the holding device to support the container, and a receptacle with has at least one carrier on which the holding device is arranged and the device has an engagement device for releasable engagement with a recess of a side wall of the pack, the depalletizing arrangement having a manipulator with a support structure and a rotary mount arranged rotatable relative thereto being arranged on the support structure and the device being arranged on the rotary mount so that it can move relative to the manipulator, the engagement device being arranged on the mount and relatively is designed to be movable in the direction of the vertical axis in relation to the support plate.

The depalletizing arrangement created in this way therefore has a support structure in the form of, for example, a frame, a receptacle or a superstructure or a frame or a portal or a lattice structure or another load-bearing structure which is part of a manipulator in the form of a robot, a portal robot or another can be controllable unit, which can be operated in a storage aisle of a storage arrangement.

The support structure is therefore provided very generally for receiving a device for depalletizing stackable general cargo packages, which is described in more detail below, and can be part or unit or component of a manipulator, as has been described above.

By arranging the device for depalletizing stackable general cargo containers on a receptacle, which can be a rotary receptacle or a rotating head, in such a way that the device is arranged to be rotatable relative to the support structure, it is achieved that the device for depalletizing stackable packages on both sides of the storage aisle can reach rows of products arranged, stored or temporarily stored with the packages and in this way a device for depalletizing the stackable packages or devices for depalletizing the stackable packages does not have to be provided on both sides of the support structure, but with a unit or an assembly, which comprises the device for depalletizing the general cargo containers or devices for depalletizing the general cargo containers, the storage rows with general cargo containers on both sides of the storage aisle can be reached or detected or operated by the one unit or assembly group.

In order to ensure that the device for depalletizing the general cargo containers or the devices for depalletizing the general cargo containers can each reach the general cargo containers from the access side, the device provided on the rotary mount for depalletizing the general cargo containers or the devices provided on the rotary mount for depalletizing the Cargo containers are turned towards the cargo containers by means of the rotary mount.

So if first the first general cargo containers are depalletized on a first side of the storage aisle and for this purpose the rotary mount with the device for depalletizing the general cargo containers or the devices for depalletizing the general cargo containers is aligned towards this first side of the storage aisle, the rotary mount can be turned to a second side be rotated by 180 degrees towards the storage aisle in order to align the device for depalletizing the general cargo containers or the devices for depalletizing the general cargo containers towards the second side of the storage aisle, so that the second general cargo container on the second side of the storage aisle can then have the device for depalletizing the general cargo containers or can be reached and depalletized by the devices for depalletizing the general cargo containers.

According to a development of the invention, it is also provided that the support structure has a support that can be moved in the vertical axis direction of the support structure, on which a support arm that can be moved in the longitudinal direction of the support is arranged and the rotary receptacle with the device is arranged so that it can rotate relative to the support arm.

Via the carrier, which can be moved in the vertical axis direction, a general cargo container picked up by the device for depalletizing the general cargo containers can be moved in the vertical axis direction of the support structure of the manipulator in order to be placed on a conveyor device after depalletizing, for example, in order to be transported by this conveyor device to another handling location.

Via the support arm, which can be moved in the longitudinal direction of the carrier, the rotary receptacle with the device or devices can be moved out of the storage aisle in the direction of the first or second storage rows with the general cargo containers, so that the device or devices can reach the general cargo containers on both sides of the storage aisle, in order to remove them from the pallets and feed them, for example, to the conveyor device mentioned above.

According to a development of the invention, it is provided that the rotary receptacle with the device or devices is designed to be movable relative to the support structure in the longitudinal direction of the support structure.

This ensures that the rotary mount with the arranged on the device or the devices general cargo containers of the storage rows arranged on both sides of the storage aisle, from which the general cargo containers have just been removed, i.e. depalletized, can be moved, for example, to the middle of the storage aisle, i.e. relative to the support arm and also relative to the carrier, so that a vertical movement of the carrier with the Support arm and the rotary receptacle with the device or the devices and the depalletized general cargo containers, the general cargo containers can be released from the device or the devices onto the above-mentioned conveyor device in order to be able to be moved further to the other handling location also mentioned.

For this purpose, it is advantageous and provided according to a further development of the invention that the rotary receptacle with the device is designed to be movable relative to the support arm in the longitudinal direction of the support arm. The rotary receptacle can thus be moved with the device or devices independently of the longitudinal movement of the support arm relative to the carrier, so that a relative movement of the rotary receptacle relative to the support structure and also relative to the support arm is possible.

According to a further development of the invention, it is also provided that the support structure has at least two devices which are arranged adjacent to one another and which are designed to be operable together or separately from one another.

Two or more than two devices for depalletizing general cargo containers can therefore be arranged adjacent to one another on the support structure, which can also be arranged on the rotary mount and these devices can be actuated jointly or separately for depalletizing the general cargo containers. In this way it can be achieved that, for example, in the case of two devices for depalletizing the general cargo containers arranged adjacent to one another, both devices can be actuated together in order to simultaneously depalletize two general cargo containers or also several general cargo containers arranged next to one another, or it can also be achieved that the two or more neighboring devices for Depalletizing the cargo containers only one or one of the several devices for depalletizing the cargo containers are actuated, so a targeted selection of the devices for depalletizing the cargo containers is possible.

According to a further development of the invention, it is also provided that the manipulator is designed to be movable relative to a receptacle carrying the manipulator. This means that the manipulator, which can be moved along a storage aisle, for example, can be moved along the storage row or along the storage rows in this storage aisle, which is equipped with a hall floor as a receptacle, in order to be able to depalletize general cargo containers with different contents or articles, due to the rotary receptacle for both sides of the warehouse lane.

According to a development of the invention, it is also provided that the support arm and the rotary mount are designed to be movable independently of one another in the longitudinal direction of the carrier. In this way, a targeted control of the rotary receptacle with the device for depalletizing or the devices for depalletizing the general cargo containers is possible, independently of the longitudinal movement of the support arm on the carrier of the support structure of the manipulator.

A suction engagement with a side wall of a container can be brought about via the suction means provided on the device for depalletizing, in that the suction means are brought up to the side wall, which can be a longitudinal or a transverse wall of the container, so that the suction means come into contact with the side wall and by applying negative pressure to the suction means, a holding force is built up between the side wall and the suction means, which is sufficiently dimensioned so that, when the suction means are displaced in the direction of the vertical axis of the side wall, the container is lifted on one side to such an extent that between a space is formed between the lifted container and the container arranged underneath.

This lifting of the container, which can be, for example, a disposable container in the form of an open-topped carton in which fruit or vegetables are arranged as piece goods, forms a space that is sufficiently dimensioned so that the support plate can be lifted relative to the raised container can be shifted until it overlaps at least a portion of the bottom surface of the underside of the container and in this way supports the container from below.

A translational movement of the support plate with the pack arranged on it ensures that the pack can be separated from the stacked arrangement of the remaining packs and, for example, can be placed on a belt device for further transport.

As already mentioned above, general cargo containers in the form of reusable containers or collapsible boxes can also be present in the distribution center according to the depalletizing arrangement can also be automatically depalletized.

For this purpose, the device has an engagement device which is designed for releasable engagement with a recess in a side wall of the container.

The recess can be a depression in a side wall of the container, which is usually provided for manual handling of the container, since the container when the container is being filled on site with fruit or vegetable products or salads, for example in the field or in the Greenhouse, is usually handled by hand and thus have such containers both on the long sides and on the transverse sides recesses in the form of handle recesses.

The containers filled in this way are delivered to the distribution center as stacked general cargo containers, specifically arranged on a conventional pallet, so that the pallet can be transported with a forklift truck, for example.

The packaged goods present in a stacked arrangement in this way can also be automatically depalletized with the device according to the invention that is also provided here. For this purpose, the engagement means can bring about a releasable engagement with a recess of a side wall.

The engagement device can be arranged on the receptacle, for example, and be designed to be movable relative to the support plate in the vertical axis direction, so that the engagement device ensures that the container moves by one of the predetermined movement while maintaining the releasable engagement with the recess of the container with a predetermined movement in the vertical axis direction corresponding distance can be raised on one side by the container arranged underneath and in this way a gap is formed between the underside of the raised container and the upper side of the container located underneath.

In a manner similar to that already described above, a support plate can then be moved into the intermediate space so that the lifted container comes to rest on the support plate or the support plate supports the lifted container from below, thus separating the lifted container from the one previously underneath arranged container is brought about.

According to a development of the invention, it is provided that the engagement device is designed to be movable in at least one plane direction of a plane that extends largely at right angles to the carrier. In this way, the engagement device can be moved relative to the side wall for engagement with the recess in the side wall of the container. The engagement device is also designed to be movable in the direction of the vertical axis, so that it can engage in recesses of containers with different heights. The respective recess can be detected by a sensor device.

The recess can be a handle recess provided with a passage that completely penetrates the side wall, so that the engagement device can penetrate the handle recess and a vertical displacement movement of the engagement device, for example, leads to the lifting of the container to be depalletized that is engaged with the engagement device . By this lifting of the corresponding container, the already explained intermediate space is formed between the underside of the lifted container and the upper side of the container underneath, into which the support plate can be inserted.

According to a development of the invention, it is provided that the engagement device has an engagement means which is designed for releasable engagement with a handle recess in a side wall of the container. The means of engagement can be, for example, a gripping finger that can be inserted into the handle recess, so that lifting the gripping finger leads to the container being lifted on one side, and in this way an intermediate space that is triangular in side view is formed, into which the carrying plate is inserted can be.

In contrast to the known device described above with pressure plates that can be displaced laterally relative to the container, the device according to the invention does not exert any lateral force on the container, so that pressure cannot be applied to the fruit and vegetable products in the container and therefore also to these sensitive goods get no pressure points. This also applies in particular to collapsible boxes as bundles, since otherwise there is a risk of the side walls of these bundles collapsing inadvertently, resulting in damage to the articles contained in the bundles.

The depalletized container supported from below by the carrying plate can, for example, be transported on a conveyor belt and transferred to it. Already during the displacement movement of the container to the conveyor belt or after the positioning of the container over the conveyor belt, the engagement means can be released from the releasable engagement with the recess in the side wall of the container and then the depalletized container can be placed on the conveyor belt.

The device according to the invention is designed in this way for the automatic depalletizing of both disposable and reusable containers and also for the automatic depalletizing of collapsible boxes, which also have recesses for manual handling with which the engagement device can take a detachable engagement. Collapsible boxes can therefore also be automatically depalletized with the device according to the invention in the same way as has already been explained in detail above with reusable containers.

In this way, the device according to the invention can automatically depalletize all known types of containers that are used for transporting fruit and vegetable products and for distribution in distribution centers and onward transport to the sales outlet.

According to a development of the invention, it is also provided that the device has a holding means which is designed for detachable arrangement on an upper edge area of the container. With this holding means, the container can be fixed between the gripping finger penetrating the handle recess and the edge area of the container in the form of a reusable container or a folding box, for example, for transport from the pallet to the conveyor belt. For this purpose, the gripping finger exerts a small lifting force on the lower edge area of the handle recess and the holding means exerts a small holding force on the edge area of the container located above the handle recess, so that in this way the container is clamped in the area of the edge area similar to the grip of a pair of pliers and during transport on the carrying plate to the conveyor belt cannot slip on the carrying plate and thus the position of the container is secured relative to the carrying plate or undercarriage plate.

According to a further development of the invention, it is provided that the holding means has a strip-shaped or bar-shaped configuration and is provided with an elastically designed support means in a region designed for contact with the upper edge region of the container.

The edge area of the container in the form of, for example, a reusable box or a folding box or another reusable container above the handle recesses regularly has a strip-shaped or bar-shaped configuration and the holding means therefore also has a strip-shaped or bar-shaped configuration in order to be brought into clamping engagement or holding engagement with the edge area of the container to be able to

The elastically designed support means on the holding means therefore grips the edge area of the container from above and, due to its elastically flexible configuration, ensures that even with a small difference between the desired position and the actual position of the holding means relative to the upper edge area, the edge area of the container is securely clamped between the engagement means in the form of, for example, the already mentioned gripping finger and the holding means.

According to a development of the invention, it is also provided that the holding means is arranged on a crossbeam provided on the receptacle so that it can be moved in particular in the vertical axis direction and can be actuated by means of an actuator for detachable arrangement on the strip-shaped or strip-shaped edge region of the container.

The arrangement of the holding means on the crossbeam that is provided to be movable in the vertical axis direction of the receptacle means that different container heights can be taken into account, in that the height of the respective container is detected, for example, by means of a sensor device or is positioned accordingly on the basis of a control computer of a known, predetermined height of the container and the crossbeam is accordingly positioned with the holding means arranged on it relative to the height of the side wall and then, by lowering the holding means onto the upper edge region of the bundle, the bundle is securely clamped between the gripping fingers penetrating the handle recess and the holding means provided with the elastic support means .

According to a development of the invention, it is provided that the holding means is arranged along a pivot axis provided largely transversely to the receptacle and can be pivoted by means of an actuator for detachable arrangement on the strip-shaped or bar-shaped edge region of the container on the pivot axis.

Similar to what has just been explained, a secure clamping of the upper edge region of the container between the engagement means in the form of, for example, a gripping finger arranged in the recess of the container and the strip-shaped or strip-shaped holding means can be achieved, so that the container is securely held during the movement on the underride plate or carrying plate to the conveyor belt.

The actuator can be, for example, an electric motor, a pneumatic cylinder or another actuating device which is designed to lower the holding means onto the upper edge area of the container and to lift the holding means from the edge area.

According to a development of the invention, it is provided that the holding means has a receiving plate which extends away from the receptacle and on which the support means is arranged. By lowering the receiving plate by means of a vertical movement or a pivoting movement relative to the carrier of the device, the support means can thus be lowered onto the upper edge area of the pack and the support means can be lifted off the edge area again via a lifting movement or pivoting movement when the separated or depalletized pack is Further transport on the belt conveyor is released again.

As an advantageous embodiment of the actuator, a pneumatically actuable piston-cylinder unit can be provided, for example, by means of which the holding means can be detachably brought into contact with the strip-shaped or strip-shaped edge area of the container. As a result, the edge area is clamped between the engagement means and the holding means, but without subjecting the container in the area of the side wall to a compressive force that can lead to pressure points on the fruit or vegetables located in the container.

• - des Herbeiführens eines lösbaren Eingriffs der Eingriffseinrichtung mit einer Ausnehmung einer Seitenwand des Gebindes
• - Anheben des Gebindes mittels der Eingriffseinrichtung zur Trennung des Auflagebereichs des Gebindes zumindest entlang eines Teilbereichs von der Unterlage zur Herbeiführung eines Zwischenraums zwischen dem Auflagebereich und der Unterlage.

The invention also provides a method for depalletizing stackable general cargo containers using a depalletizing arrangement as described above, in which a container having a lower support area is lifted off a base by means of an engagement device along at least a partial area of the support area and a carrying plate is moved under the lifted partial area, and a physical contact of the sub-area to support the container lying on the support plate with the sub-area is brought about with the support plate, with the following steps:

• - Bringing about a releasable engagement of the engagement device with a recess in a side wall of the container
• - Raising the container by means of the engagement device to separate the support area of the container at least along a partial area from the base to create a gap between the support area and the base.

The base can be, for example, another pack below the pack to be depalletized, or another base in the form of a pallet, for example, or quite simply a support surface.

By bringing about a releasable engagement of the holding device with the recess of a side wall of the container, it is achieved that a subsequent lifting of the container by means of the holding device leads to the separation of the supporting area of the container at least along a partial area from the base, whereby a gap is created, namely between the support area and the base, so that a carrying plate or undercarriage plate can then be moved in this space, and then the container to be depalletized rests on the carrying plate or undercarriage plate.

According to a development of the method according to the invention, it is provided that the holding device is inserted into the recess, at least partially penetrating it, such that the container can be lifted by means of the holding device at least along the partial area from the base.

This lifting of the pack along the partial area creates a space between the underside of the pack to be depalletized and the top of another pack or other base arranged underneath, which is sufficient for inserting the support plate or undercarriage plate.

According to a development of the method according to the invention, it is provided that a holding means is brought into detachable contact with an upper edge area of the container. As a result, the upper edge area of the pack and thus the pack to be depalletized can be clamped between the holding device, which can be an engagement device with a gripping finger or the like, and the holding means, and in this way the pack can be secured in position is advantageously maintained during a movement of the pack to a transport device in the form of, for example, a belt conveyor.

The above-mentioned gripping finger can therefore be inserted into a recess provided on the container in the form of a handle recess, for example, and then the holding means can be lowered from above onto the upper edge area of the container, which causes the upper edge area of the container to be clamped between the gripping finger and the holding means without coming into contact with the fruit or vegetables in the container and also without applying pressure to the fruit or vegetables.

The container clamped in this way can be separated from the base by lifting the holding device in the form of, for example, the aforementioned gripping finger together with the holding means in contact with the edge area, and the base plate or support plate can be inserted into the gap created in this way. As an alternative to this, the underride plate or support plate can also be inserted into the space created by lifting the holding device between the raised container and the container or the base underneath and the holding means can only be lowered onto the upper edge region of the container in a subsequent step.

Then the container resting on the carrying plate or the undercarriage plate is separated from the base and can be transported further in a further step while resting on the carrying plate or the undercarriage plate.

• 1 vier Ansichten von unterschiedlichen Gebinden, welche zur Aufnahme von Obst- und Gemüseprodukten üblicherweise verwendet werden und mit der erfindungsgemäßen Depalettieranordnung und nach dem erfindungsgemäßen Verfahren automatisch depalettiert werden können;
• 2 eine schematische Darstellung einer als Portalroboter ausgebildeten Ausführungsform der erfindungsgemäßen Depalettieranordnung in einem Verteilerzentrum mit jeweiligen Lagerplätzen mit unterschiedlichen Gebinden, wie sie in 1 der Zeichnung dargestellt wurden;
• 2A eine detailliertere Darstellung der Depalettieranordnung nach 2 in einer Regalgasse mit beidseits der Regalgasse angeordneten Lagerreihen mit Stückgutgebinden;
• 2B eine vergrößerte Darstellung eines Ausschnitts der Depalettieranordnung nach 2A;
• 2C eine perspektivische Darstellung der Depalettieranordnung beim Depalettieren von Stückgutgebinden, die in einer hinteren Reihe eines Palettenstapels mit Stückgutgebinden angeordnet sind;
• 2D eine Darstellung ähnlich derjenigen nach 2C, bei der die Vorrichtung zum Depalettieren mit der Drehaufnahme aus der auskragenden Stellung nach 2C bereits zurückgezogen worden ist;
• 2E eine Darstellung ähnlich derjenigen nach 2D, bei der der Träger mit der Drehaufnahme zur Ablage der depalettierten Stückgutgebinde auf eine Fördereinrichtung abgesenkt wurde;
• 3 eine perspektivische Darstellung einer schematisch dargestellten Ausführungsform einer Vorrichtung zum Depalettieren nach der vorliegenden Erfindung;
• 4 eine Abfolge von acht schematischen Darstellungen 4.1, 4.2, 4.3, 4.4, 4.5, 4.6, 4.7 und 4.8, welche die Vorrichtung beim Depalettieren von Einweggebinden mit Stapelnasen im jeweiligen Eckbereich der Gebinde zeigt;
• 5 eine Abfolge von acht schematischen Darstellungen 5.1, 5.2, 5.3, 5.4, 5.5, 5.6, 5.7 und 5.8, welche die Vorrichtung beim Depalettieren von Mehrweggebinden mit Handgriffausnehmungen an den Längswänden und an den Querwänden zeigt;
• 6 eine schematische und perspektivische Darstellung einer Klappbox mit der erfindungsgemäßen Vorrichtung und sich mit der Handgriffausnehmung der Klappbox in Eingriff befindendem Greiffinger sowie mit am oberen Randbereich der Klappbox aufliegenden Haltemittel; und
• 7 eine schematische Darstellung eines Mehrweggebindes mit dem bereits in Eingriff mit der Handgriffausnehmung befindendem Eingriffsmittel in einer Stellung, bevor sich das Haltemittel auf den oberen Randbereich absenkt.

The invention is explained in more detail below with reference to the drawing, which shows in:

• 1 four views of different containers, which are usually used to hold fruit and vegetable products and can be automatically depalletized with the depalletizing arrangement according to the invention and according to the method according to the invention;
• 2 a schematic representation of an embodiment of the depalletizing arrangement according to the invention designed as a portal robot in a distribution center with respective storage locations with different containers, as shown in 1 of the drawing;
• 2A a more detailed representation of the depalletizing arrangement 2 in a rack aisle with storage rows with general cargo containers arranged on both sides of the rack aisle;
• 2 B an enlarged view of a section of the depalletizing arrangement 2A ;
• 2C a perspective view of the depalletizing arrangement when depalletizing packages that are arranged in a rear row of a pallet stack with packages;
• 2D a representation similar to that shown below 2C , in which the device for depalletizing with the rotary mount from the cantilevered position 2C has already been withdrawn;
• 2E a representation similar to that shown below 2D , in which the carrier with the rotary mount was lowered onto a conveyor device for depositing the depalletized general cargo containers;
• 3 a perspective view of a schematically illustrated embodiment of a device for depalletizing according to the present invention;
• 4 a sequence of eight schematic representations 4.1, 4.2, 4.3, 4.4, 4.5, 4.6, 4.7 and 4.8, which shows the device when depalletizing disposable containers with stacking lugs in the respective corner area of the container;
• 5 a sequence of eight schematic representations 5.1, 5.2, 5.3, 5.4, 5.5, 5.6, 5.7 and 5.8, which shows the device when depalletizing returnable containers with handle recesses on the longitudinal walls and on the transverse walls;
• 6 a schematic and perspective representation of a collapsible box with the device according to the invention and with the handle recess of the collapsible box in engagement gripping fingers and resting on the upper edge region of the collapsible box holding means; and
• 7 a schematic representation of a reusable container with the engagement means already in engagement with the handle recess located in a position before the holding means lowers onto the upper edge region.

Containers with fruit and vegetable products that arrive at the distribution center are delivered on article pallets that have containers that are filled with the same article, for example fruit or vegetable products or salads.

Due to the perishable nature of the goods, these bundles must be removed quickly and without damaging the goods from the article pallets, which can be standardized pallets, in order to be able to be transferred to an intermediate storage facility in such an isolated manner via a belt conveyor or the like.

Until now, the containers with fruit and vegetable products were depalletized manually in the distribution centers because there was no device for automatically depalletizing stackable general cargo containers. The invention now provides a remedy here.

1 The drawing shows in four views a large number of container types that are delivered to the distribution center in a respective article pallet and have to be depalletized.

The representation 1.1 of 1 shows a standardized pallet 1 with reusable containers 2 arranged on it, which have a respective handle recess 5 both on the respective longitudinal side wall 3 and on the respective transverse side wall 4, since the containers are filled by the producer of the fruit and vegetable products and arranged on the pallets 1 in a stacked arrangement and this is done manually.

While representation 1.1 shows containers with a base area of, for example, 600 by 400 mm, which can be in different heights, depending on which products are included in the containers, representation 1.2 shows a pallet 1 with containers 2, each with a base area of 300 times 400 mm, and in a height of the respective container 2 that deviates from the container 2 according to the illustration 1.1.

The representation 1.3 of 1 again shows a pallet 1 with disposable containers 6 with stacking lugs 7 on the respective transverse side of the container 6 and a base area of 600 by 400 mm. The representation 1.4 of 1 shows a pallet 1 with disposable containers 1 with a respective base area of 300 by 400 mm and a lower height than the disposable container 6 according to illustration 1.3 and stacking lugs 7 in the respective corner area of the container 6.

6 Finally, the drawing shows a reusable container in the form of a collapsible box 8, so that it can be seen that different container types with fruit and vegetable products are delivered to the distribution center and there is a considerable need for a device that is designed for automated handling of the depalletizing of all container types shown.

2 The drawing shows an embodiment of a depalletizing arrangement 38 with a device 9 for depalletizing, which is integrated into a portal robot system 10, which is installed in an in 2A visible distribution center can be arranged with storage rows with pallet stacks on both sides and can be moved in the vertical axis direction Y as well as in the transverse direction Z as well as in the direction X orthogonal thereto along the storage aisle in order to have access to the pallets temporarily stored there with the with reference to the 1 explained different container types.

The portal robot system 10 after 2 is closer by 2A shown, so that the gantry robot system 10 comprises the depalletizing arrangement 38, which has a support structure in the form of a gantry 39, the gantry robot system 10 as a controllable robot being referred to quite generally as a manipulator 40, which accordingly comprises the depalletizing arrangement 38.

How it based on 2A the drawing can be seen, which is closer based on 3 The device 9 shown in the drawing for depalletizing the general cargo containers 2, 6, 8 is arranged on a rotary receptacle 41, so that via the rotary actuation of the rotary receptacle 41 with two devices 9 arranged on the rotary receptacle 41 in the embodiment shown, for depalletizing the general cargo containers both rows of shelves 42, 43 Pallet stacks 44 with the general cargo containers, which extend along the storage aisle 45, can be achieved.

2 B shows an enlarged view of a detail from 2A with the rotary mount 41 with the two devices 9 arranged thereon for depalletizing the general cargo containers.

As is readily apparent, a support 46 that can be moved in the vertical axis direction Y of the support structure 39 is provided on the support structure 39 in the form of the portal, which supports 46 extends in the transverse direction of the support structure 39 and on which a support arm 47 is provided, which in Z Direction relative to the carrier 46 and thus relative to the support structure 39 is movable, and, as is the case, for example, with reference to 2A can be seen in the drawing, can be extended so that the rotary mount 41 and thus the two devices 9 for depalletizing the general cargo containers can reach the containers on both sides of the storage aisle 45 in such a way that the containers arranged in the first row 48 of the shelf row 42 and also the containers arranged in the second row 49 of the row of shelves 42 can be reached and the containers of the two rows 48, 49 of the second row of shelves 43 can also be reached by the rotary receptacle or the rotary head 41 with the two devices 9 for depalletizing the general cargo containers. The rotary head or the rotary mount 41 can be rotated about a vertical axis on the support arm 47 by means of an electric motor arranged on the rotary head and a toothed belt driven by it, as indicated by the arrow R in 2 B is shown.

Via an axial movement of the support arm 47 relative to the carrier 46, ie a movement of the support arm 47 with the rotary head 41 arranged thereon with the devices 9 in the Z-direction 2 According to the drawing, the devices 9 of the depalletizing arrangement 38 can therefore reach all the general cargo containers of the rack rows 42, 43, and by rotating the rotary head 41 by 180 degrees relative to the support arm 47 or to the carrier 46, the devices 9 for depalletizing the general cargo containers can each be aligned relative to the general cargo containers become.

How it based on 2 B the drawing can be seen, the direction of movement of the support arm 47 in the Z direction in both directions is denoted by Z1. To move the support arm 47 in both directions, a drive with a rack and pinion is provided.

The rotary head 41 with the two devices 9 can also be moved in the Z direction relative to the support arm 47, also in both directions, which in 2 B is denoted by Z2. The movement of the rotary head 41 in the Z2 direction can therefore be superimposed as a relative movement on the guide movement of the support arm 47 in the Z1 direction, and the movement of the rotary head 41 is also possible independently of the movement of the support arm in the Z1 direction. A toothed belt drive with electric motor and toothed belt is provided for moving the rotary head in the Z2 direction.

2C The drawing shows that the support arm 47, which can be moved in the Z-direction on the carrier 46, was extended in the direction of the row of shelves 42 and accordingly also the rotary head 41 with the two devices 9 for depalletizing the general cargo containers. The general cargo containers placed in the first row 48 of the rack row 42 have already been depalletized and 2C The drawing shows the devices 9 when depalletizing the general cargo containers arranged in the second row 49 of the row of shelves 42 .

2D The drawing shows that the rotary head 41 with the two devices 9 and the depalletized general cargo containers have been moved relative to the support arm 47 and also the support arm 47 itself in the direction of the shelf aisle 45 and the support 46 in the Y direction is still in height according to 2C located.

In a next step, the carrier 46 is then lowered with the support arm 47 and the rotary head 41 and the devices 9 in the Y direction, so that the depalletized general cargo containers can be lowered onto the conveyor belts 23 and can be transferred to the conveyor belts 23, like this based on 2E can be seen in the drawing. The conveyor belts 23 are in 2 and 2A visible in the drawing.

3 The drawing shows a schematic perspective representation of the device 9 with the 2 explained coordinate system.

The device 1 has a holding device 11 on which a suction device 12 is provided in the form of suction means 13 arranged at a distance from one another, which can be brought to a side wall of a disposable container 6, can be brought into contact there and via the generation of negative pressure can exert a suction force on the side wall of the disposable container 6 by means of a suction pump, not shown in detail, which is sufficient for the disposable container to be raised in a predetermined manner while maintaining the suction force to create a gap between the raised disposable container and the disposable container arranged underneath or a base can, so that the support plate or base plate 14 can be moved into the gap.

In addition, the device 1 also has a receptacle 15 on which two supports 16 are arranged which extend away from the support plate 14 at an angle thereto and on which a transverse support 17 is arranged so as to be displaceable in the vertical axis direction Y.

An engagement device 18 is also arranged on the receptacle 15, which is designed to bring about a releasable engagement position with a handle recess of a container, as will be explained below.

In addition, the device 9 also has a holding means 19 which is designed and provided for detachable arrangement or support on an upper edge region of a respective container, as will be explained in more detail below.

4 shows the device 9 in several representations when depalletizing disposable containers 6 with respective stacking lugs 7 in the corner area of the disposable container 6.

As can be seen from illustration 4.1, the device 9 is brought up to a side wall 20 of the disposable container 6 in such a way that the suction means 13 come to rest on the side wall 20. A vacuum can be generated between the suction means 13 and the side wall 20 by means of a pump, not shown in detail, so that the side wall 20 and thus the disposable container 6 can be subjected to a holding force without the formation of a compressive force on the side wall 20 is sufficiently large so that by lifting the holding device 11 with the suction device 12 formed thereon with the suction means 13, a gap 21 can be formed between the disposable container 6 to be depalletized and the further disposable container 6 arranged underneath.

As can be seen from illustration 4.3, the front stacking lugs 7 facing the device are disengaged and the undercarriage plate or carrying plate 14 can be pushed into the intermediate space 21 until the disposable container 6 to be depalletized rests on the undercarriage plate or carrying plate 14, as is the case here in the illustration 4.4 of 4 is evident. The plate 14 is pushed under the underside or lower surface 22 of the disposable container 6 until the center of gravity of the disposable container 6 with the fruit or vegetable products contained therein comes to rest on the plate 14, and the rear stacking lugs 7 also disengage .

As can be seen from illustration 4.3, the suction device 12 assumes a configuration that is inclined together with the side wall 20 relative to the side wall 20 of the disposable container 6, i. H. the suction device 12 can move together with the configuration of the side wall 20, which is set at an angle by lifting the disposable container 6, i.e. change the angle relative to the vertical axis direction of the carrier 16, so that despite the change in the angle of the side wall 20 relative to the vertical axis direction of the carrier 16 low negative pressure to hold the side wall 20 is sufficient.

As soon as the container 6 is arranged on the support plate 14, the device 9 can be displaced in the Z-direction in such a way that the disposable container 6 comes to lie over a conveyor belt 23 shown schematically in the illustration 4.6 with the reference number 23. Then the support plate 14 can be pulled away from under the disposable container 6, again in the Z-direction and the application of negative pressure to the suction device 12 can be lifted, and the disposable container 6 is depalletized, as shown in illustration 4.7 of FIG 4 can be seen, transported away in the X-direction and the device 9 is, as can be seen in illustration 4.8, ready for the next depalletizing process and can be moved with the suction device 12 in the direction of the side wall of another container 6 adjacent to the container 6 that has just been depalletized and the operation of depalletizing this next pack 6 can be carried out.

5 The drawing shows in several representations the process of depalletizing reusable containers 2, which each have transverse side walls 4 with handle recesses 5. As it is based on the representations of 5 As can be seen, the reusable containers 2 also have corresponding handle recesses 5 on the longitudinal side walls 3 so that the device 9 according to the invention can also be used to depalletize the reusable containers 2 from the longitudinal side walls 3 .

As can be seen from illustration 5.1, the device 9 is moved towards the transverse side wall 4 of the container 3 in the upper container layer and the position of the handle recess 5 is detected via a sensor device and the engagement device 18 with the gripping finger 24 is at such a height in Y-direction positioned so that the gripper finger 24 can be moved into the handle recess 5 via a translational movement in the Z-direction until the gripper finger 24 penetrates the handle recess 5, as can be seen from the illustration 5.2 of 5 is evident.

In a next step, as shown in Figure 5.3 5 can be seen, the holding means 19 lowered onto the upper edge 25 of the transverse side wall 4 until the basis of 7 The elastically designed support means 26 in the form of a rubber lip 27 that can be seen in the drawing rests on the upper edge 25 .

The rubber lip 27 can apply a holding force to the edge 25 from above, with any existing deformations of the edge region of the edge 25 being able to be compensated for by the elasticity of the rubber lip 27 .

How it based on 7 As can also be seen from the drawing, for this purpose the holding means 19 provided with the rubber lip 27 in the form of a pivoting holder 28 is lowered via an actuator 29 in the form of a pneumatic cylinder 30 in a pivoting movement on the pivot axis 31 onto the edge 25 of the reusable container 2, as shown can be seen from the double arrow 32 .

The holding means 19 in 7 The device 9 shown has a receiving plate 34 in the form of a cantilever 33 on which the rubber lip 27 is arranged in the front edge area and on a lower side 35 of the cantilever 33 there is a schematically illustrated spring device 35 which acts as a stop damper and on which in the Gripping recess 5 located gripping fingers 24 can gently come to rest from above, so that the edge 25 can be clamped between the container, which can be moved in the Y direction to lift the container 2, as can be seen from the double arrow 36, and the rubber lip 27 without that a compressive force is exerted on the transverse side wall 4, and therefore none Damage to the fruit and vegetable products in the container 2 can occur.

Representation 5.3 shows that by lifting the container 2 relative to the container 2 arranged underneath, a gap 21 is formed, into which the support plate or undercarriage plate 14 can be moved until it is in the position shown in representation 5.4 relative to the underside 22 of the container occupies and the container is thus completely lifted off from the other container underneath.

In a next step, the container located on the support plate 14 can be separated from the stack of containers by a displacement movement of the device 9 carrying the container, as can be seen from the representation 5.5 of FIG 5 can be seen and then the support plate 14 is pulled away from the underside 22 of the container 2 by a corresponding displacement movement according to the illustration 5.6 to the left, so that the container 2 comes to rest on the conveyor belt 23 and is transported by it for further handling, as is shown on the basis of representation 5.7 of 5 can be seen in the drawing.

The representation 5.8 of 5 finally shows that a next depalletizing can now take place, specifically with regard to the container 2 adjacent to the container 2 that has just been depalletized, for which the device uses the space 37 that has become free by depalletizing the container 2 that has just been depalletized, and in the Z-direction until it detects the handle recess 5 of the neighboring container 2 can be moved.

6 The drawing shows a schematically illustrated collapsible box 8 with fruit and vegetable products located therein and a device 9 according to the present invention located in a clamped position with the upper edge 25 and the handle recess 5. Since the transverse side walls 4 of the collapsible box 8 are designed to be collapsible, it is essential that these transverse side walls 4 are not subjected to a compressive force, as is the case with the known device explained at the outset, so that the collapsible box type of container cannot be handled by the known device can be. In contrast to this, with the device according to the invention, the collapsible box usually used for transporting fruit and vegetable products can also be depalletized with the device according to the invention and according to the method according to the invention.

The invention is characterized in that with the device according to the invention and the method according to the invention all known types of containers can be automatically depalletized, which are used for transporting fruit and vegetable products in distribution centers and for further transport for sale to the buyer of the fruit and vegetable products .

Since these containers, depending on the product they are filled with, can have a net weight of up to 20 kg, the device according to the invention and the method according to the invention make depalletizing the containers much easier and ensure rapid transfer and very short residence times in the distribution centers.

The fact that the side walls of the pack are not subjected to a clamping force or lateral force directed towards the interior of the pack by the device according to the invention also eliminates the risk of damage to the sensitive fruit and vegetable products during depalletizing. The risk of the side walls of the container tearing open or being pressed in is also eliminated. The respective position of the handle recesses of the container can be precisely detected by a sensor device and the gripping fingers can thus be positioned exactly in the handle recess.

By lifting the gripping finger with the holding means resting on the upper edge of the container, the container can be clamped without lateral force being applied to the container walls and is supported from the underside via the base plate. In a similar way, one-way containers are supported from the underside via the underride plate, so that centering tabs or centering corners on the containers are not damaged. Such disposable containers are lifted by the suction force applied by the suction device, in that the suction device can be lifted on one side together with the container until the carrying plate or bottom plate is inserted into the gap and the container thus rests on the carrying plate or bottom plate. By releasing the suction force and moving out the carrying plate or undercarriage plate, the container can then be placed on the removal belt and a possible brief blowing impulse can remove any dirt from the suction device.

The containers depalletized in this way, be they disposable or reusable containers or collapsible boxes with the fruit and vegetable products inside, are moved to a removal belt and set down on it so that they can be transported to the distribution center for further distribution.

With the suction device or the gripper fingers, the respective packs only have to be lifted by about 25 mm in the Y direction and the resulting gap is sufficient to insert the underride plate or carrying plate into the gap to support the pack to be depalletized from below. The undercarriage plate is moved beyond the center of gravity of the pack in the Z-direction and in this way the pack is supported from below on the one hand and unintentional detachment of the pack from the underride plate during transport to the removal conveyor on the other hand is eliminated.

Although we have spoken above of general cargo containers that are filled with perishable goods, such as fruit and vegetable products in particular, this should not be interpreted as a restriction, since empty general cargo containers can also be depalletized with the device and method according to the invention, just like general cargo containers that are filled with other goods, such as drugstore items or personal care products or goods of any other kind.

With regard to features of the invention not explained in detail above, reference is expressly made to the patent claims and the drawing.

Reference List

1

palette

2

reusable containers

3

long side wall

4

transverse side wall

5

handle recess

6

disposable container

7

stacking nose

8th

folding box

9

contraption

10

portal robot system

11

holding device

12

suction device

13

absorbent

14

Carrying plate, undercarriage plate

15

Recording

16

carrier

17

cross member

18

intervention device

19

holding means

20

Side wall

21

space

22

bottom

23

conveyor belt

24

gripping fingers

25

edge

26

support means

27

rubber lip

28

swivel holder

29

actuator

30

pneumatic cylinder

31

pivot axis

32

double arrow

33

boom

34

recording plate

35

spring device

36

double arrow

37

Space

38

depalletizing arrangement

39

Portal, supporting structure

40

manipulator

41

Rotary mount, rotary head

42

row of shelves

43

row of shelves

44

stack of pallets

45

camp alley

46

carrier

47

Beam

48

first row

49

second row

Arrow R

rotary motion

Arrow Z1

Traversing movement in the Z direction

Arrow Z2

Traversing movement in the Z direction

Claims (21)

Depalletizing arrangement (38) with a device (9) for depalletizing stackable general cargo containers (2, 6), the device (9) having a holding device (11) arranged thereon and for detachable suction engagement with a side wall (3, 4) of the container ( 2, 6) formed suction means (12, 13) and relative to the holding device (11) movable bare carrying plate (14) for supporting the container (2, 6), and has a receptacle (15) with at least one carrier (16), on which the holding device (11) is arranged and the device (9) has an engagement device (18 ) which is designed for releasable engagement with a recess (5) in a side wall (3, 4) of the container (2, 6), characterized in that the depalletizing arrangement (40) has a manipulator (40) with a supporting structure (39) and on the support structure (39) there is arranged a rotary mount (41) which is rotatable relative thereto and the device (9) is arranged on the rotary mount (41) so that it can move relative to the manipulator (40), the engagement device (18) on the mount (15) is arranged and is designed to be movable relative to the support plate (14) in the direction of the vertical axis. Depalletizing arrangement (38) according to claim 1 , characterized in that the support structure (39) has a support (46) that can be moved in the vertical axis direction of the support structure (39), on which a support arm (47) that can be moved in the longitudinal direction of the support (46) is arranged and the rotary receptacle (41) with the Device (9) is rotatably arranged relative to the support arm (47). Depalletizing arrangement (38) according to claim 1 or 2 , characterized in that the rotary receptacle (41) with the device (9) is designed to be movable relative to the support structure (39) in the longitudinal direction of the support structure (39). Depalletizing arrangement (38) according to claim 2 or 3 , characterized in that the rotary receptacle (41) with the device (9) is designed to be movable relative to the support arm (47) in the longitudinal direction of the support arm (47). Depalletizing arrangement (38) according to one of the preceding claims, characterized in that the supporting structure (39) has at least two devices (9) which are arranged adjacent to one another and which are designed to be operable together or separately from one another. Depalletizing arrangement (38) according to one of the preceding claims, characterized in that the manipulator (40) is designed to be movable relative to a receptacle carrying the manipulator (40). Depalletizing arrangement (38) according to one of claims 2 until 6 , characterized in that the support arm (47) and the rotary mount (41) are designed to be movable independently of one another in the longitudinal direction of the carrier (46). Depalletizing arrangement (38) according to one of the preceding claims, characterized in that the engagement device (18) is designed to be movable in at least one plane direction of a plane extending largely at right angles to the carrier (16). Depalletizing arrangement (38) according to one of the preceding claims, characterized in that the engagement device (18) has an engagement means (24) which is designed for engagement with a handle recess (5) in a side wall (3, 4) of the container (2, 6). is. Depalletizing arrangement (38) according to claim 9 , characterized in that the engagement means (24) is designed to be movable relative to the handle recess (5) of the container (2, 6) in such a way that the engagement means (24) can be moved into and at least partially through the handle recess (5) and out of the Handle recess (5) is designed to be movable. Depalletizing arrangement (38) according to one of the preceding claims, characterized by at least one holding means (19) which is designed for detachable arrangement on an upper edge region (25) of the container (2, 6). Depalletizing arrangement (38) according to claim 11 , characterized in that the holding means (19) has a strip-shaped or strip-shaped configuration and is provided with an elastically designed support means (26, 27) on a region designed for contact with the upper edge region (25) of the container (2, 6). Depalletizing arrangement (38) according to claim 11 or 12 , characterized in that the holding means (19) is arranged on a cross member (17) provided on the receptacle (15) and by means of an actuator (29) for detachable arrangement on the strip-shaped or strip-shaped edge area (25) of the container (2, 6 ) is operable. Depalletizing arrangement (38) according to one of Claims 11 until 13 , characterized in that the holding means (19) is arranged along a pivot axis (31) provided largely transversely to the receptacle (15) and by means of an actuator (29) for detachable arrangement on the strip-shaped or strip-shaped edge region (25) of the container (2, 6) can be actuated in a pivotable manner on the pivot axis (31). Depalletizing arrangement (38) according to one of Claims 11 until 14 , characterized in that the holding means (19) has a receiving plate (34) which extends away from the receptacle (15) and on which the support means (26, 27) is arranged. Depalletizing arrangement (38) according to one of Claims 13 until 15 , characterized in that the actuator (29) has a pneumatically actuable piston-cylinder unit (30), by means of which the holding means (19) can be brought into detachable contact with the strip-shaped or strip-shaped edge region (25) of the container (2, 6). Method of depalletizing stackable general cargo containers (2, 6) by means of a depalletizing arrangement (38) according to one of the preceding claims, in which a container (2, 6) having a lower support area (22) is moved by means of an engagement device (18) along at least a partial area of the support area (22) is lifted from a base and a support plate (14) is moved under the lifted sub-area, and physical contact of the sub-area to support the container (2, 6) resting on the support plate (14) with the sub-area with the support plate (14) is brought about, characterized by the steps - bringing about a releasable engagement of the engagement device (18) with a recess (5) in a side wall 3, 4) of the container (2, 6) - raising the container (2, 6) by means of the engagement device (18) for separating the support area (22) of the container (2, 6) at least along a partial area from the base to create a gap (21) between the support area (22) and the base. procedure after Claim 17 , characterized in that the engagement device (18) is inserted into the recess (5) at least partially passing through it in such a way that the container (2, 6) can be lifted by means of the engagement device (18) at least along the partial area from the base. procedure after Claim 17 or 18 , characterized in that a holding means (26, 27) is brought into detachable contact with an upper edge area (25) of the container (2, 6). Procedure according to one of claims 17 until 19 , characterized in that the support plate (14) is moved into the intermediate space (21). Procedure according to one of claims 17 until 20 , characterized in that the container (2, 6) resting on the support plate (14) is separated from the base.

Images