DE102020106424A1 - Method for operating a palletizing system and palletizing system - Google Patents

Abstract

The invention relates to a method for operating a palletizing system (5) which comprises a palletizing device (10) for forming a stack of layers (100) and at least one driverless transport vehicle (40) for transporting the stack of layers (100). The driverless transport vehicle (40) is moved to a palletizing station (41) near the palletizing device (10), and a stack of layers (100) is formed on the driverless transport vehicle (40). The driverless transport vehicle (40) remains on the palletizing station (41) while the stack of layers (100) is being formed. The invention also relates to a palletizing system (5) which is set up to carry out the method according to the invention.

Description

The invention relates to a method for operating a palletizing system, which comprises a palletizing device for forming a stack of layers and at least one driverless transport vehicle for transporting the stack of layers, the driverless transport vehicle being moved to a palletizing station near the palletizing device, and a stack of layers being formed on the driverless transport vehicle . The invention also relates to a palletizing system for carrying out the method according to the invention.

State of the art

A palletizing system of the generic type and known through use comprises a palletizing device and several driverless transport vehicles. By means of such a palletizing system, individual articles can be palletized and combined and made available for further transport, for example by means of a truck.

The palletizing device is used to arrange articles, in particular piece goods or bundles, for transport on transport aids, in particular pallets. For this purpose, the articles are, for example, initially combined into individual article layers and then placed on the transport aid in layers to form a layer stack. In this case, a first article layer of a stack of layers is first placed directly on the transport aid, and then further article layers are placed on the first article layer and the further article layers.

Palletizing devices and methods for palletizing article layers are, for example, from the documents DE 199 43 800 A1 , DE 10 2015 206 124 A1 , DE 10 2014 223 319 A1 , EP 2 610 197 A1 , EP 2 881 347 B1 , DE 10 2011 088 849 A1 and EP 2 547 612 B1 known.

The driverless transport vehicles are used to bring empty transport aids to a palletizing station near the palletizing device and then to bring the transport aids with the stack of layers on them away from the palletizing station, for example to a removal station, and to make them available there for further transport.

The document DE 10 2006 057 758 B4 discloses a method and apparatus for picking goods. First, a self-sufficient, driverless transport vehicle is loaded with products. The loaded transport vehicle then drives to a palletizing station with a palletizing robot. The palletizing robot removes the goods from the transport vehicle and places the goods on a transport pallet.

The document DE 10 2012 203 575 A1 discloses a driverless transport system of a packaging plant and a method for its control. The driverless transport system includes several transport vehicles for transporting pallets. Such a transport vehicle brings an empty pallet to a palletizer and brings a full pallet away from the palletizer.

The document DE 601 111 19 T2 discloses a palletizing installation with an apparatus for forming a series of products. A pallet, on which layers of products are placed, can be transported by an automatically guided vehicle (AGV).

Palletless packaging is also increasingly being used. The layer stacks for transport are either formed on a so-called slip sheet or completely without transport aids. This allows the loading capacity of warehouses and trucks to be increased and the use of resources for loading aids is reduced. In this case, palletizing aids are sometimes used within the palletizing process, which simplify the palletizing. The layer stacks are removed from this palletizing aid after palletizing. The palletizing aid, like the transport aid, can either be detachably connected to the driverless transport system or be part of the same.

task

The object of the present invention is to improve a palletizing system of the type mentioned at the beginning and a method for operating such a palletizing system. In particular, it is the object of the invention to increase the degree of automation and the flexibility of such a palletizing system, to reduce the space required and to increase the speed during palletizing.

solution

This object is achieved by a method for operating a palletizing system with the features of claim 1. Advantageous refinements and developments of the invention are the subject matter of the subclaims. The object is also achieved by a palletizing device with the features of claim 9. Advantageous refinements and developments of the invention are the subject matter of the subclaims.

A generic palletizing system comprises a palletizing device for forming a Stack of layers and at least one driverless transport vehicle for transporting the stack of layers. According to a generic method for operating such a palletizing system, the driverless transport vehicle is first moved to a palletizing station near the palletizing device. There a stack of layers is formed on the driverless transport vehicle. The palletizing station is so close to the palletizing device that the palletizing device can place layers of articles on the driverless transport vehicle to form the stack of layers.

The use of driverless transport vehicles significantly increases the degree of automation and the flexibility of the palletizing system. Conveyors for transporting transport aids to the palletizing station, which require a relatively large amount of space, are not required. Adjustments to different types of transport aids or additional palletizing stations can also be easily carried out. In particular, differently configured transport aids, for example customer-specific pallets with different dimensions, can be easily picked up and transported by driverless transport vehicles.

A driverless transport vehicle can drive to any number of different palletizing locations and is not bound to specific routes. A driverless transport vehicle can approach a palletizing station from different directions, turn on the palletizing station if necessary and drive away from the palletizing station in different directions.

According to the invention, the driverless transport vehicle remains on the palletizing station near the palletizing device while the stack of layers is being formed. The stack of layers is thus deposited on the driverless transport vehicle. The driverless transport vehicle only leaves the palletizing station when the stack of layers has been completely formed.

Because the driverless transport vehicle remains on the palletizing station while the stack of layers is being formed, it is not necessary to set down an empty transport aid or to pick up the transport aid again with the stack of layers formed on it. The palletizing device can continue to work, at least approximately, continuously. A waiting time during the exchange of transport aids is not necessary or is reduced to a minimum. The speed when operating a palletizing system is thereby advantageously increased.

According to an advantageous embodiment of the invention, a transport aid is arranged on the driverless transport vehicle. The stack of layers is formed on the transport aid, which is located on the driverless transport vehicle. The stack of layers is thus formed with the transport aid interposed on the driverless transport vehicle.

When the driverless transport vehicle is on the palletizing station, the transport aid can be centered and / or aligned so that the palletizing device can place layers of articles on the transport aid. Likewise, the entire driverless transport vehicle can be centered and / or aligned on the palletizing station, so that the palletizing device can place layers of articles on the transport aid.

According to another advantageous embodiment of the invention, the stack of layers is formed directly on the driverless transport vehicle. The intermediate layer of a transport aid is therefore not required.

If a slip sheet is used, it can be placed on the transport aid or the empty transport vehicle directly at the palletizing station, or the transport aid or the transport vehicle can be fitted with a slip sheet outside the palletizing station in order to increase the speed of the palletizing process.

In order to form the stack of layers, the palletizing device preferably first places a first layer of articles on the driverless transport vehicle. This one item layer already forms a layer stack. At least one further item layer is then placed on top of the first item layer. Further article layers can be placed on the already formed layer stack, whereby the layer stack becomes bigger and higher. The stack of layers formed thus preferably, but not necessarily, comprises a plurality of article layers.

If the performance of the upstream machines is very low, the palletizing device may be out of action for a long time. In this case, the utilization of the system can be increased by loading several driverless transport vehicles in layers. To do this, a vehicle is first loaded for as long as articles are available. It then moves to a waiting position and another vehicle is loaded with its articles, then the next and so on until at least one layer of the first article is again available in an upstream store. This process is repeated until the desired pallet height is reached. The respective stacks of layers including transport aids remain on your vehicle all the time. This will make the changeover time minimized between two products while at the same time minimizing the necessary buffer length.

According to an advantageous embodiment of the invention, an energy store of the driverless transport vehicle is charged while the driverless transport vehicle is on the palletizing station. The energy store of the driverless transport vehicle is charged during the time in which the stack of layers is being formed while the driverless transport vehicle is standing still anyway. This avoids time-consuming charging of the energy store at a different location at a different time. This further increases the speed and performance when operating the palletizing system.

According to a preferred development of the invention, after the stack of layers has been formed, the driverless transport vehicle is moved away from the palletizing station near the palletizing device and to a removal station. At the removal point, the stack of layers is then removed from the driverless transport vehicle and made available for further transport.

According to an advantageous embodiment of the invention, the stack of layers is removed from the driverless transport vehicle together with the transport aid at the said removal location. In this case, the driverless transport vehicle is then provided with another, still empty transport aid.

In the case of pallet-free palletizing, it can be advantageous to form the stack of layers on the transport vehicle on a palletizing aid which is designed similar to the said transport aid (pallet). As a result, the transport vehicle only needs one receptacle for both applications. At said removal point, the stack of layers, possibly including the slip sheet, is removed from the palletizing aid. In this case, the palletizing aid remains on the transport vehicle.

According to an advantageous development of the invention, after the driverless transport vehicle is moved away from the palletizing station, another driverless transport vehicle is moved from a waiting station to the palletizing station. The waiting area is preferably in the immediate vicinity of the palletizing area, so that the further driverless transport vehicle can reach the palletizing area in a short time. Another stack of layers is then formed on the further driverless transport vehicle. This further increases the speed when operating a palletizing system.

According to an advantageous embodiment of the invention, an energy store of the further driverless transport vehicle is charged while the further driverless transport vehicle is in the waiting area. The energy store of the additional driverless transport vehicle is therefore charged while the driverless transport vehicle is waiting and is therefore at a standstill anyway. This also avoids time-consuming charging of the energy store at a different location at a different time. This further increases the speed when operating the palletizing system.

As already mentioned, a generic palletizing system comprises a palletizing device for forming a stack of layers and at least one driverless transport vehicle for transporting the stack of layers.

The palletizing system according to the invention is set up to carry out the method according to the invention. When the palletizing system is in operation, the driverless transport vehicle, usually with a transport aid, is first moved to a palletizing station near the palletizing device, and a stack of layers is formed there on the driverless transport vehicle. The driverless transport vehicle, possibly with the transport aid, remains on the palletizing station while the stack of layers is being formed, and the stack of layers is deposited on the driverless transport vehicle. The driverless transport vehicle only leaves the palletizing station when the stack of layers has been completely formed.

According to an advantageous embodiment of the invention, a palletizing station is provided near the palletizing device at which the stack of layers is formed. A device for charging an energy store of the driverless transport vehicle, in particular in the form of a charger with a corresponding energy transmission device, is provided at the palletizing station. The energy transmission device can be, for example, a plug connection or a contactless inductive system.

Said palletizing station is so close to the palletizing device that the palletizing device can place layers of articles on the driverless transport vehicle to form the stack of layers.

According to an advantageous embodiment of the invention, a waiting area is also provided at which a further driverless transport vehicle, possibly with a transport aid, can wait. A device for charging an energy store of the driverless transport vehicle, in particular in the form of a charger with a corresponding energy transmission device, is provided at the waiting area. In the The energy transmission device can be, for example, a plug connection or a contactless inductive system.

Said waiting area is preferably in the immediate vicinity of the palletizing area, so that the further driverless transport vehicle can reach the palletizing area in a short time.

A removal point is preferably also provided. At the removal point, the stack of layers can be removed from the driverless transport vehicle and made available for further transport, for example by means of a truck.

The driverless transport vehicle can be designed in such a way that a transport aid or a palletizing aid can be placed on the driverless transport vehicle. The transport aid, as well as the palletizing aid, on which the stack of layers is then formed, are thus releasably connected to the driverless transport vehicle.

At the removal point, the stack of layers can then be removed from the driverless transport vehicle together with the transport aid. The driverless transport vehicle can then be provided with another, still empty transport aid.

The driverless transport vehicle can have load handling means, for example in the form of a roller conveyor, onto which a transport aid can be placed.

The transport aid can be designed in the form of a pallet. However, other configurations, for example as corrugated cardboard, wooden board, plastic tray or the like, are also conceivable.

The driverless transport vehicle can also have a contact surface which itself serves as a palletizing aid and on which the stack of layers is formed. In this case, the palletizing aid is inextricably linked to the driverless transport vehicle.

The stack of layers can then be removed from the palletizing aid at the removal point. The palletizing aid itself remains on the driverless transport vehicle.

Figure list

• 1 eine schematische Frontansicht einer Palettieranlage und
• 2 eine Draufsicht auf die Palettieranlage aus 1.

The invention is explained in more detail below using an advantageous exemplary embodiment shown in the figures. However, the invention is not restricted to this exemplary embodiment. The figures represent the subject matter of the invention only schematically. They show:

• 1 a schematic front view of a palletizing system and
• 2 a top view of the palletizing system 1 .

1 shows a schematic front view of a palletizing system 5 . The palletizing system 5 includes a palletizer 10 which are used to form a stack of layers 100 on a transport aid 105 serves. The palletizing system 5 also includes several driverless transport vehicles 40 , with only one such driverless transport vehicle in the illustration shown 40 is shown. The driverless transport vehicles 40 serve to supply the transport aids 105 to the palletizer 10 and for taking away transport aids 105 with stacks of layers formed on it 100 .

The palletizing device 10 stands on a floor 12th . The palletizing device 10 includes a lifting device 20th which extends essentially in a vertical direction Z from the floor 12th extends away. The lifting device 20th is in the present case in the form of a column. The vertical direction Z runs at right angles to the floor 12th and perpendicular to a longitudinal direction X . One cross direction Y extends perpendicular to the vertical direction Z and perpendicular to the longitudinal direction X . The longitudinal direction X and the transverse direction Y thus run parallel to the floor 12th .

The palletizing device 10 includes a settling device 50 , which on the lifting device 20th is arranged. The settling device 50 is in the vertical direction Z relative to the lifting device 20th movable. The settling device 50 is also in the longitudinal direction X between a first longitudinal position and a second longitudinal position relative to the lifting device 20th movable. The settling device 50 is advantageously designed in the form of a depositing belt and comprises a revolving conveyor belt, which has a transport surface for transporting a layer of articles 15th in the longitudinal direction X Are defined.

The palletizing device 10 also includes a compression device 80 , which on the lifting device 20th is arranged. The compression device 80 is in the vertical direction Z relative to the lifting device 20th movable. The compression device 80 is used to align an article position 15th that are on the transport surface of the depositing device 50 is located, and / or for the subsequent alignment of the stack of layers formed 100 .

The palletizing system 5 further comprises a feeding device 110 . By means of the feeding device 110 are item locations 15th the palletizing device 10 fed. Initially, several individual products or piece goods are removed from the feed device 110 to a stackable item layer 15th summarized, and the item location created in this way 15th is then in the longitudinal direction X on to the palletizing device 10 transported. It is also conceivable that a stackable item layer 15th Contains only a single product or general cargo.

To form a stack of layers 100 on the transport aid 105 is first an item location 15th from the feeder 110 to the depositing device 50 passed, which is in the first longitudinal position. Then the settling device 50 in the vertical direction Z at the level of the stack of layers already formed 100 procedure. Then the settling device 50 longitudinal X Move to the second longitudinal position. The compression device 80 will point in the vertical direction Z lowered so that the on the transport surface of the depositing device 50 current item position 15th between stops of the compression device 80 is located. The situation described here is in 1 shown.

On the floor 12th , in the vertical direction Z under the compression device 80 , is a palletizing station 41 intended. On the palletizing station 41 there is a driverless transport vehicle 40 . The driverless transport vehicle 40 carries a transport aid 105 , for example in the form of a pallet, on which there is already a stack of layers 100 is located. The stack of layers 100 comprises a plurality of article layers stacked one on top of the other 15th .

When the settling device 50 longitudinal X is moved into the first longitudinal position, the position of the article is thereby 15th , which is between the stops of the compression device 80 from the palletizer 10 on the stack of layers 100 discontinued. The stack of layers 100 , which is on the transport aid 105 is located, then includes a further item layer 15th .

2 shows a top view of the in 1 illustrated palletizing system 5 . Here are the settling devices 50 and the compression device 80 not shown. There are also no item layers 15th shown. Furthermore, they are not a driverless transport vehicle 40 as well as no transport aids 105 shown.

The already mentioned palletizing station 41 is located close to the palletizer 10 . That means the palletizing station 41 is in a place where the palletizer 10 to form the stack of layers 100 Item locations 15th on the transport aid 105 can settle, which is on the palletizing station 41 is located. The palletizing station 41 is on the floor 12th and is longitudinal X as well as in the transverse direction Y to the lifting device 20th staggered.

The palletizing station 41 is in the present case in the longitudinal direction X offset to the feeder 110 . In the transverse direction Y the palletizing station is aligned 41 at least approximately with the feeding device 110 . An item location 15th is therefore from the feeder 110 up to the transport aid 105 or the stack of layers 100 lengthways only X as well as in the vertical direction Z transported. A transport of the item position 15th through the palletizer 10 in the transverse direction Y is therefore not required.

At the palletizing station 41 is a device, not shown here, for charging an energy store of a driverless transport vehicle 40 intended. Said device is designed in the form of a charger with a corresponding energy transmission device.

There is also a waiting area 43 provided, which is preferably in the immediate vicinity of the palletizing station 41 is located. The waiting place 43 is on the floor 12th and is present in the transverse direction Y to the palletizing station 41 staggered. Longitudinal X the palletizing station is aligned 41 with the waiting area 43 . The waiting place 43 but can also be done in other places, for example in the longitudinal direction X to the palletizing station 41 offset, be arranged.

Also at the palletizing station 41 is a device, not shown here, for charging an energy store of a driverless transport vehicle 40 intended. Said device is also designed in the form of a charger with a corresponding energy transmission device.

When operating the palletizing system 5 becomes a driverless transport vehicle 40 , if necessary with a transport aid 105 , to the palletizing station 41 emotional. On the transport aid 105 then becomes a stack of layers 100 educated. During the formation of the stack of layers 100 the driverless transport vehicle remains 40 on the palletizing station 41 . This is the energy storage of the driverless transport vehicle 40 loaded. Another driverless transport vehicle 40 with another transport aid 105 is meanwhile on the waiting area 43 . The energy storage of the additional driverless transport vehicle is also used 40 loaded.

After the stack of layers 100 on the transport aid 105 is fully formed, the driverless transport vehicle 40 from the palletizing station 41 away and to a removal point 42 emotional. At the removal point 42 then becomes the stack of layers 100 together with the Transport aids 105 from the driverless transport vehicle 40 removed and made available for further transport, for example by means of a truck.

Immediately after the driverless transport vehicle 40 the palletizing station 41 has left, the next driverless transport vehicle becomes 40 with the other transport aid 105 from the waiting area 43 to the palletizing station 41 emotional. Then there is another stack of layers 100 on the further transport aid 105 educated.

Immediately after the further driverless transport vehicle 40 the waiting place 43 has left another driverless transport vehicle 40 with another transport aid 105 to the waiting place 43 emotional.

The invention is not restricted to the exemplary embodiments described here and the aspects emphasized therein. Rather, a large number of modifications are possible within the range specified by the claims, which are within the scope of expert action.

List of reference symbols

5

Palletizing system

10

Palletizing device

12th

floor

15th

Item location

20th

Lifting device

40

driverless transport vehicle

41

Palletizing station

42

Removal point

43

Waiting place

50

Depositing device

80

Compression device

100

Stack of layers

105

Transport aids

110

Feeding device

X

Longitudinal direction

Y

Transverse direction

Z

Vertical direction

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 19943800 A1 [0004]
• DE 102015206124 A1 [0004]
• DE 102014223319 A1 [0004]
• EP 2610197 A1 [0004]
• EP 2881347 B1 [0004]
• DE 102011088849 A1 [0004]
• EP 2547612 B1 [0004]
• DE 102006057758 B4 [0006]
• DE 102012203575 A1 [0007]
• DE 60111119 T2 [0008]

Claims (12)

A method for operating a palletizing system (5) which comprises a palletizing device (10) for forming a stack of layers (100) and at least one driverless transport vehicle (40) for transporting the stack of layers (100), the driverless transport vehicle (40) being connected to a palletizing station ( 41) is moved close to the palletizing device (10), and a stack of layers (100) is formed on the driverless transport vehicle (40), characterized in that the driverless transport vehicle (40) during the formation of the stack of layers (100) on the palletizing station (41 ) remains. Procedure according to Claim 1 , characterized in that a transport aid (105), on which the stack of layers (100) is formed, is arranged on the driverless transport vehicle (40). Procedure according to Claim 1 , characterized in that the stack of layers (100) is formed directly on the driverless transport vehicle (40). Method according to one of the preceding claims, characterized in that an energy store of the driverless transport vehicle (40) is charged while the driverless transport vehicle (40) is on the palletizing station (41). Method according to one of the preceding claims, characterized in that the driverless transport vehicle (40) is moved away from the palletizing station (41) and to a removal station (42) after the stack of layers (100) has been formed, and that at the removal station (42) the Layer stack (100) is removed from the driverless transport vehicle (40). Procedure according to Claim 5 , characterized in that at the removal station (42) the stack of layers (100) is removed from the driverless transport vehicle (40) with a transport aid (105). Method according to one of the Claims 4 until 6th , characterized in that after the driverless transport vehicle (40) is moved away from the palletizing station (41), another driverless transport vehicle (40) is moved from a waiting place (43) to the palletizing station (41), and a stack of layers (100) is formed on the further driverless transport vehicle (40). Procedure according to Claim 7 , characterized in that an energy store of the further driverless transport vehicle (40) is charged while the further driverless transport vehicle (40) is in the waiting area (43). Method according to one of the Claims 4 until 6th , characterized in that several layer stacks (100) are formed on several driverless transport vehicles (40) at the same time by initially only one or a few layers are deposited on a first transport vehicle (40), then the first transport vehicle (40) in a waiting area (43 ) is moved, another transport vehicle (40) is moved to the palletizing station (41), one or a few layers are deposited on the further vehicle (40) until one of the layer stacks (100) has reached a desired height. Palletizing system (5), comprising a palletizing device (10) for forming a stack of layers (100) and at least one driverless transport vehicle (40) for transporting the stack of layers (100), wherein the palletizing system (5) is set up to carry out the method according to one of the preceding claims. Palletizing system (5) after Claim 10 , characterized in that at least one palletizing station (41) is provided near the palletizing device (10), at which a device for charging an energy store of the driverless transport vehicle (40) is provided. Palletizing system (5) after one of the Claims 10 until 11 , characterized in that a waiting area (43) is provided, at which a device for charging an energy store of the driverless transport vehicle (40) is located.

Images