DE202016103476U1 - Handling and / or manipulation device for grouped layers of several articles, containers, containers and / or piece goods - Google Patents

Abstract

Device (10) for common handling, recording, for joint gripping and / or common manipulation of article, container, container and / or Stückgutgruppierungen and / or for joint handling, recording, for joint gripping and / or common manipulation of grouped layers (1) of a plurality of articles, containers, containers and / or piece goods (2), with at least one pair of gripper jaws (12, 13) and / or strips acting on two opposite outer sides of the grouping and / or layer and deliverable against each other and at least one pair of gripping hooks (16a, 16b) for receiving and / or compressing at least one of the articles, containers, containers and / or piece goods (2) located on the outer sides of the grouping and / or layer by compressing the articles Gripper jaws (12, 13) and / or strips at least partially non-positively and / or frictionally clamped further article, container, container and / or St (2 *) are movable apart and in engagement with corresponding contact surfaces and / or edges of the respective article, container, container and / or cargo (2 *) can be brought, wherein a suspension (17) of the pair of gripping hooks (16a, 16b ) to the centering with respect to each to be gripped article, container, container and / or cargo (2 *) parallel to the main direction of movement of the gripping hooks (16a, 16b) when moving apart and in the preparation of the engagement with the contact surfaces and / or edges of the respective Item, container, container and / or cargo (2 *) is movable.

Description

The present invention relates to a device for handling and / or manipulating article, container, container and / or piece goods groupings with the features of independent claim 1.

State of the art

The invention relates to a device for handling Stückgutgruppierungen, for example, from bundle layers or combinations of beverage crates to a layer that can be stacked in multiple layers. In order to grasp such a layer of piece goods assembled according to a predefined scheme, in order to transfer them to a pallet, for example, or the like, different systems are known.

For palletizing or depalletizing of crates usually located on a receiving head or recorded hook gripper use, which are preferably brought into positive engagement with associated recesses of the bottle crates, as for example in the published patent application DE 10 2008 039 110 A1 is described.

However, if different deposit patterns are possible for certain size ratios of box size to pallet size, such hook grabbers are not usable under certain circumstances. The same applies to unconditional boxes, i. those which have no lateral exceptions or recesses, but closed side walls. For cases of this type, the receiving head may be provided with a clamping device for laterally clamping a whole package layer. Such a so-called clamping gripper comprises a pick-up head which can be raised and lowered and which has clamping gripping means associated with the pack layer at least on two opposite flanks.

The DE 42 41 165 A1 discloses a receiving head with pivotally arranged clamping bodies. The clamping bodies are arranged such that a distance of oppositely arranged clamping surfaces is reduced by a downward pivoting movement. By an upward pivoting movement, however, the distance between the opposing clamping surfaces is increased. A frictionally engaged with a container layer of piece goods clamp body is pressed accordingly when lifting the pick-up head by acting on it frictional forces in the direction of a more resistant or non-compliant system. It thus results in a reliable, caused by the weight of the container layer to be lifted clamping without an external force would be required.

The problem is that, especially in layer arrangements of heavy cargo, for example, in bundle boxes filled with full beverage containers boxes arranged in the central region of the situation boxes when lifting the situation can easily slip down. Thus, if a clamping gripper can not reliably lift a piece goods position by clamping alone, an additional hook support may be necessary, which often prevents the corresponding piece goods, in particular boxes, by form-fitting slipping down in the middle region of a layer. In this case, it is necessary that all piece goods are at a predefined place, because the respective hook or box assigned hook otherwise can not swing into a box handle strip exactly.

However, the clamp grippers with hook support can only be used safely if the position of all piece goods within a layer is precisely defined. However, problems can arise if the location scheme so-called unilateral shift-free spaces within the situation has, as for example in the DE 10 2008 052 769 A1 to be discribed. This is to be understood as an unused free space within the positional diagram within a movement axis. A box arranged in the area of the sliding free space can assume different, not exactly defined positions within the sliding free space. In particular, in the field of depalletizing but is often expected to predominantly inaccurate positioned cargo within the layers. For larger deviations between the nominal position of the piece goods and the actual position of the piece goods, therefore, conventional hook supports can not be used reliably.

A primary object of the invention is therefore to improve a clamping gripper with hook support from the prior art, so that with this also layer images, which may have gaps between the cargo of the situation, can be used safely.

The above object is achieved by a handling and / or manipulation device for grouped layers of several articles, containers, containers and / or general cargo, comprising the features in the protection claim 1. Further advantageous embodiments are described by the subclaims.

description

To achieve the above objects, the present invention proposes a device for joint handling, recording, for joint gripping and / or joint manipulation of article, container, container and / or Stückgutgruppierungen and / or common handling, recording, the common Gripping and / or for the joint manipulation of grouped layers of several articles, containers, containers and / or piece goods, with at least one pair on two opposite outer sides of the grouping and / or position attacking and deliverable against each other gripper jaws and / or bars and with at least one pair of gripping hooks is provided, which at least partially for receiving at least one between the located on the outer sides of the grouping and / or position article, container, container and / or cargo and / or of these by squeezing the gripper jaws and / or bars force and / or frictionally clamped another article, container, container and / or piece good movable apart and in engagement with corresponding contact surfaces and / or edges of the respective article, container, container and / or cargo can be brought. So that the gripping hooks can be centered in each case relative to the article, container, container and / or piece goods to be picked up, a suspension of the pair of gripping hooks is parallel to the main direction of movement of the gripping hooks when moving apart and during the engagement with the contact surfaces and / or surfaces. edges of the respective article, container, container and / or piece goods movable.

Furthermore, a method for joint handling, recording, for joint gripping and / or joint manipulation of article, container, container and / or general cargo groupings and / or for joint handling, recording, joint gripping and / or common manipulation disclosed grouped layers of several articles, containers, containers and / or piece goods. In particular, a device according to the invention is used to carry out the method. The method may comprise, as an alternative or in addition to the features described, one or more features and / or properties of the device described herein. Likewise, the device may alternatively or additionally comprise one or more features and / or properties of the described method.

For larger layer arrangements grouped articles, general cargo or containers to be picked up and lifted together by lateral clamping, depending on the conditions of the base areas of the goods to be absorbed gaps may be present. These gaps are typically located in the inner region of the layer surface so that the positions of individual articles, piece goods or packages within the layer arrangement are not exactly defined. However, since it can not be reliably ensured when picking up larger layer arrangements by means of laterally attacking terminal strips that in particular the articles, piece goods or containers that are not in direct contact with the terminal strips, but between externally clamped articles, general cargo or containers in one Are located in the central region of the situation and thus are clamped only indirectly, these located in the inner region of the layer arrangement items, general cargo or containers are usually stabilized or added by means of additional gripping hooks, these items, cargo or container - this can in particular beverage crates o. Like. Be - reliably fix so that they can not fall down from the clamped layer arrangement. However, since in such articles, general cargo or containers or crates, which are not exactly localized in position, no reliable gripping is to ensure by means of such gripping hooks, the device according to the present invention provides a variable positioning of the gripper hooks pairs, so that this be able to align the possibly shifted items, general cargo or containers or crates when the recorded from the outside by means of terminal strips or gripping jaws entire positional arrangement to be clamped and raised.

In connection with the device according to the invention described herein, an unpositioned box - in principle, any conceivable article, each piece or container be meant - then unpositioned when the layer scheme so-called. One-sided Verschiebefreiräume within the situation and the box then according to any or can take a position that can not be reliably predicted. Such a so-called. Move free space is an unused in a motion axis free space within the layer scheme. The hook unit according to the invention, which may be formed by a single pair of gripping hooks or by a plurality of such gripping hook pairs, when lowering always moves into a defined, relatively small area, which ensures that it is still occupied by a box. In particular, the hook unit retracts in the region of a displacement free space. For detecting and picking up this box then the swung hooks are linearly apart apart until a first hook on a handle bar (the box) ascends. With this Auffahrimpuls the kinetic energy of the raised hook can be transferred to a linear slide in which the hook device is suspended, whereby the Carriage is moved in the opposite direction until the second still free-moving hook enters the second handle of the same box. Thus, both handles of the male box are positively engaged and the box can be lifted.

The advantage of the device according to the invention is that even very unfavorable position arrangements with uniaxial open spaces, which normally can not be gripped in a form-fitting manner, can be reliably and safely lifted and handled. The device for a self-positioning Hakenuntergreifung can be used not only for a single undefined box, but also for several in-line boxes.

As mentioned, the gripping hooks usefully center themselves respectively, in particular during each gripping operation and / or after releasing a complete layer and depositing it at a designated depositing location. For this purpose, the gripping hooks or gripper hook pairs suspended on slide guides or the like can be designed to be self-centering, at least when an article, container, container and / or piece goods are being grasped. In this context or beyond, it can be provided that the gripping hooks for detecting at least one article, container, container and / or piece goods or for its / their release are pneumatically, hydraulically or electromotively adjustable. Thus, it can be provided in particular that the at least one pair of gripping hooks is mounted on a common holder, which is displaceable as a whole within a gripper head which carries the gripper jaws and / or strips which can be delivered against each other. By way of example, this holder can be designed to be displaceable within the gripper head by means of a slide guide, a piston / cylinder guide or the like. The pneumatic, hydraulic or electric motor drive this slide guide can be used or used for self-centering of the gripping hooks when gripping an article, cargo or container or a beverage box as well as for recovery after the release of each gripped item, piece goods, containers or beverage crates.

The device according to the invention primarily serves to receive and / or grasp or grasp complete articles, piece goods and / or bundle layers - formed, for example, by a multiplicity of cuboid beverage crates or the like. Piece goods - in which the respective articles, Containers, containers and / or cargo of the situation loosely put together and are not connected to each other. Depending on the layer image, individual articles, packages and / or piece goods can be displaced loosely in the inner region of the layer, so that the resulting gaps can lead to inaccuracies in the detection of each not exactly localized articles, containers and / or piece goods. These parts, which are not exactly localized, can nevertheless be reliably grasped, gripped and picked up by the previously self-centered and in their respective position in the exact position of the item or item to be picked or packaged.

The loosely assembled in one layer items, containers, containers and / or cargo can be formed, for example, each by a plurality of cuboid beverage boxes o. The like. Piece goods, reliably detected with the above-mentioned gripping hooks and taken together with the other crates of the complete situation and be converted into a desired position, without the risk of slipping or falling individual beverage crates, in particular of those crates, which are located in the interior of the situation and therefore only indirectly clamped by the outer terminal strips, ie only through their contact with neighboring crates of the location.

Optionally, the device according to the invention may comprise two pairs of outer strips or gripper jaws, which are mounted in the gripper head and which can be counteracted to each other in pairs. These four bars or gripper jaws, which are paired against each other, can thus simultaneously attack on all four sides of the grouping or situation.

In the apparatus according to the invention preferably all adjustable gripper elements are stored and held in the gripper head. In addition, it may be useful to rotatably form the gripper head and thus the entire suspension for all movable, adjustable or pivotable parts, in particular by a rotatability about a vertical axis of rotation.

In the device optionally all adjustable gripper elements can be driven pneumatically, hydraulically or by electric motor.

Another useful embodiment of the device according to the invention can provide several pairs of gripping hooks, each for each within a layer image befindliches cargo or for each box a separate pair, which with each of these pairs of gripping hooks each an article, container, container and / or General cargo in the layer arrangement can be detected. It can be provided that each pair of gripping hooks are individually adjustable and / or self-centering within the gripper head.

In addition, it can be provided that the two gripping hooks of a pair are motion-coupled with each other and with the gripping hook of another pair. Thus, for example, several pairs of gripping hooks can each be approximately synchronously adjustable in order to mitzuverstellen with adjustment of a pair, the respective neighboring pairs.

Each return stroke of a pair of gripping hooks in a neutral center position (standby position or zero position) can optionally take place automatically, for example by means of hydraulic, pneumatic, electrical adjustment. In particular, it is provided that the at least one pair of gripping hooks in each case after settling the position assumes a neutral center position, from which in the next method step, i. after positioning the gripper head over a new layer arrangement, the gripper hook pair can now detect a piece goods of the new layer arrangement. This can be particularly advantageous in order to ensure that the hook hook pair is always arranged above a region of the new layer arrangement, the like of an article, parcel or the like. the layer arrangement is taken.

By contrast, the centering stroke, by means of which the two gripper hooks of a gripper hook pair take place positively and / or non-positively on the article, the piece goods or similar. position the layer arrangement, preferably automatically when moving apart of the gripping hooks.

figure description

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

1A to 1E show schematically different layer images.

2 shows a first perspective side view of a handling and manipulating device with self-centering hook system.

3 shows a further perspective view of a handling and manipulation device with self-centering hook system from below.

4 shows a first perspective side view of a handling and manipulation device with self-centering hook system including a position to be gripped box.

5 shows a further perspective view of a handling and manipulation device with self-centering hook system from below including a position to be gripped from boxes.

6 shows the arrangement of a pair of hooks over a arranged in a central region of the item cargo.

7 shows the engagement of the hook pair in a arranged in a central region of the situation piece goods.

8th shows the detection of a arranged in a central region of the situation piece by the pair of hooks.

For identical or equivalent elements of the invention, identical reference numerals are used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are only examples of how the device according to the invention can be designed and do not represent a final limitation.

1A to 1E show schematically different layer images in which piece goods 2 each arranged differently. The piece goods 2 For example, articles, packages of at least two items, which are combined with an outer packaging, for example, with a shrink wrap wrapped compositions of six beverage containers, empty or filled with beverage containers crates, boxes, etc. be. For larger layer arrangements or layer images 1 . 1a to 1e grouped piece goods 2 , which by lateral clamping by a in the 2 to 8th illustrated clamping gripper 11 a handling and manipulation device 10 can be picked up and raised together, depending on the conditions of the base areas of the piece goods to be picked up 2 Gaps L between these exist. These gaps L are typically located in an inner region of the layer surface or the layer image 1 . 1a to 1e , so the positions of some piece goods 2 . 2 * within the layer arrangement of the layer image 1 . 1a to 1e may not be exactly defined. However, when recording larger layer images 1 . 1a to 1e by means of laterally attacking terminal strips or jaws 12a . 12b . 13a . 13b one in the 2 to 8th illustrated clamping gripper 11 can not be reliably ensured that in particular the cargo 2 who are not in direct contact with the jaws 12a . 12b . 13a . 13b (see 2 to 8th ), but between externally clamped piece goods 2 are therefore only indirectly clamped, they are in the inner area of the respective layer image 1 . 1a to 1e located piece goods 2 usually stabilized or added by means of additional gripping hooks, these cargo 2 Fix reliably so that they do not down from the clamped layer arrangement or the respective layer image 1 . 1a to 1e can fall out.

1A and 1B show location pictures 1a . 1b in which there are several gaps L between the grouped piece goods 2 are formed. 1C to 1E showed each layer images 1c . 1d . 1e in which substantially only one gap L is formed in each case. The piece goods assigned by the gaps L and the gaps L in each case 2 * occupied area forms in particular a so-called sliding room 3 ,

In the 1C to 1E is the respective sliding room 3 highlighted. In particular, defines a sliding room 3 an unused in a movement axis free space within the layer image 1 . 1c to 1e , The inside of the sliding room 3 arranged general cargo 2 , is in particular with the reference numeral 2 * characterized. This piece goods 2 * is within the respective displacement space 3 not exactly locatable in position. To this piece goods 2 * by means of hook grab or similar in addition to grab and thus when lifting the situation 1 . 1c to 1e slipping out of the cargo 2 * To prevent down, the hook grabber must be correspondingly positionally variable.

2 shows a first perspective side view and 3 shows a further perspective view of a handling and manipulation device 10 , which in particular a clamping gripper 11 with at least one self-centering hook system or hook pair 15 includes. 4 shows a first perspective side view and 5 shows a further perspective view of a handling and manipulation device 10 with at least one self-centering hook system or hook pair 15 including a position to be gripped 1 from piece goods 2 ,

The handling and manipulation device 10 is used in particular for joint handling, recording, for joint gripping and / or joint manipulation of article, container, container and / or Stückgutgruppierungen and / or for joint handling, recording, for joint gripping and / or joint manipulation of grouped documents 1 from several articles, containers, containers and / or piece goods 2 (compare in particular 4 and 5 ). The handling and manipulation device 10 has at least one pair of gripping jaws 12 respectively. 13 on, on two opposite outsides of each layer 1 from piece goods 2 can attack and in particular against each other are deliverable. Preferably, the clamping gripper 11 a first pair of opposing jaws 12a . 12b on and in addition to a rotated by 90 ° second pair of opposing jaws 13a . 13b on. This total of four jaws 12a . 12b . 13a . 13b , which are paired against each other, can thus simultaneously on all four sides of the situation 1 attack.

The jaws 12a . 12b . 13a . 13b are each about swivel joints 14 pivoted. By a downward pivoting movement about a pivot axis X, the jaws 12a . 12b respectively. 13a . 13b a respective jaw pair 12 . 13 each moved towards each other. By an upward pivoting movement, the jaws 12a . 12b respectively. 13a . 13b a respective jaw pair 12 . 13 moved away from each other. The pivoting movement is in the illustrated embodiment on the change in the length of hydraulic or pneumatic cylinders 20 generated. Other suitable means known to those skilled in the art may alternatively be used.

Thus, it is possible in particular, a location 1 of general cargo 2 (see. 1 . 4 and 5 ) At least partially non-positively and / or frictionally clamping between the at least one pair of jaws 12 respectively. 13 set, in particular at least partially force and / or frictionally clamp. The clamped position 1 can by a movement of the clamping gripper 11 , In particular, a movement with vertical and / or horizontal components of movement, be moved to a new position. It can be provided, for example, the location 1 into another vertical height level. Furthermore, it can be provided, the location 1 in addition to rotate in the course of repositioning. For this purpose, the clamping gripper 11 at a swivel joint 21 be arranged and by rotation about a defined angle of for example 90 °, the orientation of the between the jaws 12 . 13 recorded general cargo 2 change.

Furthermore, the handling and manipulation device 10 or the clamping gripper 11 with at least one pair of hooks 15 from cooperating hooks 16a . 16b fitted. The hooks 16a . 16b a pair of hooks serve in particular to those within a sliding room 3 in a middle area of the location 1 arranged piece goods 2 * in addition to fix, so that these when moving the location 1 not down from the situation 1 can slip out.

In the handling and manipulation device according to the invention 10 are preferably all adjustable gripper elements, in particular the jaws 12a . 12b . 13a . 13b as well as the at least one pair of hooks 15 , in the clamping gripper 11 stored and held. In addition, it may - as already described above - be useful, the clamping gripper 11 and thus to make the entire suspension for all movable, adjustable or pivotable parts rotatable, in particular by a rotatability about a vertical axis of rotation D. In the handling and manipulation device 10 Optionally, all adjustable gripper elements can be driven pneumatically, hydraulically or by electric motor.

Because as related to the 1 described, the gaps L and the arrangement of the respective piece goods 2 * within a sliding room 3 the situation 1 are not exactly defined, sees the handling and manipulation device 10 according to the present invention, a variable positioning of the at least one hook pair 15 before, in particular a self-centering of the at least one hook pair 15 , so that this on the possibly shifted cargo 2 * can align when the outside by means of the jaws 12a . 12b . 13a . 13b recorded entire layer arrangement 1 clamped and raised.

The hooks 16a . 16b a pair of hooks 15 are in particular self-centering. So that's the catch 16a . 16b each opposite to the male and to be picked piece goods 2 * are centered, is a suspension of the hook pair 15 parallel to the main direction of movement of the hook 16a . 16b when moving apart the hooks 16a . 16b and in the manufacture of the engagement between the hooks 16a . 16b with the contact surfaces and / or edges of the respective piece goods 2 * movable. The suspension is preferably as a linear slide 17 educated.

The hook unit of the handling and manipulation device 10 can through a single pair of hooks 15 or by several such pairs of hooks 15 can be formed. When lowering the clamping gripper 11 over the respective situation 1 of grouped piece goods 2 drives the at least one pair of hooks 15 into a defined, relatively small area within a sliding room 3 (see 1 ), in which it is ensured that he is still a piece goods 2 * is taken. For detecting and picking up this piece goods 2 * then become the swung hooks 16a . 16b of the hook pair 15 linearly apart apart until a first hook 16a or 16b on a handle of the piece goods 2 * ascends. With this Auffahrimpuls the kinetic energy of the raised hook 16a or 16b on a linear slide 17 be transferred, in which the hook device or the pair of hooks 15 is suspended. The linear slide 17 is thereby moved in the opposite direction until the second still free-moving hook 16b or 16a in the second handle bar of the same piece goods 2 * retracts. Thus, both handles of the male piece goods are 2 * positively engaged and the general cargo 2 * can be raised. In particular, the hook pair supports 15 lifting one in a central sliding room 3 arranged piece goods 2 * when lifting the situation 1 through the clamping gripper 11 , Alternatively and / or additionally, it may be provided that the hook pairs also in the case of layer images without gaps between the piece goods 2 be used supportive to slipping out of centrally arranged cargo 2 that does not make surface contact with the jaws 12a . 12b . 13a . 13b have to prevent.

Through the self-centering system can with the handling and manipulation device 10 also very unfavorable situations 1 of general cargo 2 with uniaxial open spaces, which normally can hardly be grasped with a positive fit, can be reliably and safely lifted and handled. The handling and manipulation device 10 with the self-positioning Hakenuntergreifung can not only for a single in the position undefined cargo 2 * , but also for several piece goods in series 2 * be used.

Such as in 3 can be seen well, in particular, several pairs of hooks 15 provided so that the clamping gripper 11 problem-free for the most different layer pictures 1 , in particular also guide layer pictures 1 with a plurality of gaps L and / or Verschieberäumen 3 can be used (see. 1 ).

According to a particular embodiment is for each piece goods 2 that is not on the outside area of the location 1 is arranged, ie for each no outer surface of the situation 1 forming, but within a central region of the layer image 1 general cargo 2 , a separate pair of hooks 15 provided for supporting bracket. With each of these hook pairs 15 each becomes a piece goods 2 . 2 * inside the layer arrangement 1 regardless of whether the respective piece goods 2 firmly between the adjacent cargo 2 the layer arrangement 1 is clamped or whether the respective piece goods 2 * position variable in a sliding room 3 is arranged. It can be provided in particular that each pair of hooks 15 individually adjustable and / or within the clamping gripper 11 is self-centering.

According to another particular embodiment, for each within a layer image 1 piece goods provided a separate pair of hooks for supporting support, in particular for the outside of a situation 1 arranged, an outer surface of the situation 1 forming piece goods 2 , In this embodiment, all piece goods 2 a location 1 each supportive by a pair of hooks 15 regardless of the arrangement of the piece goods 2 . 2 * within the location 1 , The clamping of the situation 1 between the jaws 12a . 12b . 13a . 13b with each of these pairs of hooks 16a . 16b serves in this embodiment, inter alia, the centering and the pushing together of the cargo 2 . 2 * the layer arrangement 1 , In addition, make the jaws 12a . 12b . 13a . 13b sure that the piece goods 2 . 2 * in the self-centering intervention of the hook 16a . 16b not shifted against each other and thus the layer image 1 is changed in an undesirable way.

In all the above-described embodiments can be provided that the two hooks 16a . 16b a pair of hooks 15 with each other and with the hooks 16a . 16b another pair of hooks 15 are motion coupled. Thus, for example, several pairs of hooks 15 each be approximately synchronously adjustable so as to adjust a pair of hooks 15 the respective adjacent pairs of hooks 15 mitzuverstellen.

After dropping the location 1 at the new position in possibly new rotated alignment can be provided that the at least one pair of hooks 15 in a neutral center position or standby position or zero position relative to the other components of the clamping gripper 11 is brought. This can be done automatically, for example, for example by means of hydraulic, pneumatic, electrical adjustment. In particular, it is provided that the at least one pair of hooks 15 each after discontinuation of the situation 1 assumes a neutral central position, from which in the next method step, ie after positioning of the clamping gripper on a new layer arrangement 1 , the pair of hooks 15 now a piece goods 2 . 2 * the new layer arrangement 1 can capture. This can be particularly advantageous to ensure that the hook pair 15 always above one area of the new layer arrangement 1 is arranged, that of a general cargo 2 . 2 * the new layer arrangement 1 is taken.

By contrast, the centering stroke, by means of which the two gripper hooks of a gripper hook pair take place positively and / or non-positively on the article, the piece goods or similar. position the layer arrangement, preferably automatically when moving apart of the gripping hooks. That is, the centering stroke takes place when detecting piece goods 2 . 2 * through which the two hooks 16a . 16b a pair of hooks 15 positive and / or non-positive on the cargo 2 . 2 * the layer arrangement 1 position, preferably automatically when moving apart the hook 16a . 16b ,

6 shows in detail the arrangement of a pair of hooks 15 a handling and manipulation device 10 above one in a middle area of a location 1 arranged general cargo 2 * , Two to that within a transfer room 3 (See also description of the 1 ) arranged piece goods 2 * adjacent piece goods 2 are each indicated by dashed lines. Furthermore, the formation of a gap L between the inside of the sliding space 3 arranged general cargo 2 * and a neighboring general cargo 2 shown.

The piece goods 2 . 2 * In the illustrated embodiment, beverage crates 5 for drinks bottles. The beverage boxes 5 have recesses on their side walls 6 on, in which the hooks 16a . 16b of the hook pair 15 can intervene.

7 shows the intervention of the hook pair 15 in one in a middle area of the location 1 arranged general cargo 2 * and 8th shows in particular the detection of the piece goods 2 * through the hooks 16a . 16b of the hook pair 15 (see. 8th ).

For supporting gripping of the centrally arranged piece goods 2 * moves when lowering the clamping gripper 11 over the respective situation 1 of grouped piece goods 2 the at least one pair of hooks 15 into a defined, relatively small area. In particular, this area provides an overlap area between the piece goods 2 * and the sliding room 3 ie, an area within the sliding room 3 (see 1 ), which ensures that he is still a piece goods 2 * is taken. This area is determined by the respective layer image 1 specified. For example, the information about the layer image becomes a control of the handling and manipulation device 10 then calculates the area in which the hook pair 15 in the position 1 must dive and the hook pair 15 in advance accordingly within the handling and manipulation device 10 positioned so that this substantially above the centrally arranged to be picked piece goods 2 * is arranged. The two hooks 16a . 16b a pair of hooks 15 are operatively connected to a linear slide 17 suspended. The linear slide 17 is preferably within the clamping gripper 11 position variable, for example, displaceable. In this context, or in addition, it can be provided that the hook 16a . 16b for detecting at least one piece good 2 * or for the release of which are pneumatically, hydraulically or electromotively adjustable. For example, the linear slide 17 have a pneumatic, hydraulic or electric motor drive for self-centering of the hook 16a . 16b a pair of hooks 15 while gripping a piece good 2 * as well as to Provision after release of the respectively picked piece goods 2 * is used or used.

After the clamping gripper 11 is positioned over the position, this is ggfl. lowered and the jaws 12a . 12b and or 131 . 13b are pivoted to each other, reducing the location 1 by clamping the outsides of the situation 1 within the clamping gripper 11 is fixed (cf. 2 to 5 ).

How to use the double arrow in 7 is indicated, then the swung hooks 16a . 16b of the hook pair 15 for capturing and picking up this piece goods 2 * linearly apart until the first hook 16b (arranged on the right in the picture) on a handle bar of the beverage crate to be gripped 5 ascends. The resulting Auffahrimpuls transmits the kinetic energy of the raised hook 16b on the linear slide 17 which is thereby moved in the opposite direction until the second still free-moving hook 16a in the second handle bar of the same beverage crate 5 retracts. The movement of the linear slide 17 is through the arrow in 8th shown. Thus, both handles of the male drinks box 5 positively engaged. When lifting the clamping gripper 11 becomes the beverage box 5 through the hooks 16a . 16b raised. Thus, effectively slipping out of the beverage box 5 out of the situation 11 prevented.

The invention has been described with reference to a preferred embodiment. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims.

LIST OF REFERENCE NUMBERS

1, 1a to 1e

Location / Location / Layer arrangement

2

cargo

2 *

General cargo arranged within a sliding room

3

shifting space

5

crate

6

recess

10

Handling and manipulation device

11

Clamping gripper, gripper head

12

Jaw pair, gripper jaws

12a, 12b

jaws

13

Jaw pair, gripper jaws

13a, 13b

jaws

14

swivel

15

pair of hooks

16a, 16b

Hook, grapple hook

17

Linear slide, suspension, bracket

20

hydraulic cylinders

21

swivel

D

axis of rotation

L

gap

X

swivel axis

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• DE 102008039110 A1 [0003]
• DE 4241165 A1 [0005]
• DE 102008052769 A1 [0007]

Claims (15)

Contraption ( 10 ) for common handling, recording, for joint gripping and / or common manipulation of article, container, container and / or Stückgutgruppierungen and / or for joint handling, recording, for joint gripping and / or common manipulation of grouped layers ( 1 ) from several articles, containers, containers and / or general cargo ( 2 ), with at least one pair of gripper jaws engaging on two opposite outer sides of the grouping and / or layer ( 12 . 13 ) and / or strips and with at least one pair of gripping hooks ( 16a . 16b ) intended to receive at least one of the articles, containers, containers and / or general cargo located on the outside of the grouping and / or layer ( 2 ) and / or of these by squeezing the gripper jaws ( 12 . 13 ) and / or strips at least partially non-positively and / or frictionally clamped further article, container, container and / or piece goods ( 2 * ) movable apart and in engagement with corresponding contact surfaces and / or edges of the respective article, container, container and / or piece goods ( 2 * ), whereby a suspension ( 17 ) of the pair of gripping hooks ( 16a . 16b ) for their centering in relation to the respective article, container, container and / or article to be gripped ( 2 * ) parallel to the main direction of movement of the gripping hooks ( 16a . 16b ) when moving apart and in the manufacture of the engagement with the contact surfaces and / or edges of the respective article, container, container and / or piece goods ( 2 * ) is movable. Contraption ( 10 ) according to claim 1, wherein the gripping hooks ( 16a . 16b ) when capturing an article, container, container and / or piece goods ( 2 * ) are self-centering. Contraption ( 10 ) according to claim 1 or 2, wherein the gripping hooks ( 16a . 16b ) for detecting at least one article, container, container and / or piece goods ( 2 * ) or for whose / their release are pneumatically, hydraulically or electromotively adjustable. Contraption ( 10 ) according to one of claims 1 to 3, wherein the at least one pair of gripping hooks ( 16a . 16b ) on a common mount ( 17 ) stored as a whole within a gripper head ( 11 ), the opposing gripper jaws ( 12 . 13 ) and / or strips, is displaceable. Contraption ( 10 ) according to claim 4, wherein the holder ( 17 ) by means of a slide guide, a piston / cylinder guide o. The like. Within the gripper head ( 11 ) is displaceable. Contraption ( 10 ) according to one of claims 1 to 5, the two pairs of in the rapier head ( 11 ) mounted outer strips or gripper jaws ( 12 . 13 ), which are each paired against each deliverable. Contraption ( 10 ) according to claim 6, wherein the total of four strips or gripper jaws ( 12 . 13 ), which can be compared to each other in pairs, simultaneously on all four sides of the grouping or position ( 1 attack). Contraption ( 10 ) according to claim 6 or 7, wherein all the adjustable gripper elements ( 12 . 13 . 16a . 16b ) in the rapier head ( 11 ) are stored and held. Contraption ( 10 ) according to one of claims 1 to 8, in which the gripper head ( 11 ) is rotatably formed. Contraption ( 10 ) according to one of claims 1 to 9, wherein all adjustable gripper elements are pneumatically, hydraulically or by electric motor driven. Contraption ( 10 ) according to one of claims 1 to 10, comprising a plurality of pairs of gripping hooks ( 16a . 16b ) for detecting in each case an article, container, container and / or piece good ( 2 * ) having. Contraption ( 10 ) according to claim 11, wherein each pair of gripping hooks ( 16a . 16b ) in each case adjustable and / or within the gripper head ( 11 ) is self-centering. Contraption ( 10 ) according to claim 11 or 12, wherein the two gripping hooks ( 16a . 16b ) of a pair with each other and with the gripping hooks ( 16a . 16b ) of another pair are motion coupled. Contraption ( 10 ) according to one of claims 11 to 13, wherein a plurality of pairs of gripping hooks ( 16a . 16b ) are each approximately synchronously adjustable. Contraption ( 10 ) according to one of claims 1 to 14, in which each return stroke of a pair of gripping hooks ( 16a . 16b ) is in each case automatically carried out in a neutral center position.

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