DE202019105858U1 - Depalletizing arrangement with a device for depalletizing stackable packaged goods - Google Patents

Abstract

Depalletizing arrangement (38) with a manipulator (40) having a supporting structure (39) and a device (9) arranged on the supporting structure so as to be movable relative to the manipulator for depalletizing stackable packaged goods (2, 6), the device (9) being a holding device (11) with suction means (12, 13) arranged thereon and designed for releasable suction engagement with a side wall (3, 4) of the container (2, 6) and a support plate (14) movable relative to the holding device (11) to support the container ( 2, 6), and has a receptacle (15) with at least one carrier (16) on which the holding device (11) is arranged, characterized in that the device (9) has an engagement device (18) which is detachable Engagement with a recess (5) of a side wall (3, 4) of the container (2, 6) is formed and the device (9) is arranged on a rotary holder (41) which is rotatable relative to the support structure (39).

Description

The present invention relates to a depalletizing arrangement with a manipulator having a support structure and a device for depalletizing stackable packaged goods containers arranged movably on the support structure relative to the manipulator, the device comprising a holding device with suction means arranged thereon and designed for releasable suction engagement with a side wall of the container has a support plate movable relative to the holding device for supporting the container and has a receptacle with at least one carrier on which the holding device is arranged, according to the preamble of claim 1.

The stackable packaged goods containers mentioned above can be single-use containers in the form of, for example, cardboard boxes, or also reusable containers which are formed from a plastic material or cardboard material or also folding boxes, that is to say containers with collapsible side walls. The containers can basically contain any kind of articles, which are intended for daily use or consumption, for example.

The variety of containers mentioned above can often be found in the area of fruit and vegetables, general cargo, which due to their perishability in the distribution center must be handled quickly and carefully.

The handling or handling of general cargo containers filled with fruit and vegetable products or salads often takes place in pallet warehouses, where the products mentioned are delivered in standardized containers on the mentioned containers and have to be de-palletized or depalletized for further handling of the containers. For this purpose, the containers are depalletized by hand in the aforementioned pallet stores or distribution centers for fruit and vegetables, that is to say manually removed 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 that are standardized in terms of dimensions, which usually have a base area of 600 by 400 mm with different heights or have a base area of 300 by 400 mm with also different heights .

Disposable containers often have centering tabs arranged in the region of the sides or transverse edges or also stacking lugs, which are each arranged in the corner region of the upper edges of the one-way containers often formed from cardboard material.

The reusable containers and folding boxes often have handle recesses or recessed grips in the side walls or transverse walls with which these reusable containers and folding 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 containers formed from cardboard material have to be supported from the underside when depalletizing in order to avoid damage to the container. However, other items contained in the general cargo containers with dimensions that also deviate from the stated dimensions, such as chocolate, meat, fish and sausage products or other foodstuffs or drugstore items or the like, must be handled with care when handling the general cargo containers so as 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 a 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 which can be fixed by means of a holding force brought about by the generation of negative pressure. To further stabilize and fix 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 abutment on the top or top side of the object to be manipulated in order to generate negative pressure in the region of the second Suction head to exert a lifting force.

The object raised in this way can then be stabilized by pushing a mechanical lower gripper into the space between the raised object and the object located 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 on pallets in the distribution centers do not have tops on which the second suction head is located could be arranged, but the containers holding fruit and vegetable products are regularly open at the top or at the top.

Based on EP 2 874 925 B1 has become known a gripper head for the transport of piece goods containers, 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 piece goods container by generating a vacuum, in order to create a gap between the piece goods container and the create underlying containers into which a support plate can be inserted from below to support the container to be manipulated.

On the basis of a gripper system, which has also become known, with an industrial robot with a boom, on which laterally adjustable pressure plates are arranged, attempts have already been made to depalletize general cargo containers. However, this known gripper system is not suitable for depalletizing containers containing fruit and vegetable products due to the fact that the general cargo container is held by a clamping force exerted on the side walls of the container by the pressure plates, since the disposable containers would be squeezed by the pressure plates, which is what would lead to pressure marks on the fruit and vegetable products and damage them.

General 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 warehouse aisle required for operating a manipulator in the form of a robot, the manipulator serving both rows of shelves starting from the warehouse aisle.

Proceeding from this, the present invention has for its object to provide a depalletizing arrangement with a device for depalletizing stackable packaged goods which are filled with fruit and vegetable products, for example, and the packaged goods both in the form of disposable containers and in the form of reusable containers or folding boxes can be present. In addition, a method for the depalletizing of stackable general cargo containers is to be provided, which can contain fruit and vegetable products or other items.

To achieve this object, the invention has the features specified in claim 1 with regard to the depalletizing arrangement. Advantageous embodiments 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 18, advantageous embodiments of the method being described in the further claims.

The invention provides a depalletizing arrangement with a manipulator having a support structure and a device for depalletizing stackable packaged goods packages arranged movably on the support structure relative to the manipulator, the device comprising a holding device with suction means arranged thereon and designed for releasable suction engagement with a side wall of the package and one Carrier plate movable relative to the holding device for supporting the container and has a receptacle with at least one carrier on which the holding device is arranged, the device having an engagement device which is designed for releasable engagement with a recess in a side wall of the container and the device a rotary holder arranged rotatably relative to the support structure is arranged.

The depalletizing arrangement thus created thus has a supporting structure in the form of, for example, a frame, a receptacle or a structure 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 generally intended to accommodate a device for the depalletizing of stackable packaged goods which will be 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 packaged goods on a receptacle, which can be a rotary receptacle or a rotary head, in such a way that the device is rotatably arranged relative to the supporting structure, it is achieved that the device for depalletizing stackable packaged goods containers arranged on both sides of the storage aisle can reach, stored or temporarily stored product lines with the packaged goods packs and in this way a device for depalletizing the stackable packaged goods packs or devices for depalletizing the stackable packaged goods packs need not be provided on the depalletizing arrangement on both sides of the supporting structure, but with a unit or an assembly, which comprises the device for depalletizing the packaged goods or devices for depalletizing the packaged goods, the storage rows with packaged goods on both sides of the Lagergasse from which a unit or assembly can be reached or recorded or operated.

In order to ensure that the device for depalletizing the packaged goods or the devices for depalletizing the packaged goods can reach the packaged goods from the access side, the device provided for depalletizing the packaged goods or the devices provided on the rotary mount for depalletizing the General cargo containers can be rotated towards the general cargo containers using the swivel mount.

If, therefore, first general cargo containers are first depalletized on a first side of the storage aisle and for this purpose the rotary holder with the device for depalletizing the general cargo containers or the devices for depalletizing the general cargo containers is oriented towards this first side of the storage aisle, the rotary holder can be directed to a second side of the storage aisle are rotated by 180 degrees in order to align the device for depalletizing the packaged goods or the devices for depalletizing the packaged goods towards the second side of the storage aisle, so that second packaged goods on the second side of the storage aisle with the device for depalletizing the packaged goods or the devices for depalletizing the packaged goods can be reached and depalletized.

According to a further development of the invention, it is also provided that the support structure has a support which is movable in the vertical direction of the support structure, on which a support arm which is movable in the longitudinal direction of the support is arranged and the rotary holder with the device is arranged such that it can rotate relative to the support arm.

Via the carrier, which can be moved in the vertical axis direction, a bulk container picked up by the device for depalletizing the packaged goods can be moved in the vertical axis direction of the supporting structure of the manipulator, in order to be deposited after the depalletizing, for example on a conveyor device, 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 holder with the device or devices can be moved out of the storage aisle in the direction of the first or second rows of storage with the packaged goods, so that the device or the devices can reach the packaged goods on both sides of the storage alley, in order to remove them from the pallets and, for example, to feed them to the aforementioned conveyor.

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

It is thereby achieved that the rotary holder with the general cargo containers arranged on the device or the devices can be moved, for example, from the rows of bearings arranged on both sides of the storage aisle, from which the general cargo containers have just been removed, that is, have been depalletized relative to the support arm and also relative to the carrier, so that the package goods can then be delivered from the device or the devices to the aforementioned conveyor device via a vertical movement of the carrier with the support arm and the rotary mount with the device or the devices and the depalletized packaged goods to be able to be moved further to the other handling location also mentioned.

For this purpose, it is advantageous and 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 holder 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 holder 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 can be actuated jointly or separately from one another.

Two or even more than two devices for depalletizing packaged goods can thus be arranged adjacent to one another on the support structure, which devices can therefore also be arranged on the rotary receptacle, and these devices can be operated together or separately to depalletize the packaged goods. In this way it can be achieved that, for example, in the case of two devices for depalletizing the packaged goods that are arranged adjacent to one another, both devices can be actuated together to simultaneously depalletize two packaged goods or even several packaged goods arranged next to one another, or that the two or more adjacent devices can be used for Depalletizing the packaged goods containers only a single or a single one of the several devices for depalletizing the packaged goods containers are operated, that is to say a targeted selection of the Devices for depalletizing the general cargo containers is made possible.

According to a development of the invention, it is also provided that the manipulator is designed to be movable relative to a receptacle carrying the manipulator. This ensures that the manipulator, which can be moved along a storage aisle, can be moved along the storage row or along the storage rows in this storage aisle equipped with a hall floor as a receptacle, in order to be able to depalletize general cargo containers with different contents or articles, specifically because of the rotation of both Sides of the Lagergasse.

It is also provided according to a development of the invention that the support arm and the rotary mount are designed to be movable independently of one another in the longitudinal direction of the carrier. This enables a targeted control of the rotary holder with the device for depalletizing or the devices for depalletizing the packaged goods, regardless of the longitudinal movement of the support arm on the support of the support structure of the manipulator.

Via the suction means provided on the device for depalletizing, a suction engagement with a side wall of a container can be brought about, 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 a holding force is built up between the side wall and the suction means via a vacuum application of the suction means, which is dimensioned sufficiently so that when the suction means are displaced in the vertical axis direction of the side wall, the container is lifted on one side so that between an intermediate space is formed between the raised container and the container arranged below it.

About this lifting of the container, which can be, for example, a single-use container in the form of a cardboard box open at the top, in which fruit or vegetables are arranged as piece goods, an intermediate space is formed which is sufficiently dimensioned so that the support plate is relative to raised container can be moved until it overlaps at least a portion of the bottom surface of the bottom of the container and in this way supports the container from below.

A translatory movement of the support plate with the container arranged thereon ensures that the container can be separated from the stacked arrangement of the remaining containers and placed, for example, on a belt device for further transport.

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

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

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

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

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

A support plate can then be moved into the intermediate space in a manner similar to that already described above, so that the raised container comes to rest on the support plate or the support plate the raised one Containers supported from below, thus creating a separation between the raised container and the container previously arranged below it.

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 which 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 vertical axis direction, so that it can engage in recesses in containers with different heights. The respective recess can be detected via 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 push through the handle recess and a displacement movement of the engagement device, for example in the vertical direction, leads to lifting of the container to be depalletized which is in engagement with the engagement device . By lifting the corresponding container, the space already explained is formed between the underside of the raised container and the upper side of the container below, 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 engaging means can be, for example, a gripping finger that can be inserted into the handle recess, so that lifting the gripping finger leads to one-sided lifting of the container and in this way a triangular-shaped space is formed in a side view, into which the support plate is inserted can be.

In contrast to the known device described above, with pressure plates that can be laterally displaced relative to the container, no lateral force is exerted on the container by the device according to the invention, so that there is also no pressure on the fruit and vegetable products in the container and therefore these sensitive goods get no pressure marks. This also applies in particular to folding boxes as containers, since otherwise there is a risk of the side walls of these containers collapsing unintentionally, with the result that the articles accommodated in the containers are damaged.

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

The device according to the invention is designed in this way for the automatic depalletizing of both one-way containers and of reusable containers and also for the automatic depalletizing of folding boxes, which also have recesses for manual handling, with which the engagement device can take a releasable engagement. Folding boxes can therefore also be depalletized automatically 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 which are used for the transport of fruit and vegetable products and for distribution in distribution centers and onward transport to the sales branch.

According to a development of the invention, it is also provided that the device has a holding means which is designed for releasable arrangement on an upper edge region of the container. With this holding means, the container for, for example, transport from the pallet to the conveyor belt can be fixed between the gripping fingers passing through the handle recess and the edge region of the container located above it in the form of, for example, a reusable container or a folding box. For this purpose, the gripper 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 the container is clamped in the area of the edge area like a pliers handle and cannot slip on the support plate during transport on the support plate to the conveyor belt and thus secure the position of the container relative to the support plate or underride plate.

It is provided according to a development of the invention that the holding means a has strip-shaped or strip-shaped configuration and is provided in an area designed for contact with the upper edge region of the container with an elastically designed support means.

The edge region 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 strip-shaped configuration and the holding means therefore also has a strip-shaped or strip-shaped configuration in order to be brought into clamping engagement or holding engagement with the container edge region to be able to.

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

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

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

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

Similar to what has just been explained, the pivotable actuating means can also be used to securely clamp the upper edge region of the container between the engagement means in the form of, for example, a gripping finger arranged in the recess in the container and the strip-shaped or strip-shaped holding means. so that the container is securely held on the underside or carrier plate to the conveyor belt during movement.

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

It is provided according to a development of the invention that the holding means has a receiving plate which extends away from the receptacle and on which the bearing means is arranged. By lowering the mounting 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 region of the container and by means of a lifting movement or pivoting movement the support means can be lifted off the edge region again when the separated or depalletized container is closed Further transport on the belt conveyor is released again.

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

• - Herbeiführen eines lösbaren Eingriffs der Halteeinrichtung mit einer Ausnehmung einer Seitenwand des Gebindes
• - Anheben des Gebindes mittels der Halteeinrichtung 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 of depalletizing stackable packaged goods in which a container having a lower support area is lifted from a base along at least a partial area of the support area by means of a holding device and a support plate is moved under the lifted partial area and physical contact of the partial area to support the container resting on the support plate with the partial area, with the support plate, with the following steps:

• - Bringing about a releasable engagement of the holding device with a recess in a side wall of the container
• - Raising the container by means of the holding device for separating the support area of the container at least along a partial area from the base for creating an intermediate space between the support area and the base.

The base can be, for example, a further base underneath the container to be depalletized, or it can also be another base in the form of, for example, a pallet or simply a support surface.

The effect of releasable engagement of the holding device with the recess in a side wall of the container is that subsequent lifting of the container by means of the holding device leads to separation of the support area of the container at least along a partial area from the base, thereby creating an intermediate space between the support area and the base, so that a support plate or underlay plate can then be moved in this intermediate space, and then the container to be depalletized rests on the support plate or underlay 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 in such a way that the container can be lifted from the support at least along the partial area by means of the holding device.

This lifting of the bundle along the partial area creates a sufficient space between the underside of the bundle to be depalletized and the upper side of another bundle or other base arranged underneath for inserting the support plate or underrun plate.

According to a development of the method according to the invention, it is provided that a holding means is brought into releasable contact with an upper edge region of the container. This allows the upper edge region of the container and thus the container to be depalletized to 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 container is secured in position is advantageously maintained during a movement of the container to a transport device in the form of, for example, a belt conveyor.

The above-mentioned gripper finger can therefore be inserted into a recess provided on the container in the form of, for example, a handle recess and then the holding means can be lowered from above onto the upper edge region of the container, whereby the upper edge region of the container is clamped between the gripping finger and the holding means is carried out 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 means of a stroke actuation of the holding device in the form of, for example, the gripping finger mentioned, together with the holding means located on the edge region, and the underlay plate or support plate can be inserted into the space thus created. As an alternative to this, the underside 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 located underneath, and the holding means can only be lowered to the upper edge region of the container in a subsequent step.

Then the container resting on the support plate or the underlay plate is separated from the underlay and can be transported in a further step in a manner lying on the support plate or the underlay 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 which can be automatically depalletized with the depalletizing arrangement according to the invention and according to the method according to the invention;
• 2nd is a schematic representation of an embodiment of the depalletizing arrangement according to the invention in the form of a portal robot in a distribution center with respective storage locations with different containers, as shown in FIG 1 the drawing were shown;
• 2A a more detailed representation of the depalletizing arrangement after 2nd in a shelf aisle with storage rows with general cargo containers arranged on both sides of the shelf aisle;
• 2 B an enlarged view of a section of the depalletizing arrangement 2A ;
• 2C a perspective view of the depalletizing arrangement when depalletizing General cargo containers arranged in a rear row of a pallet stack with general cargo containers;
• 2D a representation similar to that after 2C , in which the device for depalletizing with the rotary mount from the projecting position after 2C has already been withdrawn;
• 2E a representation similar to that after 2D , in which the carrier with the rotary holder for depositing the depalletized packaged goods has been lowered onto a conveyor;
• 3rd a perspective view of a schematically illustrated embodiment of a device for depalletizing according to the present invention;
• 4th 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 containers;
• 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 reusable containers with handle recesses on the longitudinal walls and on the transverse walls;
• 6 is a schematic and perspective view of a folding box with the device according to the invention and with gripping fingers in engagement with the handle recess of the folding box and with holding means resting on the upper edge region of the folding box; and
• 7 a schematic representation of a reusable container with the engagement means already in engagement with the handle recess in a position before the holding means lowers on the upper edge region.

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

Due to the perishability of the goods, these containers must be removed from the article pallets, which may be standardized pallets, quickly and without damage to the goods, so that they can be transferred to an interim storage facility in a singular manner via a belt conveyor or the like.

So far, the bundles with fruit and vegetable products have been manually depalletized in the distribution centers, since a device for the automatic depalletizing of stackable general cargo containers was previously missing. The invention now remedies this.

1 The drawing shows in four views a large number of container types, which are delivered to the distribution center combined into a respective article range and must be depalletized.

The representation 1.1 the 1 shows a standardized palette 1 with reusable containers arranged on it 2nd , which both on the respective long side wall 3rd as well as on the respective transverse side wall 4th a respective handle recess 5 have, because the containers are filled by the producer of the fruit and vegetable products and on the pallets 1 be arranged in a stack arrangement and this takes place manually.

During the presentation 1.1 Containers with a base area of 600 by 400 mm, for example, can be present at different heights, depending on which products are contained in the containers, the illustration shows 1.2 a pallet 1 with containers 2nd with a base of 300 by 400 mm each, and in one of the containers 2nd according to the illustration 1.1 different height of the respective container 2nd .

The representation 1.3 the 1 again shows a palette 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 the 1 shows a palette 1 with disposable containers 1 with a respective base area of 300 by 400 mm and less height than the one-way containers 6 according to the illustration 1.3 and stacking lugs 7 in the respective corner area of the containers 6 .

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

2nd the drawing shows an embodiment of a depalletizing arrangement 38 with one device 9 for depalletizing in a gantry robot system 10th is integrated, which in one in 2A apparent distribution center with storage rows with bilateral pallet stacks can be arranged and both in the vertical direction Y as well as in the transverse direction Z. as well as in an orthogonal direction X can be moved along the Lagergasse to have access to it intermediate pallets with the reference to the 1 explained different types of containers.

The portal robot system 10th to 2nd is closer based on 2A shown so that the portal robot system 10th the depalletizing arrangement 38 comprises a support structure in the form of a portal 39 has, wherein the portal robot system 10th as a controllable robot, generally as a manipulator 40 is designated, which is accordingly the depalletizing arrangement 38 includes.

As it is based on 2A the drawing can be seen, which is closer with reference to 3rd the device shown in the drawing 9 for depalletizing the packaged goods 2nd , 6 , 8th on a shoot 41 arranged so that the rotary actuation of the rotary mount 41 with two in the illustrated embodiment on the rotary mount 41 arranged devices 9 both rows of shelves for depalletizing the packaged goods 42 , 43 with pallet stacks 44 with the general cargo containers, which are along the storage lane 45 extend, can be achieved.

2 B shows an enlarged view of a section 2A with the shoot 41 with the two devices arranged thereon 9 for depalletizing the packaged goods.

As can be easily seen, is on the support structure 39 in the shape of the portal in the vertical direction Y the supporting structure 39 movable carrier 46 provided in the transverse direction of the support structure 39 extends and on which a support arm 47 is provided, which is in the Z direction relative to the carrier 46 and thus relative to the supporting structure 39 is movable, and, as is the case, for example, with the aid of 2A the drawing is visible, can be extended so that the shooting 41 and thus the two devices 9 to depalletize the general cargo containers on both sides of the storage aisle 45 can achieve that in the first row 48 arranged containers of the row of shelves 42 and also those in the second row 49 arranged containers of the row of shelves 42 can be reached and also the containers of the two rows 48 , 49 the second row of shelves 43 from the rotary mount or the rotary head 41 with the two devices 9 can be reached for depalletizing the packaged goods. The turret or the rotary mount 41 is on the support arm by means of an electric motor arranged on the rotary head and a toothed belt driven thereby 47 rotatable 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 movement of the support arm 47 with the turret arranged on it 41 with the devices 9 in the Z direction 2nd the drawing can thus the devices 9 the depalletizing arrangement 38 all general cargo containers in the rows of shelves 42 , 43 reach and by turning the rotary head 41 180 degrees relative to the support arm 47 or to the carrier 46 can the devices 9 for depalletizing the packaged goods in relation to the packaged goods.

As it is based on 2 B The drawing shows the direction of travel of the support arm 47 in the Z direction in both directions Z1 designated. For moving the support arm 47 a drive with a rack with a drive pinion is provided in both directions.

The turret 41 with the two devices 9 can be relative to the support arm 47 are also moved in the Z direction and also in both directions, which in 2 B With Z2 is designated. The movement of the rotary head 41 in Z2 Direction can thus as a relative movement of the guide movement of the support arm 47 in Z1 Direction are superimposed and the movement of the rotary head 41 is also independent of the movement of the support arm in Z1 Possible direction. For moving the rotary head in Z2 Direction, a toothed belt drive with an electric motor and toothed belt is provided.

2C the drawing shows that the on the carrier 46 Support arm movable in the Z direction 47 towards the row of shelves 42 was extended and accordingly the turret 41 with the two devices 9 for depalletizing the packaged goods. The front row 48 the row of shelves 42 Placed general cargo containers have already been depalletized and 2C the drawing shows the devices 9 when depalletizing those in the second row 49 the row of shelves 42 arranged general cargo containers.

2D The drawing shows that the turret 41 with the two devices 9 and the depalletized general cargo containers relative to the support arm 47 and also the support arm 47 even in the direction of Regalgasse 45 has been moved and the carrier 46 in height in the Y direction 2C located.

In a next step, the carrier 46 with the support arm 47 and the turret 41 and the devices 9 lowered in the Y direction, so that the de-palletized general cargo containers on the conveyor belts 23 can be lowered, and on the conveyor belts 23 can be passed like this using 2E the drawing can be seen. The conveyor belts 23 are in 2nd and 2A the drawing can be seen.

3rd the drawing shows a schematic perspective view of the device 9 with that already in 2nd explained coordinate system.

The device 1 has a holding device 11 on which a suction device 12th in the form of spaced-apart suction means 13 are provided, which on a side wall of a disposable container 6 can be brought in, can be brought into contact there and, via the generation of negative pressure by means of a suction pump, not shown, a suction force on the side wall of the one-way container 6 can exercise, which is sufficient for the disposable container to be lifted in a predetermined manner while maintaining the suction force to create a gap between the lifted disposable container and the disposable container or a pad arranged below it, so that the support plate or underrun plate 14 can be moved into the space.

In addition, the device 1 also a recording 15 on which two are off the support plate 14 beams extending at an angle to it 16 are arranged on which a cross member 17th in the vertical direction Y is slidably arranged.

At the reception 15 is also an interventional device 18th arranged, 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 has 9 also a holding device 19th , 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.

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

As it is based on the illustration 4.1 can be seen, the device 9 so on a side wall 20th of the one-way container 6 introduced that the absorbent 13 on the side wall 20th come to the plant. A pump (not shown in detail) can be used between the suction means 13 and the side wall 20th Vacuum generated so that the side wall 20th and thus the one-way container 6 without the creation of a compressive force on the side wall 20th A holding force can be applied which is sufficiently large so that the holding device is raised 11 with the suction device formed thereon 12th with the suction means 13 a space 21 between the disposable container to be depalletized 6 and the further disposable container arranged underneath 6 can be trained.

As it is based on the illustration 4.3 can be seen, the front stacking lugs facing the device arrive 7 disengaged and the underside or support plate 14 can in the space 21 be moved until the disposable container to be depalletized 6 on the underside or support plate 14 rests like this in the illustration 4.4 the 4th can be seen. The plate 14 is so far below the bottom or bottom surface 22 of the one-way container 6 pushed until the center of gravity of the disposable container 6 with the fruit or vegetable products on the plate 14 comes to rest, the rear stacking lugs also reach it 7 disengaged.

As it is based on the illustration 4.3 can be seen, the suction device takes 12th to the side wall 20th of the one-way container 6 one together with the side wall 20th inclined configuration, ie the suction device 12th can together with the by lifting the disposable container 6 angular adjusting configuration of the side wall 20th move with, so at an angle relative to the vertical axis of the beam 16 change so that despite the angle change of the side wall 20th relative to the vertical direction of the beams 16 a small vacuum to hold the side wall 20th is sufficient.

As soon as the container 6 on the support plate 14 arranged, the device 9 be moved in the Z direction in such a way that the one-way container 6 over one in the illustration 4.6 schematically with the reference symbol 23 shown conveyor belt 23 comes to rest. Then the support plate 14 under the disposable container 6 be pulled away again in the Z-direction and the negative pressure on the suction device 12th be lifted, the depalletized one-way container 6 will like this in the illustration 4.7 the 4th can be seen, transported in the X direction and the device 9 is like this in the illustration 4.8 can be seen, ready for the next depalletizing process and can with the suction device 12th towards the side wall of a container just depalletized 6 neighboring other containers 6 be moved and the process of depalletizing this next container 6 be performed.

5 The drawing shows in several representations the process of depalletizing reusable containers 2nd , which each have transverse side walls 4th with handle recesses 5 exhibit. As it is based on the representations of the 5 can be seen, have the reusable containers 2nd also on the long side walls 3rd appropriate Handle recesses 5 , so that with the device according to the invention 9 also depalletizing the reusable containers 2nd from the long side walls 3rd is possible.

As it is based on the illustration 5.1 can be seen, the device 9 to the transverse side wall 4th of the container 3rd moved up in the upper pack position and the position of the handle recess via a sensor device 5 detected and the intervention device 18th with the gripper finger 24th positioned at a height in the Y direction that the gripper finger 24th via a translatory movement in the Z direction into the handle recess 5 can be moved in until the gripper finger 24th the handle recess 5 enforced like this based on the illustration 5.2 the 5 can be seen.

The next step will be how to do this based on the illustration 5.3 the 5 it can be seen, the holding means 19th to the top 25th the transverse side wall 4th lowered until based on 7 the drawing shows elastically designed support means 26 in the form of a rubber lip 27 at the top 25th lies on.

The rubber lip 27 can the edge 25th Apply a holding force from above, with any possible deformations of the edge region of the edge 25th due to the elasticity of the rubber lip 27 can be compensated.

As it is based on 7 the drawing is further visible, this is the rubber lip 27 provided holding means 19th in the form of a swivel holder 28 via an actuator 29 in the form of a pneumatic cylinder 30th in a swivel movement on the swivel axis 31 on the edge 25th of the reusable container 2nd lowered, as shown by the double arrow 32 can be seen.

The holding device 19th the in 7 shown device 9 has a mounting plate 34 in the shape of a boom 33 , on the front edge of the rubber lip 27 is arranged and on a lower side 35 of the boom 33 is a schematically illustrated spring device 35 provided which as a stop damper and on which is in the handle recess 5 located gripper finger 24th can rest gently from above, so that the edge 25th between the one in the Y direction to lift the container 2nd movable containers, as shown by the double arrow 36 can be seen, and the rubber lip 27 can be clamped without having to hit the transverse side wall 4th a pressure force is exerted, and therefore no damage to the in the container 2nd located fruit and vegetable products can take place.

The representation 5.3 shows that in by lifting the can 2nd relative to the container below 2nd a space 21 is formed, in which the support plate or underride plate 14 can be moved until this is in the illustration 5.4 apparent position relative to the bottom 22 of the container and the container is completely lifted from the other container below.

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

The representation 5.8 the 5 finally shows that a next depalletizing can now take place with regard to the container just depalletized 2nd neighboring containers 2nd , for which the device the by the depalletizing of the just depalletized container 2nd vacated space 37 uses and in the Z direction until the handle recess is detected 5 of the neighboring container 2nd can be moved.

6 the drawing shows a schematically illustrated folding box 8th with fruit and vegetable products inside and one in a clamped position with the top edge 25th and the handle recess 5 located device 9 according to the present invention. Because the cross sidewalls 4th the folding box 8th are designed to be retractable, it is essential that these transverse side walls 4th are not subjected to a compressive force, as is the case with the known device explained at the outset, so that the container type of folding box cannot be handled by the known device. In contrast to this, the device according to the invention can also be used to depalletize the folding box usually used for transporting fruit and vegetable products 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 according to the method according to the invention, all known types of containers can be automatically depalletized, which are used for the transport of fruit and vegetable products in distribution centers and for Further transport for sale to the buyer of the fruit and vegetable products can be used.

Since these containers, depending on the product with which they are filled, can have a dead weight of up to 20 kg, the device and the method according to the invention provide a substantial relief in the depalletizing of the containers and for quick transfer and very short dwell times the distribution centers.

Because the side walls of the containers are not subjected to a clamping force or side force directed towards the interior of the container by the device according to the invention, the risk of damage to the sensitive fruit and vegetable products during depalletizing is also eliminated. The risk of tearing open or pushing in the side walls of the container is also eliminated. The respective position of the handle recesses of the container can be detected exactly by means of a sensor device and the gripper finger can thus be positioned exactly in the handle recess.

By lifting the gripping finger with the holding device resting on the upper edge of the container, the container can be clamped without applying lateral force to the container walls and is supported from the underside by the underside plate. In a similar way, disposable containers are supported from the underside of the underside 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 together with the container can be lifted on one side until the support plate or underside plate is inserted into the intermediate space and thus the container rests on the support plate or underside plate. By releasing the suction force and moving the support plate or underside plate out, the container can then be placed on the conveyor belt and a possible short blowing pulse can remove any contamination from the suction device.

The containers that are depalletized in this way, whether they are single-use containers or reusable containers or also folding boxes with the fruit and vegetable products in them, are moved to a removal conveyor and set down on them so that they can be transported for further distribution in the distribution center.

With the suction device or the gripper finger, the respective containers only have to be lifted by about 25 mm in the Y direction and the resulting space is sufficient to insert the underside plate or support plate into the space to support the container to be depalletized from below. The underride plate is moved beyond the center of gravity of the container in the Z direction and in this way the container is supported on the one hand from below and on the other hand an unintentional detachment of the container from the underside plate during transport to the conveyor belt is eliminated.

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

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

Reference list

1.

palette

2nd

Reusable containers

3rd

Long side wall

4th

Transverse side wall

5.

Handle recess

6.

Disposable containers

7.

Stacking nose

8th.

Folding box

9.

contraption

10th

Portal robot system

11.

Holding device

12th

Suction device

13.

Absorbent

14.

Carrier plate, underride plate

15.

admission

16.

carrier

17th

Cross member

18th

Intervention device

19th

Holding means

20th

Side wall

21.

Space

22.

bottom

23.

Conveyor belt

24th

Gripping fingers

25th

edge

26.

Support means

27.

Rubber lip

28

Swivel bracket

29.

Actuator

30th

Pneumatic cylinder

31

Swivel axis

32.

Double arrow

33.

boom

34.

Mounting plate

35.

Spring device

36.

Double arrow

37.

room

38.

Depalletizing arrangement

39.

Portal, support structure

40.

manipulator

41.

Shooting, turret

42.

Row of shelves

43.

Row of shelves

44.

Pallet stack

45.

Lagergasse

46.

carrier

47.

Beam

48.

first row

49.

second row

Arrow R

Rotary motion

Arrow Z1

Travel movement in the Z direction

Arrow Z2

Travel movement in the Z direction

QUOTES INCLUDE IN THE DESCRIPTION

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

Patent literature cited

• DE 19959285 B4 [0009]
• EP 2874925 B1 [0012]

Claims (17)

Depalletizing arrangement (38) with a manipulator (40) having a supporting structure (39) and a device (9) arranged on the supporting structure so as to be movable relative to the manipulator for depalletizing stackable packaged goods (2, 6), the device (9) being a holding device (11) with suction means (12, 13) arranged thereon and designed for releasable suction engagement with a side wall (3, 4) of the container (2, 6) and a support plate (14) movable relative to the holding device (11) to support the container ( 2, 6), and has a receptacle (15) with at least one carrier (16) on which the holding device (11) is arranged, characterized in that the device (9) has an engagement device (18) which is detachable Engagement with a recess (5) of a side wall (3, 4) of the container (2, 6) is formed and the device (9) is arranged on a rotary holder (41) which is rotatable relative to the support structure (39). Depalletizing arrangement (38) after Claim 1 , characterized in that the support structure (39) has a support (46) which is movable in the vertical direction of the support structure (39), on which a support arm (47) which is movable in the longitudinal direction of the support (46) is arranged and the rotary mount (41) with the Device (9) is rotatably arranged relative to the support arm (47). Depalletizing arrangement (38) after Claim 1 or 2nd , characterized in that the rotary mount (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) after Claim 2 or 3rd , characterized in that the rotary mount (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 any one of the preceding claims, characterized in that the support structure (39) has at least two devices (9) arranged adjacent to one another, 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 the Claims 2 to 6 , characterized in that the support arm (47) and the rotary seat (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 arranged on the receptacle (15) and is designed to be movable in the vertical axis direction relative to the support plate (14). 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 which extends 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) after Claim 10 , 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 at least partially through the handle recess (5) and out of it Handle recess (5) is designed to be movable out. Depalletizing arrangement (38) according to one of the preceding claims, characterized by at least one holding means (19) which is designed for releasable arrangement on an upper edge region (25) of the container (2, 6). Depalletizing arrangement (38) after Claim 12 , characterized in that the holding means (19) has a strip-shaped or strip-shaped configuration and is provided in an area designed for contact with the upper edge area (25) of the container (2, 6) with an elastically designed support means (26, 27). Depalletizing arrangement (38) after Claim 12 or 13 , 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-like or strip-like edge region (25) of the container (2, 6) can be actuated. Depalletizing arrangement (38) according to one of the Claims 12 to 14 , 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-like or strip-shaped edge region (25) of the container (2, 6) can be pivoted on the pivot axis (31). Depalletizing arrangement (38) according to one of the Claims 12 to 15 , characterized in that the holding means (19) has a receiving plate (34) which extends away from the receptacle (15) and on which the bearing means (26, 27) is arranged. Depalletizing arrangement (38) according to one of the Claims 14 to 16 , characterized in that the actuator (29) has a pneumatically actuable piston-cylinder unit (30) by means of which the holding means (19) can be detachably brought into contact with the strip-shaped or strip-shaped edge region (25) of the container (2, 6).

Images