EP2159155A1 - Gripping device for loading and unloading a container - Google Patents

Abstract

The method involves guiding a bar like product (500) i.e. stack of cups, into a container (600) in a transport position and conveying the product into a desired storage position during filing by pivoting movement when loading of the container. The product is gripped in the container. The product is guided from the storage position to a transport position using the pivoting moment during unloading of the container. The product is upwardly withdrawn from the container during unloading of the container. An independent claim is also included for a device for performing a method for loading and unloading a flexible material container.

Description

Technical area

The invention relates to a method for loading and / or unloading a container with a rod-shaped product, wherein a gripper having transport device for loading the product leads from above into the container and stores in the desired storage position or takes to unload the product in the container and leading up out of the container. The invention further relates to a device for carrying out the method.

State of the art

In industry, a division of production into sequential production processes is common. For this purpose, intermediates are transported from a company carrying out a first production step to a second company carrying out a next production step. The intermediates are usually packaged in containers by the first company and therefore have to be unpacked by the second company.

At present, these operations are performed either manually or automatically by an unpacking or packaging machine. For this purpose, for example, clamp grippers, grippers, vacuum grippers and similar devices are already known. It is customary to use an "n" shaped movement (picking up, crossing, settling).

1. 1. Beschädigung von druckempfindlichen Produkten;
2. 2. Beschädigung von Produkten, hervorgerufen durch Positionierungsungenauigkeiten;
3. 3. Beschädigung von Produkten hervorgerufen durch zu kleine Abstände zwischen den Produkten in der Lagerungsposition;
4. 4. Beschädigung von Produkten, hervorgerufen durch Innenauskleidungen und/oder eingezogener Wände der Behälter;
5. 5. Komplikationen beim Beladen und Entladen von Behältern die Innenauskleidungen wie zum Beispiel Plastiksäcke oder Folieneinlagen aufweisen, hervorgerufen durch das Hängenbleiben der Produkte an der Innenauskleidung;
6. 6. Beschädigung von Innenauskleidungen wie zum Beispiel Plastiksäcken oder Folieneinlagen in den Behältern, hervorgerufen durch das Hängenbleiben der Produkte an der Innenauskleidung;
7. 7. zu langsame Zyklen, womit die Anlagen zur Weiterverarbeitung der Produkte nicht voll ausgelastet werden können.

The known automatic unpacking and packaging methods have the following defects:

1. 1. Damage to pressure-sensitive products;
2. 2. Damage to products caused by positioning inaccuracies;
3. 3. Damage to products caused by too small distances between the products in the storage position;
4. 4. Damage to products caused by inner lining and / or retracted walls of containers;
5. 5. complications in loading and unloading of containers having inner linings such as plastic bags or foil liners caused by the products sticking to the inner liner;
6. 6. Damage to interior linings such as plastic bags or foil inserts in the containers, caused by the products sticking to the inner lining;
7. 7. Too slow cycles, which means that the equipment for further processing of the products can not be fully utilized.

Presentation of the invention

The object of the invention is to provide a method and apparatus for carrying out the method which allows a more efficient loading and unloading of products, which may be pressure-sensitive, from and into containers.

The solution of the problem is defined by the features of claim 1. According to the invention, when loading the container, the product is guided into the container with a transport device (which has at least one gripper) in a transport position, which is pivoted with respect to the desired storage position, and transferred to the desired storage position during depositing with a pivoting movement. Using the same basic idea when unloading the product is transferred after gripping by the transport device from the storage position by a pivoting movement in a pivoted with respect to the storage position transport position and taken up out of the container.

The pivoting may be a pure rotary motion or a translational motion combined with a rotation. The angle through which the product is pivoted should be so great that the length of the product in the projection on the storage position creates a noticeable reduction in the space required in a subsequent translational movement. Below 10 ° -20 °, the shortening of the projection will usually be too low.

The pivoting should - when unloading - as possible following the gripping of the product from the storage position or - when loading - as soon as possible before the transition to the storage position.

The transport device is in the context of the invention, a mechanical device for gripping, pivoting and translational movement. The gripper is the part of the transport device that holds the product during these movements.

The bar-shaped products to be loaded or unloaded are, for example, stacks of nested cups. The stacks are typically several times longer than the transverse dimension. In addition, they are often not rigid, but can deform serpentine in the longitudinal direction. Of course, instead of stacked items also one-piece products can be handled according to the invention.

The inventive method is particularly suitable for containers which are lined with flexible material or with a non-tensioned film. The containers can be easily stackable and typically have the shape of a cuboid. The transport device according to the invention having a gripper now guides the product from above into the container and deposits it in the desired storage position. The storage position is in most cases parallel to a side wall of the container. By means of the movement according to the invention, the risk is minimized that the transport device or one end of the bar-shaped product collides with the not exactly determined current position of the side wall or the lining film. Namely, the sidewall or film will typically hang inwardly, thereby reducing the open top of the container.

Alternatively, the containers may also be formed of non-flexible material to increase the stability of the container and also to facilitate the positioning of the gripper. Furthermore, the container may have an inner lining of another flexible material, which protects the product from moisture and dirt. It is also conceivable that the product in a container, which is designed as a base with lateral stabilization rests, the stabilizers may be formed, for example, as standing perpendicular to the support surface rods of any cross-section, whereby the outer stacks are better detected by the gripper can. The product may have any rod-like shape, in particular are flexible or rigid tubes and any nestable parts in the assembled state one have rod-like shape, conceivable. It is irrelevant for the present method, whether the nested parts are frictionally connected or otherwise connected or loosely against each other or each other.

die grösser als eine Länge I des Produktes 500 ist. Dies setzt voraus, dass der Behälter vorzugsweise eine Breite grösser als D aufweist oder so flexibel ausgebildet ist, so dass beim Verschwenken das Produkt nicht im Behälter eingeklemmt wird. Der Verschwenkungswinkel beträgt in Abhängigkeit der Diagonale D und der Länge I des Produktes 500 vorzugsweise mehr als ${2\cos }^{-1}\left(\frac{l}{d}\right)\mathrm{.}$

Besonders bevorzugt ist ein Verschwenkwinkel zwischen 25° und 40°. Der Verschwenkwinkel kann der Füllhöhe des Behälters angepasst werden, so dass bei einem vollen oder nahezu vollen Behälter der Verschwenkwinkel kleiner ist als bei einem leeren oder nahezu leeren Behälter. Im erstgenannten Fall genügt es, dass die Verschwenkung so ist, dass das eine Ende des stangenförmigen Produkts über den oberen Rand des offenen Behälters heraus ragt, während das andere Ende noch in Lagerungsposition ist.Preferably, the transport position is pivoted relative to the storage position by at least 20 °. For a given length I and given diameter d of the product, it reaches a maximum projection of .tau. At a pivoting angle of tan ^-1 (d / l) $D=\sqrt{l^2+d^2}.$

which is greater than a length I of the product 500. This presupposes that the container preferably has a width greater than D or is formed so flexible, so that during pivoting the product is not trapped in the container. The Verschwenkungswinkel is dependent on the diagonal D and the length I of the product 500 is preferably more than ${2\cos }^{-1}\left(\frac{l}{d}\right)\mathrm{,}$

Particularly preferred is a pivot angle between 25 ° and 40 °. The pivot angle can be adapted to the filling level of the container, so that in a full or almost full container, the pivot angle is smaller than in an empty or nearly empty container. In the former case, it is sufficient that the pivoting be such that one end of the bar-shaped product projects beyond the upper edge of the open container while the other end is still in the storage position.

Depending on the dimensions of the container and the length of the stack, the angle could also be less than 20 °, in particular if the container has no wall at least on one side at right angles to the longitudinal direction of a product in the storage position.

Preferably, the pivoting movement is in a vertical plane, i. in a plane perpendicular to the bottom of the container and parallel to the storage position. As a result, a vertical stroke of the center of gravity is brought out of the storage position simultaneously with the pivoting.

The pivoting movement can, however, in principle also take place in any plane which is aligned parallel to a longitudinal direction of the product located in the storage position. For example, a product may be pivoted in the transport position in a horizontal plane with respect to the storage position and in this Position lowered into the container to the ground and then pivoted approximately parallel to the ground in the storage position. When entering through the opening of the container can be benefited in this case by the shortening of the projection.

Especially if products previously loaded into the container are not exactly in the respectively desired position, the "scissor-type" lateral attachment of the product, as effected by the pivotal movement of the gripper in a non-vertical plane, can correct this.

Preferably, when loading the container, the product is transferred by a transfer unit of the transport device in the transport position to the gripper and pivoted by this in the storage position. Similarly, when unloading the product is pivoted by the gripper from the storage position to the transport position and accepted by the transfer unit of the transport device. Preferably, a rod-shaped holder is driven on a linear guide under the gripper in transport position, so that the product can be transferred from the gripper to the rail and then the rail can be moved back again. The linear guide with the holder can perform a fast movement over long distances, but does not have to be specially adapted to the movement complicated handling within the container. In contrast, the gripper, which takes over the product from the holder of the linear guide, does not have to perform large-scale movements. By this division of the transport process, the cycle time can be reduced during loading and unloading.

Depending on the application, it may also be advantageous if the gripper picks up the product itself from a warehouse or a conveyor belt and no longer releases it until the product is in the storage position in the container.

Furthermore, a buffer is preferably provided for the products as a buffer in which the products can be stored intermediately. It is particularly desirable for further processing that the products are available at constant frequency. When unloading the products, however, may arise during the transition to a next container, a greater time gap, through a buffer can be corrected. For this purpose, an inclined plane is preferably provided, which has an inclination angle so that the intermediately stored products can start to slip on their own. This is controlled separately by closing mechanisms for each product, so that the products can be called up if necessary by controlling the closing mechanism of the corresponding product. This enables a continuous supply of the products for further processing.

Preferably, the gripper pivots about a lying at one of the two opposite ends of the gripper geometric pivot axis. A geometric pivot axis is understood here to be an imaginary axis, which may be outside the gripper and also outside the transport device. The geometric pivot axis is typically positioned at one end of the bar-shaped product. This ensures that one end of the product - when unloading - raised from the storage position and the other end (where the geometric pivot axis is located) still remains essentially unchanged. When loading is driven with one end of the rod-shaped product to the desired location and then pivoted the other end only in the storage position. This ensures that the free (i.e., pivoting) end of the product in the transport position has the greatest possible distance from the wall of the container and that a risk of collision with the container wall is minimized. Similarly, if the container has an irregularly structured inner liner, such as a sack, there is a risk that the inner liner will be partially misplaced when the gripper is pivoted to the storage position. Furthermore, more space is created by the arrangement of the realized pivot axis for the technical solution of the transfer of the product between the transfer unit and the gripper.

The gripper may also have a center pivot axis, whereby a product transfer can be done on both sides. Instead of a simple rotational movement about a pivot axis, the gripper can also perform a more complicated movement. In the choice of movement, it is always the goal to bring the two ends of the rod-shaped product not at the same time, but offset in time in the container (or to be taken from it) and thereby an inclined position with respect to one of the three main axes (ie the Edge directions) of the cuboid container to use. The ends of the stacked product should be able to be transported a greater distance from the container walls than would be the case for a straight insertion (ie parallel to the storage position).

Preferably, the gripper performs a movement in the vertical direction in time parallel to the pivoting movement, whereby the product can be more efficiently inserted in time into a deep (or empty) container or removed from it. It is important to ensure that the movements are coordinated so that the shortened projection of the product as it passes through the opening of the container is effective. This method is particularly preferable when the pivot point is not located at one end of the product, since in the case of an exclusive pivoting of the gripper a smallest distance to the container bottom does not remain constant and thus inevitably parallel to the pivoting a vertical stroke must be performed.

Alternatively, the movements (pivoting and stroke) can also be sequential in time. However, this presupposes that the pivot pivot point is located in a pivoted state at a lower end of the gripper. This ensures that in the vertical movement within the container between the two ends in the longitudinal direction of the gripper and the corresponding walls there is a greater distance and thus a risk of collision of the gripper with the corresponding walls or with an inner lining of the container can be reduced. In addition, the adjustment of the movements and the programming of the gripping device are simplified.

Preferably, the product transported by the gripper is transferred in the transport position of the gripper of a further transport device and transported by means of this in a longitudinal direction of the product through the top surface. The elongated product is thus moved to load and unload the container before or after the pivoting in its longitudinal axis. In this direction, the product can be fed in and out very quickly. The transport in the longitudinal direction of the product is preferably carried out with another holder of the transport device, so that a transfer of the product of Gripper on the holder takes place before the said longitudinal axis movement (which runs obliquely in space) is performed.

Instead of having a "slanting movement" take place in the product longitudinal direction, a vertical or other movement out of the container (or into it) can also be provided.

Preferably, the gripper is guided during loading of the container prior to pivoting in the storage position with a longitudinally lower end to a wall of the container, so as to risk the collision of the pivoting end of the gripper or the product during the pivoting movement in the storage position with the corresponding wall to further reduce. Slightly pressing the gripper against the wall increases the distance between the upper end of the gripper and the corresponding wall, which is particularly important if the crate has a (flexible) inner lining or has a retracted edge (typical for cardboard boxes). , The gripping of the gripper is preferably achieved by a pneumatic device, as this at the same time a certain controllable via the pressure damping of the impact is achieved on the wall so that potential damage to the gripper, container and the product can be avoided.

Alternatively, this can also be dispensed with, especially if the container has a sufficiently rigid shape, has no inner lining and if the precision of the gripper and the position of the container is sufficient. Instead of a pneumatic design, an electrical device such as a stepping motor or a servo can be used, whereby acceleration phases and positioning of the gripper can be precisely controlled.

A preferred transport device for carrying out the method according to the invention comprises a gripper and a controller, wherein the controller is designed such that for loading the product is guided from above into the container and stored in the desired storage position, respectively the product in the container is gripped and upwards the container can be performed. For this purpose, the gripper is designed to be pivotable, so that when loading the product in a transport position, which pivoted with respect to the storage position, is guided into the container and transferred with a pivoting movement to the desired storage position, or transferred to the unloading the product after gripping from the storage position by a pivoting movement in a pivoted with respect to the storage position transport position and up out of the container can be removed.

The gripper preferably comprises two pitch circle pipe segments, wherein one pitch circle is each less than a semicircle, and wherein at least one pitch circle pipe segment is supported so as to be rotatable about a circumference center. In a first state, in order to be able to take up a product, the two partial circle tube segments together form at most one semicircular tube segment; in a second state to be able to transport a product, more than one semicircular tube segment. Preferably, the two states differ by an angle in the range of 20 ° to 40 °, in particular in the range of 25 ° to 35 °.

Alternatively, both pitch circle tube segments in the sense of the above description can be rotatably mounted. The pitch circle tube segments may also have recesses, with which they may be formed, for example, comb-like, with a tine width can be adapted to the product. The tines can also be formed like a wire and thus have a certain flexibility to protect the product. For example, the tines can be designed so that they are offset in pairs with the gripper closed in order to prevent pressure points. On the other hand, the prongs can be arranged according to the product so that they can grasp in closed gripper in any wells of the product, in such an embodiment, a pairwise opposite arrangement of the prongs may be advantageous. The tines can be driven via a shaft in the longitudinal direction of the gripper.

Further, the pitch circle tube segment may be formed only by its edge, that is, for example, be bent from a piece of wire. For flexible products, such as cup stacks, it can be advantageous to provide the gripper with joints at right angles to the longitudinal direction, so that the gripper can adapt to the shape of the product. Some flexibility of the gripper can also be achieved by using a flexible material, for example an elastic or a plastic plastic, for the same is used. The rotation angle of the pitch circle pipe segments depends on the first state (the two pitch circle pipe segments together form at most a semicircle pipe segment) and the product. If the gripper in the first state forms less than a semicircular segment or the product is very sensitive to pressure, a larger angle must be selected accordingly. It should also be noted in the case of pressure sensitivity that not only the dead weight is decisive for the pressure, but also any vertical accelerations, which means that a larger angle must be selected for pressure-sensitive products with increased vertical acceleration, so that the gripper can counteract deformation of the products.

It is advantageous if the gripper has a static stop at one end, so that the product does not slip out of the gripper in the state pivoted relative to the storage position. When transporting stacks of cups, wherein the cups have substantially the shape of a truncated cone with a smaller bottom surface than the top surface, preferably a region of the cup stack having a smaller cross section is located at the bottom end of the gripper with respect to the transport position. The stop has advantageously the basic shape of a circular ring segment whose smaller radius is in the range of a radius of the conical part of the cup and wherein the angle of the circular sector is smaller than 180 °.

Furthermore, the gripper preferably comprises a controllable stop on the static stop having opposite end of the gripper to prevent, for example, in a greatly accelerated vertical lowering movement of the gripper during transport of loosely nested cups inertia-induced dropping out of the cup. This is preferably formed as an angle, which has a first leg at the gripping device in the closed state radially to the pitch circle pipe segments of the gripper and a second leg in the longitudinal direction of the gripper. The second leg is rotatably mounted at one end, so that the first leg is pivoted in a second, open state relative to the closed state by at least 45 °.

Alternatively, the static stop could also have a rectangular basic shape with a triangular cutout, wherein the gripper detected product in the triangular Cutout comes to rest. Any other basic shape with at least one partially concave shape cutout is also conceivable for this application. Both stops can also be designed as actuatable fingers.

Depending on the product to be transported, the gripper may preferably also be designed as a suction gripper with at least one through cavity, wherein a device for generating a negative pressure and at least one second opening the product can be positively attached to a first opening of the cavity so that when generating the negative pressure the product is pressed by the higher external pressure to the body of the gripper. Depending on the product, intermediate spaces between the body and the product may form, which can be sealed either by pressing the product against the second opening by a seal located around the opening of the body or by a correspondingly large volume flow of the device for generating the negative pressure ,

The gripper is preferably held by a pivoting device which can pivot it in the vertical plane (i.e., about a horizontal geometrical axis), as well as translatable in the horizontal direction. If the unloading or loading is subdivided into two separate movements (namely, the feeding from a store and into the dumping into the container), then in principle the gripper does not have to be transversely movable (at least not over a greater distance). This has the advantage that the gripper can perform simple, short and thus fast movements. However, it may also be advantageous in such a design, when the gripper is displaceable by a small amount, which is a fraction of the length of the product to be handled and is typically in the range of 1-5 cm, in order to accurately position the gripper end enable.

The transport device preferably comprises a device for the vertical translation of a product. This can be designed for example as a rack drive or as a linear guide. Preferably, however, it is realized as a pneumatic device, as explained below.

The device for vertical translation of the product preferably comprises a device for executing a long stroke and a short stroke, each formed as a pneumatic cylinder, the short stroke is preferably powerless, respectively, designed as a damping element. This ensures that the force with which the gripper acts on the product to be transported is limited independently of the long stroke. The product is thus gently taken or filed. In addition, short-term (depending on the length and the elasticity of the short stroke) large accelerations can be damped by the powerless short stroke to protect the product during transport, which is of particular interest for the transport of pressure-sensitive products. For this purpose, a vibration damping of the short stroke is further provided, so that a vibration behavior of the gripper can be prevented. This can be done by the existing internal friction between a plunger and a cylinder or between a piston rod and its guide, but also by other known measures, such as by a hydraulic shock absorber. Furthermore, the weight of the moving parts is kept small by the pneumatic design compared to an example hydraulic design, whereby higher accelerations with the same power and thus a higher clock rate during loading and unloading can be done. Preferably, the device for performing the long stroke in the plane game, so that the gripper "automatically" can adjust to the inaccuracies of the storage positions.

Depending on the weight load of the gripper, the long stroke, respectively the short stroke can also be realized hydraulically or via a rack by means of a drive unit, whereby a more stable and precise guidance can be ensured. In particular, in such an embodiment, the vertical position of the gripper is independent of the load to be transported, respectively the moving mass. Instead of the short stroke can also be a spring element, for example, designed as a coil spring or workpiece made of elastic plastic or a McPherson strut be provided as a damping element.

Furthermore, the device preferably comprises a product storage which temporarily stores the products before loading and / or unloading of the containers. Advantageously, the product storage is arranged so that the gripping device can transport a product from the container to the product storage or from the product storage in the container. When transporting the container, the transport device according to the invention preferably transfers a product from the container into the product store. When loading the container, the inventive transport device transfers the product from the product storage in the container.

During loading and unloading of several containers, the frequency of the product transaction may not be kept constant. This occurs, for example, when the container has been processed and a next container must be positioned. With the product memory can thus a supply and discharge of products from and / or buffered to a processing device and thus a frequency of the processing device are kept constant.

From the following detailed description and the totality of the claims, further advantageous embodiments and feature combinations of the invention result.

Brief description of the drawings

Fig. 1a bis 1g

eine schematische seitliche Ansicht eines Ablaufs der erfindungsgemässen Entladung;

Fig. 2

eine Ansicht eines beladenen Behälters, wobei ein Produkt verschwenkt ist, von oben, senkrecht zum Boden des Behälters;

Fig. 3a bis h

eine schematische seitliche Ansicht eines Ablaufs der erfindungsgemässen Beladung eines Behälters, wobei der Behälter eine Innenauskleidung aufweist;

Fig. 4

eine schematische Darstellung der Funktion eines erfindungsgemässen Greifers einer Greifvorrichtung;

Fig. 5a bis c

eine schematische Ansicht eines alternativen erfindungsgemässen Verfahrens zum Beladen eines Behälters;

Fig. 6

eine schematische Darstellung einer erfindungsgemässen Greifvorrichtung, eines Behälters und einer zugehörigen Förder-, respektive Positionierungseinrichtung;

Fig. 7a bis c

eine detaillierte schematische Darstellung einer Seitenansicht der erfindungsgemässen Greifvorrichtung zu verschiedenen Zeitpunkten während des Entladens;

Fig. 8

eine schematische Darstellung eines Produktespeichers.

The drawings used to explain the embodiment show:

Fig. 1a to 1g

a schematic side view of a sequence of the inventive discharge;

Fig. 2

a view of a loaded container, wherein a product is pivoted, from above, perpendicular to the bottom of the container;

Fig. 3a to h

a schematic side view of a sequence of the inventive loading of a container, wherein the container has an inner lining;

Fig. 4

a schematic representation of the function of an inventive gripper of a gripping device;

Fig. 5a to c

a schematic view of an alternative inventive method for loading a container;

Fig. 6

a schematic representation of an inventive gripping device, a container and an associated conveying, respectively positioning device;

Fig. 7a to c

a detailed schematic representation of a side view of the inventive gripping device at different times during unloading;

Fig. 8

a schematic representation of a product memory.

Basically, the same parts are provided with the same reference numerals in the figures.

Ways to carry out the invention

The lifting elements described below, preferably pneumatically operated, are each connected to bodies at two points in such a way that, in one embodiment of a stroke, the two points move in a line relative to one another. Alternatively, it is also possible to use stepper motors, servos, hydraulic lifting elements and the like, in particular if acceleration phases and positioning are to be able to be determined precisely.

The FIGS. 1a to 1g show a sequence of the inventive method for unloading a container 600 with the product 500 by means of a transport device, which comprises a gripping device 1 and a linear guide 700. The gripping device 1 comprises a gripper 100, which is connected via a pivoting lifting element 200 with a body 300, which connects via a lifting element 400, the entire pivoting device with a machine frame (not visible), pivotally.

The FIG. 1a shows a schematic side view of the structure of the gripping device 1, comprising a vertical lifting element 400 on the one hand connected to a Overlying machine frame (not visible), on the other hand connected to a body 300, whose lateral profile has the shape of an isosceles triangle, the upper catheter is horizontal. On a first horizontal axis, which runs perpendicular to the triangular surface approximately through its center of gravity, a pivoting lifting element 200 is mounted radially rotatable with a first of its two opposite with respect to a longitudinal direction ends. The gripper 100 has in the schematic side view the shape of a pitch circle pipe segment 111a (not shown in detail here, see FIG. 4 and the corresponding description below), which has a pivoting Hubelementhalterung 102 centrally on the long upper side. The swing-lift element 200 is rotatably mounted radially to the swing-Hubelementhalterung 102 with the second, the first opposite end via a second axis, which is parallel to the first axis. One of the two opposite ends of the gripper 100 is so rotatably mounted in the region of the lower corner of the triangle on the body 300 about a further axis parallel to the first axis that in each position of the gripper 100 to the body 300 game remains. The gripper 100 has a length in the region of the length of the product 500 and a container 600, from which the product 500 is to be removed, has a width greater than the length of the gripper 100 and the product 500. A transfer unit is formed in the present embodiment as a telescopic linear guide 700, which has at a lower end a holding device which prevents slippage of the product 500 on the same (not visible, see below).

The following is the unloading of the container 600 based on FIGS. 1a to 1g described.

die grösser als eine Länge I des Produktes 500 ist. Der Verschwenkungswinkel beträgt in Abhängigkeit der Diagonale D und der Länge I des Produktes 500 vorzugsweise mehr als ${2\cos }^{-1}\left(\frac{l}{d}\right)\mathrm{.}$

Um diesem Sachverhalt Rechnung zu tragen weisen die Behälter 600 vorzugsweise eine minimale Breite von D auf. FIG. 1a Figure 3 shows the gripping device 1 above a stored product 500 and partially within the product 600 containing container 600 with expanded lift 400 and contracted swing lift 200, whereby the grab 100 is pivoted with respect to the stored product 500. In this position, the gripper 100 is in contact with the product 500 at its rear end. In a first step, the swing-lifting element is now 200 expands so that the gripper 100 comes into contact with the product 500 over its entire length ( FIG. 1b ) and can grab this (not visible). Subsequently, the pivoting lifting element 200 is again contracted, with which the gripper 100 transfers the product 500 into a transport position pivoted in relation to the storage position by an angle α, which is preferably at least 20 ° ( Fig. 1c ). In a next step, the lifting element 400 is contracted, with which the product 500 is guided upward, at least partially out of the container 600 (FIG. Fig. 1d ). The Figure 1e shows the linear guide 700, which is then guided at the smallest possible distance under the product 500 and partially into the container 600 at the same angle α, so that the gripper 100 can transfer the product 500 to the linear guide 700 (FIG. Fig. 1f ) to remove the product 500 from the interior of the container 600 ( Fig. 1g ). By the mentioned holding device, the product 500 is held in this phase on the linear guide 700, so that a slide of the same on the linear guide 700 is prevented. Subsequently, the lifting element 400 can be expanded again if another product 500 is to be removed from the container 600. Accordingly, a next process cycle closes according to FIGS. 1a-1g at. Such a cycle takes about two seconds. The FIG. 2 shows a container 600 from above, provided with an inner lining 601, which contains products 500. All apparent products 500 are in the storage position, except for the product 500 marked with the arrows, which is in a position which is at right angles to the image plane with respect to the storage position and thus has a reduced length in the projection and thus, as one of the advantages according to the invention the transport from the container 600 has a lower risk of collision with the walls of the container 600 or the inner lining 601. It should be noted that the projection on the container bottom 602 increases depending on a diameter of the product 500 up to a certain Verschwenkungswinkel. For a given length I and given diameter d of the product 500, the product 500 achieves a maximum projection of at a pivot angle of tan ^-1 (d / l) $D=\sqrt{l^2+d^2}.$

which is greater than a length I of the product 500. The pivoting angle is in Dependence of the diagonal D and the length I of the product 500 preferably more than ${2\cos }^{-1}\left(\frac{l}{d}\right)\mathrm{,}$

To account for this issue, the containers 600 preferably have a minimum width of D.

In the FIGS. 3a to 3h is the procedure regarding the FIGS. 1a to 1g shown in the opposite direction. In contrast to the above description, the container 600 additionally contains an inner lining 601. Immediately before the pivoting of the product 500 (FIG. Fig. 3e In the storage position, the same is displaced in the longitudinal direction of the product 500 via a device, which is not shown here, such that an end of the product 500 closer to the container bottom 602 moves closer to a side wall of the container 600. During the subsequent pivoting into the storage position, the risk that the opposite end of the product 500 collides with the inner lining 601 or the container 600 and reduces this damage is reduced.

The FIG. 4 shows a function according to the invention of the gripper 100, which comprises two pitch circle pipe segments 111a, 111b, which are rotatably mounted about an axis of rotation of the corresponding cylinder by an angle φ, which is preferably 30 °. In a first state, the two pitch circle pipe segments 111a, 111b form an opening angle of at least 180 °, so that the product 500 can be received. In a second state, the two pitch circle pipe segments 111a, 111b form an opening angle of less than 180 °, so that the product 500 is partially enclosed by the pitch circle pipe segments 111a, 111b and thus can be lifted therewith. In the embodiment according to FIG. 4 both partial circle tube segments 111a, 111b are rotatably mounted, wherein in a preferred embodiment, only one partial circle tube segment 111a or 111b can be rotatably supported by an angle φ. The angle φ should not be too large, in order not to damage 500 products 500 underneath when enclosing the product, but also not too small, in order to avoid bruising of the product 500. It has been shown that the angle φ, depending on the size and the plastic deformability, preferably lies in a range of 30 ° ± 10 °.

In the FIGS. 5a to 5c show a further possible sequence of the inventive method for loading a container 600 with the product 500. For clarity, a representation of the gripping device 1 has been omitted. In a filled container 600, the products 500 are layered in horizontal layers, wherein adjacent layers each other by a radius r of the product 500 come to rest. When loading and unloading a first layer of products 500 in the container 600, the products 500 assume a labile position that may differ from the desired storage position. Preferred solutions to this problem are described in the following sections and illustrated with figures.

A product 500 in the FIG. 5a is pivoted in the transport position in the present variant in a respect to the bottom of the container 600 by an angle β inclined plane 603 parallel to a longitudinal direction of a product in storage position 500 and is guided by a gripping device according to the invention (in the FIGS. 5a to 5c not visible). If the products 500 are not exactly in the storage position after being deposited, it is advantageous to insert the next product 500 into the container 600 such that when placed in the storage position, the misplaced products 500 are corrected in position. This is particularly helpful at the beginning of loading of the container 600 when the products 500 are not yet stabilized by interstices formed in the area of contact of adjacent products 500 from underlying products 500.

The FIG. 5a 10 shows products 500 slightly different from the correct storage position and a product 500 pivoted in plane 603, which is moved along the plane 603 in the direction of the container bottom 602 and when it hits the container bottom 602 by contact with those in the container 600 lying products 500 the same shifts ( Fig. 5b ). During the subsequent pivoting of the product 500 in the storage position, the already lying products 500 are transferred to the correct storage position ( Fig. 5c ).

When unloading the container 600, deviations from the correct storage position may be achieved either by a flexible gripper 100 or by a flexible product 500 are caught. Alternatively, a suitable pivoting of the container 600 may be provided.

By giving some freedom to the gripper 100 with respect to a reference frame, it can accommodate slight deviations of the product 500 from the storage position. If, for example, the product 500 is slightly pivoted relative to the storage position in the horizontal plane, the gripper 100 will pivot in gripping the product 500 in the same mass.

If the product 500 can deform serpentine in the longitudinal direction (cup stacks may, for example, depending on cup type certain lability and thus have curvatures, with a minimum radius of curvature depends on the cup types), an additional flexible design of the gripper 100 may not be necessary. In this case, in the transport position, the gripper 100 first detects with a lower end the product 500 in a rear region with respect to the longitudinal direction, whereby the product 500 deviating in a region from the storage position, which is smaller than a radius r of the product 500, aligns with the gripper 100. During the pivoting of the gripper 100 in the storage position of the product 500, the same is continuously straightened by its deformability starting from the first detected area and thus substantially adapted to the shape of the gripper 100 to be finally detected by the gripper 100 as a whole. As a further optimization possibility, in particular for long products 500, a flexible gripper 100 is provided. The flexibility can be achieved either by the use of elastic materials or by the use of joints in the gripper 100. For this purpose, the pitch circle pipe segments 111a, 111b are interrupted at the point or bodies concerned. These are preferably mounted so that the gripper 100 is bendable in the storage position in a horizontal plane.

Another possible solution for handling improper storage position products 500 involves pivoting the container 600 for loading and unloading, such that the products 500 in the container 600 force their way in a direction perpendicular to gravity Lengthwise of the product 500 and parallel to the container bottom 602 experienced. In order to is achieved that the products 500 when loaded by the inclination of the container 600, to an adjacent product 500 if present, otherwise rest against a side wall of the container 600 and thus assume the storage position as a stable state.

The FIG. 6 shows in a coordinate system, a conveyor belt 800 which is movable in the y-direction and a container 600 which is transportable by means of conveyor belt 800 in the y direction and by means not disclosed additionally in the x and z-direction movable, so that the gripping device can be configured, respectively, to respectively execute the same movement during which the position of the container 600 containing the products 500 is adjusted after each product transaction.

In the present embodiment, the products 500 are perpendicular to the direction of travel of the conveyor belt 800. For this purpose, the container 600 is guided on a carriage, which comprises a device for centering the container 600 (not shown). The carriage is guided on a linear guide and further comprises two Bandklemmungen respectively for an upper and a lower band of the conveyor belt 800, so that while maintaining the transport direction of the band by an optional clamping the upper or the lower band of the carriage with the centered container 600 in both Directions can be moved. This ensures that a further container 600 can be pre-positioned on the conveyor belt 800, regardless of loading or unloading of the current container 600, or can be transported away. Furthermore, a pivoting device for pivoting the linear guide about an axis perpendicular to the running direction of the conveyor belt 800 and in the plane of a longitudinal direction of a currently transported product 500 is provided (not shown). The inclination of the linear guide in the direction of the container 600, in which there are more products 500 in the storage position. In the FIG. 6 this would correspond to the positive y-direction. This ensures that the products 500 are in a stable state and can be detected by the gripper 100 without errors. In particular, in the case of an (almost) empty container 600, there is otherwise the risk that the products 500, even after a precise positioning of the gripper 100, leave their correct storage position due to the new positioning of the container 600.

The position of the container 600 is readjusted in the x-direction only once, in the z-direction respectively after the processing of a layer of products 500 and in the y-direction after each transaction of a product 500 again.

The conveyor belt 800 serves on the one hand nachzuliefern container 600, on the other hand, to position the container 600 in the y-direction. Another, not disclosed here device adjusts the position of the container 600 in the x-direction, so that the gripping device 1 with respect to the container 600 can move in and out without contact.

After each product transaction, the container 600 is transported by the length of a diameter of a product 500 such that a next in-situ product 500 can be gripped by the gripper 100 with the same movement or transferred to storage position. This transport can optionally be completed by a further, separate conveyor. In particular, the container 600 can be positioned over a grid strip extending in the longitudinal direction of the conveyor belt 800, which has detents spaced apart from the product diameter.

jeweils je nachdem ob beladen oder entladen wird, in eine positive oder negative Richtung der Achsen versetzt, um eine nächste Lage abarbeiten zu können. Dies wird durch ein Versetzen der Rasterleiste um $\sqrt{3}r$

in Längsrichtung des Förderbandes 800 erreicht.After a layer has been processed, the container 600 in the y-direction by the length of a radius r of a product 500 and in the z-direction to $\sqrt{3}r.$

depending on whether it is loaded or unloaded, offset in a positive or negative direction of the axes in order to work off a next layer. This is done by moving the grid bar $\sqrt{3}r$

achieved in the longitudinal direction of the conveyor belt 800.

The FIGS. 7a to 7c show the gripping device 1 in detail. It includes according to the FIG. 1a essentially three parts, namely the lifting element 400, the gripper 100 and a body 300 which connects the two elements. The three parts and their arrangements will be described in detail below.

The lifting element 400 comprises two, preferably pneumatically operated, serially arranged and vertically oriented lifting elements 401, 402, namely a quick-lift element 401, which carries out the essential movement in the vertical direction and an overlying Kurzhubelement 402, preferably powerless, as Damping element is formed. The short-stroke element 402 is connected at its lower end to the quick-lift element 401.

The body 300 is formed as a straight prism having the base of a right triangle whose hypotenuse abutting corners are each cut perpendicular to the catheters and a base, with a longer catheter extending horizontally. The lifting element 400 is connected at its lower end to the lateral surface of the body 300, which is adjacent to the longer catheter, at a front end.

The gripper 100 according to the invention comprises two partial-circle tube segments 111a and 111b (111b not visible), wherein the partial-circle tube segment 111a is rotatably mounted around a circular center on two connecting elements 103a, 103b. The other pitch circle segment 1 1 1 b is fixedly connected to the connecting elements 103a, 103b.

Further, the gripper 100 comprises a parallelepiped supporting member 101 which is connected to a lower surface thereof via the two connecting members 103a, 103b in front and rear portions of the pitch circle pipe segment 111b.

Furthermore, the gripper 100 includes a locking member 123 which is pivotally attached to a front end of the gripper 100 so as to be open in a first condition, whereby a product 500 can be led out of the gripper 100 forward and in a second condition is closed, so that a product 500 in a forward movement, is prevented from the gripper 100 out. This ensures that, in the case of greatly accelerated expansion of the quick-lift element 401, a product 500 can not slide out of the gripper 100.

The locking element 123 is connected via a Arretierelementhalterung 122 in a plane parallel to the base of the body 300 pivotally connected to the pitch circle tube segment 111 b at a front end. The locking element 123 has essentially the shape of an angle and is mounted rotatably on a first leg on the locking element holder 122. A between the connecting elements 103 a, 103 b connected to the lower side of the support member 101 locking Hubelementhalterung 121 is via a Locking lifting element 120 connected centrally with the first leg of the locking element 123. The locking hub 120 is oriented substantially horizontally.

The first leg of the angle is in a first state perpendicular to a longitudinal direction of the pitch circle tube segment 111b (FIG. Fig. 7a ) and in a second state, a second leg is perpendicular to the same longitudinal direction of the pitch circle tube segment 111b ( FIG. Fig. 7b ) and thereby closes a front cross-sectional area determined by the pitch circle of the pitch circle segment 111b of the pitch circle segment 111b, whereby a product 500 can be locked in translation in a forward direction. The transition from the first to the second state ( Fig. 7a to Fig. 7b ) takes place by an expansion of the locking lifting element 120, the transition from the second to the first state ( Fig. 7b to Fig. 7a ) takes place by a contraction of the locking lifting element 120.

A rear end of the pitch circle segment 111b is connected to a corresponding part circle ring segment over its edge region at right angles to a longitudinal direction of the pitch circle segment 111b (not visible). A smaller radius of the pitch ring segment is adapted to a product 500 such that a backwardly tapering, frusto-conical end of a product 500 is prevented from translation by the pitch circle segment in a rearward movement.

Further, the gripper 100 comprises a device for rotating the pitch circle segment 111a around the center defined by the pitch circle. For this purpose, the pitch circle pipe segment 111a a in a front region via a closing Hubelementhalterung 112 with a closing lifting element 110 parallel to a plane defined by a pitch circle of the pitch circle pipe segment 111b, pivotally connected. The closing lifting element 110 is pivotably connected in the same plane with a closing Hubelementaufsatz 113, wherein the closing Hubelementaufsatz 113, the connecting element 103 a opposite, is connected to the support member 101. When the closing lifting element 110 is contracted, the gripper 100 is open, ie ready to receive or dispense a product 500 (FIG. Fig. 7a ), while the gripper 100 when expanded closing-stroke element 110 encloses a possibly seized product 500 and thus can transfer, for example, in a transport position.

The gripper 100 further has a pivoting-Hubelementhalterung 102 connected to the support member 101, the locking Hubelementhalterung 121 opposite. A pneumatically formed pivoting lifting element 200 is pivotally connected on one side to the body 300 and on the other hand to the pivoting Hubelementhalterung 102 in each case in a plane parallel to a base surface of the body 300. The swinging lifter 200 is disposed approximately vertically.

A shock transmitting member holder 104 is connected to the back of the connecting member 103 b, adjacent to the support member 101. A shock transmission member 302 having the shape of a long parallelepiped is pivotably connected to the body 300 and the shock transmission member holder 104 at opposite ends each in a plane parallel to a bottom surface of the body 300. A shock-stroke member 301 is pivotally connected at a first end approximately centered with the shock transmission member 302 and at a first end opposite end to the body 300 in a plane parallel to a base of the body 300, respectively. The shock-stroke element 301 is approximately horizontal, the shock transmission element 302 is arranged approximately vertically.

Below is the procedure of unloading a container 600 based on the schematic FIGS. 7a to 7c explained, wherein only the steps between the resting of the gripper 100 on the product 500 to the pivoting of the gripper 100 are shown here. Thus, the technical features of the inventive gripping device 1 can be shown in detail.

When unloading a container 600, the gripping device 1 lowers with contracted pivoting lifting element 200, closing lifting element 110 and locking lifting element 120 by expansion of Schnellhubelementes 401 in the container 600 until the Teilkreisringsegment with the product 500, which in (not necessarily more exact) storage position, in the conical region comes into contact. This is attenuated by the Kurzhubelement 402 to protect the product 500. Through the expansion of the pivoting Hubelelementes 200 the pitch circle tube segments 111a, 111b come into contact with the product 500 over its entire length ( Fig. 7a ). Subsequently, the closing lifting element 110 and the locking lifting element 120 expand, after which the product 500 is fixed in the gripper 100 ( Fig. 7b ). A short intermediate stroke, achieved by a partial contracting of the quick-lift element 401, now raises the product so far upward that the gripped product 500 is no longer in contact with any products 500 underneath (not visible). By expanding the Stosshubelementes 301 now, without damaging underlying products 500, the rear end of the product 500 is moved towards a first wall of the container 600, which at the front between the gripper 100 and a second wall, the first Opposite wall, forming an enlarged gap ( Fig. 7b ). This ensures that the subsequent contraction of the pivoting lifting element 200 and thus the pivoting of the gripper 100 into the transport position, the risk of a collision between the gripper 100 and the second wall is reduced ( Fig. 7c ).

The FIGS. 7a to 7c may also be interpreted as loading container 600, as viewed in reverse order.

The FIG. 8 1 shows a schematic structure of a product memory 900 according to the invention for the products 500. A memory base 901 lying in a horizontal plane and a vertical storage rear wall 902 connected via an edge are shown for better visualization. A storage tray 903 has a zigzag pattern in a cross section, so that grooves are formed in a longitudinal direction. With respect to a horizontal plane, the storage tray 903 has an inclination angle γ in the longitudinal direction which, for a given coefficient of friction μ between a product 500 and the storage tray 903, is more than tan ^-1 (μ). This ensures that the products 500 can be displaced on the storage tray 903 without additional expenditure of energy. For each groove, a closing mechanism 910 is provided which prevents a product 500 from slipping up by folding it up but, after folding down, causes the product 500 to slide in its longitudinal direction. In a further embodiment, the product memory 900 may also assume an inclination angle γ of 0 °, in which Case for the cached products 500 an active pusher (not visible), which feeds them to a further processing device, is provided and can be omitted by a closing mechanism 910. After the product 500 has been transported out of the container 600, the product 500 is transferred from the linear guide 700 to the product store 900, which stores the product 500 until further processing and in due course hands it over to another device.

In summary, it should be noted that by the inventive method, the packaging and unpacking of products in and out of containers can be performed in high frequency, the products are transported gently and in particular when loading containers with retracted edges (for example, cardboard boxes), which in addition a film or a bag may be lined, a risk of collision of the products is reduced with the walls.

Claims (16)

Method for loading and / or unloading a container (600), in particular from a flexible material, with a rod-shaped product (500), in particular with stacks of telescoping cups, wherein a transport device comprising a gripper (100) - For loading - the product (500) from above into the container (600) leads and stores in the desired storage position or - for unloading - the product (500) in the container (600) takes and leads up out of the container (600), characterized in that the gripper (100) - During loading - the product (500) in a transport position, which is pivoted with respect to the desired storage position, in the container (600) leads and transferred with a pivoting movement in the desired storage position when depositing or - When unloading - the product (500) after gripping from the storage position by a pivoting movement in a pivoted with respect to the storage position transport position leads and upwards from the container (600) takes. A method according to claim 1, characterized in that the transport position is pivoted relative to the storage position by at least 20 °. A method according to claim 1 or 2, characterized in that the pivoting movement takes place in a vertical plane. Method according to one of claims 1 to 3, characterized in that with a transfer unit of the transport device, the product (500) is transferred in the transport position to the gripper (100) or is taken over by this and the gripper (100) the product (500). pivoted from the transport position to the storage position and vice versa. Method according to one of claims 1 to 4, characterized in that the gripper (100) pivots about a lying at one of the two opposite ends of the gripper (100) geometric pivot axis. Method according to one of claims 1 to 5, characterized in that the gripper (100) temporally parallel to the pivoting movement performs a movement in the vertical direction. Method according to one of claims 1 to 6, characterized in that the product (500) transported by the gripper (100) in the transport position of the gripper (100) is transferred to a further transport device (700) and by means of this in a longitudinal direction of the product (500). is transported through the top surface. Method according to one of claims 1 to 7, characterized in that the gripper (100) abuts against a wall of the container (600) during loading with one of its longitudinal ends, at least temporarily. Apparatus for carrying out the method according to claim 1, comprising a transport device with a gripper (100) and a controller, which are designed such that - For loading - the product (500) from above into the container (600) out and stored in the desired storage position or - for unloading - the product (500) can be grasped in the container (600) and can still be guided upwards out of the container (600), characterized in that the gripper (100) is designed to pivot so that - During loading - the product (500) in a transport position, which is pivoted with respect to the desired storage position, guided into the container (600) and transferred with a pivoting movement in the desired storage position when depositing or - When unloading - the product (500) transferred after gripping from the storage position by a pivoting movement in a pivoted with respect to the storage position transport position and can be removed upwards from the container (600). Apparatus according to claim 9, characterized in that the gripper (100) comprises two pitch circle pipe segments (111a, 111b), wherein at least one pitch circle pipe segment (111a) is mounted so that it is rotatable about the axis defined by the Teilkreismittelpunkte axis and the two pitch circle pipe segments (111a, 111b) in a first state at most form a semicircular pipe segment and in a second state form more than one semicircular pipe segment. Apparatus according to claim 9 or 10, characterized in that the gripper (100) comprises at least one one-sided stop, which prevents movement of the product (500) in one direction relative to the gripper (100). Apparatus according to claim 9 or 11, characterized in that the gripper (100) is designed as a suction pad. Device according to one of claims 9 to 12, characterized in that the gripper (100) comprises a pivoting device, such that the gripper (100) is pivotable in a vertical plane. Device according to one of claims 9 to 13, characterized in that the transport device comprises a device for vertical translation of a product (500). Device according to one of claims 9 to 14, characterized in that the device for vertical translation of the product (500) comprises a long stroke (401) and a short stroke (402), wherein preferably the short stroke (402) formed as a controllable device or as a damping element is. Device according to one of claims 9 to 15, characterized in that the device comprises a product memory (900) for temporarily storing the products (500) before loading and / or after unloading the container (600).

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