EP2718029B1 - Sorting device and method with gripper - Google Patents

Description

The invention relates to a sorting system and a sorting method with a gripping tool for gripping sorted objects in or on holding devices, in particular sorted flat postal items in storage pockets.

In order to solve the problem of sorting mail items of different dimensions, sorting systems having a plurality of holding devices have been proposed repeatedly. Each holding device is capable of holding and transporting each item of mail. A holding device ("holder") is z. B. configured as a storage pocket ("storage pocket") or clamp arrangement ("clamp"). The mailpieces are transferred to the holding devices, the holding devices with the mailpieces are sorted, and the mailpieces sorted in this way are removed again from the holding devices.

In WO 2009/035694 A1 a sorting system for flat mailings is described. Each mail item is transported in a separate holding device ("frame"). Various embodiments are described for extracting a mail item from such a frame F.

In an embodiment of WO 2009/035694 A1 For example, a "rotatable shuttle 1011" removes mail pieces M from fixtures ("frames F"), cf. 10B to 10D and paragraph [0639]. The mail M fall due to gravity from the holding devices F and land between "separation paddles 1015", see. Para. [0643]. In another embodiment, "articulating pushers 1021" engage in open holding devices F and push the mail items M out of these holding devices F and toward "articulating robotic grippers 1023a and 1023b", cf. FIGS. 10E to FIG. 10G and para. [0652]. The "pushers 1021" have hooks on the front. The "grippers 1023a, 1023b" are in the form of forks.

In the embodiment of Fig. 11I of WO 2009/035694 A1 At the same time, several postal items can be taken out of their respective holding devices, cf. Section [0744]. A rectangular "frame 11095" is provided with four "tabs 11097" at the four corners, cf. Section [0740]. A V-shaped "folder 11096" is connected to the "frame 11095" by means of four "elastic bands 11101", cf. Sections [0742] and [0743]. In the "frame 11095" and in the "folder 11096""holes11103" are embedded in the ground, through which in each case a "rod 11104" is performed, cf. Section [0743]. The "rods 11104" are raised so that the mail pieces stand on the "rods 11104". The "rods 11104" are rotated and thereby push the mail items horizontally out of the holding devices, cf. 11I and section [0746]. The mail items can also be removed by vibration from the holding devices, cf. Section [0747].

In an embodiment of WO 2009/035694 A1 For example, a "frame 11115" has a "folder 11116" and four hook-shaped "actuation tabs 11118" and "11119" at the corners, cf. Fig. 11J and paragraph [0749]. The "folder 11116" has two side surfaces ("front membrane 11116a, back membrane 11116b"), which are mechanically connected to each other. In order to open the "folder 11116", the "actuation tabs 11118, 11119" are rotated from a vertical closed position to a horizontal open position and move the side surfaces 11116a, 11116b apart, cf. Para. [0752]. In the "front membrane 11116a" a C-shaped recess 11121 is inserted, see. Fig. 11J and para. [0752]. Through this recess 111121, a "vacuum pick-head" grips a mail item M in "folder 11116", cf. Para. [0752].

In another embodiment, a C-shaped recess is also embedded in the "back membrane 11116b". Several "frames 11115" are placed on a stationary "vacuum pick-head" transported past, and the one "pick-head" engages the mail M in the holding devices through the C-shaped recesses, see. Para. [0753].

In the embodiment of Fig. 11Q of WO 2009/035694 A1 a mail item is laterally inserted into a holding device and laterally removed from the holding device, cf. Section [0795]. The rectangular "frame 11205" has four "tabs 11207, 11208" at the four corners. A "sub-frame 11206" is movably attached to the top with two oblong "hinges 11213" and two elongated "hinges 11214" attached to the "frame 11205", cf. Section [0799]. The holding device is open on two sides. A "end effector" can grab and move a mail item in the holding device by means of a "cutout 11205" from the outside, cf. Section [0800]. The "end-effector" is z. B. a "vacuum pick-off head" or acts by friction, cf. Section [0800]. For the "cutout 11215" different positions come into consideration, cf. Section [0801]. The holding device can be z. B. unfold with "actuator tabs", see. Section [0802].

Fig. 1 from EP 1299298 B1 shows a sorting system, which transports flat objects 2 to holding elements 1, in each case one object 2 per holding element 1. The holding elements 1 with the objects 2 are along a rail track 5 from a supplying unit 3 to a unit 4, which receives the objects again , transported. The rail track 5 leads the holding elements 1 through a Zuförderstrecke 10, a buffer memory 12 and a Wegförderstrecke 11 therethrough. In the buffer memory 12 holding elements 1 are combined into groups and submitted in groups in the subsequent path conveyor section 14.

In the example of Fig. 7 from EP 1299298 B1 For example, three types of printed products are conveyed to three different buffer memories 12.1, 12.2, 12.3 and then discharged individually or in groups into a central buffer memory 12. In the buffer memory 12 groups 15 are generated, each group 15 consists of the printed products for each one package. In the example of Fig. 8 Print products 2 are issued in the form of "Sections 15.1". Between two successive sections 15.1 a separator sheet 50 is inserted. The sections 15.1 and separator sheets 50 are combined into package stacks 15.2.

In US 4,169,529 a device is described which transports flat mail items by means of holding elements ("carriers 10"). Each retainer 10 receives a letter 14 in a space formed by two side members 18, an upper section 20, and a lower section 22 is, cf. Fig. 4 , Because these components are articulated by means of hinges 30, 30 ', 32, 32', a "carrier 10" folds, cf. Fig. 4 , In the two side walls 16, 18 in each case an opening 34, 34 'is inserted. Fig. 6 shows how a "carrier 10" is loaded and later unloaded. Empty "carriers 10" are transported in the direction of the arrow 44 to the left, wherein the gravity folds the "carriers 10". The "carriers 10" are guided with their lower edges over two parallel endless conveyor belts 12 away. This causes the lower edges of the carriers 10 to be raised and a carrier 10 to be unfolded and form a space into which a letter 14 is pushed. A loaded "carrier 10" slides down again from the conveyor belt 12 and is thereby folded and holds the letter 14 between the two then touching side walls 16, 18. In order to unload a loaded "carrier 10" again, the "carrier 10" Help from other endless conveyor belts 54 unfolded again. An unloader belt 56 grips the letter 14 through an opening 34, 34 'from the side. With the help of vacuum, the conveyor belt 56 sucks the letter 14 out of the "carrier 10".

In US 7,138,596 B2 a sorting system and a sorting process are described. The "mail handling and sorting system 10" from Fig. 1 and Fig. 2 owns two "feeder 14, 14a" for Mail items and an "optical character reader (OCR) 24". A "loading station 12" spends mailings in "delivery robots 100". Each "delivery robot 100" transports mail items along a "track system 60" to "slots 72" of a "mail case 70". Each "delivery robot 100" pushes a mail item by means of an "inserter 142" into a "slot 72", cf. Fig. 3 . Fig. 6 , In order to be able to insert mail of different sizes, the "inserter 142" in one embodiment has a plurality of parallel plates 250, 252, 254, 256, cf. Fig. 6 , Several straps around these plates 250, 252, 254, 256 are able to move a mail item into a "slot 72". The "inserter 142" itself pushes an engine back and forth.

In US 6,715,614 B2 a "multi-bag storage device 30" is described, cf. Fig. 2 , This storage unit 30 has a plurality of bags with flexible side walls. Through a respective opening 31, a flat postal item can be placed in a pocket. FIGS. 17 to 21 show another embodiment of a "multi-bag 100" with thin "bags 101". Fig. 9 to Fig. 13 show an embodiment of a "mail sorting case 70" with several "multi-bag devices 71". FIGS. 14 to 17 show a sorting station.

In US 6,257,821 B1 a "robotics part handler system" is described. A "platform or base 19" carries an A-frame ("A frame") 40 having a plurality of vertical "columns 44", each having a plurality of "guide rails 46".

In DE 10212086 A1 a sorting system for presorting flat mail items is described. Two parallel transport devices 3, 4 each transport a stream of mail items along two parallel transport paths 1, 2 to a loading device. Several memory cells 5 are transported at a constant speed and each receive an upright postal item 8, cf. Fig. 1 , A transport device 6, 7 discharges the memory cells 5 again. Each memory cell 5 has two Side surfaces with inner parallel webs 10 and one slot 11, see. Fig. 2 , A stamp 12 of the unloaded transport device 6, 7 pushes a mail item in a horizontal direction and parallel to the side surfaces laterally out of the memory cell 5. Thanks to the two parallel slots 11, the punch 12 can engage in the memory cell 5. An arrangement with two conveyor belts ("shroud system 13") clamps the mail piece 8 and transports it after the punch 12 has pushed the mail piece 8 out of the storage cell 5.

In EP 1878511 A1 For example, a sorting system and a sorting method are described in order to sequence mailpieces in two steps. In a first step, the mailpieces are divided into "batches". Each "batch" consists of mail to a group of delivery addresses and is not yet sorted in itself. In a second step, the "batches" are sorted one after the other by arranging each of the mailpieces of a "batch" in an order. The first step is performed by a "batch sorting module", the second step by an "address sorting module". Each mail item is connected before sorting with a holder in the form of a "clamp" and transported at this "clamp" through the sorting system used. In one embodiment, an "address sorting module" divides the incoming holders ("clamps") with mail items on 28 "address stations" for a maximum of 10 holders, cf. Fig. 3G ,

The invention has for its object to provide a sorting system and a sorting method, which sort several objects according to a predetermined sorting feature, for which purpose each item is placed in a holding device and later removed from the holding device and the sorting system used when removing the items a to achieve high throughput.

The object is achieved by a sorting system having the features of claim 1 and a sorting method having the features of claim 8. Advantageous embodiments are specified in the subclaims.

• mehrere Haltevorrichtungen für jeweils mindestens einen zu sortierenden Gegenstand und
• ein Greifwerkzeug mit mehreren Greiferarmen.

The invention sorts several objects by means of a sorting system according to a predetermined sorting feature. The sorting system has

• a plurality of holding devices for at least one item to be sorted and
• a gripping tool with several gripper arms.

• Ein Messgerät misst, welchen Wert das Sortiermerkmal für diesen Gegenstand annimmt.
• Eine Einspeisungsstation verbringt den Gegenstand in oder an eine Haltevorrichtung der Sortieranlage, so dass die Haltevorrichtung den Gegenstand hält und sich mitsamt diesem Gegenstand transportieren lässt.
• Eine Entnahmestation mit dem Greifwerkzeug entnimmt später den Gegenstand wieder aus dieser Haltevorrichtung oder trennt auf andere Weise den Gegenstand wieder von der Haltevorrichtung, so dass die Haltevorrichtung nicht mehr den Gegenstand hält. Hierbei wird der Gegenstand von zwei Greiferarmen des Greifwerkzeugs gegriffen, und zwar von zwei Seiten, so dass die beiden Greiferarme den Gegenstand zeitweise zwischen sich einklemmen. Eine Relativbewegung von mindestens diesen beiden Greiferarmen relativ zu der Haltevorrichtung mit den Gegenständen wird ausgeführt. Dadurch wird der Gegenstand wieder von der Haltevorrichtung getrennt.

For each item to be sorted, the following steps are performed:

• A meter measures what value the sorting feature takes on that item.
• A feed station spends the article in or on a holding device of the sorting system, so that the holding device holds the object and can be transported together with this object.
• A removal station with the gripping tool later removes the object again from this holding device or otherwise separates the object from the holding device, so that the holding device no longer holds the object. Here, the object is gripped by two gripper arms of the gripping tool, from two sides, so that the two gripper arms clamp the object temporarily between them. A relative movement of at least these two gripper arms relative to the holding device with the objects is carried out. As a result, the object is again separated from the holding device.

The articles are sorted, with a sorting and transporting device bringing the holding devices together with the held objects in a sequence. This established sequence among the fixtures depends on the measured grading feature values of the items being read from the transported holding devices are kept. At least one fixture sequence with filled fixtures is created by sorting. The sorting and transport device transports the holding devices with the held objects from the feed station to the removal station.

According to the solution, the gripping tool has at least two gripper arms, which are arranged in a gripper armature sequence. The gripping tool simultaneously grips at least two held objects in or on a holding device or two held objects in two different adjacent holding devices, by each two adjacent gripper arms of the gripper arms sequence grabbing at least one object in a holding device. The at least two gripper arms of the gripping tool thus grip a total of at least two objects that are currently held by holding devices.

By this relative movement of the gripper arms relative to the filled holding devices, all objects that are held by at least two gripper arms are simultaneously removed from the holding devices or otherwise separated from the holding devices, ie at least two items.

It is possible that two adjacent gripper arms grasp more than two objects at the same time or that more than two gripper arms grip several objects at the same time. It is also possible that two adjacent gripper arms grasp at least two objects in or on two adjacent holding devices. It is also possible that the gripper arms make a gripping movement with which objects can be gripped in two holding devices, but one of these holding devices is currently empty.

The sorting system according to the solution is capable of sorting articles of different dimensions because each article to be sorted is placed in a respective holding device is and the holding device is transported together with the held object. The gripping tool removes several items at a time from their respective holding devices after the holders are sorted with the items. As a result, the throughput and the processing rate during unloading are significantly increased compared to a procedure in which the objects are removed from the holding devices one after the other.

The holding devices with the objects to be sorted are already placed in a sequence when the unloading of the holding devices begins. According to the solution, the gripping tool can grasp at least two objects at once. Because multiple items are gripped at once, the step of unloading or otherwise separating the holders from the items requires less time than if each holder were to be unloaded one at a time and therefore the holders would be severely sequentially unloaded. Because the fixtures are already sorted, sorting is no longer required after unloading.

Two adjacent gripper arms grab at least one object in or on a holding device and temporarily clamp it between them. The object is thus held by a force exerted by two sides. The invention is therefore particularly suitable for objects which extend in each case on an object plane, in particular for flat mailings ("letters" and "flats") or other flat objects to be sorted. The two gripper arms each exert a force that is perpendicular to the object plane. Because the two gripper arms grasp the object from two sides, the force exerted by one gripper arm on the object is absorbed by the other gripper arm. For this reason, neither the gripped object nor the holding device, from which this object is to be removed or from which the object is to be separated, bent or otherwise mechanically stressed. These Danger would exist if the object would only be gripped or sucked in from one side.

Because the gripper arms grasp an object from two sides, the gripping tool can be designed and realized without knowing the surface condition of an object to be gripped. In particular, the elasticity or roughness of the surface or a friction property of the surface need not be known. This is particularly advantageous if various types of objects are to be sorted and it is not known beforehand what types of these objects are in each case.

The gripper arms may have a small dimension - seen in a direction perpendicular to the transport direction in which the holding devices are transported - have. As a result, a removal station with a small footprint can be realized. Many items can be removed at the same time.

Thanks to the gripper arms, the invention saves a conveyor belt and a vacuum generator. The gripper arms can be made much narrower than a conveyor belt, which has to be guided around several rollers and itself must have a certain thickness, and also thinner than a vacuum generator, which sucks an object in or on a holding device.

Thanks to the gripper arms, it is possible, but not necessary, to change the holding device for the purpose of removing an object from the holding device. In particular, it is not necessary to develop a holding device for unloading. As a result, holders without hinges can be used.

According to the solution, an object is removed from a holding device in that two adjacent gripper arms of the sequence grasp the object from two sides and temporarily pinch between them. The distance between the two adjacent gripper arms can be reduced and increased. This allows an item to grab and release it. It is not necessary for a holding device to have a component for actively removing an object from the holding device. In particular, the holding device need not have a slider and no conveyor belt. This is particularly advantageous because the sorting plant usually has many holding devices, but only needs to have a gripping tool.

It is possible, but not necessary, to vibrate a holding device while the holding device holds the object. Thanks to the use of the gripping tool according to the invention, it is possible to remove an object from a holding device without having to lift the object in the holding device before removing it.

Furthermore, it is possible, but not required, for the holding device to have a discharge hatch or a flap on the bottom in order to deliver an article downwards. Rather, an object is pulled by two gripper arms from a holding device, without requiring a flap of the holding device would have to be opened. The holding devices can therefore be simple. This is particularly advantageous when the feed station spends each item in a previously empty holding device and therefore the sorting system has at least as many holding devices as objects are to sort.

Thanks to the invention, it is possible, but not required, that one side wall of the holding device is hingedly connected to another component of this holding device. Such a hinged connection makes it possible to enlarge and reduce the space in the interior of the holding device, in particular to widen and narrow it, in order to insert and remove a flat object in the enlarged space and around the To safely grasp and transport the object in the reduced space. Thanks to the gripping tool with several gripper arms, a flat object can also be pulled out of a narrow space of a holding device without a hinge connection.

In one embodiment, two adjacent gripper arms simultaneously grasp at least two objects in two different adjacent fixtures. Thanks to the solution according to the gripping tool these two fixtures are discharged faster than if the holders would be emptied successively.

According to the solution, all those objects are simultaneously removed from the respective holding devices, which are located between each two adjacent gripper arms of the gripper arms sequence. This simultaneous removal is carried out by a relative movement of the gripper arms relative to those holding devices which hold the gripped objects and transported to the gripping tool. In one embodiment, this relative movement comprises a simultaneous linear movement or another pivoting of all gripping gripper arms in the same direction away from the holding devices, so that the distance between the gripper arms and the holding devices is increased. Preferably, all gripper arms are moved at the same speed by the same distance. This embodiment makes it possible to remove the objects without having to change the transport direction of the holding devices. Instead, the objects can be removed while the holding devices are stopped or even transported further.

Preferably, the holding devices remain in the sorting system after the articles have been separated from the holding devices and are mechanically connected to a guiding device for the holding devices. Each holding device can be used successively to transport multiple items, so it is reusable. This embodiment reduces material consumption compared to holding devices that are used only once.

In another embodiment, the holding devices are pulled away from the gripper arms, z. B. by a linear movement or by a rotation or by an overlay of a linear movement with a rotation. Preferably, all fixtures are moved in the same direction at the same speed over the same distance. The gripper arms hold objects in or on the jigs as the jigs are pulled away from the gripper arms.

In one embodiment, the gripping tool has at least three gripper arms, namely two outer and at least one inner gripper arm. Each two adjacent gripper arms hold at least one object in or on a holding device, which is located between them, by antiparallel forces. Preferably, the same inner gripper arm - together with a respective other gripper arm - simultaneously holds two objects.

Preferably, at least one inner gripper arm is fixedly mounted on a gripper arm bracket, and two adjacent gripper arms are movable relative to this inner fixed gripper arm. An article in or on a holding device can be used in this embodiment by the fact that the distance between two adjacent gripper arms is reduced by a movement transversely to the transport path. This movement is preferably a linear movement of this gripper arm to an adjacent gripper arm. Further movements are not required. In particular, it is not necessary to rotate or buckle a gripper arm. This embodiment thus enables a simple mechanical realization.

In another embodiment, the gripper arms are positioned so that between two adjacent gripper arms at least two items are located. Preferably, these two objects are in two different adjacent holding devices. These two adjacent gripper arms exert two antiparallel acting forces on all objects between these two gripper arms and thereby grip each of these gripped objects each directly or indirectly, so at least two items simultaneously.

In one embodiment, two adjacent gripper arms of the gripper armature sequence simultaneously grasp a plurality of objects which are distributed on at least two holding devices. Between the gripper arms are then so at least two holding devices. The two adjacent gripper arms exert two antiparallel forces on each object that is in one of these fixtures.

Preferably, all gripper arms are in a gripper arm level. This gripper arms level can be arranged horizontally or inclined sloping or obliquely inclined sloping.

In one embodiment, each holding device comprises at least one clamp, preferably two clamps. In order to temporarily connect an item to be sorted to a fixture, the clips of the fixture are opened, the item is placed between the jaws of each clip, and the clips are closed again or close by themselves, thanks to the force of a spring again. For unloading grab two gripper arms from two sides an object that hangs on the brackets of a holding device. The staples are opened after the gripper arms grasp the object. The gripped object is spatially removed from the fixture.

In another embodiment, each holding device comprises two side surfaces. These side surfaces enclose a space and are mechanically interconnected. One too sorting object is placed in this enclosed space and held by the fixture in this room. The side surfaces are preferably arranged parallel to each other, and the holding device is preferably transported so that the side surfaces are perpendicular to the horizontal or perpendicular to the transport direction.

This design with the side surfaces allows for faster loading and unloading of the holding devices, as if brackets are used as holding devices and are open, close and re-open, especially when items are to be sorted, the dimensions of which vary greatly. Two adjacent gripper arms grasp an object in the enclosed space by gripping the gripper arms from outside into the enclosed space and pinching the object between them in the enclosed space. It is possible that the two side surfaces enclose a concave space and / or the side surfaces are elastic. The two elastic side surfaces hold an object particularly securely in the enclosed concave space.

In a training, the two gripper arms from the side, d. H. in a direction parallel to the plane of a side surface, introduced into the enclosed space. Or the holding device is moved in a direction that is parallel to the plane of a side surface.

In another development of this embodiment, in each side surface, which limits a space for receiving an object, in each case a recess is inserted. Seen in a direction perpendicular to the planes of the side surfaces thereby creates a continuous engagement opening. An object in the enclosed space protrudes into this engagement opening. Two adjacent gripper arms reach through the recesses through an object in the enclosed space. At least one gripper arm becomes perpendicular in one direction moves on the planes of the side surfaces to the engagement opening.

Preferably, the two recesses interrupt two opposite edges of the two side surfaces which enclose the space. These edges are preferably vertical, and each recess begins in such an edge. In these two edges, the two side surfaces are not mechanically connected to each other, so that between the two edges of a slot or other elongated opening is formed. Through this opening a gripped object can be pulled out of the holding device.

In this embodiment, an object in the enclosed space is gripped from the outside, and yet the side surfaces securely hold the article during transportation. The recesses can be adapted to the dimensions and positions of the gripper arms. The configuration with the recesses can be combined with a configuration in which the side surfaces are designed to be elastic and / or concave.

In one embodiment, each gripper arm has two gripping surfaces on a holding element and a connecting element which holds the holding element for the gripping surfaces and mechanically connects the holding element and thus the gripping surfaces with a gripper arms holder of the gripping tool. These connecting elements may be formed as rod-shaped elements and be narrower than the gripping surfaces of the gripper arms, so that each gripper arm has the shape of a spade or spoon. As a result, less mass needs to be moved when moving a gripper arm with equally secure gripping than with rectangular gripper arms. An article is temporarily clamped and held between two opposing gripping surfaces of two adjacent gripper arms.

In a modification, the two outer gripper arms of the gripper armature sequence only have one gripping surface each, which after pointing in to the other gripper arms. Only each inner gripper arm has two gripping surfaces.

The configuration with the gripping surfaces is preferably combined with a configuration in which each item to be sorted extends in an object plane and the holding devices hold and transport the items such that the item planes are perpendicular to the horizontal and preferably perpendicular to the transport direction stand. Each gripping surface extends in a plane which is perpendicular to the horizontal and preferably perpendicular to the transport direction. During unloading, the object planes and the gripping surface planes are arranged parallel to each other.

In one embodiment, the gripping tool is designed as a stationary device with movable gripper arms. The filled jigs are transported past the gripper arms and the gripper arms engage the transported jigs. In the area of the removal station, the holding devices are transported relative to the gripping tool in a transport direction which lies in this gripper arm level until the gripper arms are able to grasp objects. In another embodiment, the entire gripping tool with the gripper arms is designed as a movable device and is transported past the holding devices.

In one embodiment, all gripper arms are in a gripper arm level. The holding devices are or are aligned so that the recesses in the side surfaces are aligned at a predetermined reference plane. Preferably, the holding devices are aligned before they are transported past the gripping tool or the gripping tool is transported past the holding devices. This reference plane is equal to the gripper arm level or parallel to the gripper arm level and preferably a horizontal plane z. B. below the fixtures. By aligning the holding devices at a reference plane, is made possible to use different holding devices and raise or lower individual holding devices so that the different holding devices are aligned upon reaching the removal station. In one embodiment, all recesses have the same distance from the lower edge of a holding device. The fixtures are then aligned at their lower edges.

Preferably, the gripping tool has a gripper arms pivoting unit. This gripper arms pivoting unit is able to pivot gripper arms and in particular to move linearly in a displacement direction and thereby to change the distance between two adjacent gripper arms. The displacement direction preferably runs parallel to the direction in which the holding devices are moved with the objects relative to the gripping tool. In addition or instead, the gripper arm pivoting unit is capable of rotating the gripper arms one by one or all at once. "Pivoting" is a generic term for a movement that includes a translational and / or a rotational motion component and / or a motion along a closed path, e.g. B. a circular path includes.

In a further development of this embodiment, the gripper arms pivoting unit can additionally pivot the gripper arms in a further direction. This pivoting, in particular displacement, of the gripper arms then, when the gripper arms grasp objects in or on holding devices, causes the objects to be pulled out of the holding device or out of the holding devices. Preferably, these holding devices are locked, while the gripper arms pivoting unit shifts the gripper arms in the further direction. The further direction is preferably perpendicular to the displacement direction.

"Pivoting" is in this application and therefore also in this embodiment a generic term for a movement that a translational or a rotational motion component or both movement components. A linear movement, a rotation about a rotation axis and a movement along a closed path are special cases of pivoting.

In one embodiment, the articles are singulated and a stream of spaced-apart articles to be sorted reaches the feed station. In one embodiment, two feed stations operate in parallel, and one stream of items each reaches each feed station. Each feed station spends an item to be sorted in or on a previously free holding device, so that only one object is in each holding device or the holding device is empty. This embodiment with only one object per holding device makes it easier to sort holding devices with objects according to the measured sorting feature values and to sort them into a sequence of sorted holding devices.

Fig. 1

eine niedrige Speichertasche aus einer Betrachtungsrichtung, die senkrecht auf den Seitenflächen steht;

Fig. 2

die Speichertasche von Fig. 1 von der Seite gesehen;

Fig. 3

eine hohe Speichertasche aus einer Betrachtungsrichtung, die senkrecht auf den Seitenflächen steht;

Fig. 4

die Speichertaschen von Fig. 1 und Fig. 3 von der Seite gesehen und gleichzeitig an Führungsschienen hängend;

Fig. 5

die beiden Speichertaschen von Fig. 4 an insgesamt vier Führungsschienen von oben gesehen;

Fig. 6

schematisch die Sortieranlage mit dem lösungsgemäßen Greifwerkzeug;

Fig. 7

das Greifwerkzeug der Entladestation sowie eine Speichertasche mit einer Aussparung von der Seite;

Fig. 8

das Greifwerkzeug von Fig. 7 sowie drei Speichertaschen von oben;

Fig. 9

eine Ausgestaltung der Führungs-Einrichtung, die Speichertaschen auf gleiche Höhe bringt.

In the following the invention will be described with reference to an embodiment. Showing:

Fig. 1

a low storage pocket from a viewing direction perpendicular to the side surfaces;

Fig. 2

the storage bag of Fig. 1 seen from the side;

Fig. 3

a high storage pocket from a viewing direction perpendicular to the side surfaces;

Fig. 4

the storage bags of Fig. 1 and Fig. 3 seen from the side and at the same time hanging on guide rails;

Fig. 5

the two storage bags of Fig. 4 seen on four guide rails from above;

Fig. 6

schematically the sorting system with the solution according to the gripping tool;

Fig. 7

the gripping tool of the unloading station and a storage pocket with a recess from the side;

Fig. 8

the gripping tool of Fig. 7 as well as three storage pockets from above;

Fig. 9

an embodiment of the guide device that brings storage bags at the same height.

In the exemplary embodiment, the invention is used to sort mail items (letters, parcels, packages, postcards and the like) of different dimensions together. Each mail item is provided with a respective identification of a delivery address (name of the recipient as well as a postal address).

An order is specified under the delivery addresses of these postal items. This order results z. B. from a predetermined sequence ("delivery sequence") of a postal carrier ("carrier"). The mailpieces are to be sorted in such a way that, after sorting, the produced sequence among the mailpieces corresponds to the predetermined order among the delivery addresses.

In the exemplary embodiment, the sorting system can sort different types of mailpieces. The mail items to be sorted therefore differ from each other in terms of their dimensions (length, height, thickness) and / or their weight and / or their surface condition. The various types of mail items are sorted together in a sorting process.

The sorting system comprises a plurality of holding devices ("holders") in the form of storage pockets. Each storage bag can carry at least one Receive and hold mail while the storage bag is being transported. The mail piece can then be spatially separated again from the holding device.

In one embodiment, only one type of storage bag is used, and each storage bag is capable of receiving any type of mailing. The storage bags are therefore all similar and have in particular the same dimensions.

In another embodiment, several different types of storage pockets are used, in particular storage pockets of different dimensions. A storage bag of a first type is capable of accommodating a first sort of mailpieces, a second type of storage bag of a second kind, or both types of mailpieces.

The following describes an embodiment in which the sorting system has two types of storage pockets: high storage pockets and low storage pockets.

Fig. 1 and Fig. 2 show by way of example a low storage bag Sp.1. This storage pocket Sp.1 comprises two rectangular and preferably approximately flat side surfaces Sf.1.1, Sf.1.2, which in use are approximately perpendicular to the horizontal and perpendicular to the transport direction and are arranged parallel to each other, so that each side surface Sf.1.1, Sf .1.2 has an upper edge Ka-o.1.1, Ka-o.1.2 and a lower edge Ka-u.1.1, Ka-u.1.2.

Fig. 1 shows the low storage pocket Sp.1 from a viewing direction which is perpendicular to the side surfaces Sf.1.1, Sf.1.2. Fig. 2 shows this storage bag Sp.1 from the side. The side surfaces Sf.1.1, Sf.1.2 are parallel to the drawing plane of Fig. 1 and are perpendicular to the drawing plane of Fig. 2 ,

A low mail item Ps.n, which is received by the storage pocket Sp.1, is located between these two Side surfaces Sf.1.1, Sf.1.2. The two side surfaces Sf.1.1, Sf.1.2 as well as the bottom Bo.1 enclose a space for receiving a flat postal item Ps.n. In one embodiment, the two side surfaces Sf.1.1, Sf.1.2 abut one another in their lower edges Ka-u.1.1, Ka-u.1.2 and are mechanically connected to one another. This prevents a mail item Ps.n from sliding downwards out of the storage pocket Sp.1. In one embodiment, the two side surfaces Sf.1, Sf.2 are additionally connected to one another in their upper edges Ka-o.1.1, Ka-o.1.2 over the entire length. In another embodiment, the two upper edges Ka-u.1.1, Ka-u.1.2 are interconnected only at individual points.

In the example of Fig. 1 and Fig. 2 both side surfaces Sf.1.1, Sf.1.2 are mechanically connected at their upper edges Ka-o.1.1, Ka-o.1.2 to a side-surface holder Hal.1, at their lower edges Ka-u.1.1, Ka-u. 1.2 with a bottom Bo.1. The bottom Bo.1 has approximately the shape of a V, see Fig. 2 , This V-shaped bottom holds the bottom edge of the mailpiece Ps.n. The two side surfaces Sf.1.1, Sf.1.2 are therefore only indirectly connected.

The two side surfaces Sf.1.1, Sf.1.2 each have two lateral and therefore vertical in operation edges. In two adjacent edges, the side surfaces Sf.1.1, Sf.1.2 are not connected to each other, so that a gap-shaped opening Spa.1 arises between these edges. This opening Spa.1 is so large that a mail item Ps.n can be inserted through a lateral linear movement through the opening Spa.1 into the storage pocket Sp.1 and also through this opening Spa.1 again out of the storage pocket Sp.1 pull out.

In one embodiment, a gripping tool with two gripper arms can grasp an object in the storage pocket Sp.1 in that the two gripper arms pass through the slit-shaped opening Spa.1 into the space between the two Side surfaces Sf.1.1, Sf.1.2 are pushed in and then grab the object. This requires narrow gripper arms in order to reduce the risk that a gripper arm will hit an object in the storage pocket Sp.1 or against a side surface Sf.1.1, Sf.1.2.

In the exemplary embodiment, the gripper arms grasp an object in the storage pocket Sp.1 in a different manner, not through the slit-shaped opening Spa.1, but from the side through recesses in the side surfaces Sf.1.1, Sf.1.2. The gripper arms can therefore be thicker. In the two edges of the side surfaces Sf.1.1, Sf.1.2, which limit this opening Spa.1, each begins a recess Aus.1.1, Aus.1.2 in the side surface. The recess Aus.1.1, Aus.1.2 extends into the respective side surface Sf.1.1, Sf.1.2 and preferably tapers in a direction away from the lateral edge. The recess has z. B. the shape of a trapezoid with rounded corners. A gripping tool with two grippers is able to grasp through the recesses Aus.1.1, Aus.1.2 from both sides of a mail item that is in the storage pocket Sp.1, and laterally pull out of the storage pocket Sp.1, without a side surface Sf. 1, Sf.2 to touch. The two gripper arms exert two antiparallel forces on the mail items in the holding device.

In the example of Fig. 1 the storage pocket Sp.1 has on the right a vertical opening in the form of a gap Spa.1, through which a postal item Ps.n, Ps.h can be pushed from the side into the storage pocket Sp.1. In both side surfaces Sf.1.1, Sf.1.2 is in each case a recess Aus.1.1, Aus.1.2 embedded, which - as seen in a direction away from the slit-shaped opening Spa.1 - tapers. Seen in a viewing direction perpendicular to the side surfaces Sf.1.1, Sf.1.2, the two recesses Aus.1.1, Aus.1.2 form a continuous engagement opening. Two adjacent gripper arms reach through this engagement opening.

Fig. 2 shows the storage bag Sp.1 from the side. The side surfaces Sf.1.1, Sf.1.2 are perpendicular to the plane of Fig. 2 , The recesses Aus.1.1, Aus.1.2 and the slit-shaped opening Spa.1 point towards the viewer. The mail item Ps.n stands on the V-shaped bottom Bo.1.

Fig. 3 shows a high storage bag Sp.2 from the same viewing direction as Fig. 1 , The two side surfaces Sf.2.1, Sf.2.2 of the high storage pocket Sp.2 are parallel to the drawing plane of Fig. 3 , The high storage pocket Sp.2 receives a high mail item Ps.h. In the rear side surface Sf.2.1 a recess Aus.2.1 is embedded. In the in Fig. 3 front side surface Sf.2.2 has a recess Aus.2.2 embedded. The high storage pocket Sp.2 has a lateral slit-shaped opening Spa.2 and a bottom Bo.2 in the form of a V. A mail item Ps.h can be inserted through the slit-shaped opening Spa.2 into the high storage pocket Sp.2 and through take this opening Spa.2 back out of the storage bag Sp.2. Even gravity and the V-shaped bottom Bo.1, Bo.2 hold a mail item Ps.n, Ps.h in the storage pocket Sp.1, Sp.2.

In a different embodiment, the high mail item Ps.h can be inserted from above through an approximately downward linear movement between the side surfaces Sf.2.1, Sf.2.2. For example, only one side surface Sf.2.1, Sf.2.2 is connected to the holder Hal.2, so that a horizontal gap-shaped opening is formed next to the holder Hal.2. Also in this embodiment, the high mail item Ps.h is pulled out of the storage pocket Sp.2 again by a horizontal linear movement through the lateral gap-shaped opening Spa.2.

In one embodiment, both side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 are made of an elastic material. The distance between the upper edge Ka-o.1.1 and Ka-o.1.2 or Ka-o.2.1 and Ka-o.2.2 and the lower edge Ka-u.1.1 and Ka-u.1.2 or Ka-u.2.1 and Ka-u.2.2 of a side surface Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 can be reduced in size and enlarged again. In order to insert an upright postal item Ps.n, Ps.h into the storage pocket Sp.1, Sp.2, the two side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 are compressed by a vertical force, so that the distance between the upper edge and the lower edge is reduced. As a result, the opening Spa.1, Spa.2 becomes wide enough to push the mail item Ps.n, Ps.h through the opening Spa.1, Spa.2. Subsequently, the exercise of the vertical force is terminated, and the elastic side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 clamp the inserted mail item between them. In this embodiment, the two side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 thus - seen in a direction parallel to the side surfaces - a convex shape.

In another embodiment, the two side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 at least have a concave shape when a mail item is inserted or withdrawn, and are each represented by a bar or other element, for , As a holder and a bottom element, top and bottom mechanically interconnected. Preferably, the two side surfaces are designed to be elastic and together at least have the concave shape when no force acts on the side surfaces. The two parallel strips or other elements are wider than the thickest mail item to be sorted. The empty storage pocket Sp.1, Sp.2 is pulled apart by a vertical force, so that the distance between the concave side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 also in the middle between the two bars is large enough to introduce the transported mail item Ps.n, Ps.h, without the mail colliding with a side surface. The exercise of the vertical force is terminated as soon as the mailpiece is inserted. Also in this embodiment, the elastic side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 clamp the mail item between as soon as the vertical force is no longer exerted.

In order to keep the mail item in the storage bag, no additional force needs to be exerted on the storage pocket from the outside. Thanks to the elastic side surfaces different similar storage pockets able to hold different thicknesses of mail safely. It is not necessary to measure in advance the thickness of a mail item and to make the process of inserting a mail item in a storage pocket dependent on the measured thickness.

In a third embodiment, each side surface Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 consists of two or even three parts, wherein two adjacent parts abut one another in a horizontal connecting line. At least two parts of a side surface Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 are resiliently connected to each other. In addition, at least a part of a side surface is rotatably connected to an adjacent horizontal edge or a bottom element and also rotatably connected to at least one other part of the side surface Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2. Again, a vertical force is applied to change the storage pocket Sp.1, Sp.2 so that, after the change, a mail item Ps.n, Ps.h can be inserted into a storage pocket Sp.1, Sp.2. This vertical force reduces the distance between the upper edge Ka-o.1.1, Kao.1.2 or Ka-o.2.1 and Ka-o.2.2 and the lower edge Ka-u.1.1, Ka-u.1.2 or Ka -u.2.1 and Ka.u.2.2 against the force of the spring elements. The mail item is inserted and the exercise of the vertical force is terminated. The two side surfaces clamp the mail item between them, wherein the springs press the side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 against the mail item Ps.n, Ps.h.

In one embodiment, a mail item Ps.n, Ps.h is removed again from the storage pocket Sp.1, Sp.2 in the corresponding manner. A vertical force increases the distance between the two upper edges and the two lower edges, if the side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 are concave or resiliently connected to each other. In the case of the concave side surfaces, the vertical force increases the distance. In all three embodiments, the two side surfaces Sf.1.1 and Sf.1.2 or Sf.2.1 and Sf.2.2 of the storage pocket Sp.1, Sp.2 no longer clamp the mail item between them, and the mail item Ps.n, Ps. h is pulled out of the storage pocket Sp.1, Sp.2.

Preferably, at least one, in one embodiment, even each storage pocket is provided with a unique machine-readable identifier, e.g. B. in the form of a bar pattern. This identifier distinguishes this storage bag from all other storage pockets of the sorting system. The low storage pocket Sp.1 has a machine-readable identifier Ke-Sp.1, the high storage case Sp.2 has a machine-readable identifier Ke-Sp.2. These codes Ke-Sp.1, Ke-Sp.2 are attached to holders Hal.1, Hal.2. A reader of the sorting system can automatically decipher the unique identifier on the storage bag.

The embodiment with the machine-readable identifiers makes it easier to locate a mail item in a storage pocket, even if the side face are made of an opaque material. The reader decodes the machine-readable identifier on the storage pocket holder. In a database, the information is stored, which mail is currently in which storage bag.

In one embodiment, the storage pockets are transported during sorting at least temporarily along a closed conveyor track, z. For example, they are drawn past the feed stations during feeding. The order under the storage pockets does not change during this transport, because no storage pocket is ejected from the conveyor track or introduced into the conveyor track and no storage bag will overtake another storage bag on the conveyor. The order under the storage pockets from the conveyor is known. The transport speed with which the storage pockets are transported along the closed conveyor path is also known or measured. A storage pocket or individual storage pockets are each provided with a machine-readable identifier to check whether a storage pocket is actually at the expected location on the conveyor track. The storage pockets are transported past a reader for machine-readable identifiers.

Each storage pocket Sp.1, Sp.2 has at least one retaining element z. B. in the form of a hook and hangs on this holding element. It is also possible that the storage pocket Sp.1, Sp.2 has two lateral holding elements. Each retaining element runs in a guide device, for. B. along a rail. In the exemplary embodiment, the storage pockets have no own drive, but are pulled along the guide device or pushed, z. B. by means of at least one chain.

In the case of two retaining elements all storage pockets are configured in one embodiment so that the distance between the two holding elements of a storage pocket is always the same and all storage pockets can be moved in the same two rails. It is also possible that the storage pockets of a first type run in a first pair of two guide rails and the storage pockets of a second type in a second pair of two guide rails, so that the sorting system has a total of four guide rails.

In the example of Fig. 1 and Fig. 2 are attached to the side surface holder Hal.1 the storage pocket Sp.1 for a low mail item Ps.n two lateral holding elements Kop.1.1, Kop.1.2, which form a line with the rod-shaped holder Hal.1. These holding elements Kop.1.1, Kop.1.2 run on a first pair of two parallel guide rails Fs.1.1, Fs.2.2. This embodiment leads to a particularly low storage pocket Sp.1.

Fig. 3 shows another embodiment of holding elements. The rod-shaped holder Hal.2 and thus also the side surfaces Sf.2.1, Sf.2.2 the high storage bag Sp.2 hang down on two hook-shaped holding elements Kop.2.1, Kop.2.2. These hook-shaped holding elements Kop.2.1, Kop.2.2 run on a second pair of two guide rails Fs.2.1, Fs.2.2. The distance between the guide rails Fs.2.1, Fs.2.2 of Fig. 3 is less than the distance between the guide rails Fs.1.1, Fs.1.2 of Fig. 1 , The high storage bag Sp.2 is nevertheless just as wide as the low storage bag Sp.1.

Each infeed station Bel.n, Bel.h selects an appropriate and still free storage bag for an incoming mail item. The infeed station Bel.n selects a low storage pocket Sp.1, the infeed station Bel.h selects a free high storage pocket Sp.2. High and low storage pockets are transported in random order past the feed stations Bel.n, Bel.h.

A sorting and transporting device Sort transports and sorts the filled storage bags. The sorting and transporting device Sort changes the order among the filled storage pockets, e.g. B. by a filled storage bag is discharged from the closed conveyor track and placed in a cache, the sorting and transport means Sort has a plurality of latches. Storage pockets from buffers are fed back into the closed conveyor path, whereby the order under the storage pockets changes. It is also possible that the storage pockets from the buffers are introduced into a further conveyor track and there the desired order is made under the storage pockets.

Fig. 4 Figure 1 illustrates one embodiment of how the sorting and transporting device Sort can transport both high and low storage pockets in a single sequence, with the high storage pockets and the low storage pockets being randomly mixed. In Fig. 4 You can see two right guide rails Fs.1.2 and Fs.2.2. The high storage pocket Sp.2 runs with its holding elements Kop.2.1, Kop.2.2 in the two upper guide rails Fs.2.1, Fs.2.2. The low storage pocket Sp.1 runs with its holding elements Kop.1.1, Kop.1.2 in the two lower guide rails Fs.1.1, Fs.1.2. The upper guide rails Fs.2.1, Fs.2.2 have a smaller distance from each other than the lower guide rails Fs.1.1, Fs.1.2. The four guide rails Fs.1.1, Fs.1.2, Fs.2.1, Fs.2.2 are arranged so that the lower edges of the floors Bo.1, Bo.2 of the two storage pockets Sp.1, Sp.2 in an imaginary horizontal plane Eb lie. As a result, the mailpieces in the storage pockets Sp.1, Sp.2 are aligned with their lower edges due to gravity approximately at this plane Eb. The distances of the recesses Aus.1.1, Aus.1.2, Aus.2.1, Aus.2.2 from this horizontal plane Eb are the same size. This makes it easier for the gripping tool according to the invention to simultaneously remove a plurality of mail items from storage pockets of different sizes.

Fig. 5 shows the arrangement of Fig. 4 from above. You can see the upper guide rails Fs.2.1, Fs.2.2, to which the holding elements Kop.2.1, Kop.2.2 the high storage bag Sp.2 hang. Furthermore, the lower guide rails Fs.1.1, Fs.1.2 can be seen, on which hang the holding elements Kop.1.1, Kop.1.2 the low storage pocket Sp.1. The low storage pocket Sp.1 is located completely below the guide rails Fs.2.1, Fs.2.2 for the high storage pocket Sp.2.

Instead of storage pockets, fixtures with clamps are used in one embodiment to transport and sort mailpieces. Every holding device comprises a horizontal bar on which at least one clip and at least one retaining element are attached. The holding element runs just as in the case of the storage pockets in a guide device and holds the brackets. On the bar can also be mounted laterally two retaining elements. The holding device holds a mail item in the vertical position by means of the at least one clip, preferably by means of two clamps, much as a trouser holder holds a pair of trousers. The staples can be opened in a controlled manner, and the item of mail slides downwards due to gravity.

It is also possible that the sorting system has both a plurality of storage pockets and a plurality of holding devices with clamps and these two types of holding devices are used in parallel.

• mindestens eine Zuführ-Einrichtung ("feeder") mit einem Vereinzeler ("singulator"), vorzugsweise jeweils eine Zuführ-Einrichtung pro Sorte von Postsendungen,
• ein Bildaufnahmegerät,
• eine Bildauswerteeinheit,
• mindestens eine Einspeisungsstation in Form einer Beladestation,
• einen Sortierer für gefüllte Haltevorrichtungen,
• mindestens eine Entnahmestation in Form einer Entladestation mit dem lösungsgemäßen Greifwerkzeug,
• mindestens eine Aufnahmestation für Postsendungen, die wieder aus ihren Haltevorrichtungen entnommen wurden, und
• einen Postsendungen-Datenspeicher mit jeweils einem Datensatz pro Postsendung.

The sorting system also has the following components:

• at least one feeder with a singulator, preferably one feeder per sort of mail,
• an image capture device,
• an image evaluation unit,
• at least one feed station in the form of a loading station,
• a sorter for filled holding devices,
• at least one removal station in the form of an unloading station with the gripping tool according to the invention,
• at least one receiving station for mail items that have been removed from their holding devices, and
• a mail data store with one record per mail item.

• eine Format-Trenn-Einrichtung FTE,
• zwei parallel arbeitende Zuführ-Einrichtungen "feeders" ZE.n, ZE.h mit jeweils einem Vereinzeler ("singulator") Ver.n, Ver.h,
• ein Bildaufnahmegerät für niedrige Postsendungen in Form von zwei gegenüberliegenden Kameras Ka.n.1, Ka.u.2, welche rechnerverfügbare Abbilder von niedrigen Postsendungen erzeugen,
• ein Bildaufnahmegerät für hohe Postsendungen in Form von zwei gegenüberliegenden Kameras Ka.h.1, Ka.h.2, welche rechnerverfügbare Abbilder von hohen Postsendungen erzeugen,
• eine Bildauswerteeinheit Bae, welche rechnerverfügbare Abbilder von Postsendungen auswertet,
• eine Beladestation Bel.n, welche Speichertaschen mit niedrigen Postsendungen befüllt,
• eine weitere Beladestation Bel.h, welche Speichertaschen mit hohen Postsendungen befüllt,
• einen Sortierer Sort für gefüllte Haltevorrichtungen, wobei der Sortierer Sort eine geschlossene Förderbahn Fb sowie einen Antrieb An für die antriebslosen Haltevorrichtungen auf dieser geschlossenen Förderbahn Fb umfasst,
• eine Entladestation Ent mit einem lösungsgemäßen Greifwerkzeug Gw, welches sowohl niedrige als auch hohe Postsendungen aus Speichertaschen entnimmt,
• eine Aufnahmestation Auf, welche entnommene Postsendungen aufnimmt,
• ein Postsendungen-Datenspeicher DSp und
• eine Steuereinheit ("controller") SE.

Fig. 6 schematically shows the components of the sorting system of the embodiment. Material flows are shown with solid lines, data flows with dashed lines. The following components are shown:

• a format-separating device FTE,
• two parallel feeding devices "feeders" ZE.n, ZE.h each with a singulator Ver.n, Ver.h,
• a low-mail image recording device in the form of two opposite cameras Ka.n.1, Ka.u.2, which generate computer-accessible images of low mailpieces,
• an image recording device for high mailpieces in the form of two opposite cameras Ka.h.1, Ka.h.2, which generate computer-accessible images of high mailpieces,
• an image evaluation unit Bae, which evaluates computer-accessible images of mailpieces,
• a loading station Bel.n which fills storage pockets with low mailpieces,
• another loading station Bel.h which fills storage pockets with high mailpieces,
• a sorter sort for filled holding devices, wherein the sorter Sort comprises a closed conveyor track Fb and a drive An for the non-driven holding devices on this closed conveyor track Fb,
• an unloading station Ent with a gripping tool Gw according to the invention, which removes both low and high mailpieces from storage pockets,
• a receiving station on which picks up received postal items,
• a mailpiece data store DSp and
• a control unit ("controller") SE.

In one embodiment, each holding device has its own drive. This drive rotates a roller that contacts a guide rail and moves the holding device along this guide rail during rotation.

In another embodiment, the sorter sort has at least one stationary drive An and per drive in each case a transmission means, for. B. a chain. The driven transfer means moves the holders along For example, the drive An pulls on the chain, and the chain pulls the holders St.1, St.2 along the guide rails Fs.1.1, Fs.1.2, Fs.2.1, Fs. 2.2.

To the feeder ZE.n with the separator Ver.n a lot M.n low mail, especially standard letters, transported. The separator Ver.n is able to separate these low mail items. For the feeder ZE.h with the separator Ver.h a lot M.h high mail, especially large letters, transported. The separator Ver.h is able to separate these high mail items. The two feeding devices ZE.n, ZE.h work in parallel. In one embodiment, the separator Ver.n works for standard letters with a much higher throughput than the singler Ver.h for large letters, and significantly more standard letters than large letters reach the format-separation device FTE.

In addition, a lot of M.mix of mailpieces mixed of large letters and standard letters is transported to the format-separating means FTE. The format separating device FTE divides the M.mix amount of mail into a lot with standard letters and a lot with large letters.

In each case a lot of postal items of a variety reaches the appropriate feeder ZE.n, ZE.h.

In another embodiment, both separating devices Ver.n, Ver.h are able to separate all mechanically processed mailpieces. In the case of a plurality of identical and parallel feeding devices ZE.n, ZE.h, the incoming mailpieces are distributed in such a way that the feeding devices are utilized as evenly as possible. Each separator Ver.n, Ver.h singles in both embodiments, the mailings supplied to him and generates a stream of mail, which are spaced apart and are transported upright standing.

• Die Postsendung wird aufrecht stehend zwischen den beiden Kameras Ka.n.1, Ka.n.2 hindurch transportiert, falls die Postsendung eine niedrige Postsendung ist.
• Die Postsendung wird zwischen den beiden Kameras Ka.h.1, Ka.h.2 hindurch transportiert, falls die Postsendung eine hohe Postsendung ist.
• Die beiden Kameras Ka.n.1, Ka.n.2 bzw. Ka.h.1, Ka.h.2 erzeugen jeweils mindestens ein rechnerauswertbares Abbild von einer Oberfläche der Postsendung. Eines dieser beiden Abbilder zeigt die Zustelladress-Kennzeichnung - es sei denn, die Postsendung besitzt keine Zustell-Adress-Kennzeichnung.
• Die Bildauswerteeinheit Bae versucht, automatisch per "optical character recognition (OCR)" die Zustelladress-Kennzeichnung im Abbild eindeutig zu entziffern. Hierfür greift die Bildauswerteeinheit Bae vorzugsweise auf eine Datenbank mit gültigen Zustelladress-Kennzeichnungen ("dictionary") zu. Gelingt dies nicht, so wird das Abbild auf einem Bildschirmgerät einer Videocodierstation dargestellt, und ein Bearbeiter gibt einen Teil der Zustelladresse per Tastatur und/oder per Spracheingabe ein.
• Ein Datensatz für die Postsendungen wird automatisch erzeugt. Dieser Datensatz umfasst eine interne Kennung für die Postsendung sowie eine Codierung der entzifferten Zustelladress-Kennzeichnung.
• Dieser Datensatz wird im zentralen Postsendungen-Datenspeicher DSp abgespeichert.
• In einer Ausgestaltung wird die Postsendung vermessen, um festzustellen, welche Speichertaschen-Art diese Postsendung aufzunehmen vermag. Vorzugsweise wird ein Abbild ausgewertet, um die Länge und die Höhe der Postsendung zu messen. Falls es unterschiedliche Beladestationen gibt, wird zusätzlich festgestellt, welche Beladestation diese Postsendung aktuell in eine Speichertasche zu verbringen vermag.
• Die Postsendung wird an ihrer untere Kante ausgerichtet und zu einer geeigneten und verfügbaren Beladestation Bel.n, Bel.h transportiert. Vorzugsweise wird die aufrecht stehende Postsendung zeitweise zwischen zwei Endlos-Förderbändern eingeklemmt. Die Endlos-Förderbänder drehen sich mit gleicher Geschwindigkeit und transportieren dadurch die Postsendung.
• Falls es verschiedenartige Haltevorrichtungen gibt, so wählt die Beladestation Bel.n, Bel.h eine passende leere Haltevorrichtung für die Postsendung aus.
• Die Beladestation Bel.n, Bel.h schiebt die Postsendung durch eine annähernd lineare Bewegung in eine zuvor leere Speichertasche oder verbindet die Postsendung zeitweise mit einer Haltevorrichtung mit Klammern. Im Ausführungsbeispiel ist die Linearbewegung eine annähernd horizontale, wenn die Postsendung eine niedrige Postsendung ist. Im Falle einer hohen Postsendung ist die Bewegung eine annähernd vertikal nach unten gerichtete Bewegung.
• Ein Strichmuster-Leser ("bar code scanner") oder ein anderes geeignetes Lesegerät liest die eindeutige Kennung dieser Speichertasche oder sonstigen Haltevorrichtung. Der Datensatz für die Postsendung im Postsendungen-Datenspeicher DSp wird um eine Codierung dieser gelesenen Kennung der Haltevorrichtung ergänzt, so dass die Information verfügbar ist, in welcher Haltevorrichtung sich die Postsendung nunmehr befindet. Dadurch lässt sich feststellen, wo in der Sortieranlage sich die Postsendung befindet. Außerdem legt die Zustelladress-Kennzeichnung der Postsendung in einer Haltevorrichtung die Soll-Position dieser gefüllten Haltevorrichtung in der herzustellenden Abfolge von Haltevorrichtungen fest.
• Die Haltevorrichtung mit der Postsendung wird bis zu einer Entladestation Ent transportiert. Die Entladestation Ent zieht die Postsendung wieder aus der Haltevorrichtung heraus.
• Die entnommene Postsendung wird zur Aufnahmestation Auf transportiert.

For each mail item, the following steps are performed after singulation:

• The mail item is transported upright between the two cameras Ka.n.1, Ka.n.2 if the mail item is a low mail item.
• The mail item is transported between the two cameras Ka.h.1, Ka.h.2 if the mail item is a high mail item.
• The two cameras Ka.n.1, Ka.n.2 and Ka.h.1, Ka.h.2 each generate at least one computer-evaluable image of a surface of the mailpiece. One of these two images shows the delivery address tag - unless the mailing has no delivery address tag.
• The image evaluation unit Bae attempts to automatically decipher the delivery address identification in the image by means of "optical character recognition (OCR)". For this purpose, the image evaluation unit Bae preferably accesses a database with valid delivery address markings ("dictionary"). If this is not successful, then the image is displayed on a video display unit of a video coding station, and an editor enters a part of the delivery address via keyboard and / or voice input.
• A record for the mail items is generated automatically. This record includes an internal identifier for the mailing as well as an encoding of the deciphered delivery address tag.
• This data record is stored in the central mailpiece data memory DSp.
• In one embodiment, the mail item is measured to determine which type of storage bag is capable of receiving this mail item. Preferably, an image is evaluated to measure the length and height of the mailpiece. If there are different loading stations, it is also determined which loading station this Can currently spend mail in a storage bag.
• The mail item is aligned at its lower edge and transported to a suitable and available loading station Bel.n, Bel.h. Preferably, the upright mail item is temporarily clamped between two endless conveyor belts. The endless conveyor belts rotate at the same speed and thereby transport the mail piece.
• If there are various holding devices, the loading station Bel.n, Bel.h selects a suitable empty holding device for the mail item.
• The loading station Bel.n, Bel.h pushes the mail item by an approximately linear movement in a previously empty storage bag or connects the mailing temporarily with a holding device with brackets. In the exemplary embodiment, the linear movement is approximately horizontal when the mail item is a low mail item. In the case of a high mail item, the movement is an approximately vertically downward movement.
• A bar code scanner or other suitable reader reads the unique identifier of that storage bag or other holding device. The data record for the mail item in the mail item data memory DSp is supplemented by an encoding of this read identifier of the holder, so that the information is available in which holder the mail item is now located. This can be used to determine where in the sorting system the item of mail is. In addition, the delivery address marking of the mail item in a holding device determines the desired position of this filled holding device in the sequence of holding devices to be produced.
• The holding device with the mail item is transported to an unloading station Ent. The unloading station Ent pulls the mail item out of the holding device again.
• The removed mail item is transported to the receiving station on.

The pick-up station picks up on the removed mail. For example, an open-topped container stands on a support surface of the receiving station, and the removed postal items are placed or placed in the container. This step can be performed by the gripping tool Gw, an automatic handling machine or even a processor.

The sorter Sort establishes an order among the filled holders. This order among the holding devices is predetermined by the respective delivery address markings on the mailpieces in the holding devices and by the predetermined order among the delivery addresses. After sorting the mail items are placed in the desired order, but are still in the fixtures.

The following describes how the unloading station Ent pulls a plurality of mail items out of their holding devices at once with a gripper tool Gw. Here, the embodiment will first be described that storage pockets are used as holding devices.

• zwei äußere Greiferarme,
• im Ausführungsbeispiel N ≥ 1 innere Greiferarme,
• eine Greiferarme-Halterung für die insgesamt N+2 Greiferarme,
• eine Verschwenkeinheit für die Greiferarme,
• eine Verschwenkeinheit für die Greiferarme-Halterung.

The unloading station comprises the gripping tool Gw. This gripping tool Gw comprises:

• two outer gripper arms,
• in the exemplary embodiment N ≥ 1 inner gripper arms,
• a gripper arm holder for the total of N + 2 gripper arms,
• a pivoting unit for the gripper arms,
• a pivoting unit for the gripper arms holder.

Fig. 7 and Fig. 8 show by way of example a gripping tool Gw with two outer gripper arms Gf.a1, Gf.a2 and N = 2 inner gripper arms Gf.i1 and Gf.i2. The four gripper arms Gf.a1, Gf.a2, Gf.i1, Gf.i2 are seated on the gripper arm holder Gf-Ha. Also shown are a bracket pivoting unit V-Ha and a gripper arm pivoting unit V-Gf.

In Fig. 7 Furthermore, a high storage pocket Sp.2 to be unloaded is shown. Their side surface Sf.2.1, Sf.2.2 are parallel to the drawing plane of Fig. 7 , In the top view of Fig. 8 are three to be unloaded storage pockets Sp.1, Sp.2, Sp.3 shown, whose side surfaces perpendicular to the plane of Fig. 8 stand.

The gripper arm holder Gf-Ha extends along a longitudinal axis LA. The N + 2 gripper arms Gf.a1, Gf.a2, Gf.i1, Gf.i2 are movably connected to this gripper arm holder Gf-Ha, in such a way that the gripper arms in the manner of a fork or a comb in a gripper arm Sequence along this longitudinal axis LA are arranged. The longitudinal axis LA may be arranged horizontally or obliquely sloping or rising inclined. The N + 2 gripper arms Gf.a1, Gf.a2, Gf.i1, Gf.i2 are movably connected to the gripper arm holder Gf-Ha in such a way that the distance between two adjacent gripper arms can be changed. The longitudinal axis LA of the gripper arms holder Gf-Ha is perpendicular to the plane of Fig. 7 and lies in the drawing plane of Fig. 8 , In Fig. 7 only one external gripper arm Gf.a1 can be seen.

The gripper arms pivoting unit V-Gf is able by means of its own drive to change the respective distance between two adjacent gripper arms, for. B. by the linear movements. In one embodiment, the gripper arms pivoting unit V-Gf can synchronously change all distances between adjacent gripper arms, e.g. B. so that always two adjacent gripper arms have the same distance. In another embodiment, the gripper arms pivoting unit V-Gf is capable of separately changing any distance between two adjacent gripper arms. For example, the gripper arm holder Gf-Ha is constructed telescopically and can be pushed together and pull apart again.

In the example of Fig. 7 and Fig. 8 the gripper arms pivoting unit V-Gf is inserted into the gripper arms holder Gf-Ha. Each gripper arm Gf.a1, Gf.a2, Gf.i1, Gf.i2 is mechanically connected to this gripper arm pivoting unit V-Gf.

The bracket pivoting unit V-Ha is capable of pivoting the gripper arm bracket Gf-Ha with the N + 2 gripper arms. "Pivoting" means a linear movement and / or a rotary or translational rotation. In one embodiment, it can gripper arm holder Gf-Ha linear, z. B. in a horizontal direction, and thereby to move perpendicular to the longitudinal axis LA of the gripper arm holder Gf-Ha. In another embodiment, it is able to rotate the gripper arm holder Gf-Ha about the longitudinal axis LA. In addition, in one embodiment, the mounting-pivoting unit V-Ha can move the gripper arm support Gf-Ha parallel to the longitudinal axis LA. Combinations of these embodiments are possible.

In one embodiment, the support pivoting unit V-Ha is additionally capable of linearly moving or otherwise pivoting the gripper arm support Gf-Ha in a direction that is in the plane of the drawing Fig. 7 lies. As a result of this movement, the distance between the gripper arm holder Gf-Ha and the storage pockets is changed, as a result of which the gripped mail items can be pulled out of the storage pockets.

In the example of Fig. 7 and Fig. 8 the holder-pivoting unit V-Ha acts mechanically on the gripper arm holder Gf-Ha and is able to rotate the gripper arm holder Gf-Ha about the longitudinal axis LA, cf. the curved double arrow in Fig. 7 , In addition, the support pivoting unit V-Ha is capable of displacing the gripper arm support Gf-Ha, together with the gripper arms Gf.a1, Gf.a2, Gf.i1, Gf.i2 and the gripper arm pivot unit V-Gf, parallel to the longitudinal axis LA, and although in both directions, cf. the double arrows in Fig. 8 ,

In the in Fig. 7 In the embodiment shown, the support pivoting unit V-Ha is arranged outside the gripper arm support Gf-Ha and acts externally on the gripper arm support Gf-Ha. It is also possible that the gripper arm support Gf-Ha comprises a housing and the support pivoting unit V-Ha is also arranged in this housing.

In Fig. 8 a continuous gripper arms support Gf-Ha is shown, which carries four gripper arms. It is also possible that the device has at least two gripper arms mounts, each carrying a part of the gripper arms. Preferably, all gripper arms mounts are rotatable about the same axis of rotation LA. In addition, a gripper arms holder can be moved in the direction of the axis of rotation LA relative to another gripper arms holder, whereby the distance between two adjacent gripper arms is changed on different gripper arms mounts.

Each gripper arm Gf.a1, Gf.a2, Gf.i1, Gf.i2 has a gripping element with at least one gripping surface. This gripping surface is preferably made of an elastic material with a high coefficient of friction, z. B. made of rubber. The elastic gripping surface may be mounted on a solid body of the gripping element. Also possible is a one-piece gripping element. In one embodiment, this gripping element by means of a connecting element, for. B. by means of a rod, connected to the holder.

In one embodiment, recesses are embedded in a gripping surface. The gripper arm is designed hollow inside. A suction device generates a negative pressure in this cavity in the gripper arm. Through the recesses of this negative pressure acts on a mail piece and sucks the mail piece to the gripper arms. As a result, a mail item with a very smooth surface is gripped securely.

In the example of Fig. 7 and Fig. 8 the outer gripper arm Gf.a1 has the two gripper elements Ge.a1.1 and Ge.a1.2, both of which are fastened to the connecting element Ve.a1. Seen in a viewing direction parallel to the longitudinal axis LA each gripper arm in this embodiment has the shape of a spoon or spade with the connecting element as a stem. Accordingly, the inner gripper arm Gf.i1 has the two gripping elements Ge.i1.1 and Ge.i1.2. The corresponding applies to the remaining gripper arms Gf.a2, Gf.i2.

In one embodiment, a gripper arm - or at least the connecting element of a gripper arm - designed flexurally. The distance between two adjacent gripper arms can therefore vary over the length of the gripper arms, ie perpendicular to the plane of Fig. 7 especially when the adjacent gripper arms grasp objects. This refinement makes it possible for two adjacent gripper arms to be able to grasp one or more mailpieces between them and the restoring force of the deflected elastic gripper arms additionally holds the gripped mailpieces.

In one embodiment, the connecting element Ve.a1, Ve.a2, Ve.i1, Ve.i2 is designed telescopically. The gripper arm pivoting unit V-Gf is capable of changing the length of the connecting member Ve.a1, Ve.a2, Ve.i1, Ve.i2 and thereby increasing and decreasing the distance between the gripper arm support Gf-Ha and the gripping member. In another embodiment, the connecting element Ve.a1, Ve.a2, Ve.i1, Ve.i2 is designed to be rigid.

In a preferred embodiment, the gripping element of each inner gripper arm Gf.i1, Gf.i2 has two gripping surfaces mounted on the two sides of the gripping element. The gripping element Ge.i1.1 has the gripping surface Gfl.i1.1, the gripping element Ge.i1.2 the gripping surface Gfl.i1.2 and so on. Each gripping surface of this inner gripper arm faces the gripping surface of an adjacent gripper arm. Preferably All gripping surfaces are the same size and have identical dimensions. It is possible that a gripping surface consists of several gripping surface components which are spaced from each other.

A mail item can be pinched and gripped between these opposing gripping surfaces. The two outer gripper arms require only one gripping element Ge.a1.2, Ge.a2.1 and therefore only one gripping surface Gfl.a1.2, Gfl.a2.1. However, it is possible that all gripper arms Gf.a1, Gf.a2, Gf.i1, Gf.i2 are of identical construction and therefore also the two outer gripper arms each have two gripper-arm gripper surfaces. This case will be in Fig. 8 shown.

Because the gripping tool Gw has a total of N inner gripper arms, each with two gripping elements and therefore two gripping surfaces and two outer gripper arms, each having at least one gripping surface, N + 1 pairs of opposing gripping surfaces are formed, so that the gripping tool Gw simultaneously N + between two gripping surfaces 1 can handle mail.

In the example of Fig. 8 N + 1 = 3 pairs of opposing gripping surfaces are formed. These three pairs can simultaneously draw at least three postal items from three storage pockets Sp.1, Sp.2, Sp.3.

An embodiment with only one gripping surface per gripper arm is possible. Also in this embodiment, two gripping surfaces are opposite each other. In this embodiment, N must be straight and the gripper tool can grasp N / 2 + 1 mail at a time.

As stated above, each side surface Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2 of each storage pocket Sp.1, Sp.2 each has a recess Aus.1.1, Aus.1.2, Aus.2.1, Aus.2.2. The two recesses are the same size and congruent or at least have a common recess area as an engagement opening, which is larger than each gripper surface - viewed in a viewing direction perpendicular to the side surfaces Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2. This makes it possible for two adjacent gripping surfaces to be able to grasp a mail item in the storage pocket from outside through the two recesses without touching the two side surfaces. This makes it possible to pull a mail item out of a storage pocket by pulling the storage pocket away from the gripping tool Gw or by the gripper tool Gw pulling the mail item out of the storage pocket that is held or continues to move along the guide rails.

If holding devices are used with clamps, two adjacent gripping surfaces can freely grasp a mail item because the mail item hangs on the clamps.

In one embodiment described so far, only one holding device with one mail item is located between each two adjacent gripper arms. In a modification, there are a plurality of holding devices with mailpieces between two adjacent storage pockets. In the simplest embodiment of this modification, the gripping tool has only two gripper arms Gf.a.1 and Gf.a.2, but no inner gripper arm. In this embodiment, all three storage pockets are Sp.1, Sp.2, Sp.3 of Fig. 8 between these two outer gripper arms Gf.a.1, Gf.a.2. The distance between the two gripper arms Gf.a.1, Gf.a.2 is reduced, and the gripper arms grip all three mail items in the storage pockets Sp.1, Sp.2, Sp.3 simultaneously. The mail item in the inner storage pocket Sp.2 is gripped indirectly by the two gripper arms Gf.a.1, Gf.a.2, the two mail items in the outer storage pockets Sp.1, Sp.3 against the mail item in the inner storage pocket Sp Press .2. In this embodiment, the two side surfaces of the inner storage pocket Sp.2 and one side surface of the outer storage pockets Sp.1, Sp.3 are also compressed.

In one embodiment, all the recesses of the storage pockets have the same distance from the upper edge of the storage pockets. As a result, all the storage pockets are positioned by themselves in such a way that the gripping tool Gw can remove the mailpieces because the storage pockets hang on the guide device by means of the holding elements. This guide device has a horizontal course in the unloading stations. The distance of a recess from the lower edge of a storage bag may vary from storage bag to storage bag.

In another embodiment, there are two types of storage pockets with two different distances between the two recesses and the lower edge. In this embodiment, the guide device has two superimposed sections in the region of the unloading station. A filled storage bag is routed to the upper section when the storage bag is at a greater distance, and otherwise to the lower section. As a result, all recesses in the area of the unloading station are likewise at the same height. The upper section comprises z. B. a pair of upper guide rails, the lower portion a pair of lower guide rails.

Fig. 9 schematically shows this embodiment. Outside the unloading station Ent, the two guide rails Fs.1.1, Fs.1.2 for low storage pockets and the two guide rails Fs.2.1, Fs.2.2 for high storage pockets are mounted at the same height and lie in a horizontal plane. The recesses are therefore still at different heights. In the area of the unloading station Ent, the guide rails for the high storage pockets have two inclined transition sections, namely, seen in the transport direction, first a rising section and then a sloping section. It is also possible that the rising portion is located downstream of the sloping section.

In Fig. 9 the transport direction TR of the storage pockets Sp.1, Sp.2, Sp.3 is illustrated. Shown is the right guide rail Fs-Üb.2 an increasing portion Ab-on. The high storage bag Sp.3 is still in front of this rising section Ab-an, the high storage bag Sp.2 has already passed through the rising section Ab-an. The lower edges of the low storage pocket Sp.1 and the high storage pocket Sp.2 are aligned at the reference plane Eb, which in turn is caused by the different height guide rails Fs.1.1 and Fs.1.2 on the one hand and Fs.2.1 and Fs.2.2 on the other hand , As a result, the recesses Aus.1.1, Aus.1.2, Aus.2.1, Aus.2.2 are aligned in the side surfaces Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2.

In the exemplary embodiment, a sequence with a maximum of N + 1 or N / 2 + 1 mail pieces is selected, which follow one another directly in the sequence of filled storage pockets produced, after this sequence has been produced by sorting the filled storage pockets. These mailpieces of the sequence are to be pulled out by a single removal operation and virtually simultaneously from their N + 1 storage pockets (a gripper arm with two gripping surfaces between two adjacent storage pockets) or N12 + 1 storage pockets (two gripper arms, each with a gripping surface between two adjacent storage pockets).

The storage pockets with the selected sequence are transported to a position in which the gripping tool Gw is able to grip the mailpieces of the sequence located in the storage pockets at once. In one embodiment, it is sufficient to transport the storage pockets along the guide device and then stop when the sequence has reached the smallest distance the gripper arms of the gripping tool Gw. The storage pockets are arranged and transported so that the side surfaces are perpendicular to the transport direction.

In one embodiment, the gripper arm pivoting unit V-Gf establishes such a distance between in each case two adjacent gripper arms that this distance is greater than a filled storage pocket. The bracket pivot unit V-Ha rotates and / or slides the N + 2 gripper arms between the maximum N + 1 storage pockets of the selected N + 1 pieces of mail. If M <N + 1 pieces of mail have been selected, N + 1 gripper arms are pivoted between the corresponding M + 1 storage pockets, preferably an outer gripper arm. The remaining N-M gripper arms are pivoted to a position outside the storage pockets.

In another embodiment, the gripper arms Gf.a1, Gf.a2, Gf.i1, Gf.i2 can also be displaced without a drive along the longitudinal axis LA of the gripper arm holder Gf-Ha. When pivoting and due to the pivoting into a position between the storage pockets, the gripper arms are pushed apart as far as necessary. For example, each storage pocket at the top has a bar with a kind of saddle roof, which is able to move a gripper arm when lowering sideways.

In a preferred embodiment, the gripper arms are first rotated about the axis of rotation LA so far that the storage pockets can be moved parallel to the longitudinal axis LA and parallel to the guide rails Fs.1.1, Fs.1.2, ..., without bumping against a gripper arm. In the example of Fig. 7 this is achieved by turning the gripper arm support Gf-Ha clockwise about the longitudinal axis LA. The storage pockets with the mail items are pulled forward to a position obliquely below the rotated gripper arms and then stopped. The gripper arms are turned back, so in the example of Fig. 7 counterclockwise. Each gripper arm is thereby rotated in a gap between two adjacent storage pockets. It is possible that a gripper arm in this counterclockwise rotation abuts from above against a holder of a stopped storage pocket. The gripper arm then pushes the storage bag to the left or to the rear right, ie in a direction parallel to the longitudinal axis LA and along the guide rails. In one embodiment, the holder has a kind of saddle roof above, which makes it easier for the rotated gripper arm to pass between two adjacent storage pockets.

The gripper arms are brought into a position in which the two recesses of a storage pocket are located between two opposite gripping surfaces of two adjacent gripper arms. The gripper arms pivoting unit V-Gf reduces the distance between each two adjacent gripper arms until the two opposite gripping surfaces of these gripper arms engage through the recesses through the mail item in the storage pocket. These pitch reductions are performed until each selected mailpiece is clamped between two adjacent gripping surfaces. Preferably, a force limitation is realized, so that a maximum predetermined predetermined force is exerted on a mail item.

The bracket pivoting unit V-Ha pulls the gripper arm bracket Gf-Ha with the gripper arms parallel to the side surfaces of the storage pockets. The distances between the gripper arms remain unchanged so that the N + 1 gripper arms hold the gripped mailpieces and pull the held mail pieces out of the storage pocket, each mail item through the respective opening in the storage pocket.

Because each storage pocket is held by two parallel guide rails in the embodiment, it is prevented that a storage pocket is rotated when pulling out a mail piece and thereby tilted the mail item in the storage bag.

The gripping tool Gw places the N + 1 or N1 / 2 + 1 gripped mailpieces in a receiving unit on, z. B. in a container. LIST OF REFERENCE NUMBERS reference numeral importance At Drive for the storage pockets on the closed conveyor Fb Down to rising transition section with the guide rail Fs-Üb.2 On Receiving station for mail that has taken the gripping tool Gw from storage pockets Bae Image evaluation unit, deciphers an address in an image of a mailpiece Bel.h Loading station for loading storage bags with high postal consignments Bel.n Loading station for loading storage bags with low mail Bo.1 V-shaped bottom of storage pocket Sp.1 Bo.2 V-shaped bottom of storage bag Sp.2 dsp Mail data storage Eb horizontal reference plane at which the lower edges of the high and low storage pockets are aligned Ent Unloading station with the gripping tool Gw Fb closed conveyor belt of the sort sorter Fs.1.1, Fs.1.2 Guide rails for low storage pockets F.2.1, Fs.2.2 Guide rails for high storage pockets Fs Üb.2 right guide rail of the rising transition section Ab-an RTD Format-splitting device Ge.a1.1, Ge.a1.2, Ge.a2.1, Ge.a2.2 Gripping elements of the outer gripper arms Gf.a1, Gf.a2 Ge.i1.1, Ge.i1.2, Ge.i2.1, Ge.i2.2 Gripping elements of the inner gripper arms Gf.i1, Gf.i2 Gf.a1, Gf.a2 outer gripper arms of the gripping tool Gw Gf.i1, Gf.i2 inner gripper arms of the gripping tool Gw Gfl.a1.1, Gfl.a1.2, ... Gripping surfaces on the gripping elements Ge.a1.1, Ge.a1.2, ... the outer gripper arms Gf.a1, Gf.a2 Gfl.i1.1, Gfl.i1.2, ... Gripping surfaces on the gripping elements Ge.i1.1, Ge.i1.2, ... of the inner gripper arms Gf.i1, Gf.i2 Gf-Ha Gripper arms holder of the gripping tool Gw gw Gripping tool of unloading station Ent Hal.1 Storage bag holder of low storage bag Sp.1 Hal.2 Storage bag holder of high storage bag Sp.2 Hal.3 Storage pockets holder of the other high storage bag Sp.3 Ka.n.1, Ka.n.2 Imaging devices for low mail in the form of two opposite cameras Ka-o.1.1, Ka-o.2.2 upper edges of the two side surfaces Sf.1.1, Sf.1.2 Ka-u.1.1, Ka-u.1.2 lower edges of the two side surfaces Sf.1.1, Sf.1.2 Ka-o.2.1, Ka-o.2.2 upper edges of the two side surfaces Sf.1.1, Sf.1.2 Ka-u.2.1, Ka-u.2.2 lower edges of the two side surfaces Sf.2.1, Sf.2.2 Ka.h.1, Ka.h.2 Imaging device for high mail in the form of two opposite cameras Ke-Sp.1, Ke-Sp.2 machine-readable identifications of storage pockets Sp.1, Sp.2 Kop.1.1, Ko.1.2 Holding elements (coupling elements) of the low storage pocket Sp.1 Ko.2.1, Kop.2.2 Holding elements (coupling elements) of the high storage pocket Sp.2 Ko.3.1, Kop.3.2 Holding elements (coupling elements) of the other high storage bag Sp.3 LA Longitudinal axis of the gripper arms holder Gf-Ha N Number of inner gripper arms of the gripping tool Gw Ps.h high flat mailing Ps.n low flat mailing SE Control unit ("controller") Sf.1.1, Sf.1.2 flat side surfaces of the storage pocket Sp.1 Sf.2.1, Sf.2.2 flat side surfaces of the storage bag Sp.2 Sort Sorter with closed conveyor Fb sp.1 Storage bag for low flat postal items sp.2 Storage pockets for high flat mail SP.3 another storage bag for high flat mail, is still in front of the rising section Ab-An Spa.1, Spa.2 slit-shaped openings on the sides of the storage pockets Sp.1, Sp.2 Ver.1, Ver.2 Singulator of the feeder ZE.1, ZE.2 V-Gf Gripper arms pivoting unit is capable of changing the distance between gripper arms of the gripping tool Gw V-Ha Bracket pivoting unit is capable of rotating the gripper arm support Gf-Ha about the longitudinal axis La Zen Feeder for low mail Toe Feeding device for high mail items

Claims (8)

1. Sorting installation for sorting a plurality of articles (Ps.n, Ps.h) according to a predefined sort characteristic, wherein the sorting installation comprises

   - a measuring device (Ka.1, Ka.2, Bae),

   - a sorting and transporting device (Sort),

   - a plurality of holding apparatuses (Sp.1, Sp.2, ...)

   - at least one supply station (Bel.h, Bel.n) and

   - at least one removal station (Ent),
   the measuring device (Ka.1, Ka.2, Bae) is designed to measure, for each article to be sorted (Ps.n, Ps.h), what value the predefined sort characteristic assumes for this article (Ps.n, Ps.h),
   the supply station (Bel.n, Bel.h), or each supply station, is designed to put an article to be sorted (Ps.n, Ps.h) into a holding apparatus (Sp.1, Sp.2, ...) or otherwise detachably connect the article to the holding apparatus (Sp.1, Sp.2, ...) in such a way
   that, after the article has been put into the holding apparatus, the holding apparatus (Sp.1, Sp.2, ...) holds the article (Ps.n, Ps.h),
   the sorting and transporting device (Sort) is designed

   - to transport the holding apparatuses (Sp.1, Sp.2, ...) together with the held articles to be sorted (Ps.n, Ps.h) to the removal station (Ent) and

   - during this transportation of the holding apparatuses (Sp.1, Sp.2, ...), to put the holding apparatuses (Sp.1, Sp.2, ...) with the articles (Ps.n, Ps.h) into a sequence,
   wherein the generated sequence of the holding apparatuses (Sp.1, Sp.2, ...) depends on the measured sort characteristic values of the articles (Ps.n, Ps.h) in or on the holding apparatuses (Sp.1, Sp.2, ...), and thereby to sort the held articles (Ps.n, Ps.h) according to the predefined sort characteristic,
   as a result of which the sorting and transporting device (Sort) generates at least one holding-apparatus sequence of holding apparatuses (Sp.1, Sp.2, ...) with held articles (Ps.n, Ps.h),
   the removal station (Ent) is designed to remove the articles to be sorted from the holding apparatuses (Sp.1, Sp.2, ...),
   the removal station (Ent) comprises a gripping tool (Gw) with at least two gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2),
   these at least two gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) are arranged in a gripper-arm sequence,
   the gripping tool (Gw) is designed to perform the steps

   - of putting the gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) between a plurality of holding apparatuses (Sp.1, Sp.2, ...) of a holding-apparatus sequence in such a way

   - that in each case at least one holding apparatus (Sp.1, Sp.2, ...) is located between two adjacent gripper arms of the gripper-arm sequence and

   - that the gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) of the gripper-arm sequence can simultaneously grip a total of at least two articles (Ps.n, Ps.h) which are held by the same holding apparatus or by two different holding apparatuses, and

   - of altering the distance between two adjacent gripper arms such that these two gripper arms grip and temporarily retain between the two adjacent gripper arms each article (Ps.n, Ps.h) in or on a holding apparatus (Sp.1, Sp.2, ...), and
   the removal station (Ent) is designed to remove simultaneously from the respective holding apparatuses (Sp.1, Sp.2, ...) or otherwise to separate from these holding apparatuses (Sp.1, Sp.2, ...) the articles gripped in each case by two gripper arms, by means of a relative movement of the gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) relative to those holding apparatuses which are located in each case between at least two gripper arms of the gripping tool (Gw).
2. Sorting installation according to claim 1,
   characterised in that
   the gripper-arm sequence comprises at least one inner gripper arm (Gf.i1, Gf.i2) and two outer gripper arms (Gf.a1, Gf.a2), each inner gripper arm (Gf.i1, Gf.i2) which is located in the gripper-arm sequence between two other gripper arms (Gf.a1, Gf.a2) has two gripping surfaces (Ge.i1.1, Ge.i1.2, Ge.12.1, Ge.i2.2),
   the two outer gripper arms (Gf.a1, Gf.a2) each have at least one gripping surface (Ge.a1.1, Ge.a1.2, ...),
   in each case, one gripping surface of each inner gripper arm (Gf.i1, Gf.i2) and at least one gripping surface (Ge.a1.1, Ge.a1.2, ...) of another gripper arm oppose one another such that the gripping tool (Gw) can simultaneously grip at least two articles in or on two different holding apparatuses (Sp.1, Sp.2, ...),
   wherein in each case two opposing gripping surfaces

   - exert on each article between these gripping surfaces two gripping forces acting antiparallel and

   - thereby retain each article between them.
3. Sorting installation according to claim 2,
   characterised in that
   the gripping tool (Gw) has

   - a gripper-arm holder (Gf-Ha) for the gripper arms ((Gf.a1, Gf.a2, Gf.i1, Gf.i2) and

   - a gripper-arm swivelling unit (V-Gf),

   at least one inner gripper arm (Gf.i1, Gf.i2) of the gripper-arm sequence is mounted on the gripper-arm holder (Gf-Ha), the two other gripper arms (Gf.a1, Gf.a2) are swivellably connected to the gripper-arm holder (Gf-Ha) and
   the gripper-arm swivelling unit (V-Gf) is designed

   - to swivel the two other gripper arms (Gf.a1, Gf.a2) and

   - by means of such swivelling to alter the distance between two opposing gripping surfaces.
4. Sorting installation according to any one of claims 1 to 3, characterised in that
   each holding apparatus used (Sp.1, Sp.2, ...) comprises at least two lateral faces (Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2),
   wherein

   - each lateral face (Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2) extends in a lateral-face plane and

   - the at least two lateral faces of a holding apparatus (Sp.1, Sp.2, ...) enclose a space,

   each supply station (Bel.n, Bel.h) is designed to put an article to be sorted (Ps.n, Ps.h) into a holding apparatus (Sp.1, Sp.2, ...) such
   that the article (Ps.n, Ps.h), after being put into the holding apparatus, is located at least partially in the space enclosed by the at least two lateral faces (Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2), and
   the gripping tool (Gw) is designed in such a way that in each case two adjacent gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) exert two forces acting antiparallel on each article (Ps.n, Ps.h) in a holding apparatus (Sp.1, Sp.2, ...) which is located between the two adjacent gripper arms, wherein these forces act on the article from two sides into the enclosed space.
5. Sorting installation according to claim 4,
   characterised in that
   each holding apparatus (Sp.1, Sp.2, ...) used is designed such that
   each lateral face (Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2) of the holding apparatus (Sp.1, Sp.2, ...) contains one cutout (Aus.1.1, Aus.1.2, Aus.2.1, Aus.2.2),
   the gripping tool (Gw) is designed such that in each case two adjacent gripper arms grip and temporarily retain an article (Ps.n, Ps.h) in the holding apparatus (Sp.1, Sp.2, ...) wherein the two adjacent gripper arms

   - grip the article (Ps.n, Ps.h) in the holding apparatus (Sp.1, Sp. 2, ...) through the two cutouts (Aus.1.1, Aus.1.2, Aus.2.1, Aus.2.2) in the two lateral faces (Sf.1.1, Sf.1.2, Sf.2.1, Sf.2.2) of the holding apparatus located between these adjacent gripper arms and

   - temporarily retain the article gripped through the two cutouts (Aus.1.1, Aus.1.2, Aus.2.1, Aus.2.2).
6. Sorting installation according to claim 5,
   characterised in that
   the gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) lie in a gripper-arm plane,
   the sorting installation has an aligning unit (Fs.1.1, Fs.1.2, Fs.2.1, Fs.2.2, Fs-Üb.1, Fs-Üb.2) and
   the aligning unit (Fs.1.1, Fs.1.2, Fs.2.1, Fs.2.2, Fs-Üb.1, Fs-Üb.2) is designed to
   align a plurality of holding apparatuses (Sp.1, Sp.2, ...) by their respective cutouts (Aus.1.1, Aus.1.2, Aus.2.1, Aus.2.2) such
   that these cutouts (Aus.1.1, Aus.1.2, Aus.2.1, Aus.2.2) lie in a predefined reference plane (Eb) at least
   when these holding apparatuses (Sp.1, Sp.2, ...) have reached the removal station (Ent),
   wherein the reference plane (Eb) is arranged parallel to the gripper-arm plane.
7. Sorting installation according to any one of claims 1 to 6, characterised in that
   the sorting installation is designed such

   - that during unloading at least two filled holding apparatuses (Sp.1, Sp.2, ...) are simultaneously located between two adjacent gripper arms of the gripper-arm sequence and

   - the two adjacent gripper arms exert two forces acting antiparallel on each article in these holding apparatuses (Sp.1, Sp.2, ...).
8. Method for sorting articles (Ps.n, Ps.h) according to a predefined sort characteristic
   using a sorting installation which comprises

   - a plurality of holding apparatuses (Sp.1, Sp.2, ...) and

   - a gripping tool (Gw)

   wherein

   - the gripping tool (Gw) has at least two gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) and

   - these gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) are arranged in a gripper-arm sequence,

   wherein for each article to be sorted (Ps.n, Ps.h) the following steps are executed:

   - the value the predefined sort characteristic assumes for this article (Ps.n, Ps.h) is measured,

   - the article (Ps.n, Ps.h) is put in a holding apparatus (Sp.1, Sp.2, ...) or is otherwise detachably connected to the holding apparatus (Sp.1, Sp.2, ...) and

   - the gripping tool (Gw) later removes the article (Ps.n, Ps.h) from the holding apparatus (Sp.1, Sp.2, ...) again,

   wherein the holding apparatuses (Sp.1, Sp.2, ...) together with the held articles (Ps.n, Ps.h) are put in a sequence,

   - such that at least one holding-apparatus sequence of holding apparatuses (Sp.1, Sp.2, ...) with held articles (Ps.n, Ps.h) is produced,

   - wherein the sequence of holding apparatuses (Sp.1, Sp.2, ...) produced depends on the measured sort-characteristic values of the articles (Ps.n, Ps.h) in the holding apparatuses (Sp.1, Sp.2, ...),

   wherein when articles (Ps.n, Ps.h) are removed from holding apparatuses (Sp.1, Sp.2, ...) the following steps are executed:

   - the gripping tool (Gw) puts the gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) between a plurality of holding apparatuses (Sp.1, Sp.2, ...) of a holding-apparatus sequence such

   - that in each case at least one holding apparatus (Sp.1, Sp.2, ...) is located between two adjacent gripper arms of the gripper-arm sequence, and

   - two adjacent gripper arms grip and temporarily clamp between them an article (Ps.n, Ps.h) in or on the holding apparatus (Sp.1, Sp.2, ...) and

   - the gripper arms of the gripper-arm sequence simultaneously grip a total of at least two articles (Ps.n, Ps.h) held by holding apparatuses (Sp.1, Sp.2, ...), and

   - by means of a relative movement of the gripper arms (Gf.a1, Gf.a2, Gf.i1, Gf.i2) relative to those holding apparatuses which in each case are located between two gripper arms of the gripping tool (Gw), the articles (Ps.n, Ps.h) gripped in each case by two gripper arms are simultaneously removed from the respective holding apparatuses (Sp.1, Sp.2, ...) or otherwise spatially separated from the holding apparatuses (Sp.1, Sp.2, ...).

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