EP3374268B1 - System for grouping and/or distributing piece goods, and method for performing manipulation tasks in the region of an operating section with at least one handling device - Google Patents

Description

The present invention relates to a system for grouping and/or distributing piece goods and a method for carrying out manipulation tasks in the area of a work route.

When packaging items, in the prior art several piece goods are transported via a horizontal conveyor and subsequently manipulated. Devices are known which create a grouping from several piece goods and then apply thermoplastic packaging material to the groupings. The groupings are moved into a shrink tunnel together with the thermoplastic packaging material. In the shrink tunnel, the thermoplastic packaging material is subjected to temperature, whereby the thermoplastic packaging material is shrunk onto the respective grouping. The finished containers, combined with packaging material, then leave the shrink tunnel and can be palletized in further steps.

Such a packaging machine is, for example, from DE 20 2010 013 513 U1 known. The DE utility model discloses a machine for packaging goods or packaging units with a horizontal conveyor belt. The containers are transported via the horizontal conveyor belt to a packaging station, where they are wrapped with film strips cut to length using a wrapping device. Subsequently, the containers or the goods that form the container are moved into a shrink tunnel together with the respective film web.

Practice has shown that both when items are divided into groups and when the thermoplastic packaging material is subsequently applied, individual items occasionally tip over or are unintentionally moved. In order to realign the items, manual intervention in the process is required, which involves unwanted effort. It may also be that the process chain has to be interrupted in order to renew the respective item(s). to align. However, interrupting the process is undesirable because high throughput is advantageous for packaging machines.

If piece goods with different geometries are to be packed in successive work processes, the packaging machine must be converted. For example, it may be that format parts, such as guide rails or the like, have to be exchanged or adjusted within a transport route for articles or piece goods. Modifications to manipulators may also be necessary in order to adapt the packaging machine to piece goods with a specific geometry. Until now, converting or modifying manipulators was done manually.

Packaging media, such as thermoplastic films or cardboard boxes on which groups of piece goods stand, are also fed manually to the respective manipulator in practice. The provision of packaging media also involves a time and personnel effort, which in practice should be reduced if possible.

For this reason, an object of the invention can be seen as providing a system and a method for grouping and/or distributing piece goods, by means of which personnel expenditure can at least be reduced. Furthermore, the system should have an uncomplicated structure and the process should be easy to implement.

The above objects are achieved by a system and a method comprising the features in the independent claims. Further advantageous embodiments are described in the subclaims.

The invention relates to a system for grouping and/or distributing piece goods. The piece goods that are grouped or distributed via the system can, for example, be designed as beverage containers or PET bottles.

In conceivable embodiments, the system according to the invention can be used to form a stream of piece goods conveyed from m parallel rows via an inlet in n parallel rows with the aid of a manipulator. The system can be designed as a distribution system. In preferred embodiments, however, the system can be designed as a system for grouping and packaging piece goods, as described below be. The packaging material can then be designed as a thermoplastic packaging material. It is also conceivable that the packaging material is then designed as a cellulose-containing packaging material or as a cardboard outer packaging. It is clear to the expert addressed that other packaging materials can also be used, which are not exhaustively listed here.

The system includes a work route. Part of the working route is an inlet which has at least one horizontal conveyor device and via which inlet a large number of piece goods can be transported in the mass flow. During their transport via the inlet or via the at least one horizontal conveyor device of the inlet, leading piece goods can be in contact with their directly following piece goods. It is also conceivable that at least one guide rail or at least one guide element is provided in the area of the inlet, by means of which piece goods are moved in parallel rows on the at least one horizontal conveyor device of the inlet. The relative distance between two guide rails in the inlet can correspond at least approximately to the maximum diameter of the respective piece goods transported via the inlet. A row of piece goods can therefore be transported between two adjacent guide rails. The relative distance of the guide rails of the inlet can be specified or adjusted via at least one handling device within the scope of conceivable embodiments of the present invention, as described below.

The system further includes a manipulation area following the inlet with at least one manipulator for grouping and/or distributing piece goods. For example, the at least one manipulator can be connected to a control device, via which the at least one manipulator can be controlled in order to form a grouping for a respective container from several piece goods. Packaging material can then be applied to the grouping, as described below, in order to combine the respective piece goods of the grouping into a respective container.

Furthermore, it may be that the at least one manipulator is connected to a control device, via which the at least one manipulator can be controlled in order to supply a piece goods stream with a number m guided in parallel rows with a number of m form, where the number n differs from the number m. It is conceivable that the number n is larger than the number m. In further embodiments, the number n may be designed to be smaller than the number m.

In particularly preferred embodiments, at least one further manipulator is arranged downstream of the at least one manipulator in the manipulation area, which at least one further manipulator is designed for applying preferably thermoplastic packaging material to the distributed and/or grouped piece goods. The at least one manipulator and the at least one further manipulator can each be modified for different work processes via the at least one handling device.

At least one conveyor belt can extend over the manipulation area and passes through the at least one manipulator. The at least one conveyor belt can directly connect to the at least one horizontal conveyor device of the inlet. The piece goods can, if necessary, be moved in the direction of a shrinking device or forwarded to a shrinking device via the at least one conveyor belt.

For preferred embodiments, at least one first conveyor belt is assigned to the at least one manipulator. In addition, at least one further conveyor belt can be assigned to at least one further manipulator, which is connected to the at least one manipulator and is designed to apply packaging material to piece goods. The at least one further conveyor belt can have a higher transport speed than the at least one first conveyor belt, so that for the purpose of grouping piece goods, leading piece goods are accelerated compared to lagging piece goods when crossing onto the at least one further conveyor belt.

In the manipulation area or in the area of the at least one manipulator and/or the at least one further manipulator, guide elements can be arranged which extend parallel and in the transport direction of the piece goods. In conceivable embodiments, the guide elements can be exchanged and/or their relative distance from one another can be adjusted via the at least one handling device described below.

The at least one manipulator can include several dividing fingers or dividing rods, which come into contact with groupings in order to align piece goods of a respective grouping flush. The dividing fingers or dividing rods can be guided all around.

Furthermore, it may be that the at least one manipulator has a conveyor belt which is clocked and/or operated at varying transport speeds in order to form a respective grouping from several piece goods. At least one further conveyor belt of the at least one further manipulator present in preferred embodiments can be directly connected to the conveyor belt of the at least one manipulator, which is operated in a clocked manner and/or with a varying transport speed.

The at least one further manipulator can comprise a wrapping unit over which the packaging material is placed around a group of piece goods. The wrapping unit can include several circumferential wrapping elements or wrapping rods, which place the packaging material around the respective grouping of piece goods. The wrapping elements or impact rods can emerge from below a transport level of the piece goods over the transport level, then place the thermoplastic packaging material around the respective grouping of piece goods and then descend below the transport level of the piece goods.

In preferred embodiments, the system can have at least one shrinking device, which follows the at least one further manipulator and via which the thermoplastic packaging material can be shrunk onto the respective grouping of piece goods via temperature application. The at least one shrinking device may be part of the working section of the system. The at least one shrinking device can be designed as a shrink tunnel and thus have a housing into which groupings of piece goods enter and which the groupings leave as finished containers after the packaging material or the thermoplastic packaging material has been shrunk on. The at least one handling device can be designed to receive containers. Particularly in the event that the system or the shrinking device is to be taken out of operation, embodiments have proven useful in which the at least one handling device for receiving containers Leaving the shrinking device is formed. The at least one handling device can replace an empty route.

The at least one shrinking device can have a horizontal conveyor device in order to transport groupings of piece goods together with their respective packaging material or their respective thermoplastic packaging material. The horizontal conveyor device of the at least one shrinking device can connect to the previously described at least one conveyor belt, which possibly passes the at least one manipulator and the at least one further manipulator.

1. a) der mindestens eine Manipulator und in bevorzugten Ausführungsformen auch der wenigstens eine weitere Manipulator für unterschiedliche Arbeitsprozesse modifizierbar sind und/oder über welche wenigstens eine Handhabungseinrichtung
2. b) für Stückgüter vorgesehene und im Verlauf der Arbeitsstrecke angeordnete Führungselemente austauschbar und/oder hinsichtlich ihrer relativen Beabstandung zueinander einstellbar sind und/oder über welche wenigstens eine Handhabungseinrichtung
3. c) auf bestimmte Stückgüter eingewirkt werden kann, welche sich in bzw. im Bereich der Arbeitsstrecke befinden und/oder über welche wenigstens eine Handhabungseinrichtung
4. d) Packmedien für wenigstens einen im Manipulationsbereich positionierten Manipulator bereitstellbar sind.

The system further comprises at least one handling device, which can be moved at least in sections along the working route and via which at least one handling device

1. a) the at least one manipulator and in preferred embodiments also the at least one further manipulator can be modified for different work processes and/or via which at least one handling device
2. b) guide elements intended for piece goods and arranged in the course of the working route are interchangeable and/or adjustable in terms of their relative spacing from one another and/or via which at least one handling device
3. c) certain piece goods can be influenced which are located in or in the area of the work route and/or via which at least one handling device
4. d) Packaging media can be provided for at least one manipulator positioned in the manipulation area.

In conceivable embodiments, the system according to the invention can comprise a driverless transport system or AGV, wherein the at least one handling device is a component of the driverless transport system designed as a driverless transport vehicle. The driverless transport system can comprise at least one optical, magnetic and/or inductive guideline, with the at least one handling device designed as a driverless transport vehicle with the aid of the at least one optical, magnetic and/or inductive Guideline can be moved at least in sections along the work route. The driverless transport system can also include several transponders, with the at least one handling device designed as a driverless transport vehicle being movable at least in sections along the working route with the aid of the several transponders. It is also conceivable that the at least one handling device designed as a driverless transport vehicle is designed to be movable at least in sections along the working route using laser triangulation and/or GPS.

As previously mentioned, the at least one manipulator can include several dividing fingers or dividing rods in order to align piece goods of a respective grouping flush. It is conceivable here that the plurality of dividing fingers or dividing rods can be exchanged by means of the at least one handling device or that the at least one handling device is designed for exchanging the plurality of dividing fingers or dividing rods.

It is also conceivable that the impact elements or impact rods of the at least one further manipulator can be exchanged by means of the at least one handling device. For this purpose, the at least one handling device can comprise a working tool, for example a clamping and/or gripping device, in order to receive the plurality of impact rods and/or dividing rods and replace them with further impact elements or impact rods.

A control device can be provided which is connected to the at least one handling device and which specifies a method or a movement of the at least one handling device along the working route.

At least over a certain section of the manipulation area, piece goods and/or groups of piece goods can be steered by guide elements, such as guide rails or the like. As already mentioned above, guide elements can be provided, particularly in the area of the inlet and/or in the manipulation area. In preferred embodiments, the at least one handling device can independently replace or exchange guide elements or guide rails. Here too, it is conceivable that the at least one handling device for exchanging or replacing the guide elements or guide rails is a work tool and in particular a clamping and/or Has gripping device. In further conceivable embodiments, it may be that the at least one handling device is designed to adjust or adapt the relative distance of several guide elements to one another. For this purpose, the at least one handling device can comprise a swivel arm, by means of which swivel arm the at least one handling device can adjust the relative distance of several guide elements or guide rails from one another. The at least one handling device can therefore be designed as a two-axis robot and/or as a three-axis robot.

In order to apply packaging material to groupings of piece goods, it must be ensured that the at least one further manipulator is supplied with packaging material. For this purpose, the at least one handling device can provide packaging material for the at least one further manipulator. In conceivable embodiments it can also be provided that groupings of piece goods are positioned on a cardboard box before the groupings possibly enter the shrinking device already mentioned as part of preferred embodiments. For this purpose, the at least one handling device can provide cardboard boxes and, if necessary, transport the cardboard boxes along the work route. For example, the groupings of piece goods can be positioned on cardboard boxes via the at least one manipulator or via the at least one further manipulator. In further embodiments, an additional manipulator can be located in the manipulation area or along the work route, which positions groups of piece goods on cardboard boxes. The additional manipulator can be supplied with cardboard boxes or packaging material via the at least one handling device.

In preferred embodiments of the present invention, an optical detection device can be provided for detecting an orientation of piece goods in the area of the working route. The optical detection device can be arranged on the at least one handling device and can thus be moved along the working route at least in sections together with the at least one handling device. It can also be that the optical detection device is positioned in a stationary manner in the area of the at least one manipulator and/or in the area of the at least one further manipulator and/or in the area of the inlet.

1. i) die wenigstens eine Handhabungseinrichtung via die Steuerungseinrichtung zum Einwirken auf bestimmte Stückgüter ansteuerbar ist und/oder dass
2. ii) Informationen zum Abweichen einer Ist-Orientierung von einer vorgegebenen Soll-Orientierung auf einer mit der Steuerungseinrichtung in Verbindung stehenden Anzeigeeinheit darstellbar sind.

Furthermore, a control device can be provided which is connected to the optical detection device and is designed to compare the actual orientation of piece goods with a predetermined target orientation of piece goods. If the actual orientation deviates from the specified target orientation, it can be provided that

1. i) the at least one handling device can be controlled via the control device to act on specific piece goods and/or that
2. ii) information about the deviation of an actual orientation from a predetermined target orientation can be displayed on a display unit connected to the control device.

For example, it may be that a visual indication is output on the display unit if an actual orientation of one or more piece goods deviates from a predetermined target orientation. The at least one handling device can be controlled via the control device in such a way that the at least one handling device transfers certain piece goods whose actual orientation deviates from the target orientation into the target orientation or brings them into the target orientation. It can also be the case that the at least one handling device can be controlled via the control device in such a way that the at least one handling device separates out certain piece goods whose actual orientation deviates from the target orientation.

For example, it is conceivable that one or more piece goods tip over in the manipulation area or are unintentionally displaced or moved. If this is the case, the control device can detect a deviation of the actual orientation from a target orientation. Following this, the at least one handling device can be controlled by the control device for erecting or correcting the orientation of the respective piece goods whose actual orientation deviates from the target orientation.

In conceivable embodiments, the at least one handling device can have a work tool or a clamping and/or gripping device, via which the at least one handling device can receive and align piece goods. The clamping and/or gripping device can be arranged on the swivel arm, to which reference has already been made previously.

The optical detection device can, for example, be designed as a camera system or comprise at least one camera system. The optical detection device can also include a light barrier or several light barriers for detecting the orientation of piece goods in the manipulation area or along the work route.

If information about the deviation of an actual orientation from a predetermined target orientation can be displayed on a display unit connected to the control device, it can be provided that the display unit is designed as a display.

A rail system can also be provided. The at least one handling device can be moved at least in sections along the working route with the aid of the rail system. For this purpose, the rail system can run linearly along the work route.

In practice, embodiments have proven successful in which the rail system is positioned at a vertically higher level compared to the at least one horizontal conveyor device of the inlet. The at least one handling device can be attached to the rail system in a hanging manner or fixed to the rail system in a hanging manner and, if necessary, can be moved in a hanging manner along the rail system. In order to move the at least one handling device precisely along the working route, it can also be provided that the at least one handling device comprises at least one laser scanner. The at least one handling device can be movable at least in sections along the working route in operative connection with the at least one laser scanner. In further conceivable embodiments, the at least one handling device, as already mentioned above, can be connected to a satellite-based navigation system for its movement.

In particular, embodiments have proven successful in which the at least one handling device comprises at least one articulated arm robot. The at least one articulated arm robot can have at least 4 and preferably at least 5 pivot axes. An axis can be designed as a vertically oriented axis of rotation for the at least one handling device. Several axes can be used as joint axes of a swivel arm of the at least one handling device be trained. In further embodiments, the at least one handling device can be designed, for example, as a parallel kinematics robot.

Embodiments in which the at least one handling device can be moved along the entire working route have also proven successful. The at least one handling device can thus move into the area of the inlet and into the area of the at least one shrinking device and pass through the manipulation area. Due to the associated large range of the at least one handling device, it is conceivable that the at least one handling device takes on several tasks. For example, the at least one handling device can thereby bring about a previously described modification of the at least one manipulator and/or the at least one further manipulator and can also act on certain piece goods which are located in the course or in the area of the work route.

The invention also relates to a method for carrying out manipulation tasks in the area of a work route with the aid of at least one handling device. Features that have already been described previously for various embodiments of the system can also be provided for various embodiments of the method described below and are not mentioned redundantly. Conversely, features described below, which relate to various embodiments of the method according to the invention, can be provided in conceivable embodiments of the system according to the invention.

The working route includes an inlet over which a large number of piece goods are transported in the mass flow. Furthermore, a manipulation area following the inlet with at least one manipulator, with piece goods being grouped and/or distributed via the at least one manipulator.

In preferred embodiments, the at least one manipulator can be followed by at least one further manipulator, with preferably thermoplastic packaging material being applied to grouped and/or distributed piece goods via the at least one further manipulator, the at least one handling device being used for the at least one further manipulator as part of a work process different work processes modified.

It may be that the working route includes a shrinking device, by means of which packaging material is shrunk onto the groupings of piece goods. For example, the at least one further manipulator can each equip the groupings with thermoplastic packaging material, which is subsequently shrunk onto the respective grouping using a shrinking device. The at least one further manipulator can also apply cellulose-containing packaging material to the respective grouping and fix or secure individual piece goods of the respective grouping to one another using the cellulose-containing packaging material.

• Bewegen der wenigstens einen Handhabungseinrichtung entlang der Arbeitsstrecke in einen bestimmten Arbeitsbereich,
• Durchführen eines Arbeitsvorgangs durch die wenigstens eine Handhabungseinrichtung im bestimmten Arbeitsbereich, bei welchem Arbeitsvorgang die Handhabungseinrichtung
• a) den mindestens einen Manipulator für unterschiedliche Arbeitsprozesse modifiziert und/oder
• b) für Stückgüter vorgesehene und im Verlauf der Arbeitsstrecke angeordnete Führungselemente austauscht und/oder hinsichtlich ihrer relativen Beabstandung zueinander einstellt und/oder
• c) auf bestimmte Stückgüter einwirkt und/oder
• d) Packmedien für wenigstens einen im Manipulationsbereich angeordneten Manipulator bereitstellt.

The method according to the invention comprises the following steps:

• Moving the at least one handling device along the working route into a specific working area,
• Carrying out a work process by the at least one handling device in the specific work area, in which work process the handling device
• a) the at least one manipulator is modified for different work processes and/or
• b) replaces guide elements intended for piece goods and arranged in the course of the work route and / or adjusts their relative spacing to one another and / or
• c) affects certain general cargo and/or
• d) provides packaging media for at least one manipulator arranged in the manipulation area.

It can also be provided that the at least one handling device modifies the at least one manipulator and the previously described at least one further manipulator for different work processes in the context of several work processes.

The at least one handling device can be designed as a driverless transport vehicle, which moves along the work route into the specific work area as part of a driverless transport system or which, as part of a driverless transport system, travels along the work route to the specific work area.

In preferred embodiments, it can also be provided that an orientation of piece goods in the area of the working route is detected optically, with the at least one handling device carrying out an alignment correction of this at least one piece goods if an actual orientation of at least one piece goods deviates from a target orientation and/or this at least one piece of cargo is removed from the area of the work route. The actual orientation of the piece goods can be recognized, for example, with the help of a camera system.

Furthermore, it may be that piece goods in the area of the work route are checked for damage and/or contamination with the aid of optical detection, with the at least one handling device removing damaged and/or dirty piece goods from the area of the work route. If general cargo has been removed from the area of the working route, it is conceivable that the at least one handling device replaces the respective damaged and/or dirty general cargo with one non-damaged and/or non-contaminated general cargo or several non-damaged and/or non-contaminated general cargo .

It is also conceivable that if an actual orientation of at least one item deviates from a predetermined target orientation and/or if damage and/or contamination is optically detected, information is displayed on a display unit.

• Figur 1 zeigt eine schematische Ansicht einer denkbaren Ausführungsform eines erfindungsgemäßen Systems;
• Figur 2 zeigt eine schematische Ansicht einer weiteren denkbaren Ausführungsform eines erfindungsgemäßen Systems.
• Figur 3 zeigt eine schematische Perspektivansicht einer weiteren Ausführungsform des erfindungsgemäßen Systems;
• Figur 4 zeigt die Ausführungsform des Systems aus Figur 3 unter Verdeutlichung weiterer Aspekte;
• Figur 5 zeigt eine schematische Perspektivansicht einer weiteren Ausführungsform des erfindungsgemäßen Systems;
• Figur 6 zeigt die Ausführungsform des Systems aus Figur 5 unter Verdeutlichung weiterer Aspekte;
• Figur 7 zeigt eine schematische Perspektivansicht einer weiteren Ausführungsform des erfindungsgemäßen Systems.

In the following, exemplary embodiments will explain the invention and its advantages in more detail using the attached figures. The proportions of the individual elements in the figures do not always correspond to the real proportions, as some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

• Figure 1 shows a schematic view of a conceivable embodiment of a system according to the invention;
• Figure 2 shows a schematic view of a further conceivable embodiment of a system according to the invention.
• Figure 3 shows a schematic perspective view of a further embodiment of the system according to the invention;
• Figure 4 shows the embodiment of the system Figure 3 clarifying further aspects;
• Figure 5 shows a schematic perspective view of a further embodiment of the system according to the invention;
• Figure 6 shows the embodiment of the system Figure 5 clarifying further aspects;
• Figure 7 shows a schematic perspective view of a further embodiment of the system according to the invention.

Identical reference numbers are used for elements of the invention that are the same or have the same effect. Furthermore, for the sake of clarity, only reference numbers that are necessary for the description of the respective figure are shown in the individual figures. The illustrated embodiments merely represent examples of how the invention can be designed and do not represent a final limitation.

Figure 1 shows a schematic view of a conceivable embodiment of a system 1 according to the invention. The system 1 is intended for generating groupings 6 from several piece goods 5 and combining the groupings 6 via packaging material 4, in the present case designed as thermoplastic packaging material 4a.

For this purpose, the system 1 includes an inlet 3 with a horizontal conveyor 11. Piece goods 5 stand on the horizontal conveyor 11 and are transported in the mass flow. Leading piece goods 5 are in contact with immediately following piece goods 5.

In preferred embodiments, the inlet 3 comprises a plurality of guide rails extending parallel to one another, with the aid of which the piece goods 5 are moved in several parallel paths.

Immediately following the inlet 3 or the horizontal conveyor 11 is a manipulation area 22 with a first manipulator 10 and a further manipulator 20, which is arranged downstream of the first manipulator 10. About the first manipulator 10 is A respective grouping 6 is formed from several piece goods 5 by accelerating leading piece goods 5 of a group 6 compared to lagging piece goods 5 of another group 6. The horizontal conveyor 11 of the inlet 3 is operated intermittently or at a variable transport speed. A conveyor belt 12 of the first manipulator 10 has a higher transport speed than the horizontal conveyor 11 of the inlet 3. In order to align the respective piece goods 5 of a grouping 6 flush, dividing elements 8 are provided, which come into contact with piece goods 5 of a respective grouping 6. The movement speed of the dividing elements 8 essentially corresponds to the transport speed of the conveyor belt 12.

The further manipulator 20, which follows the first manipulator 10 in the manipulator area 22, applies thermoplastic packaging material 4a to the groupings 6 formed via the first manipulator 10. Meanwhile, the groupings 6 stand on a conveyor belt 21, which passes the further manipulator 20 or which transports the groupings 6 during the application of thermoplastic packaging material 4a. In the further manipulator 20, groupings 6 are wrapped with thermoplastic packaging material 4a. For this purpose, the further manipulator 20 can have several impact means or impact rods.

The groupings 6 then leave the further manipulator 20 and are moved in the direction of a shrinking device 30 arranged downstream of the further manipulator 20, which is designed as a shrink tunnel. By means of the shrinking device 30 or by means of the shrinking tunnel, the thermoplastic packaging material 4a, which was applied to the groupings 6 by the further manipulator 20, is shrunk onto the respective grouping 6 of piece goods 5 by applying temperature.

The piece goods 5 or the groupings 6 then leave the shrinking device 30 as a finished container 7 and are, if necessary, transported towards a palletizing station, not shown.

A handling device 9 can also be seen, which runs along the working route AS, as in Figure 1 can be indicated, moved or moved using arrows. The working section AS extends over the inlet 3, the manipulation area 22 and the shrinking device 30. The handling device 9 has a swivel arm 14 that can be rotated about several parallel axes. In addition, the entire handling device 9 can rotate about a vertical axis.

The handling device 9 is off in the exemplary embodiment Figure 1 designed as a driverless transport vehicle and can be moved or moved with high accuracy along the work route AS as part of a driverless transport system. For this purpose, a guideline (not shown in the figures of this patent application) is laid along the working route AS as a track guide, which the handling device 9 can follow. Embodiments in which, for example, an optical, magnetic and/or inductive guide line is laid along the working route AS have proven successful in practice. The handling device 9 can, if necessary, have a camera, a Hall sensor and/or an antenna, use the camera, the Hall sensor and/or the antenna to detect the course of the guide line and thereby move along the working route AS.

If a product change is to take place for the system 1 or containers 7 are to be formed from piece goods 5 with different geometries in succession, it may be that the first manipulator 10 and/or the further manipulator 20 have to be modified or adapted for this purpose. For example, it may be necessary for the dividing elements 8 to be replaced by further dividing elements 8. For this purpose, the handling device 9 can travel independently along the working route AS and replace the dividing elements 8 autonomously. A movement of the handling device 9 along the working route AS is specified via a control device S, which is connected to the handling device 9 for this purpose.

Furthermore, in practice, it may be that piece goods 5 tip during their movement or transport from the inlet 3 in the direction of the shrinking device 30, so that this results in problems in the production of groupings 6 or in the production of containers 7. An optical detection device or a camera system can therefore be arranged in the area of the work route AS and/or on the handling device 9, which detects an actual orientation of the piece goods 5 located in the area of the work route AS and transmits information about this to the control device S. The control device S can then compare the respective actual orientation with a predetermined target orientation. If the actual orientation deviates from the specified target orientation, the handling device 9 can be moved along the by means of the control device S Working route AS can be moved and the actual orientation of the respective piece goods 5 corrected.

In order to be able to apply thermoplastic packaging material 4a to groupings 6 via the further manipulator 20, the further manipulator 20 must have sufficient thermoplastic packaging material 4a available for this purpose. In the prior art, the thermoplastic packaging material 4a is provided manually to the further manipulator 20. The handling device 9 is off in system 1 Figure 1 able to travel along the work route AS and supply the further manipulator 20 with packaging media or thermoplastic packaging material 4a. The movement or the method of the handling device 9 is specified via the control device S.

For example, it may be that in the area of the further manipulator 20 a sensor or several sensors are provided, via which a supply status of the further manipulator 20 with thermoplastic packaging material 4a can be detected. The one sensor or the multiple sensors can be connected to the control device S, which can move the handling device 9 taking into account the supply status in order to continuously provide the further manipulator 20 with sufficient thermoplastic packaging material 4a.

As already mentioned, several guide elements or guide rails can be provided in the area of the inlet 3, by means of which the piece goods 5 are transported or guided in parallel paths. If a product change takes place or in order to adapt the guide elements to piece goods 5 with different geometries, their relative spacing from one another must be adjusted. In practice, the relative spacing of two adjacent guide rails or guide elements from one another essentially corresponds to the maximum diameter of the respective piece goods 5 to be transported via the horizontal conveyor device 11 of the inlet 3. For this purpose, the control device S can cause the handling device 9 to move along the working route AS, see above that the handling device 9 is then located in the area of the inlet 3 and independently adjusts or sets the relative distance between adjacent guide rails to one another. If an exchange of guide elements or guide rails is necessary in order to be able to transport piece goods 5 in parallel paths, the handling device 9 can have a work tool or with one Work tool are connected, via which work tool the handling device 9 can carry out the replacement of the guide elements or guide rails. The exchange can also be specified or initiated via the control device S, which moves the handling device 9 along the working route AS for this purpose.

If the system 1 is to be taken out of operation, all groupings 6 or containers 7 that are located within the shrinking device 1 must be moved out of the shrinking device 1. Since these are not initially processed further, it can be provided that the handling device 9 is moved into the area of the shrinking device 30 and receives containers 7 that leave the shrinking device 30 and, if necessary, places or deposits them on a buffer.

In practice, embodiments have also proven successful in which, as already mentioned above, an optical detection device or a camera system is provided. By means of the optical detection device, the actual orientation of the piece goods 5 can be determined at least in a partial area of the working route AS. Furthermore, the functioning of the system 1 can be observed using the optical detection device. Since the optical detection device is connected to the control device S, information about the functioning of the system 1 can be output on a display unit or a display which is coupled to the control device S. If an actual orientation of piece goods 5 deviates from a predetermined target orientation, a user can be informed about this via the display unit or the display.

The inlet 3, the manipulation area 22 and the shrink tunnel 30 form in the exemplary embodiment Figure 1 a packaging line for piece goods 5. As already mentioned above, the handling device 9 is designed as a driverless transport vehicle. Here, the handling device 9, which is designed as a driverless transport system, has the possibility of switching between several packaging lines Figure 1 to change or tasks in several packaging lines Figure 1 to be carried out. In order to move the handling device 9 between the multiple packaging lines, guidelines can also be provided as tracking between the multiple packaging lines. In further embodiments, the handling device 9 can, for example, under Switch between individual packaging lines using satellite-based navigation and/or laser triangulation.

Figure 2 shows a schematic view of a further conceivable embodiment of a system 1 according to the invention. Part of the system 1 Figure 2 are also an inlet 3, a manipulation area 22 and a shrinking device 30. The inlet 3, the manipulation area 22 and the shrinking device 30 can be made according to the exemplary embodiment Figure 1 be trained.

Furthermore, the handling device 9 can be seen, which has a swivel arm 14. According to the exemplary embodiment Figure 1 The handling device 9 can be moved selectively into the area of the inlet 3, into the manipulation area 22 or into the area of the shrinking device 30. Figure 2 now shows a rail system 24 to which the handling device 9 is mechanically coupled. With the aid of the rail system 24, the handling device 9 is moved or moved along the working route AS. The movement or the movement of the handling device 9 is further specified via the control device S.

Figure 3 shows a schematic perspective view of a further embodiment of the system 1 according to the invention. According to the previous exemplary embodiments from the Figures 1 and 2 has system 1 from the exemplary embodiment Figure 3 an inlet 3, via which piece goods 5 can be moved in several rows in the direction of a downstream manipulation area 22.

The manipulation area 22 has a first manipulator 10 and a second manipulator 20, with packaging material 4 (cf. Figure 1 ) can be applied to piece goods 5.

The inlet 3, the first manipulator 10 and the second manipulator 20 each have a frame construction and are designed as modules, with the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second manipulator 20 designed as a module being blocked or can be set up immediately one behind the other and work together to pack general cargo 5. The inlet 3 designed as a module, the first manipulator 10 designed as a module and the second manipulator 20 designed as a module form this a packaging line for piece goods 5. A rail system 24 is positioned along the packaging line, via which the handling device 9 can move along the packaging line or along a working route AS running over the entire longitudinal extent of the packaging line. The rail system 24 is directly connected laterally to the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second manipulator 20 designed as a module and rests on a floor surface. The formation of the individual modules using their frame construction or the blocked installation is still in practice Figure 4 clearly visible. The individual technical components, which are designed as components of the module, were in Figure 4 not shown for reasons of clarity.

Figure 5 shows a schematic perspective view of a further embodiment of the system 1 according to the invention. According to the exemplary embodiment from the Figures 3 and 4 has the system 1 of the exemplary embodiment Figure 5 an inlet 3 designed as a module, a first manipulator 10 designed as a module and a second manipulator 20 designed as a module, the inlet 3, the first manipulator 10 and the second manipulator 20 being blocked or set up immediately one after the other and in this case a packaging line for piece goods 5 (cf. Figure 1 ) form. The setup of the system 1 of the embodiment Figure 5 therefore corresponds to the setup of system 1 of the embodiment from the Figures 3 and 4 .

The system 1 further comprises a rail system 24, which is at a vertically higher level compared to a transport level for piece goods 5. A handling device 9 is arranged hanging on the rail system 24, which handling device 9 can be moved along the rail system 24 or can move along the work route AS via the rail system 24 and thereby, if necessary, travel to a work area and, after reaching the work area, carry out manipulation tasks for the packaging line . Figure 6 further shows the embodiment of system 1 Figure 5 , although for reasons of clarity, individual technical components were not shown. In particular shows or clarifies Figure 6 again the blocked or immediately successive installation of the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second manipulator 20 designed as a module. The rail system 24 adjoins the frame construction of the individual modules directly to the side and is located as before already mentioned, on a vertical higher level compared to a transport level for piece goods 5 formed by system 1.

Figure 7 shows a schematic perspective view of a further embodiment of the system 1 according to the invention. The system 1 of the embodiment Figure 7 has an inlet 3 and a manipulation area 22, which inlet 3 and which manipulation area 22 correspond to the embodiments Figures 3 to 6 correspond and in Figure 7 are only indicated schematically. The inlet 3 and the manipulation area 22 form a packaging line for piece goods 5.

The system 1 further comprises two rail systems 24, with a first rail system 24 extending along the entire working route AS and resting on a floor surface or being positioned in the area of a floor surface.

Another second rail system 24 is located at a vertically higher level than the first rail system 24 and extends over a section of the working route AS. A separate handling device 9 is provided for each rail system 24, whereby the handling devices 9 can be moved along their respective rail system 24 and, if necessary, carry out manipulation tasks for the packaging line after reaching a respective work area. Both handling devices 9 can be coupled to a control unit, not shown in the figures of this patent application, which selectively controls the two handling devices 9 depending on a respective manipulation task to be carried out for the packaging line and, if necessary, moves them along their respective rail system 24.

Figure 7 further shows that the handling device 9, which is connected to the rail system 24 positioned in the area of the floor surface, is arranged on a pedestal 16 in order to increase the vertical working level for the handling device 9 for carrying out manipulation tasks. In practice, several platforms 16 can be provided, which provide different vertical height levels for the handling device 9 and can be selectively attached to the rail system 24.

For reasons of completeness, it should also be mentioned that in conceivable embodiments an entire rail system 24 together with its respective handling device 9 can be designed to be vertically movable or vertically raised and lowered in order to adapt a respective height level for the handling device 9. For example, the respective rail system 24 can be connected to at least one hydraulic or pneumatic actuator, which vertically raises or vertically lowers the respective rail system 24 if necessary. The at least one hydraulic or pneumatic actuator can also be actuated via a control unit.

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

Reference symbol list

1

system

3

Intake

4

packing material

4a

Thermoplastic packaging material

5

general cargo

6

grouping

8th

One-part element

7

container

9

Handling device

10

First manipulator

11

Horizontal conveyor device

12

Conveyor belt (first manipulator)

14

Swing arm

16

Pedestal

20

Another manipulator

21

Conveyor belt (another manipulator)

22

Manipulation area

24

Rail system

30

shrink device

AS

work route

S

Control device

Claims (17)

1. A system (1) for grouping and/or distributing piece goods (5), the system (1) comprising a work path (AS) with

   - an infeed (3), which has at least one horizontal conveyor (11), and via which a multitude of piece goods (5) are transportable in a mass flow,

   - and, following the infeed (3), a manipulation area (22) with at least one manipulator (10) for grouping and/or distributing piece goods (5),

   characterised in that the system (1) comprises at least one handling device (9), which is at least in sections movable along the work path (AS), and, via which at least one handling device (9),

   a) the at least one manipulator (10) is modifiable for different work processes, and/or, via which at least one handling device (9),

   b) guide elements provided for piece goods (5) and arranged in the course of the work path (AS) are exchangeable and/or adjustable in terms of their relative spacing to each other, and/or, via which at least one handling device (9),

   c) it can be acted upon specific piece goods (5) that are situated in the course of the work path (AS), and/or, via which at least one handling device (9),

   d) packaging means are suppliable for at least one manipulator (10, 20) positioned in the manipulation area (22).
2. The system according to claim 1, in which at least one further manipulator (20) is arranged downstream from the at least one manipulator (10) in the manipulation area (22), which at least one further manipulator (20) is designed to apply preferably thermoplastic packaging material (4) on the distributed and/or grouped piece goods (5), wherein, via the at least one handling device (9), the at least one manipulator (10) and the at least one further manipulator (20) are each modifiable for different work processes.
3. The system according to claim 1 or claim 2, comprising an optical detection device for detecting an orientation of piece goods (5) in the area of the work path (AS), as well as a control device (S), which is connected to the optical detection device, and which is designed to compare the actual orientation of piece goods (5) with a specified target orientation of piece goods (5), wherein, in the case of a deviation of an actual orientation from a specified target orientation,

   i) the at least one handling device (9) is controllable via the control device (S) to act upon specific piece goods (5), and/or

   ii) information on the deviation of an actual orientation from a specified target orientation is presentable on a display unit connected to the control device (S).
4. The system according to claim 3, in which the optical detection device is designed as a camera system.
5. The system according to claim 3 or claim 4, in which the display unit is designed as a display.
6. The system according to one or more of the claims 1 to 5, comprising a track system (24), wherein the at least one handling device (9) is movable at least in sections along the work path (AS) with the help of the track system (24).
7. The system according to one or more of the claims 1 to 6, comprising an induction loop positioned at least in sections along the work path (AS), wherein the at least one handling device (9) is movable at least in sections along the work path (AS) under operative connection to the induction loop.
8. The system according to one or more of the claims 1 to 7, in which the at least one handling device (9) comprises at least one laser scanner, wherein the at least one handling device (9) is movable at least in sections along the work path (AS) under operative connection to the at least one laser scanner.
9. The system according to one or more of the claims 1 to 8, in which the at least one handling device (9) comprises at least one articulated arm robot.
10. The system according to claim 9, in which the at least one articulated arm robot has at least 4, and preferably at least 5 swivel axes.
11. The system according to one or more of the claims 1 to 10, in which the work path (AS) comprises at least one shrinking apparatus (30), which follows upon the manipulation area (22), and by way of which thermoplastic packaging material (4a) is shrinkable via a temperature application onto a particular group (6) of piece goods (5) formed in the manipulation area (22).
12. The system according to one or more of the claims 1 to 11, in which the at least one handling device (9) is movable along the entire work path (AS).
13. A method for carrying out manipulation tasks in the area of a work path with the help of at least one handling device (9), which work path (AS)

    - comprises at least one infeed (3), via which a multitude of piece goods (5) are transported in a mass flow,

    - and, following the infeed (3), a manipulation area (22) with at least one manipulator (10), wherein piece goods (5) are grouped and/or distributed via the at least one manipulator (10),

    the method comprising the following steps:

    - moving the at least one handling device (9) along the work path (AS) into a specific working range,

    - carrying out a work procedure in the specific working range by way of the at least one handling device (9), in which work process the handling device (9)

    - a) modifies the at least one manipulator (10) for different work processes, and/or

    - b) exchanges guide elements provided for piece goods (5) and arranged in the course of the work path (AS) and/or adjusts the guide elements in terms of their relative spacing to each other, and/or

    - c) acts upon specific piece goods (5), and/or

    - d) supplies packaging means for at least one manipulator (10, 20) arranged in the manipulation area (22).
14. The method according to claim 13, in which at least one further manipulator (20) follows upon the at least one manipulator (10) in the manipulation area (22), by way of which at least one further manipulator (20) preferably thermoplastic packaging material (4a) is applied on grouped and/or distributed piece goods (5), wherein the handling device (9) modifies the at least one further manipulator (20) for different work processes in the context of a work procedure.
15. The method according to claim 13 or claim 14, in which an orientation of piece goods (5) is optically detected in the area of the work path (AS), wherein, in the case of a deviation of an actual orientation of at least one piece good (5) from a specified target orientation, the at least one handling device (9) carries out an alignment correction of this at least one piece good (5), and/or removes this at least one piece good (5) from the area of the work path (AS).
16. The method according to one or more of the claims 13 to 15, in which piece goods (5) are checked in the area of the work path (AS) for damages and/or dirt with the help of an optical detection, wherein the at least one handling device (9) removes damaged and/or dirty piece goods (5) from the area of the work path (AS).
17. The method according to claim 15 and/or 16, in which, in the case of a deviation of an actual orientation of at least one piece good (5) from a specified target orientation and/or in the case of an optical detection of a damage and/or dirt, information is presented on a display unit.

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