WO2003053826A1

WO2003053826A1 - Method and device for palletizing

Info

Publication number: WO2003053826A1
Application number: PCT/EP2002/014535
Authority: WO
Inventors: Herwig Hirschek
Original assignee: Autefa Automation Gmbh
Priority date: 2001-12-20
Filing date: 2002-12-19
Publication date: 2003-07-03
Also published as: DE20120699U1

Abstract

The invention relates to a method and a device for palletizing multilayered pallet goods (30), particularly bottles, comprising a mechanical palletizing assembly (1) encompassing three separate palletizing structures (8, 9, 10). The pallet (26) is constructed by said palletizing structures at least at two separate palletizing locations (16, 17, 18, 19) by means of a base part (27), several layers of pallet goods (30), several intermediate layers (28) and a cover (29). The pallet (26) is prepared, arranged into layers, and completed at different locations.

Description

DESCRIPTION

Method and device for palletizing

The invention relates to a method and a device for palletizing with the features in the preamble of the main method and device claim.

From EP-1 073 598 B1 and practice

Palletizing devices are known which comprise a palletizing device or a maximum of two palletizing devices. The palletizers are equipped with gripping devices with which they can handle the palletized goods, intermediate layers in the form of cardboard bottoms or foils and a lid or

Handle the stabilization frame and stack it one after the other on a floor part, which is usually provided otherwise, to form the finished pallet.

It is an object of the present invention to show a better and more powerful palletizing technology.

The invention solves this problem with the features in the main method and device claim.

The various work steps in palletizing are carried out with different devices and preferably at different points on the palletizing device and can be carried out separately. The automated and fully automatic palletizing device has three separate palletizing devices with different individual functions for the construction of the pallet. This separation of functions enables palletizing to take place at optimum performance and speed. The performance is higher than the previously known

Palletizing. This is especially in connection with high-performance palletized goods infeeds ^' and one Pallet formation with complete palletized goods is an advantage. It is possible to apply the palletizing performance with a single palletizing device, which means a significantly reduced construction, space and investment expenditure compared to the prior art.

A further increase in performance is possible if the various functions during the construction of the pallet are distributed over several locally separated palletizing stations and in particular over several such palletising station pairs. This can e.g. the pallet preparation with the provision of the bottom part and an intermediate layer placed separately from the actual palletizing function and the stacking of the various layers of palletized goods with the inserted intermediate layers. As a result, the stacking process for the palletized goods can run without interruption. In addition, the stacked pallet can also be completed at a different location by placing a cover or stabilizing frame and possibly packing or strapping, which may be the same palletizing space as for the pallet preparation. With this procedure, the actual stacking processes for the palletized goods layers and the preparation and completion processes are locally separated and carried out with different process cycles, which allows optimization of the individual processes and functions.

Another problem can be solved by dividing the palletizing processes into different palletizing locations. The initially loosely stacked pallets can only be moved and transported slowly due to their relative instability. This conveying process takes a relatively long time, which can limit the speed gain in a single-place solution by using three palletizing devices. By the parallel arrangement of several pairs of spatially separated palletizing stations can lift this restriction. In addition to the times for the preparation and completion of the pallet, the transport time can also be decoupled from the working cycle of the layer construction. The stacking processes for the palletized goods layers and the intermediate layers can continue without interruption.

Further advantageous refinements of the invention are specified in the subclaims.

The invention is shown in the drawings, for example and schematically. Show in detail:

Figure 1: a plan view of a

palletizer

Figure 2 is an enlarged view of the arrangement of Figure 1 and

Figure 3: a pre-packed pallet in a schematic side view.

Figure 1 shows a fully automatic machine

Palletizing device (1), which is used to build up pallets (26), as shown in more detail in FIG. 3.

These pallets (26) consist of a base part (27) made of plastic, wood or the like, on which the subsequent layers are stacked. On the bottom part there is an intermediate layer (28) which can be made of cardboard, plastic or the like other suitable materials. On the intermediate layer (28) is a palletized material layer (30), which is shown in the

Embodiment is a bottle layer. Intermediate layers (28) and palletized goods layers (30) are in turn stacked thereon in alternating order. A further intermediate layer (28) is placed on the uppermost layer of palletized goods (30) and a cover (29) is arranged thereon, which can be, for example, a circumferential stabilizing frame made of wood, plastic or the like. The cover (29) can alternatively be an inverted bottom or the like of any other suitable construction. The top and bottom intermediate layer (28) can be omitted if necessary. At the end, the fully packed pallet (26) can be surrounded with a packaging (31). Stabilization bands, a film packaging, for example a shrink film or the like other packaging. The packaging can be attached inside or outside the palletizing device (1). In the exemplary embodiment shown, the packaging takes place outside the palletizing device (1) in a downstream packaging unit (not shown).

The palletizing device (1) comprises three automatic palletizing devices (8, 9, 10), which are different

Have individual functions to build the pallet. The palletizing devices (8,9,10) are arranged at at least two spatially separate palletizing places (16,17,18,19). The preparation and completion of the pallet (26) and the layer structure with the stacking of the palletized goods layers (30) take place at different locations. In the exemplary embodiment shown there are four palletizing stations (16, 17, 18, 19) which are arranged in two parallel pairs of palletising stations (16, 18 and 17, 19) connected to one another by two pallet conveyors (23).

In the embodiment shown, the palletizing device (1) is divided into two palletizing units (6, 7) arranged next to one another, which are connected to one another by the pallet conveyors (23). The palletizing devices (8,9,10) are also divided between the two palletizing units (6,7).

The first palletizing unit (6) shown in the

Exemplary embodiment is connected to a provision (2) for the palletized goods (30) described below, contains two palletizing devices (8, 9) and two palletizing stations (16, 17) on which the palletized goods layers (30) and the intermediate layers (28) are stacked on top of one another become. The two palletizing stations (16, 17) are arranged close to each other and are used by both Palletizing devices (8.9) operated. A storage (21) for intermediate layers (28) is arranged on the outside next to the one palletizing station (16). On the opposite side, next to the other palletizing station (17), there is the provision (2) for the palletized goods (30).

The second palletizing unit (7) contains the third palletizing device (10) and two likewise closely adjacent palletizing stations (18, 19), on which the aforementioned preparation and completion processes take place. The two palletizing stations (18, 19) are connected by the mentioned pallet conveyors (23) to the respectively associated palletising station (16, 17) for the layer structure. In the second palletizing unit (7), a supply (22) for the lid or stabilizing frame (29) is arranged next to the one upper palletizing station (18). In addition to the other lower palletizing station (19) there is a supply (20) for base parts (27) and a supply (21) for intermediate layers (28).

The stocks or storage spaces (20, 21, 22) can be designed as magazines for receiving one or more stacks of the base parts (27), intermediate layers (28) and cover (28). They are connected to parts conveyors (24), which in turn are connected to larger supply points via a cross or shunting conveyor (25) or one or more other conveyors. As a result, the supply points can be quickly supplied with new material. The pallet conveyors (23) can also be connected to one another and connected to a common, uniform output line (32) via the cross conveyor or maneuvering conveyor (25).

In the embodiment shown, the palletizing devices (8, 9, 10) are designed as robots with two or more axes, each of which consists of a portal-like frame (11) and one that can be moved to a sufficient height thereon trolley-like travel unit (12) exist. The travel units (12) each have a gripping device (13, 14, 15) which can be raised and lowered on the frame of the travel unit (12), can optionally also be rotated about the lifting axis and which is adapted to the part to be gripped ,

The palletizing devices (8, 9, 10) perform a multi-axis lifting movement in the embodiment shown. Alternatively, other kinematics, e.g. a shifting movement or the like is possible.

The gripping devices (13, 14, 15) can e.g. of suction pads, clamp grippers or the like for the palletized goods (30), e.g. Bottles. The goods to be palletized (30) can, if necessary, also be pushed over from the supply (2) to the palletizing station (16, 17) with a clamping slide, with the height being adjusted to the variable pallet height at one of the two points via a lifting table or the like.

In the first palletizing unit (6), the moving units (12) of the two robots (8, 9) are arranged on a common frame (11) and can be moved across the row of palletizing stations (16, 17) and the supply (21) as well as the Move staging (2) back and forth. The upper robot (9) has a gripping device (14) which is matched to intermediate layers (28) and can remove these from the supply (21) and place them on the palletizing station (16, 17). The other lower robot (8) has a gripping device (13) for the palletized goods (30), which preferably grips the entire palletized goods layer at the supply (2) and transfers them to the palletizing station (16, 17) in one go. Such palletizing in layers is particularly fast and efficient. Alternatively, the palletized goods can be picked up individually or in smaller groups and used to form pallets be implemented. The two robots (8.9) operate both palletizing stations (16.17) and work alternately.

The robot (10) on the second palletizing unit (7) is configured in a similar manner with its own frame (11), a travel unit and a gripping device (15). The gripping device (15) is preferably designed as a multifunctional gripper which can grip, transport and store both bottom parts (27) and intermediate layers (28) and lid (29) on the palletizing stations (18, 19). The robot (10) is decoupled from the stacking cycle of the preferably very fast high-performance robots (8, 9) in the first palletizing unit (6) and can be slower because for the preparation of the base part (27) with the intermediate layer (28) and for the completion of the stacked pallet with the support of the cover (29) and a possible intermediate layer (28) a relatively large amount of time is available. Alternatively, the robot (10) with individually functional and exchangeable grippers for base parts (27), intermediate layers (28) and

Cover (29) can be equipped, which can be replaced as required.

The provision (2) for the palletized goods (30), which are preferably already assembled in one layer, can be designed in any manner. In the exemplary embodiment shown, the palletized goods (30) consist of bottles, in particular plastic or glass bottles. These are fed from a bottle producer (not shown) via a feed conveyor (5) to a converter (3), which detects the bottles provided in one or more parallel rows with a corresponding gripping device, moves them to the side and onto one or more trays or intermediate carriers (4), the complete pallet-compatible bottle layer being formed on the trays (4). The converter (3) can, for example, have a structural design as in EP-1 073 598 B1 or WO 00/69760.

In the preferred embodiment, a tray (4) is arranged on both sides next to the transversely displaceable converter (3), which is moved by means of a suitable longitudinal conveyor, e.g. of a shuttle from the transfer position on the converter (3) to the ready position (2) on the first palletizing unit (6). Here, the trays (4) are loaded alternately and brought into the preparation (2). This enables uninterrupted feeding of palletized goods layers (30).

To form a pallet (26), the robot (10) first deposits a base part (27) at one of the two palletizing stations (18, 19) and an intermediate layer (28) is placed thereon. The bottom part (27) is then brought via the pallet conveyor (23) to the connected palletizing station (16, 17) in the first palletizing unit (6). Here, the robots (8, 9) alternately stack palletized goods layers (30) and intermediate layers (28) on top of one another. As soon as the stack is finished, the almost finished pallet (26) is brought back on the same pallet conveyor (23) back to the connected palletizing station (18, 19) in the second palletizing unit (7), where the robot (10) then removes the lid ( 22) and possibly an intermediate layer (28). This uppermost intermediate layer (28) can alternatively also be placed in the palletizing unit (6). The now completed pallet (26) is transported out of the second palletizing unit (7) and over the

Pallet conveyor (23) and possibly the marshalling conveyor (25) transported to the output line (32). The palletizing cycle can then begin again with the provision of a base part (27) and an intermediate layer (28) in the second palletizing unit (7). By arranging the palletizing stations (16, 17, 18, 19) in two pairs, overlapping palletizing cycles can be carried out. As illustrated in FIG. 1, a pallet is currently being built up in the first palletizing unit (6) at the upper palletizing station (16), the upper robot (9) placing an intermediate layer (28), while the lower robot (8) is no longer ready (2 ) already brings a palletized goods layer (30). The connected second palletizing station (18) is empty in this case, which is illustrated by the dashed representation of a bottom part.

During this palletizing cycle, an intermediate layer (28) is just placed on the already positioned base part (27) on the other palletizing station (19) in the second palletizing unit (7) on the robot (10). The associated palletizing station (17) in the first palletizing unit (6) is currently empty. As soon as the base part (27) is fully loaded, it is brought to the palletizing station (17) and is ready for the stacking process there, which can begin immediately when the pallet stack at the other palletising station (16) is finished and on the pallet conveyor (23). is transported away. The change in the stacking process from one palletizing station to the other (16, 17) can be done without delay. Sufficient time is available for the removal of the stacked and still unstable pallet (26) on the pallet conveyor (23), so that the conveying speed can be adapted to the pallet instability and slow. There is also enough time for the subsequent completion of the pallet with the lid support and the subsequent removal of the temporarily finished pallet (26) and the preparation of a new pallet. The cycle times during the stacking process or the so-called layer build-up at the palletizing stations (16, 17) in the first palletizing unit (6) are based on the cycle and transport times at the other palletising stations (18, 19) in the second Adjusted palletizing unit (7) so that there is preferably no interruption at least in the first palletizing unit (6).

Modifications of the embodiment shown are possible in various ways. Instead of the two-axis robots shown, the palletizing devices (8, 9, 10) can have any other constructional design, and e.g. be designed as a six-axis articulated arm robot. Basically, three palletizing devices can work on one palletizing station in the appropriate order of functions.

Furthermore, there can be more than two separate palletizing units (6, 7). Here, e.g. The pallets (26) are assembled in a continuous system on three palletizing units arranged one behind the other in the pallet conveying direction, the preparation of the pallets (26) taking place in the first palletizing unit and the completion of the pallets (26) taking place in the third palletizing unit. The completion can be combined with a packaging process.

A further increase in performance is possible if there are more than two pairings of palletizing stations (16, 17, 18, 19) lying next to one another on each palletizing unit (6, 7), for example three, four or more pairings. If necessary, several pallets can be set up simultaneously on different palletizing stations (16, 17) in the first palletizing unit (6). In this case, one of the available palletizing stations is kept ready for the pallet change, while at the other remaining palletizing stations a simultaneous stacking takes place with different stack progress. With, for example, four pairings, a simultaneous stacking takes place at three palletizing stations, while one at one palletizing station Pallet change takes place. As soon as a stack is finished, the pallet is extended and, at the same time, a new stack formation is started at the reserved palletizing place. As soon as the next stack is ready shortly afterwards, the previously emptied palletizing station is again loaded with a bottom part and an intermediate layer. Such a mixed operation results in a significantly higher capacity of the palletizing device.

in a further modification, a smaller number of palletizing positions (18, 19) can be kept in the second palletizing unit (7) for preparation and completion of the pallet, which can be sent to the palletizing positions (16, 17) in the via one or more intermediate conveyor conveyors with optional allocation first palletizing unit (6) are connected. By decoupling the palletizing units (6, 7) via intermediate conveyors or marshalling conveyors, the performance of the units can be coordinated with one another even better and more precisely.

The palletizing device (1) shown is suitable for any type of palletized goods (30). In addition to the bottles shown, these can also be cans, packages or the like other objects. They can also be fed to the provision (2) in a manner other than that described. Possibly. the layering and compilation of the individual palletizing goods can also take place at the provision (2). LIST OF REFERENCE NUMBERS

Palletizing device Provision of palletized goods converter Tray, intermediate carrier feed conveyor, bottle feeder Palletizing unit Palletizing unit Palletizing device, robot Palletizing device, robot Palletizing device, robot frame Travel unit Gripping device for palletized goods, bottle position Gripping device for intermediate layers Gripping device for bottom part and lid Palletizing place for layer build-up Palletizing position for preparation of position for palletizing position for position / Completion of the stock of the bottom part of the intermediate layer of the lid of the pallet conveyor, the part conveyor, the marshalling conveyor, the pallet of the bottom part of the intermediate layer of the lid, the stabilizing frame, the palletized goods, the bottle layer, the packaging, the tape and the film output line

Claims

1.) Process for palletizing multilayer

Palletizing goods (30), in particular bottles, with a mechanical palletizing device (1), - consisting of at least one palletizing device

(8,9,10), characterized in that the pallet (26) consists of a bottom part (27), several layers of palletized goods (30), several intermediate layers (28) and a lid (29) by three separate palletizing devices (8,9 , 10) is built up with individual functions.

2.) Method according to claim 1, characterized in that the pallet (26) is set up at at least two spatially separate palletizing locations (16, 17, 18, 19), the preparation, the layer structure and the completion of the pallet (26) take place in different places.

3.) Method according to claim 1 or 2, characterized in that the pallets (26) are set up in parallel on at least two pairs of locally separated palletizing stations (16, 18 and 17, 19), in each case on a first palletising station (18, 19 ) the pallets (26) are prepared with the base part (27) and possibly a first intermediate layer (28) and then transported to the assigned second palletizing station (16, 17), where the layer build-up with palletized goods (30) and intermediate layers (28) takes place, after which the pallet (26) is transported back to the assigned first palletizing station (18, 19) for completion.

4.) Method according to claim 1, 2 or 3, characterized in that the pallets (26) are assembled on the pairs of spatially separate palletizing stations (16, 18 and 17, 19) with overlapping palletizing cycles.

5.) Palletizing device, consisting of at least one palletizing device (8, 9, 10), characterized in that the palletizing device (1) has three separate ones

Has palletizing devices (8, 9, 10) with individual functions for constructing the pallet from a base part (27), several layers of palletized goods (30), intermediate layers (28) and a cover (29).

6.) Palletizing device according to claim 5, characterized in that the palletizing devices (8,9,10) are arranged at at least two locally separate palletizing places (16,17,18,19), the preparation, the layer structure and the completion of the pallet (26) take place in different places.

7.) Palletizing device according to claim 5 or 6, characterized g e k e n n z e i c h n e t that the

Palletizing device (1) has four or more palletizing stations (16, 17, 18, 19) which are arranged in two or more pairs, a pallet conveyor (23) being arranged between the paired palletising stations (16, 18, and 17, 19) ,

8.) Palletizing device according to claim 5, 6 or 7, characterized in that the palletizing devices (8,9,10) as multi-axis robots, preferably as 2-axis robots with a portal-like frame (11), a traveling unit (12) and one can be raised and lowered Gripping device (13,14,15) 'are formed.

9.) Palletizing device according to one of the preceding

Claims, characterized in that the palletizing device (1) has two spatially separate ones

Palletizing units (6, 7), wherein in the first palletizing unit (6) two palletizing stations (16, 17) and two palletizing devices (8, 9) are arranged for the layer construction from palletized goods (30) and intermediate layers (28) and the second palletizing unit

(7) has two palletizing stations (18, 19) and a palletizing device (10) for the preparation and completion of the pallet (26).

10.) Palletizing device according to claim 9, characterized in that in the first palletizing unit (6) the palletizing devices (8, 9) have a common frame (11).

11.) Palletizing device according to claim 9 or 10, characterized in that in the first palletizing unit (6) in addition to the two closely adjacent palletizing stations (16, 17) on both sides a supply (2) for palletized goods (30) in layer form and a supply (21 ) are arranged for intermediate layers (28).

12.) Palletizing device according to claim 9, 10 or 11, characterized in that in the second palletizing unit (6) in addition to the two closely adjacent palletizing stations (18,19) on both sides a stock for floor parts (20), a stock (22) for Lid (29) and a supply (21) for intermediate layers (28) are arranged.

13.) Palletizing device according to one of the preceding

Claims, characterized in that the palletizing device has pallet conveyors (23), parts conveyors (24) and at least one maneuvering conveyor (25).

14.) Palletizing device according to one of the preceding

Claims, characterized in that the provision (2) for the palletized goods (30) in the form of a layer comprises a converter (3) for the palletized goods (30) fed individually or in series by at least one conveyor (5) and one or more trays (4) for the formation and appropriate arrangement of palletized goods.