WO2014154523A1

WO2014154523A1 - Palletizing system

Info

Publication number: WO2014154523A1
Application number: PCT/EP2014/055366
Authority: WO
Inventors: Johann Kaussler
Original assignee: Siemens Aktiengesellschaft
Priority date: 2013-03-28
Filing date: 2014-03-18
Publication date: 2014-10-02
Also published as: EP2953873A1; DE102013205628A1

Abstract

A palletizing system (1) for handling crates (4) that comprise at least three stackable sub-crates (4A, 4B, 4C), having: a first and a second lifting device (2, 3) for vertically moving the crates (4) and/or sub-crates (4A, 4B, 4C) between first, second, third, fourth and fifth levels (I - V); a first holder device (6) linked to the first lifting device (2) on the second level (II) and designed to hold one of the sub-crates (4A, 4B, 4C) forming a crate (4); a conveyor device (9) located on the fifth level (V) and designed to move a sub-crate (4A, 4B, 4C) from the first lifting device (2) to the second lifting device (3); and a second holder device (11) linked to the second lifting device (3) on the second level (II) and designed to hold one of the sub-crates (4A, 4B, 4C) forming a crate (4). Using the palletizing system (1), the three sub-crates (4A, 4B, 4C) forming a crate (4) that has been delivered to the first lifting device (2) on the first level (I) can, for example, be transferred individually to the first level (I) via the fifth level (V) and the second lifting device (3).

Description

Description Palletizing System The present invention relates to a palletizing system and a method of operating the same. The palletizing system is particularly adapted for handling boxes or containers and allows, for example, the process and resorting of containers and potentially also the loading or emptying of the containers.

Palletizers or palletizing systems are used to combine packaged or workpieces on carriers and / or to remove. For example, boxes can be used as a carrier into which workpieces or components are inserted and removed. In this case, a picking of containers and workpieces is desired.

For example, palletizing robots with multiple axes have been used in the past. Simple linear robot or

Storage systems that simply transport boxes along a route and load them are also known. However, it is desirable and necessary to carry out palletizing in which, for example, the workpieces are present in several layers or else stackable carriers. Such complex Palettiervorgänge have been mostly made only manually.

It is therefore an object of the present invention to provide an improved palletizing system, which in particular can automatically handle containers with multiple trays or carriers.

Accordingly, a palletizing system for handling boxes comprising at least three stackable part boxes is proposed. The palletizing system includes:

a first and a second lifting device for vertically moving the boxes and / or the partial boxes between a first, second, third, fourth and fifth levels; a first holding device, which is associated in the second level of the first lifting device and is adapted to hold one of the part boxes of a box;

a conveyor arranged in the fifth plane and arranged to move a part box from the first lifting device to the second lifting device; and

a second holding device, which is assigned in the second level of the second lifting device and is adapted to hold one of the part boxes of a box.

The palletizing system provides essentially linear movements, that is to say translations of the boxes and partial boxes to be palletized or handled. The lifting devices are configured, for example, in the manner of movable ramps, stages or bearing surfaces parallel next to each other.

With the help of the holding devices, depending on the exact position of the cases moved by the respective lifting device one of the part boxes can be held, so that the boxes are separated during the further process of the respective lifting device. Due to the fünfebigen embodiment, it is possible with

Help the Palettiersystems three stacked boxes each individually or transported together, to separate and / or reassemble. In this respect, the palletizing system allows a transport, a separation and / or a composition of the boxes.

So far, corresponding three-piece boxes had to be handled manually. The palletizing system is particularly suitable for handling Euronorm crates, which have certain dimensions and can be divided into three trays or partial crates. The partial boxes are then stacked on top of each other. Furthermore, the boxes usually have a cover for dust protection of the workpieces or components provided therein. In embodiments, the palletizing system further comprises a further conveying device, which is assigned in the fourth level of the first lifting device and is arranged to move a part of the first box to a case of emptying or filling station.

By the conveyor, which essentially allows a horizontal movement, for example by moving or a conveyor belt of sub-boxes, they can be equipped or emptied parallel to further displacement or lifting operations.

The palletizing system may further comprise a handling device for removing and depositing a lid of a box or partial box. The handling device is assigned in the third level of the first lifting device. This makes it possible, for example with the aid of a nipple, gripper or actuator, to remove a possibly provided cover on a part box, so that it subsequently, for example, in one of the other levels by a corresponding conveyor an emptying or

Filling station can be supplied.

In embodiments, the palletizing system further comprises a further handling device for placing a lid of a box or partial box, wherein the further handling device is then assigned in the third plane of the second lifting device. In particular, this makes it possible to set up a previously removed cover, which may be stored in the third plane, on a part box transported vertically by means of the second lifting device.

It is made possible with the help of the palletizing system that in particular a three-part box, such as a Euronorm crate with three trays or workpiece carriers, the one inside gesta- are easy to feed to picking and removal stations. In this case, a fully automatic device of the palletizing be made so that dispenses with manual intervention.

Preferably, a respective lifting device has a vertically movable bearing surface for a box or part box. For example, the lifting device is an elevator or lift with a vertically movable stage. This can be provided for example with a known drive option. Essentially, the boxes or part boxes are on the support surface without further necessary fixation or support.

In embodiments of the palletizing system, a respective holding device is set up to hold a partial box at least from two opposite sides. For example, the holding device clamps two or more sides of a respective sub-box or a tray, so that a sub-box present underneath can be removed by moving the bearing surface of the lifting device. In this respect, there is a simple possibility of separating the at least three partial boxes from one another. In embodiments, the retainer has opposed pneumatic cylinders for holding a part box.

The palletizing system may further comprise a box feeder which is arranged in the fifth plane and is arranged to supply boxes to the first or second elevators or to the conveyor.

In this respect, it is possible to interpose boxes or partial boxes between workpiece carriers, trays or dividing boxes which are transported from a single isolated box with the aid of the lifting devices and conveying devices.

There is further provided a method of operating the

Pallettiersystems proposed. In doing so, the three sub- boxes of a box supplied in the first level of the first lifting device individually over the fifth level and the second lifting device to the first level sections linearly transferred.

In this respect, the sequence in the proposed embodiment of the method can reverse the order of the stacked sub-boxes. However, other operating methods are also conceivable. In particular, this allows

Palletizing system a versatile programming and automation of the movement processes.

Further possible implementations of the invention also include combinations which have not been explicitly cited, described above or below with regard to the exemplary embodiments

Process aspects, functions, features or embodiments of the palletizing system. The skilled person will also add or modify individual aspects as improvements or additions to the respective basic form of the invention.

The above-described characteristics, features and advantages of this invention, as well as the manner in which they are achieved, will become clearer and more clearly understood in connection with the following description of the embodiments, which will be described in detail in conjunction with the drawings.

Showing:

1 shows a first perspective schematic representation of an embodiment of a palletizing system;

FIG. 2 shows a second perspective schematic illustration of the embodiment of the palletizing system according to FIG. 1; FIG. Fig. 3 is a schematic side view of a stacking box; and FIGS. FIGS. 4 to 6 show a schematic sectional view for explaining various operating states of the embodiment of the palletizing system. In the figures, identical or functionally identical elements are provided with the same reference numerals, unless stated otherwise.

FIG. 1 shows a first perspective schematic representation of an embodiment of a palletizing system, and FIG. 2 also shows the embodiment from another perspective in perspective. The palletizing system 1 comprises two lifting devices 2, 3, which allow vertical movement or lifting of boxes 4 or trays. The respective lifting devices 2, 3 are arranged side by side and can transport in the manner of a lift or elevator up and down a ramp, plate or platform. There are five different levels I-V available. In Figs. 1 and 2, containers or boxes 4 to be transported are schematically indicated. The palletizing system 1 is particularly suitable for handling Euronorm crates which are subdivided into three trays or partial crates. Euronorm crates are used by default in manufacturing systems and have dimensions from length to width to height of 600 x 400 x 390 mm. Furthermore, the individual trays or partial boxes are usually provided with a cover or a lid.

FIG. 3 shows, by way of example, a schematic side view of a corresponding stacking box with three partial boxes. A box 4 designed for example as a Euronorm box has three sub-boxes 4A, 4B, 4C stackable in one another. In FIG. 3, by way of example only the upper one is provided with a lid 5C. In principle, however, all stackable boxes 4A, 4B, 4C may also each have a lid. The width B is according to the standard size of the European Union 400 mm, and the height H is about 390 mm. Included the respective cover has a part box 4A, 4B, 4C then a height of 130 mm.

Such three-part boxes 4 with part boxes 4A, 4B, 4C or trays for workpieces or components can now be handled by means of the palletizer 1, as shown in Figs. 1 and 2, are handled. That is, the palletizer or the

Palletizing system 1 makes it possible to singulate, transport and combine partial boxes 4A, 4B, 4C to form an entire box 4 corresponding to the European standard. The partial boxes 4A, 4B, 4C can be provided with identification means 16 or markings, such as barcodes or RFID tags. Tags are provided so that the part boxes 4A, 4B, 4C and thus the components or workpieces present therein in the palletizing system 1 or other connected production lines can be detected.

In addition to the two parallel vertical lifting devices 2, 3, a holding device 6, 11 is assigned in the plane I of the first lifting device 2 and the second lifting device 3, respectively. The holding device laterally grips the respective box 4 or part box 4A, 4B, 4C and holds it in this vertical position. Depending on the breakpoint in the region of the plane I, the respectively lower, middle or upper stacked boxes 4A, 4B, 4C can be fixed (see FIG. 3).

In the level III, a handling device 7 is provided, which decreases a lid present on a part box 4A, 4B, 4C (handling device 7) or a cover on a part III in the plane III, 4B, 4C, which is of the second lifting device 3 is transported (handling device 11), touches.

In the level IV, a conveyor 8 is provided, which makes it possible to branch off a transported in the position of the level IV box 4 side, for example, to an emptying or filling station. The conveyor 8 is in the form of conveyor rollers or a conveyor belt designed so that vertically, ie horizontally to the stroke direction, the respective box 4 is moved laterally. The respective box can also be moved again in the direction of the elevator or lifting axis, so that further transport in the vertical direction is possible.

The two lifting devices 2, 3 are connected to each other in the plane V by a conveyor 9. The conveyor 9 is used in particular to move a box 4 from the first to the second lifting device 2, 3, so that a total of a transport in a U-shaped manner from the plane I, in the orientation of Figs. 1 and 2, the top level is to transport over the planes II, III, IV and V first along the stroke direction of the first lifting device 2 then horizontally along the conveyor 9 and in turn vertically over the planes IV, II, II and I by means of the second lifting device 3.

In this respect, in the exemplary embodiment of a palletizing system 1 in the plane I at the first lifting device 2 or the first lift in plane I results in a transfer of the containers or boxes, for example from a multi-shuttle to the palletizer 1. In the level II takes place at the first Lifting device 2 a separation of the trays or partial boxes. In Level III, a cover is removed from the tray. In the

Level IV is done centering of the tray and a removal or placement of the tray or the respective transported part box with modules or workpieces. In the plane V is a tray transport via the conveyor 9 to the second lift or the second lifting device 3. At the second lifting device 3 takes place in the plane III laying the cover on the transported part box. In level II, the trays or partial crates are picked or brought together, and finally, the containers 4, which are again assembled as Euro standard crates, are transferred, for example, to a feeding and discharging device in level I designed as multishuttle. A schematic sectional view of the palletizing system 1 for explaining various operating states and transport and handling options is explained in FIGS. 4-6. With Sl - S20, movements or processes that are carried out with or with the help of the palletizing system are indicated.

In FIGS. 4-6, the five working planes I-V are indicated by horizontal dashed lines. The two lifts or lifting devices 2, 3 are indicated schematically. For example, they can be realized by known measures. This essentially results in a flat support plane on which rest one or more part boxes or workpiece carriers and are moved in height. The process takes place between the levels I-V.

A three-part Euro standard box 4 with four trays or workpiece carriers 4A, 4B, 4C, which are stacked in one another, are fed to the palletizing system 1 from a feed and discharge direction, for example as a multi-shuttle 12. This takes place in the plane I to the lift or the lifting device 2 (Sl). In this case, the three workpiece carriers or partial boxes 4A, 4B, 4C are filled with workpieces or components 18. Subsequently, a method using the lifting device 2 to level II (S2). In or on the level II of the first lifting device 2, a holding device 6 is assigned. The holding device comprises, for example, pneumatic piston 17, which can hold one of the stacked part boxes 4A, 4B, 4C laterally. In the illustration of FIG. 4, laterally the hydraulic cylinders 17 grip the middle part box 4B and hold it firmly. The upper part box 4C still lies on the second middle part box 4B. Since the middle box 4B is held, the lower box 4A separates in the direction of the elevator platform and to the plane III (S3).

In this position, the part box 4A is reproduced with the workpieces 18 and a lid or cover 5A. In Level III is a handling device 7 is provided, which decreases and deposits a cover 5A of standing on the stage or support surface of the lifting device 2 part box 4A (S4). For example, this is done by means of suction cups and / or a gripping arm. In the illustration of FIG. 4, the cover or cover 5A is placed between the two lifting devices 2, 3.

Subsequently, the elevator or the lifting device 2 moves the opened part box or the workpiece carrier 4A to the level IV (S5).

In the plane IV, the part box 4A is moved laterally out of the lifting device 2 by means of a conveying device 8, which is designed, for example, in the manner of a conveyor belt or is provided with other suitable means, such as rollers or slides (S6).

The part box 4A is then at an emptying and

Filling station 15, which automatically removes the workpieces 18 from the part box 4a (S7). In principle, this can also be done manually. However, it is beneficial to perform the assembly and / or emptying and removal of the workpieces 18 automated.

Subsequently, with the help of the conveyor 8, the empty part box 4A is again moved to the plane IV of the lifting device 2 (S8). The lifting device 2 lowers the emptied part box 4A to the plane V (S9).

Subsequently, a shift or transport of the empty and open part of the box or tray 4A via the see between the lifting devices 2, 3 present conveyor 9 in the plane V to the second lifting device 3 (S10). With the help of the second lifting device 3, which is configured for example the same as the lifting device 2, the part box 4A is moved to level III (Sil). In the level III of the second lifting device 3 is associated with a further handling device 10, which sets with the help of suitable arms or brackets the discarded cover 5A again on the part box or the tray 4A (S12). Thus, there is again a part box 4A sealed with cover 5A in the plane III and resting on the contact surface of the lifting device 3.

The lifting device 3 transports the now closed part box 4A, 5A to the level II, where a holding device 11 by means of pneumatic cylinders 17, which grip laterally, the box 4A holds (S13). By the pneumatic cylinder 17, the box 4A is held without support of the support surface or platform of the lifting device 3. This is shown in Fig. 5 on the right side. Thus, the source box 4 composed of three trays or partial boxes 4A, 4B, 4C has been singulated and a tray 4A has been transported from the level I over the levels II, III, IV and V to the level I and II at the second hoisting apparatus 3, respectively. With the help of

Palletizing 1 further workpieces 18 have been removed from the Teilkis- TA or inserted.

It can now, as indicated in Fig. 5, the lifting device 2 moved to level II, and the pneumatic cylinder 17 of the holding device 6 solve the second part box 4B. Subsequently, the lifting device or the bearing surface and the holding device 6 are displaced relative to each other such that the upper part of the box 4 C is held by the pneumatic cylinders of the holding device 6. Subsequently, the lifting device 2 moves the second part box 4B provided with workpieces 18 to the level III (S14).

It is now, as already described with respect to the part of box 4 with respect to FIG. 4, a distance of Cover with the help of the handling device 7 in level III (S15), a removal or loading with workpieces 18 in the plane IV through the emptying and filling station 15 (S17, S18, S19) and a subsequent transport over the present in the plane V. Conveyor 9 to the second lifting device 3 (S20). Subsequently, the part box 4B is moved to the level II. The holding device 11 initially releases the upper part box 4A until the middle part box 4B is in the position of the pneumatic cylinder 15. In this respect, the second part box 4B is held by the holding device 11. FIG. 6 shows this operating situation. Finally, a passage of the third part of box 4C, as previously described, with respect to the part boxes 4A and 4B.

At the end of the palletizing or handling operation explained by way of example, the boxes or the partial boxes 4A, 4B, 4C are present in reverse order on the supply and discharge device 13 which is assigned to the second lifting device 3 in the level I. It is also possible that additionally empty containers or partial containers or trays or workpiece carriers are delivered in the plane V and inserted into the process. In the representation of the exemplary palletizing system, the planes can be changed with regard to their positioning relative to one another. Also, the sequence of levels does not have to be as indicated in the figures. In levels I-V, essentially independent plac- ing, handling or transporting operations are carried out with the aid of suitable devices. Especially with an adaptation to Euronorm crates, which have standardized centerings and recesses on the sides, these can be easily gripped and held, for example with the aid of the holding devices

6, 11. In this respect, the proposed palletizing system 1 allows a simple and inexpensive handling of at least three-part containers or boxes stacked inside each other become. Essentially any and universally adaptable assembly processes and separation processes for the parts boxes or the workpieces present therein can be realized by the five-part design.

The proposed palletizing system 1 is particularly suitable for automation but can also include partially manual operations.

Although the invention has been further illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

Claims

claims

A palletizing system (1) for handling boxes (4) comprising at least three stackable part boxes (4A, 4B, 4C), comprising:

a first and a second lifting device (2, 3) for vertically moving the boxes (4) and / or partial boxes (4A, 4B, 4C) between a first, second, third, fourth and fifth plane (I-V);

a first holding device (6), which in the second

Level (II) of the first lifting device (2) is assigned and is adapted to hold one of the part boxes (4A, 4B, 4C) of a box (4);

a conveyor (9) arranged in the fifth plane (V) and arranged to move a part box (4A, 4B, 4C) from the first lifting device (2) to the second lifting device (3); and

a second holding device (11), which in the second plane (II) is associated with the second lifting device (3) and is arranged to hold one of the part boxes (4A, 4B, 4C) of a box (4).

2. palletizing system (1) according to claim 1, wherein the

Palletizing system (1) for transporting, separating and / or assembling the boxes (4) is set up.

3. palletizing system (1) according to claim 1 or 2, further comprising a further conveyor (8), which in the fourth level (IV) of the first lifting device (2) is assigned and is arranged, a part box (4A, 4B, 4C) to move from the first lifting device (2) to an emptying or filling station (15).

4. palletizing system (1) according to any one of claims 1-3, further comprising a handling device (7) for removing and depositing a lid (5A, 5B, 5C) of a box (4) or part box (4A, 4B, 4C), wherein the handling device (7) in the third level (III) of the first lifting device (2) is assigned.

5. palletizing system (1) according to any one of claims 1-4, further comprising a further handling means (10) for placing a lid (5A, 5B, 5C) of a box (4) or part box (4A, 4B, 4C), wherein further handling device (10) in the third plane (III) of the second lifting device (3) is associated.

6. palletizing system (1) according to any one of claims 1-5, wherein a respective lifting device (2, 3) has a vertical

movable contact surface for a box (4) or part box (4A, 4B, 4C) comprises.

7. palletizing system (1) according to any one of claims 1-6, wherein a respective holding device (6, 11) is adapted to a part box (4A, 4B, 4C) bordering at least from two opposite sides.

8. palletizing system (1) according to any one of claims 1-7, wherein a respective holding device (6, 11) comprises opposite pneumatic cylinder (17) for holding a part box (4A, 4B, 4C).

9. palletizing system (1) according to any one of claims 1-8, further comprising a feed device (14) for boxes (4), which is arranged in the fifth plane and is arranged, boxes (4) of the first or second lifting device (2, 3) or the conveyor (9) to supply.

10. A method of operating a palletizing system according to any one of claims 1-9, wherein the three part boxes (4A, 4B, 4C) in the first level (I) of the first lifting device (2) supplied box (4) individually over the fifth plane (V) and the second lifting device (3) to the first plane (I) are transferred in sections linearly.