WO2015036123A1 - Dispositif de chargement/déchargement d'un porte-charge tel qu'une palette et analogues - Google Patents

Dispositif de chargement/déchargement d'un porte-charge tel qu'une palette et analogues Download PDF

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Publication number
WO2015036123A1
WO2015036123A1 PCT/EP2014/002480 EP2014002480W WO2015036123A1 WO 2015036123 A1 WO2015036123 A1 WO 2015036123A1 EP 2014002480 W EP2014002480 W EP 2014002480W WO 2015036123 A1 WO2015036123 A1 WO 2015036123A1
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WO
WIPO (PCT)
Prior art keywords
carriage
guideway
axis
manipulator
along
Prior art date
Application number
PCT/EP2014/002480
Other languages
German (de)
English (en)
Inventor
Heiner Schaefer
Original Assignee
Schaefer Förderanlagen- und Maschinenbau GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schaefer Förderanlagen- und Maschinenbau GmbH filed Critical Schaefer Förderanlagen- und Maschinenbau GmbH
Publication of WO2015036123A1 publication Critical patent/WO2015036123A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles

Definitions

  • the present invention relates to a device for loading or unloading a load carrier such as pallet and the like, with a gripping device for gripping on the pallet to be stacked piece goods, wherein the gripping device is arranged on a multi-axis manipulator, the base part is movable on a guideway close to the ground , as well as at least one feed track reaching the guideway for feeding / discharging a load carrier to / from a loading place and / or feeding / discharging of drums to / from a provisioning place.
  • the containers can be taken individually from the place of supply and placed on the pallet or a container layer already formed there, or it can be grabbed by a gripper head and several juxtaposed bundles simultaneously placed and placed on the pallet. When unloading a pallet, the procedure is reversed accordingly.
  • the pallets to be loaded / unloaded may in particular be wooden pallets, but may also be in the form of plastic pallets.
  • other load carriers such as lattice boxes or movable trolleys can be loaded, which can be engaged by a forklift and / or carry the loaded goods for further transport or temporary storage.
  • piece goods come here not only the aforementioned containers into consideration, but also other piecewise manageable, preferably uniformly contoured piece goods such as sacks, bricks, boxes, boxes, shrink packs, barrels, buckets or stackable production parts.
  • the loading conveyor In order not to lose time when changing pallets, ie to be able to move a new empty pallet into the palletizing station as soon as a finished pallet is loaded, it may be advantageous to operate the loading conveyor as a one-way street, for example to move a fully loaded pallet forwards and to move an empty pallet from the rear in the same direction into the palletizing station. For this purpose, however, it is necessary to carry away the feed path over the guideway of the manipulator so that, for example, empty pallets fed from the rear can be brought over the guideway to the palletizing station located in front of the guideway.
  • such intersections of the feed path with the guideway of the manipulator are not very easy to implement, especially if in the guideway of the robot power supply lines and Steuerignalleitüngen are integrated.
  • the present invention seeks to provide an improved device of the type mentioned, avoids the disadvantages of the prior art and further develops the latter in an advantageous manner.
  • a crossing or passing over the guideway of the manipulator for the transport of pallets and / or containers should be made possible without requiring expensive special measures for laying the guideway of the manipulator.
  • the object mentioned is achieved by a device according to claim 1.
  • Preferred embodiments of the invention are the subject of the dependent claims.
  • a part of the feed path is formed by a carriage, which can be moved along the guideway of the manipulator and extends at least partially over the guideway.
  • Such in the guideway movable carriage, which bridges the guideway of the manipulator and extended to the guideway feeding track, especially on opposite sides of the guideway located portions of a feed path can connect is based on the consideration that, for example, a pallet change, ie extending the loaded pallet and retracting a new empty pallet, or the delivery of a container to the storage space in relation to a whole Pallettier- or Depalettierzy Budapests claimed only a relatively small period of time and insofar as the cross-over of the guideway does not have to be provided the whole palletizing cycle or it does not bother when the manipulator can not be moved arbitrarily or is hampered by the crossing of the guideway when the carriage is kept at a certain feed path.
  • a working phase of the manipulator can be used in which the base part is not the willingness of the carriage in the required place in the way, or the manipulator base can temporarily, for a very limited period of time be moved aside to allow the bridging of the guideway at the required location.
  • not only guide track sections arranged on opposite sides of the guide track can be connected to one another, so that a pallet or another load carrier or even the piece goods themselves can be moved over the guide track, but it can also be different Beschicküngsbahnen that each extend to the guideway, but are arranged offset in the longitudinal direction of the guideway, are connected to each other by the carriage is moved accordingly along the guideway.
  • a brought on a feed path and possibly loaded pallet can be driven onto the carriage, after which the carriage is moved along the guideway until the carriage connects to another feed path, and then dissipate the pallet on said other feed track or continue to transport.
  • the feed tracks or feed track sections which are connected to one another by moving the carriage, can lie on the same side of the guide track or can also be arranged on opposite sides of the guide track.
  • the carriage is designed in this way and the feed track sections are arranged such that, with a corresponding position of the carriage in which the carriage adjoins a respective feed path, the carriage continues the feed path such that a load carrier and / or piece goods from the feed path to the carriage or reversed by the carriage on the feed track are mobile.
  • the carriage can be connected to the base part of the manipulator and moved together with the base part along said guide track.
  • the carriage can be firmly mounted on the said base part, so that it may be possible to dispense with its own support of the carriage on the track.
  • the slide can also be supported with a suitable suspension on the guideway and connected to the base part like a vehicle trailer, so that the carriage through Method of manipulator base driven back and forth and can be positioned at the desired location if necessary. In this way, the drive of the manipulator base can be used and possibly dispensed with a separate drive of the carriage.
  • the manipulator may have at least one working position along the guideway, in which the carriage connected to the base part fits accurately on a feed track section adjoining the guideway so that in the said working position of the manipulator the feed path is continued by the carriage and, if necessary. the guideway crosses over.
  • the carriage can also be formed separately from the base part and moved independently of said base part along the guideway, which can basically be done by hand, but advantageously with the aid of a separate traversing drive of the carriage.
  • the manipulator can also be used for other task, in particular be used in different distances from the carriage, without having to wait for the completion of the loading process, which uses the feed path produced by the carriage.
  • the carriage can permanently work separately from the base part of the manipulator or, for example by means of a coupling to / from the / the base part of the manipulator and disconnected, so that the carriage is either independently movable or can be moved together with the base part.
  • the power supply of the carriage and / or its control can in principle be carried out in various ways, for example by sliding contacts to corresponding power conductors or signal conductors on the guideway, or by trackable cable lines.
  • the carriage has a non-contact energy coupling for powering the carriage and / or a non-contact control signal coupling for transmitting control signals to the carriage and / or from the carriage.
  • the method of the carriage can be controlled by a control device as a function of the position of the manipulator or its operating state. For example, if the manipulator is busy loading or unloading a pallet, or in another manipulation cycle in which piece goods are being manipulated on a held load carrier, the controller may remove the carriage from the manipulator's work area to avoid collisions or to another load path drive, for example, to transfer a fully loaded load carrier to another feed track or to take over a new, still unloaded load carrier from another feed track, so that after completion of the manipulation process by returning the carriage without dead times a new range or a new load carrier in the Manipulation of the manipulator can be brought.
  • the carriage can possibly also be used for distributing charge carriers or piece goods between other feed tracks or feed track sections, for example such that the control device moves the carriage back and forth between two feed track sections in order to connect them to one another and charge carriers or To be able to run piece goods accordingly over the feed tracks.
  • the carriage may advantageously comprise conveying means for conveying a load carrier and / or for conveying piece goods, wherein the mentioned Conveyor can be designed without drive, for example in the form of a roller conveyor.
  • said conveying means may be designed drivable, for example in the form of a conveyor chain drive or a drivable conveyor belt to actively promote the load carrier or the piece goods - depending on the application of the feed track on the guideway or handed over between carriage and feed path.
  • said slide can also be used to temporarily guide or complete various feed paths over the guideway.
  • the carriage can be moved back and forth along the guide path between the several feed tracks and have a design which fits into several feed tracks such that the carriage can continue the various feed tracks and, in particular, can lead over the guide track.
  • several carriages can also be movably arranged along the guideway of the manipulator, preferably on different sides of the base part of the manipulator, to feed tracks at different sections over the guideway relatively independently of the respective working position of the manipulator to lead the manipulator away.
  • the multiple carriages can be moved independently of the manipulator and have independent drives.
  • all or at least one of the plurality of carriages may also be connected to the base part of the manipulator in order to bring the carriage into a desired position by moving the base part.
  • the manipulator may comprise a base part displaceably mounted and supported on the said guideway at the lower end, which may be in the form of an upright portal member, for example in the form of a tower or a post, carrying a cantilever mounted on said base member along an upright axis can be moved, in particular by means of a linear actuator.
  • At least one gripping head of the gripping device can be mounted on said cantilever, wherein said gripping head can preferably be moved in the longitudinal direction of the cantilever and / or can be rotated about at least one upright axis of rotation.
  • Said arm can extend in a horizontal orientation transversely to the guide track and / or transversely to the longitudinal axis of the base part, in particular cantilevering freely from the base part approximately horizontally.
  • a plurality of gripping heads can also be arranged in a corresponding manner movable and rotatable on the aforementioned arm, in order to grasp and simultaneously be able to translate a plurality of bundles or bundles, thereby increasing the performance of the palletizing or depalletizing process.
  • the manipulator or at least its arm can be designed to be rotatable about an upright rotation axis in order to position and use the boom and thus the at least one gripping head on opposite sides of the guideway and / or on or above the carriage.
  • the aforementioned portal post or tower, on which the boom can be moved up and down be rotated relative to the base part of the manipulator, for example by a suitable rotary drive.
  • the boom could be rotated relative to the tower or portal part.
  • such rotatability of the manipulator can be used to load a charge carrier located on the carriage with goods which are received by a supply location on one and / or other side of the guideway.
  • the carriage can serve as an additional function as a loading or unloading station.
  • additional additional functions can be realized on the carriage.
  • additional functional devices can be arranged there by means of which additional functions can be performed on a load carrier and / or the piece goods.
  • a Palettentig. Carrier-inspector may be provided, by means of which a charge carrier located on the carriage can be checked and possibly existing damage can be detected.
  • a charge carrier tester can comprise movable print heads, by means of which the feet of the charge carrier can be pressurized and / or the charge carrier surface can be pressurized in order to check its stability.
  • such a pallet or charge carrier tester can also be designed in such a way that it can check pallets or charge carriers held ready next to the carriage.
  • a visual inspection device comprising, for example, a camera which can, for example, examine an image of the charge carrier for abnormalities.
  • a corresponding test result can be evaluated, for example in order to approach a respective desired position as a function of the test result, for example different positions for good or defective charge carriers.
  • the carriage may also be assigned a stacking device by means of which pallets or load carriers can be stacked, in particular on the carriage itself, but possibly also next to the carriage.
  • a stacker can comprise liftable and lowerable gripping arms.
  • a rotary function can also be implemented as an additional function on the carriage, for example an already loaded or still unloaded pallet or a corresponding charge carrier to rotate, for example, about an upright axis by about 90 °, so that, for example, a pallet between longitudinal and transverse orientation can be rotated.
  • Fig. 1 a schematic, perspective view of an apparatus for
  • Fig. 2 a perspective view of the manipulator and the carriage, which are movable on a common guideway, wherein according to partial view (a) of the carriage is connected to the manipulator and according to partial view (b) of the carriage are moved independently of the manipulator on the guideway can
  • 3 is a schematic, perspective view of a device according to a further embodiment of the invention, according to which several feed tracks are provided on the same side of the guideway and extend to the guideway, so that they can be extended by the carriage in a corresponding position, two Manipulators on the guideway are movable together with a carriage
  • 4 is a schematic, perspective view of a device according to a further embodiment of the invention, according to which a plurality of feed tracks are arranged offset on different sides of the guide track to each other, so that they can be connected to each other by moving the carriage, and
  • FIG. 5 shows a schematic, perspective view of a device according to a further embodiment of the invention, in which several feed tracks on opposite sides of the guide path of the manipulator are associated with each other in pairs, so that in a corresponding position of the carriage, the feed track sections on opposite sides of the guide path through the Carriages are connected to each other.
  • a staging area 1 can comprise a staging table on which the containers 2 to be palletized are kept next to one another in several rows or groups.
  • the said provisioning station 1 can be loaded by a manipulator 3 in the form of a robot, which can take the container 2 from a pallet stack and unload the latter.
  • the loading point 1 could also be supplied with containers in other ways, for example via one or more feed tracks or in another way.
  • the containers 2 provided on the provisioning station 1 can be gripped by a manipulator 4 designed as a multi-axis robot, then transferred to a palletizing station 5 and deposited on a pallet 13 held there or bundle layers already set thereon to form a stack of pallets.
  • a manipulator 4 designed as a multi-axis robot
  • the manipulator 4 can in this case advantageously comprise a base part 6, which can be movably mounted on a ground-level or a lower, ie arranged at the lower end of the base part 6, guideway 7 along a Z-axis, said guideway 7 from a bottom track or may be formed on the floor or near the floor installed guide support.
  • the base part 6 advantageously comprises a Z-axis drive, by means of which the base part 6 can be moved in the direction of said Z-axis.
  • the said base part 6 advantageously forms an upright portal carrier, for example in the form of a post, and carries a cantilevered arm 8, which is movably mounted on the base part 6 along an upright Y-axis, so that the arm 8 can be raised and lowered.
  • a lifting drive or Y-axis drive for example in the form of a spindle drive or a cable drive, is provided for raising and lowering said boom 8.
  • the said boom 8 cantilevered advantageously transversely to the guideway 7 in a horizontal orientation freely from the base part 6.
  • the manipulator 4 can be rotated about the upright Y-axis, for example, by rotating the tower-like portal tower opposite the base part 6, for which a suitable rotary drive can be provided, so that the boom 8 can be brought into different positions relative to the guide track 7 , For example, can project to opposite sides of the guideway 7 out or can be positioned over the guideway 7.
  • Two gripping heads 9 and 10 are mounted, which can be moved in the longitudinal direction of the boom 8 at this and can sweep a working field, advantageously one to the ground Guideway 7 adjacent area includes or lies in front of said guideway 7.
  • the longitudinal axis of the boom 8 forms the X-axis, which extends transversely to the Z-axis and transverse to the Y-axis.
  • the boom may also comprise only such a gripping head.
  • training with two or more gripper heads increases performance, especially when the staging area is relatively far away from the palletizing place, because then the time for the translation operations can be significantly reduced.
  • the gripping heads 9 and 10 can be movably mounted on the common boom 8 along a common guideway in said X-axis or be arranged on two separate guideways, so that the two gripping heads 9 and 10 past each other are mobile or at least on the same Height are mobile.
  • the boom 8 may also be split or formed in the form of a Zweifinger- or Mehrfingergabel whose fingers are movable together on the base part 6 up and down and parallel to each other, next to each other cantilevered freely from the base part 6.
  • each gripping head advantageously has its own X-axis drive, so that the gripping heads can be moved independently of one another in the direction of the X-axis.
  • the gripping heads 9 and 10 are advantageously each about an upright axis of rotation 11 and 12, which may extend in particular parallel to the Y-axis of the manipulator 4, by means of suitable rotary drives relative to the boom 8 rotatable, so that each gripping head 9 and 10 each in Direction of the X-axis movable and about a rotation axis parallel to the Y-axis is rotatable.
  • the manipulator 4 with each of its gripping heads 9 and 10 can each grip a group of containers 2 from the supply space 1, so that several container groups are simultaneously transferred to the palletizing station 4.
  • the gripping heads 9 and 10 By moving the gripping heads 9 and 10 along the X-axis and / or rotating about the respective axis of rotation 11 and 12, the package groups can be aligned in the desired manner and deposited at the desired location on the pallet 13.
  • the extent By twisting the manipulator 4 about the upright Y-axis while the container 2 can possibly be placed on the carriage 15, the extent also can form a loading place. Also located on different sides of the guideway 7 lying loading and / or ready to be served.
  • the gripping means on the gripping heads 9 and 10 may in principle be designed differently, for example suction or vacuum grippers and / or frictional clamping grippers.
  • intermediate layers can also be gripped by an intermediate layer preparation space and inserted between each layer of layers to be coated.
  • a pallet 13 Once a pallet 13 has been loaded, it can be removed from the palletizing station 5, for example via a trajectory leading away from the manipulator 4 transversely to the Z axis, for example in the form of a conveyor belt or a roller conveyor or the like.
  • Said runway is part of a feed path 14 provided, for example in the form of a roller or belt conveyor, by means of which full pallets can be conveyed away and new empty pallets nachge felicitt or can be conveyed, said feed conveyor can extend on both sides of the guideway 7, see , Fig. 1, wherein said feed track 14 extends transversely to the guide track 7 of the manipulator 4 with its longitudinal axis.
  • the aforementioned feed path 14 is arranged approximately at the level of the guideway 7 or a little above, but is still - viewed in terms of height - advantageously in the region of a lower quarter of the base part 6, to the resting on the feed path 14 pallet 13, the lifting height of the manipulator essentially be able to use completely.
  • the feed track 14 is continued on the opposite side of the guide track 7 in order to be able to feed new empty pallets from the back of the system to the palletizing station 5. Is a loaded pallet to the front moved away, can be retracted time-parallel from the back of a new empty pallet.
  • the feed track 14 crosses over with the aid of a carriage 15, which forms part of the feed track 14 or connects the sections of the feed track 14 lying on opposite sides of the guide track 7.
  • Said carriage 15 is along the guide track 7 - that is transversely to the longitudinal axis of the feed track 14 - movable, the carriage 15 can be fixedly mounted on the base part 6 of the manipulator 4 or independently supported on the guide track 7, as previously explained.
  • the carriage 15 can be connected to the base part 6 of the manipulator 4 and moved along with it, cf. Partial view (a) of FIG. 2.
  • the carriage 15 can also be moved independently of the manipulator 4 along the guideway 7, wherein the carriage 15 can advantageously have an independent drive.
  • the named carriage 15 can be moved away from the position shown in FIG. 1 or can be moved back and forth with the base part 6 of the manipulator 4 along the guide track 7 in order not to hinder the working area of the manipulator 4.
  • the manipulator 4 can be moved away from the crossing region of the feed path 14 or, when the carriage 15 is connected to the base part 6, are moved to the desired position, so that the carriage 15 moves to the desired position and connects the two sections of the feed path 14 on the guideway 7 away.
  • a plurality of feed tracks 14 may also be arranged on the same side of the guideway 7, so that they approach different sections of the guideway 7.
  • a plurality of parallel feed tracks 14 can be arranged offset in the longitudinal direction of the guideway 7 next to one another, cf. Fig. 3.
  • the aforementioned feed tracks 14 can be connected to each other via the movable carriage 15.
  • the carriage 15 can be moved into different positions, in which he continues or extends each one of the other feed tracks 15 mentioned.
  • a pallet can first be moved from a first guide track 14a onto the carriage 15, whereupon the carriage 15 can then be moved to another loading track 14b in order to push the said pallet over to this other loading track.
  • the pallet can be unloaded or already loaded.
  • a plurality of manipulators 4 can also be arranged along the same guideway 7, which can each be moved along the guideway 7 and can work at different loading locations.
  • the multiple manipulators 4 may share a carriage 15.
  • a plurality of slides 15 may be arranged on the guide track 7, regardless of whether a manipulator 4 or more manipulators 4 are provided.
  • several feed tracks 14 may be arranged on opposite sides of the guideway 7, said guideways 14 may be arranged offset on opposite sides in the longitudinal direction of the guideway 7, so that they again only by moving the carriage 15 together can be connected, similar to the embodiment of FIG. 3 is the case.
  • several feed tracks 14 on opposite sides of the guideway 7 may each be assigned in pairs, ie the longitudinal axes of a pair of feed tracks 14 are aligned with each other or sets a feed path on one side of the guideway 7, the corresponding feed path on the other side away.
  • the carriage 15 can be moved to the appropriate position, so that the carriage 15 connects simultaneously to two feed tracks 14 on opposite sides of the guideway 7.
  • the carriage 15 connects the two feed tracks 14 while bridging the guideway 7.

Abstract

La présente invention concerne un dispositif pour charger ou décharger un porte-charge tel qu'une palette (13) ou analogues, comprenant un dispositif de préhension (16) pour saisir les marchandises diverses (2) devant être empilées sur la palette, ledit dispositif de préhension étant installé sur un manipulateur à plusieurs axes (4) dont l'élément de base (6) est déplaçable sur une voie de guidage (7) située à proximité du sol, ainsi qu'au moins un trajet de transfert (14) s'étendant jusqu'au trajet de guidage (7), pour transférer un porte-charge vers/depuis un poste de chargement (5) et/ou pour transférer des emballages vers/depuis un poste d'attente (1). Selon l'invention, une partie du trajet de transport (14) est formée par un chariot (15) qui peut se déplacer le long du trajet de guidage (7) du manipulateur (4) et qui s'étend au moins partiellement sur le trajet de transfert (7).
PCT/EP2014/002480 2013-09-13 2014-09-13 Dispositif de chargement/déchargement d'un porte-charge tel qu'une palette et analogues WO2015036123A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102013015238.0 2013-09-13
DE102013015238 2013-09-13
DE102013021532.3 2013-12-18
DE102013021532.3A DE102013021532A1 (de) 2013-09-13 2013-12-18 Vorrichtung zum Beladen/Entladen eines Ladungsträgers wie Palette und dergleichen

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WO2015036123A1 true WO2015036123A1 (fr) 2015-03-19

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WO (1) WO2015036123A1 (fr)

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CN107473136A (zh) * 2017-09-18 2017-12-15 广东顺威精密塑料股份有限公司 一种横向双工位半自动堆高机
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DE102018115739A1 (de) * 2018-06-29 2020-01-02 Krones Aktiengesellschaft Verfahren zum Stapeln von Artikeln und/oder Stückgütern und Stapelbildungsvorrichtung
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FR2587692A1 (fr) * 1985-09-25 1987-03-27 Impianti Servizi Att Constr Dispositif de prehension et de translation de colis, boites et equivalents, sur des rayonnages comportant une possibilite d'acces aux colis et de prehension de ces derniers par le haut et le soutien de ces colis par leur surface inferieure.
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