WO2015036250A1 - Procédé et système d'empilage en plusieurs couches sur un support - Google Patents

Procédé et système d'empilage en plusieurs couches sur un support Download PDF

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Publication number
WO2015036250A1
WO2015036250A1 PCT/EP2014/068239 EP2014068239W WO2015036250A1 WO 2015036250 A1 WO2015036250 A1 WO 2015036250A1 EP 2014068239 W EP2014068239 W EP 2014068239W WO 2015036250 A1 WO2015036250 A1 WO 2015036250A1
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WO
WIPO (PCT)
Prior art keywords
packages
carrier
stack
package
stacking
Prior art date
Application number
PCT/EP2014/068239
Other languages
German (de)
English (en)
Inventor
Holger Cremer
Original Assignee
Dematic 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 Dematic Gmbh filed Critical Dematic Gmbh
Publication of WO2015036250A1 publication Critical patent/WO2015036250A1/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
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B65G57/035—Stacking of articles by adding to the top of the stack from above with a stepwise downward movement of the stack
    • 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
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/16—Stacking of articles of particular shape
    • B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
    • B65G57/24—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
    • B65G57/245—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets with a stepwise downward movement of the stack

Definitions

  • the invention relates to a method and a system for automatic stacking of packages on a base in a predetermined spatial arrangement for forming a stack according to claim 1.
  • the stack formed should have a certain stability, including so that it does not fall over during transport.
  • a wrapping with foil helps, but can not alone stabilize a faulty stack.
  • EP 1 462 394 B1 discloses a device for automatically loading a load carrier with packing units forming a loading stack, that is to say a device for palletizing.
  • the packing units are stored on trays and occasionally fed and deposited by them on a packing table.
  • the packing unit is moved on the table by a pusher along the broad side of the pallet to be loaded, until the loading coordinates in the X direction are reached.
  • another pusher and a loading tongue simultaneously push the packing unit in the direction of the loading depth over the pallet until the loading coordinates in the Z direction are reached.
  • the loading tongue then retracts, stopping the pusher and acting as a scraper, so that the pack unit is deposited "freely falling" on the pallet at the desired position, whereby the stack forming is supported by a loading aid on the remaining three sides.
  • a loading aid on the remaining three sides.
  • Moving on the packing table is time-consuming and has disadvantages in the formation of the packing pattern due to the limited accessibility, and it is imperative that the loading tongue and the scraper / pusher move simultaneously in the X-direction Also, only one packing unit can ever be "processed” sequentially.
  • the object of the present invention is a method and to provide a device for automatic stacking of a carrier with packages of varying degrees in a predetermined spatial arrangement, which flexibly a mixed-case
  • Stacking can be increased if the number of slow filing operations of packages on the carrier or the forming stack can be reduced. This is achieved by stacking packages in a faster process where possible. Thus, two slow steps of stacking two individual packages are replaced by a rapid step of pre-stacking the two packages and a slow step of stacking the preform thus formed, thus saving time overall.
  • pre-calculation of the order and spatial position of the packages on the carrier is to computationally checked whether they are stackable and jointly transported to the predicted spatial positions on the carrier or the stack forming on the carrier by handling means as a pre-stack.
  • handling means as a pre-stack.
  • the invention goes one step further and optimizes the possibility of using pre-stacking in stack calculation in order to use as many as possible.
  • criteria for the examination are for example in question:
  • the first package in the pre-stack unit is lifted, the succeeding second package positioned below the raised first package, and the first package lowered onto the second package to form a pre-stack.
  • the first package is from the
  • the packages may be taken together, i. the pre-stack are transported in the stacking unit to the predicted spatial positions on the carrier or the forming stack on the carrier in the manner of a proven manner.
  • the system according to the invention is thus provided with a computer, wherein the computer is designed programmatically to check in the prediction of the order and spatial position of the packages on the carrier for at least two successive packages in the sequence, whether these stackable on each other and jointly to the precalculated spatial positions on the carrier or the forming stack on the carrier by the handling means are transportable. It is thus also already checked in the calculation of the position and the order of the packages, if pre-stacking are chanbar.
  • the calculator thus calculates a virtual stack based on a job and the related products, which determines the position of the products in the stack and thus determines the subsequent order of stacking.
  • the calculated virtual stack is already optimized to form as many pre-stacks in the stack as possible to reduce the actual stacking cycles in favor of the pre-stacks.
  • the system preferably includes a pre-stacking unit upstream of the main stacker.
  • the pre-stacking unit can nevertheless be spatially integrated into the stacking device and possibly even directly upstream of the actual stacking.
  • the pre-stacking unit has a lifting and lowering mechanism for raising and lowering a package such that a subsequent package can be positioned underneath the lifted preceding package (see above).
  • the lifting and lowering mechanism may comprise a liftable and lowerable fork to move the respective package from the conveyor, e.g. Roller conveyors,
  • suction units and other gripping units are possible - such. from DE102007046919B4 known gripper, which allows lifting and depositing or more packages on the underlying package.
  • the fork of the lifting and lowering mechanism is preferably also transversely displaceable to the stroke or Senk Gaysraum so that they can be "pushed in” under the package or “pulled out". So that the package does not slip when retracting the fork and thus "tips over" the pre-stack, it makes sense if the lifting and lowering mechanism has a retaining plate which is fixed relative to the fork which can be moved transversely to the lifting or lowering direction flexible and with high Perform power. In particular, a wide range of different packages can be stacked continuously.
  • the packages are a wide variety of goods, packaged goods, goods packed in groups, such as boxes, crates, boxes, containers, goods on trays,
  • Packing units such as Multiple film packaging of plastic bottles, etc., as well as individual items of all kinds in question.
  • intermediate plates or carriers such as pallets and trolleys, or similar documents for general cargo and their packaging in question.
  • Figure 1 shows a schematic perspective view of an apparatus for automatic multi-ply stacking of pallets at the beginning of the formation of the first layer
  • Fig. 2 is an enlarged schematic side view of the device of Fig. 1 in the region of the endless conveyor;
  • Fig. 3 is a view corresponding to Figure 2 from a different angle
  • Fig. 4 is a figure 2 corresponding view of yet another
  • Figure 5 is a view corresponding to Figure 2 from above.
  • FIG. 6 shows a view corresponding to FIG. 2 after the completion of the first layer
  • FIG. 7 shows a view corresponding to FIG. 1 after the completion of further layers
  • FIG. 8 shows a view corresponding to FIG. 3, including the pre-stacking unit
  • FIG. 9 shows a detailed view of the pre-stacking unit from FIG. 8, and FIG. 10 shows a flowchart of the sequence of pre-stacking.
  • the apparatus 1 comprises a roller conveyor 2 as a feed conveyor, which provides the separated packages W in a computer-aided predetermined order from a warehouse, not shown, so that they can be placed in the predicted position in the stack S.
  • the roller conveyor 2 designed as a pusher 3 converter is arranged, which converts the packages W by 90 degrees and delivers to the subsequent positioning conveyor.
  • the packages W are also aligned at an angle, so that they are so far possible due to their outer shape, aligned on the positioning conveyor 4.
  • the positioning conveyor 4 is designed as an endless conveyor in the form of a circulating conveyor belt. Through him, the packages W are positioned in the X direction promoting to take this coordinate of the later position in the stack.
  • a stopper 5 (see FIG. 4) is provided, which is actuated movably in the X direction relative to the conveyor belt in order to stop the respective package.
  • the drive takes place via a toothed belt (not shown), which is arranged on the linear axis 5B and in which the stopper 5 is suspended.
  • the positioning conveyor or the conveyor belt 4 is arranged horizontally (on the same level) and along one side of the place 6 for the stack formation.
  • the carrier P to be loaded will be arranged here (compare Figures 6 and 7). However, as will become apparent, this is not the case with the formation of the first layer of a stack.
  • an intermediate plate 8 is provided in the space 6.
  • the intermediate plate 8 is split in the middle and each part 8A, B laterally (in the X direction) configured displaceable, that the first layer of a stack is formed on the intermediate plate 8, while the fully loaded carrier P of the previous stacking operation against a new empty carrier P is exchanged.
  • the batching process can be continued without interruption. If the first layer is formed and the new carrier P is present, the parts 8A, B are moved to the side (see FIG. 6) and the first layer is transferred to the underlying carrier P, on which it is subsequently further stacked (see FIG ).
  • a corresponding roller conveyor 9 is provided below the stacking station 6.
  • the respective pallet P is taken over by a lifting and lowering unit 10 for raising and lowering the carrier P in the Y direction and moved up to the stacking station 6.
  • the lifting and lowering unit 10 is also responsible for the level adjustment during stacking per se, so if necessary when stacking a package W performs a stroke or a lowering and also performs the adjustment of the compensation of the layers at the beginning of a new layer.
  • the respective package W is thus on the desired position in the stack laterally in the space 6 on the intermediate plate 8 (first layer) or the pallet P (further layers) deported in the Z direction.
  • the device For this displacement of the packages W to the predetermined position in the stack S, the device comprises a sliding plate battery 1 1 and a pusher battery 12, ie a plurality of juxtaposed horizontally and along the side of the stacking station 6 and the pallet P individual Sliding plates 13 and single pushers 14.
  • the sliding plates 13 engage between the upper run 7 and the lower run 20 of the endless conveyor and take over the pusher 14 of
  • the pusher and the slide plate move together to the desired position, and the slide plate 13 is retracted while the pusher 14 stops to restrain the package W.
  • the package W is positioned.
  • the sliding plates 13 run flat at the front (see Figure 2), so that the positioning can be done as accurately as possible.
  • the sliding plates 13 are each formed as horizontally and along the side of the stacking place 6 and transversely thereto formed flat strip-shaped plate, which run in the direction of the stacking place 6 thinner.
  • the sliding plates 13 are suspended on the opposite side of the carrier of the endless conveyor 4 and arranged in parallel and side by side. They are in each case in a Z-direction aligned linear axis 16 slidably back and forth movable.
  • the drive takes place per axle via an electric motor 16E and a toothed belt (not shown), which is arranged on the linear axis and in which the carriage or the sliding plate 13 is mounted.
  • the sliding plate battery 1 1 thus virtually forms an optional widening of the endless conveyor 4 into the stacking space 6.
  • the pushers 14 are formed horizontally and along the side of the stacking station 6 and the carrier P along the endless conveyor 4 and aligned with each other and independently movable. They are arranged on the opposite side of the carrier of the endless conveyor or are there in the rest position to the conveyor belt 4 for pushing away packages extend.
  • the pushers are like the sliding plates also over the entire length of the
  • Direction aligned linear axis 18 slide back and forth movable.
  • the drive takes place per axle via an electric motor 18E and via a toothed belt (not shown), which is arranged on the linear axis and in which the carriage or the pushers 14 are mounted.
  • Both the stopper 5 and the pushers 14 extend from the respective linear axis down to a height just above the surface of the conveyor belt 4 and have at the local end on an enlarged foot area to handle the packages W better and safer.
  • a unit 19 is provided for wrapping the stack formed S with a film.
  • the wrapping is done layer by layer when stacking or after stacking a layer.
  • the carrier P with the already formed layers of the stack S is lowered by the lifting and lowering unit 10, gradually, down and so passes through the annular unit 19 for wrapping.
  • the stack S is moved down on the pallet P and transported away via the roller conveyor 9.
  • the packages W are brought in a predetermined order required for this purpose by means of the feed conveyor 2 from a warehouse, etc. isolated without tools (trays, etc.).
  • the packages W to be loaded are then transferred by the feed conveyor 2 through the converter 3 onto the endless conveyor 4.
  • the stopper 5 and the pusher battery 12 and sliding plate battery 1 1, the respective package W is transported to the predetermined spatial position on the pallet P (or the stacking station 6 or intermediate plate 8) in the stack being formed.
  • the pallet P is lowered or raised in the Y direction by the corresponding unit 10.
  • the apparatus 1 comprises a pre-stacking unit 21, which is arranged in the region of the roller conveyor 2 in front of the converter designed as a pusher 3, which, to increase the throughput in automatic stacking packages W, if possible, for stacking before each other before these are implemented and stacked analogously to the packages W as described above.
  • pre-stack In the preliminary calculation of the spatial position of the packages on the carrier in the subsequent stack to be formed and thus their order of delivery to the device 1 (see above) is also checked or optimized computationally, whether it is possible to form pre-stack. For this purpose, it is also calculated, for example, for at least two successive packages W1, W2 in succession, whether they can be transported stacked on top of one another and pre-stacked to the predicted spatial positions on the carrier P or the forming stack S on the carrier P.
  • the system or the computer recognizes such a possibility, later the respective first or preceding package W1 is raised in the pre-stacking unit 21, the subsequent second package W2 positioned below the raised first package by means of the roller conveyor 2 and the first package W1 on the second package W2 lowered to form a Vorstapels V.
  • This pre-stack V is transported analogously to the above procedure for individual packages W to the precalculated spatial positions on the carrier P or the forming stack S on the carrier.
  • the pre-stacking unit 21 has for this purpose a lifting and lowering mechanism 22 for raising and lowering (see Figure 9, arrow 28) of a package W with a liftable and lowerable fork 23 to the respective package of
  • the fork 23 of the lifting and lowering mechanism 22 is also displaceable transversely to the lifting or lowering direction, so that they can be “pushed in” under the package W or “pulled out”. So she grabs with her teeth 26 between the rollers of the conveyor 2. For this purpose, the tines perpendicular to
  • the lifting and lowering mechanism 22 has a relation to the fork 23 fixed slotted retaining plate 24.
  • the slots 25 extend vertically so that the prongs 26 of the fork 23 can pass through them (in the back and forth movement) and can also be lifted or lowered vertically to displace the package W1. If a package W now runs on the roller conveyor 2 (step I), the method described below proceeds (see FIG. 10).
  • step II It is first checked in step II whether the result of the precalculation regarding the pre-stackability of the current package W1 on the subsequent package W2 was positive.
  • step IV Handling promoted by the pre-stacking unit 21 and as described above "normal" palletized, so transported to the precalculated position in the stack S (step IV).
  • step V the package W1 is positioned in the pre-stacking unit 21 on the conveyor 2 (step V).
  • the tines 26 of the fork 23 go out and lift the package W1 to a defined height (step VI), which results from the dimensions of the
  • Package W1 and W2 results and is chosen so that the package W1 incl.
  • the prongs 26 is arranged only slightly higher than necessary to allow the subsequent positioning of the package W2.
  • Pre-stacking unit 21 positions (step VII) that it is located directly in the middle of the raised package W1. Thereafter, the tines 26 are retracted in step VIII and the package W1 is held by the retaining plate 24 in its position. As soon as the tines are completely retracted, the upper package W1 comes to lie on the lower package W2 and thus forms a prestack V. The pre-stack V is then palletized (step IX) in the same way, ie transported to the predicted position in the stack S as if it were a single package W.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Abstract

L'invention concerne un procédé et un système d'empilage automatique en plusieurs couches sur un support (P), notamment une palette, comprenant des colis (W) de différentes tailles selon un arrangement dans l'espace prédéfini en vue de former une pile, comprenant les étapes suivantes : - détermination assistée par ordinateur de la séquence et de la position dans l'espace des colis (W) sur le support (P) ; - amenage des colis (W) individuels dans une séquence nécessaire à cet effet par un système de manutention (2) ; - transport des colis (W) à charger par le système de manutention (2) dans les positions dans l'espace calculées à l'avance sur le support (P) ou sur la pile (S) en cours de formation sur le support (P) par des moyens de manipulation. Un contrôle est effectué lors du calcul à l'avance de la séquence et de la position dans l'espace des colis (W) sur le support (P) pour au moins deux colis (W1, W2) qui se suivent dans la séquence afin de vérifier si ceux-ci peuvent être pré-empilés l'un sur l'autre et transportés ensemble par les moyens de manipulation jusqu'aux positions dans l'espace calculées à l'avance sur le support (P) ou sur la pile (S) en cours de formation sur le support (P).
PCT/EP2014/068239 2013-09-12 2014-08-28 Procédé et système d'empilage en plusieurs couches sur un support WO2015036250A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013110045.7A DE102013110045A1 (de) 2013-09-12 2013-09-12 Verfahren und System zum mehrlagigen Bestapeln einer Unterlage
DE102013110045.7 2013-09-12

Publications (1)

Publication Number Publication Date
WO2015036250A1 true WO2015036250A1 (fr) 2015-03-19

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PCT/EP2014/068239 WO2015036250A1 (fr) 2013-09-12 2014-08-28 Procédé et système d'empilage en plusieurs couches sur un support

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DE (1) DE102013110045A1 (fr)
WO (1) WO2015036250A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3601117B1 (fr) 2017-03-29 2022-05-04 Dematic GmbH Procédé pour empiler automatiquement plusieurs couches de paquets sur un support

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015104324A1 (de) * 2015-03-23 2016-09-29 Krones Aktiengesellschaft Verfahren und Vorrichtung zur Handhabung von Artikeln, Stückgütern bzw. Gebinden

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DE19620967A1 (de) * 1996-05-24 1997-11-27 System Gmbh Komplementär-Palettierverfahren und Spitzenstapler
DE10202063A1 (de) * 2002-01-18 2003-08-07 Wst Steuerungstechnik Gmbh Verfahren und Vorrichtung zur Palettierung von Druckerzeugnissen
EP1348653A1 (fr) * 2002-03-25 2003-10-01 Segbert GmbH & Co. KG Procédé de formation de paquets de produits d'imprimerie empilés et de formation de palettes composées de tels paquets et dispositif de mise en oeuvre de ce procédé
EP1462394B1 (fr) 2003-03-26 2006-08-02 WITRON Logistik & Informatik GmbH Dispositif de chargement pour porte-charges
EP1864923A1 (fr) * 2006-06-06 2007-12-12 Siemens Schweiz AG Procédé et dispositif pour empiler et palettiser des conteneurs de transport
WO2010059923A1 (fr) 2008-11-21 2010-05-27 Dematic Corp. Appareil d'empilement et procédé d'empilement multicouche d'objets sur un support
DE102007046919B4 (de) 2007-09-28 2010-07-08 Dematic Gmbh & Co. Kg Greifer zum automatischen Ergreifen von Packeinheiten
EP2330060A1 (fr) * 2009-12-02 2011-06-08 KUKA Roboter GmbH Procédé et dispositif destinés au commissionnement automatisé de groupe de produits

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DE4038133A1 (de) * 1990-11-30 1992-06-04 Bahmueller Masch W Palettiermaschine
DE29620912U1 (de) * 1996-12-02 1998-03-26 Albin Spitzke Kg Gmbh & Co Anordnung zum Stapeln von Platten
DE50308064D1 (de) * 2003-06-23 2007-10-11 Mueller Martini Holding Ag Vorrichtung zum Bilden von Stapeln
US7607883B2 (en) * 2005-09-21 2009-10-27 Sadao Yagi Palletizing machine pusher with raised return rail
DE102012220592A1 (de) * 2012-11-12 2014-05-15 AIM-Assembly in Motion GmbH Anlage und Verfahren zum Sortieren und selektiven Zusammenstellen von Erzeugnissen sowie entsprechende Sortiereinheit

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Publication number Priority date Publication date Assignee Title
DE19620967A1 (de) * 1996-05-24 1997-11-27 System Gmbh Komplementär-Palettierverfahren und Spitzenstapler
DE10202063A1 (de) * 2002-01-18 2003-08-07 Wst Steuerungstechnik Gmbh Verfahren und Vorrichtung zur Palettierung von Druckerzeugnissen
EP1348653A1 (fr) * 2002-03-25 2003-10-01 Segbert GmbH & Co. KG Procédé de formation de paquets de produits d'imprimerie empilés et de formation de palettes composées de tels paquets et dispositif de mise en oeuvre de ce procédé
EP1462394B1 (fr) 2003-03-26 2006-08-02 WITRON Logistik & Informatik GmbH Dispositif de chargement pour porte-charges
EP1864923A1 (fr) * 2006-06-06 2007-12-12 Siemens Schweiz AG Procédé et dispositif pour empiler et palettiser des conteneurs de transport
DE102007046919B4 (de) 2007-09-28 2010-07-08 Dematic Gmbh & Co. Kg Greifer zum automatischen Ergreifen von Packeinheiten
WO2010059923A1 (fr) 2008-11-21 2010-05-27 Dematic Corp. Appareil d'empilement et procédé d'empilement multicouche d'objets sur un support
EP2330060A1 (fr) * 2009-12-02 2011-06-08 KUKA Roboter GmbH Procédé et dispositif destinés au commissionnement automatisé de groupe de produits

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3601117B1 (fr) 2017-03-29 2022-05-04 Dematic GmbH Procédé pour empiler automatiquement plusieurs couches de paquets sur un support

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