WO2017025221A1

WO2017025221A1 - Method for moving at least one handling unit designed for handling piece goods and device for handling piece goods

Info

Publication number: WO2017025221A1
Application number: PCT/EP2016/063466
Authority: WO
Inventors: Helmut Schwarz; Marco Ehberger; Michael Hartl
Original assignee: Krones Aktiengesellschaft
Priority date: 2015-08-12
Filing date: 2016-06-13
Publication date: 2017-02-16
Also published as: DE102015215347A1

Abstract

The invention relates to a method for moving at least one handling unit designed for handling piece goods, and a device for handling piece goods. The device comprises at least one handling unit for manipulating piece goods and actuators, via which the handling unit can be moved along multiple working paths (20, 22, 24), such that the handling unit passes predetermined fixed positions. A control unit (S) for moving the at least one handling unit is connected to the actuators. The control unit is provided for independent comparison of the multiple working paths (20, 22, 24) with respect to at least one of the following criteria: a) the respective forming of drive torques (A1, A2, A3) of the actuators during movement of the at least one handling unit (7) along the multiple working paths (20, 22, 24); b) the relative duration, which the at least one handling unit (7) requires for moving along the multiple working paths (20, 22, 24); c) the forming of torques, which act on the at least one handling unit (7) during movement thereof along the multiple working paths. A determined working path (24) can be specified from the multiple working paths (20, 22, 24) via the control unit (S), taking account of the criteria. Furthermore, a movement of the at least one handling unit along the determined working path (24) can be induced via the actuators by the control unit (S).

Description

Procedures for moving at least one handling device formed for handling with piece goods

Apparatus for handling with general cargo

The present invention relates to a method for moving a designed for handling cargo with handling equipment and a

Handling device for handling piece goods. Furthermore, the present invention relates to a device for handling cargo as well as a specific

Working track for a handling device.

Handling devices known from the prior art can, for example, be placed above a horizontal conveyor, wherein the handling devices can grasp, rotate and if necessary move laterally to a transport direction of the horizontal conveyor on the horizontal conveyor transported piece goods. In this way, a specific spatial arrangement can be made of piece goods, which forms a base to piece goods or containers in

Subordinate Gruppierstationen collapse into stackable cargo or bundle layers.

Such a handling device is known, for example, from EP 2 388 216 A1. This known gripping device has two horizontally spaced apart and on an intermediate support via mechanical

Compounds arranged gripping arms. The gripper arms can be moved toward each other to detect objects. Further, the gripping arms with defined force in the vertical direction and against the carrier from the carrier can be solved. At the free end, both gripping arms have clamping jaws which are in surface contact with the respective objects when objects are detected.

Another gripping device shows, for example, DE 102 04 513 A1. There, a plurality of opposing gripping arms are guided in a central piece. A gripper arm is displaceable by means of an actuator with respect to another gripping arm, so that both gripping arms can be closed. At the lower ends of the gripping arms gripping portions for gripping building material packages are provided on the mutually facing sides. If such gripping devices are to manipulate piece goods or containers, the start, end and, if applicable, intermediate points are predetermined in the prior art, which the gripping device approaches to receive piece goods and its manipulation. The respective trajectory along which the

Gripping device for passing the start-end and intermediate points moves is previously entered manually and by a user in a control device.

Practice has shown that the respective movement path along which the gripping device moves has a strong effect on the throughput of piece goods that can be manipulated via the gripping device as well as on premature failure or wear of the gripping device. For example, it may be that a suboptimal choice of a trajectory leads to gear damage. Furthermore, a suboptimal choice of a trajectory can lead to a low throughput, which in practice should be kept as high as possible, with further damage or

Defects or premature wear are undesirable. An object of the invention can therefore be seen in this, a

Possibility to provide, which at least partially avoids the aforementioned disadvantages.

The above object is achieved by a device, a method and a certain work path, which comprise the respective features in claims 1, 5 and 15. Further advantageous embodiments are described by the subclaims.

The invention relates to a device for handling piece goods and in particular containers, beverage containers or the like. The device has at least one handling device for manipulating piece goods. The at least one handling device can have a gripping and / or clamping unit, by means of which piece goods can be picked up, moved and possibly rotated.

Furthermore, the device may have a horizontal conveyor. The at least one handling device can be suspended and above the

Be positioned horizontal conveyor. The position can usefully be chosen such that the at least one handling device piece goods during their transport through the horizontal conveyor of the

Horizontal conveyor to accept and manipulate or laterally to a Transport direction of the horizontal conveyor selectively offset and possibly selectively rotate. A selective lateral displacement and possibly a selective lateral rotation can be specified via a control device. It is also conceivable that the at least one handling device in a manipulation of piece goods, which are transported by the horizontal conveyor, with respect to a

Delay or accelerate transport speed of the horizontal conveyor to align piece goods accordingly.

Furthermore, the device comprises an actuator or a plurality of actuators, via which or via which the at least one handling device can be moved along a plurality of work paths, so that the at least one

Handling device passes a predetermined fixed position or more predetermined fixed positions. In this case, it is expedient to provide at least two, but also more than two fixed positions, which comprise the at least one

Handling device happens. For example, it may be that the fixed positions are manually specified in a control device which will be described below. The fixed positions may include a start position and an end position, which are part of the plurality of work paths along which the at least one handling device can be moved.

In addition, a control device is provided which communicates with the actuator or the plurality of actuators for movement of the at least one handling device. The actuator or the plurality of actuators may each comprise one servomotor or several servomotors. The control device can via the actuator or via the multiple actuators a defined movement of the

Handling device along the plurality of work paths cause to piece goods during movement of the at least one handling device to

manipulate.

Furthermore, it is provided that the control device is provided for independent comparison of the plurality of work paths with regard to at least one or more of the following criteria or quality criteria: a) the respective design of drive torques of the one or more

Actuators upon movement of the at least one handling device along the plurality of work paths, b) the relative duration or time duration which the at least one handling device requires for the respective movement along the plurality of work paths. c) the training of moments, which on the at least one

Handling device as it moves along the plurality

Working trajectories,

It is conceivable here that the at least one handling device via the control device taking into account the fixed position or the plurality

Fixed positions along the plurality of work paths is moved, wherein the criteria a) and / or b) and / or c) detected or detected and subsequently compared with each other. It may also be the case that the control device has intelligent logic in order to determine and compare the criteria a) and / or b) and / or c) for the several work paths, taking into account the one or more fixed positions without active movement of the handling device. Furthermore, by means of the control device, taking into account the criterion or the plurality of criteria, a specific work path is composed of the several

Work courses can be specified. In addition, a movement of at least one

Handling device via the actuator or via the multiple actuators by the control device along the particular work path can be initiated.

For example, an intelligent logic may be stored in the control device, which, taking into account the criteria a) and / or b) and / or c) and optionally a further criterion d), which will be described below, a

Deciding on a particular work path. The particular working path, which is predetermined via the control device, can in this case be designed such that during a movement of the handling device along the specific

Runway drive torque of one or more actuators do not exceed a certain value or kept low, so that premature wear or possibly damage to gears or other components can be excluded upon movement of the at least one handling device along the particular work path. Practice has also shown that strong fluctuations in the drive torque can lead to premature wear ß or defect.

Accordingly, the particular work path can be such or accordingly can be specified via the control device, a particular work path, in which Drive torques of the actuator or the multiple actuators subject to slight fluctuations or run as evenly as possible. In addition, the specific

Working path, which is predetermined by the control device, be designed such that by means of a cyclical movement of the at least one

Handling device along the particular work piece piece goods can be manipulated with a defined or high throughput.

It is also conceivable that information about the particular work path can be optically output by the control device or possibly by a display connected to the control device. In addition, further information regarding the criteria a) and / or b) and / or c) and / or of the criterion d), which will be described below, can be visually displayed via the control device or optionally via a display. In particular, it may be that information regarding expected drive torques when moving the at least one

Handling device along the particular work path are displayed optically or are visually output via the display. It is also conceivable that information regarding the expected duration in the case of cyclical movement of the at least one handling device can be optically output along the determined working path or can be visually displayed via a display in communication with the control device. It may be that information about the particular work path is output via a display, with the particular work path requiring manual approval so that movement of the at least one handler over the actuator or over the multiple actuators may be caused by the controller along the particular work path. In further embodiments, it may be that the control device specifies a specific work path and then independently and without manual consent causes a movement of the at least one handling device via the one or more actuators.

At least one handling device can in preferred

Embodiments be designed together with multiple actuators as a tripod.

Accordingly, the at least one handling device embodied as a tripod can comprise at least three actuators, which if necessary can be formed by servomotors. In this context, if a tripod is mentioned, it means a so-called parallel kinematics robot, which normally has three motor-movable ones

Upper arms which are hinged to an upper suspension, and on whose externa ßeren ends are each articulated arms supported, the lower ends meet in a tool head, which is movable by the differently controllable upper arms in connection with the corresponding movements of the forearms within a defined range of motion. It should be noted, however, that the term "tripod" as used in the present context is not to be understood as limited to three arms, so that the parallel-kinematics robot can optionally also have only two such arms ("duopod") or four arms ("quadpod "), all of which are hereby to fall under the definition of the term" tripod "used.

The at least one handling device embodied as a tripod or as a parallel kinematic robot can have a clamping and / or gripping unit, by means of which the at least one handling device embodied as a tripod or a parallel kinematic robot can receive and manipulate a general cargo or a plurality of individual goods. The clamping and / or gripping unit can be positioned over at least three arms of the handling device embodied as a tripod or as a parallel kinematic robot, wherein the at least one handling device embodied as a tripod or a parallel kinematic robot is suspended in a stationary manner. When moving the at least one handling device therefore does not necessarily the entire handling device must be moved, if piece goods can be manipulated by means of at least one handling device. The tripod or as

Parallel kinematics robot trained at least one handling device can be fixed, for example, hanging and possibly above a horizontal conveyor to a support structure. The position of the at least one handling device embodied as a tripod or as a parallel kinematics robot can usefully be selected such that the at least one handling device constructed as a tripod or a parallel kinematics robot can pick up and manipulate general cargo from the horizontal conveying device.

It is conceivable that at least one of the arms as a tripod or as

Parallel kinematic robot trained handling device each one

Strain sensor or a plurality of strain sensors are arranged to detect the formation of moments which act on the at least one handling device as it moves along the plurality of work paths. Also, several arranged on the at least one handling device

Acceleration sensors may be provided to detect the formation of moments which act on the at least one handling device as it moves along the plurality of work paths. Possibly. can only be one at the At least one handling device arranged acceleration sensor may be provided to detect the formation of moments which act on the at least one handling device in its movement along the plurality of work paths. In further embodiments, the tripod or as a parallel kinematic

Robot trained at least one handling device in each case at least one sensor or a plurality of sensors for determining the previously described criterion a) to be assigned. The sensor or the plurality of sensors can or

can be designed as a torque transducer, which are mechanically interposed one arm or more arms of the tripod or as a parallel kinematic robot trained at least one handling device and a respective actuator. The trained as a torque transducer sensor or the plurality of each designed as a torque sensor sensors can therefore be mechanically coupled with a respective transmission output shaft of the actuators and with the respective arm or working arm in combination.

It is also conceivable that the control device for independent comparison of the multiple work paths with respect to the relative energy requirement of the actuator or the plurality of actuators upon movement of the at least one handling device along the plurality of work paths as criterion d) is formed. Furthermore, via the control device taking into account the criterion d) a specific

Work path from the plurality of work paths to be predeterminable and a movement of the at least one handling device via the actuator or the plurality of actuators by the control device along the particular work path can be initiated.

It is also conceivable that the control device will specify as a further criterion e) a position or several positions to obstacles or objects, with which the at least one handling device in a manipulation of

General cargo could collide. The control device may take into account the position or the plurality of positions in a comparison of the plurality of work paths. In this case, the control device determines that during a movement of the at least one handling device along a work path or along several pathways

Runways a collision of at least one handling device with an obstacle or object, the control device can cause this work or the multiple work paths not as a predetermined work path along which the at least one handling device is moved for the manipulation of piece goods.

As previously mentioned, the device may include at least one

Horizontal conveyor for transporting piece goods include. The at least one horizontal conveying device can be positioned such that a movement of the at least one handling device takes place along the determined working path at least in sections parallel to a transport direction of the at least one horizontal conveying device.

The invention also relates to a method for moving at least one handling device designed for handling unit loads.

Features previously described for the device may also be provided for the method described below. In addition, features which hereinafter to conceivable embodiments of the invention

Be described method provided in inventive device. In particular, the particular working web described below can be specified both in conceivable embodiments by means of the device according to the invention and be provided in conceivable embodiments of the method according to the invention.

As part of the method, a plurality of fixed positions are predetermined, which the at least one handling device moves or passes during its movement.

A control device compares autonomously, taking into account the fixed positions, several working paths along which the at least one

Handling device for manipulating piece goods can be cyclically moved, at least with regard to one or more of the following criteria: a) the formation of drive torques of one or more actuators with respective movement of the at least one handling device along the plurality of work paths, b) the relative duration or time duration which the at least one

Handling device for each movement along the plurality

Laboratories needed, c) the formation of moments which act on the at least one handling device as it moves along the plurality of work paths.

The several fixed positions can usefully on the several

Locations be localized, so that the at least one handling device in their movement passes the fixed positions or anfährt. Moments which act on the at least one handling device can be detected by means of corresponding sensors which are arranged on the at least one handling device. In addition, the control device, taking into account the criterion or the plurality of criteria before a certain work path from the multiple work paths before. Thereupon, a movement of the at least one handling device via the actuator or via the multiple actuators along the determined working path can be initiated by the control device. In particular, embodiments have proven in which the

at least one handling device along the particular working path in

Frame is moved in a closed curve. A movement of the at least one handling device about the complete curve can in this case be designed as a cycle within which the at least one handling device manipulates piece goods.

It may also be the case that the multiple work paths are compared with one another with respect to criterion a) and criterion b), the control device taking into account criteria a) and / or b) or both criteria a) and b) a specific work path prescribes the plurality of work paths and a movement of the at least one handling device along the particular work path is caused by the control device. For this purpose, an intelligent logic can be stored on the control device, which comprises a weighting with regard to the criteria a) and / or b) and predetermines a specific work path from the plurality of work paths by means of the intelligent logic. It is also conceivable that the handling device is moved along the plurality of work paths, wherein the criteria a) and / or or b) and / or c) and or d), which criterion is described below, are detected or detected. It is thus conceivable that the control device compares the several work paths with one another as regards the relative energy requirement of the one or more actuators when the at least one handling device moves along the plurality of work paths as criterion d). Thereafter, the controller under

Considering the criterion d) specify a particular work path from the plurality of work paths and a movement of at least one

Handling device along the particular work path on the

Control device can be initiated. Furthermore, the previously mentioned criteria a) and / or b) and / or c) can be taken into account to select from the several

Workspaces to specify a particular work path.

In further embodiments, the control device can also have one or more positions for obstacles and / or objects, with which the

Handling device could collide with a movement, as criterion e) are specified. The control device may take into account the position or the plurality of positions in a comparison of the plurality of work paths. If the control device determines that during a movement of the at least one handling device along a work path or along several work paths, the at least one handling device collides with an obstacle or object, the control device can cause this work path or these several work paths not to be predetermined Be given working path, along which the at least one handling device is moved to manipulate cargo.

As previously mentioned, at least one

Handling device be designed as a tripod or as a parallel kinematic robot. Accordingly, the at least one handling device can have at least three arms, possibly also only two arms or even four arms, to each of which at least one actuator is associated and which are connected at their respective free end to a clamping and / or gripping unit. The actuators of the at least three (two) arms can be controlled at the same time via the control device for moving the clamping and / or gripping unit along the determined work path in order to manipulate a general cargo or a plurality of goods by means of the clamping and / or gripping unit. The actuators of the at least three arms or the at least three arms of the at least one

Handling device are therefore possibly in operative connection with each other to move the clamping and / or gripping unit for the manipulation of cargo along the particular work path and to manipulate cargo. For conceivable embodiments may also be provided that the previously described criterion a) via a with the control device in

Connected and coupled to the actuator torque transducer or over several with the control device in communication and coupled to the actuators torque transducer is detected. In particular, the

Torque transducer or the plurality of torque sensors can be coupled to a respective transmission output shaft of the actuators.

In addition, it may be that the at least one handling device during its movement along the particular work path a piece good or more

Receives piece goods from a horizontal conveyor and manipulated, the piece goods or the multiple cargo in surface contact with the

Horizontal conveyor remains or remain. The horizontal conveying device may have a transport direction for piece goods, wherein the at least one

Handling device piece goods offset during manipulation obliquely to the transport direction and / or rotates about a vertically oriented axis. If necessary, the piece goods can stand up in a plurality of rows and at a distance from one another on the horizontal conveyor or be transported via the horizontal conveyor.

Furthermore, the present invention relates to a particular work path, which is predetermined or can be predetermined by a previously described control device, which is designed as part of the device according to the invention and / or the method according to the invention. The particular work path comprises the following characteristics:

a first track section that extends horizontally in an X direction,

a first curved deflector extending upwards in a vertical Z-direction and adjoining the first path section,

- A second track section, the first curved deflection

connected and oriented in opposite directions to the X-direction,

a second curved deflector adjoining the second web section and the first web section and extending downward in the Z direction, wherein a relative spacing of the first web section relative to the second web section decreases in the X direction. Practice has shown that handling devices designed to manipulate piece goods have little wear on movement along such particular work paths with described characteristics and yet can manipulate high throughput goods. For this reason, the plurality of work paths or all of the several work paths which the control device compares with one another may comprise the described characteristics. If a horizontal conveyor is provided, then the X-direction can extend in or parallel to the transport direction of the horizontal conveyor. The Z-direction can therefore be perpendicular to the X-direction or perpendicular to the transport direction of the

Be oriented horizontal conveyor.

In particular, embodiments have proven in which a radius of the second curved deflection increases when approaching the first track section. It may also be that an amount of a relative spacing of the first web section relative to the second web section is at least partially at least two thirds of the amount of the greatest possible freedom of movement of the at least one handling device in the vertical Z direction.

Furthermore, the at least one handling device can have a specific working space within which the at least one handling device can be moved, wherein the first and the second path section as well as the first and second curved deflections enclose an area whose amount is more than 60% of the amount of the Area corresponds, which is formed by the work space.

The invention also relates to a particular work path for at least one handling device, which can receive piece goods from a horizontal conveyor during its movement and manipulate without interruption of the movement. Prior to already conceivable design of certain trajectories described features that can be used for the device or the method, are also conceivable for the invention described below certain working path and are for reasons of a compressed scope of

Patent application not mentioned below redundant. The particular work path includes the following characteristics: a first track section extending horizontally in an X direction, a first in a vertical Z-direction upwardly extending curved deflection, which adjoins the first path section,

- A second track section, the first curved deflection

adjoins and oriented in opposite directions to the X direction, - a second curved deflection, which adjoins the second track section and the first track section and extends in the Z direction down,

- Wherein a relative spacing of the first web section relative to the second web section in the X direction decreases.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

Fig. 1 shows a schematic plan view of a first embodiment of a device according to the invention.

Fig. 2 shows a schematic perspective view of a handling device, as may be provided in various embodiments of the invention.

Fig. 3 shows a plurality of working ways, as may be present in various embodiments of the invention. FIG. 4 shows two further perspective views (FIGS. 4A and 4B)

Aspects as may be present in conceivable embodiments of the present invention.

For identical or equivalent elements of the invention, identical reference numerals are used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are merely examples, such as

Invention can be configured and do not represent a final limitation.

1 shows a schematic plan view of a first embodiment of a device 1 according to the invention. The device 1 is intended for handling with piece goods 3, in the present case designed as a plurality of beverage containers combined into a respective container 5.

The device 1 comprises a horizontal conveyor 10, on which the piece goods 3 or containers 5 stand up at a distance from one another and are guided in the transport direction TR. During their transport by means of the horizontal conveyor 10, the cargo 3 pass through two handling devices 7, wherein by means of

Handling devices 7 cargo 3 are selectively rotated. In Fig. 1 are

General cargo 3 already detected by the handling devices 7 and are rotated about a vertical axis by an angle of 90 °. The handling devices 7 are suspended on a respective support structure 12 such that a respective detection area of the

Handling devices 7 over a stretch of the

Horizontal conveyor 10 extends. The handling devices 7 or the detection areas of the handling devices 7 are spaced apart in the transport direction TR.

The illustration of FIG. 1 shows only a turning of piece goods 3 about a vertically or vertically oriented axis. However, the handling devices 7 can be designed in such a way that they can displace piece goods 3 or containers 5 at an angle to the transport direction TR of the horizontal conveyor 10. The

For this purpose, handling devices 7 each have a freedom of movement, which is indicated in FIG. 1 as a Y direction and runs horizontally and perpendicular to the transport direction TR.

Were piece goods 3 manipulated by the respective handling device 7, the respective handling device 7, the manipulated cargo 3 release, which are transported by the horizontal conveyor 10 in the transport direction TR on.

The handling devices 7 can also be guided in and opposite to an X-direction, which is oriented parallel to the transport direction TR and aligned with the transport direction TR. This gives the possibility to the

Handling devices 7 in the transport direction TR to move synchronously to the piece goods 3, so that the piece goods 3 can be received by the handling devices 7 each without a movement of the cargo 3 must be interrupted for this purpose. Were the piece goods 3 or container 7 by means of detected handling device 7, the piece goods 3 or 7 can be accelerated or delayed by means of the handling device 7 with respect to a transport speed of the horizontal conveyor 10 in the X direction. After release of the manipulated packaged goods 3, the handling devices 7 are each guided in the Z direction and opposite to the X direction in order to receive further packaged goods 3 or packs 5 from the horizontal conveyor 10 and to

manipulate. Upon receipt of general cargo 3, the

Handling devices 7 are therefore moved synchronously with the piece goods 3 or at a speed in the x direction, which corresponds to a transport speed of the horizontal conveyor 10.

In particular, when moving the handling devices 7 in the X direction or opposite to the X direction and in the Z direction are for the movement of the

Handling devices 7 provided actuators 9 (see Fig. 2) loaded with a high drive torque. This can lead to premature wear of

Transmission components lead, provided the trajectories of

Handling devices 7 are chosen such that very high drive torque or highly inhomogeneous drive torque for movement of the

Handling devices 7 are needed. Are speeds of the

Handling devices 7 throttled to reduce the high drive torque, the throughput of manipulated piece goods decreases per unit time, which is undesirable in practice.

In order to avoid this problem, a control device S is provided which is in communication with the actuators 9 (see FIG. The control device S are given several or at least two fixed positions, which should approach the handling devices 7 in order to be able to manipulate piece goods 3. The fixed positions may in this case include a respective start position and a respective end position for the handling devices 7, which are traversed by the handling devices 7 in the course of a movement cycle in order to selectively manipulate piece goods 3 transported on the horizontal conveyor 3.

If the fixed positions are specified, the control device S, taking into account the fixed positions, compares several work paths 20, 22 or 24 (see FIG. The multiple work paths 20, 22 and 24 are in this case such that the fixed positions on the plurality of work paths 20, 22nd or 24 are located, so that the handling devices 7, as described below, during their movement along a certain of the plurality of work paths 20, 22 and 24 passes the fixed positions.

The criteria with respect to which the plurality of work paths 20, 22 and 24 are compared by the control device S include in the embodiment of Figure 1: a) a respective design of drive torques A1 to A3 (see Figure 3) of the one or more actuators 9 with respective movement of

Handling devices 7 along the plurality of work paths 20, 22 and 24, b) a respective duration, which requires the at least one handling device 7 for each movement along the plurality of work paths 20, 22 and 24, c) the formation of moments which on the handling devices d) a respective energy requirement of the one or more actuators 9 during movement of the handling devices 7 along the plurality of working paths 20, 22 and 24. It may be the case that the control device S several operating paths

20, 22 and 24, respectively, along which the handling devices 7 can be moved, compares that the control device S actively controls the movement

Handling devices 7 along the plurality of work paths 20, 22 and 24 causes and thereby the criteria a), b), c) and d) detects or detected. In further

Embodiments are conceivable that the control device S has an intelligent logic or that on the control device S, an intelligent logic is stored, by means of which the control device S taking into account the fixed positions and the criteria a), b), c) and d) a certain Workplace 24 from the several

Occupations 20, 22 and 24 pretends. Information about the particular work path 24 or, for example, the drive torques A1 to A3 occurring during movement of the handling device 7 for the actuators 9, can be visually displayed on a display. After manual approval, the control device S cause a movement of the handling devices 7 via the respective actuators 9 along the particular work path 24, wherein the handling devices 7 receive and manipulate cargo 3 from the horizontal conveyor 10.

Fig. 2 shows a schematic perspective view of a handling device 7, as may be provided in various embodiments of the invention. The

Handling device 7 may be provided for the embodiment of a device 1 according to FIG.

In Fig. 2, the handling device 7 is referred to as so-called. Tripod 8 or as

Parallel kinematic robot 8 formed with a frame 1 1 and comprises three arms 14 which can be moved independently of each other via an associated actuator 9. The actuators 9 are connected to the control device S, which defines a defined and coordinated movement of the arms 14 via the actuators 9 in order to manipulate parcel 3. For this purpose, the arms 14 with a

common clamping and / or gripping unit 30 mechanically in conjunction. The clamping and / or gripping unit 30 has two opposing clamping jaws 32 whose relative distance can be increased and decreased in order to grip piece goods 3 for the purpose of manipulation and to release them in terms of time. A release takes place by increasing the relative distance between the two clamping jaws 32. The handling device 7 designed as a tripod 8 or as a parallel kinematic robot 8 or the clamping and / or gripping unit 30 of the handling device 7 designed as a tripod 8 or as a parallel kinematic robot 8 is moved via the control device S along the particular work path 24 (see Fig. 3). As a result, the actuators 9 are loaded with low drive torque. In addition, the throughput remains above that designed as a tripod 8 or as a parallel kinematic robot 8

Handling device 7 manipulatable cargo 3 high.

Fig. 3 shows a plurality of work paths 20, 22, 24, as in various

Embodiments of the invention may be present. As already mentioned above, the control device S is given a plurality of fixed positions which a handling device 7 should pass or start during its movement. If these are known, the control device S compares several potential work paths 20, 22 and 24 with each other, in which a plurality of work paths 20, 22 and 24 the

Handling device 7 approach the fixed positions or can happen. In FIG. 3, the several or three working paths 20, 22 and 24 have been compared with respect to a respective drive torque A1 to A3 of three actuators 9. The handling device 7, for which the drive torques A1 to A3 are shown in Fig. 3, is thus designed as a tripod 8 or as a parallel kinematic robot 8 (see Fig. 2), which has three actuators 9 to three arms 14 independently to move from one another and thus to position a clamping and / or gripping unit 30 for the purpose of manipulating piece goods 3. With reference to A1 is a drive torque of a first actuator 9 with respect to the plurality of work paths 20, 22 and 24 on the

With reference to A2, a drive torque of a further actuator 9 with respect to the plurality of work paths 20, 22 and 24 over time is plotted, with reference to A3 is a drive torque of a third actuator 9 of the tripod 8 and the parallel kinematic robot 8 (FIG. see Fig. 2) with respect to the plurality of working webs 20, 22 and 24 applied over the time course. Numeral 26 refers to the respective drive torque A1 to A3 of the three actuators 9 at certain working path 24. As can be clearly seen, the respective drive torque A1 to A3 has a smaller maximum deflection and a larger one with a specific movement path 24 compared to the further movement paths 20 and 22 Homogeneity over time. This is accompanied by a lower load on transmission components and less wear. The particular work path 24 has a first track portion 40 that extends horizontally in an X direction. As the handling device 7 moves along the first path section 40 or in the X direction, a synchronous movement of the handling device 7 can take place together with piece goods 3, the handling device 7 or possibly the clamping and / or gripping unit 30 (cf. Fig. 2) of the handling device 7 one or more piece goods 3 of a

Horizontal conveyor 3 receives. When moving the

Handling device 7 along the particular work path 24 in the X direction or along the first path portion 40 may be a delay or acceleration of the one or more received cargo 3 through the

Handling device 7 done.

A first, in a vertical Z-direction upwardly extending curved deflection 42 connects to the first web portion 40 at. Were one or more cargo 3 when moving the handling device 7 along the first

Track section 40 manipulated, the handling device 7 is manipulated after release of the one or more packaged goods 3 in the upward direction of the Moves piece goods 3 and follows the course of the first curved deflection, to which reference numeral 42 in Fig. 3 refers.

A second track section 44 adjoins the first curved deflection 42. Here, the handling device 7 is moved in opposite directions to the X direction for receiving further piece goods 3. The second track section 44 extends non-parallel or at an angle to the first track section 40. A second curved guide link 46 adjoins the second track section 44 and the first track section 40 or connects the first track section 40 and the second track section 44 with one another.

A relative spacing of the first web section 40 relative to the second web section 44 decreases homogeneously in the X direction. Practice has shown that certain trajectories 24 with characteristics of FIG. 3 low

Require drive torque A1 to A3 for actuators 9 and still allow high throughput in manipulation of cargo 3. Favorable for the lowest possible

Training drive torque A1 to A3 of actuators 9 have also

Characteristics proven in FIG. 3, in which a radius of the second

curved deflection 46 increases when approaching the first path section 40.

A working space within which the handling device 7 can be moved is shown in FIG. 3 by reference number 50. It can be seen here that the first and the second web sections 40 and 44 as well as the first and the second

curved deflection 42 and 46 together enclose a surface 60 whose amount corresponds to more than 60% of the amount of the area formed by the working space 50.

The two perspective views of Fig. 4 show further aspects, as they may be present in conceivable embodiments of the present invention. The handling device 7 of Figures 4A and 4B is as a tripod 8 and as

Parallel kinematic robot 8 is formed and has three arms 14 which can be moved relative to each other. The perspective detailed view of FIG. 4B shows that the arms 14 each comprise a lower tie 17 and a upper tie 16. Via a respective actuator 9, the upper cable 16 can be rotated about a horizontal axis in order to move the respective arm 14.

The respective upper cable 16 and the respective actuator 9 are also a gear 18 and a sensor 19, in the present case designed as a torque transducer 21,

interposed. The sensor 19 or torque transducer 21 is connected to the Output shaft of the transmission 18 is coupled and thereby able, upon movement of the handling device 7 and the tripod 8 and the parallel kinematic robot 8 along the plurality of working paths 20, 22 and 24 via the actuator 9 to the arm 14 and top 16 each determined torque. Next is the sensor 19 and torque transducer 21 with the

Control device S in connection. This can, taking into account the torque respectively detected via the sensor 19 or torque transducer 21, select or specify a respective particular working path 24 from the plurality of working paths 20, 22 and 24 and a movement of the handling device 7 or of the tripod 8 along the determined working path 24 cause.

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

LIST OF REFERENCES

1 device

3 piece goods

5 containers

7 handling device

8 Tripod, parallel kinematic robot

9 actor

10 horizontal conveyor

1 1 rack

12 supporting structure, carrying structure

14 Arm, arms

16 top train

17 beam

18 gears

19 sensor

20 work path

21 torque transducer

22 work path

24 working lane, certain working lane

26 drive torque of the particular work path

30 clamping and / or gripping unit

32 jaw

40 First section of the track

42 First curved deflection

44 Second track section

46 Second curved deflection

50 workspace, workspace

A1 drive torque

A2 drive torque

A3 drive torque

S control device

TR transport direction

Claims

claims

Device (1) for handling piece goods (3), comprising at least one handling device (7) for manipulating piece goods (3),

- At least one actuator (9), via which the at least one

Handling device (7) along several work paths (20, 22, 24) can be moved, so that the at least one handling device (7) passes one or more predetermined fixed positions,

- A control device (S), which for moving the at least one

Handling device (7) with the one or more actuators (9) is in communication, wherein the control device (S) for independent comparison of the plurality of work paths (20, 22, 24) is provided on the basis of at least one or more of the following criteria: a) the respective formation of drive torques (A1, A2, A3) of the one

Actuator (9) or the plurality of actuators (9) during movement of the at least one handling device (7) along the plurality of work paths (20, 22, 24), b) the relative duration, the at least one handling device (7) for movement along the a plurality of work paths (20, 22, 24) required, c) the formation of moments, which on the at least one

Handling device (7) act in their movement along the plurality of work paths, wherein by the control device (S) taking into account the at least one criterion or taking into account several criteria, a certain work path (24) from the plurality of work paths (20, 22, 24) predetermined or ,

is determinable, and wherein a movement of the at least one

Handling device (7) via the one actuator (9) or via the multiple actuators (9) can be caused by the control device (S) along the particular work path (24).

Device according to Claim 1, in which the at least one handling device (7), together with a plurality of actuators (9), is designed as a tripod (8) or as a parallel-kinematics robot (8).

Device according to Claim 2, in which one actuator (9) or a plurality of actuators (9) is designed as a parallel kinematics robot (8) or as a tripod (8)

Handling device (7) in each case a sensor (19) or a plurality of sensors (19) for determining the criterion a) is assigned or are.

Device according to claim 3, in which a sensor (19) or a plurality of sensors (19) is or are designed as torque receivers (21) which correspond to one arm (14) or several arms (14) of the parallel kinematics robot (8) is designed as a tripod (8) at least one handling device (7) and a respective actuator (9) is mechanically interposed or are.

Device according to at least one of claims 1 to 4, wherein the

Control device (S) for independent comparison of the plurality of work paths (20, 22, 24) with respect to the relative energy requirement of the actuator (9) or the plurality of actuators (9) when moving the at least one handling device (7) along the plurality of work paths (20, 22 , 24) as criterion d) is formed, wherein on the control device (S) taking into account the criterion d) a certain work path (24) from the plurality of work paths (20, 22, 24) can be predetermined, and wherein a movement of the at least one

Handling device (7) via the actuator (9) or the plurality of actuators (9) by the control device (S) along the particular work path (24) can be initiated.

Device according to at least one of claims 1 to 5, comprising at least one horizontal conveyor (10) for transporting piece goods (3), which at least one horizontal conveyor (10) is positioned such that a movement of the at least one handling device (10) along the particular working path (24) at least in sections parallel to one

Transport direction (TR) of at least one horizontal conveyor (10).

7. A method for moving at least one handling device (7) designed for handling unit loads (3), in which method one or more fixed positions are specified, which determine the at least one

Handling device (7) anfährt during their movement, wherein a control device (S), taking into account the fixed position or the plurality of fixed positions several working paths (20, 22, 24), along which the handling device (7) by means of an actuator (9) or by means of several actuators (9) for manipulating piece goods (3) can be moved cyclically, at least with respect to one of the following criteria or with respect to several of the following criteria independently compares: a) the formation of drive torque (A1, A2, A3) of the actuator (9) or a plurality of actuators (9) upon respective movement of the at least one handling device (7) along the plurality of work paths (20, 22, 24), b) the duration of which the at least one handling device (7) moves for each movement along the plurality of work paths (20, 22, 24) is required, c) the formation of moments, which on the at least one

Handling device (7) act in their movement along the plurality of work paths, wherein the control device (S), taking into account the criterion or more criteria, a certain work path (24) from the plurality of work paths (20, 22, 24) and specifies a movement of at least one

Handling device (7) along the specific working path (24) via the control device (S) is caused.

8. The method of claim 7, wherein the at least one handling device (7) along the particular work path (24) is moved in the frame of a closed curve.

9. The method of claim 7 or 8, wherein the plurality of work trays (20, 22, 24) at least with respect to the criterion a) and the criterion b) are compared with each other, wherein the control device (S) taking into account the criteria a) and b ) a certain work path (24) from the plurality of work paths (20, 22, 24) specifies and a movement of the at least one handling device (7) along the particular work path (24) via the control device (S) is caused.

10. The method according to at least one of claims 7 to 9, wherein the

Control device (S) the plurality of work trays (20, 22, 24) with respect to the relative energy requirement of the actuator (9) or the plurality of actuators (9) during a movement of the at least one handling device (7) along the plurality of work paths (20, 22, 24 ) as criterion d) with each other, under

Taking into account the criterion d) a particular work path (24) from the plurality of work paths (20, 22, 24) predetermines and a movement of the at least one handling device (7) along the particular work path (24) via the control device (S) is caused.

1 1. Method according to at least one of Claims 7 to 10, in which the at least one handling device (7) has at least three arms (14) to which at least one actuator (9) is assigned in each case and which has a respective free one

End region with a common clamping and / or gripping unit (30) are in communication, wherein the actuators (9) of the at least three arms (14) via the

Control device (S) for moving the clamping and / or gripping unit (30) along the particular work path (24) are driven simultaneously to one or more cargo (3) by means of the clamping and / or gripping unit (30)

manipulate.

12. The method of claim 1 1, wherein the criterion a) via one or more with the control device (S) in connection and to the actuators (9) coupled torque transducer (21) is detected. 13. The method according to at least one of claims 7 to 12, wherein the at least one handling device (7) during its movement along the particular work path (24) a piece goods (3) or more piece goods (3) of a

Horizontal conveyor (10) receives and manipulated, wherein the cargo (3) or the plurality of cargo (3) in surface contact with the

Horizontal conveyor (10) remain.

14. Specific work path (24), which by a control device (S) according to at least one of claims 1 to 6 and / or claims 7 to 12 is predetermined, the particular work path (24) comprising the following characteristics:

a first track section (40) extending horizontally in an X direction,

a first curved diverter (42) extending upwards in a perpendicular Z-direction and adjoining the first path section (40),

a second track section (44) adjoining the first curved guide (42) and oriented counter to the X-direction,

a second curved deflector (46) which adjoins the second web section (44) and the first web section (40) and runs down in the Z direction,

- Wherein a relative spacing of the first web portion (40) relative to the second web portion (44) decreases in the X direction.

15. A certain work path according to claim 14, wherein a radius of the second

curved deflection (46) when approaching the first track section (40) increases.

16. A working web according to claim 14 or 15, wherein an amount of the relative spacing of the first web portion (40) from the second

Web section (44) at least partially, at least two-thirds of the amount of the greatest possible freedom of movement of at least one handling device (7) in the vertical Z-direction.

17. A specific work track according to one or more of claims 14 to 16, wherein the at least one handling device (7) has a specific working space (50) within which the at least one handling device (7) can be moved, wherein the first and the second Web section (40, 44) and the first and the second curved deflection (42, 46) with each other enclose a surface (60) whose amount is more than 60% of the amount of the area formed by the working space (50).

18. Specific work path (24) for at least one handling device (7), which general cargo (3) from a horizontal conveyor (10) during its movement and manipulate without interruption of the movement, the particular work path (24) comprising the following characteristics:

a first track section (40) extending horizontally in an X direction,

a first curved (42) deflection running upwards in a vertical Z-direction, which adjoins the first path section,