WO2019011579A1 - Procédé et dispositif pour manipuler des marchandises, articles et/ou paquets - Google Patents

Procédé et dispositif pour manipuler des marchandises, articles et/ou paquets Download PDF

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Publication number
WO2019011579A1
WO2019011579A1 PCT/EP2018/065877 EP2018065877W WO2019011579A1 WO 2019011579 A1 WO2019011579 A1 WO 2019011579A1 EP 2018065877 W EP2018065877 W EP 2018065877W WO 2019011579 A1 WO2019011579 A1 WO 2019011579A1
Authority
WO
WIPO (PCT)
Prior art keywords
piece goods
transport
articles
manipulator
containers
Prior art date
Application number
PCT/EP2018/065877
Other languages
German (de)
English (en)
Inventor
Johannes KIRZINGER
Sebastian Grimm
Arsalan MEHDI
Christian Westermeier
Erhard Beer
Felix SCHWALB
Manuel Kollmuss
Marco Ehberger
Michael Astner
Original Assignee
Krones Aktiengesellschaft
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 Krones Aktiengesellschaft filed Critical Krones Aktiengesellschaft
Publication of WO2019011579A1 publication Critical patent/WO2019011579A1/fr

Links

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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
    • B65G47/084—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern
    • B65G47/086—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern cubiform articles

Definitions

  • the present invention relates to a method and a device for
  • Each individual piece goods are transferred to the conveyor belt. This transfer can be done by each individual piece goods through a
  • Speed difference between the conveyor belt and conveyor belt is transferred individually to the conveyor belt, wherein control by optical sensors such as light barriers may be present. It is also conceivable to transfer the piece goods occasionally from the conveyor belt by stepwise driving the layer forming belt. In order to transfer individual piece goods from the conveyor belt to the ply forming belt in such a way, the ply forming belt can be synchronized Steps with the conveyor belt exactly by a length of a piece goods in
  • Transport direction are moved.
  • these cycles or groupings or parts of the grouped piece goods can also be rotated on the conveyor belt, in order then to be transferred to the layer forming belt.
  • Piece goods are brought together by bringing them into a two-dimensional formation (block formation, eg pallet layer).
  • block formation eg pallet layer
  • a two-dimensional formation for this purpose, for example, a pallet layer
  • Roller conveyor from an alley or from several lanes be supplied linearly.
  • the piece goods can be rotated as required before or on the roller conveyor and placed on the roller conveyor mechanically by stopping in the required position.
  • the piece goods thus positioned can then be pushed off the roller conveyor orthogonally to the transport direction.
  • the inflow, the arrangement and the removal of the piece goods can be considered as one cycle. At least one cycle is needed to make a layer, but normally it takes several cycles.
  • the partially discontinuous production with its relatively abrupt changes in speed or direction causes correspondingly high mechanical loads on the piece goods, which is gentle on the product
  • Processing of general cargo may be detrimental.
  • the object of the invention is a method and an apparatus for handling and / or grouping in at least two parallel rows
  • the invention relates to a method and a device for handling and / or grouping of piece goods, articles and / or containers at and / or in connection with their grouping and / or their layer formation, in particular for Purpose of training of each consisting of several piece goods, articles and / or containers palettierQen layers.
  • the following is generally of
  • the piece goods can be in a row
  • consecutively moving articles, packages, container compositions, containers, cartons or similar act.
  • a plurality of identical or different articles are combined by a cardboard outer packaging, by a strapping or several strapping, by a film package or the like to form a container or a mixed container.
  • the piece goods moving in series one behind the other can be designed the same or different depending on the requirements of subsequent handling devices.
  • the device comprises at least two transport devices for two- or multi-row conveyance of piece goods, articles and / or containers in one
  • Transport direction The moving in a row without distances or with minimal distances and / or to a - especially manipulation area or
  • Detection area or movement area referred to, at least two immediately successive piece goods are preferably referred to as
  • closed formation refers to a largely continuous succession of piece goods
  • the closed formation in the sense of the present invention may have a finite length and a limited number of piece goods, after which a gap and such a gap may possibly follow another such formation, which is subsequently transported. Such a sequence may be repeated, possibly even multiple, multiple or indefinite.
  • the closed formation can also be transported as an endless formation, which has no interruption and comprises any number of piece goods. As a different option, however, to some embodiments of the
  • the piece goods moved in succession and / or the apparatus according to the invention for handling unit loads moved in succession or else to several variants of this method or apparatus can move in defined rows without respective distances or with minimum respective distances from each other and / or or to one - in particular Manipulation area or detection area said area transported at least two immediately consecutive cargo each transported in clocked formations or transported.
  • Formation and / or the clocked inflow is a largely regular
  • the closed and / or gapless rows in the sense of the present invention can each have a finite length and comprise a limited number of piece goods, according to which a gap and such a gap may optionally follow another such row with each piece of goods following each other in succession is transported. Such a sequence may be repeated, possibly also multiple, multiple or indefinite, preferably in regular sequence, but possibly also in cyclic regular patterns or in irregular sequence.
  • the closed rows of such a clocked formation can basically each comprise any number of piece goods.
  • the piece goods are two or more rows in each closed and / or gapless formation or in
  • Grouping module transported with at least one horizontal conveyor and at least one manipulator for the cargo.
  • the manipulator detects at least one of the incoming into his detection area cargo or groups of two or more cargo of one of the at least two feeding rows and brings them by turning and / or moving and / or lifting in a defined position arrangement. This creates a so-called prepared palletizable layer in which there may still be gaps between individual piece goods, which still have to be removed before the actual palletizing step.
  • At least one piece of goods being transported is detected in succession by the manipulator of the grouping module and brought into a defined position arrangement by turning and / or shifting and / or lifting.
  • the manipulator of the grouping module is detected in succession by the manipulator of the grouping module and brought into a defined position arrangement by turning and / or shifting and / or lifting.
  • gap-shaped formations can also each at least one transported piece goods clamped and / or positively and / or positively detected spatially separated from the gapped row of clocked formation and in a defined relative target position and / or target orientation or position arrangement subsequent piece goods of the formation are brought, wherein usually a foremost present cargo of the respective series is detected by means of the manipulator and tapped from the series.
  • Detection of piece goods is mentioned, this also includes a non-positive and / or frictional detection, a non-positive and / or frictional gripping or picking up piece goods. All these variants of picking up, grasping and / or gripping piece goods can be combined equally with a form-locking gripping, gripping or picking up the piece goods.
  • Target orientation may in particular mean that the piece goods can be detected, moved and / or rotated, the piece goods can be either only shifted (without rotation) or only rotated (without sliding movement) can be.
  • the piece goods are within the grouping module on the
  • Horizontal conveyor transports, individual piece goods or groups of
  • Piece goods are grasped and grasped by the manipulator and on the
  • Horizontal conveyor moved, offset, positioned and / or realigned.
  • the piece goods in this case can be delayed or accelerated relative to a basic conveying speed of the horizontal conveyor and possibly rotated and / or offset obliquely to a conveying direction of the horizontal conveyor.
  • the conveying speed of the horizontal conveyor usually corresponds to the basic feed rate at which the piece goods over the at least two
  • Manipulator were transported, the other transport device or the other transport devices together with the transported on it cargo is at least briefly against the transport of which the at least one cargo is detected by the manipulator and brought into the ply assembly is / is delayed.
  • the delay is preferably parallel to tapping and
  • Transport devices arranged piece goods adjusted within the coverage.
  • Transport devices each have a basic transport speed and the
  • Horizontal conveyor have a basic conveying speed in the transport direction.
  • the basic transport speeds of at least two
  • Horizontal conveyor are preferably the same. Now it can be provided that at approximately constant basic conveying speed of
  • the piece goods of the series of which at least one Piece goods are detected, separated and positioned by the manipulator, enter the grouping module with an unchanged basic transport speed, while the piece goods of the at least one parallel row come with a reduced amount
  • Movement space done with at least one component of movement in the transport direction.
  • a distance between the detected by the manipulator piece goods and the subsequent piece goods of the same row is made. This distance may be necessary for the subsequent movement sequence of the manipulator together with the at least one registered piece goods, for example, during a rotation o.ä. to prevent a collision with the directly trailing piece goods of the row.
  • the transport speed (s) of the transport device (s) whose piece goods are not detected by the manipulator in one working cycle will / will be adapted to the number of the other
  • Transport device recorded cargo reduced. Will only be a piece of good from
  • the at least one second transport device is delayed to a first reduced transport speed. If, on the other hand, two piece goods are detected by the manipulator, then the at least one second transport device is delayed to a second reduced transport speed which is less than the first reduced transport speed.
  • the difference between the basic transport speed and the second reduced transport speed corresponds approximately twice to the difference between the basic transport speed and the first reduced transport speed, etc.
  • the respective reduced transport speed can be delayed in each case, wherein the respective time period in which the transport device operated at reduced transport speed, is adapted in accordance with the number of packaged goods detected by the manipulator and in particular is longer, the more packaged goods have been tapped by the manipulator.
  • the piece goods brought into the layer arrangement are subsequently further handling, stacking and / or palletizing modules arranged downstream of the grouping module
  • the detection area and / or the movement space of the at least one manipulator at least one
  • Detection device is assigned, which moved to obtain spatial coordinates and / or position and / or outline data at least one in the transport direction
  • Piece good is prepared and equipped, wherein at least the at least two of the Gruppiermodul upstream transport facilities and / or the manipulator and / or other conveyor components of the device based on the space coordinates and / or position and / or outline data calibrated and / or controlled.
  • the device is equipped with at least one control unit, which from the
  • Detection device evaluates transmitted signals or data and regulated according to the speeds of the different machine components.
  • the detection device may be, for example, an optical detection device for determining the spatial coordinates and / or position and / or outline data. According to a preferred embodiment, the
  • Transport device and / or the horizontal conveyor are moved.
  • a device with movably trained detection device is described in the application with the file reference 10 2016 213 400.0, the content of which hereby in this
  • Embodiment variants in connection with the device according to the invention have been explained equally part aspects of the method according to the invention or can be. Therefore, if at some point in the description or in the claim definitions for the device according to the invention of certain aspects and / or relationships and / or effects is mentioned, this is equally true for the inventive method. Conversely, the same applies, so that all aspects and variants which have been explained in connection with the method according to the invention can equally relate to or may be partial aspects of the device according to the invention. Therefore, if at some point in the description or in the claim definitions for the method according to the invention of certain aspects and / or relationships and / or effects is mentioned, this applies equally to the inventive device.
  • Figures 1 to 1 1 show a meaningful timing of a first
  • FIG. 12 shows a palletizable layer prepared by means of the method according to the invention.
  • FIG. 1 The schematic plan views of Figures 1 to 1 1 a meaningful timing of a first embodiment of a method according to the invention with at least two-lane inlet.
  • the handling device 10 comprises at least two feeding
  • Transport devices 3a and 3b via which immediately successive Piece goods 2 each in a row 1 a, 1 b are transported without interruption and / or with a continuous transport speed v3a, v3b to a Gruppiermodul 20 with at least one manipulator 5, in particular in a detection area 4 (in Fig. 1 by hatching) of the at least one Manipulator 5 of
  • the detection area 4 means in the present
  • the maximum and / or the respective program-controlled predetermined movement space of the manipulator 5. The detection range 4 or
  • the detection area 4 of the manipulator 5 is the reasonable range of motion in which can be located to be detected cargo 2 and / or in which the
  • the transport devices 3a, 3b are each at least one, for example
  • each of the transport devices 3 a, 3 b can be formed by an endlessly circulating conveyor belt, an endless conveyor chain or the like, so that the piece goods 2 can be delivered to the horizontal conveyor device 6 and brought up therewith.
  • the piece goods 2 located in rows 1 a, 1 b on the transport devices 3 a, 3 b enter the detection area 4 of the manipulator 5 at a transport speed v3a, v3b in a so-called closed formation F. But it can also be provided that between the cargo 2 of the two rows 1 a, 1 b respectively defined distances are formed.
  • Piece goods 2 in the sense of the present invention or the embodiment described may be, for example, individual items, packages or containers.
  • Parcels or containers may, for example, be shrink-wrap packages and / or strapping packages or the like, whereby normally several articles, such as in particular containers, liquid and / or beverage containers, are provided by means of an outer packaging in the form of a strapping, a shrink film or the like. are bundled into containers.
  • the detection area 4 of the manipulator is associated with a horizontal conveyor 6, the piece goods 2, 2 * bearing surface with a
  • Conveying speed v6 moves.
  • the conveying speed v6 of the horizontal conveying device 6 can be the transport speeds v3a, v3b of the
  • Transport devices 3a, 3b correspond.
  • the transport devices 3a, 3b correspond.
  • the transport devices 3a, 3b correspond.
  • Transport speeds v3a, v3b and the conveying speed v6 also differ slightly, provided that it can be ensured that the uninterrupted promotion of cargo 2 to the horizontal conveyor 6 is maintained.
  • the piece goods 2 arriving in rows 1 a, 1 b or formation F via the transport devices 3 a, 3 b can, if necessary, be formed at different transport speeds v 3 a, v 3 b and v 6 due to the higher transport speed v 3 a, v 3 b
  • Dynamic pressure of the subsequent piece goods 2 are pushed onto the horizontal conveyor 6 and transported there without interruption.
  • suitable measures for example by means of a rubberized conveyor belt of the horizontal conveyor 6 and / or by means of a rubberized conveyor belt of the transport devices 3a, 3b, optionally also by a between the transport devices 3a, 3b and
  • Horizontal conveyor 6 located so-called. Brake band, which is characterized by a piece goods 2 supporting surface with a particularly high coefficient of friction.
  • the manipulator 5 is designed and equipped for the clamping and / or positive and / or non-positive reception of piece goods 2 within the detection area 4.
  • the piece goods 2 detected by the manipulator 5 - i.e. usually the incoming goods in the first piece of goods 2 -
  • the manipulator 5 picks up one of the two rows 1 a, 1 b in accordance with a cycle * predetermined for the layer formation, one cycle comprising a defined number of piece goods 2 * .
  • the manipulator 5 of the row 1 a a clock comprising a general cargo 2 from separates this clock from the single-row formation F of the row 1 a and transfers the cycle, ie, the separated piece goods 2 * , to a destination position P1 and / or destination orientation (compare FIGS. 5 to 8).
  • the piece goods 2 or the group of packaged goods 2 * * is shifted laterally with respect to the incoming formation F of row 1 a and / or it may be provided that the piece goods 2 * or the group of packaged goods 2 * is spaced by the manipulator 5 in the transport direction TR of the respective row 1 a, 1 b of the piece goods 2 and / or that the parcel 2 * or the group of parcels 2 * compared to the parcels 2 of the respective row 1 a, 1 b is twisted or similar.
  • a manipulator 5 it may be specifically in the for transferring the at least one tapped by the manipulator piece goods 2 * in the target position P1 and / or target orientation provided part of Manipulator 5, for example, a tool head, a gripper head 50 or the like.
  • Manipulatoraufhfitung or manipulator allows the desired mobility of the gripper head 50 (also: the manipulator 5), the piece goods 2 * in the desired manner capture, move, position, place, rotate, etc. in order to be able to approach the respective target positions P1 and / or target orientations for the piece goods 2 * .
  • Other suitable manipulator configurations are also conceivable, for example those with gantry robot guides or the like. These other manipulator configurations may optionally refer to single, multiple or all variant embodiments mentioned in the context of the present description of the drawings and / or the entire description of the invention.
  • the manipulator 5 can in this embodiment and / or in the
  • a gripper head 50 with lateral jaws 52 or the like. be formed (see FIG. 1) or include such a gripper head 50 with lateral jaws 52, which are typically deliverable against each other when detecting the cargo 2 * to form and / or force-locking to capture the cargo and clamp, whereas the jaws 52 can be opened again when reaching the target position P1.
  • the gripper or gripper head 50 should also be regarded as a subassembly or component of the more comprehensive manipulator 5 to be understood.
  • FIGS. 1 to 8 show, in particular, the tapping of a cycle comprising a single article 2 * of the row 1 a.
  • an asymmetrical loading of the manipulator 5 takes place relative to a pivot point D of the manipulator 5 or relative to the length L of the gripper head 50 of the manipulator 5.
  • the cargo 2 * of the clock is compared to the incoming piece goods 2 of the series 1 a in
  • FIG. 9 the tapping of another clock comprising a single piece 2 * of the same row 1 a is shown below.
  • the general cargo 2 * of the clock is compared with the following incoming piece goods 2 of the series 1 a in
  • Transport direction TR spaced and transferred by means of a 90 ° clockwise rotation in a target position P2 laterally offset to the trailing piece goods 2 of the series 1 a ( Figures 10 and 1 1).
  • a delay of the feed of the piece goods 2 of the other row 1 b provided.
  • the transport speed v3b of the feeding conveyor 3b of the other row 1 b at least temporarily reduced to a reduced transport speed v3b (-) to advance the piece goods 2 of the row 1 b in the detection area 4 of the manipulator 5 with respect to the piece goods 2 of the other row 1 a to prevent ( Figures 6 to 9).
  • the reduced Transport speed v3b (-) of the transport device 3b is again adapted to the normal transport speed v3a of the transport device 3a (Fig. 10).
  • each transport device 3a, 3b, a sensor 40a, 40b assigned to the space coordination and / or position data of the incoming cargo 2 of the respective series 1 a, 1 b recognizes and this data to a
  • Control unit 15 transmitted. This compares the values and fits the
  • Transport speeds v3a, v3b of the transport devices 3a, 3b accordingly.
  • FIG. 12 shows a palletizable layer 12 prepared by means of the method according to the invention, which is subsequently the other one
  • Processing in particular the centering and palletizing, can be supplied.
  • derjetreatment row 1 b from the no piece goods 2 are tapped can also be used to advantage, in order to adjust the position of the respective first incoming piece goods 2 of the rows 1 a, 1 b perpendicular to the transport direction TR, if
  • a cycle comprising at least one article 2 of a series 1 a and at least one article 2 of the other series 1 b to be detected by the manipulator 5 and conveyed to a target position.

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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 dispositif pour manipuler des marchandises (2) dans le cadre de leur groupement et/ou de leur agencement en couche. Ce procédé comprend le transport en deux ou plus de deux rangées des marchandises (2) au moyen d'au moins deux dispositifs de transport (3a, 3b) parallèles, dans une direction de transport (TR), vers un module de groupement (20) comportant un dispositif transporteur horizontal (6) et un manipulateur (5). Les marchandises (2) sont saisies les unes après les autres et/ou tour à tour au moyen du manipulateur (5), respectivement individuellement ou en groupes de deux ou de plus de deux marchandises (2), dans les deux ou plus de deux rangées (1a, 1b), et placées selon un agencement en couche défini, par rotation et/ou déplacement et/ou levage. Après chaque saisie d'au moins une marchandise (2) ou après la saisie deux ou trois fois d'au moins une marchandise (2) transportée par un des deux dispositifs de transport (3a, 3b) dans la zone de saisie (4) du manipulateur (5), l'autre dispositif de transport (3a, 3b) respectif ou les autres dispositifs de transport respectifs (3a, 3b) est/sont ralenti(s), au moins temporairement, avec la formation (F) de marchandises (2) fermée ou comportant des interstices qui est transportée dessus, par rapport au dispositif de transport (3a, 3b) duquel la ou les marchandise(s) (2) a/ont été saisie(s) par le manipulateur (5) et placée(s) selon l'agencement en couche.
PCT/EP2018/065877 2017-07-14 2018-06-14 Procédé et dispositif pour manipuler des marchandises, articles et/ou paquets WO2019011579A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017212160.2 2017-07-14
DE102017212160.2A DE102017212160A1 (de) 2017-07-14 2017-07-14 Verfahren und Vorrichtung zur Handhabung von Stückgütern, Artikeln und/oder Gebinden

Publications (1)

Publication Number Publication Date
WO2019011579A1 true WO2019011579A1 (fr) 2019-01-17

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PCT/EP2018/065877 WO2019011579A1 (fr) 2017-07-14 2018-06-14 Procédé et dispositif pour manipuler des marchandises, articles et/ou paquets

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WO (1) WO2019011579A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009019164A1 (fr) * 2007-08-07 2009-02-12 Krones Ag Ensemble de transport de fûts
DE102011080812A1 (de) * 2011-08-11 2013-02-14 Krones Aktiengesellschaft Verfahren und Vorrichtung zur Bildung von Lagen aus Artikeln, Stückgütern oder Gebinden
DE102013202872A1 (de) * 2013-02-21 2014-08-21 Krones Aktiengesellschaft Verfahren und Vorrichtung zum Ausrichten und/oder Gruppieren von Artikeln, Stückgütern oder Gebinden
EP2792623A1 (fr) * 2013-04-17 2014-10-22 Krones Aktiengesellschaft Dispositif et procédé de réalisation d'une formation prédéfinie sur un tapis de transport
DE102016225499A1 (de) 2016-12-19 2018-06-21 Krones Aktiengesellschaft Verfahren und Vorrichtung zum Überführen einer palettierfähigen Lage auf eine zugeordnete Palette

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009019164A1 (fr) * 2007-08-07 2009-02-12 Krones Ag Ensemble de transport de fûts
DE102011080812A1 (de) * 2011-08-11 2013-02-14 Krones Aktiengesellschaft Verfahren und Vorrichtung zur Bildung von Lagen aus Artikeln, Stückgütern oder Gebinden
DE102013202872A1 (de) * 2013-02-21 2014-08-21 Krones Aktiengesellschaft Verfahren und Vorrichtung zum Ausrichten und/oder Gruppieren von Artikeln, Stückgütern oder Gebinden
EP2792623A1 (fr) * 2013-04-17 2014-10-22 Krones Aktiengesellschaft Dispositif et procédé de réalisation d'une formation prédéfinie sur un tapis de transport
DE102016225499A1 (de) 2016-12-19 2018-06-21 Krones Aktiengesellschaft Verfahren und Vorrichtung zum Überführen einer palettierfähigen Lage auf eine zugeordnete Palette

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