WO2023235911A3 - Transfervorrichtung und verfahren zum handhaben von packeinheiten - Google Patents

Transfervorrichtung und verfahren zum handhaben von packeinheiten Download PDF

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Publication number
WO2023235911A3
WO2023235911A3 PCT/AT2023/060180 AT2023060180W WO2023235911A3 WO 2023235911 A3 WO2023235911 A3 WO 2023235911A3 AT 2023060180 W AT2023060180 W AT 2023060180W WO 2023235911 A3 WO2023235911 A3 WO 2023235911A3
Authority
WO
WIPO (PCT)
Prior art keywords
transfer device
module
packing units
loading arm
gripper
Prior art date
Application number
PCT/AT2023/060180
Other languages
English (en)
French (fr)
Other versions
WO2023235911A2 (de
Inventor
Florian Forster
Original Assignee
Tgw Logistics Group 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 Tgw Logistics Group Gmbh filed Critical Tgw Logistics Group Gmbh
Publication of WO2023235911A2 publication Critical patent/WO2023235911A2/de
Publication of WO2023235911A3 publication Critical patent/WO2023235911A3/de

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
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • 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
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • 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
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • 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
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
    • 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
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • 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
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top 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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • 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
    • B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/08—Adjustable and/or adaptable to the article size

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

Die Erfindung betrifft eine Transfervorrichtung (1) zum Handhaben von Packeinheiten (P), umfassend einen Greifkopf (2) mit einem Grundrahmen (3), an welchem ein Greifmodul (4) und ein Beladezungenmodul (5) bewegbar gelagert sind. Das Greifmodul (4) ist relativ zum Beladezungenmodul (5) entlang einer Hubrichtung (Y) bewegbar, um die Packeinheit (P) anzuheben, sodass diese vom Beladezungenmodul (5) unterfahren und gestützt werden kann.
PCT/AT2023/060180 2022-06-08 2023-06-07 Transfervorrichtung und verfahren zum handhaben von packeinheiten WO2023235911A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50400/2022A AT526215A1 (de) 2022-06-08 2022-06-08 Transfervorrichtung und Verfahren zum Handhaben von Packeinheiten
ATA50400/2022 2022-06-08

Publications (2)

Publication Number Publication Date
WO2023235911A2 WO2023235911A2 (de) 2023-12-14
WO2023235911A3 true WO2023235911A3 (de) 2024-03-14

Family

ID=87196147

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2023/060180 WO2023235911A2 (de) 2022-06-08 2023-06-07 Transfervorrichtung und verfahren zum handhaben von packeinheiten

Country Status (2)

Country Link
AT (1) AT526215A1 (de)
WO (1) WO2023235911A2 (de)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010002317A1 (de) * 2010-02-24 2011-08-25 Apologistics GmbH, 04416 System und Verfahren zur Vereinzelung und Kommissionierung von Artikeln
DE102012013029A1 (de) * 2012-06-29 2014-04-24 Liebherr-Verzahntechnik Gmbh Vorrichtung zur automatischen Handhabung von ungeordneten Werkstücken
WO2020014725A2 (de) * 2018-07-20 2020-01-23 Tgw Logistics Group Gmbh Verfahren und kommissionierlager zum lagern und kommissionieren von waren
US20200055671A1 (en) * 2018-08-14 2020-02-20 Nextshift Robotics, Inc. Method and system for automated transport of items
EP3623324A1 (de) * 2018-09-11 2020-03-18 Kabushiki Kaisha Toshiba Fördervorrichtung, fördersystem und förderverfahren
WO2021025019A1 (ja) * 2019-08-05 2021-02-11 川崎重工業株式会社 ロボットハンド、ロボット、ロボットシステム及び搬送方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2441709B1 (de) * 2010-10-15 2014-01-29 Prospect AB Greifer zum Greifen von Palettengütern
WO2013092915A1 (de) 2011-12-20 2013-06-27 Brandmueller Ludwig Entpalettiersystem und entnahmeeinheit
US9701490B2 (en) * 2014-05-05 2017-07-11 Symbotic Canada ULC. Method and tool for palletizing mixed load products
US9492923B2 (en) * 2014-12-16 2016-11-15 Amazon Technologies, Inc. Generating robotic grasping instructions for inventory items
WO2017198281A1 (de) * 2016-05-17 2017-11-23 Liebherr-Verzahntechnik Gmbh Kommissionierzelle
US11318620B2 (en) * 2018-05-09 2022-05-03 Intelligrated Headquarters, Llc Method and system for manipulating items
US10899560B2 (en) * 2018-07-16 2021-01-26 XYZ Robotics Global Inc. Robotic system for picking, sorting, and placing a plurality of random and novel objects
US11027921B2 (en) * 2019-04-10 2021-06-08 Abb Schweiz Ag Product manipulation tool
DE102019109923A1 (de) * 2019-04-15 2020-10-15 Universität Stuttgart Handhabungsvorrichtung zur Handhabung von Verpackungen und Verfahren zur Handhabung solcher Verpackungen
DE102019110704B3 (de) * 2019-04-25 2020-05-14 Stöcklin Logistik Ag Vorrichtung und Verfahren zum Depalettieren von stapelbaren Stückgutgebinden

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010002317A1 (de) * 2010-02-24 2011-08-25 Apologistics GmbH, 04416 System und Verfahren zur Vereinzelung und Kommissionierung von Artikeln
DE102012013029A1 (de) * 2012-06-29 2014-04-24 Liebherr-Verzahntechnik Gmbh Vorrichtung zur automatischen Handhabung von ungeordneten Werkstücken
WO2020014725A2 (de) * 2018-07-20 2020-01-23 Tgw Logistics Group Gmbh Verfahren und kommissionierlager zum lagern und kommissionieren von waren
US20200055671A1 (en) * 2018-08-14 2020-02-20 Nextshift Robotics, Inc. Method and system for automated transport of items
EP3623324A1 (de) * 2018-09-11 2020-03-18 Kabushiki Kaisha Toshiba Fördervorrichtung, fördersystem und förderverfahren
WO2021025019A1 (ja) * 2019-08-05 2021-02-11 川崎重工業株式会社 ロボットハンド、ロボット、ロボットシステム及び搬送方法

Also Published As

Publication number Publication date
AT526215A1 (de) 2023-12-15
WO2023235911A2 (de) 2023-12-14

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