WO2024121044A1 - Tête de pince et procédé de préhension et de manipulation de charge isolée - Google Patents

Tête de pince et procédé de préhension et de manipulation de charge isolée Download PDF

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Publication number
WO2024121044A1
WO2024121044A1 PCT/EP2023/084087 EP2023084087W WO2024121044A1 WO 2024121044 A1 WO2024121044 A1 WO 2024121044A1 EP 2023084087 W EP2023084087 W EP 2023084087W WO 2024121044 A1 WO2024121044 A1 WO 2024121044A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
goods
piece
piece goods
gripper head
Prior art date
Application number
PCT/EP2023/084087
Other languages
German (de)
English (en)
Inventor
Michael Hartl
Josef Unterseher
Stefan Schwarzkopf
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 WO2024121044A1 publication Critical patent/WO2024121044A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • 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
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • 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
    • B25J15/02—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
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated

Definitions

  • the present invention relates to a gripper head for gripping piece goods, a turning and distribution system for piece goods with such a gripper head and a method for gripping and manipulating piece goods.
  • the piece goods can, for example, be packages with several beverage containers, so that a corresponding gripper can accept such packages and then rotate or move them as required.
  • packages are known in which several beverage containers are held together by means of strapping and/or a banderol.
  • packages in which articles are held together by a so-called tray on which several beverage containers stand and which tray has side tabs that have been converted into an upright orientation.
  • Packages have also been known for some time in which beverage containers are held together by a flat packaging cut-out that is clipped onto the respective beverage containers from above.
  • Such packaging cut-outs known in practice as top clips, can be made of cardboard and/or paperboard.
  • grippers In order to avoid such problems, grippers are known that have at least one separating or supporting plate that is arranged between the gripper bars. If several containers arranged next to one another are gripped by a gripper, each container comes into surface contact with the separating or supporting plate, which can prevent containers from accidentally detaching from the gripper during subsequent manipulation. Such a gripper is known from EP 4 067 271 A1.
  • one object of the invention can be seen in providing a possibility with which the flexibility in different manipulation tasks can be further increased.
  • Another object of the invention can be seen in providing a possibility with which changeover times for a gripper when changing between different manipulation tasks can at least be shortened or even completely eliminated.
  • the invention relates to a gripper head for gripping piece goods.
  • the gripper head has a first gripper bar and a second gripper bar, which can carry out a feed movement for clamping receipt of at least one piece of goods and are attached to a gripper base of the gripper head.
  • first gripper bar and the second gripper bar may each perform a linear movement as part of the feed movement, or the first gripper bar and the second gripper bar may each be moved in a linear direction as part of the feed movement.
  • first gripper bar and the second gripper bar may each be pivoted as part of the feed movement.
  • a first pivot axis provided for the first gripper bar and a second pivot axis provided for the second gripper bar can be oriented parallel to one another. If the gripper head is designed as part of a rotating and distributing system described below, the pivot axes can run parallel to the transport direction of at least one horizontal conveyor device of the rotating and distributing system.
  • the first gripper bar and the second gripper bar can be, for example, a gripper jaw, a tong-shaped gripper arm, a sheet metal or another gripping structure.
  • the first gripper bar and/or the second gripper bar can each have a profiling and/or each have reversibly elastically deformable elements which are prepared for surface contact with the respective piece goods to be clamped.
  • the risk that the respective at least one piece of goods to be clamped is damaged by contact with a gripper bar is reduced. If the first gripper bar and/or the second gripper bar have a profile, the static friction between the first gripper bar and/or the second gripper bar and the at least one piece of goods to be clamped is increased, which can reduce the risk that the at least one piece of goods clamped by the first gripper bar and the second gripper bar will unintentionally become detached from the gripper head.
  • first gripper bar and the second gripper bar is therefore to be understood broadly in this case and includes all constructions that are suitable for the clamping acceptance of piece goods.
  • the gripper head comprises at least one support bar for piece goods, which is located between the first gripper bar and the second gripper bar and is held on the gripper base via at least one bearing. It can be provided that
  • the at least one support bar is held movable relative to the gripper base via the at least one bearing, so that the at least one support bar can adjust or change its range from the gripper base by a movement relative to the gripper base and/or that
  • the at least one support bar is held movable relative to the gripper base via the at least one bearing, so that the at least one support bar is moved away from an area between the two gripper bars by a movement relative to the gripper base.
  • the movement of the at least one support bar relative to the gripper base can be rotational or linear.
  • the at least one support bar may comprise at least two telescopic parts or be formed from at least two telescopic parts in order to adjust its reach from the gripper base.
  • at least two telescopic parts are described in the context of the present patent application, this is to be understood as at least two parts that can be pushed into one another and pulled apart in order to adapt or change their range from the gripper base.
  • first gripper bar and/or the second gripper bar can comprise at least one suction element, via which a vacuum can be created for the respective at least one piece of goods received by clamping. This can minimize the risk of a piece of goods accidentally coming loose from the gripper head when manipulated via the gripper head.
  • first gripper bar and/or the second gripper bar each comprise several suction elements, via which a vacuum can be created for the respective at least one piece of goods received by clamping.
  • the at least one support bar can provide a contact surface for several piece goods that are received in a clamped manner and can penetrate between neighboring piece goods that are to be received in a clamped manner if the at least one support bar extends away from the gripper base with a first reach.
  • the at least one support bar cannot reach the respective at least one piece goods that are to be received in a clamped manner and can only be located above the respective piece goods that are to be received in a clamped manner when the first gripper bar and the second gripper bar carry out their feed movement.
  • the gripper head according to the invention therefore has a high degree of flexibility with regard to the respective at least one piece goods that are to be received.
  • the at least one bearing is designed such that the at least one support bar can be moved over a piece of goods relative to the gripper base by placing a free end region of the at least one support bar on a piece of goods.
  • the gripper head can comprise at least one actuator, via which the at least one support bar can be moved relative to the gripper base to adjust its range extending from the gripper base.
  • the at least one actuator can be attached to the gripper base.
  • the gripper head can be designed to grasp piece goods that are beverage container packages.
  • a beverage container package can comprise several beverage bottles and/or several beverage cans that are held together by at least one packaging means.
  • the bearing can also provide a linear guide for the movement of at least one support bar.
  • the at least one bearing may comprise at least one scissor mechanism, via which the at least one support bar is held movable relative to the gripper base via the at least one bearing, so that the at least one support bar can adjust its range emanating from the gripper base by a movement relative to the gripper base caused by the at least one scissor mechanism.
  • the scissor mechanism can comprise a plurality of scissor levers or exactly two scissor levers which are connected to one another in an articulated manner, so that the at least one support bar can adjust its reach from the gripper base by a movement caused by the at least one scissor mechanism relative to the gripper base.
  • the gripper head can comprise exactly one support bar, with exactly one support bar being held on the gripper base via a bearing in such a way that exactly one support bar can only be moved along its longitudinal direction relative to the gripper base.
  • the gripper head can comprise at least two support bars for piece goods, which are arranged via a respective bearing between the first gripper bar and the second gripper bar are held on the gripper base and are located between the first gripper bar and the second gripper bar.
  • the bearings of the at least two support bars can be designed such that the at least two support bars can each be moved perpendicular to their longitudinal extension in a linear direction along the gripper base and can each adjust their range from the gripper base by a movement relative to the gripper base.
  • the invention also relates to a turning and distribution system for piece goods with at least one gripper head according to at least one of the previously described embodiments.
  • the rotation and distribution system can comprise at least one industrial robot on which the at least one gripper head is arranged, wherein the at least one industrial robot is a gantry robot and/or a delta kinematic robot.
  • the rotation and distribution system can comprise at least one horizontal conveyor device, via which piece goods can be moved into a working area of the at least one gripper head.
  • the rotation and distribution system can be configured and equipped for handling the at least one gripper head in such a way that the at least one piece of goods maintains surface contact with the at least one horizontal conveyor device when being clamped and manipulated via the at least one gripper head.
  • the turning and distribution system can also be configured and equipped to form an arrangement or a specific arrangement from a large number of piece goods.
  • the arrangement or the specific arrangement can be adapted to a palletizable layer to be formed from the large number of piece goods.
  • the invention also relates to a method for grasping and manipulating piece goods via at least one gripper head according to at least one embodiment of the preceding description.
  • piece goods are moved via at least one horizontal conveyor device into a working area of the at least one gripper head.
  • the at least one gripper head then receives at least one piece of goods in a clamped manner by means of a feed movement of its first gripper bar and its second gripper bar and manipulates the at least one piece of goods received in a clamped manner.
  • a range of the at least one support bar for clamping receipt of the respective at least one piece of goods is adjusted as required, so that the at least one support bar is either located with a first range extending from the gripper base between several piece of goods to be received together by clamping or is located with a second range extending from the gripper base, which is reduced compared to the first range, exclusively above the at least one piece of goods to be received by clamping.
  • the gripper head can comprise a scissor mechanism, via which the range of the at least one support bar for clamping the respective at least one piece of goods is adjusted as required.
  • a free end region of the at least one support bar is placed on a piece of goods to be received in a clamped manner, whereby the at least one support bar is moved relative to the gripper base and the first range of the at least one support bar formed up to that point is reduced to the second range of the at least one support bar.
  • the articles in this process can also be beverage containers.
  • the at least one piece of goods received in a clamped manner is rotated and/or displaced at an angle to the transport direction of the at least one horizontal conveyor during the manipulation.
  • surface contact between the respective at least one piece of goods received in a clamped manner and the at least one horizontal conveyor may be maintained throughout the manipulation.
  • the at least one gripper head forms a respective arrangement from a respective plurality of piece goods, which respective arrangement is adapted to a palletizable layer to be formed from the respective plurality of piece goods, wherein the gripper head is repeatedly receives and manipulates at least one piece of goods moved into its work area.
  • the arrangement can be designed in such a way that a palletizable layer can be formed from the arrangement by pushing together the large number of piece goods that form the respective arrangement. Accordingly, the respective arrangement can be formed by a large number of piece goods that can be transferred into a respective palletizable layer by pushing together.
  • the at least one gripper head receives and manipulates piece goods from a first horizontal conveyor and a second horizontal conveyor in a clamping manner to form a respective arrangement, wherein the at least one support bar of the at least one gripper head is arranged exclusively with its first reach extending from the gripper base between a plurality of piece goods to be received together in a clamping manner when these plurality of piece goods to be received together are located on the first horizontal conveyor.
  • the at least one support bar of the at least one gripper head is arranged exclusively with its second reach extending from the gripper base above piece goods to be received in a clamped manner when these piece goods to be received in a clamped manner are located on the second horizontal conveyor device.
  • At least one gripper head is also possible that at least one gripper head
  • a first arrangement is formed from a first plurality of piece goods, which first arrangement is adapted to a first palletizable layer to be formed from the first plurality of piece goods, wherein the gripper head, in order to form the first arrangement, repeatedly receives and manipulates several piece goods moved into its working area in a clamped manner and arranges the at least one support strip between adjacent piece goods in a clamped manner with a first reach extending from the gripper base, so that piece goods received in a clamped manner via the gripper head are in surface contact with the at least one support strip.
  • the same gripper head is then - forms a second arrangement from a second plurality of piece goods, which second arrangement is adapted to a second palletizable layer to be formed from the second plurality of piece goods, wherein the gripper head, to form the second arrangement, repeatedly clamps and manipulates a single piece of goods moved into its working area or several piece of goods moved into its working area one after the other along only a single row and shortens the first range for the at least one support strip formed up to that point to a second range for the clamping reception, in which second range the at least one support strip is located above the single piece of goods or above the several piece of goods moved into its working area one after the other along only a single row, when the gripper head clamps the single piece of goods moved into its working area or the several piece of goods moved into its working area in a single row. It can also be the case that
  • Figures 1 and 2 show schematic views of a first embodiment of a gripper head according to the invention and a first embodiment of a rotation and distribution system according to the invention.
  • Figures 3 and 4 show schematic views of a second embodiment of a gripper head according to the invention and a second embodiment of a rotation and distribution system according to the invention.
  • Figures 5 and 6 show a schematic perspective view of another embodiment of a gripper head according to the invention.
  • Fig. 7 shows a flow chart of steps as they can be provided individually or according to the combination shown in various embodiments of the method according to the invention.
  • FIGs 1 and 2 show schematic views of a first embodiment of a gripper head 1 according to the invention and a first embodiment of a rotation and distribution system 10 according to the invention.
  • the rotation and distribution system 10 comprises the gripper head 1 and a horizontal conveyor device 14.
  • piece goods 3 which are designed as beverage container packs 6, are moved into a working area of the gripper head 1 via the horizontal conveyor device 14.
  • beverage container packs 6 can comprise several beverage bottles or several beverage cans, which are held together by a packaging material.
  • the packaging material can be, for example, a strapping.
  • the packaging material can also be a flat packaging cut made of cellulose-containing material into which the beverage containers or beverage bottles or beverage cans are inserted.
  • beverage container packs 6 can comprise a plurality of beverage containers that are connected to one another via adhesive connections.
  • Other packaging means and/or connections are also conceivable in order to combine beverage containers in this way to form a beverage container pack 6.
  • the transport direction of the horizontal conveyor 14 is oriented in the direction of the image plane.
  • further piece goods 3 are transported in the direction of the image plane, which are aligned with the two piece goods 3 that can be seen in Fig. 1. Since these further piece goods 3 are covered by the two piece goods 3, they cannot be seen in Fig. 1.
  • the two piece goods 3 shown in Fig. 1 are arranged next to one another perpendicular to the transport direction of the horizontal conveyor 14.
  • the gripper head 1 comprises a first gripper bar 7 and a second gripper bar 8, which are only shown schematically in Fig. 1.
  • the gripper bars 7 and 8 can be formed, for example, by gripper jaws, by tong-shaped arms or by metal sheets.
  • a gripper head 1 can, for example, comprise gripper bars 7 and 8, as shown in Figures 5 and 6.
  • the gripper bars 7 and 8 can each have a profile and/or a defined shape that corresponds to the respective piece goods 3 to be received, so that the piece goods 3 to be received plunge into the gripper bars 7 and 8 in a form-fitting manner and/or so that a static friction between the gripper bars 7 and 8 and the piece goods 3 is increased due to the profiling. This can reduce the risk that a piece of goods 3 received in a clamped manner by the gripper head 1 will unintentionally become detached from the gripper head 1 during manipulation by the gripper head 1.
  • the gripper bars 7 and 8 carry out a feed movement in which the gripper bars 7 and 8 reduce their relative distance from one another and move along the gripper base 5, to which the gripper bars 7 and 8 are each attached, in a linear direction and perpendicular to the transport direction of the horizontal conveyor device 14.
  • the movement is indicated in Fig. 1 by means of an arrow.
  • the support bar 9 is a separating plate which lies flat against the piece goods 3 or the beverage container packs 6 when the respective piece goods 3 or the respective beverage container packs 6 are held clamped between the gripper bars 7 and 8.
  • Such a support bar 9 is necessary or useful in practice in order to avoid the piece goods 3 accidentally coming loose from the gripper head 1 when the piece goods 3 held clamped via the gripper head 1 are manipulated via the gripper head 1.
  • the separating plate or the support strip 9 therefore ensures that the piece goods 3 are adequately fixed to the gripper head 1 and also prevents the piece goods 3 from shifting against one another when the piece goods 3 are manipulated via the gripper head 1. If the piece goods 3 are designed as beverage container bundles 6, practice has shown that beverage containers of a first beverage container bundle 6 can get caught between several beverage containers of an adjacent beverage container bundle 6 if adjacent piece goods 3 are held in a clamped manner via gripper strips 7 and 8 and a support strip 9 is missing.
  • beverage container packs 6 Such a nested arrangement of beverage container packs 6 is undesirable and is generally not suitable for further processing of the beverage container packs 6 that have already been manipulated via the gripper head 1.
  • beverage container packs 6 often detach from the gripper head 1 when they have been gripped by the gripper head 1 and are in a nested arrangement.
  • a support bar 9 is therefore always required for a clamped acceptance of piece goods 3 when several piece goods 3 adjacent perpendicular to the transport direction of the horizontal conveyor device 14 are to be clamped together via the gripper head 1.
  • the gripper head 1 is connected to the control device S. After the gripper head 1 has clamped and received piece goods 3, the piece goods 3 are manipulated via the gripper head 1 and are thereby displaced at an angle to the transport direction of the horizontal conveyor and/or rotated about a vertical axis. The movement of the gripper head 1 at the instigation of the control device S takes place in such a way that several piece goods 3 are in an arrangement after manipulation via the gripper head 1, which is coordinated with a palletizable layer to be formed from the respective several piece goods 3.
  • piece goods 3 may be rotated via the gripper head 1 without these piece goods 3 being displaced obliquely to the transport direction of the horizontal conveyor device 14 during the manipulation. It may also be necessary to form such an arrangement for piece goods 3 to be displaced obliquely to the transport direction of the horizontal conveyor device 14 via the gripper head 1 without these piece goods 3 being rotated about a vertical axis.
  • piece goods 3 it may also be necessary to form such an arrangement that they are both displaced at an angle to the transport direction of the horizontal conveyor 14 and also rotated about a vertical axis during manipulation. If individual piece goods 3 intended for the respective arrangement are already in a position and orientation that is suitable for the respective arrangement, they can also be moved through the working area of the gripper head 1 without the gripper head 1 grasping and manipulating these individual piece goods 3.
  • the clamping force required to hold the piece goods 3 on the gripper head 1 is applied via the gripper bars 7 and 8.
  • the force connection is thus achieved by the gripper bars 7 and 8 jointly applying the clamping force required to hold the piece goods 3 and the clamping force from one of the two piece goods 3 being introduced via the support bar 9 to the respective other piece goods 3.
  • the clamping force is indicated by arrow F.
  • the support bar 9 must be designed with a low thickness so that a single piece of goods 3 to be received via the gripper head 1 cannot be gripped via a gripper bar 7 or 8 and a support bar 9 without this leading to damage or an unwanted deformation of the support bar 9.
  • the gripper head 1 of the embodiment according to Figures 1 and 2 can carry out a large number of different manipulation tasks and can both accept several adjacent piece goods 3 perpendicular to the transport direction of the horizontal conveyor 14 and also grasp individual piece goods 3. For this reason, the turning and distribution system 10 can have a very compact structure, since no further gripper head 1 is required for the described manipulation tasks. In addition, the turning and distribution system 10 can work with a high throughput.
  • the support bar 9 is held on the gripper base 5 via a bearing 4.
  • the bearing 4 is designed in such a way that the support bar 9 can carry out an evasive movement or can be moved in the direction of the gripper base 5 when a free end region 19 of the support bar 9 rests on a piece of goods 3 and the gripper base 5 is subsequently lowered further in the direction of the piece of goods 3.
  • the support bar 9 can thereby extend away from the gripper base 5 with a first reach R1, so that the support bar 9 is located between these piece goods 3 adjacent perpendicular to the transport direction of the horizontal conveyor 14 when these piece goods 3 are clamped by a feed movement of the gripper bars 7 and 8. If only one piece of goods 3 or piece of goods 3 moved along only one row via the horizontal conveyor 14 are to be received via the gripper head 1, this is not possible using the gripper head 1 if the support bar 9 has the first reach R1 shown in Fig. 1 starting from the gripper base 5. In gripper heads known from the prior art, the support bar 9 is therefore removed from the gripper head. As a result, known gripper heads have little flexibility when accepting piece of goods 3 in a clamped manner. In addition, adapting the gripper head 1 to different provision of piece of goods 3 is time-consuming.
  • the support bar 9 is movably arranged on the gripper base 5 via the previously mentioned bearing 4 and can thus be moved upwards or perpendicular to the transport direction of the horizontal conveyor if only a single piece of goods 3 or piece of goods 3 moved one after the other along just one row via the horizontal conveyor 14 are to be grasped by the gripper head 1.
  • the support bar 9 is placed on the single piece of goods 3 or on the piece of goods in one row and the gripper head 5 is then lowered further so that the gripper head 1 approaches the horizontal conveyor 14.
  • the individual piece goods 3 or the piece goods 3 of one row push the support bar 9 relative to the gripper base 5, whereupon the support bar 9 only extends away from the gripper base 5 with the second reach R2 shown in Fig. 2.
  • the first gripper bar 7 and the second gripper bar 8 then carry out a feed movement, whereby the individual piece goods 3 or the piece goods 3 of one row are clamped via the first gripper bar 7 and the second gripper bar 8.
  • the clamped piece goods 3 or the piece goods 3 of one row are then manipulated via the gripper head 1.
  • a free end region 19 of the support strip 9 remains in surface contact with the individual piece goods 3 held clamped via the gripper head 1 or with the clamped piece goods of one row.
  • the entire gripper head 1 is then raised relative to the horizontal conveyor 14. Due to its mass, the support bar 9 moves relative to the gripper base 5, increases its second reach R2, which has been formed up to that point, relative to the gripper base 5 and finally reaches a position in which the support bar 9, starting from the gripper base 5, has the first reach R1 already shown in Fig. 1.
  • the gripper head 1 can then optionally receive several adjacent piece goods 3 according to Fig. 1 perpendicular to the transport direction of the horizontal conveyor 14 or again a single piece goods 3, for which purpose the support bar 9 is again placed on the individual piece goods 3 via its free end region 19.
  • FIGS 3 and 4 show schematic views of a second embodiment of a gripper head 1 according to the invention and a second embodiment of a rotation and distribution system 10 according to the invention.
  • the embodiment of a gripper head 1 according to Figures 3 and 4 differs from the embodiment of a gripper head 1 according to Figures 1 and 2 in that in the embodiment according to Figures 3 and 4, instead of exactly one support strip 9, two support strips 9 are arranged between the gripper strips 7 and 8.
  • a support strip 9 dips between each two piece goods 3 adjacent perpendicular to the transport direction of the horizontal conveyor device 14.
  • the gripper bars 7 and 8 carry out a feed movement in which the three piece goods 3 are pushed together via the gripper bars 7 and 8 and come into surface contact with the support bars 9.
  • the piece goods 3 shown in the middle in Fig. 3 then lies flat against the two support bars 9 when the piece goods 3 are pushed over the Gripper head 1 is clamped in place.
  • the two outer piece goods 3 each lie flat against a support bar 9 and against a gripper bar 7 or 8 when the piece goods 3 are held clamped by the gripper head 1.
  • the bearings 4 are designed such that the bearings 4 together with the support strips 9 can be moved along the gripper base 5 in a direction that is oriented perpendicular to the transport direction of the horizontal conveyor device 14. This movement is indicated in Fig. 3 by means of an arrow.
  • the support strips 9 are thus pushed together with the piece goods 3 when the gripper strips 7 and 8 carry out a feed movement. It is conceivable that the support strips 9 interact with a respective spring, which pushes the respective support strip 9 back into an initial position when the piece goods 3 have been released by the gripper head 1.
  • the gripper head 1 again only accepts a single piece of goods 3 or several piece of goods from just a single row. If a single piece of goods 3 or several piece of goods 3 arranged one behind the other in the transport direction of the horizontal conveyor 14 are to be clamped using the gripper head 1, the gripper bars 7 and 8 are moved towards each other until both support bars 9 are located above the respective individual piece of goods 3 to be accepted or above the respective several piece of goods 3 of the one row arranged one behind the other in the transport direction of the horizontal conveyor 14.
  • the gripper head 1 is lowered in the direction of the horizontal conveyor 14, whereby the support strips 9 are placed over their free end area 19 on the respective individual piece goods 3 or on the multiple piece goods 3 of one row.
  • the support strips 9 are then pushed relative to the gripper base 5 and perpendicular to the transport direction of the horizontal conveyor 14 until the support strips 9 have a reduced range R2 starting from the gripper base 5.
  • the distance between the gripper strips 7 and 8 is then further reduced, whereby the gripper strips 7 and 8 can grip the respective individual piece goods 3 or the respective pieces 3 in the transport direction of the Horizontal conveyor device 14 clamps several piece goods 3 arranged one behind the other in one row.
  • the gripper head 1 By rotating and/or by an oblique offset to the transport direction of the horizontal conveyor device 14, the gripper head 1 then manipulates the respective individual clamped piece goods 3 or the respective plurality of clamped piece goods 3 of the one row.
  • Figures 5 and 6 each show schematic perspective views of a further embodiment of a gripper head 1 according to the invention.
  • a combination of Figures 5 and 6 clearly shows the functioning of a further embodiment of a bearing 4, as can be provided in various embodiments of a gripper head 1 according to the invention.
  • the gripper head 1 or the bearing 4 comprises a scissor mechanism 21 on which the support bar 9 is suspended.
  • the scissor mechanism 21 is formed in the present case from exactly two scissor levers 23 and 23' and a joint 24, via which the exactly two scissor levers 23 and 23' are connected to one another in a rotationally movable manner.
  • the range R1 or R2 for the support bar 9 extending from the gripper base 5 is adjusted with the aid of the scissor mechanism 21, as shown in Figures 5 and 6.
  • the scissor levers 23 and 23' are rotated relative to one another about a horizontal axis of rotation provided via the joint 24.
  • Fig. 7 shows a flow chart of steps as they can be provided individually or in accordance with the combination shown in Fig. 7 in various embodiments of the method 100 according to the invention.
  • a gripper head 1 is positioned above a single piece of goods 3 to be received.
  • a support bar 9 formed as a component of the gripper head 1 has a first reach R1 starting from a gripper base 5 of the gripper head 1.
  • step 120 the gripper head 1 is then lowered in the direction of the individual piece of goods 3, whereby a free end region 19 of the support bar 9 initially rests on the individual piece of goods 3.
  • step 130 which follows step 120, gripper bars 7 and 8 of gripper head 1 perform a feed movement, whereby the individual piece of goods 3 is gripped in a clamping manner.
  • the support bar 9 is still in contact with the individual piece of goods 3 via its free end region 19.
  • step 140 the piece of goods 3 received in a clamping manner is
  • Gripper head 1 is manipulated and rotated and/or displaced at an angle to the transport direction of a horizontal conveyor device 14 on which the individual piece goods 3 rests.
  • the manipulation is carried out in order to form an arrangement from the individual piece goods 3 and other piece goods 3, which arrangement is adapted to a palletizable layer to be produced from the individual piece goods 3 and the other piece goods 3.

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

Abstract

L'invention concerne une tête de pince (1) à des fins de préhension d'une charge isolée (3). La tête de pince (1) présente une première barre de pince (7) et une seconde barre de pince (8) qui peuvent effectuer un mouvement d'avance afin de recevoir au moins une charge isolée (3) par serrage et qui sont fixées à une base de pince (5) de la tête de pince (1). La tête de pince (1) comprend en outre au moins une barre de support (9) pour une charge isolée (3), ladite barre de support se situant entre la première barre de pince (7) et la seconde barre de pince (8) et étant maintenue contre la base de pince (5) par le biais d'au moins un palier (4). Ladite au moins une barre de support (9) est maintenue de manière mobile par rapport à la base de pince (5) par le biais dudit au moins un palier (4) de telle sorte que la portée (R2) de ladite au moins une barre de support (9) peut être adaptée par déplacement par rapport à la base de pince (5), ladite portée commençant à partir de la base de pince (5).
PCT/EP2023/084087 2022-12-05 2023-12-04 Tête de pince et procédé de préhension et de manipulation de charge isolée WO2024121044A1 (fr)

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DE102022132193.2 2022-12-05
DE102022132193.2A DE102022132193A1 (de) 2022-12-05 2022-12-05 Greiferkopf und Verfahren zum Erfassen und Manipulieren von Stückgütern

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CN109175403A (zh) * 2018-10-26 2019-01-11 苏州经贸职业技术学院 一种机械零件的抓取装置
US20200346792A1 (en) * 2019-04-30 2020-11-05 Soft Robotics Inc. Picking, placing, and scanning bagged clothing and other articles
CN113547534A (zh) * 2020-04-23 2021-10-26 四川绵阳鼎鑫智能装备有限公司 一种粉末码垛机器人的抓取机构及其抓取方法
EP4067271A1 (fr) 2021-04-01 2022-10-05 Krones Aktiengesellschaft Préhenseur et procédé de manipulation des marchandises en détail

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DE1120967B (de) 1957-11-09 1961-12-28 Atlas Werke Ag Vorrichtung zum Stapeln noch zu haertender, von einer Formmaschine kommender Formlinge von Steinen
DE10219129B4 (de) 2002-04-29 2004-05-27 Schaefer Förderanlagen- und Maschinenbau GmbH Vorrichtung zum Drehen und Verteilen oder Zusammenführen von Packs
US7887108B1 (en) 2007-08-16 2011-02-15 Sage Automation, Inc. Adjustable tine clamp systems and methods
JP7068150B2 (ja) 2018-12-07 2022-05-16 ファナック株式会社 ハンド、ロボットシステム及びワーク取り出し方法

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Publication number Priority date Publication date Assignee Title
CN109175403A (zh) * 2018-10-26 2019-01-11 苏州经贸职业技术学院 一种机械零件的抓取装置
US20200346792A1 (en) * 2019-04-30 2020-11-05 Soft Robotics Inc. Picking, placing, and scanning bagged clothing and other articles
CN113547534A (zh) * 2020-04-23 2021-10-26 四川绵阳鼎鑫智能装备有限公司 一种粉末码垛机器人的抓取机构及其抓取方法
EP4067271A1 (fr) 2021-04-01 2022-10-05 Krones Aktiengesellschaft Préhenseur et procédé de manipulation des marchandises en détail

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