EP4479331A1 - Procédé et dispositif d'empilement automatique de paquets sur un support en couches multiples - Google Patents

Procédé et dispositif d'empilement automatique de paquets sur un support en couches multiples

Info

Publication number
EP4479331A1
EP4479331A1 EP23704984.6A EP23704984A EP4479331A1 EP 4479331 A1 EP4479331 A1 EP 4479331A1 EP 23704984 A EP23704984 A EP 23704984A EP 4479331 A1 EP4479331 A1 EP 4479331A1
Authority
EP
European Patent Office
Prior art keywords
carrier
packages
stack
package
gripper
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP23704984.6A
Other languages
German (de)
English (en)
Inventor
Hans Christoph Meurer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dematic GmbH
Original Assignee
Dematic GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dematic GmbH filed Critical Dematic GmbH
Publication of EP4479331A1 publication Critical patent/EP4479331A1/fr
Pending legal-status Critical Current

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
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • 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
    • B65G2207/46—Tray unloading features

Definitions

  • the invention relates to a method and a device for automatically stacking packages on a base in a predetermined spatial arrangement to form a stack according to claim 1 or 7.
  • the stack formed should have a certain stability, including so that it when transport does not fall over. Wrapping with foil helps, but alone cannot stabilize an incorrectly formed stack.
  • EP 1 462 394 B1 discloses a device for automatically loading a load carrier with packaging units forming a loading stack, ie a device for palletizing.
  • the packing units are stored on trays and are fed in individually, from which they are placed on a packing table.
  • the packaging unit lying on the table is pushed by a pusher along the broad side of the pallet to be loaded until the loading coordinates in the X-direction are reached.
  • another pusher and a loading tongue simultaneously push the packaging unit in the direction of the loading depth over the pallet until the loading coordinates in the Z direction are reached.
  • the loading tongue then moves back, whereby the pusher remains stationary and serves as a scraper, so that the packaging unit is set down on the pallet at the desired position "freely falling".
  • the stack that is being formed is supported on the other three sides by a loading aid. So it's almost like "against them Wall".
  • the packaging units are unloaded from the so-called perforated trays before they are moved onto the packing table.
  • the respective packaging unit is lifted off the perforated tray lifting pins of a lifting device pull the packing unit through the multiple openings in the perforated tray from below and lift it out of the tray.A rake then grabs the packing unit and pushes it onto the packing table.
  • WO 2010/059923 A1 discloses an automatic robot-supported device for stacking, in which an intermediate plate is used to form the first layer of a stack and for a simultaneous pallet change.
  • DE 102007 046 919 A1 discloses a gripper for automatically gripping and depositing packaging units of different dimensions and properties, with a support frame to which a carrier, a hold-down device and a scraper are attached, the carrier being designed to be horizontally movable relative to the support frame , the hold-down device can be moved vertically in the direction of the carrier, so that the packaging unit can be pressed against the carrier by mechanical clamping, and the stripper is arranged above the carrier, so that the packaging unit is fixed when the carrier is withdrawn, with the stripper being horizontally parallel to the Carrier is designed to be movable.
  • the object of the present invention is to provide a more optimized method and corresponding device.
  • the package is only handled once as it is simultaneously loading aid is removed and palletized.
  • the handling means of the stacking device are set up to lift the packages from the loading aid in each case, so that a gripper of the handling means arranged on a robot arm grasps at least one package and moves it to the precalculated spatial position on the carrier or the stack being formed on the carrier in a can discard movement.
  • Suction grippers, clamping grippers or tine grippers can be used as grippers. These can be arranged as a head on a gantry robot or articulated-arm robot and controlled via the controller to remove the package.
  • the handling means of the stacking device are set up to lift the packages from below through the multiple openings in the perforated tray by a large number of lifting pins of a lifting device until a gap is created between the perforated tray and the package and a tine gripper arranged on a robot arm Handling means takes hold of at least one package (through the gap) and can deposit it in one movement at the predicted spatial position on the carrier or the stack being formed on the carrier.
  • the packages are brought in individually on the loading aids or perforated trays, or that several packages are brought in on each loading aid or perforated tray.
  • the gripper can then grip a predetermined number of packages simultaneously or one after the other in order to deposit the packages either individually or in groups.
  • the packages are aligned on the loading aid or perforated tray (e.g. on a defined edge or corner).
  • the loading aid or perforated tray can be tilted or rotated several times around different axes, so that the package slides to the respective edge and/or corner.
  • Loading aid rotating means can be provided. It is also possible to use a pusher to move the packaged item into a predetermined position on the loading aid.
  • a vibrating device can also be used to effect the positioning of the package.
  • the gripper can be controlled via image recognition by means of a camera and evaluation in the controller in order to grip misaligned packages that are randomly arranged on the perforated tray. This also makes it possible, by including the product data from a warehouse management database, to identify the products or packages and to specifically select the desired package from several.
  • the controller of the device is set up to control the handling means arranged on a robot in order to grasp the respective package on the loading aid and deposit it in one movement at the predicted spatial position on the carrier or the stack being formed on the carrier.
  • the loading aid is not unloaded in advance as usual, but rather unloading and stacking are carried out in a single step. This saves time and space.
  • the device of the invention is designed with a controller that is set up to control the lifting device in such a way that the lifting pins are moved vertically upwards far enough to create a gap between the perforated tray and the package, and a tine gripper of the handling means that is arranged on a robot is controlled can be taken in order to take the respective package through the gap and deposit it at the predicted spatial position on the carrier or the forming stack on the carrier in one movement.
  • the lifting pins can be controlled and lifted together as a whole. Alternatively, it is also possible to control and raise only certain lifting pins together, the z. B. correspond to the known position of the package.
  • a tine gripper is preferably used, which can reach between the lifting pins with the tines in order to grasp the package(s) from below.
  • the tine gripper is preferably designed for automatically gripping and depositing packaging units of different dimensions and different properties, with a support frame to which a carrier, a hold-down device and a stripper are attached, the carrier being designed to be horizontally movable relative to the support frame, the hold-down device vertically in is movable in the direction of the carrier, so that the packing unit can be pressed against the carrier by mechanical clamping, and the scraper is arranged above the carrier, so that the packing unit is fixed when the carrier is withdrawn, the scraper being designed to be movable horizontally parallel to the carrier, and the hold-down device is designed in the form of a plate and the hold-down device has dimensions such that it extends over the entire surface of the carrier, and the carrier is designed as a carrier plate or carrier comb with a plurality of spaced teeth, and the scraper has a horizontal wall which is provided with a rod-like structure and that the hold-down device is provided with recesses for the stripper to reach through.
  • the hold-down device can have an elastic covering on its side facing the wearer.
  • the support frame is attached to a gantry robot or articulated-arm robot.
  • Intermediate plates or supports such as pallets, also trolleys, or similar supports for piece goods and their packaging can be used as a base.
  • Feed conveyors are understood to mean conveyors in general and, in particular, roller conveyors, conveyor belts and conveyor systems. These can be loaded manually or automatically. The packages are separated and placed on the conveyor system in the correct order for the required packing sequence. The correct sequence is calculated when processing an order. Appropriate software for this is known.
  • the stack can be stabilized together with the stacked carrier by wrapping it with a foil, a net or the like.
  • the wrapping can be done layer by layer gradually during stacking or after stacking a layer.
  • the stabilization takes place within the actual device for stacking.
  • the already partially stacked carrier is lowered layer by layer to adjust the level for stacking. This is used because layers of the stack that have already been formed “slide down” and can be wrapped in layers below the stack level, while stacking continues “above”. This saves time.
  • a film winding device is integrated directly into the device. This has the advantage that the carrier with the stack formed does not have to be moved separately.
  • stabilization can be achieved by lateral walls arranged in a U-shape around the stacking place or carrier, so that stacking can take place “against the wall”. Both the side walls and the rear side wall can be adjusted or moved vertically and/or horizontally with respect to the stacking area. Thus, differently sized carriers etc. can be loaded and the walls can serve as scrapers in connection with intermediate plates.
  • the flat material can be stored and/or delivered in a suitable manner and placed on it using suction devices provided on the handling means.
  • Both the carrier (e.g. pallets) and the layers (cardboard) can be delivered and made available via a separate conveyor system.
  • the takeover or transfer of the beams or layers can be done with dedicated technology.
  • an intermediate plate is provided at the level of the positioning conveyor above the carrier to be loaded.
  • the intermediate plate provides a uniform, smooth surface for stacking and allows continued stacking despite a carrier change.
  • the intermediate plate is preferably divided in the middle and each part is designed to be displaceable to the side.
  • the first layer of a stack is formed on the intermediate plate, while the completely loaded carrier from the previous stacking process is exchanged for a new empty carrier underneath.
  • the stacking process can continue without interruption.
  • the lateral stabilizing walls serve as scrapers, i. H. the intermediate plate moves laterally below the lower edges of the walls.
  • trolleys or roll containers are increasingly encouraged. These can easily be loaded into trucks and unloaded and moved on site as they have rollers. In addition, they have side walls that allow stable stacking and good stabilization with stretch film, so that transport is also safe. However, these properties bring with them difficulties in automatic stacking.
  • pallets etc. or trolleys can be stacked alternately as desired.
  • the rear side wall can serve as a scraper when the finished stack is transferred to the trolley by pulling back the further intermediate plate.
  • the rear side wall can also be moved in height and/or in the direction of the positioning conveyor, so that trolleys of different sizes can be used.
  • the side wall preferably also serves as a mounting location for the spreading device.
  • the spreading device preferably consists of two pins which are arranged at the same height in the area of the expected side walls of the trolley and protrude from the side wall forwards into the trolley space and can be displaced laterally outwards for spreading.
  • the pins are preferably each arranged on a vertically aligned rotary disk in the rear side wall.
  • the trolleys are moved on transport pallets, which can be handled like normal pallets.
  • the device can be designed with a unit for lowering/raising the carrier. In addition to lowering after stacking a layer, this also allows level control during stacking itself. Alternatively, the robot used is able to compensate for the increasing heights during stacking.
  • FIG. 1 shows a side view of an exemplary embodiment of a gripper used according to the invention
  • FIG. 2 shows a plan view of the gripper from FIG. 1 ;
  • Fig. 3 is a front view of the gripper of Fig. 1 and
  • FIG. 4 shows a perspective view of the gripper from FIG. 1 .
  • Fig. 5 shows a schematic view of a device for stacking a pallet with a gripper according to Fig. 1.
  • FIG. 1 - 4 is a designated as a whole with 1 gripper for automatically gripping and storing packaging units of different dimensions and of different properties, which is used in particular to stack a wide variety of packages on pallets or trolleys.
  • the gripper 1 comprises a support frame 2 to which a carrier 3, a hold-down device 4 and a scraper 5 are attached.
  • the support frame 2 also serves to attach the gripper to a robot arm, not shown, for which purpose a connection plate 6 (see FIG. 2) is provided.
  • the gripper 1 is also supplied with electricity via the robot.
  • the carrier 3 is designed as a carrier comb 7 with a plurality of flat tines 8 spaced apart from one another.
  • the carrying comb 7 is fastened to the carrying frame 2 via a carrying arm 9 which extends approximately vertically downward from the carrying frame.
  • the support arm 9, and thus also the support comb 7, can be moved horizontally relative to the support frame 2 via an electric motor belt drive 10 in order to effect the delivery of the package by retracting the support comb 7.
  • the carrier 3 is shown in a rear position.
  • the hold-down device 4 is also fastened to a support arm 11 which extends approximately vertically downwards from the support frame 2, this support arm 11 being designed to be stationary.
  • the hold-down device 4 can be moved vertically in a carriage-like manner in the direction of the support comb 7 via a further electric motor belt drive 12 (see Figure 3), so that the distance between the hold-down device 4 and carrier 3 or support comb 7 can be changed and the packaged item is clamped mechanically against the support comb 7 can be pressed.
  • the hold-down device 4 is shown in its uppermost position.
  • the hold-down device 4 is designed with a plate-shaped pressure element 13 which is attached to the support arm 11 via a corresponding holding component 14 and acts on the corresponding package.
  • the base of the plate-shaped pressure element 13 extends over the corresponding active dimensions of the support comb 7.
  • the hold-down device 4 is also provided with slot-like recesses 15 (see FIG. 4) in the plate-shaped pressure element 13 for the scraper 5 to reach through.
  • the stripper 5 itself is above the carrier 3 or the carrying comb 7 or the tines 8 arranged so that the packing unit rests against the scraper 5 when the carrier 3 is withdrawn and is thus fixed. In the figures, the stripper 5 is shown in its foremost position.
  • the holding-down force is determined by measuring and monitoring the torque of the electromotive belt drive 12 .
  • the stripper 5 has a horizontal wall 16 which is provided with a rod-like structure.
  • the rods 17 of the horizontal wall 16 pass through the elongated holes/recesses 15 of the hold-down device 4 and end in an electromotive linear drive 18 on the support frame 2, which allows the wiper 5 to move approximately horizontally and parallel to the support 3. This means that it can be positioned according to the dimensions of the package.
  • the rods 17 are connected to a crosspiece 19 on their side facing the support comb.
  • the carrying comb 7 is fastened to the carrying arm 9 via a pre-tensioned joint 20 so that when the carrying comb 7 is put down during stacking, it can yield in order to protect the gripper 1 . If it touches down too hard, a release rod 21, which extends approximately perpendicularly from the joint 20 upwards parallel to the support arm 9, strikes a corresponding emergency stop sensor.
  • a perforated tray T is used to transport the packages W on a conveyor system, such as a roller conveyor F.
  • the perforated tray T is thus conveyed to a stacking device where handling means H are set up to lift the packages W from below by a large number of lifting pins 22 of a lifting device 23 through the multiple openings in the perforated tray so that there is a gap L between the perforated tray T and the package W arises (cf. middle image) and a tine gripper 1 arranged on a robot arm R, as described above, the handling means (H) grips at least one package W, in which the tines 8 are inserted into the gap L between the lifting pins 22 in order to the Record package W from below, and to be able to store the predicted spatial position on the carrier P or the forming stack S on the carrier P in one movement.
  • the lifting pins 22 are thus set up to be grouped or guided together vertically by a drive in the direction of arrow 24 through the holes in the perforated tray T to lift the resting package W, so that a gap L is created into which the gripper can be introduced.
  • the perforated tray T is aligned on an edge (not shown) so that the holes are arranged in accordance with the lifting pins 22 in the lifting device 23 .
  • the robot arm R is preferably a multi-axis articulated arm robot.
  • the package W is aligned on the perforated tray T by tilting the tray T around a longitudinal edge and then by tilting it around a front edge in a predetermined corner in a preceding step A using a double tilting device, so that the gripper 1 always picks up the package W in the same way can.
  • the gripper 1 is equipped with a camera on the front edge of the hold-down device 4 or the plate-shaped pressure element 13, which, by means of image recognition and evaluation in the control C with access to the product database of the packages, detects the alignment and specifically controls the Gripper 1 also allows without alignment.
  • the package W is placed on the stack S on the carrier P or the pallet in one step.

Landscapes

  • Stacking Of Articles And Auxiliary Devices (AREA)

Abstract

L'invention concerne un procédé d'empilement automatique de paquets (W) présentant différentes dimensions sur un support (P) en un agencement spatial spécifié afin de former un empilement, comportant les étapes consistant : - à déterminer l'ordre et la position spatiale de paquets (W) présentant différentes dimensions dans l'empilement (S) à former sur le support (P) d'une manière assistée par ordinateur ; - à agencer les paquets (W) afin qu'ils soient supportés sur des auxiliaires de chargement (T) et dans l'ordre nécessaire à cette fin à l'aide d'un système transporteur (2) ; et - à transporter les paquets (W) à charger depuis le système transporteur (2) vers les positions spatiales qui sont calculées au préalable sur le support (P) ou sur l'empilement (S) en cours de formation sur le support (P) au moyen d'un moyen de manutention d'un dispositif d'empilement permettant de former l'empilement (S), le moyen de manutention (H) du dispositif d'empilement étant conçu pour soulever chaque paquet (W) de l'auxiliaire de chargement de telle sorte qu'un dispositif de préhension (1) de moyen de manutention (H) agencé sur un bras de robot saisit au moins un paquet (W) et peut le déposer au niveau de la position spatiale qui est calculée au préalable sur le support (P) ou sur l'empilement (S) en cours de formation sur le support (P) en un seul mouvement. L'invention porte également sur un dispositif correspondant.
EP23704984.6A 2022-02-15 2023-02-13 Procédé et dispositif d'empilement automatique de paquets sur un support en couches multiples Pending EP4479331A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022103519.0A DE102022103519A1 (de) 2022-02-15 2022-02-15 Verfahren und Vorrichtung zum automatischen mehrlagigen Bestapeln eines Trägers mit Packstücken
PCT/EP2023/053510 WO2023156341A1 (fr) 2022-02-15 2023-02-13 Procédé et dispositif d'empilement automatique de paquets sur un support en couches multiples

Publications (1)

Publication Number Publication Date
EP4479331A1 true EP4479331A1 (fr) 2024-12-25

Family

ID=85227362

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23704984.6A Pending EP4479331A1 (fr) 2022-02-15 2023-02-13 Procédé et dispositif d'empilement automatique de paquets sur un support en couches multiples

Country Status (6)

Country Link
US (1) US20250162824A1 (fr)
EP (1) EP4479331A1 (fr)
AU (1) AU2023220639A1 (fr)
CA (1) CA3243656A1 (fr)
DE (1) DE102022103519A1 (fr)
WO (1) WO2023156341A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117142157B (zh) * 2023-11-01 2024-01-09 吉林斯麦尔饲料有限公司 一种饲料码垛加工机械
EP4640599A1 (fr) * 2024-04-24 2025-10-29 Tiber Pack S.p.A. Procédé de collecte d'un groupe d'emballages de fruits et légumes à partir d'une caisse et appareil associé
DE102024112990A1 (de) 2024-05-08 2025-11-13 Safelog Gmbh Abhebevorrichtung

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10313576B4 (de) * 2003-03-26 2006-01-05 Witron Logistik & Informatik Gmbh Ladungsträger-Beladevorrichtung
DE102006025618A1 (de) 2006-05-24 2007-11-29 SSI Schäfer Noell GmbH Lager- und Systemtechnik Verfahren zum Betreiben einer Kommissionieranlage
DE102007046919B4 (de) 2007-09-28 2010-07-08 Dematic Gmbh & Co. Kg Greifer zum automatischen Ergreifen von Packeinheiten
EP2358617B2 (fr) 2008-11-21 2017-12-13 Dematic Corp. Appareil d'empilement et procédé d'empilement multicouche d'objets sur un support
US9701490B2 (en) * 2014-05-05 2017-07-11 Symbotic Canada ULC. Method and tool for palletizing mixed load products
AT521112A1 (de) 2018-03-09 2019-10-15 Tgw Logistics Group Gmbh Robotersystem zum Greifen einer Ware in einem Lager- und Kommissioniersystem und Betriebsverfahren hierfür
EP3810530B2 (fr) 2018-06-21 2026-03-18 TGW Logistics GmbH Système d'emmagasinage et de préparation de commandes et procédé de préparation de commandes d'articles commandés provenant d'un sac suspendu et d'un autre moyen de chargement

Also Published As

Publication number Publication date
AU2023220639A1 (en) 2024-09-05
WO2023156341A1 (fr) 2023-08-24
CA3243656A1 (fr) 2025-01-20
US20250162824A1 (en) 2025-05-22
DE102022103519A1 (de) 2023-08-17

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