EP4341184A1 - Dispositif d'empilage et procédé d'empilage - Google Patents

Dispositif d'empilage et procédé d'empilage

Info

Publication number
EP4341184A1
EP4341184A1 EP22729641.5A EP22729641A EP4341184A1 EP 4341184 A1 EP4341184 A1 EP 4341184A1 EP 22729641 A EP22729641 A EP 22729641A EP 4341184 A1 EP4341184 A1 EP 4341184A1
Authority
EP
European Patent Office
Prior art keywords
goods
container
slip
stacking
stack
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
EP22729641.5A
Other languages
German (de)
English (en)
Inventor
Rudolf Kuhn
Peter Knobloch
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.)
Autefa Solutions Germany GmbH
Original Assignee
Autefa Solutions Germany 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 Autefa Solutions Germany GmbH filed Critical Autefa Solutions Germany GmbH
Publication of EP4341184A1 publication Critical patent/EP4341184A1/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
    • B65G57/00—Stacking of articles
    • B65G57/005—Stacking of articles by using insertions or spacers between the stacked layers
    • 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

Definitions

  • the invention relates to a stacking device and a stacking method as well as a storage device and a treatment system with the features in the preamble of the independent claims.
  • Such a stacking device along with a stacking method is known from WO 2015/128452 A1.
  • a single stacking place for a stack of containers and a stationary handling device with a multi-axis movable handling device for the slip-on containers and for a layer of goods received therein is known.
  • the claimed stacking technique i.e. the stacking device, the stacking method, the storage device and the treatment plant have various advantages.
  • the claimed stacking device is provided for goods in the form of layers of goods, with the stacking device being designed to load the layers of goods into a slip-on container that is open on the underside and to store them together with this in a stack of containers, and/or to remove layers of goods in slip-on containers from a stack of containers and unload the respective layer of goods from the slip-on container.
  • the stacking device includes a handling device a multi-axis mobile handling device for the slip-on containers and, if necessary, for the layer of goods contained therein.
  • the handling device is designed to handle the slip-on containers that are open on the underside.
  • the layers of goods in the container stack each stand on a container base of a lower slip-on container and are enclosed laterally and on their top side by an upper slip-on container arranged above it.
  • the bottom layer of goods in the container stack can stand on a mobile stack carrier.
  • the slip-on containers are designed to be stackable. They have a box-like shape with a side wall, a container bottom at the end and a large container opening at the other end.
  • the container opening has a size adapted to the format of the layer of goods and can encompass a layer of goods at the side.
  • the side wall and the container base have an at least largely, preferably completely, closed wall shape.
  • the slip-on container is handled by the handling device, in particular by the handling device, in an inverted position with the container opening pointing downwards.
  • the slip-on container can be slipped over a layer of goods from above and can accommodate them in its inner cavity.
  • the handling device is designed accordingly for this.
  • the stacking device comprises a row arrangement of several stacking locations, with the handling device comprising a movable support which is designed to move the handling device along a first side facing the row arrangement.
  • the stacking locations are each used to permanently or temporarily hold a stack of containers.
  • the stacking areas have the function of storage areas. The stacking technique is thereby in their
  • the handling device can serve the multiple stacking locations and a stack of containers located there. You can stack or unstack the stack of containers in question at a stacking location or, if necessary, also rearrange them.
  • the stacking places are preferably arranged in a stationary manner. They can be floor bound.
  • the row arrangement can have a different orientation.
  • the row arrangement may include a straight row and/or a curved row of stacking locations.
  • the support can be designed according to the row geometry.
  • the stacker can work in the
  • Handling device have one or more loading points for receiving and / or delivery of a layer of goods.
  • the loading points are spaced opposite said first side of the array and beyond the handler. Between the
  • a tramline is formed in which the support can move with the handling device, preferably in a reversing movement.
  • a multiple arrangement of loading points has the advantage that the performance of the stacking device can be significantly increased.
  • the stacking operations between the one or more loading locations and the multiple stacking locations may overlap with one another.
  • the stacking device On another, remote side of the row arrangement, the stacking device has a transport lane for a transport device, which is designed to pick up and deliver a stack of containers at a stacking location.
  • the layers of goods can thus be stored and retrieved on a first and preferably front side of the row arrangement in the stack of containers, with a container stack being removed from the transport device and, if necessary, fed on another, preferably opposite or rear side of the row arrangement.
  • the container stacks are built up successively when storing the layers of goods and are successively reduced when the layers of goods are removed from storage. It is also possible to store and retrieve layers of goods as part of a restacking process, as in WO 2015/128452 A1.
  • the successive assembly and disassembly or stacking and unstacking of a stack of containers preferably filled with layers of goods made possible by the claimed stacking technique has advantages in terms of reducing construction effort and costs and increasing performance.
  • the temporary arrangement of a preferably mobile stack carrier for example, is sufficient at the stacking locations.
  • a stack guide and stack lifter provided for restacking can be omitted.
  • the successive assembly and dismantling of a stack of containers can be carried out more quickly than restacking a stack of containers, in particular in connection with buffering or intermediate storage of empty slip-on containers or those filled with layers of goods on the handling device.
  • the movable support for the handling device can be designed in different ways. It can comprise a stationary support arrangement and a traveling beam that can be moved thereon, with the handling device being arranged on the traveling beam in a stationary or movable manner, in particular in a height-adjustable manner.
  • the traveling beam can have a suitable upright lifting axis.
  • the lifting axis can be formed in the handling device.
  • the stationary support assembly may extend along the array and may have a corresponding straight and/or curved geometry.
  • the support structure may be in the form of a bottom guide or a raised portal.
  • the movable support for the handling device can have an automatic conveyor vehicle, e.g. an AGV, which is floor-bound and e.g.
  • the handling device can have a carrying base carried along with the handling device.
  • the tray can serve different purposes. On the one hand, it can serve to directly or indirectly hold a layer of goods during their transport between a loading point and a stacking area or a stack of containers there. Another item can also be accommodated on the tray. This can be an empty slip-on container or a mobile stacking carrier, for example.
  • the mobile stack support is intended to form the bottom of a container stack and to form the container stack on the stack support.
  • the training of the mobile Stack carrier has an independent inventive meaning, which will be discussed below.
  • the height of the support base can be adjusted synchronously or asynchronously with the handling device.
  • the support base can also be arranged on the support, in particular on its traveling beam. It can be coupled to the handling device for a synchronous lifting and lowering movement, or it can have its own adjustment device for changing the height.
  • a layer of goods is picked up directly on the tray for transport and the shifting movement between a loading point and a stacking location, synchronous height adjustment of the tray and handling device is recommended.
  • a stacked arrangement of one or more slip-on containers can be arranged between the layer of goods and the surface of the tray.
  • the outside of the container bottom of the top slip-on container can form a carrying surface for receiving, transporting and shifting a layer of goods.
  • Such a stacking arrangement of slip-on containers on the support base can save travel distances of the handling device along the tramline for picking up and delivering empty slip-on containers and increase the efficiency of the stacking device.
  • This is particularly advantageous in the successive stacking and unstacking of container stacks consisting of slip-on containers with layers of goods received therein.
  • the empty slip-on containers that occur during successive stacking and retrieval of the layer of goods can be temporarily accommodated in the stacking arrangement. They are then available again over a short distance when a stack of containers is successively stacked and when the layers of goods are stored away.
  • the handling device can have at least one temporary store for slip-on containers that are empty and/or filled with a layer of goods.
  • the intermediate store can be arranged on the movable support and carried along by the movable handling device.
  • the temporary store can have a rigid or height-adjustable storage floor, which is designed to accommodate a single slip-on container or an intermediate stack of several slip-on containers.
  • the intermediate store in particular the storage floor, can be arranged, for example, on the traveling beam of the movable support.
  • the handling device can be designed to move a slip-on container to the buffer store and back and, if necessary, to stack and/or unstack slip-on containers at the buffer store.
  • the handling device can have correspondingly extended kinematics, for example in the form of an industrial robot, or an additional device, for example a slide.
  • the intermediate store can, for example, be arranged next to the support base and can preferably be height-adjustable independently of the support base.
  • the intermediate store in particular the store floor or an upper container floor, can be brought to the same height as the support floor.
  • an empty or filled slip-on container can be moved from the carrying floor to the temporary store and back by sliding it.
  • the intermediate store is also advantageous for the successive stacking and unstacking of container stacks consisting of slip-on containers with layers of goods received therein. It can temporarily store empty slip-on containers and can thus save travel distances of the handling device along the tramline for picking up and delivering empty slip-on containers and increase the efficiency of the stacking device.
  • the intermediate store can also contain a stack of containers with stored layers of goods record in whole or in part. This is also favorable in order to save travel distances of the handling device along the tramline if the stacking area and the loading point are offset from one another along the tramline and/or if the number of stacking areas and loading points involved is different.
  • the temporary store also allows the carrying floor to be kept free for the shifting processes of the layers of goods during storage and retrieval. The tray then does not need to accommodate a stacked arrangement of slip-on containers.
  • the slip-on containers each have a box-like shape with a lateral container wall and a container bottom on one end and a container opening on the other end.
  • the container opening is adapted to the geometry of the layer of goods and can encompass a layer of goods.
  • the handling device can be designed to hold and handle such a slip-on container in a position with the container opening pointing downwards.
  • the handling device can place the slip-on container over a layer of goods or can remove the slip-on container from a layer of goods.
  • the handling device can perform a lifting and lowering movement when handling the slip-on container. This allows the slip-on container to be put on and removed.
  • the handling device can be designed to move the slip-on container laterally and transversely to a stacking location, in particular transversely to the row arrangement, during handling.
  • the handling device can move the slip-on container between a loading point and a stacking area across the tramline. This can be a movement with horizontal and vertical movement components.
  • the handling device can also be designed to move the slip-on container, together with a layer of goods accommodated in the slip-on container, laterally and transversely to a stacking location during handling.
  • the goods situation can thereby be pushed back and forth between a loading point and a stacking area or a container stack there.
  • This sliding movement can be a horizontal and also a vertical directional component.
  • the support base and possibly a stack arrangement located thereon can be included in the sliding movement.
  • the handling device can have a handling tool for detachably holding a slip-on container and a preferably movable tool guide for the handling tool.
  • the handling tool is designed to hold the slip-on container in the downwardly open position.
  • the movable tool guide can be formed, for example, by a swiveling or telescoping arm with a guiding function for the handling tool.
  • a handling tool can be designed as a gripper, for example, which mechanically holds and moves a slip-on container with a clamping connection and/or form fit and/or in some other way, e.g. with suction power.
  • the movable tool guide allows the handling tool to move laterally relative to the support, in particular laterally relative to the tramline, and in an area above a loading point and above a stacking area, in particular a container stack there or a mobile stack carrier there.
  • the movable tool guide also allows a reduction in the interfering contour for movement of the handling device along the tramline and the row arrangement of the stacking places.
  • the handling device can comprise a layer holder which has a holding function for the layer of goods.
  • the layer holder can be assigned to the handling device, for example.
  • the layer holder can be assigned to a loading point.
  • the layer holder can be designed to hold and align a layer of goods that is at least partially separated from the slip-on container.
  • the slip-on container can, for example, be lifted a little off the layer of goods, so that the layer holder can access the layer of goods from the side and can grip, hold and align it.
  • the slip-on container can still reach over and hold the upper part of the layer of goods, so that the goods in the layer of goods can be prevented from falling over.
  • the layer holder can have one or more movable centering means and a holder actuator.
  • the holding function of the layer holder can secure the position and position of the goods within the layer of goods and can, for example, stabilize unstable goods in their upright position.
  • the layer holder can also be designed to move a layer of goods that is at least partially separated from the slip-on container between a stacking location, the support base and a loading point and to guide the layer of goods in the process.
  • This independent guidance and shifting of the goods position by the position holder has advantages for securing the placement and position of the goods within the goods position. In particular, undesired changes in position, e.g. goods rotating about their vertical axis or goods tipping, can be prevented.
  • the slip-on container can be relieved of a shifting function for the layer of goods.
  • This guiding and shifting function of the layer holder can be advantageous both when storing a layer of goods in the stack of containers and when retrieving the layer of goods and delivering the layer of goods to a loading point.
  • the guided and defined provision of a layer of goods at a loading point for the removal and, if necessary, separation of the layer of goods can be particularly important and advantageous.
  • the layer holder can be assigned to the handling device, for example, in the aforementioned manner. It can be located, for example, on the handling tool and, after lifting the slip-on container, which is open at the bottom, can laterally grip and hold the layer of goods that has been released at least in certain areas.
  • the layer holder can be arranged on the handling device in a different way and have its own kinematics. It can be arranged on the support, for example.
  • the layer actuator can both move the one or more centering means for holding and aligning the layer of goods and, if necessary, cause the shifting movement of the layer of goods being held.
  • a layer holder can be arranged at a different location, for example at a loading point.
  • the handling device with the inverted slip-on container and the layer of goods received therein can perform the shifting movement of the layer of goods for storage and retrieval.
  • the layer holder at the loading point can then independently hold and guide and align the layer of goods when they are picked up and/or handed over at the loading point.
  • the claimed layer holder has said independent inventive meaning. It expands the area of application of the stacking device and improves its quality in terms of position security and secure guidance of the goods position and the goods contained therein.
  • the layer holder can be used with particular advantage for the claimed stacking device with the aforementioned first aspect of the invention and the multiple stacking locations in a row arrangement and the movable support.
  • the layer holder according to the invention can also be used advantageously together with another stacking device which includes the features mentioned in the preamble of claim 1 and which, for example, only has one stacking station and one stationarily arranged Handling device includes.
  • the layer holder according to the invention can advantageously be used, for example, on a stacking device according to WO 2015/128452 A1 or another stacking device with said inverted container opening facing downwards with the container opening encompassing the layer.
  • the stacking device can have a positioning device for the mutual positioning of a stack of containers and the handling device at a stacking location.
  • the positioning device can be designed in different ways. For example, it can have positioning means at a stacking location for the exact positioning of the container stack and in particular the mobile container carrier.
  • the handling device which can be moved along the tramline, can therefore approach the stacking position accurately and accurately.
  • the mobile stack carrier can be adapted to such a positioning means.
  • the positioning device can also secure the position of the mobile stack carrier and the stack of containers at the stacking site. It can nevertheless be possible to pick up and remove the stack of containers at the stacking location using a transport device.
  • the stacking device can have provision for one or more mobile stack carriers and/or provision for one or more empty slip-on containers.
  • the provision( s ) allow storage and buffering of mobile stacking carriers and/or empty slip-on containers.
  • the handling device can, for example, first pick up a mobile stack carrier and then empty slip-on containers and use it to store a layer of goods for successively building up a stack of containers at a stacking location.
  • the Mobile stack carriers and the empty slip-on containers can be picked up on the carrying floor individually or in the said stack arrangement or from the intermediate storage unit that is carried along.
  • the handling device can temporarily accommodate the slip-on containers, which have been emptied of the respective layer of goods, on the carrying floor or in the intermediate store that is carried along and buffer them in a stack arrangement or an intermediate stack.
  • the handling device can return the emptied slip-on containers individually or collectively in the form of the stack arrangement or the intermediate stack and also the mobile stack carrier to the respective provision and deliver them there. They can be stored there for building up the next stack of containers. Alternatively, if necessary, they can be removed from the provision by the transport device or in some other way, or they can also be returned to it.
  • the stacking device can include a transport device for a stack of containers.
  • the transport device can be present several times. It can be designed as an automatic transport device.
  • the transport device is preferably self-steering and driverless and preferably floor-bound
  • Transport vehicle e.g. a so-called AGV or AGV.
  • the transport device can have a transport loader and, if necessary, a lifting device for the transport loader.
  • the transport loader can be designed, for example, as a retractable and extendable loading fork.
  • the stacking device can have at least one said mobile stack carrier.
  • This has a carrier ceiling, a carrier floor and a transport mount.
  • the support blanket can be designed to accommodate a slip-on container that is open at the bottom and possibly a layer of goods contained therein.
  • the slip-on container can be taken out and thus on the mobile stack carrier in a be placed in a defined position and held in this position.
  • the guide can be designed, for example, as a mechanical and form-fitting latch. Such a latch can also be formed between the side wall and the container bottom of the respective slip-on container.
  • the carrier floor of the stack carrier can be designed to form a defined standing area for the stack carrier.
  • the carrier base can also be adapted to a positioning device and/or to an upper side of a slip-on container, with a guide function being formed in each case.
  • the adaptation to the positioning device makes it possible to position the mobile stack carrier exactly and with guide intervention on a positioning means at a stacking location.
  • Adaptation to an upper side of a slip-on container which is turned upside down in the container stack and points downwards with the said container opening makes it possible to stack several smaller and individual container stacks on top of one another.
  • a mobile stack carrier is located between the respective stacks of containers. The assembly and disassembly of such multi-part container stacks can be carried out by said transport device.
  • the transport receptacle can be provided and designed to enable a defined engagement with a transport loader, e.g. a loading fork, of a transport device.
  • a transport receptacle can be designed, for example, as a defined insertion opening with support means on a side wall of the mobile stack carrier.
  • other configurations of the transport receptacle are possible, e.g. in the form of projections, coupling means or the like.
  • the invention also relates to a storage device for stacks of containers from said inverted sleeve containers.
  • the storage device can have the stack device described above and other components, eg a stacking facility for several stacks of containers.
  • the invention also relates to a treatment system for goods, in particular empty or filled bottles, the treatment system comprising a stacking device for the goods in the form of layers of goods.
  • the stacking device is designed in the manner claimed.
  • the treatment system can also include a goods feeder connected to a loading point of the stacking device and/or a goods discharge device connected to a loading point of the stacking device.
  • the said goods feed and removal devices can be present in multiples, depending on the number of loading points.
  • Goods feed device can have a layer forming device, which forms a goods layer from one or more rows of goods supplied and makes this available at the said loading point.
  • Goods removal device can include a row forming device, which separates the layer of goods provided at the loading point and forms one or more rows of goods, which can then be transported away with appropriate conveyor technology.
  • the treatment system can include a goods delivery device upstream of the stacking device and a goods treatment device downstream of the stacking device.
  • a goods delivery can be designed, for example, as an unpacker or as a goods producer, in particular a bottle producer.
  • a goods treatment device can be designed, for example, as a filling system. The delivery of goods and the goods treatment facility can be connected to the said loading points. Further advantageous refinements of the invention are specified in the dependent claims.
  • Figures 1 to 4 show a sequence when gripping and stacking a layer of goods with slip-on containers in various sub-steps
  • Figure 5 and 6 two variants of the sequence with a layer holder
  • Figure 7 and 8 a top view and a front view of a treatment system and a stacking device
  • Figure 9 an exemplary design of a handling device of the stacking device
  • Figure 10 a top view of a variant of the treatment system and the stacking device with an intermediate store
  • Figure 11 a side view of the stacking device from Figure 10.
  • the invention relates to a stacking device (7) and a stacking method for layers of goods (3). It also relates to a storage device (8) and a treatment plant (1) and a mobile stack carrier (6).
  • the layer of goods (3) can be formed by one or more goods (2).
  • the goods (2) can be arranged next to one another in a planar or matrix-like arrangement and optionally also one above the other.
  • goods (2) consist of empty or filled bottles or other containers.
  • other types of goods such as packages or the like are possible.
  • empty and lightweight plastic bottles are used. Such bottles can have an unstable position when stationary.
  • the goods (2) are next to one another within the layer of goods (3). They can be in a regular matrix formed by several rows of goods arranged side by side and aligned in the same way. In another embodiment, a row offset and nesting of the individual goods (2) in adjacent rows are also possible.
  • Figure 1 to 4 illustrate a stacking process in several steps.
  • the stack is formed by means of slip-on containers (4) which have a lateral container wall (42), a container opening (44) on the front side pointing downwards and a container base (43) pointing upwards on the other, opposite front side.
  • the container opening (44) is large and has a size adapted to the layer format and the outline of a layer of goods (3).
  • the slip-on containers (4) can be in the form of inverted boxes or trays. They can be slipped over a layer of goods (3) with their lower container opening (44). As a result, they receive the layer of goods (3) in their hollow interior, the layer of goods (3) being otherwise supported from below.
  • the slip-on container (4) can, for example, have a cubic shape and any format, for example corresponding to a Euro pallet. It can be made of any material, in particular plastic, metal or wood composite materials exist.
  • the format of the interior of the container is preferably adapted to the size and shape of the layer of goods and is slightly larger.
  • the lateral container wall (42) surrounds the layer of goods (3) on its sides. It preferably encloses them on all sides and thus offers lateral guidance for the layer of goods (3).
  • the four side walls of the container wall (42), for example, are rigidly connected to one another and preferably also to the container bottom (43). They form a kind of framework for the goods position (3).
  • the walls of the lateral container wall (42) have a flat shape and are solid. In another variant, they can have interruptions, e.g. a perforation, a grid or the like. They can also be formed by individual, spaced struts, e.g. in connection with corner posts. In addition, other suitable wall designs are possible.
  • the container wall (42) is rigid and cannot be deformed or can only be deformed to an insignificant extent. In another embodiment, it may have greater flexibility.
  • the height of the lateral container wall (42) is preferably at least equal to or greater than the height of the layer of goods (3).
  • the container bottom (43) has multiple functions. On the one hand, it covers the layer of goods (3) accommodated in the interior of the container at the top. On the other hand, the container bottom (43) forms with its outside a platform for the next higher layer of goods (3) in the next higher slip-on container (4).
  • the upper side of the container base (43) and the standing surface formed by it can be essentially flat.
  • the container bottom (43) preferably has a closed and stable wall. Alternatively, it can have openings, in which case it is designed at least as a grid base or perforated base.
  • the essentially flat surface shape enables the layer of goods (3) and their goods (2) to be displaced on the outside of the container base (43) and along the standing surface.
  • FIG. 1 shows a first lower layer of goods (3) in a slip-on container (4) and a second layer of goods (3) arranged and provided at a small distance above it.
  • the slip-on container (4) is placed over this second layer of goods (3), in particular slipped over it from above.
  • the loose slip-on container (4) is held in a floating position, with the lower opening-side edge of its lateral container wall (42) ending above the underside of the layer of goods (3).
  • the upper slip-on container (4) can then be moved laterally, in particular horizontally, taking the layer of goods (3) with it and pushing them over the lower slip-on container (4) and placing them on its support base (40). .
  • the upper layer of goods (3) is supported from below with a supporting base (30), not shown, on which the layer of goods (3) can slide or slide when shifted laterally.
  • the upper slip container is still floating at a distance above the lower slip container (4).
  • the upper slip container (4) is lowered and placed on the lower slip container (4).
  • the lateral container wall (42) comes into contact with the container bottom (43) of the lower slip-on container (4) and is supported on this. In this position, the inner or receiving space with the received layer of goods (3) is closed on all sides.
  • the sleeve containers (4) can be guided mutually and preferably in a form-fitting manner in the contact area.
  • This guide can be designed, for example, as a mutually positive locking mechanism (45).
  • the catch (45) can be designed in any suitable manner.
  • the container base (43) has one or more local or possibly circumferential stepped depressions on its outside, which receive the opening-side edge of the lateral container wall (42) of the upper slip-on container (4) in a form-fitting manner, center it and secure it laterally against slipping.
  • the edges of the lateral container wall (42) can also have a stepped configuration.
  • any other variants are possible, in particular also intermeshing pins or ribs and corresponding receiving openings.
  • FIGS. 5 and 6 illustrate two variants of a stacking process and a shifting of the layer of goods (3).
  • a layer holder (31) is used, which holds and aligns the layer of goods (3).
  • the layer holder (31) has one or more centering means (35) and a holder actuator (34) for their actuation.
  • the slip-on container (4) is raised a little, which opens up lateral access to the layer of goods (3) for the layer holder (31).
  • the slip-on container (4) still overlaps the upper area of the layer of goods (3) and encloses it laterally in this area.
  • the slip-on container (4) is completely lifted off the goods layer (3) and removed.
  • the layer of goods (3) is shifted by the layer holder (31).
  • the layer holder (31) with the layer of goods (3) and the slip-on container (4) are moved synchronously during the displacement movement.
  • the slip-on container (4) can also be moved with the layer of goods (3), although this does not have to be synchronous.
  • the slip-on container (4) is used primarily for storing and receiving a layer of goods (3) in its container interior and for forming the container stack (5).
  • FIGS. 7 to 9 illustrate an embodiment of a stacking device (7), a storage device (8) and a treatment plant (1).
  • the stacking device (7) serves to load the layers of goods (3) into the one slip-on container (4) open on the underside and to store the layers of goods with the respective slip-on container (4) in a container stack (5).
  • the stacking device (7) can be used to separate layers of goods (3) that are in slip-on containers (4) from a container stack (5). outsource and unload the respective layer of goods (3) from the slip-on container (4).
  • the stacking device has a handling device (28) with a multi-axis movable handling device (29) for handling and moving the slip-on containers (4) and possibly the layer of goods (3) received therein.
  • the stacking device (7) also has a series arrangement (22) of several stacking locations (23, 24).
  • the row arrangement has a straight orientation in FIG. Alternatively or additionally, a curved orientation is possible.
  • the handling device (28) comprises a movable support (36) with which the handling device (29) can be moved along a first side of the row arrangement (22) facing the handling device (29).
  • the stacking device (7) also has one or more loading points (20, 21) in the working area of the handling device (28) for picking up and/or delivering a layer (3) of goods.
  • the one or more loading points (20,21) are arranged at a distance from said first side of the row arrangement (22).
  • a tramline (51) is formed between the loading point(s) (20,21) and the row arrangement (22), in which the handling device (29) can be moved forwards and backwards from the support (36) along the row arrangement (22).
  • One or more loading points (20) can be provided, e.g. for preparing and loading or storing a layer (3) of goods.
  • One or more loading points (21) can be provided, e.g. for delivering and unloading or retrieving a layer of goods (3).
  • a transport aisle (47) for a transport device (9) is arranged on the opposite side of the row arrangement (22), which can travel along the row arrangement (22) through the transport aisle (47) and provide access to the stacking areas (23, 24).
  • the Transport device (9) is designed, for example, as a self-steering automatic transport vehicle that drives on the underground or hall floor. It can exist multiple times.
  • the transport device (9) has a transport loader (49) for picking up and delivering a stack of containers, which is designed, for example, as a loading fork.
  • the transport loader (49) can be connected to a lifting device (50) which enables the transport loader (49) to be lifted together with the stack of containers (5) picked up.
  • the transport device (9) can, for example, place several stacks of containers (5) on top of one another. This is possible and provided, for example, in a memory area (8). In the storage area (8), the container stacks (5) are placed in suitable storage locations, with appropriate storage aisles being available for access by the transport device (9).
  • the stacking device (7) is designed to stack and unstack a container stack (5) preferably successively at the stacking locations (23, 24).
  • the stacking places (23,24) can be spatially separated from one another.
  • a stacking area (18) and a stacking area (19) are spatially and functionally separate from one another.
  • the two areas (18,19) can alternatively be combined.
  • container stacks (5) are successively built up or stacked at the stacking locations (23) and layers of goods (3) are thereby stored.
  • a container stack (5) When a container stack (5) is completed, it can be picked up by the transport device (9) and transported to the storage area (8).
  • a container stack (5) is successively dismantled or stacked at the stacking locations (24) and the layers of goods (3) are removed from storage. if a stacking place (24) is empty, a new container stack (5) with stored layers of goods (3) is delivered by the transport device (9).
  • the handling device (29) is used to handle the slip-on container (4) which is open on the underside and is designed accordingly for this purpose.
  • FIG. 9 shows a constructive exemplary embodiment for this, which is explained below.
  • the support (36) has a stationary support arrangement (37) and at least one traveling beam (38) that can be moved thereon.
  • the stationary support arrangement (37) is designed, e.g. in Figures 7 to 9, as an elevated portal on which at least one traveling beam (38) is suspended and movably mounted by means of an undercarriage and can be moved in a controlled manner by means of a suitable drive.
  • the stationary support assembly (37) extends along the row assembly (22).
  • the handling device (29) is arranged in a height-adjustable manner on the traveling beam (38), which has a suitable upright lifting axis for this purpose, which is designed, for example, as an upright carriage guide with a carriage drive.
  • the handling device (28) also includes a carrying base (30) carried along with the handling device (29). In the exemplary embodiment shown, this can be adjusted in height synchronously with the handling device and can be arranged together with it, for example, on the lifting axis of the traveling beam (38).
  • the support base (30) is used for preferably directly receiving and supporting a layer of goods (3) during the sliding movement between a loading point (20,21) and a stacking area (23,24) and in the opposite direction.
  • the layer of goods (3) slides over the support base (30) and is supported on it.
  • the support base (30) is doing together with the handling device (29) at a suitable altitude at the loading point (20,21) and at the respective Stacker (23,24) positioned.
  • the height for pushing the layer of goods (3) onto and off the container stack (5) can change.
  • the handling device (29) can hold, handle and move a slip-on container (4) open at the bottom in the manner mentioned. It can perform a lifting and lowering movement with the slip-on container and place the slip-on container (4) over a layer of goods (3) or lift it off a layer of goods and remove it. The placement and removal can take place at a loading point (20, 21) for receiving or delivering a layer of goods (3) during storage or retrieval.
  • the handling device (29) can also move the slip-on container (4) sideways and across to a stacking area (23,24) and a loading point (20,21) and across the tramline (51).
  • the handling device (29) has a corresponding boom option to the left and to the right up to a loading point (20,21) and a stacking area (23,24).
  • the handling device (29) in the variant of FIGS. 1 to 4 can move and displace the slip-on container (4) together with a layer of goods (3) received there laterally and transversely to the row arrangement (22).
  • the slip-on container (4) moved by the handling device (29) takes the enclosed layer of goods (3) with it as it moves.
  • the layer of goods (3) is shifted in the manner mentioned between a stacking area (23,24), the support base (30) and a loading point (20,21).
  • the handling device (29) has a handling tool (32) for detachably holding a slip-on container (4) and a preferably movable one Tool guide (33) for the handling tool (32).
  • the handling tool (32) is designed, for example, as a controllable gripper which can preferably grip a slip-on container (4) in a form-fitting manner and which, on the one hand, performs a lifting and lowering movement and, on the other hand, a driving and sliding movement along the tool guide (33 ) can run.
  • the movable tool guide (33) In the extended position, the movable tool guide (33) extends over a stacking area (23, 24) and a loading point (20, 21).
  • the tool guide (33) can be moved to a position with a reduced interference contour.
  • the tool guide (33) can be pivotable, for example in the manner indicated in FIG. 9, or alternatively can be telescopic.
  • FIG. 9 also illustrates the use of a layer holder (31) according to FIGS. 5 and 6.
  • the layer holder 31) according to FIGS. 5 and 6.
  • the one or more movable centering means (35) and the controllable holding actuator (34) are for this purpose, e.g. on the handling tool
  • the layer holder (31) can be taken along and moved with the lateral travel and displacement movement of the handling tool (32).
  • a layer holder (31) can be arranged on the support (6) so that it can move independently.
  • the holding actuator (34) can have an additional function for independently executing a displacement movement from a stacking area (23,24) via the support base (30) to a loading point (20,21) and in the opposite direction.
  • the layer holder (31) is assigned to the handling device (28).
  • a layer holder (31) can be arranged in a stationary manner at one loading point (20, 21). The layer holder (31) can hold and align a layer of goods (3) to be picked up or to be delivered at the loading point (20, 21). Such a layer holder (31) does not need to perform a displacement movement, but can do so as an alternative.
  • the layer of goods (3) is positioned at a loading point (20, 21) in a defined and reproducible manner thanks to the layer holder (31).
  • the stacking device (7) in the working area of the handling device (28) has a provision (27) for one or more empty slip-on containers (4) and also a provision (26) for one or more mobile stack carriers (6).
  • the ready position ( s ) (26,27) are, for example, stationary and arranged on the floor of the treatment plant (1).
  • the slip-on containers (4) and/or the stack carriers (6) can be accommodated in stack form at the provision (26, 27) in question.
  • the stack carrier (6) and the empty slip-on container (4) can be added to the ready position ( s ) (26,27) with the handling device (29) and delivered there and can between the provisions (26,27) and the stacking places (23,24) are transported back and forth. You can be parked on the support base (30).
  • the stacking device (7) has a positioning device (25) for mutually positioning a stack of containers (5) and the handling device (28) at a stacking location (23, 24). and possibly also at a loading point (20,21).
  • the positioning device (25) is formed, for example, by bottom-side positioning means for a container stack (5), in particular its mobile stack carrier (6), on a, for example, form-fitting stops.
  • the positioning means can be designed, for example, as form-fitting stops, which are arranged rigidly or movably and, if necessary, can be advanced against a restoring force.
  • FIG. 9 shows such an embodiment by way of example.
  • the stacking device (7) has several mobile stack carriers (6) for one stack of containers (5) each.
  • the stack carriers (6) are set down and positioned at a stacking location (23, 24) by the handling device (28). They form the bottom of the container stack (5) to be erected on it. They also form the support surface for the bottom layer of goods (3) in the container stack (5).
  • the mobile stack carriers (6) have a carrier cover (39) on the upper side, a carrier floor (40) on the underside and also a transport receptacle (41). The latter is matched to the transport loader (49) of the transport device (9).
  • the support cover (39) accommodates a layer of goods (3) and the bottom piece container (4).
  • the item container (4) which is open on the underside, is held in a guided manner, e.g. by a catch (45).
  • the support base (40) can have multiple functions. On the one hand, it forms a defined standing area for the stack carrier (6) and the container stack (5) erected on it on the underground or hall floor and on the stacking area (23, 24). On the other hand, the carrier base (40) can be adapted to a positioning device (25) and/or to an upper side of a piece container (4). In these cases, for example, a form-fitting guide function can be present. If several stacks of containers (5) are stacked one on top of the other A stack carrier (6) which guides and positions the container stacks (5) relative to one another can be arranged between the adjacent stacks of containers (5).
  • FIG. 7 illustrates the design of a treatment plant (1).
  • This comprises at least one stacking device (7) of the type described above.
  • the treatment plant (1) also includes a goods delivery (12), which is designed, for example, as an unpacker for goods (2) or as a goods producer, e.g. as a blow molding machine for plastic bottles.
  • the delivery of goods (12) is arranged upstream of the stacking device (7) and is connected to one or more loading points (20, 21).
  • the treatment plant (1) can also be a
  • Have goods treatment device (17) This is e.g. a filling system for filling empty bottles (2).
  • the goods treatment device (17) is one
  • the treatment plant (1) also has at least one goods feed device (10) connected to a loading point (20) and a goods discharge device (11) connected to a preferably different loading point (21).
  • the goods feed device (10) is connected to the goods delivery (12), for example.
  • the layer forming device (14) takes from the supplied Rows of bottles each have a sub-row and conveys them by means of a conveyor belt or the like in the direction of the loading point (21), whereby a layer (3) is formed by lining up these sub-rows.
  • the single or multiple goods removal device (11) has a row-forming device (14) and a single-strand or multi-strand discharge conveyor (16).
  • the row-forming device (14) separates the layer of goods (3) deposited during retrieval and forms one or more rows of bottles from them, which are fed to the goods-handling device (17).
  • Figure 10 and 11 show a variant of the stacking device (7) and the handling device (28).
  • the handling device (28) has an intermediate store (52), which can also be present in multiples.
  • the intermediate store (52) is used to hold one or more slip-on containers (4).
  • the slip-on containers (4) can be present individually or can be stacked on top of one another to form an intermediate stack (54).
  • the slip-on containers (4) can be empty or can be filled with a layer of goods (3).
  • the intermediate store (52) is arranged on the movable support (36) and is moved by the handling device (28), in particular by the movable handling device (29) during the travel movement along the tramline.
  • the intermediate store (52) has a rigid or height-adjustable storage floor (53) which is designed to accommodate a single slip-on container (4) or an intermediate stack (54).
  • the storage floor (53) can be independent and relative to Supporting base (30) adjustable, in particular adjustable in height.
  • the storage floor (53) is for example like.
  • FIGS. 10 and 11 designed and arranged in such a way that the individual slip-on container (4) or the intermediate stack (54) is located next to the support base (30). This can, for example, be an arrangement in the direction of travel along the tramline in front of the supporting floor (30).
  • the intermediate store (52) can be arranged, for example, on the traveling beam (38) of the movable support (36).
  • the handling device (29) can store the slip-on containers (4) in the intermediate store (52) and remove them from the intermediate store (52) again.
  • storage on the storage floor (53) is provided.
  • the handling device (29) can include, in addition to the lateral displacement kinematics transversely to the tramline, further mobility in the direction of the intermediate store (52) and back, which is symbolized in FIGS. 10 and 11 by arrows.
  • the additional mobility can include a sliding function and/or a lifting function, for example.
  • FIG. 11 shows a variant of the design of the handling device (29).
  • This is e.g. designed as a multi-axis industrial robot, which already has the aforementioned kinematics with the lateral displacement and lifting and lowering of the slip-on containers (4) and the feeding and removing of the slip-on containers (4) into and out of the intermediate store (52).
  • the handling tool (32) can be designed in the manner described above and can be arranged, for example, on the multi-axis robot hand.
  • the handling device (29) can, for example. Figure 8 and 9 be configured, it also being able to move in the direction of the intermediate store (52), for example along the tramline.
  • the handling device (29) with an additional slide which, for example, moves a slip-on container (4) from the support base (30) into the intermediate store (52) and back.
  • the slip-on container (4) can be pushed back and forth, for example onto the storage base (53) or onto the upper container base (43) of an intermediate stack (54).
  • FIG. 11 also illustrates a variant of the movable support (36) and the traveling beam (38).
  • the mobile carrier (38) is designed, for example, as a floor-bound vehicle that rolls on the plant floor and can be controlled independently, for example as an AGV.
  • the mobile beam (38) can also include, for example, a column-like upright frame with suitable adjustment devices for adjusting the height of the handling device (29), the support base (30) and, if necessary, the intermediate store (52).
  • FIG. 10 shows another variant of the
  • the intermediate store (52) can then likewise be arranged in a suitable manner on the traveling beam (38) in a rigid or height-adjustable manner.
  • the intermediate store (52) can alternatively or additionally be arranged in the direction of the tramline on the other side of the traveling beam (38) and e.g. at a distance behind the supporting floor (30).
  • the handling device (29) takes over an empty slip-on container (4) from the intermediate store (52) with the gripping tool (32), moves it to a loading point (20, 21), loads there a layer of goods (3) and pushes this with the slip-on container (4) or a layer holder (31) onto the support base (30) and from there on to the preferably mobile stack carrier (6) or the top slip-on container (4) of a container stack that has already started (5) at a stockyard (23,24).
  • the handling device (29) then releases the filled and shifted slip-on container (4) and picks up a new, empty slip-on container (4) from the intermediate store (52), with which the next ready layer of goods (3rd ) is added and stored in the container stack (5).
  • the intermediate store (52) can accommodate a number of slip-on containers (4) which corresponds to the number of containers required for the container stack. It can also accommodate a smaller number of containers, in which case the emptied buffer store (52) can then be refilled at a provision (27) as required.
  • the above-described process runs in reverse.
  • the handling device (29) grips the uppermost slip-on container (4) with the goods layer (3) from the container stack (5) and pushes it over the support base (30) to a loading point (20, 21).
  • the slip-on container (4) is then lifted from the layer of goods (3) and placed in the intermediate store (52), with the next filled slip-on container (4) then being gripped and shifted from the container stack (5). If the storage capacity of the intermediate store (52) is exhausted, the intermediate stack (54) can be delivered to a provision (27).
  • the Handling device (29) can be designed in a different way, for example in the form of an articulated-arm robot with a preferably multi-axis robot hand on the output side.
  • the robot limbs and the robot hand can form the tool guide (33), the handling tool
  • (32) is held by the robot hand and can be designed in the same or a similar way as in the exemplary embodiment shown.
  • centering means 36 supports

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un dispositif d'empilage (7) et un procédé d'empilage de marchandises (2) sous forme de couches de marchandises (3), le dispositif d'empilage (7) chargeant les couches de marchandises (3) respectivement dans un contenant à renversement (4) empilable ouvert sur la face inférieure en forme de boîte et les stockant avec celui-ci dans une pile de contenants (5), et/ou déstockant les couches de marchandises (3) dans des contenants à renversement (4) à partir d'une pile de contenants (5) et déchargeant la couche de marchandises (3) se trouvant dans le contenant à renversement (4). Le dispositif d'empilage (7) comprend un dispositif de manipulation (28) comportant un appareil de manipulation (29) mobile selon plusieurs axes pour les contenants à renversement (4) et éventuellement la couche de marchandises (3) logée dans ceux-ci, cet appareil de manipulation (29) étant conçu pour manipuler les contenants à renversement (4) ouverts sur la face inférieure, et les couches de marchandises (3) reposant, dans la pile de contenants (5), sur un fond de contenant (43) d'un contenant à renversement (4) inférieur et étant entourées latéralement et au niveau de leur face supérieure par un contenant à renversement (4) supérieur disposé au-dessus. Le dispositif d'empilage (7) présente un agencement en rangée (22) de plusieurs emplacements d'empilage (23,24), le dispositif de manipulation (28) comprenant un support (36) mobile qui déplace l'appareil de manipulation (29) le long d'un premier côté de l'agencement en rangée (22).
EP22729641.5A 2021-05-19 2022-05-19 Dispositif d'empilage et procédé d'empilage Pending EP4341184A1 (fr)

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DE202021102751.7U DE202021102751U1 (de) 2021-05-19 2021-05-19 Stapeleinrichtung
PCT/EP2022/063543 WO2022243420A1 (fr) 2021-05-19 2022-05-19 Dispositif d'empilage et procédé d'empilage

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DE102022111833A1 (de) 2022-05-11 2023-11-16 Masterwork Group Co., Ltd. Roboter zum Einlegen und Sortieren von Faltschachtelzuschnitten
DE202022102911U1 (de) 2022-05-25 2023-08-28 Autefa Solutions Germany Gmbh Stapeleinrichtung
DE102022120378A1 (de) 2022-08-11 2024-02-22 Novatec GmbH - Verpackungstechnik Verfahren zum Palettieren von Getränkekisten zuGetränkekisten-Paletten,Getränkekisten-Palettierungsvorrichtung sowie Verwendung
DE102022131001A1 (de) * 2022-11-23 2024-05-23 Syntegon Technology Gmbh Vorrichtung zum Entnehmen von pharmazeutischen Einzelbehältnissen aus einem wannenförmigen Transportbehälter, ein System umfassend eine entsprechende Vorrichtung und ein Verfahren zum Entnehmen von pharmazeutischen Einzelbehältnissen aus einem wannenförmigen Transportbehälter
CN117509183B (zh) * 2024-01-04 2024-03-19 山西森地新材料有限公司 一种铝塑板翻板码垛机

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DE2063677A1 (de) 1970-12-24 1972-07-13 Fritz Pezus, Hydraulik + Sondermaschinen, 3561 Eckeishausen Stapelvorrichtung für lageweises Stapeln von Stückgut, wie Flaschen oder Dosen
JPH0611618B2 (ja) * 1984-12-01 1994-02-16 村田機械株式会社 物品のパレタイジング装置
JPS6399187A (ja) * 1986-10-15 1988-04-30 不二輸送機工業株式会社 走行ロボツトによる物品制御方法
JPH04121906U (ja) * 1991-04-17 1992-10-30 麒麟麦酒株式会社 ピツキング装置
DE20307071U1 (de) * 2003-05-06 2003-08-07 Maier Josef Transportpalette
CN101720302B (zh) 2007-05-14 2013-06-19 克朗斯股份公司 用于处理包装的方法及装置
DE202014100905U1 (de) 2014-02-27 2015-05-28 Autefa Solutions Germany Gmbh Stapeleinrichtung
CN108584451A (zh) * 2018-04-28 2018-09-28 杭州亚恩自动化科技有限公司 多工位码垛机
DE102019110704B3 (de) * 2019-04-25 2020-05-14 Stöcklin Logistik Ag Vorrichtung und Verfahren zum Depalettieren von stapelbaren Stückgutgebinden

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