WO2008145284A2 - Dispositif et procédé pour fournir des intercalaires séparés à un robot de palettisation - Google Patents

Dispositif et procédé pour fournir des intercalaires séparés à un robot de palettisation Download PDF

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Publication number
WO2008145284A2
WO2008145284A2 PCT/EP2008/004046 EP2008004046W WO2008145284A2 WO 2008145284 A2 WO2008145284 A2 WO 2008145284A2 EP 2008004046 W EP2008004046 W EP 2008004046W WO 2008145284 A2 WO2008145284 A2 WO 2008145284A2
Authority
WO
WIPO (PCT)
Prior art keywords
intermediate layer
stack
uppermost
palletizing
receiving device
Prior art date
Application number
PCT/EP2008/004046
Other languages
German (de)
English (en)
Other versions
WO2008145284A3 (fr
Inventor
Thomas Salm
Original Assignee
WINKLER+DüNNEBIER AG
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 WINKLER+DüNNEBIER AG filed Critical WINKLER+DüNNEBIER AG
Publication of WO2008145284A2 publication Critical patent/WO2008145284A2/fr
Publication of WO2008145284A3 publication Critical patent/WO2008145284A3/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
    • B65G57/00—Stacking of articles
    • B65G57/005—Stacking of articles by using insertions or spacers between the stacked layers

Definitions

  • the present invention relates to an apparatus and a method for providing individual intermediate layers for a palletizing robot, which picks up a single intermediate layer during palletizing from a stack of intermediate layers and places it between certain layers of articles to be placed on a pallet.
  • the articles may be packaged in packaging boxes or other containers or may be formed by unpacked, possibly stacked, banded products, such as banded batches of carton blanks from folding carton blanks.
  • palletizers in the form of so-called palletizers are known. They are often arranged at the end of a production machine, where they arrange the products made by the production machine and packaged by a packaging machine in boxes on a pallet. In this way, for. B. in boxes packed envelopes palletized.
  • the stack to be formed on the pallet of the palletizing machine is known to consist of several layers, each layer in turn consists of several boxes.
  • each layer in turn consists of several boxes.
  • liners made of paper, cardboard, cardboard, corrugated cardboard or similar materials. Since the intermediate layers are frequently used several times, they can be made available to the palletizing machine, in particular the palletizing robot working in it, usually only in the form of badly aligned stacks and often damaged by an already previous use.
  • DE 10 2004 031 301 A1 discloses a device and a method for introducing rigid intermediate layers during palletizing, in which a receiving device removes the uppermost intermediate layer from an interlayer stack, feeds it to a centering or alignment device and aligns it after the alignment process Lay the intermediate layer on top of the pallet at the very top of packaging boxes. Subsequently, the palletizing robot stacks further packaging boxes on the intermediate layer until the arrangement of an intermediate layer is pending again.
  • this method or device has disadvantages. On the one hand, a reliable operation is ensured only with sufficiently rigid intermediate layers due to the operation of the centering or alignment device used. On the other hand, the solution described due to the additional recording and Zentrier perceived. Alignment device associated with high costs and additional space requirements.
  • the palletizing robot itself is usually used to pick up an intermediate layer, to align it and, after the alignment process, to place it on the layer of packaging boxes located at the very top of the pallet.
  • the palletizing robot must interrupt the palleting process, ie the process of loading the pallet with packaging boxes, for a relatively long time if an intermediate layer is to be laid on.
  • the reason for this is that the provided him in stacked form liners, for example, due to electrostatic adhesion or due adhere to each other by mechanical entanglement. Therefore, the palletizing robot can not lift the uppermost intermediate layer from the stack of intermediate layers at any desired high speed. Instead, it is necessary that it initially lifts the topmost liner by a relatively minor stroke from the stack of liners and then dwells over the stack of liners in a stoppage phase.
  • the device according to the invention comprises a vertically movable receiving device for receiving or lifting the uppermost intermediate layer of a stack of intermediate layers such that at least a portion of the uppermost intermediate layer is lifted from the stack.
  • the previously raised, upper intermediate layer can be singulated such that it can be picked up by the palleting robot at a relatively high speed without entrainment of further intermediate layers in the singulated state, after it has been picked up by the receiving device was released.
  • the palletizing robot when needed immediately a scattered liner is available, which he can pick up easily and without delay for the purpose of arranging on the pallet.
  • both rigid and non-rigid, flexible intermediate layers can be handled with the device according to the invention or with the inventive method, since it is only necessary to lift at least a portion of the top intermediate layer by means of the receiving device of the stack.
  • the partial area can be formed, for example, by a corner region of a non-rigid intermediate layer.
  • the receiving device for picking up or lifting the respective intermediate layer engages in this case on a region of the intermediate layer which differs from that region of the intermediate layer on which the palletizing robot acts to pick it up.
  • the receiving device and the palletizing robot if necessary, at the same time attack on the intermediate layer without affecting each other.
  • the receiving device at a corner of the Zwi attack while the palletizing robot usually attacks on one side edge.
  • the device according to the invention can carry out its task of providing temporary liners while the palletizing robots perform the actual palletizing process, i. arranging the objects to be palletized on the pallet.
  • the present invention enables avoidance of idle times, as are known in the palletizing robots of the prior art.
  • the receiving device for lifting the uppermost intermediate layer can preferably be driven to oscillate or shake in the vertical direction.
  • the separating device can be designed in the form of one or more hold-down devices, which is movable, in particular pivotable, between the uppermost intermediate layer or its raised partial region and the remaining intermediate layer stack. After the hold-down has been moved between the uppermost intermediate layer and the remaining intermediate layer stack, the receiving device can release the uppermost intermediate layer, so that the latter falls onto the or the hold-down device.
  • the uppermost intermediate layers If only one corner region of the uppermost intermediate layers is raised, it still essentially lies as the uppermost intermediate layer on the intermediate layer stack after being released by the receiving device, but with the difference that it mechanically separates the downholder from the remaining intermediate layer stack such that It is present in a singulated state and can be picked up by the palletizing robot, without the latter having to process individualizing steps.
  • the remaining stack of layers is during the fetching of the top intermediate layer by the palletizing of the Holding down hold-down form-fitting, so that the speed with which the palletizing robot lifts the top intermediate layer when picking up, no limits are set, which could result from the need to be performed by the palletizing robot itself singulation process.
  • the separating device in the form of a transport device with the aid of which the uppermost intermediate layer after being released by the receiving device can be transported to an intermediate transfer position from which it finally picks up the palleting robot.
  • the transport device in the transport device to a acting on the underside of the upper intermediate layer lifting device, which transports the uppermost intermediate layer only in the vertical direction upwards, so that the lying in the intermediate transfer position, topmost intermediate layer in the supervision substantially congruent with the under their remaining stack of stacks is.
  • the palletizing robot is a gantry robot whose lifting axis must not exceed a maximum height due to the limited ceiling height and therefore does not approach the lower area of the palleting cell in which the stack of intermediate layers is located with the limited stroke axis can.
  • the palletizing robot can take over the intermediate layer either directly from the transport device or from the receiving device during pick-up from the intermediate transfer position or a stand-by device can be arranged in the region of the intermediate transfer position which separates the separated intermediate layer in the intermediate transfer position.
  • the transfer position for collection by the palletizing robot which can take over the intermediate layers from above as well as from below.
  • the transport device or the receiving device can already return to its starting position by the palletizing robot before the intermediate layer is picked up.
  • the interlayer stack can be made available at the associated supply location in the palletizing cell in an already completely aligned form.
  • the interleaf stack may be located in a cassette or in a container similar to a paper cassette known in copying machines or printers.
  • the device according to the invention can readily separate the uppermost intermediate layer of the intermediate layer stack located in the cassette in a retrievable manner according to the method according to the invention.
  • the device according to the invention can additionally have an alignment device for aligning the spatial orientation and / or position of the uppermost intermediate layer.
  • the alignment device preferably comprises a stop angle with a first and a second stop surface, wherein the two stop surfaces are arranged at right angles to each other.
  • the receiving device for lifting the uppermost intermediate layer is movable or displaceable in a first horizontal direction parallel to the second stop surface and in a second horizontal direction parallel to the first stop surface.
  • the receiving device For aligning the uppermost intermediate layer of the stop angle is first moved in the vertical direction at the height of the uppermost intermediate layer of the intermediate layer stack. Then, the receiving device engages on the upper side of the uppermost intermediate layer and moves it in the first horizontal direction to the first stop surface. Since the first stop surface facing edge of the uppermost intermediate layer usually does not already run exactly parallel to the first stop surface, performs the top intermediate layer during striking the first stop surface a rotary or yaw motion about a vertical axis, which causes the first stop surface facing edge of the top intermediate layer runs exactly parallel to the first stop surface.
  • the receiving device has a receiving head which acts on the uppermost intermediate layer and which is freely pivotably mounted about a vertical axis so that it can follow the rotational or yawing movement of the uppermost intermediate layer during the alignment on the first stop surface.
  • the receiving device moves the uppermost intermediate layer in the second horizontal direction parallel to the first stop surface against the second stop surface. As soon as the edge of the uppermost intermediate layer facing the second stop surface abuts against the second stop surface, the uppermost intermediate layer is also completely aligned in its position.
  • the alignment of the uppermost intermediate layer can according to the invention be carried out before or after the lifting of the uppermost intermediate layer or of a partial region thereof. Whether it is advantageous to align the uppermost intermediate layer before or after lifting, for example, depends on the bending stiffness of the intermediate layers. With low bending stiffness, it is advantageous to first align the liner and then raise it. Incidentally, in the context of the present invention, it is conceivable to not only lift the intermediate layer before aligning, but additionally to already move the separating device between the uppermost intermediate layer and the remaining intermediate layer stack.
  • the separation of the uppermost intermediate layer can be assisted by one or more detachment devices, which act on the wheels of the uppermost intermediate layer and on the underside of optionally adhering further intermediate layers.
  • detachment devices act on the wheels of the uppermost intermediate layer and on the underside of optionally adhering further intermediate layers.
  • further intermediate layers of the uppermost intermediate layer for example, mechanical scrapers in the form of stationary or rotating or oscillating driven brushes can be provided.
  • blowing nozzles for blowing out compressed air between the uppermost intermediate layer and the adhering further intermediate layers are also conceivable as detaching devices.
  • Fig. 1 A part of a palletizing cell with an embodiment of the device according to the invention
  • FIG. 2 shows the embodiment of the device according to the invention shown in FIG. 1 in a representation removed from the palletizing cell with an interlayer stack
  • FIG. 3 shows an enlarged detail view of the device according to the invention shown in FIG. 2.
  • Fig. 1 shows a part of a palletizing cell made of steel construction.
  • a palletizing station 14 On the right is a palletizing station 14, on which the objects to be palletized are stacked by a palletizing robot 3 in several layers on a pallet.
  • the palletizing robot 3 is configured in the embodiment shown as a so-called gantry robot with a lifting arm 15. Alternatively, the palletizing robot could also be an articulated robot.
  • an intermediate layer supply position 22 with a device 1 according to the invention for providing individual intermediate layers for the palletizing robot 3 is shown.
  • a stack 5 of intermediate layers is located on the pallet 16 at the intermediate layer preparation station 22.
  • the device 1 is shown in FIG. 2 without palletizing cell.
  • the stack 5 located on the pallet 16 is also shown made of intermediate layers 2.
  • the intermediate layers 2 are optionally provided on the pallet 16 after multiple use in the form of an unoriented stack 5.
  • the device 1 comprises a vertically standing column 17, along which an alignment device designed as a stop angle 7 can be moved upwards or downwards by means of a motor 18 in the vertical direction Z1.
  • a receiving device 4 for receiving or lifting the uppermost intermediate layer 2 of the stack 5 is stored.
  • the receiving device 4 comprises a receiving head 10, which consists of a here square plate 19 and four arranged on the underside suction holders 20 for engaging the upper side of the uppermost intermediate layer 2.
  • the suction air hoses connected to the suction holders 20 are not shown in FIG. 2 for the sake of simplicity.
  • the receiving device 4 further comprises a motor 21, by means of which the receiving head 10 in the vertical direction Z2 can be moved up or down.
  • FIG. 3 shows, inter alia, the stop angle 7 and the receiving device 4 in an enlarged view.
  • the stop angle 7 consists of a long leg 23 and a short leg 24.
  • the long leg 23 has a first stop surface 8 and the short leg 24 has a second stop surface 9.
  • the stop surfaces 8 and 9 are perpendicular to each other.
  • a linear guide rail 25 is arranged, along which the receiving device 4 is guided in the horizontal direction X movable.
  • the receiving device 4 in the horizontal direction Y is movable.
  • the directions or axes X 1 Y and Z1 or Z2 form in a known manner an orthogonal coordinate system.
  • the horizontal direction X is at right angles to the second stop surface 9 and the horizontal direction Y is at right angles to the first stop surface 8.
  • an elongated recess 13 can be seen in the left in Fig. 3 region of the long leg 23, an elongated recess 13 can be seen. It serves to receive a hold-down 6 in the form of a rod-shaped finger in its rest position, in which it is inactive.
  • the hold-down is shown in its hold-down position, from which it can be pivoted according to the pivoting direction S in the recess 13 in its rest position, in which it flush with or behind the plane of the first stop surface 8 comes to rest.
  • the hold-down device 6 can also be moved linearly or in a combined linear and rotational movement between the hold-down position and the rest position.
  • a light beam 26 of a light barrier system is further shown, which serves to monitor the start of the correct height with the stop angle 7.
  • the light beam 26 communicates on the one hand with the pickup head 10 or its plate 19 and on the other hand with the short leg 24 of the stop angle 7.
  • the pickup head 10 is first in a forward certain basic position brought. As long as the stop angle has not yet reached the height of the uppermost intermediate layer 2, the optical path of the light barrier system is either blocked by the stack 5 or free, which signals the drive of the stop bracket 7, that is still to drive up or down.
  • an envelope signal is generated which signals that the stop angle 7 has reached the desired height in the vertical direction Z1.
  • the corresponding control signal of the light barrier system then causes the stop angle 7 to remain stationary.
  • the optical communication of the light barrier system between other components of the receiving device 4 on the one hand and the stop bracket 7 on the other hand take place.
  • the stack 5 is formed by rigid intermediate layers.
  • an unoriented stack 5 of intermediate layers 2 is provided at the intermediate layer supply location 22.
  • the stop angle 7 moves with the aid of the light barrier system in the vertical direction Z1 to the height of the top intermediate layer 2.
  • the receiving device 4 then moves to a pre-programmed X and Y position to lower their recording head 10 in the vertical direction Z2 such that with suction acted upon suction holder 20 attack on the top of the top intermediate layer 2 and can hold them.
  • the recording head 10 moves in the vertical direction Z2 upwards and thereby lifts the rigid uppermost intermediate layer 2 completely from the remaining stack 5 from. As part of this process, further intermediate layers 2 can adhere to the underside of the uppermost intermediate layer 2.
  • the preferably existing oscillating vibrator drive of the recording head 10 is activated, which allows it to vibrate relatively high frequency in the vertical direction Z2.
  • the otherwise taking place by the force of gravity detachment of the adhesive liners is supported in this way and thus takes place faster.
  • the stroke, by which the uppermost intermediate layer 2 is raised by the receiving head 10 in the vertical direction Z2, is dimensioned such that the hold-down 6 after separating the uppermost intermediate layer 2 from its rest position, in which it is located in the recess 13 in his Hold down position in which he is between the raised uppermost intermediate layer 2 and the remaining stack 5, can pivot.
  • the pivot angle in the pivoting direction S is about 90 °.
  • the low holder 6 thus acts as a separating device in the sense of the present invention, which is intended to ensure that the uppermost intermediate layer 2 can be picked up in isolated state and without a time delay by the lifting arm 15 of the palletizing robot 3.
  • the movement of the hold-6 from the rest position to the hold-down position can be done before or after the alignment of the top intermediate layer 2.
  • the receiving device 4 In order to align the spatial orientation and the position of the uppermost intermediate layer 2, the receiving device 4, together with the uppermost intermediate layer 2 held by it, is first moved in the horizontal direction Y until its edge facing the first stop surface 8 abuts against it.
  • the uppermost intermediate layer 2 shown in FIG. 3 executes a rotary or yawing movement about the vertical axis Z2, after its completion the edge of the intermediate layer 2 facing the first stop surface 8 runs exactly parallel to the first stop surface 8.
  • the recording head 10 is for this purpose freely pivotably mounted about the vertical axis Z2, so that it can join the yaw movement of the intermediate layer 2.
  • the receiving direction 4 together with the uppermost intermediate layer 2 still held by it is moved in the horizontal direction X along the guide rail 25 in the direction of the second stop surface 9.
  • the intermediate layer 2 abuts there, it is aligned, on the one hand, with regard to its spatial orientation and, on the other hand, with respect to its spatial position.
  • the hold-down 6 is not yet in its hold-down position shown in Fig. 3, he is driven into this.
  • the suction holders 20 release the aligned and separated uppermost intermediate layer 2 so that it falls back onto the stack 5 or the hold-down 6.
  • the receiving device 4 finally moves into a preprogrammed basic position in which it obstructs the lifting arm 15 of the palletizing robot 3 as little as possible when picking up the separated and aligned uppermost intermediate layer 2.
  • further intermediate layers can in the figures of Ausulate- are provided tion form not shown Ablteil listeningen.
  • These detachment devices may be one or more mechanical scrapers, for example in the form of a stationary or a rotating or oscillating drivable brush. Also conceivable are one or more blast nozzles. These removal devices can be arranged, for example, on the long leg 23 of the stop bracket 7. In order for the detachment devices to be able to operate as intended, it is necessary in this case that, before moving the hold-down device 6 into its hold-down position, at least the first top layer 2 has already moved toward the first stop surface 8 together with further intermediate layers adhering to it. This ensures that the hold-down 6 does not separate more than one intermediate layer 2 from the stack 5.
  • the lifting arm 15 of the palletizing robot 3 can pick up an already isolated intermediate layer at the intermediate layer supply station 22 and transport it to the palletizing station 14, without having to perform any sorting work as in the prior art.
  • the lift arm 15 of the palletizing robot 3 can pick up not only an occasional interlayer, but an additional already aligned interlayer, without having to wait for a prior art as in the prior art in the pickup process integrated centering or alignment device has made the alignment.
  • Non-rigid intermediate layers can also be singulated and, if necessary, aligned. LIST OF REFERENCE NUMBERS

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • De-Stacking Of Articles (AREA)

Abstract

L'invention concerne un dispositif servant à fournir des intercalaires séparés à un robot de palettisation qui va chercher l'intercalaire séparé pendant la palettisation et le place entre des couches définies d'objets à palettiser. Ce dispositif doit permettre au robot de palettisation d'aller chercher si nécessaire à tout moment un intercalaire déjà séparé sans entraîner d'autres intercalaires adhérant à la face inférieure de cet intercalaire. A cet effet, le dispositif selon l'invention comprend un dispositif de prise déplaçable en sens vertical qui peut saisir l'intercalaire supérieur d'un tas constitué d'intercalaires de sorte qu'au moins une zone de l'intercalaire supérieur se soulève du tas, ainsi qu'un dispositif écarteur qui est déplaçable entre l'intercalaire supérieur et le tas restant et qui écarte l'intercalaire supérieur du tas de sorte que l'intercalaire peut être emporté individuellement par le robot de palettisation après avoir été relâché par le dispositif de prise.
PCT/EP2008/004046 2007-05-26 2008-05-21 Dispositif et procédé pour fournir des intercalaires séparés à un robot de palettisation WO2008145284A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202007024771 2007-05-26
DE202007024771.2 2007-05-26

Publications (2)

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WO2008145284A2 true WO2008145284A2 (fr) 2008-12-04
WO2008145284A3 WO2008145284A3 (fr) 2009-04-23

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0431346A2 (fr) * 1989-12-05 1991-06-12 Kolbus GmbH & Co. KG Procédé de chargement et déchargement de palettes avec piles de produits en nappe et dispositif pour cela
US6402455B1 (en) * 1996-05-03 2002-06-11 Arrowhead Systems Llc Separator sheet handler for a palletizer
US6658816B1 (en) * 1999-11-17 2003-12-09 Kaufman Engineered Systems, Inc. Bulk palletizer system
EP1612164A1 (fr) * 2004-06-28 2006-01-04 Winkler + Dünnebier Aktiengesellschaft Dispositif et procedé pour l'introduction des intercalaires pendant la palettisation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0431346A2 (fr) * 1989-12-05 1991-06-12 Kolbus GmbH & Co. KG Procédé de chargement et déchargement de palettes avec piles de produits en nappe et dispositif pour cela
US6402455B1 (en) * 1996-05-03 2002-06-11 Arrowhead Systems Llc Separator sheet handler for a palletizer
US6658816B1 (en) * 1999-11-17 2003-12-09 Kaufman Engineered Systems, Inc. Bulk palletizer system
EP1612164A1 (fr) * 2004-06-28 2006-01-04 Winkler + Dünnebier Aktiengesellschaft Dispositif et procedé pour l'introduction des intercalaires pendant la palettisation

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Publication number Publication date
WO2008145284A3 (fr) 2009-04-23

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