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WO2025149475A1 - Système de manipulation et procédé de manipulation d'articles, en particulier pour la distribution - Google Patents

Système de manipulation et procédé de manipulation d'articles, en particulier pour la distribution

Info

Publication number
WO2025149475A1
WO2025149475A1 PCT/EP2025/050232 EP2025050232W WO2025149475A1 WO 2025149475 A1 WO2025149475 A1 WO 2025149475A1 EP 2025050232 W EP2025050232 W EP 2025050232W WO 2025149475 A1 WO2025149475 A1 WO 2025149475A1
Authority
WO
WIPO (PCT)
Prior art keywords
piece goods
handling
manipulator
groups
distribution system
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
PCT/EP2025/050232
Other languages
German (de)
English (en)
Inventor
Erhard Beer
Marco Ehberger
Michael Hartl
Manuel Kollmuss
Tolga KUSCULAR
Arsalan MEHDI
Alfred Meisinger
Adalbert Pagiela
Josef Unterseher
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.)
Krones AG
Original Assignee
Krones 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 Krones AG filed Critical Krones AG
Publication of WO2025149475A1 publication Critical patent/WO2025149475A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
    • B65G47/084—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present invention relates to a handling system and a method for handling piece goods, in particular for their distribution, with the features of the independent claims.
  • a diverter system shifts and distributes containers transversely to the transport direction.
  • the containers are fed into the diverter system at intervals, i.e., a gap is maintained between successive containers so that the diverter can move each container individually into the desired transport lane, which is assigned to the subsequent palletizing system or another handling module of the system.
  • the performance of such a distribution diverter is limited by physical limits for the acceleration and deceleration of the containers.
  • the support plate system comprises plates that can be moved transversely to the transport direction. These plates pick up the containers individually at an inlet and, after a corresponding transverse displacement, which may be coupled with an additional displacement in the transport direction, deliver them to an outlet. Distribution systems based on the support plate distributor principle reach their limits at high speeds and also generate high noise levels.
  • gantry robots for distributing containers.
  • the containers are fed to the gantry robot at intervals, or the feeding transport device is briefly stopped at regular intervals to create gaps between the containers so that they can then be picked up and handled by the gantry robot.
  • the problem here is that the Accelerations and decelerations of the containers at high speeds can cause the containers to slip in the transport direction.
  • the gap-forming system is susceptible to incorrect positioning of the containers if the friction coefficient between the container and the incoming transport device is reduced due to contamination, deposits, or wear on the container.
  • the invention relates to a handling system comprising a distribution system, a manipulator for handling piece goods to form groups of piece goods, a control device for controlling the manipulator and at least two downstream handling modules, for example at least two palletizing systems or at least two packaging modules or at least one palletizing system and at least one packaging module or the like.
  • the distribution system of the handling system not only enables the preparation of palletizable layers, as described in detail below, but also allows for dosing, feeding, and balancing the number of piece goods to a subsequent packaging module and/or palletizing system.
  • At least one removal device for the piece goods can optionally be provided between the distribution system and the handling modules or between the distribution system and the layer formation modules.
  • the at least one removal device is designed to supply piece goods groups to the handling modules, which piece goods groups have been generated within the distribution system by the manipulator and handled by the manipulator, as described in more detail below.
  • the at least one removal device is also provided for transporting piece goods which pass through the distribution system without being handled by the manipulator, which is also described in detail below.
  • the removal device is designed to feed the piece goods groups separated from the supplied closed formation by the manipulator in a first work step described in more detail below or in a third work step and/or the piece goods groups separated from the supplied closed formation by the manipulator in a second work step described in more detail below or in a fourth work step to one of the at least two handling modules.
  • the at least one removal device is preferably designed such that the piece goods groups separated in a first work step described below or a third work step and/or the piece goods groups separated in the second work step or a fourth work step are fed to the handling module assigned to the piece goods group in alignment with a target position.
  • the removal device can, for example, be formed by a correspondingly wide conveyor.
  • each handling module is assigned its own removal device.
  • each removal device has its own drive, so that the at least two removal devices can each be operated independently. can be controlled from one another. This makes it possible to regulate and adjust the speed at which the groups of piece goods generated in the distribution system are fed to the respective handling module.
  • the piece goods are fed to the distribution system via at least one feeder device in at least one row, one behind the other, in a so-called closed formation.
  • a closed formation is understood in particular to mean a row of piece goods transported one behind the other in an endless formation, with no interruption between the piece goods.
  • a seamless feed in a closed formation is understood in particular to mean that the piece goods within the row are arranged in the same orientation and in a line, with no gap between the successive piece goods, i.e. the successive piece goods touch one another.
  • the piece goods are also referred to as end-to-end feeding.
  • the at least one feed device can be a driven conveyor device, for example an endless conveyor belt, a mat chain or similar.
  • the moved piece goods can be articles, packages, container assemblies, bundles, cartons, articles arranged in baskets or on trays, or similar.
  • a plurality of identical or different articles are combined into a bundle or mixed bundle by means of cardboard packaging, one or more strappings, film packaging, or the like.
  • a plurality of beverage containers, which are held together, for example, by shrink packaging, one or more strapping bands, can each form a piece goods within the meaning of the present definition.
  • the piece goods can be of the same or different designs depending on the requirements of downstream handling devices.
  • they are a plurality of beverage containers combined by an outer packaging means, wherein the beverage containers are formed in particular by plastic bottles, glass bottles, cans made of plastic or metal, or similar.
  • the control device for the manipulator of the distribution system can be formed by a special control device of the distribution system. Alternatively, however, the control device can also be a machine control of the handling system, which additionally controls the other machine components of the handling system.
  • a further embodiment can provide for the manipulator to be controlled by a system control of an entire filling and/or packaging system, which filling and/or packaging system comprises a corresponding handling system described here in the application.
  • the distribution system comprises a horizontal conveyor, which is moved continuously in the transport direction.
  • the transport direction of the horizontal conveyor corresponds in particular to the feed direction of the piece goods on the feed conveyor.
  • the horizontal conveyor preferably moves at the same speed as the feed conveyor.
  • the piece goods handled by the manipulator are released by the manipulator at a target position on the horizontal conveyor and, after being released at a target position on the horizontal conveyor, are continuously moved further in the transport direction.
  • the handling system can be controlled by the control device in such a way that different working modes can be implemented, in which different working modes the manipulator handles the piece goods fed in a closed formation differently.
  • groups of piece goods from the piece goods fed in a closed formation are detected by the manipulator in each case within the detection range of the at least one manipulator, spatially separated from the subsequent piece goods in the closed formation, and moved into a defined relative target position with respect to the subsequent piece goods in the closed formation within the distribution system.
  • the detection range within the meaning of the present application defines in particular a movement space of the at least one manipulator.
  • the manipulator detects a group of items comprising the items that first enter the detection area.
  • the handling of groups of piece goods by the manipulator takes place in a continuous process, in which the supply of subsequent piece goods is not interrupted but continues continuously as a closed formation. After being moved to their respective defined target positions, the piece goods are released by the manipulator and moved further in the transport direction on the horizontal conveyor.
  • the method provides different working modes for handling, in particular for distributing, piece goods fed in at least one row behind the other in a closed formation.
  • the control device controls the manipulator in such a way that it detects groups of piece goods comprising a defined number of piece goods from the closed formation, spatially separates them from the trailing piece goods of the closed formation and prepares them essentially evenly for feeding to the two handling modules.
  • the manipulator clamps the piece goods of the piece goods groups in the first working mode as well as in a third working mode described below and a fourth working mode described below, spatially separates them from the following piece goods of the closed formation and moves them to the target position spaced apart from the closed formation.
  • the manipulator can be equipped with appropriate clamping or gripping means for this purpose, for example with paired, mutually adjustable clamping jaws or similar.
  • the clamping or gripping means of the manipulator are preferably aligned parallel to the transport direction of the incoming piece goods during gripping of the piece goods.
  • the mutually adjustable clamping or gripping means allow for rapid gripping, moving, positioning, and release of the piece goods groups at the desired speed with the desired positioning precision.
  • a so-called tripod is equipped with appropriate clamping or gripping means.
  • Other manipulators can also be advantageously used, for example, those designed as multi-axis robots, parallel kinematic robots, delta kinematic robots, or similar. It is preferably provided that in the first working mode, groups of piece goods are alternately prepared for feeding to a first handling module and for feeding to a second handling module and, if appropriate, for feeding to further handling modules.
  • a substantially uniform distribution does not necessarily mean that 50% of the piece goods groups generated by the manipulator of the distribution system are fed to the first handling module and the other 50% of the generated piece goods groups are fed to the second handling module. Even if, in one embodiment of the method, approximately 40% of the generated piece goods groups are fed to the first handling module and approximately 60% to the second handling module, this can be considered a substantially uniform distribution according to an alternative embodiment within the scope of the present invention.
  • the piece goods groups separated from the closed formation are brought by the manipulator of the distribution system to a target position spaced from the closed formation, from which they are fed to the respective handling module by continuous further movement via the horizontal conveyor of the distribution system and, if applicable, via the subsequent removal conveyor in the transport direction.
  • the piece goods groups first enter a layer formation module which is assigned to a handling module designed as a palletizing system, and in which layer formation module, palletizable layers are created from the piece goods groups for handling by the respective palletizing system.
  • Distribution of the piece goods by the manipulator depends in particular on how the supply of the piece goods to the distribution system takes place.
  • a centralized or decentralized supply of the piece goods to the distribution system can be provided.
  • the central longitudinal axis of the unit loads fed in a closed formation coincides with the central longitudinal axis of the horizontal conveyor of the distribution system. This is the case, for example, when the central longitudinal axis of the feed conveyor coincides with the central longitudinal axis of the horizontal conveyor of the distribution system and the unit loads are moved centrally on the feed conveyor.
  • a decentralized feed is one in which the central longitudinal axis of the closed formation of the piece goods and the central longitudinal axis of the horizontal conveyor of the distribution system do not coincide, but are arranged parallel to each other. This is particularly the case when the central longitudinal axis of the feed conveyor and the central longitudinal axis of the horizontal conveyor of the distribution system are arranged parallel to each other and the piece goods are moved centrally on the feed conveyor.
  • Decentralized feeding can also be achieved using a feeder whose central longitudinal axis coincides with the central longitudinal axis of the distribution system's horizontal conveyor. In this case, the piece goods must be moved off-center on the feeder.
  • the manipulator of the distribution system is preferably designed or controlled by the control device in such a way that, in a first work step, it detects a group of piece goods comprising a defined number of piece goods, spatially separates them from the subsequent piece goods in the closed formation, and spaced them apart from them in the transport direction.
  • the piece goods group generated in such a first work step is arranged, in particular, in a target position on the horizontal conveyor of the distribution system, which target position is aligned with the closed formation of the supplied piece goods.
  • the manipulator is preferably designed or is controlled by the control device in such a way that, in a second work step, it clamps a group of piece goods comprising a defined number of piece goods, separates them from the following piece goods of the closed
  • the group of items is spatially separated and spaced laterally and in the direction of transport.
  • the group of items produced in such a second work step is arranged in a target position that is laterally offset from the alignment of the items fed in a closed formation.
  • the group of items handled in this way is then moved further in the direction of transport parallel to the closed formation of the items fed in.
  • the piece goods groups produced in the first work step and handled by the manipulator are subsequently fed to the first handling module, while the piece goods groups produced in the second work step and handled by the manipulator are subsequently fed to the second handling module.
  • the manipulator of the distribution system is preferably controlled by the control device in such a way that it detects a group of piece goods comprising a defined number of piece goods, spatially separates it from the subsequent piece goods in the closed formation, and spaced from them in the transport direction and with a lateral offset to the left.
  • the group of piece goods generated in such a first alternative second work step is preferably arranged in a target position which prepares the group of piece goods for subsequent handling by the first handling module, in particular distributes it accordingly.
  • the manipulator of the distribution system is preferably controlled such that it captures a group of piece goods comprising a defined number of piece goods, spatially separates them from the subsequent piece goods in the closed formation, and spaced from them in the transport direction and with a lateral offset to the right.
  • the piece goods group generated in such a second alternative second work step is arranged, in particular, in a target position that prepares the piece goods group for subsequent handling by the second handling module.
  • the first alternative second step is hereinafter referred to as the third step and the second alternative second step is hereinafter referred to as the fourth step.
  • additional work steps may be necessary to operate more than two handling modules, whereby the groups of piece goods are each subjected to a different lateral offset compared to the closed formation.
  • first work step and second work step or third work step and a fourth work step When reference is made in this context to a first work step and a second work step or a third work step and a fourth work step, this does not imply a fixed sequence.
  • first work step and second work step or third work step and fourth work step are used only to differentiate between the various work steps.
  • a second work step or a fourth work step is carried out first and then a first work step or a third work step, so that the second handling module is served by the distribution system first and only then the first handling module.
  • piece goods groups with a different number of piece goods are produced during layer formation.
  • first work steps and/or second work steps or third work steps and/or fourth work steps the groups of piece goods grasped by the manipulator and separated from the closed formation are brought into the
  • the target position can also be rotated, for example by 90 degrees. The rotation can optionally only be performed for some of the work steps.
  • control device controls the distribution system's manipulator in such a way that it does not detect and handle any groups of piece goods.
  • This second operating mode is therefore also referred to as continuous operation.
  • the collected piece goods groups are handled in a first work step or a third work step and subsequently fed to the first handling module.
  • the remaining 19% to 1% of the collected piece goods groups are handled in a second work step or a fourth work step and subsequently fed to the second handling module.
  • approximately 81% to 99% of the recorded piece goods groups can be handled in a second or fourth step and subsequently fed to the second handling module.
  • the remaining 19% to 1% of the recorded piece goods groups are handled in a first or third step and subsequently fed to the first handling module.
  • the manipulator performs only the first or third work steps when the piece goods are fed centrally.
  • groups of piece goods are separated from the closed formation and handled in such a way that they are subsequently fed, for example, only to the first of two handling modules.
  • the manipulator only carries out second work steps or fourth work steps.
  • groups of general cargo are separated from the closed formation and handled in such a way that they are subsequently fed only to the second of two handling modules.
  • the selection of the first work step or the third work step or the second work step or the fourth work step is carried out depending on which of the at least two handling modules of the handling system is functional and which of the at least two handling modules of the handling system is defective, requires maintenance or similar.
  • control device is designed to control a temporal sequence or order of first work steps or third work steps and/or second work steps or fourth work steps and optionally further work steps.
  • a further embodiment provides that an uneven temporal sequence or order of first work steps or third work steps and second work steps or fourth work steps is controlled, which corresponds to a third work mode or an uneven distribution operation of the handling system.
  • An alternative embodiment provides that only a temporal sequence or order of first work steps or third work steps or of second work steps or fourth work steps is controlled, which corresponds to a fourth work mode or emergency operation of the handling system.
  • the handling system described here is particularly designed to control the manipulator of the distribution system by the control device in such a way that This executes one of at least two of the above-described operating modes as required. Within the scope of the present invention, it is not mandatory for the handling system to be able to execute all of the above-described operating modes.
  • the method according to the invention for handling piece goods provides that piece goods are fed in at least one row behind one another, in a closed formation, to at least one distribution system of a handling system comprising two handling modules.
  • piece goods groups are generated from the piece goods fed in at least one closed formation and the piece goods groups are prepared and positioned essentially uniformly for feeding to the at least two handling modules.
  • piece goods groups are generated from the piece goods fed in at least one closed formation and the piece goods groups are prepared and positioned, in particular distributed, unevenly for feeding to the at least two handling modules.
  • piece goods groups are generated from the piece goods fed in at least one closed formation and the piece goods groups are completely prepared and positioned, in particular distributed, for feeding to only one of the at least two handling modules.
  • the alternative fourth operating mode can be designed to fully prepare and position the piece goods groups for feeding to only one of the three handling modules, or to prepare and position the piece goods groups for feeding to two of the three handling modules.
  • a person skilled in the art can easily transfer this to handling systems with more than three handling modules.
  • the method further provides that at least two of the above-described operating modes can be performed as needed.
  • each of the four above-described operating modes can be performed as needed within the scope of the method.
  • an embodiment may provide that if at least one handling module fails, the remaining at least one functional handling module of the handling system is operated in the fourth operating mode or emergency mode at an increased power level, for example, at twice the power level as in a first operating mode or normal mode, up to the performance limit of the handling module. For example, if the remaining one functional handling module of two handling modules is operated in emergency mode at twice the power level as in normal mode, the speed of the feed of the piece goods via the feed device does not need to be adjusted.
  • Layer formation in preparation for subsequent handling of the piece goods can be performed seamlessly or in a synchronized manner.
  • Seamless layer formation specifically means that the piece goods—as in the second operating mode described above—pass through the distribution system seamlessly or in a closed formation and are then accumulated, for example, in a layer formation module to form a palletizable layer.
  • a synchronized preparation of the handling of piece goods means in particular the handling of piece goods in a first working mode, a A third working mode or a fourth working mode, in which groups of piece goods are prepared within the distribution system for feeding to at least one of at least two handling modules.
  • the groups of piece goods form the so-called cycles, which are then handled in the respective handling module.
  • the groups of piece goods are accumulated in a layer-forming module, which is assigned to a handling module designed as a palletizing system, to form a palletizable layer, thereby closing the gaps created between the groups of piece goods in the distribution system.
  • the distribution system comprises at least one detection means for the piece goods supplied in a closed formation.
  • the at least one detection means is preferably assigned to the detection area of the manipulator.
  • the necessary sensor technology is provided, for example, by at least one optical detection device that is spatially and/or functionally assigned to the detection area of the at least one manipulator and is in particular designed to be movable.
  • the advantages of the invention described above are, in particular, that the seamless feeding of the piece goods allows operation at relatively low feed speeds. Since the manipulator picks up piece goods directly from the fed closed formation, no stop-and-go operation is necessary to create gaps between the piece goods before their appropriate distribution. This is particularly advantageous because it places less strain on the drive of the feeder device and thus experiences less wear. It also eliminates the need for regular braking and acceleration of the piece goods, which in turn could lead to slipping of the piece goods on the feeder device and thus damage to the piece goods and/or the feeder device.
  • a further embodiment may provide that the horizontal conveyor device is designed in a split manner in the distribution system.
  • the horizontal conveyor device may comprise at least two independently driven Conveyor systems can be used. Different discharge speeds can thus be set for individual areas, for example, to supply one of the at least two handling modules with groups of piece goods more slowly than another of the at least two handling modules.
  • the at least two conveyor systems arranged side by side can be driven independently of one another and are thus individually controllable.
  • the groups of piece goods grasped by the manipulator are released into the target position in the positioning area by the manipulator, which is in particular a target position assigned to one of the at least two conveyor systems.
  • Each of the conveyor systems is assigned to a downstream handling module, so that the groups of piece goods moved to a target position on a respective conveyor system can subsequently be fed to the respectively assigned handling module.
  • the handling system described here also has a low layout requirement and can therefore be implemented with a small size, which enables cost-effective installation due to its small space requirement.
  • the handling system described here can preferably be part of a beverage packaging system.
  • a beverage packaging system comprises, for example, a wet section with a can and/or bottle pusher, a filling module, a closing module associated with the filling module, and optionally a labeling module.
  • a pasteurizer can be arranged between the filling module and the labeling module or other downstream handling devices.
  • the beverage packaging system includes, for example, a blow molding module for the production of PET bottles, which are subsequently filled, sealed and labeled.
  • the packaging units are then prepared for subsequent handling in a distribution system of the handling system described here, and the correspondingly prepared piece goods are handled by at least one handling module of the handling system, for example, equipped with further outer packaging and/or palletized and, in particular, stacked on top of one another during palletizing.
  • the components of the beverage packaging system are to be understood as examples only. Other configurations comprising a device described in the application are also intended to be encompassed by the application.
  • Figures 1 to 6 show a first embodiment of a handling system with a distribution system in a so-called normal operation.
  • Fig. 7 shows the handling system according to Figures 1 to 6 in a continuous operation.
  • Fig. 9 shows the handling system according to Figures 1 to 6 in a first embodiment of an emergency operation.
  • Fig. 10 shows the handling system according to Figures 1 to 6 in a second embodiment of an emergency operation.
  • the piece goods 20 are preferably containers 21 comprising a plurality of beverage containers, in particular shrink-wrapped containers comprising a plurality of cans or bottles, strapped containers comprising a plurality of cans or bottles, cans or bottles packed in cartons, in baskets, on trays or other articles or the like.
  • the distribution system 2 further comprises at least one manipulator 4 for handling piece goods 20, in particular for distributing piece goods groups 23, and a control device 5 for controlling the at least one manipulator 4.
  • the control device 5 is only shown as an example in Fig. 1 and has been omitted from the other Figs. 2 to 6 to simplify the illustration.
  • the control device 5 can be a special control device 6 of the distribution system 2. According to an alternative embodiment, the control device 5 can be a machine control 7 of the handling system 1 or a system control 8 of an entire filling and/or packaging system, which can be a corresponding handling system 1.
  • the distribution system 2 further comprises a horizontal conveyor 12, which is moved continuously in the transport direction TR and which is moved in the transport direction TR, in particular at the same speed as the feed conveyor 3.
  • the piece goods groups 23 grasped and handled by the manipulator 4 are thereby continuously moved further in the transport direction TR, in particular after being released by the manipulator 4 in a target position on the horizontal conveyor 12.
  • the handling system 1 further comprises at least two handling modules 16 designed as palletizing systems 10 (reference numeral 16 is only shown in Fig. 1 for reasons of clarity), to which palletizing systems 10 at least one layer formation module 11 is preferably assigned.
  • An alternative embodiment may provide that the layer formation modules 11 directly follow the distribution system 2 and a discharge device 9 is dispensed with.
  • the control device 5 controls the manipulator 4 such that it detects piece goods groups 23 comprising a defined number of piece goods 20 from the closed formation 22 (Fig. 2), spatially separates them from the trailing piece goods 20 of the closed formation 22 (Fig. 3), and prepares them essentially uniformly for feeding to the two palletizing systems 10.
  • the manipulator 4 detects one piece goods group 23 each comprising the piece goods 20 that enters a detection area of the manipulator 4 first.
  • groups of piece goods 23 are alternately prepared for feeding to the first palletizing system 10-1 ( Figures 3 to 5) and for feeding to the second palletizing system 10-2 ( Figure 6).
  • a substantially uniform distribution does not necessarily mean that 50% of the generated piece goods groups 23 are fed to the first palletizing system 10-1 and the other 50% to the second palletizing system 10-2. Even if, in one embodiment of the method, approximately 40% of the generated piece goods groups 23 are fed to the first palletizing system 10-1 and approximately 60% to the second palletizing system 10-2, this can be considered a substantially uniform distribution according to one embodiment within the scope of the present invention.
  • the piece goods group 23 separated from the closed formation 22 is brought into a target position spaced apart from the closed formation 22, from which the piece goods group is first fed to the layer formation module 11, which is assigned to the respective palletizing system 10, during the continuous further movement in the transport direction TR.
  • the layer formation module 11 palletizable layers are created from the piece goods groups 23 for handling by the respective palletizing system 10.
  • the manipulator 4 of the distribution system 2 is preferably designed or controlled by the control device 5 such that, in a first work step, it clamps a piece goods group 23 comprising a defined number of piece goods 20, spatially separates it from the subsequent piece goods 20 of the closed formation 22, and spaced apart from them in the transport direction TR ( Figures 2 to 4).
  • the piece goods group 23 generated in such a first work step is arranged, in particular, in a target position that is aligned with the piece goods 20 supplied in the closed formation 22.
  • the manipulator 4 can be equipped with appropriate clamping or gripping means 14 for this purpose, for example with clamping jaws 15 arranged in pairs and designed to be adjustable relative to one another or the like (only shown as an example in Fig. 1).
  • the clamping or gripping means 14 of the manipulator 4 are preferably aligned parallel to the transport direction TR of the incoming piece goods 20 during the gripping of the piece goods 20.
  • the clamping or gripping means 14, which can be adjusted relative to one another, allow for rapid gripping, moving, positioning, and release of the piece goods groups 23 at the desired speed and with the desired positioning precision.
  • a so-called tripod is equipped with corresponding clamping or gripping means 14.
  • Other manipulators 4 can also be advantageously used, for example, those designed as multi-axis robots, parallel kinematic robots, delta kinematic robots, or similar.
  • the manipulator 4 of the distribution system 2 is preferably designed or controlled by the control device 5 such that, in a second work step, it clamps a piece goods group 23 comprising a defined number of piece goods 20, spatially separates them from the subsequent piece goods 20 of the closed formation 22, and spaced apart in the transport direction TR and laterally from them ( Figures 5 and 6).
  • the piece goods group 23 produced in such a second work step is arranged, in particular, in a target position that is laterally offset from the piece goods 20 supplied in the closed formation 22.
  • piece goods groups 23 are produced by the manipulator 4, which are subsequently fed to the first palletizing system 10-1, while in the second work step, piece goods groups 23 are produced by the manipulator 4, which are subsequently fed to the second palletizing system 10-2.
  • first work step When reference is made to a first work step and a second work step, this does not imply a fixed sequence.
  • the designations "first work step” and “second work step” are used only to distinguish between the two work steps.
  • a second work step is performed first, followed by a first work step, so that the second layer-forming module 11-2 and the second package-forming system 10-2 are served first.
  • piece goods groups 23 are produced, each comprising the same number of piece goods 20.
  • An alternative embodiment may provide that in the first work step and in the second work step, groups of piece goods 23 are produced, each comprising a different number of piece goods 20.
  • piece goods groups 23 with a different number of piece goods 20 are produced.
  • the piece goods groups 23 grasped by the manipulator 4 and separated from the closed formation 22 are additionally rotated, for example by 90 degrees, when being moved to the target position.
  • the removal device 9 is designed such that the piece goods groups 23 separated in the first work step and/or the piece goods groups 23 separated in the second work step are fed via it to the palletizing system 10, which is preferably aligned with the target position of the piece goods group 23.
  • the removal device 9 can, for example, be formed by a correspondingly wide conveyor device.
  • each palletizing system 10 is assigned its own removal device 9-1, 9-2, which is only shown as an example in Fig. 6.
  • each removal device 9-1, 9-2 has its own drive (not shown) and can thus be controlled independently of the other removal device 9. This makes it possible to differently regulate and adapt the speed of the feed of the piece goods groups 23 generated in the distribution system 2 to the respective palletizing system 10.
  • the piece goods 20 passing through the distribution system unhandled can be discharged from the handling system 1 following the distribution system 2.
  • the piece goods 20 can be transferred to a buffer section (not shown) or that the piece goods 20 are fed to another handling module for alternative handling.
  • the embodiment in which the piece goods 20 pass through the distribution system 2 in a closed formation 22 and are then fed to another handling module for alternative handling can also represent a desired alternative processing path within an overall system, in particular within an entire filling and/or packaging system (not shown).
  • FIG. 8 shows the handling system 1 with the distribution system 2 in a first embodiment of a third operating mode 104, in which an unequal distribution operation 105 is performed.
  • a third operating mode 104 in which an unequal distribution operation 105 is performed.
  • control device 5 controls the manipulator 4 of the distribution system 2 in such a way that it prepares and positions the piece goods groups 23 that have been detected and separated from the closed formation 22 unevenly for feeding to the at least two palletizing systems 10.
  • piece goods groups 22 are spaced laterally and in the transport direction TR as part of a second work step and subsequently fed to the second palletizing system 10-2.
  • the detected piece goods groups 23 are spaced apart in the transport direction TR and laterally spaced apart in the first work step in the transport direction TR and subsequently fed to the second palletizing system 10-2.
  • the remaining 49% to 20% of the detected piece goods groups 22, however, are spaced apart in the transport direction TR in a first work step and subsequently fed to the first palletizing system 10-1.
  • a second unequal distribution operation 105 can be provided, in which the piece goods groups 23 are predominantly prepared and positioned for supply to one of the at least two palletizing systems 10.
  • the detected piece goods groups 23 are spaced apart in the transport direction TR in a first work step and subsequently fed to the first palletizing system 10-1.
  • the remaining 19% to 1% of the detected piece goods groups 22, however, are spaced apart in the transport direction TR and laterally in a second work step and subsequently fed to the second palletizing system 10-2.
  • the detected piece goods groups 23 are spaced apart in the transport direction TR and laterally spaced apart in the first work step in the transport direction TR and subsequently fed to the second palletizing system 10-2.
  • the remaining 19% to 1% of the detected piece goods groups 22, however, are spaced apart in the transport direction TR in a first work step and subsequently fed to the first palletizing system 10-1.
  • FIG. 9 shows the handling system 1 with the distribution system 2 in a first embodiment of a fourth working mode 106, which is also referred to as emergency operation 107
  • Fig. 10 shows the handling system 1 with the distribution system 2 in a second embodiment of the emergency operation 107.
  • a fourth working mode 106 which is also referred to as emergency operation 107
  • Fig. 10 shows the handling system 1 with the distribution system 2 in a second embodiment of the emergency operation 107.
  • the manipulator 4 according to the first embodiment shown in Fig. 9 is controlled in such a way that it separates piece goods groups 23 from the closed formation 22 and spaced them apart from it in the transport direction TR only within the scope of a first work step, so that separated piece goods groups 23 spaced apart in the transport direction TR are subsequently fed to the first layer formation module 11-1 and the first palletizing system 10-1.
  • the manipulator 4 is controlled in such a way that it separates piece goods groups 23 from the closed formation 22 only in the context of a second work step and spaced them apart in the transport direction TR and laterally therefrom, so that separated piece goods groups 23 spaced apart in the transport direction TR and laterally are subsequently fed to the second layer forming module 11-2 and the second palletizing system 10-2.
  • the emergency operation 107 may be necessary in particular if one of the layer formation modules 11 and/or the palletizing systems 10 has completely failed or needs to be serviced.
  • the piece goods 21 are fed in a decentralized manner via the feed device 2, since this is not arranged centrally to a central longitudinal axis 50 of the distribution system 2 (shown only as an example in Figure 1), but decentrally to the central longitudinal axis 50 of the distribution system 2.
  • the manipulator 4 In order to prepare the respectively detected piece goods groups 23 for feeding to one of the two palletizing systems 10, the manipulator 4 must perform two alternative second work steps, in particular a first alternative second work step and a second alternative second work step.
  • first alternative second work step is referred to as the third work step
  • second alternative second work step is referred to as the fourth work step.
  • the manipulator 4 of the distribution system 2 is preferably controlled by the control device 5 such that it clamps a piece goods group 23 comprising a defined number of piece goods 20, spatially separates it from the following piece goods 20 of the closed formation 22, and spaced from them in the transport direction TR and with a lateral offset to the right.
  • the piece goods group 23 generated in such a fourth work step is arranged in particular in a target position, which prepares the piece goods group 23 for subsequent palletizing by the second palletizing system 10-2.
  • third work step When reference is made to a third work step and a fourth work step, this does not imply a fixed sequence.
  • third work step and “fourth work step” are used only to distinguish between the two work steps.
  • a fourth work step is performed first, followed by a third work step, so that the second layer formation module 11-2 and the second package system 10-2 are served first.
  • FIG. 12 The schematic top view of Fig. 12 shows the handling system 1 according to Fig. 11 in a second operating mode 102, which is also referred to as continuous operation 103.
  • a second operating mode 102 which is also referred to as continuous operation 103.
  • Fig. 7 For the general operation of the handling system 1 in continuous operation 103, reference is made to the description of Fig. 7.
  • Figures 13 and 14 show alternative embodiments of a fourth operating mode 106 or emergency operation 107.
  • emergency operation 107 For the general operation of the handling system 1 in emergency operation 107, reference is made to the description of Figures 9 and 10.
  • the second embodiment of the handling system 1 shown in Figures 11 to 14 can also be operated in an analogous manner in a third working mode 104 or unequal distribution mode 105, as has been described in connection with Figure 8 for the first embodiment of the handling system 1.
  • control device 5 is designed to variably control a temporal sequence or order of first work steps and/or second work steps or of third work steps and/or fourth work steps to be carried out by the manipulator 4. This may in particular involve a uniform temporal sequence and order of the work steps, as described for normal operation 101 in the context of Figures 1 to 6 or Fig. 11.
  • the selection of work steps preferably depends on the working mode 100, 102, 104, 106 in which the handling system 1 is operated. This depends in particular on which of the two palletizing systems 10 of the handling system 1 is fully or only partially functional, or whether one of the palletizing systems 10 is not functional at a certain point in time due to a defect, general maintenance work, or the like.
  • the distribution system 2 further comprises at least one manipulator 4 for handling piece goods 20, in particular for distributing piece goods groups 23, and a control device 5 for controlling the at least one manipulator 4.
  • the distribution system 2 further comprises a horizontal conveyor 12, which is moved continuously in the transport direction TR and which is moved in the transport direction TR, in particular at the same speed as the feed conveyor 3.
  • the piece goods groups 23 grasped and handled by the manipulator 4 are thereby continuously moved further in the transport direction TR, in particular after being released by the manipulator 4 in a target position on the horizontal conveyor 12.
  • a first handling module 16-1 is designed as a palletizing system 10, which palletizing system 10 can be preceded by a layer-forming module 11.
  • the second handling module 16-2 is designed as a packaging module 17, as described in connection with Fig. 15, to whose description reference is hereby made.
  • the horizontal conveyor device 12 in the distribution system 2 is designed in a divided manner.
  • the horizontal conveyor device 12 comprises at least two independently driven conveyor devices 12-1, 12-2.
  • the number of adjacent conveyor devices 12-1, 12-2 corresponds to the number of downstream handling modules 16.
  • different discharge speeds can be set in certain areas, for example to supply one of the two handling modules 16 with piece goods groups 23 more slowly than the other of the two handling modules 16.
  • Fig. 17 shows a fifth embodiment of a handling system 1, which essentially corresponds to the fourth embodiment of Fig. 16, to the description of which reference is hereby made.
  • the horizontal conveyor device 12 in the distribution system 2 is designed to be divided at least in some areas. Furthermore, it is provided that the discharge device 9 is designed in a divided manner. In particular, each handling module 16 is assigned its own discharge device 9-1, 9-2, which can be operated independently of one another.
  • the first discharge device 9-1 is aligned with the first conveyor device 12-1 and the second discharge device 9-2 is aligned with the second conveyor device 12-1.

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

Abstract

L'invention concerne un système de manipulation (1) et un procédé de manipulation d'articles (20). Le système de manipulation (1) comprend un système de distribution (2), au moins un dispositif d'alimentation pour alimenter le système de distribution (2) en au moins une rangée d'articles mobiles (20), sans espace, en formation fermée (F), un manipulateur (4) pour manipuler des groupes d'articles (23), un dispositif de commande (5) pour commander le manipulateur (4), et au moins deux modules de manipulation (16). Dans un premier mode de fonctionnement (100), des groupes d'articles (23) sont créés puis préparés et positionnés de manière uniforme pour alimenter lesdits deux modules de manipulation (16). Dans un second mode de fonctionnement, aucun article (20) n'est manipulé à l'intérieur du système de distribution (2). Dans un troisième mode de fonctionnement, des groupes d'articles (23) sont créés puis préparés et positionnés de manière irrégulière pour alimenter lesdits deux modules de manipulation (16). Dans un quatrième mode de fonctionnement, des groupes d'articles (23) sont créés et les groupes d'articles (23) sont préparés et positionnés uniquement pour alimenter l'un desdits deux modules de manipulation (16).
PCT/EP2025/050232 2024-01-08 2025-01-07 Système de manipulation et procédé de manipulation d'articles, en particulier pour la distribution Pending WO2025149475A1 (fr)

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DE102024100382.0A DE102024100382A1 (de) 2024-01-08 2024-01-08 Handhabungssystem und Verfahren zur Handhabung von Stückgütern, insbesondere zur Verteilung
DE102024100382.0 2024-01-08

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WO2025149475A1 true WO2025149475A1 (fr) 2025-07-17

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WO (1) WO2025149475A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2163498A1 (fr) * 2008-09-11 2010-03-17 Motor Power Company S.r.l. Dispositif pour le déplacement et la mise en place de produits et machine équipée dudit dispositif
EP2792626A1 (fr) * 2013-04-19 2014-10-22 Krones Aktiengesellschaft Procédé et dispositif de regroupement
DE102016213400A1 (de) 2016-07-21 2018-01-25 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umgang mit bewegten Stückgütern, Förder-, Verarbeitungs- und/oder Verpackungsanlage mit einer Vorrichtung zum Umgang mit bewegten Stückgütern
EP3450359B1 (fr) * 2017-08-30 2022-08-31 Krones Aktiengesellschaft Dispositif et procédé de manipulation d'au moins une rangée de marchandises en mouvement les unes derrière les autres

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016124250A1 (de) * 2016-12-13 2018-06-14 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umgang mit hintereinander bewegten Stückgütern
DE102019120288A1 (de) * 2019-07-26 2021-01-28 Krones Ag Verfahren und Vorrichtung zum Umgang mit in mindestens einer Reihe hintereinander bewegten Stückgütern

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2163498A1 (fr) * 2008-09-11 2010-03-17 Motor Power Company S.r.l. Dispositif pour le déplacement et la mise en place de produits et machine équipée dudit dispositif
EP2792626A1 (fr) * 2013-04-19 2014-10-22 Krones Aktiengesellschaft Procédé et dispositif de regroupement
DE102016213400A1 (de) 2016-07-21 2018-01-25 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umgang mit bewegten Stückgütern, Förder-, Verarbeitungs- und/oder Verpackungsanlage mit einer Vorrichtung zum Umgang mit bewegten Stückgütern
EP3450359B1 (fr) * 2017-08-30 2022-08-31 Krones Aktiengesellschaft Dispositif et procédé de manipulation d'au moins une rangée de marchandises en mouvement les unes derrière les autres

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