DE102023100286A1 - Handling device and method for handling moving piece goods - Google Patents

Abstract

A handling device (1) and a method for handling moving piece goods (2) are described. The handling device (1) comprises at least one transport device (3), a manipulator (5) and a cycle formation device (7). The piece goods (2) are transported via the transport device (3) in at least two parallel rows (21) in a transport direction (TR) to a detection area (4) of the manipulator (5). The manipulator (5) is designed to handle the piece goods (2) and/or to handle groups with two or more piece goods (2). The cycle formation device (7) is designed to form defined distances between piece goods (2) and/or between groups of piece goods (2). It is provided that a number of cycle formation devices (7(a)) active in a production plant is less than the number of rows (21) transported parallel to the detection area (4).

Description

The present invention relates to a handling device with a transport device, a manipulator and at least one cycle formation device, as well as a method in which piece goods are transported in at least two parallel rows in a transport direction to a detection area of a manipulator. Both the handling device and the method are used to handle moving piece goods.

In known processes for packaging and/or palletizing piece goods such as packages, containers or similar, these are first transported on conveyor systems that move in lines and are moved, aligned and/or assembled in a suitable manner in order to create the desired layer patterns, which can then be stacked several times on top of each other, for example on pallets prepared for this purpose. These treatment steps can be used particularly effectively in systems for treating containers for drinks. The piece goods in question can be, for example, packages, boxes, cartons, containers or other clusters or combinations of piece goods or articles. In order for the pallets mentioned to be safe for transport, the assembled layer patterns must meet certain requirements.

Traditionally, preparatory measures are necessary to form such layer patterns, which may involve grouping or collecting the piece goods, which are initially transported regularly or step by step on a so-called allocation belt, on an intermediate conveyor belt in order to transfer them from there, collected and/or grouped, to a layer formation belt or a layer formation table.

From the state of the art, it is known to transfer individual pieces of goods from a distribution belt to a conveyor belt, as is described, for example, in the disclosure document of EP 1 456 101 A2 described.

Furthermore, devices are known in which the piece goods are fed in without gaps. A corresponding method and a corresponding device are described, for example, in the patent specification EP 3 445 690 B1 described.

For all of the procedures described above, it is important for correct handling that the respective articles or items are precisely grasped by the respective manipulator. For this reason, it is important to know the exact position of the articles or items to be grasped.

For example, the WO 2014/110349 A1 Optical monitoring devices are known with the aid of which a handling robot can be controlled for the detection and positioning of piece goods in connection with their transport, positioning and/or stacking.

In order to ensure sensor monitoring even during multi-lane transport, the patent specification describes EP3 694 795 a device for handling piece goods moved in at least three parallel rows and at least two manipulators for the piece goods that can be controlled and moved independently of one another. Movable optical detection devices are assigned to the at least two detection areas and/or movement spaces of the at least two manipulators, each of which is prepared and equipped to obtain spatial coordinates and/or position and/or outline data of at least one piece of goods in the at least three rows moved in the transport direction. The at least two optical detection devices are designed to be movable on opposite long sides of the horizontal conveyor device parallel to the transport direction in or against the transport direction. At least the manipulators and/or other conveyor components of the device can be calibrated and/or controlled on the basis of the spatial coordinates and/or position and/or outline data.

An object of the present invention is to make the necessary sensory monitoring for a multi-lane supply of piece goods simple and cost-effective.

The above object is achieved by a handling device and a method for handling moving piece goods, which comprise the features in the independent claims. Further advantageous embodiments are described by the respective dependent claims.

The invention relates to a handling device and a method for handling moving piece goods. The handling device or the manipulator of the handling device is preferably equipped to arrange a plurality of piece goods according to a predetermined layer scheme and thus to create a layer arrangement or to prepare a palletizable piece goods layer. A layer arrangement is to be understood as an arrangement of piece goods as a palletizable layer that can be stacked directly on a pallet, whereby several such layer arrangements can be stacked on top of one another. However, it can also be an arrangement in which There are gaps between the piece goods which must be removed before palletizing by pushing the layer arrangement together parallel to the transport direction and/or perpendicular to the transport direction to form a palletizable piece goods layer.

According to a preferred embodiment, the piece goods moved can be articles, packages, container assemblies, bundles, boxes or similar. For example, it can be provided that a plurality of identical or different articles are combined into a bundle or mixed bundle by means of cardboard packaging, by means of one or more strappings, by means of film packaging or the like.

Furthermore, a plurality of beverage containers, which are held together, for example, by shrink packaging, by a strapping band or several strapping bands, can each form a piece of goods within the meaning of the present definition. The piece of goods, which are each moved in parallel rows one behind the other, can be designed the same or differently depending on the requirements of subsequent handling devices, for example palletizing devices or similar.

The handling device comprises at least one transport device, at least one manipulator and at least one cycle formation device. The piece goods to be handled are transported via the at least one transport device in at least two parallel rows in a transport direction to a detection area of the at least one manipulator.

The at least one cycle formation device is designed to form defined distances between piece goods and/or between groups of piece goods and thereby to produce a so-called cycled formation. It is provided that the number of cycle formation devices active in a production plant is less than the number of rows of piece goods transported parallel to the detection area.

For example, the cycle formation can be used to create a regular arrangement of spaced apart items of goods. Alternatively, the cycle formation device could also create groups of two or more items of goods as a cycle, in which groups or cycles the items of goods are arranged in particular butt-to-butt. In this case, when the manipulator detects items of goods from the cycled row, it would detect one cycle or one group of two or more items of goods.

It is also possible for the cycle formation device to be used to create a mixed cycle and, for example, to create groups comprising different numbers of piece goods and/or cycles comprising individual piece goods. In particular, the cycle formation and the movement control of the manipulator are coordinated with the layer arrangement to be created.

The method according to the invention, which is carried out with such a handling device or with another suitable device, is characterized in that the piece goods enter the detection area of the manipulator in a timed manner in at least a first row, with defined distances being formed between the piece goods following one another in the transport direction. In this context, this is also referred to as a timed formation.

In addition, other piece goods enter the detection area of at least one manipulator in at least one parallel second row without any gaps. This is also referred to as a gapless feed or a feed in a closed formation.

The supply transport device is formed, for example, by a horizontal conveyor, in particular an endlessly rotating horizontal conveyor belt. From the transport device, the piece goods pass to a horizontal conveyor arranged downstream. This downstream horizontal conveyor, together with the at least one manipulator and its detection area, forms a so-called grouping module. Within the grouping module, the piece goods are generally moved further into the grouping module on the horizontal conveyor at the same conveying speed until they are detected and handled by the manipulator or until they have reached a corresponding position in accordance with the desired layer arrangement due to the movement in the transport direction. In particular, it is not absolutely necessary that all piece goods entering the detection area are detected and handled by the manipulator.

The horizontal conveyor device can be formed by a single conveyor belt, which is arranged in particular in alignment with the at least one transport device. Alternatively, the horizontal conveyor device can be formed in particular by a plurality of conveyor belts.

One embodiment may provide that the transport device and horizontal conveyor device are connected by a single continuous conveyor belt and represent only transport sections thereof.

The detection range of the manipulator in the sense of the present invention defines in particular a respective movement space of the manipulator of the handling device. The at least one manipulator is typically and/or preferably designed for clamping and/or form-fitting and/or force-fitting detection and/or acceptance of at least one piece of goods from at least one of the at least two rows. Furthermore, the manipulator is designed for separating and selectively transferring the at least one piece of goods detected in each case to a target position and/or target orientation.

According to one embodiment, the manipulator can comprise at least two clamping and/or gripping means arranged opposite one another, in particular in pairs, which can be moved towards one another and which cooperate with one another, in particular in pairs, for clamping and/or force-fitting and/or form-fitting gripping as well as for separating and selectively transferring the piece goods into the target positions and/or target orientations.

The clamping and/or gripping means of the manipulator can preferably be aligned parallel to the transport direction of the incoming piece goods during the gripping of the piece goods. The target positions and/or target orientations are specified in particular by the layer arrangement to be formed or the palletizable piece goods layer to be formed.

Preferably or according to a preferred embodiment, the manipulator is designed to grasp at least one piece of goods from the closed formation and handle it accordingly. The manipulator can in particular have a maximum loading capacity. For example, the manipulator can grasp and handle a maximum of three pieces of goods at the same time.

In the course of the method, it can be provided that the manipulator, for example, in one of the several method steps necessary to form the layer arrangement, only grasps and handles one piece of goods from the closed formation, while in another method step the manipulator grasps and handles two or three pieces of goods from the closed formation.

According to one embodiment, at least one transported piece of goods from the moved piece of goods of one of the at least two parallel rows in the detection area is detected by the manipulator in a clamping and/or force-fitting and/or form-fitting manner, spatially separated from the following piece of goods in the respective row and brought into a defined relative target position and/or target orientation with respect to the following piece of goods in the respective row.

The piece goods are brought into the desired target position and/or target orientation by the manipulator, in particular by moving them with a movement component in the transport direction and, if necessary, with a rotation. If necessary, it can be provided that the captured piece goods are raised at least slightly in order to reduce or minimize the friction between the piece goods and the horizontal conveyor device.

The manipulator preferably detects at least one foremost piece of goods entering the detection area or a group of piece of goods comprising the foremost piece of goods entering the detection area.

An alternative embodiment can provide that the manipulator detects a trailing piece of goods from one of the different formations, which piece of goods is trailing a leading piece of goods in the respective formation. In this case, it can be provided that the manipulator lifts the at least one detected piece of goods over the at least one piece of goods leading in the transport direction and brings it to the desired target position and/or target orientation, while the at least one piece of goods leading is continuously moved further via the horizontal conveyor.

The at least one piece of goods that is in front can here - or in another context as described here - possibly without handling by the manipulator reach a position that is part of the layer arrangement to be formed.

It can also be provided that the manipulator detects a piece of goods from the closed formation which is following a leading piece of goods in the closed formation and moves this together with the at least one piece of goods in front with a movement component in the transport direction to a desired target position and/or target orientation.

The at least one piece of goods detected by the manipulator is, after being brought into the respective defined target position and/or target orientation, guided by means of the at least two opposing the clamping and/or gripping devices of the manipulator are released. The clamping and/or gripping devices, which can be adjusted against each other, allow the piece goods to be quickly grasped, moved, positioned and released at the desired speed with the desired positioning precision.

Other manipulators can also be used advantageously, for example those that are designed as multi-axis robots, as parts of such multi-axis robots, as parallel kinematic robots, as delta kinematic robots or so-called tripods or as a manipulator that forms part of a delta kinematic robot or parallel kinematic robot.

If the handling device comprises, for example, a two-row feeder and a manipulator, then the manipulator must be designed to be able to detect both piece goods in a first row with a timed feeder and piece goods in a second row with a gapless feeder. In this way, the manipulator can create layer arrangements which are made up of a plurality of piece goods that include both piece goods fed without gaps and piece goods fed in a timed manner.

In this case, it can be provided that the manipulator picks up piece goods alternately from the closed formation and the timed formation. Alternatively, embodiments are also conceivable in which the manipulator picks up piece goods from only one of the formations several times in succession, while instead the piece goods from the other formation continue to flow into the grouping module or the detection area of the manipulator.

If the handling device comprises, for example, a two-row feed, in particular a feed in a timed row and a feed in a gapless row, as well as a grouping module with two manipulators, then it can be provided that one manipulator is designed to only detect piece goods from the first row with timed feed and that the other manipulator is designed to only detect piece goods from the second row with gapless feed.

In this case or alternatively, it can be provided that the two manipulators can also use the other row and pick up piece goods from the other row if necessary, for example if the supply of one row fails.

If the handling device comprises, for example, a three-row feeder and two manipulators, it can be provided that the detection areas of the manipulators overlap at least partially.

According to one embodiment, it is provided that the detection areas of the at least two manipulators are arranged next to one another and partially overlap in a middle area. For example, one manipulator can pick up piece goods from an edge row or the middle row, while the other manipulator detects and handles piece goods from the other edge row or the middle row. In particular, in this embodiment, the middle row thus serves both manipulators.

Another alternative is for the detection areas of the at least two manipulators to be arranged next to each other and not overlap. In this case, for example, one manipulator would detect piece goods from an edge row or the middle row, while the other manipulator would only detect and handle piece goods from the other edge row.

It is also conceivable that the detection areas of the two manipulators are arranged one after the other in the transport direction. In this case, each of the manipulators can use all three rows or an assignment is also provided here, in which, for example, one manipulator picks up piece goods from an edge row or the middle row, while the other manipulator picks up and handles piece goods from the other edge row or the middle row.

If the handling device comprises two or more manipulators, it can be provided that each manipulator forms a layer arrangement of piece goods. This means that the manipulators work independently of one another.

Alternatively, it may be advantageous if the at least two manipulators work together to form a layer arrangement, so that a part of the piece goods of a layer arrangement are positioned by means of a first manipulator and so that another part of the piece goods of the layer arrangement are positioned by means of a second manipulator, etc.

Furthermore, it can be provided that parameters of the continuously fed piece goods are detected by sensors in the detection range of the at least one manipulator and that the movement sequence of the at least one manipulator is controlled on the basis of the detected parameters.

In particular, at least one first detection means is assigned to the detection area, which is designed to record parameters of the continuously fed piece goods of the closed formation, for example spatial coordinates and/or position data and/or outline data, a current leading edge position of the foremost piece of goods or an outline position or similar.

The first detection means is preferably operatively connected to a control device of the handling device. The control device is equipped to process the data acquired by the first detection means and to calculate control parameters by means of which control parameters the movement sequence of the manipulator is controlled via the control device.

For example, the first detection means is provided by a movable optical detection device. This is arranged in particular on a long side of the horizontal conveyor device parallel to the transport direction in or against the transport direction.

The movable optical detection device can be designed to be movable in a movement area parallel to the transport direction of the piece goods on or parallel to the horizontal conveyor. In particular, the movable optical detection device can be arranged on the long side of the horizontal conveyor, which long side is closer to the row with the piece goods fed in a closed formation.

The range of motion of the movable optical detection device can be limited by a starting point and an end point, thereby defining the detection range of the optical detection device. In particular, the optical detection device can be moved between the starting point and the end point within the range of motion.

In order to realize the movement of the optical detection device in the transport direction or against the transport direction, it is arranged, for example, on a carriage or running carriage that can be moved in a rail, a toothed belt drive or similar, wherein the rail is arranged parallel to the piece goods arranged in a line one behind the other within a row next to or above the horizontal conveyor device.

The movement of the optical detection device is preferably not mechanically coupled to the movement of the manipulator or to the movement of the at least one horizontal conveyor device. In particular, the optical detection device has its own, independent drive. According to one embodiment, the optical detection device is linearly movable, while the manipulator is movable at least within one plane of movement, preferably within a three-dimensional space.

The first detection means can be designed, for example, as a movable and/or movably arranged light barrier, as a movable and/or movably arranged laser edge scanner or another suitable movable and/or movably arranged detection means. When using a movable light barrier, this preferably has a beam path that is aligned transversely to the transport direction of the piece goods and approximately horizontally and/or parallel to the support and/or transport plane of the horizontal conveyor device. By interrupting the beam path, for example, the presence of a piece of goods in the detection range of the optical detection device is indicated.

Preferably, the light barrier arrangement can be designed as a reflection light barrier for detecting light-dark contrasts within a definable distance range of a transmitter/receiver. A so-called edge scanner can also be used. This makes it possible to detect even more detailed position data, such as an inclination and/or other incorrect positioning of one of the items, which can be corrected if necessary when the manipulator detects it.

In addition, an electronic coupling between the horizontal conveyor device and the first detection means and/or between the transport device and the first detection means can be provided via the control device.

Furthermore, it can be provided to detect parameters of the clocked fed piece goods within the feed system by sensors and to control the movement sequence of the manipulator based on the detected parameters.

For this purpose, a second detection means can be assigned to the transport device, which is operatively connected to the control device. The second detection means is designed to use sensors to detect parameters of the piece goods fed in a timed formation on the transport device.

The control device of the handling device processes the data detected by the second detection means and calculates tax Control parameters by means of which control parameters a movement sequence of the at least one manipulator is controlled via the control device.

The second detection means can also be formed by an optical detection device, which, however, is preferably arranged in a fixed position on the at least one transport device and is in particular assigned to the clocked piece goods feed. The optical detection device can, for example, be a light barrier arrangement, as has already been described in connection with the first detection means.

According to a further embodiment, at least one camera with downstream image evaluation can be used as the optical detection device of the first detection means and/or the second detection means, from whose data the control device obtains the corresponding parameters for a piece of goods moved in a closed formation or in a clocked formation.

The optical detection devices or sensor devices mentioned are to be understood as examples. In principle, however, other sensor variants can also be used, such as ultrasonic sensors or the like. Other suitable sensors can also be used advantageously by the expert.

An embodiment of the invention can provide that each supplying row of piece goods is assigned a cycle formation device in front of or in the area of the at least one transport device, wherein in a production mode at least one first cycle formation device is operated in an active cycle formation mode and wherein in the production mode at least one second cycle formation device is operated in an inactive cycle formation mode.

If the handling device comprises a plurality of at least two transport devices, each transport device being designed to feed a series of piece goods to the grouping module, then an embodiment can provide that each transport device is assigned a cycle formation device. In this case too, in a production mode, at least one first cycle formation device is operated in an active cycle formation mode and, furthermore, in the production mode, at least one second cycle formation device is operated in an inactive cycle formation mode.

What is meant by an active and an inactive clock generation mode becomes clear in particular from the following description of some exemplary embodiments.

One embodiment of a handling device comprises a transport device which is designed to feed piece goods in three rows to a detection area of at least one manipulator. In this case, a cycle formation device can be assigned to the middle row, which forms a cycled formation of piece goods in which the successive piece goods are each spaced apart from one another, or wherein the cycle formation device forms groups of piece goods, which groups follow one another and are each spaced apart from one another, wherein the piece goods within the groups are preferably arranged end to end.

In particular, in this embodiment, piece goods are fed in a closed formation into the detection area of the at least one manipulator via the two outer rows, while the piece goods in the middle row are fed in a clocked formation.

The cycle formation device can be formed, for example, by a grouping belt assigned to the middle row in front of the transport device, which grouping belt is formed, for example, by a short conveyor belt which is accelerated for a short time to form the cycles in order to thus space a piece of goods or a group comprising two or more piece of goods from the following piece of goods in a piece of goods feed system.

Alternatively, the cycle formation device can be formed by a pick-and-place robot, which detects a piece of goods or a group of pieces of goods and sets a defined distance from the following pieces of goods with a movement component in the transport direction.

A further alternative embodiment can provide that three parallel grouping belts are arranged in front of the at least one transport device. In a production mode in which, for example, a middle clocked formation and two outer closed formations enter the grouping module, it is provided that the two outer grouping belts are operated continuously at the same conveying speed as the at least one transport device.

In this context, the two outer grouping bands can be used as inactive They are referred to or considered as cycle-forming devices because their continuous and uniform movement does not result in cycle formation. However, this continuous movement is necessary to maintain the continuous transport of the piece goods.

In contrast, the middle grouping belt is operated intermittently, in particular the middle grouping belt is moved briefly at predefined time intervals at a cycle formation speed that is higher than the conveying speed of the transport device. This creates the desired distances between a piece of goods or a group of pieces of goods and the following pieces of goods for the middle row. The middle grouping belt thus forms an active cycle formation device, as it is actively controlled and operated to form cycles.

It can also be provided that a pick and place robot can be used variably on the rows instead, or something similar.

An advantage of these embodiments with partially inactive cycle formation devices is that the feed can be easily adjusted and even during ongoing production. By activating the cycle formation mode of the outer grouping belts and deactivating the cycle formation mode of the middle grouping belt, it is possible to switch to a gapless feed in the middle row and cycled feeds in the outer rows, for example.

Another possibility could be to activate only one of the two outer grouping belts in addition to the middle grouping belt, so that piece goods are transported in a timed formation in both the middle row and the respective outer row.

It is even conceivable to switch the supply of piece goods within the respective row from continuous to synchronized and vice versa during ongoing production by activating or deactivating a cycle formation device.

In the exemplary embodiment with a three-lane piece goods feed, a first detection means can be arranged on the opposite longitudinal sides of the horizontal conveyor device of the grouping module, which can preferably be formed by a movable first detection device.

A production mode can provide that the handling device designed for three-lane processing is only operated on two lanes because, for example, the number of piece goods fed in is not sufficient for three-lane processing. For example, in this case, only one feed takes place via the middle row and one of the two outer rows. In this case, it can be advantageous if the first detection means, which is arranged on the long side adjacent to the unused transport track, is used to monitor the feed of piece goods within the middle row.

Further possibilities can be easily derived by the person skilled in the art from the above examples, in particular also for the two-lane or more than three-lane inlet, and are thus included in the disclosure content of this application.

By using different feed systems for the piece goods, in particular when feeding in at least one first row as a clocked formation and in at least one second row as a closed formation, a multi-lane, sensor-monitored feed is possible, which overcomes the mechanical limitations of the current systems.

In particular, no moving sensor is required for the timed feed to obtain the corresponding parameters of the piece goods in a meaningful and reliable manner. If desired, a statically positioned sensor can be used to monitor the timed feed.

Conventional systems can be used for the feeds, which can be used as a program-controlled continuous feed or as a timed feed. It is also possible to change the type of feed within a row during ongoing production by controlling the timed formation devices accordingly, in particular by specifically activating or deactivating individual timed formation devices.

It should be expressly mentioned at this point that all aspects and design variants that were explained in connection with the handling device according to the invention equally relate to or can be partial aspects of the method according to the invention. Therefore, if at one point in the description or in the claim definitions for the handling device according to the invention certain aspects and/or relationships and/or effects are mentioned, this applies equally to the method according to the invention. The same applies in reverse, so that all aspects and design variants that were explained in connection with the method according to the invention also equally relate to or can be partial aspects of the handling device according to the invention. Therefore, if at one point in the description or in the claim definitions for the method according to the invention certain aspects and/or relationships and/or effects are mentioned, this applies equally to the handling device according to the invention.

• 1 zeigt eine erste Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung und eines Verfahrens zum Umgang mit bewegten Stückgütern.
• 2 zeigt eine zweite Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung und eines Verfahrens zum Umgang mit bewegten Stückgütern.
• 3 zeigt eine dritte Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung und eines Verfahrens zum Umgang mit bewegten Stückgütern.
• 4 zeigt eine vierte Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung und eines Verfahrens zum Umgang mit bewegten Stückgütern.
• 5 zeigt eine fünfte Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung und eines Verfahrens zum Umgang mit bewegten Stückgütern.
• 6 zeigt eine sechste Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung und eines Verfahrens zum Umgang mit bewegten Stückgütern.

In the following, embodiments will explain the invention and its advantages in more detail with reference to the attached figures. The size relationships of the individual elements to one another in the figures do not always correspond to the actual size relationships, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

• 1 shows a first embodiment of a handling device according to the invention and a method for handling moving piece goods.
• 2 shows a second embodiment of a handling device according to the invention and a method for handling moving piece goods.
• 3 shows a third embodiment of a handling device according to the invention and a method for handling moving piece goods.
• 4 shows a fourth embodiment of a handling device according to the invention and a method for handling moving piece goods.
• 5 shows a fifth embodiment of a handling device according to the invention and a method for handling moving piece goods.
• 6 shows a sixth embodiment of a handling device according to the invention and a method for handling moving piece goods.

Identical reference numerals are used for identical or equivalent elements of the invention. Furthermore, for the sake of clarity, only reference numerals are shown in the individual figures that are necessary for the description of the respective figure. The embodiments shown are merely examples of how the invention can be designed and do not represent an exhaustive limitation.

The embodiments, examples and variants of the preceding paragraphs, the claims or the following description and the figures, including their various views or respective individual features, may be used independently of each other or in any combination. Features described in connection with one embodiment are applicable to all embodiments, unless the features are incompatible.

The schematic top view of the 1 shows a first embodiment of a handling device 1 according to the invention and of a method for handling moving piece goods 2.

The handling device 1 is particularly equipped to arrange a plurality of piece goods 2 according to a predetermined layering scheme and thus to prepare a layering arrangement. A layering arrangement is to be understood as an arrangement of piece goods as a palletizable layer that can be stacked directly on a pallet, wherein several such layering arrangements can be stacked on top of one another.

However, it can also be an arrangement in which there are still gaps between the piece goods 2 that have to be removed before palletizing by pushing the layer arrangement together parallel to the transport direction TR and/or perpendicular to the transport direction TR to form a palletizable layer.

According to a preferred embodiment, the moved piece goods 2 can be articles, packages, container assemblies, bundles, boxes or the like. For example, it can be provided that a plurality of identical or different articles are combined into a bundle or mixed bundle by means of cardboard packaging, by means of one or more strappings, by means of film packaging or the like.

Furthermore, a plurality of beverage containers, which are held together, for example, by shrink packaging, by a strapping band or by several strapping bands, can each form a piece of goods in the sense of the present definition. The piece of goods 2, which are each moved one behind the other in parallel rows 21, can be designed the same or differently depending on the requirements of the subsequent handling devices.

The handling device 1 comprises a transport device 3, via which the piece goods 2 are transported in at least two parallel rows 21 in a transport direction TR to a detection area 4 of at least one manipulator 5. The manipulator 5 and the detection area 4 are part of a so-called grouping module 20. Preferably, the grouping module 20 further comprises a horizontal conveyor device 6, via which piece goods 2 entering the detection area 4 are continuously moved in the transport direction TR.

The transport device 3 is formed, for example, by a horizontal conveyor, in particular a horizontal conveyor belt. In the present embodiment, the piece goods 2 are fed to the grouping module 20 in two parallel rows 21 on the transport device 3. From the transport device 3, the piece goods 2 pass to the horizontal conveyor device 6 of the grouping module 20 arranged downstream.

In a first row 21-1, timed piece goods 2 are moved to the grouping module 20. In this context, this is also referred to as a timed formation F(T). In contrast, in a second row 21-2, the piece goods 2 are moved directly one after the other, in particular one after the other, to the grouping module 20 without any gaps. This is also referred to as a gapless feed or as a feed in a closed formation F(G).

During the timing within the first row 21-1, in particular defined distances are formed between the piece goods 2 following one another in the transport direction TR.

In order to form the defined distances between the piece goods 2 of the clocked formation F(T) of the first row 21-1, a clock forming device 7 is provided in particular, which clock forming device 7 is designed to form the defined distances between the piece goods 2 and thus the clocked arrangement within the first row 21-1.

Since the first of the feeding rows 21 feeds piece goods 2 in a clocked formation F(T) and since the second of the feeding rows 21 feeds piece goods 2 in a closed formation F(G), it is particularly provided that a number of clock-forming devices 7(a) active in a production mode is less than the number of rows 21 transported parallel to the grouping module 20.

The horizontal conveyor device 6 can be formed by a single conveyor belt, which is arranged in particular in alignment with the transport device 3. Alternatively, the horizontal conveyor device 6 can be formed in particular by a plurality of conveyor belts.

The detection area 4 in the sense of the present invention defines in particular a respective movement space of the manipulator 5 of the handling device 1. The manipulator 5 is typically and/or preferably designed for clamping and/or form-fitting and/or force-fitting detection and/or acceptance of at least one piece of goods 2 from one of the two rows 21.

Furthermore, the manipulator 5 is designed to separate and selectively transfer the at least one detected piece of goods 2 into a target position and/or target orientation.

According to one embodiment, the manipulator 5 can comprise at least two clamping and/or gripping means 8 arranged opposite one another, in particular in pairs, which can be moved towards one another and which cooperate with one another, in particular in pairs, for clamping and/or force-fitting and/or form-fitting gripping as well as for separating and selectively transferring the respective piece goods 2 into the target positions and/or target orientations.

The clamping and/or gripping means 8 of the manipulator 5 are preferably aligned parallel to the transport direction TR of the incoming piece goods 2 during the gripping of the piece goods 2.

From the moving piece goods 2 of the parallel rows 21-1 and 21-2, at least one transported piece goods 2 is clamped and/or force-locked and/or positively locked by the manipulator 5 in the detection area 4, spatially separated from the following piece goods 2 of the respective row 21-1 or 21-2 and brought into a defined relative target position and/or target orientation with respect to the following piece goods 2 of the respective row 21-1 or 21-2.

In the illustrated embodiment, individual piece goods 2 form a cycle in the first row 21-1. In this case, the manipulator 5 in particular detects and handles one piece of goods 2 from the cycled formation F(T) or the first row 21-1.

Alternatively, the cycle formation device could also form groups of two or more piece goods 2 as a cycle, in which groups or cycles the piece goods 2 are arranged in particular end to end. In this case, when detecting piece goods 2 from the first row 21-1, the manipulator 5 would detect one cycle or one group of two or more piece goods 2.

It is also possible that a mixed clock formation takes place by means of the clock formation device 7 and, for example, different numbers Groups comprising piece goods 2 and/or cycles comprising individual piece goods 2 are produced. In particular, the cycle formation and the movement control of the manipulator 5 are coordinated with the layer arrangement to be formed.

Furthermore, the manipulator 5 is also designed to detect at least one piece of goods 2 from the closed formation F(G) and to handle it accordingly. The manipulator 5 has a maximum loading capacity in particular. In the present example, the maximum loading capacity is two pieces of goods. This means that the manipulator 5 can detect and handle a maximum of two pieces of goods 2 at the same time.

In this case, it can be provided that the manipulator 5, for example, in one of the several process steps necessary for forming the layer arrangement, only detects and handles one piece of goods 2 from the closed formation F(G) and in another process step, however, detects and handles two piece of goods 2 from the closed formation F(G).

It can be provided that the manipulator 5 alternately picks up piece goods 2 from the closed formation F(G) and the clocked formation F(T).

Alternatively, embodiments are also conceivable in which the manipulator repeatedly picks up piece goods 2 from only one of the formations F(G) or F(T) in succession and instead the piece goods 2 of the other formation F(T) or F(G) continue to flow into the grouping module 20.

The piece goods 2 are brought into the desired target position and/or target orientation by the manipulator 5, in particular by displacement with a movement component formed in the transport direction TR and, if necessary, with a rotation. If necessary, it can be provided that the captured piece goods are raised at least slightly in order to reduce the friction between the piece goods 2 and the horizontal conveyor device 6.

The manipulator 5 preferably detects at least one foremost piece of goods that has entered the detection area 4. An alternative embodiment can provide that the manipulator 5 detects a piece of goods 2 from one of the formations F(G) or F(T) which is following a foremost piece of goods 2 of the respective formation F(G) or F(T) and lifts this over the at least one piece of goods 2 running ahead in the transport direction TR and brings it into the desired target position and/or target orientation, while the at least one piece of goods 2 running ahead is moved further via the horizontal conveyor device 6 and, if necessary, reaches a position without handling by the manipulator 5 which is part of the layer arrangement to be formed or palletizable piece of goods layer.

It can also be provided that the manipulator 5 detects a piece of goods 2 from the closed formations F(G), which follows a foremost piece of goods 2 of the closed formations F(G) and moves this together with the at least one piece of goods 2 running ahead with a movement component in the transport direction TR into a desired target position and/or target orientation.

The at least one piece of goods 2 grasped by the manipulator 5 is released after being brought into the respective defined target position and/or target alignment by means of the at least two opposing clamping and/or gripping means 8 of the manipulator 5. The clamping and/or gripping means 8, which can be positioned against one another, allow the piece of goods 2 to be grasped, moved, positioned and released quickly at the desired speed with the desired positioning precision.

Other manipulators 5 can also be used advantageously, for example those which are designed as multi-axis robots, as parts of such multi-axis robots, as parallel kinematic robots, as delta kinematic robots or so-called tripods or as part of a delta kinematic robot or parallel kinematic robot forming manipulator 5.

Furthermore, it can be provided that parameters of the continuously fed piece goods 2 are detected by sensors in the detection area 4 of the manipulator 5 and that the movement sequence of the manipulator 5 is controlled on the basis of the detected parameters.

In particular, at least one first detection means 9 is assigned to the detection area 4, which is designed to detect spatial coordinates and/or position data and/or outline data, for example a current leading edge position or outline position or the like, of the piece goods 2 of the closed formation F(G) that are fed without gaps.

The first detection means 9 is operatively connected to a control device 10. The control device 10 is equipped to process the data acquired by the first detection means 9 and to calculate control parameters by means of which control parameters the movement sequence of the manipulator 5 is controlled via the control device 10.

For example, the first detection means 9 is provided by a movable optical detection device 11. This is arranged in particular on a long side of the horizontal conveyor device 6 parallel to the transport direction TR in or against the transport direction TR, which is symbolically represented by the double arrow.

The movable optical detection device 11 is movable in particular in a movement range parallel to the transport direction TR of the piece goods 2 on or parallel to the horizontal conveyor device 6.

In particular, the movable optical detection device 11 is arranged on the longitudinal side of the horizontal conveyor device 6, which is located closer to the second row 21-2 with the piece goods 2 fed in a closed formation F(G).

The range of motion of the movable optical detection device 11 is limited by a starting point and an end point and thus defines the detection range of the optical detection device 11. In particular, the optical detection device 11 can be moved between the starting point and the end point within the range of motion.

In order to realize the movement of the optical detection device 11 in the transport direction TR or against the transport direction TR, it is arranged, for example, on a carriage or running carriage which can be moved in a rail, a toothed belt drive or the like, wherein the rail is preferably arranged parallel to the piece goods 2 arranged one behind the other in a row 21 next to or above the horizontal conveyor device 6.

The movement of the optical detection device 11 is preferably not mechanically coupled to the movement of the manipulator 5 or to the movement of the at least one horizontal conveyor device 6. In particular, the optical detection device 11 has its own, independent drive. According to one embodiment, the optical detection device 11 is linearly movable, while the manipulator 5 is movable at least within one plane of movement, preferably within a three-dimensional space.

In addition, an electronic coupling between the horizontal conveyor device 6 and the first detection means 11 or between the transport device 3 and the first detection means 11 can be provided via the control device 10.

Furthermore, it can be provided to detect parameters of the clocked fed piece goods within the feed system by sensors and to control the movement sequence of the manipulator based on the detected parameters.

For this purpose, the transport device 3 can be assigned a second detection means 12 which is operatively connected to the control device 10. The second detection means 12 is designed to sensorically detect parameters of the piece goods 2 fed in a clocked formation F(T) on the transport device 3.

The control device 10 processes the data detected by the second detection means 12 and calculates control parameters by means of which control parameters a movement sequence of the at least one manipulator 5 is controlled via the control device 10.

The first detection means 9 can be designed, for example, as a movable and/or movably arranged light barrier, as a movable and/or movably arranged laser edge scanner or another suitable movable and/or movably arranged detection means. When using a movable light barrier, this preferably has a beam path aligned transversely to the transport direction TR of the piece goods 2 and approximately horizontally and/or parallel to the support and/or transport plane of the horizontal conveyor device 6.

By interrupting the beam path, for example, the presence of a piece of goods 2 in the detection range of the optical detection device 11 is indicated. The light barrier arrangement can preferably be designed as a reflection light barrier for detecting light-dark contrasts within a definable distance range of a transmitter/receiver. A so-called edge scanner can also be used. This even makes it possible to detect even more detailed position data, such as an inclination and/or other incorrect positioning of one of the pieces of goods 2, which can be corrected if necessary during detection by the manipulator 5.

The second detection means 12 can also be formed by an optical detection device 15, which is, however, preferably arranged in a fixed position. The optical detection device 15 can, for example, be a light barrier arrangement, as already described in connection with the first detection means 9.

According to a further embodiment, at least one camera with downstream image evaluation is used as the optical detection device 11, 15, from whose data the control device obtains the corresponding parameters for a moving piece of goods 2.

The optical detection devices 11, 15 or sensor devices mentioned are to be understood as examples. In principle, however, other sensor variants can also be used, such as ultrasonic sensors or the like. Other suitable sensors can also be used advantageously by the person skilled in the art.

The first detection means 9, which is in particular formed by a movably arranged or designed optical detection device 11, is in particular assigned to the supply of piece goods 2 in a closed formation F(G). Alternatively, both feeds can also be assigned movably arranged or designed optical detection devices 11, with a first optical detection device 11 detecting piece goods 2 supplied in a closed formation F(G) and the second optical detection device 11 detecting piece goods 2 supplied in a clocked formation F(T).

The schematic top view of the 2 shows a second embodiment of a handling device 1 according to the invention and of a method for handling moving piece goods 2.

Particular attention is drawn to the differences in the design of the 1 received.

The piece goods 2 are moved towards the grouping module 20 via three parallel transport devices 3, 3-1, 3-2, and 3-3.

The middle transport device 3-1 is assigned a cycle formation device 7 which forms a cycled formation F(G) from a continuous single-row feed in which the piece goods 2 are fed one after the other without gaps, in which cycled formation F(T) the successive piece goods 2 each form a distance from one another.

The cycle formation device 7 can be formed, for example, by a grouping belt 13, which grouping belt 13 is formed by a short conveyor belt, which is accelerated for a short time to form the cycles in order to space a piece of goods 2 or a group comprising two or more piece of goods 2 from the following piece of goods 2 of the feed. Thus, piece of goods 2 reach the detection area 4 of the manipulator 5 in a cycled formation F(T) via the middle transport device 3-1.

From the two outer transport devices 3-2 and 3-3, however, the piece goods 2 enter the grouping module 20 in closed formation F(G).

The grouping module 20 comprises a manipulator 5, which works according to a predetermined movement pattern and thereby forms layer arrangements or prepares layers of piece goods that can be palletized. The manipulator 5 optionally detects and handles piece goods 2 from one of the three rows 21-1, 21-2 or 21-3.

For example, a first detection means 9 can be arranged on each of the opposite longitudinal sides of the horizontal conveyor device 6 of the grouping module 20. In particular, a first detection means 9-2 is arranged adjacent to the alignment of the row 21-2, while another first detection means 9-3 is arranged adjacent to the alignment of the row 21-2. As in connection with 1 As described, the first detection means 9 can be formed by a movable first detection device 11.

The middle row 21-1 can optionally be assigned a second detection means (not shown) for monitoring the clocked formation F(G).

A production mode can provide that the handling device 1 according to 2 is only driven on two lanes because, for example, the number of supplied piece goods 2 is not sufficient for three-lane processing. For example, in this production mode, only one feed takes place via the middle row 21-1 and one of the two outer rows 21-2. In this case, it can be advantageous if the first detection means 9-2, which is arranged on the long side adjacent to the unused transport track of the outer row 21-2, is used to monitor the feed within the middle row 21-1.

The schematic top view of the 3 shows a third embodiment of a handling device 1 according to the invention and of a method for handling moving piece goods 2.

As in the embodiment according to 2 The piece goods 2 are fed into three rows 21, whereby in contrast to 2 all three rows 21 on a common trans port device 3 are arranged and moved. However, it is also provided here that the piece goods 2 of the middle row 21-1 enter the grouping module 20 in a clocked formation F(T), while the piece goods 2 of the two outer rows 21-2, 21-3 each enter the grouping module 20 in a closed formation F(G).

Within the grouping module 20, two manipulators 5-1, 5-2 are provided, whose detection areas 4-1, 4-2 partially overlap, which is indicated by the hatched overlay area 14.

It is provided that the manipulators 5-1, 5-2 at least partially detect piece goods 2 from different rows 21. In particular, the piece goods 2 from the outer row 21-2 are only detected by the first manipulator 5-1. Furthermore, the first manipulator 5-1 can also detect piece goods 2 from the middle row 21-1. In contrast, the piece goods 2 from the outer row 21-3 are only detected by the second manipulator 5-2, which can also detect piece goods 2 from the middle row 21-1.

As in the embodiment according to 2 two first detection means 9-2 and 9-3 are provided, wherein one first detection means 9-2 is assigned to the piece goods 2 of the row 21-2 and the other first detection means 9-3 is assigned to the piece goods 2 of the row 21-3.

Furthermore, a second detection means 12 is shown which monitors the supply of the clocked formation F(G) of the middle row 21-1.

An alternative embodiment (not shown) can provide that two manipulators 5-1, 5-2 are arranged next to one another and have detection areas 4-1, 4-2 arranged next to one another, which detection areas 4-1, 4-2 do not overlap. For example, piece goods 2 can be fed in two parallel rows 21, with the feeding in one row 21 taking place in a closed formation F(G) and in the other row 21 in a clocked formation F(T). In this case, for example, the first manipulator 5-1 can only detect and handle piece goods 2 in the clocked formation F(T), while the second manipulator 5-2 only detects and handles piece goods 2 in the closed formation F(G).

Another example not shown has, for example, a four-lane feed system in which the supply of piece goods 2 in the two outer rows 21 takes place in a closed formation F(G) and in which the supply of piece goods 2 in the two middle rows 21 takes place in a clocked formation F(T). In this case, for example, a first manipulator 5-1 can only grasp and handle piece goods 2 from one of the two outer rows and the directly adjacent inner row, while the second manipulator 5-2 only grasps and handles piece goods 2 from the other outer row and its directly adjacent inner row.

The schematic top view of the 4 shows a fourth embodiment of a handling device 1 according to the invention and of a method for handling moving piece goods 2.

As in embodiments 2 and 3, a three-row feed is shown as an example, in which the middle row 21-1 comprises the piece goods 2 in a clocked formation F(T).

In this example, two manipulators 5-1, 5-2 are also provided for handling the piece goods 2 from the three rows 21-1, 21-2 and 21-3, but the manipulators 5-1, 5-2 and their detection areas 4-1, 4-2 are arranged one after the other in the transport direction TR. In particular, it is provided that the two detection areas 4-1, 4-2 do not overlap. Alternative embodiments can, however, provide that the two detection areas 4-1, 4-2 partially overlap in the transport direction TR.

Both manipulators 5-1, 5-2 can each detect and handle at least one piece of goods 2 from each of the rows 21-1, 21-2 or 21-3 in their respective detection area 4-1 or 4-2. This means that both manipulators 5-1, 5-2 handle both piece of goods 2 fed in a closed formation F(G) and piece of goods 2 fed in a synchronized formation F(T).

A first detection means 9-2 is assigned to the first detection area 4-1 of the first manipulator 5-1 on a first longitudinal side adjacent to the alignment of the piece goods 2 entering row 21-2. A further first detection means 9-3 is assigned to the second detection area 4-2 of the second manipulator 5-2 on the second longitudinal side opposite the first longitudinal side adjacent to the alignment of the piece goods 2 entering row 21-3.

An alternative embodiment, not shown here, can provide that the two first detection means 9-2, 9-3 are each formed over the entire length of the two detection areas 4-1 and 4-2 of both manipulators 5-1, 5-2.

The schematic top view of the 5 shows a fifth embodiment of a handling device 1 according to the invention and of a method for handling moving piece goods 2.

Here, the transport device 3 is formed by an endlessly rotating conveyor belt, which is equipped to transport up to three rows 21 of piece goods to the grouping module 20.

In the 5 However, in the production mode or operating mode shown, only two-lane transport is provided.

The grouping module 20 is equipped with a manipulator 5. It is further provided that first detection means 9-2, 9-3 in the form of movably arranged optical detection devices are arranged on the two long sides of the horizontal conveyor device 6 of the grouping module 20, which are aligned parallel to the transport direction TR of the piece goods 2.

Furthermore, three timing devices 7-1, 7-2 and 7-3 in the form of parallel grouping belts 13 are arranged upstream of the transport device 3.

In the production mode shown here, in which a first outer row 21-2 enters the grouping module 20 as a closed formation F(G) and a second outer row 21-3 enters the grouping module 20 as a clocked formation F(T), it is provided that the grouping belt 13 of the one outer clock formation device 7-2 is operated continuously at the same conveying speed as the at least one transport device 3. In contrast, the grouping belt 13 of the other outer clock formation device 7-3 is operated intermittently, in particular the grouping belt 13 of the other outer clock formation device 7-3 is moved briefly at predefined time intervals at a clock formation speed that is higher than the conveying speed of the transport device 3. This creates the desired distances between a piece of goods 2 or a group of pieces of goods and the piece goods 2 subsequently fed in the direction of the transport device 3.

The grouping belt 13 of the external cycle formation device 7-3 thus forms an active cycle formation device 7(a), since it is actively controlled and operated for cycle formation. The grouping belt 13 of the external cycle formation device 7-2, on the other hand, is referred to in this context as an inactive cycle formation device 7(i), since no cycle formation takes place due to the continuous and uniform movement synchronously with the transport device 3. This continuous movement is, however, necessary in order to maintain the continuous transport of the piece goods to the transport device 3 and to the grouping module 20.

The schematic top view of the 6 shows a sixth embodiment of a handling device 1 according to the invention and of a method for handling moving piece goods 2.

Analogous to the embodiment of the 2 In the present example, a three-lane feed takes place via three parallel transport devices 3, 3-1, 3-2 and 3-3. In contrast to the examples described above, the cycle formation only takes place when the piece goods 2 enter the detection area 4 of the manipulator 5 or when the piece goods 2 enter the grouping module 20.

For example, the middle feeding transport device 3-1 is controlled so that it simultaneously fulfills the function of a grouping belt 13 and thus the function of the cycle formation device 7. When a piece of goods 2 passes onto the horizontal conveyor device 6 of the grouping module, the speed of the feeding transport device 3-1 is reduced briefly so that a defined distance is created from the following piece of goods 2 and the piece of goods 2 of the middle row 21-1 enter the grouping module 20 in a corresponding cycle. In particular, the speed of the middle transport device 3-1 is reduced when the piece of goods 2 has already almost or completely entered the grouping module 20.

Even if in the present example individual cycles comprising a piece of goods 2 are shown within the grouping module 20, the transport device 3-1 can also be controlled in such a way that cycles comprising a group of two or more piece of goods 2 are formed upon entry into the grouping module 20. In this case, the speed of the middle transport device 3-1 is only reduced when the last piece of goods 2 of the cycle has almost or completely entered the grouping module 20.

The information provided in connection with 6 The cycle formation described is applicable to all embodiments in which the supply of the at least two rows 21 takes place via at least two independently controllable transport devices 3, such as in the embodiments of the 2 and 4 . This would be possible, for example, in the case of a two-lane feed via two independently controllable transport devices 3.

A further embodiment, not shown, can provide that a cycle formation device 7 in the form of a pick and place robot is arranged in the transition area between the feeding transport device 3 and the horizontal conveyor device 6 of the grouping module 20, which corresponding piece goods cycles from the transport device 3 are recorded and arranged at a distance on the horizontal conveyor device 6, so that in this case too the cycle formation only takes place when the piece goods 2 enter the grouping module 20.

This embodiment, not shown, can be used in all previously described embodiments of the 1 to 5 application, since no independent control of the supply transport devices 3 is necessary.

An advantage of the various embodiments described is that the feed can be adjusted in a simple manner and even during ongoing production operations. For example, by activating the cycle formation mode of at least one grouping belt 13 and deactivating the cycle formation mode of at least one other grouping belt 13, it is possible to switch between a gapless feed and a cycled feed of the piece goods 2.

In all embodiments with more than one manipulator 5, it can be provided that each manipulator 5 forms a layer arrangement. Alternatively, it can be advantageous if the at least two manipulators 5 work together to form a layer arrangement, so that some of the piece goods 2 of a layer arrangement are positioned by means of the first manipulator 5-1 and so that another part of the piece goods of the layer arrangement are positioned by means of the second manipulator 5-2.

By using different feed systems for the piece goods, in particular when feeding in at least one first row as a clocked formation and in at least one second row as a closed formation, a multi-lane, sensor-monitored feed is possible, which overcomes the mechanical limitations of the current systems.

In particular, no moving sensor is required for the timed feed to obtain the corresponding parameters of the piece goods in a sensible and reliable manner. Conventional systems can be used for the feeds, which can be programmed as a gapless feed or as a timed feed. It is also possible to change the type of feed within a row during ongoing production using an appropriate control system.

A final note should be made at this point regarding the descriptions of embodiment variants of the invention, whereby these description passages each refer to the attached drawings. When "schematic" representations and views are generally mentioned in connection with the figures and their descriptions, this does not in any way mean that the figure representations and their descriptions are of secondary importance with regard to the disclosure of the invention. The person skilled in the art is certainly able to extract enough information from the schematic and abstractly drawn representations to make it easier for him to understand the invention, without his understanding being impaired in any way by the drawn and possibly not exactly true-to-scale proportions. The figures thus enable the person skilled in the art as a reader to derive a better understanding of the inventive concept formulated more generally and/or abstractly in the claims and in the general part of the description on the basis of the more specifically explained implementations of the method according to the invention and the more specifically explained functioning of the handling device 1 according to the invention.

The invention has been described with reference to a preferred embodiment. However, it will be apparent to a person skilled in the art that modifications or variations of the invention can be made without departing from the scope of the following claims.

List of reference symbols

1

Handling device

2

General cargo

3, 3-1, 3-2, 3-3

Transport facility

4, 4-1, 4-2

Detection range

5, 5-1, 5-2

manipulator

6

Horizontal conveyor

7, 7-1, 7-2, 7-3

Clock formation device

7(a)

active clock generation device

7(i)

active clock generation device

8th

Clamping and/or gripping devices

9, 9-2, 9-3

first detection agent

10

Control device

11

Movable optical detection device

12

second detection means

13

Grouping band

14

Overlay area

15

Optical detection device

20

Grouping module

21, 21-1, 21-2, 21-3

Row

F(G)

closed formation

F(T)

timed formation

TR

Transport direction

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• EP1456101A2 [0004]
• EP 3445690 B1 [0005]
• WO 2014/110349 A1 [0007]
• EP3694795 [0008]

Claims (14)

Handling device (1) for handling moving piece goods (2), comprising - at least one transport device (3), - at least one manipulator (5) and - at least one cycle formation device (7); - via which at least one transport device (3) the piece goods (2) can be transported in at least two parallel rows (21) in a transport direction (TR) to a detection area (4) of the at least one manipulator (5), - which manipulator (5) is designed to handle the piece goods (2) and/or to handle groups comprising two or more piece goods (2), - and which cycle formation device (7) is designed to form defined distances between piece goods (2) and/or between groups of piece goods (2); wherein a number of cycle formation devices (7(a)) active in a production plant is less than the number of rows (21) transported parallel to the detection area (4). Handling device (1) according to Claim 1 , wherein the at least one manipulator (5) is designed to grasp and handle both piece goods (2) of a first row (21) and piece goods (2) of a second row (21), in particular wherein the at least one manipulator (5) is designed to create a layer arrangement from piece goods (2) of the first row (21) and from piece goods (2) of the second row (21) or to prepare a piece goods layer that can be palletized, in particular wherein the at least one manipulator (5) is designed to grasp and handle both piece goods (2) of a first row (21) that are fed in a timed manner and piece goods (2) of a second row (21) that are fed in without gaps. Handling device (1) according to Claim 1 or 2 , wherein the handling device (1) comprises two manipulators (5), wherein a first manipulator (5) is designed to detect and handle piece goods (2) fed in a clocked manner in a first row (21), and wherein a second manipulator (5) is designed to detect piece goods (2) fed in a continuous manner in a second row (21). Handling device (1) according to one of the preceding claims, wherein at least one first detection means (9) is assigned to the detection area (4), and wherein the handling device (1) comprises a control device (10), which first detection means (9) is operatively connected to the control device (10), which first detection means (9) is designed to sensorically detect parameters of the continuously fed piece goods (2) in the detection area (4) of the at least one manipulator (5), which control device (10) is equipped to process the data detected by the first detection means (9) and to calculate control parameters by means of which control parameters a movement sequence of the at least one manipulator (5) can be controlled via the control device (10), in particular wherein the first detection means (9) is a movable optical detection device (11). Handling device (1) according to one of the preceding claims, wherein the transport device (3) is assigned at least one second detection means (12), and wherein the handling device (1) comprises a control device (10), which second detection means (12) is operatively connected to the control device (10), which second detection means (12) is designed to sensorically detect parameters of the clocked-in piece goods (2) on the transport device (3), which control device (10) is equipped to process the data detected by the second detection means (12) and to calculate control parameters, by means of which control parameters a movement sequence of the at least one manipulator (5) can be controlled via the control device (10). Handling device (1) according to one of the preceding claims, wherein each of the at least two rows (21) is assigned a cycle formation device (7), wherein in a production mode at least one first cycle formation device (7) is operated in an active cycle formation mode (7(a)) and wherein in the production mode at least one second cycle formation device (7) is operated in an inactive cycle formation mode (7(i)) or wherein the handling device (1) comprises at least two transport devices (3), wherein each transport device (3) is designed to feed a row (21) of piece goods (2) to the detection area (4) of the at least one manipulator (5), wherein each transport device (3) is assigned a cycle formation device (7), wherein in a production mode at least one first cycle formation device (7) is operated in an active cycle formation mode (7(a)) and wherein in the production mode at least one second cycle formation device (7) is operated in an inactive cycle formation mode (7(i)). Handling device (1) according to one of the preceding claims, the handling device device (1) comprising a transport device (3), which transport device (3) is designed to feed piece goods (2) in three rows (21) to a detection area (4) of at least one manipulator (5), wherein the middle of the three rows (21) is assigned an active cycle formation device (7(a)), or the handling device (1) comprising three transport devices (3) for feeding piece goods (2) in three rows (21) to a detection area (4) of at least one manipulator (5), wherein the middle of the three transport devices (3) is assigned an active cycle formation device (7(a)). Handling device (1) according to one of the preceding claims, wherein the handling device (1) comprises two manipulators (5), wherein the manipulators (5) have detection areas (4) arranged next to one another and separated from one another, or wherein the manipulators (5) have detection areas (4) arranged next to one another and partially overlapping one another, or wherein the manipulators (5) have detection areas (4) arranged one behind the other in the transport direction (TR) and separated from one another, or wherein the manipulators (5) have detection areas (4) arranged one behind the other in the transport direction (TR) and partially overlapping one another. Method for handling moving piece goods (2), - wherein the piece goods (2) are transported in at least two parallel rows (21) in a transport direction (TR) to a detection area (4) of at least one manipulator (5), - wherein the piece goods (2) enter the detection area (4) in a synchronized manner in at least one first row (21); - in which synchronization defined distances are formed between the piece goods (2) which follow one another in the transport direction (TR), and - wherein the piece goods (2) enter the detection area (4) in at least one parallel second row (21) without any gaps and one after the other. Procedure according to Claim 9 , wherein the at least one manipulator (5) can grasp and handle both piece goods (2) of the first row (21) and piece goods (2) of the second row (21), in particular wherein the at least one manipulator (5) creates a layer arrangement from piece goods (2) of the first row (21) and from piece goods (2) of the second row (21) or forms a piece goods layer that can be palletized, in particular wherein the at least one manipulator (5) grasps and handles both piece goods (2) of a first row (21) that are fed in a timed manner and piece goods (2) of a second row (21) that are fed in a gap-free manner. Procedure according to Claim 9 or 10 , wherein parameters of the continuously fed piece goods (2) are detected by sensors in the detection area (4) of the at least one manipulator (5) and wherein the movement sequence of the at least one manipulator (5) is controlled on the basis of the detected parameters, in particular wherein the parameters are detected by means of a movable optical detection device. Method according to one of the Claims 8 until 10 , wherein parameters of the clocked fed piece goods (2) are detected by sensors within the feed system and wherein the movement sequence of the at least one manipulator (5) is controlled on the basis of the detected parameters. Procedure according to one of the Claims 8 until 11 , wherein within an ongoing production operation the supply of piece goods (2) within a row (21) is changed from continuous to timed, or wherein within an ongoing production operation the supply of piece goods (2) within a row (21) is changed from timed to continuous. Method according to one of the Claims 11 until 13 , wherein the movable optical detection device (11) detects the gap-free feeding of piece goods (2) of a row (21) in a first production mode and wherein the movable optical detection device (11) detects the timed feeding of piece goods (2) of another row (21) in a second production mode.

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