DEVICE AND METHOD FOR HANDLING AND/OR GROUPING PIECE GOODS

Abstract

A device for handling and/or grouping piece goods having a handling table extending along a main axis with a manipulation zone and a collection zone disposed one behind the other along the main axis in a transport direction. A first manipulator manipulates the piece goods and is designed to be movable at least partly in the direction of the main axis with variable positions. The first manipulator is moved between at least one normal position and at least one required position differing from the normal position. The first manipulator has a base working region paired with the normal position for manipulating the piece goods in the manipulation zone and a required working region paired with the required position for manipulating the piece goods outside of the base working region. An optical detection device monitors the manipulation of the piece goods in the manipulation zone and/or collection zone.

Claims

1-20. (canceled)

21. A device for the processing of piece goods, comprising: at least one handling table extending along a main axis, said at least one handling table having a manipulation zone and a collection zone; said manipulation zone and said collection zone being disposed one behind another along the main axis, and said collection zone being disposed downstream of said manipulation zone in a transport direction of the piece goods running in a direction of the main axis; at least one first manipulator for piece goods manipulation, said first manipulator being configured to be movable and change location at least in sections in the direction of the main axis and move between at least one normal position and at least one required position which differs from said normal position; said first manipulator having a base working region for piece goods manipulation in said manipulation zone, allocated to the normal position of said first manipulator, and said first manipulator having, outside a base working region, a required working region for piece goods manipulation allocated to the required position of said first manipulator, at least one optical detection device configured for monitoring the piece goods manipulation in said manipulation zone and/or said collection zone.

22. The device according to claim 21, further comprising: at least one second manipulator for piece goods manipulation; said second manipulator being configured to be movable and change location at least in sections in the direction of the main axis and move between at least one normal position of said second manipulator and at least one required position of said second manipulator which differs from said normal position of said second manipulator; and said second manipulator having a base working region for piece goods manipulation in said manipulation zone, allocated to the normal position of said second manipulator, and a required working region for piece goods manipulation allocated to a required position of said second manipulator, outside a base working region.

23. The device according to claim 22, wherein said required working region of said first manipulator and/or of said second manipulator extends at least partially into said collection zone.

24. The device according to claim 22, further comprising at least one rail system configured for a movable carrying of said first manipulator and/or second manipulator, and said first manipulator and/or second manipulator being configured to move on rails of said rail system.

25. The device according to claim 22, wherein said first manipulator and/or second manipulator are disposed opposite one another in relation to the main axis and can be moved along longitudinal sides of said handling table, extending opposite one another in the direction of the main axis, between respective normal and required positions.

26. The device according to claim 21, further comprising at least one stationary manipulator for piece goods manipulation having an assigned working region in said manipulation zone.

27. The device according to claim 21, wherein said optical detection device has at least one camera configured for monitoring the piece goods manipulation, and an optical detection range of said camera has at least one part region of said manipulation zone and/or of said collection zone.

28. The device according to claim 27, wherein said at least one camera is disposed at a height level above a transport plane of said handling table, and said at least one camera is directed onto said manipulation zone and/or said collection zone from above.

29. The device according to claim 27, wherein said at least one camera is disposed in a transition section between said manipulation zone and said collection zone.

30. The device according to claim 27, wherein said at least one camera is a plurality cameras, and at least one of said plurality cameras is disposed at least in a region of said manipulation zone and at least one of said plurality cameras is disposed at least in a region of said collection zone.

31. The device according to claim 21, further comprising an instrumentation and control unit, wherein said instrumentation and control unit is communicatively connected to said optical detection device and with said first manipulator, and said instrumentation and control unit is configured for controlling and/or regulating said first manipulator.

32. The device according to claim 31, wherein said instrumentation and control unit is configured to receive and assess detected image data from said optical detection device, and to control and/or regulate said first manipulator based on assessed image data.

33. The device according to claim 21, where in said handling table is configured as multi-part handling table having at least one manipulation or grouping table defining said manipulation zone and at least one collection or layer forming table defining said collection zone.

34. The device according to claim 21, wherein said handling table has at least one displacement zone, and said displacement zone is disposed downstream of said collection zone in the transport direction.

35. The device according to claim 21, further comprising a stop element configured for stopping the piece goods, wherein said stop element is disposed at a rear end of said collection zone relative to the transport direction of the piece goods.

36. A method for processing piece goods, the method comprising: transporting the piece goods in a transport direction running in a direction of a main axis, over a handling table extending along the main axis, and assembling an ordered group and/or layer of piece goods by positioning the piece goods, via at least one manipulator, by piece goods manipulation in a manipulation zone of the handling table; and assembling for grouping and/or layer forming in a collection zone in the transport direction downstream of the manipulation zone, monitoring the piece goods manipulation in the manipulation zone and/or collection zone by at least one optical detection device; detecting an actual data relating to a positioning of the piece goods by the optical detection device and assessing by data comparison of the actual data with reference data; and detecting an erroneous positioning of piece goods based on the data comparison of actual data with the reference data, and correcting the erroneous positioning by moving the first manipulator out of a normal position, to which a base working region for piece goods manipulation in the manipulation zone is assigned, by a movement in the direction of the main axis and into a required position, and correcting the erroneous positioning of the piece goods in an assigned required working region by means of piece goods manipulation.

37. The method according to claim 36, wherein the detecting and correcting of the erroneous positioning takes place in an automated manner, as well as being controlled and/or regulated by an instrumentation and control unit.

38. The method according to claim 36, wherein: the piece goods manipulation is carried out in the manipulation zone by the first manipulator and by at least one second manipulator which can be moved to change location in the direction of the main axis; and based on the relative spatial position of the detected erroneous positioning on the handling table, in order to correct the erroneous positioning, the first or the second manipulator are moved into the corresponding required position by a movement made in the direction of the main axis, and correct the erroneous positioning.

39. The method according to claim 38, wherein after correcting the erroneous positioning of piece goods, the first manipulator and/or second manipulator are moved out of the corresponding required position and back into the normal position.

40. The method according to claim 36, wherein the method is carried out by a device according claim 21.

Description

[0049] The invention is explained in greater detail hereinafter, on the basis of the Figures and in relation to exemplary embodiments. The Figures show:

[0050] FIG. 1 In a very simplified and rough schematic representation, an embodiment of the present device in a view from above;

[0051] FIG. 2 in a very simplified and rough schematic representation, an alternative embodiment of the present device in a view from above;

[0052] FIG. 3 an embodiment variant of the handling table and of the optical detection device, in a very simplified view from above, and omitting various other device components; and

[0053] FIG. 4 in the sections A to C, in each case in a very simplified view from above onto the handling table, a respective operational state of the present device in the act of error identification and error rectification.

[0054] The device designated in general in the Figures by 1, for handling and grouping piece goods 20, can represent, for example, a constituent part of a production line for producing beverages and a part of a packing and/or palletising apparatus, in which, for example, the piece goods 20 are ordered, grouped, or assembled, and, for the purpose of layer formation, are ordered into corresponding groups G or groupings, pre-groups, part layers or layers L. Several such formed layers L can then be stacked above one another, preferably on pallets, to form layer stacks, as a result of which finally a pallet is assembled as a transport and storage unit, which is packed with a stack of piece goods arranged in layers above one another.

[0055] The piece goods 20 provided for handling and/or grouping can be, for example, cartons, boxes, or trays loaded with containers. As an alternative, the piece goods 20 can be containers held together by shrink film, board/cardboard cutouts, plastic rings, and/or points of adhesive, but also individual containers, cans, or the like. It is also possible for groups or preliminary groupings of piece goods 20 to be provided for the handling.

[0056] The device 1 is provided with piece goods 20, provided for the handling and/or grouping, at its delivery end 2a, on the intake side, which can also be designated as the inlet end or distribution end, by means of an inlet transport device not represented in the Figures, for example by way of a single-lane or multi-lane delivery transport belt or distribution belt, wherein the piece goods 20 are conveyed in a transport direction F, and in this basic transport direction F also pass through the device 1 from the delivery end 2a as far as its outlet end 2b, on the discharge side.

[0057] In this situation, the piece goods 20 are transported as a rule in at least one row or in several essentially parallel rows, by the delivery transport device, and run in this way over the device 1 until at least its delivery end 2a, where the piece goods 20 are finally transferred to the device 1, which can also be understood as robot grouping.

[0058] FIG. 1 shows, in a very simplified and rough schematic representation, an embodiment of the present device 1 in a view from above. The device 1 comprises a handling table 2 extending along a main axis HA. The transport direction F of the piece goods 20 runs in this situation in the direction of the main axis HA. The handling table 2 comprises on its upper side a handling surface, aligned essentially horizontally, on which the piece goods 20 lie for their handling and/or grouping, i.e. at least during specific manipulation steps in the handling and/or grouping.

[0059] The handling surface of the handling table 2 is preferably carried or held by a carrying frame or carrying structure standing on the substrate, not visible in the Figures, and is arranged in particular at a predetermined height level at a defined distance interval from the substrate. The handling surface forms a transport plane E, wherein the transport plane E extends in an x-direction and y-direction, and x and y axes run in this transport plane E or are taken up by the transport plane E. Like the co-ordinate system indicated only in a very rough form in FIG. 1, the y-axis runs in the longitudinal direction of the device 1, namely essentially parallel to its main axis HA, and the x-axis extends essentially transverse to the main axis HA of the device 1. The z-axis, which is additionally indicated in FIG. 1 only for the sake of completeness, corresponds to a vertical height axis, which from the observer's perspective moves out of the drawing plane of FIG. 1.

[0060] In the example represented, the handling table 2 comprises a manipulation zone 3 and a collection zone 4, wherein the manipulation zone 3 and the collection zone 4 are arranged following one another along the main axis HA, and the collection zone 4 follows the manipulation zone 3 in the transport direction F of the piece goods 20. The handling table 2 of the embodiment example according to FIG. 1 is configured as a multi-part handling table 2, and is composed of a manipulation or grouping table 2.1, defining the manipulation zone 3, as well as, following this, a collection or layer forming table 2.2, defining the collection zone. It is of course possible for the handling table 2 also to be formed by a single table with manipulation zone 3 and collection zone 4.

[0061] The device 1 further comprises a first manipulator 5 for piece goods manipulation, wherein the manipulator 5 manipulates the piece goods 20 mainly in the manipulation zone 3 by way of piece goods manipulation, in order to position the piece goods 20 correctly on the handling surface for grouping and for subsequent layer formation. For this purpose, the manipulator 5 takes up or grasps a piece goods item 20, or, as appropriate, also several piece goods items 20, assembled as a (pre)group, in order to move this piece goods item 20 or the piece goods 20 in the x and y-direction, and, as a result, to bring them into their respective predetermined target position, and, in turn, specifically in a predetermined correct positioning for the respective target position or orientation. The movement of the piece goods 20 into the target position takes place, for example, by a displacement of the piece goods 20 in the x and y-direction over the transport plane E, or also by a movement in which the piece goods 20 are raised by an additional and at least short raising and lowering in the z-direction and then set down again. In the collection zone 4, from the oriented and exactly positioned piece goods 20, a group G is finally formed, which after completion is assembled to form a layer L (see FIG. 2).

[0062] The first manipulator 5 in the present case is arranged laterally at the handling table 2, on a longitudinal side of the handling table 2 extending in the direction of the main axis HA, and is configured as a non-stationary mobile manipulator 5, which is configured such as to be movable for changing location by means of a translational movement, in particular a sliding movement in the direction along the main axis HA, and as a result can adopt different positions relative to the handling table 2. In particular, the manipulator 5 is movable or can be moved between at least one normal position P1 arranged in the region of the manipulation zone 3, which defines its fundamental or basic position, and at least one required position P2, arranged in the region of the collection zone 4 or close to the collection zone 4.

[0063] For this purpose, the first manipulator 5 is carried by a rail system 12, wherein the rail system 12 is equipped with rails 13, which extend in their length in the direction of the main axis HA and on which the manipulator 5 can be displaced or moved, such that the manipulator 5 can be moved backwards and forwards in the displacement direction V between the normal position P1 and the required position P2 by means of a to-and-fro movement. The rail system 12 can be located, for example, on the carrier frame or carrier mount of the handling table 2, or formed as a separate stand-alone rail system 12, which stands on its own socket or anchoring section on the substrate, or is anchored there.

[0064] In the example represented, the rails 13 of the rail system 12 likewise run along the longitudinal side of the handling table 2, but at an adequate lateral distance from the handling table 2 so as to allow for unimpeded movement or travel of the manipulator 5. It is also possible for the rails 13 to run at a height level above the transport plane E.

[0065] The first manipulator 5 comprises a base working region for piece goods manipulation assigned to its normal position P1, inside the manipulation zone 3, which is deemed to be its own assigned working region. This general base working region can, however, be extended or supplemented by its required working region, assigned to its required position P2, for piece goods manipulation outside its base working region, when, depending on the requirement, namely when needed, the manipulator 5 adopts the required position P2 by means of a travel movement.

[0066] The device 1 further comprises an optical scanning device 6 for monitoring the piece goods manipulation in the manipulation zone 3 and/or collection zone 4, which in the present example in FIG. 1 comprises an electronic camera 9, which is arranged in a transitional region between the manipulation zone 3 and the collection zone 4. At least the electronic camera 9 of the optical detection device 6 is arranged at a height level above the transport plane E of the handling table 2, such that the electronic camera 9 is directed from above onto the transport plane E, and an optical detection region of the electronic camera 9 corresponds at least to one part region of the manipulation zone 3, and preferably also to a part region of the collection zone 4.

[0067] The optical detection device 6, in particular its electronic camera 9, can detect image data from the transport plane E of the handling table 2 and the piece goods 20 located there, in their respective positioning, and record and assess or compare it.

[0068] The optical detection device 6, in particular its electronic camera 9, is in communicating connection with the manipulator 5, wherein, in the exemplary embodiment represented, an instrumentation and control unit 16 is preferably provided, which is in communicating connection both with the optical detection device 6 as well as with the manipulator 5. The instrumentation and control unit 16 is configured in particular to receive and assess image data captured by the optical detection device 6, to compare this data with predetermined reference data deposited in a memory unit, and then, as a dependency of the assessed image data, in particular of the target and actual value comparison, to control and/or regulate the manipulator 5.

[0069] Advantageously, the instrumentation and control unit 16 emits a signal, as a dependency of the target and actual value comparison, for controlling and/or regulating the manipulator 5, which is transmitted to the manipulator 5. The controlling and/or regulating signal which is emitted therefore initiates, in accordance with the requirement, a movement of the manipulator 5 from its normal position P1 to the required position P2, and a corresponding piece goods manipulation in the required operating region.

[0070] With the optical detection device 6, the device 1 is configured and arranged such as to identify positioning errors of piece goods 20. In the event of such an error recognition by the optical detection device 6, the movable manipulator 5 can then move in a controlled/regulated manner, automated and independently, out of its actual base working region in the manipulation zone 3 and in the direction of the collection zone 4, in order to adopt the required position P2 in accordance with the requirement, and there correct the erroneous positioning in the required working region. Should an erroneously positioned piece goods item happen to be in an unfavourable position, such that it is not easily accessible at that location for a corrective piece goods manipulation by the manipulator 5, then the manipulator 5 can then bring the piece goods 20 back into the manipulation zone 3 again, and carry out a correct positioning or correction in the base working region.

[0071] The erroneous positioning of a piece goods item 20 can relate in this case to an erroneous position in the x-y direction, or an erroneous angle alignment or angle orientation of the piece goods item 20, i.e. for example that the piece goods item 20 is rotated in reference to the main axis HA, in comparison with the reference orientation.

[0072] FIG. 2 shows an alternative embodiment of the device 1, and specifically in a very simplified and rough schematic representation as a view from above. With the device 1 according to FIG. 2, the handling table 2 additionally comprises a displacement zone 10, on the discharge side at the outlet end 2b and following the collection zone 4 in the transport direction F, which in the example represented is formed by a displacement table 2.3 (with the embodiment according to FIG. 1, such a displacement zone 10 is not represented, but may still be present).

[0073] In the displacement zone 20, for example, a finished layer L of piece goods 20 is located, which can then be transferred out of the displacement zone 10 onto a pallet or onto a layer stack which is already formed on a pallet.

[0074] With the embodiment represented, in addition, at a rear end of the collection zone 4, in relation to the transport direction F of the piece goods 20, a stop element 11 is provided for stopping the piece goods 20, which in particular can be changed in a controlled manner between a transport setting which clears a transport path of the piece goods 20 in the transport direction F, and a holding position which blocks the transport path of the piece goods 20 in the transport direction F. By means of the stop element 11, the group G of piece goods 20 forming in the collection zone 4 can be securely held back in the collection zone 4 until the group G is complete.

[0075] The stop element 11, which in the example from FIG. 2 is essentially strip-shaped, and which can also be designated as a stopping element, extends with its length transverse to the main axis HA. In the vertical direction, namely in the z-direction, the stop element 11 is configured as movable by being raised. In principle, it is possible in this situation for the stop element 11 to be arranged above the transport plane E, and specifically in its transport setting at a distance interval which corresponds at least to a height of the piece goods 20. The stop element 11 can preferably be lowered into its holding setting by a lowering movement in the direction towards the transport plane E. The stop element 11 can also be arranged in its transport setting beneath the transport plane E, and raised from below by a lifting movement into its holding setting, until it projects upwards over the transport plane E. Other stop elements 11 are of course also conceivable, which can be moved, for example, by pivoting or horizontal displacement between its respective transport setting and holding setting.

[0076] With the device 1 according to FIG. 2, in differentiation to the embodiment from FIG. 1, provision is additionally made for a second mobile manipulator 7, which can likewise be moved on rails 13 of a rail system 12 over a longitudinal section of the handling table 2 in the direction of the main axis HA, and can likewise be moved between a normal position P1 and a required position P2. The requirement dependent movement of the second manipulator 7, as well as the corrective piece goods manipulation in the required working region of the second manipulator 7, takes place in the same manner as for the first manipulator, as already described in connection with FIG. 1.

[0077] As can further be seen from FIG. 2, the manipulators 5, 7 can also adopt intermediate positions P3, P3 between the respective normal position P1, P1 and the required position P2, P2. Preferably it is possible in this situation for the manipulators 5, 7 to move into a large number of possible intermediate positions P3, P3, namely, for example, steplessly into every possible intermediate position P3, P3, and, in a respective intermediate working region arranged there, can carry out a corrective piece goods manipulation as required. It is self-explanatory that the adoption of intermediate positions P3 is also possible with the embodiment variant according to FIG. 1.

[0078] With the embodiment variant represented in FIG. 2, a stationary manipulator 8 is also provided, which is stationed on the delivery side in the region of the delivery end 2a of the handling table 2, in particular arranged on the face side at the handling table 2. The stationary manipulator 8 comprises a working region, which corresponds to a delivery side region of the manipulation zone 3.

[0079] Represented in FIG. 3 is a variant of the optical detection device 6 with several electronic cameras 9, 9, 9, and their preferred arrangement relative to the handling table 2, and specifically on the basis of a very simplified view from above, omitting other components of the device. In the example from FIG. 3, an individual electronic camera 9, 9, 9 is provided each for the manipulation zone 3, the collection zone 4, and the displacement zone 10, wherein the electronic cameras 9, 9, 9 are in each case arranged at a height level above the transport plane E, and are directed from above onto the handling table 2. Each of the electronic cameras 9, 9, 9 are in this situation arranged centrally or essentially centrally above the respective zone (manipulation zone 3, collection zone 4, displacement zone 10).

[0080] The electronic cameras 9, 9, 9 are in this situation held by means of respective holding frames 14. Preferably, the electronic cameras 9, 9, 9 are in this situation secured to respective holding frames 14 such as to be capable of adjustment, alignment, and/or pivoting, in order to be able to adjust the camera setting relative to the handling table 2 and, related to the application, towards the transport plane E.

[0081] It is understood that embodiment variants with only two cameras 9, 9, 9 are also possible. In principle, the arrangement of the cameras 9, 9, 9 relative to the handling table 2 is freely selectable, provided that it is ensured that the optical detection region of the cameras 9, 9, 9 allows for the monitoring of the piece goods manipulation at least in part sections of the manipulation zone 3 and/or the collection zone 4.

[0082] The working or operating manner of the present device 1, in particular the automated error identification and error rectification, are described in greater detail and further clarified hereinafter by reference to FIG. 4 (sections A to C of the Figure).

[0083] Section A of FIG. 4 shows the piece goods in the manipulation zone 3, and specifically in an operational state or processing state, in which there are no errors present, and all the piece goods 20 are positioned correctly, namely in both the manipulation zone 3 as well as in the collection zone 4, i.e. in their respective correct positioning and alignment, in particular also in the respective correct positioning before and after a manipulation step, and therefore also in correct positioning at the specified target position. For reasons of easier overview, only individual piece goods items 20 are represented, and only the manipulator 5 is shown in the manipulation state, i.e. in engagement with a piece goods item 20. It is understood, however, that the manipulators 7, 8 can operate simultaneously.

[0084] The piece goods manipulation is monitored by the optical detection device 6, in particular by its cameras 9, as a result of which it is recognised, in the state shown in section A, that there are no errors present.

[0085] The situation is different in section B of FIG. 4, since here a piece goods item 20 is positioned erroneously, and specifically the piece goods item 20, which in section B of FIG. 4 is marked by a star and designated by the reference number 15. Here, the erroneously positioned piece goods item 20 is not oriented straight, in accordance with the reference alignment, with its length in the direction of the main axis HA, but is located obliquely, such that the piece goods item 20 is arranged rotated longitudinally in relation to the main axis HA, or stands at an acute angle to the main axis HA. This positioning error is identified by the monitoring of the piece goods manipulation carried out by means of the electronic camera 3.

[0086] The positioning error identified (marked by the star) is communicated to a mobile manipulator 5, 7, which can be moved such as to change location, preferably by 24 means of the instrumentation and control unit, not represented in FIG. 4. In the example from FIG. 4, the positioning error is notified to the first manipulator 5, since the present normal position P1 of this manipulator 5 lies at only a short spatial distance from the positioning error, and the positioning error is better accessible for the manipulator 5.

[0087] Notified by this data and signal transfer, the movable manipulator 5 can now independently carry out a correction of the positioning error, and for this purpose is first caused to be moved in a controlled manner out of its normal position P1 into the required position P2, and specifically by a travel movement towards the collection zone 4, namely in the displacement direction V corresponding to the transport direction F.

[0088] At the required position P2, the manipulator 5 can then carry out the manipulation steps which correspond to its required working region at that location, in order to rectify the positioning error. In the case shown in section C of FIG. 4, the manipulator 5 grips the erroneously positioned piece goods item 20 and, by angle correction, in particular by a rotational movement D, brings it into the correct alignment or positioning.

[0089] The error identification and error rectification can in this situation be carried out in a fully automated manner, without manual intervention, and specifically very early within the handling and grouping process, in particular essentially already simultaneously with the piece goods manipulation during the handling and grouping process.

REFERENCE NUMBER LIST

[0090] 1 Device [0091] 2 Handling table [0092] 2a Delivery end [0093] 2b Outlet end [0094] 2.1 Manipulation or grouping table [0095] 2.2 Collection or layer forming table [0096] 2.3 Displacement table [0097] 3 Manipulation zone [0098] 4 Collection zone [0099] 5 First mobile manipulator [0100] 6 Optical detection device [0101] 7 Second, mobile manipulator [0102] 8 Fixed-location manipulator [0103] 9, 9, 9 Electronic camera [0104] 10 Displacement zone [0105] 11 Stop element [0106] 12, 12 Rail system [0107] 13, 13 Rails [0108] 14 Holding frame [0109] 15 Marking of a positioning error [0110] 16 Instrumentation and control unit [0111] D Rotational movement [0112] E Transport plane [0113] F Transport direction [0114] G Grouping or pre-grouping [0115] HA Main axis [0116] L Layer [0117] P1, P1 Normal position [0118] P2, P2 Required position [0119] P3, P3 Intermediate position [0120] V Displacement direction