METHOD AND DEVICE FOR UNLOADING A CONTAINER CONTAINING PACKAGES

Description

[0001] The invention relates to a method and a device for unloading a container containing packages, in particular a box body, swap body or roll container.

[0002] Various methods for unloading containers loaded with packages are already known. These containers can be commercial vehicle bodies, for example known as box bodies. So-called swap bodies are commercial vehicle bodies that are either supported by a commercial vehicle chassis or stand on legs on the ground. In the latter case, the chassis of the commercial vehicle can be pulled out from under the swap body and the swap bodies left in place. Commercial vehicles are understood to mean, in particular, vehicles intended for the transport of packages on public roads. Containers that are predominantly used on factory premises, in halls, and the like are also suitable.Such containers can be permanently equipped with casters and are therefore often referred to as roll containers. Roll containers are loaded with packages, for example, and then loaded into commercial vehicle bodies.

[0003] The packages are usually stacked more or less in the containers to maximize the capacity. Nevertheless, the stacks can often be quite irregular to minimize the time required for loading. Furthermore, the packages often do not have uniform dimensions, but rather vary considerably, which limits stacking. Although the packages often have very different dimensions, the containers are loaded as close to the roof as possible to maximize the available capacity, provided the containers have a roof.

[0004] If packages need to be unloaded from a large number of containers in a short period of time, for example because they need to be sorted and redistributed quickly, effective and efficient unloading of the packages from the containers is desirable. Various methods have been proposed for this purpose, using different tools such as telescopic belt conveyors. In most cases, however, the packages are unloaded from the containers by people who remove the packages and then place them on a conveyor belt, such as a telescopic belt conveyor, which transports the packages for further processing, sorting, and / or redistribution. However, all of these methods are quite complex and not yet satisfactory in terms of cost.

[0005] The document DE 10 2015 116720 A1 discloses a method for unloading a cargo space of a truck containing packages, using a first hand element. The first hand element has a plurality of finger elements, each of which has two flexible flank elements extending jointly from one end of the finger element to the opposite end of the finger element. The two flexible flank elements of the finger elements are flexibly connected to one another via a plurality of webs, so that the finger elements can each be adjusted from a curved position to an extended position and back again. The packages are stacked in the cargo space and form a front side.The method described in the document DE 10 2015 116720 A1 comprises the following steps: - the first hand element grasps at least one package of the stack of packages and removes it from the stack of packages, - the first hand element successively removes at least one package from the stack of packages and the removed package is moved into a further hand element arranged below the one hand element, and - a second hand element catches the packages and forwards them with braking.

[0006] Therefore, the object of the present invention is to design and further develop the method mentioned at the outset and described in more detail above in such a way that the unloading can be carried out more effectively and efficiently.

[0007] This object is achieved according to claim 1 by a method for unloading a container containing packages.

[0008] The above object is further achieved according to claim 15 by a device for unloading a container containing packages.

[0009] According to the invention, the packages are unloaded from the container using a hand-held element comprising a series of finger elements, thus eliminating the need for manual unloading of the packages by a single person. Furthermore, the invention utilizes the so-called fin ray effect to enable the targeted and damage-free unloading of packages, which may have very different dimensions.

[0010] The finger elements of the hand element each have at least two flexible flank elements extending together from one end of the finger element to the opposite finger element. In this case, it is particularly suitable if the flank elements form the top and bottom of each finger element so that the packages are always gripped by a flank element. However, this is not absolutely necessary. The flexible flank elements of each finger element are flexibly connected to one another via a plurality of webs so that the finger elements have the necessary flexibility to be able to be adjusted from at least one curved position to at least one extended position and back again. It is particularly expedient if the finger elements can be continuously curved and extended again.The finger elements can then assume different curved positions, each just as is suitable for gripping and unloading a particular package.

[0011] Since the packages in the container to be unloaded are stacked more or less evenly, the packages in the container form one end of stacked packages. The hand element is therefore slidably mounted on a rail of a rail device, with the rail device being moved closer to the end of the stack of packages for unloading the packages. Then, with the at least one hand element, at least one package or a plurality of packages can be simultaneously grasped and removed from the stack of packages, thus removing them from the stack of packages.To enable at least one additional package to be removed from the remaining stacks of packages in a subsequent step, the hand element is then moved along the at least one rail in such a way that the hand element can grasp the at least one additional package from the stack of packages at the new position and remove it from the stack. This also allows packages to be unloaded from the wide end faces of stacked packages. In other words, it is also possible to unload packages from wide containers.

[0012] If the container or stack of packages has a corresponding depth, the at least one hand element can be gradually moved toward the remaining end of the stack of packages via the rail device until all packages have been unloaded from the container. It is then advisable to unload the corresponding container slice by slice, with the individual slices being at least substantially vertical slices of the stack of packages in the container.

[0013] A stack is defined as a large number of packages arranged at least irregularly on top of and next to each other. However, it is not a heap in which the packages are randomly thrown onto one another, forming the shape of a cone. If necessary, the stack of packages can also be arranged in sections, forming heap-like sections.

[0014] The so-called fin ray effect can be observed in the tail fins of bony fish. If you press your finger against them sideways, the fins don't bend away, but rather bend toward the finger. This is made possible by a special fin structure. This is replicated in the finger elements of at least one hand element.

[0015] The necessary flexibility of the finger elements can be provided, for example, by elastic flank elements or by a link chain made of rigid chain links that are pivotably or articulately connected to one another. In this case, flexibility is only required in one spatial direction. Flexibility is not absolutely necessary in the spatial directions perpendicular to this. Nevertheless, flexibility in two mutually perpendicular spatial directions would also be conceivable and, if necessary, even preferred. The corresponding flexibility of the flank elements ultimately allows the finger element to bend from an extended position to a curved position, for example, similar to the curvature of a finger.

[0016] So that the curvature of the finger element in one direction can be triggered, for example by pressure against the finger element, in particular against a flank element, in the opposite direction, the at least two flank elements are flexibly connected to one another between the two ends of the finger element via a plurality of webs. The webs can be rigid and pivotably or articulately connected to the flank elements. However, if necessary, as an alternative to pivotably or articulately connected connections to the at least two flank elements, flexible, in particular elastic webs can also be used. In this way, the webs can pivot relative to the at least two flank elements, thus enabling the finger element to be curved from an extended position into a curved position and back again.

[0017] An extended position of the finger element can be understood as a maximally extended and / or elongated orientation of the finger element. However, it can also be a position from which the finger element can be adjusted by further bending into a position that is more curved than the extended position. Accordingly, the curved position does not have to be a maximally curved position. The terms extended position and curved position can therefore, if necessary, be understood merely relative, i.e. as relative positions to one another. Furthermore, it should be noted that the finger elements can be adjusted from an extended position in opposite directions into different curved positions.

[0018] Due to its design, the finger element ultimately allows its shape to adapt to the shape of the unit load being transported when the finger elements press against the unit load, or vice versa. This allows for a larger contact surface between the finger element and the unit load, improving unit load handling. Furthermore, the surface pressure between the finger element and the unit load can be reduced, promoting damage-free unit load handling.

[0019] The design of the finger element also allows for a pre-curvature to be adjusted as needed, even without contact between the finger element and the at least one piece of goods. For this purpose, for example, the flank elements can be adjusted relative to each other in the longitudinal direction of the finger element. The finger element then curves away from the flank element, which is adjusted further longitudinally toward the opposite end of the finger element relative to the at least one other flank element.

[0020] To allow adjustment of the finger element in more than just one plane, the finger element can also have three or more flank elements connected to each other via webs. The webs can be cross-shaped, star-shaped, rectangular, square, oval, or round, for example, to allow for easy attachment to all flank elements. The corresponding connections are preferably either pivotable or rotatable, and / or the webs are flexible.

[0021] By combining several finger elements into at least one hand element, unloading becomes even more efficient and effective than with individual fingers. The packages can be gripped much better and more gently in order to remove them from the stack of packages. The hand element can be pressed against the packages to be removed, whereby the finger elements then partially wrap around the adjacent packages as a result of the fin ray effect, so that these packages are gripped by the finger elements of the hand element. Now, with a simple movement of the hand element, the at least one gripped package can be removed from the stack of packages. Alternatively or additionally, at least one finger element of the at least one hand element can be curved before the finger element comes into contact with the packages to be gripped.The corresponding curvature is achieved by adjusting the flank elements of the finger element in their longitudinal direction, which inevitably leads to an increasing or decreasing curvature of the finger element, depending on the direction in which the flank elements of the finger element are adjusted relative to each other. The finger elements can then be further curved as a result of contact with the packages to be removed, or the packages to be removed can be grasped by the pre-curved fingers without further curvature and removed from the stack of packages.

[0022] Packages are understood to be a special type of general cargo, depending on the need. Packages can be goods packaged in packages. Packages can therefore have at least one outer packaging made of paper, cardboard, fabric, or plastic and can be in the form of parcels, boxes, and containers, as well as non-rigid containers such as bags or sacks.

[0023] For the sake of clarity and to avoid unnecessary repetition, the method and the device for carrying out the method are described jointly below, without distinguishing between the method and the device in detail. However, the skilled person will nevertheless be able to determine, based on the context, which feature is particularly preferred with regard to the method and the device.

[0024] In a first particularly preferred embodiment of the method, the at least one hand element is pressed against the stack of packages in a gripping direction such that at least one flank element of at least one finger element is partially depressed. The partial depressing of the flank element causes the corresponding finger element to be adjusted from a more extended to a more curved position. The finger elements thus allow for reliable yet gentle gripping of the packages. The packages can thus be conveniently removed from the stack of packages without causing lasting damage to the packages.

[0025] In order to be able to adjust the at least one finger element of the at least one hand element in a targeted manner, it is alternatively or additionally possible for the at least one hand element and / or at least one finger element to be driven relative to one another via a drive unit for adjusting the at least two flank elements in a longitudinal direction of the finger element. Then, at least the flank elements of at least one finger element adjust such that the corresponding finger element can be adjusted in a targeted manner from a more curved to a more extended position and / or back. The adjustment is then preferably carried out in a manner that allows for expedient gripping and removal of packages from the stack of packages.

[0026] To prevent the packages from being damaged despite the finger elements, it may be advisable to provide the at least one hand element and / or at least one finger element with at least one pressure sensor. The pressure generated when grasping and removing packages from the stack of packages and exerted on the at least one hand element or the at least one finger element can then be detected and, for example, the generation of higher forces can be prevented if a predetermined pressure is reached or exceeded. In this context, it is particularly appropriate if the at least one pressure sensor is assigned to at least one flank element in order to detect the pressure exerted on the flank element.

[0027] In order to be able to transport the packages removed from the stack quickly and reliably, it can be expedient if the packages removed from the stack of packages are moved directly or at least indirectly onto a belt conveyor device, in particular comprising a telescopic belt conveyor. The corresponding belt conveyor can then transport the packages to a location for further processing, sorting, or redistribution, preferably in more or less individualized fashion. This simplifies the subsequent handling of the packages. It is particularly gentle and reliable if the packages removed from the stack of packages are moved downwards onto the belt conveyor device arranged below the at least one handle element. This does not require any complex additional handling of the packages and also ensures that the packages removed from the stack of packages are also transported away reliably.Furthermore, at least one belt conveyor device can preferably be used, which, if necessary, can extend at least substantially across the entire width of the container to enable particularly effective unloading of the container. However, if unloading were performed by a person, the at least one belt conveyor device could not extend across the entire width of the container because the person would have to move along the bottom of the container to unload.

[0028] In order to be able to control the at least one hand-held element in such a way that the corresponding container can be unloaded quickly yet reliably, it is advisable if the position of the stack of packages, the contour of the stack of packages and / or the contour of the front of the stack of packages is at least partially detected by a sensor. The sensor can therefore provide an idea of ​​what the stack of packages to be unloaded looks like, in particular at a particular point in time. The hand-held element can then be moved in such a way that the stack is unloaded from top to bottom in a way that is gentle on the packages. For the sake of simplicity and reliability, it is advisable if the at least one sensor is an optical sensor, such as a camera.Regardless of the type of sensor, the movement of the hand element can, if necessary, be controlled at least partially depending on the position and / or contour of the stack detected by the sensor.

[0029] So that the containers can be expediently unloaded even when they contain high stacks of packages, it can be provided that the at least one hand element and / or the at least one rail is adjusted upwards or downwards depending on the height of the stack of packages, the position of the stack of packages, the contour of the stack of packages and / or the contour of the front of the stack of packages. In this case, the rail can, for example, initially be adjusted upwards far enough that the stack of packages can be unloaded starting from the top. Subsequently, the at least one rail can be adjusted downwards far enough that the stack of packages, which has become lower, can continue to be unloaded. If the stack has a certain depth, this can be carried out repeatedly. In this case, the rail device is always moved step by step towards the front of the stack of packages.

[0030] To increase the efficiency of unloading packages, it may be advisable for at least one hand element to be moved along the at least one rail depending on the position of the stack of packages, the contour of the stack of packages, and / or the contour of the end face of the stack of packages. The hand element can then always be moved to where the next packages should be unloaded, in order to empty the entire container as quickly as possible.

[0031] A particularly expedient and gentle method of unloading for the packages is provided when at least one upper hand element successively removes at least one package from the stack of packages and the at least one package thus removed is moved into at least one further lower hand element arranged below the at least one upper hand element. The lower hand element thus catches the at least one package from the upper hand element. In order to ensure a high throughput of the unloaded packages, it is advisable for the at least one further lower hand element to at least partially catch the at least one package from the at least one upper hand element and to forward it at least partially with a brake. In this way, a rapid yet gentle flow of packages can be maintained when unloading the container.

[0032] This is especially true when the packages picked up one after the other by the at least one lower hand element are passed on individually one after the other. This can be conveniently achieved with the at least one lower hand element by moving the finger elements of the at least one further lower hand element against each other in a suitable manner. This movement can be modeled on the movement of the fingers of the human hand, which holds several objects and allows them to slide through the fingers one after the other.

[0033] If the at least one further lower hand element is adjusted laterally and / or vertically depending on the position of the at least one other upper hand element, it can be ensured that the lower hand element reliably catches the packages from the upper hand element. This is particularly the case if the at least one further lower hand element is adjusted laterally and / or vertically together with the at least one other upper hand element. To further simplify this adjustment, it can be expedient if the at least one upper hand element and the at least one lower hand element are adjusted together while maintaining an at least substantially constant distance from one another.

[0034] The at least one further lower hand element can, in principle, be moved along the at least one rail of the upper hand element. This enables a simpler design of the rail device. However, a more flexible adjustment of the hand elements and a corresponding adaptation of the positions of the hand elements over the height of the stack of packages in the container to be unloaded can, in principle, be achieved if the at least one lower hand element is moved along at least one further lower rail in the longitudinal direction of the respective rail. Alternatively or additionally, the at least one further lower rail can also be used to adjust the at least one lower hand element upwards or downwards. The latter can be accomplished simply and expediently if the at least one further lower rail is adjusted upwards and / or downwards for this purpose.

[0035] Alternatively or additionally, it is advisable for the at least one further lower hand element and / or the at least one further lower rail to be adjusted in height depending on the height of the stack of packages, the position of the stack of packages, the contour of the stack of packages, the contour of the end face of the stack of packages, and / or the position of the at least one upper hand element. In this way, a more efficient and effective unloading of the container can be achieved.

[0036] The at least one further hand element can alternatively or additionally be displaced along the at least one, in particular further, lower rail depending on the position of the stack of packages, the contour of the stack of packages, the contour of the end face of the stack of packages, and / or the position of the at least one upper hand element. This also allows for more efficient and effective unloading of the container.

[0037] The corresponding method can be readily applied to unloading stacks of packages with very different depths if the at least one rail device, in particular with the at least one further lower rail, the at least one rail and / or the at least one further lower rail is moved into the container. This is particularly expedient if the rail device and / or the at least one corresponding rail is moved step by step into the container. The stack of packages can then be expediently unloaded slice by slice.

[0038] The invention is explained in more detail below with reference to a drawing which merely represents an exemplary embodiment. Fig. 1 a finger element of a belt conveyor device according to the invention and / or for carrying out the method according to the invention in side view, Fig. 2A-C the functional principle of the finger element fromFig. 1 when adjusting flank elements against each other, Fig. 3 the functional principle of the finger element Fig. 1 during the auto-adaptive adjustment of a flank, Fig. 4 a belt conveyor device according to the invention in a schematic side view, Fig. 5 the auto-adaptive adaptation of the finger element to a piece goods according to a method according to the invention in a schematic side view, Fig. 6 the method and the device for unloading packages from a container in a perspective view, Fig. 7 the method and the device from Fig. 6 in a view from behind and Fig. 8 a detail of the method and device from Fig. 6 in a side view.

[0039] In the Fig. 1 A finger element 1 is shown that enables auto-adaptive deformation. The finger element 1 has two flank elements 2, 3, which in the illustrated and thus preferred finger element 1 run together from one end 4 of the finger element 1 to the opposite end 5 of the finger element 1. Furthermore, the flank elements 2, 3 continuously approach one another in a longitudinal direction of the finger element 1. While the flank elements 2, 3 are spaced from one another at one end 4 of the finger element 1, the flank elements 2, 3 are directly connected to one another at the other end 5 of the finger element 1. Therefore, a conically tapered finger element 1 is obtained that tapers in one direction.

[0040] Between the flank elements 2, 3, webs 6 are provided, distributed over the length of the finger element 1, via which webs the flank elements 2, 3 are connected to one another. In the illustrated and thus preferred finger element 1, the webs 6 are articulated to the flank elements 2, 3 at both opposite ends 7, 8 via joints. Alternatively, the webs 6 could be flexible. In the illustrated and thus preferred finger element 1, the webs 6 are distributed at equal intervals over the length of the finger element 1. However, this is not absolutely necessary. Nor is it absolutely necessary for the webs 6 to run parallel to one another, as in the illustrated finger element 1. However, it is preferred that the webs 6 form an acute angle α with each of the flank elements 2, 3 on one side and an obtuse angle β on the opposite side.

[0041] The illustrated and in this respect preferred flank elements 2,3 are designed to be flexible, so that the flank elements 2,3 can be bent about an axis perpendicular to the longitudinal extension of the finger element 1, which is particularly advantageous in the Fig. 2A-C For this purpose, it is expedient if the flank elements 2, 3 are made of a flexible plastic or, for example, rubber. The webs 6 can also be made of plastic or, for example, of a metal, since the webs 6 do not need to be flexible. Fig. 2A the finger element 1 is made of Fig. 1 shown in an initial position in which the finger element 1 is in an extended orientation, wherein the free ends of the flank elements 2, 3 are arranged in a plane E. In the illustrated and in this respect preferred finger element 1, the flank elements 2, 3 are formed at least substantially symmetrically to one another in this position.

[0042] If now according to Fig. 2B When the free end of the upper flank element 2 is displaced forward from the illustrated plane E in the longitudinal direction of the finger element 1 relative to the initial position, the finger element 1 bends downwards due to the connection of the flank elements 2, 3 via the plurality of webs 6. In this way, the end 5 of the finger element 1 shown on the right is adjusted downwards. Analogously, the finger unit 1 bends according to Fig. 2C upwards, whereby the corresponding end 5 of the finger element 1 is adjusted upwards when the free end of the lower flank element 3 is displaced in the longitudinal direction of the finger element 1 from the plane E forwards in the direction of the curved tip of the finger element 1. Fig. 2A-C It can also be seen that the struts 6 between the flank elements 2, 3 incline in different directions when the finger element 1 bends.

[0043] To move the flank elements 2,3 analogously to the Fig. 2A-C To accomplish this, a drive unit (not shown) can be provided. Suitable drive units are known from the prior art. Suitable drive units can, for example, comprise at least one linear drive. Thus, at least one flank element 2, 3 can be easily adjusted back and forth in the longitudinal direction of the finger element 1.

[0044] Not shown is the possibility of providing more than two, for example at least three or four, flank elements. For the sake of simplicity, these are then arranged, in particular evenly distributed, around a longitudinal axis of the finger element. The plurality of flank elements can then converge, in particular with free ends, in a common tip of the finger element. In addition or alternatively, the webs can preferably connect all flank elements to one another. The illustrated and, in this respect, preferred flank elements 2, 3 are strip-shaped. However, a plate-shaped or rod-shaped design of the flank elements would also be possible.

[0045] The described finger element 1 can, however, be different from the Fig. 2A-C shown, according to Fig. 3 , which shows an auto-adaptive adjustment of a flank element 2, 3 of the finger element 1, while a flank element 2 presses on a package 9 and is bent in the process. The corresponding flank element 2 is locally displaced inwards in the direction of the compressive force F relative to the finger element 1, which, as a result of the coupling of the flank elements 2, 3 via the webs 6, results in the flank element 2 being curved in the direction of the package 9 at another point, namely in the direction of the two interconnected ends 10 of the flank elements 1 at the end 5 of the finger unit 5 shown on the left. As a result, the package 9 is partially encompassed by the finger element 1.

[0046] In the Fig. 4 a belt conveyor device 11 is shown, in which the supporting structure 12 of the belt conveyor device 11 consists of a finger element 1 according to Fig. 1 The conveyor belt 13 of the belt conveyor device 11 runs around the support structure 12 and thus around the finger element 1. For this purpose, the illustrated and thus preferred belt conveyor device 11 has a plurality of deflections in the form of deflection rollers 15, 16, 17. A deflection roller 15 is provided at the interconnected ends 10 of the flank elements 2, 3, wherein the deflection roller 15 is ultimately carried and supported by the corresponding end 5 of the finger element 1. Furthermore, a deflection in the form of a deflection roller 16, 17 is provided at the free ends of the flank elements 2, 3. Furthermore, a drive 18 is provided, which in the illustrated and thus preferred belt conveyor device 13 can drive the conveyor belt 13 in different directions. The drive 18 is effected via a drive roller 19, which can be adjusted as required to tension the conveyor belt 13, for example in the longitudinal direction of the finger element 1.In addition, for a slip-free drive of the conveyor belt 13, a toothing can be provided on the conveyor belt 13, which meshes with a toothing of the drive roller 19. Unlike the illustrated and thus preferred belt conveyor device 11, the support structure 12 around which the conveyor belt 13 rotates can have further support structure parts in addition to the finger element 1.

[0047] In the illustrated and in this respect preferred belt conveyor device 11, the conveyor belt 13 is guided along the flank elements 2, 3, specifically so closely that the conveyor belt 13 can be pressed against a flank element 2, 3 by a package 9, if required. The finger element 1 can be adjusted auto-adaptively or proactively with respect to the corresponding package 9, as already described. The finger element 1 can be configured as shown in the Fig. 4 In the belt conveyor device 11 shown, the flank elements 2, 3 are also displaced relative to one another in the longitudinal direction of the finger element 1 in order to bend the finger element 1. With the resulting adjustment of one end 5 of the finger element 1 in a direction perpendicular to the longitudinal extent of the finger element 1, the conveyor belt 13 and its course around the finger element 1 are also adjusted. If the conveyor belt 13 is to be guided along the flank elements 2, 3 at a short distance from them, even with a curved finger element 1, further devices (not shown) for positioning the conveyor belt 13 between the deflection rollers 15, 16, 17 adjacent to the flank elements 2, 3 or at least one flank element 2, 3 must be provided if necessary.

[0048] In the Fig. 5 1 schematically illustrates the use of a finger element 1 as part of an upper hand element 20 for removing packages 9 lying on a stack 21 of packages 9. At least one package 9 is grasped by at least one finger element 22 of an upper hand element 20 and removed from the stack 21 of packages 9 by adjusting the finger elements 22 of the upper hand element 20 and / or by adjusting the upper hand element 20 itself, specifically in the direction of the arrow shown. The curvature of the at least one finger element 22 of the upper hand element 20 can be brought about by pressure of the finger element 22 against the package 9 or by adjusting the flank elements 2, 3 relative to one another.

[0049] In the Fig. 6 and 7: schematically shows the unloading of a container 23 containing stacked packages 9 in the form of a swap body by means of a device comprising an upper hand element 20 and a lower hand element 24. The upper hand element 20 is provided on an upper rail 25, while the lower hand element 24 is provided on a lower rail 26. The upper hand element 20 is held on the upper rail 25 so that it can be moved along the upper rail 25 by a drive (not shown in detail), while the lower hand element 24 is adjustable along the lower rail 26 by a drive (not shown in detail). Possible drives here include, for example, linear drives, spindle drives and cable drives. The upper rail 25 and the lower rail 26 are both part of a rail device 27, wherein the upper rail 25 and the lower rail 26 are provided so that they can be adjusted in height in the rail device 27.The upper rail 25 and the lower rail 26 can be adjusted in height independently of one another or at a fixed distance from one another as needed. Alternatively or additionally, the upper hand element 20 and the lower hand element 24 can be adjusted independently of one another or at a fixed distance from one another along the upper rail 25 and the lower rail 26, respectively. The rail device 27 is designed such that the rail device 27 can be moved toward the end face 28 of the stack 21 of packages 9.

[0050] This is done in such a way that the upper hand element 20 can grasp the packages 9 located at the top end 28 of the stack 21 and remove them from the stack 21. Depending on the size of the packages 9, the upper hand element 20 can remove one package 9 after the other or at least partially several packages 9 at once from the stack 21 of packages 9. In order to be able to remove the upper row of packages 9 of the stack 21 of packages 9 one after the other from the stack 21, the upper hand element 20 is moved continuously or step by step along the upper rail 25 and thus along the end 28 of the stack 21 of packages 9. The upper hand element 25 grasps and grips the packages 9 with the finger elements 22, as has already been described in principle in connection with the Fig. 1 bis 5 The plurality of finger elements 22, which in the present case are, for example, five finger elements 22, allow the gripping of packages 9 of very different dimensions and very different weights in an efficient and at the same time reliable manner.

[0051] When the packages 9 have been gripped at the front side 28 of the stack 21 by the upper hand element 20 and removed from the stack 21, the packages 9 fall, as shown in the Fig. 8is shown, into the lower hand element 24, by which the packages 9 are at least partially caught and braked accordingly. By moving the finger elements 22 against each other, the packages 9 can also be separated by the lower hand element 24 when the packages 9 are removed together from the stack 21 by the upper hand element 24 or at least caught together by the lower hand element 24. The lower hand element 24 is always arranged below the upper hand element 20, and the lower hand element 24 passes the packages 9 on to a belt conveyor device 29 arranged below the lower hand element 24. The packages 9 located at the very bottom of the container 23 can, if necessary, be grasped by the lower hand element 24, the upper hand element 20, or another device and placed on the belt conveyor device 29, if necessary bypassing the lower hand element 24.During the unloading of the container 23, the rail device 27 is gradually adjusted and in this way brought closer to the end face 28 of the stack 21 of packages 9.

[0052] For this purpose, in the illustrated embodiment, a rail system 31 is provided on the corresponding ramp 30. The rail system comprises two rails 32 fixed on the ramp 30 and two rails 33 fastened thereto and movable into the container 23 or the swap body. The two pairs of rails 32, 33 are spaced apart from each other at least substantially as far as the loading space of the container 23 is wide. The pairs of rails 32, 33 each carry a vertical support 34, between which the upper rail 25 and the lower rail 26 are provided for supporting the hand elements 20, 24 in the manner of a crossbeam. In the illustrated and, in this respect, preferred embodiment, the hand elements 20, 24 are mounted on sleeves 35 that engage around the rails 25, 26 and can be adjusted along the rails 25, 26.In the illustrated and in this respect preferred embodiment, the finger elements 22 of the hand elements 20, 24 can be arranged such that the finger elements 22 are provided from a palm region 36 slightly spreading laterally or at least substantially parallel to one another.

[0053] Not shown in detail, each hand element 20, 24, in particular the finger elements 22, is preferably assigned a pressure sensor. For the sake of simplicity, the pressure sensors use known measuring principles and detect the pressure exerted on the corresponding finger element 22, in particular on a flank element 2, 3 of the finger element 22. The signals correlated with the pressure can then be fed to a controller 37, which then ensures a suitable movement of the corresponding hand element 20, 24 or of the at least one finger element 22, depending on the pressure. Furthermore, in the illustrated and thus preferred embodiment, a sensor 38 is provided, which can be designed as an optical sensor and which detects, at least in sections, the position of the stack 21 of packages 9, the contour of the stack 21 of packages 9 and / or the contour of the end face 28 of the stack 21 of packages 9.The sensor 38 then preferably transmits a signal correlated with the at least one contour and / or the at least one position to the controller 37. The controller 37 then controls the movement and adjustment of the hand elements 20, 24 and the finger elements 22 such that the corresponding stack 21 of packages 9 is unloaded as efficiently and effectively as possible, depending on the position of the stack 21 of packages 9, the contour of the stack 21 of packages 9, and / or the contour of the end face 28 of the stack 21 of packages 9. List of reference symbols

[0054] 1Finger element 2,3Flank element 4,5End of finger element 6Web 7,8End of web 9Package 10End 11Belt conveyor 12Supporting structure 13Conveyor belt 15Deflection roller 16Deflection roller 17Deflection roller 18Drive 19Drive roller 20Upper hand element 21Stack 22Finger element 23Container 24Lower hand element 25Upper rail 26Lower rail 27Rail device 28End face 29Belt conveyor 30Ramp 31Rail system 32Rails 33Rails 34Support 35Sleeve 36Palm area 37Control 38Sensor α,βAngle EPlane

Claims

1. Method for unloading a container (23) having packages (9), in particular a box body, swap container or roll container, with a rail device (27) comprising at least one rail (25), wherein at least one hand element (20) displaceable in a longitudinal direction of the rail (25) is provided on the at least one rail (25), wherein the hand element (20) has a plurality of finger elements (22), wherein the finger elements (22) respectively have at least two flexible flank elements (2, 3) extending together from one end (4) of the finger element (22) to the opposite end (5) of the finger element (22), wherein respectively the at least two flexible flank elements (2,3) of the finger elements (22) are each flexibly connected to one another via a plurality of webs (6), so that the finger elements (22) can each be adjusted from at least one curved position into at least one stretched position and back, wherein the packages (9) are stacked in the container (23), wherein the stacked packages (9) form an end face (28), - wherein the rail device (27) is brought close to the end face (28) of the stacked packages (9), - wherein the at least one hand element (20) grips at least one package of the stack of packages (9) and removes it from the stack of packages (9), - wherein the at least one hand element (20) is displaced along the at least one rail (25) after the at least one package (9) has been removed from the stack (21) of packages (9), - wherein the at least one hand element (20), after the displacement along the at least one rail element (25), grips and removes from the stack (21) of packages (9) at least one further package (9) of the stack (21) of packages (9) , - wherein the at least one hand element (20,24) successively removes at least one package (9) from the stack (21) of packages (9) and moves the removed package (9) into at least one further hand element (24) arranged below the at least one hand element (20), - wherein the at least one further hand element (24) at least partially catches the respective at least one package (9) and forwards it in an at least partially braked manner, and - wherein the packages (9) removed from the stack (21) of packages (9) are moved downwards onto a belt conveyor device (29) arranged below the at least one further hand element (24).

2. Method according to claim 1, wherein the at least one hand element (20) is pressed against the stack (21) of packages (9) in a gripping direction in such a way that at least one flank element (2, 3) of at least one finger element (22) is partially pressed in and the at least one finger element (22) is displaced from an extended position into a curved position.

3. Method according to claim 1 or 2, wherein the at least one hand element (20, 24) and / or at least one finger element (22) is displaced from a curved position into an extended position and / or back via a drive unit for displacing the at least two flank elements (2, 3) in a longitudinal direction of the finger element (22) relative to one another.

4. The method according to any one of claims 1 to 3, wherein the at least one hand element (20, 24) and / or at least one finger element (22) is used with at least one pressure sensor, preferably on at least one flank element (2, 3), and wherein, preferably, the at least one pressure sensor detects the pressure on the at least one hand element (20, 24), on at least one finger element (22) and / or on at least one flank element (2, 3) of at least one finger element (22)5. The method according to any one of claims 1 to 4, wherein the packages (9) removed from the stack (21) of packages (9) are moved onto the belt conveyor device (29), comprising a telescopic belt conveyor6. Method according to one of claims 1 to 5, - wherein the position of the stack (21) of packages (9), the contour of the stack (21) of packages (9) and / or the contour of the end face (28) of the stack (21) of packages (9) is at least partially detected by a sensor (38), preferably an optical sensor, in particular a camera, and - in which, preferably, the movement of the hand element (20, 24) is controlled at least partially dependently of the position and / or contour of the stack (21) detected by the sensor.

7. Method according to one of claims 1 to 6, - in which the at least one hand element (20, 24) and / or the at least one rail (25, 26) is adjusted upwards or downwards depending on the height of the stack (21) of packages (9), on the position of the stack (21) of packages (9), on the contour of the stack (21) of packages (9) and / or on the contour of the end face (28) of the stack (21) of packages (9).

8. Method according to one of claims 1 to 7, in which the at least one hand element (20, 24) is displaced along the at least one rail (25, 26) as a function of the position of the stack (21) of packages (9), of the contour of the stack (21) of packages (9) and / or of the contour of the end face (28) of the stack (21) of packages (9).

9. Method according to one of claims 1 to 8, in which packages (9) picked up one after the other by the at least one hand element (24) are passed on successively in a separated manner by moving the finger elements (22) of the at least one further hand element (24) with respect to one another.

10. The method according to any one of claims 1 to 9, - wherein the at least one further hand element (24) is adjusted laterally and / or vertically in dependence on the position of the at least one other hand element (24) and - wherein, preferably, the at least one further hand element (24) is adjusted together with the at least one other hand element (20), in particular while maintaining an at least essentially constant distance from each other11. Method according to one of claims 1 to 10, - wherein the at least one further hand element (20, 24) is displaced on the at least one rail (25, 26) or on at least one further rail (34) in the longitudinal direction of the respective rail (25, 26) and / or is displaced upwards or downwards and - wherein, preferably, the at least one further rail (25, 26) is displaced upwards and / or downwards.

12. Method according to one of claims 1 to 11, in which the at least one further hand element (24) and / or the at least one further rail (26) is adjusted in height dependently on the height of the stack (21) of packages (9), on the position of the stack (21) of packages (9), on the contour of the stack (21) of packages (9), on the contour of the end face (28) of the stack (21) of packages (9) and / or on the position of the at least one upper manual element (20).

13. The method according to any one of claims 1 to 12 in which the at least one further hand element (24) is displaced dependently on the position of the stack (21) of packages (9), on the contour of the stack (21) of packages (9), on the contour of the end face (28) of the stack (21) of packages (9) and / or on the position of the at least one upper hand element (20) along the at least one, in particular further, rail (26).

14. Method according to any one of claims 1 to 13, in which the at least one rail device (27), in particular with the at least one further rail (26), the at least one rail and / or the at least one further rail (26) is moved, in particular stepwise, into the container (23).

15. Device for unloading a container (23) having packages (9), in particular a box body, swap container or roll container, according to a method of claims 1 to 14, with a rail device (27) comprising at least one rail (25), wherein at least one hand element (20) displaceable in the longitudinal direction of the rail (25) is provided on the at least one rail (25), wherein the hand element (20) has a plurality of finger elements (22), wherein the finger elements (22) respectively have at least two flexible flank elements (2, 3) extending together from one end (4) of the finger element (22) to the opposite end (5) of the finger element (22), wherein respectively the at least two flexible flank elements (2,3) of the finger elements (22) are respectively flexibly connected to one another via a plurality of webs (6), so that the finger elements (22) can respectively be adjusted from at least one curved position into at least one stretched position and back, furthermore with a further hand element (24) arranged below the at least one hand element (20) and a belt conveyor device arranged below the at least one further hand element (24).