Conveyor device and method for processing packaging units

Abstract

The invention relates to a conveyor device (1) for processing packaging units (P), comprising a gripping head (2) having a base frame (3) on which a gripping module (4) and a loading tongue module (5) are movably mounted. The gripping module (4) can be moved in a lifting direction (Y) relative to the loading tongue module (5) in order to lift the packaging unit (P) such that the packaging unit can be moved from below and supported by the loading tongue module (5).

Description

Technical Field

[0001] The present invention relates to a conveying device for handling packaging units, the device comprising a gripping head having a base frame, a gripping module for lifting the packaging unit and a loading tongue module for supporting the packaging unit, wherein the base frame defines a front plane and a rear plane and forms two side walls, the side walls extending between the front plane and the rear plane, the gripping module is supported on the base frame so as to be movably supported relative to the loading tongue and relative to the base frame along a lifting direction - in particular by means of a drive device, and the loading tongue is supported on the base frame so as to be movably supported relative to the base frame and relative to the gripping module between a retracted initial position and a moved-out receiving position along a moving-out direction.

[0002] Furthermore, the invention relates to a method for handling packaging units by means of a conveying device, wherein the conveying device comprises a gripping head having a base frame, a gripping module for lifting the packaging units and a loading tongue module for supporting the packaging units, the method comprising the following steps:

[0003] i) Positioning the gripping head in front of the packaging unit;

[0004] ii) grabbing the packaging unit by the grabbing module;

[0005] iii) lifting the packaging unit by moving the gripper module relative to the base frame in a lifting direction so that a gap is formed between the packaging unit and the base on which the packaging unit is located;

[0006] iv) supporting the packaging unit by means of a loading tongue module, by moving the loading tongue module outward in the extension direction from a retracted initial position into a retracted receiving position and inserting it into the gap, so that the loading tongue module is moved in from underneath the packaging unit;

[0007] v) lowering the packaging unit onto the loading tongue module by moving the gripper module relative to the base frame counter to the lifting direction in the direction of the loading tongue module;

[0008] vi) Positioning the packaging unit on the loading tongue module.

[0009] The conveying device and the method can be designed in particular for unloading and / or loading a loading carrier, for example a pallet, with packaging units. Background Art

[0010] From the prior art, conveyor devices are known which have a gripping head with a gripping module, wherein the gripping module generally has one or more gripping units.

[0011] EP 2 794 439 A1 discloses a conveyor device which is designed to unload layers of packaging units. The gripping module of the conveyor device comprises a first gripping unit which has a plurality of suction grippers for removing so-called intermediate layers. In addition, the gripping module comprises a second gripping unit which is designed to remove the packaging units in layers by clamping gripping.

[0012] Another conveyor is known from EP2441709A1, which is configured to jointly process plastic boxes or banana boxes arranged side by side. The gripping module of this conveyor comprises a first and a second gripping unit. On the one hand, the first gripping unit is configured to lift the plastic box and comprises a form-locking gripping device and a force-locking gripping device that act together, i.e. a hook and a clamping device. The shortcoming here is that the plastic box must be accessible from at least three sides so that it can be clamped laterally and hooked into the end side. On the other hand, the second gripping unit is configured to lift the banana box and also comprises a form-locking gripping device and a force-locking gripping device that act together, i.e. a pin and a suction gripper. Because the gripping unit cannot move relative to the loading tongue, it is necessary to fully lift the packaging unit here so that the loading tongue can be moved in from below these packaging units.

[0013] Furthermore, WO2020014725A2 discloses a conveyor device which is designed to unload a transport loading aid by gripping. The gripping module comprises two cooperating gripping means which can rest against the packaging unit in order to fix the packaging unit by gripping. A disadvantage of this is that the opposite side walls of the packaging unit must be accessible in order to be able to fix the packaging unit by gripping. Summary of the invention

[0014] Therefore, the object of the present invention is to provide an improved conveying device for handling packaging units and a corresponding method. In particular, it should be possible to reliably lift each packaging unit.

[0015] This object is achieved in a conveying device of the type mentioned at the outset in that the gripping module has a plurality of gripping units of different gripping types, which are designed to contact a contact side of a packaging unit and can be activated alternately, and the conveying device has a control system, which is configured to: detect the grippability of the packaging unit, determine a gripping type suitable for lifting the packaging unit based on the grippability, (automatically) select a gripping unit corresponding to the determined gripping type, and trigger activation of the selected gripping unit.

[0016] The advantages achieved with the invention consist in particular in that the transport device can be adapted to the packaging units to be lifted by virtue of the fact that different gripping means can be selected which are suitable for the respective packaging units.

[0017] The grippability indicates: with what gripping unit or with what type of gripping the packaging unit can be gripped or lifted. Here, the grippability can be based on the surface properties, lateral accessibility, weight, weight distribution and / or similar factors of the packaging unit.

[0018] The gripping property can be detected by identifying the packaging unit and calling up basic data including gripping property stored in an electronic memory by the control system. Alternatively, it can also be provided that the gripping property is detected by evaluating the contact side, in particular the surface properties of the contact side.

[0019] The contact side of the packaging unit can be understood as the side that faces the (selected) gripping unit, in particular the front plane. Preferably, the contact side is oriented vertically. Particularly preferably, the contact side is formed by an end wall of the packaging unit.

[0020] Different gripping types can each include gripping means that function according to different principles of action, for example according to a friction-locking principle or a positive-locking principle.

[0021] Advantageously, the gripping type is selected from the group consisting of one or more force-locking gripping types and / or one or more form-locking gripping types. Advantageously, the gripping unit comprises one or more gripping means of the respective gripping type.

[0022] The force-locking gripping type can be selected from the group consisting of a vacuum gripping type, a clamping gripping type, and a magnetic gripping type. The corresponding gripping means can be configured as a vacuum gripping means, a clamping means, a magnetic gripping means, and the like, for example.

[0023] Furthermore, the form-fitting gripping type can be selected from the group consisting of hook gripping type, pin gripping type, thread gripping type, bayonet gripping type, etc. The corresponding gripping means can be, for example, hooks, (elastically supported) pins, screws, parts of a bayonet connection, etc.

[0024] Advantageously, the gripping units each comprise one or more gripping means.

[0025] In order to protect heavy packaging units or to protect packaging units during dynamic or rapid movements of the gripping head, it can be provided that the plurality of gripping means of different gripping types are activated and / or act simultaneously.

[0026] Particularly preferably, the (first) gripping unit of the first gripping type and optionally the further (first) gripping unit of the first gripping type, in particular of the non-positive gripping type, comprises one or more vacuum gripping means.

[0027] Furthermore, it can be advantageous if the (second) gripping unit of the second gripping type and optionally a further (second) gripping unit of the second gripping type, in particular of the form-fitting gripping type, comprises one or more form-fitting gripping means, preferably spring-mounted pins.

[0028] Advantageously, the control system is designed to retrieve basic data of the packaging unit stored in an electronic memory and / or to store basic data of the packaging unit in an electronic memory. Thus, on the one hand, known basic data do not need to be determined again. On the other hand, newly acquired information about the packaging unit can be stored as basic data.

[0029] The basic data may include data relating to the gripping ability of the packaging unit, the weight of the packaging unit, the weight distribution or the center of gravity of the packaging unit, the material of the packaging unit, the material of the wrapping packaging unit, the dimensions of the packaging unit and / or similar data.

[0030] Advantageously, the control system comprises a reader for detecting an identification mark of the packaging unit, for example a barcode, a QR code or an RFID tag.

[0031] The control system can be configured to identify the packaging unit by means of the identification mark and to retrieve basic data associated with the identified packaging unit from an electronic memory or to store them in an electronic memory. It can be provided that the identification mark is arranged on each packaging unit. Alternatively, it can be provided that a packaging unit bundle consisting of a plurality of packaging units has an identification mark. This is particularly useful if the position of the individual packaging units within the packaging unit bundle is known or if the packaging unit bundle consists of a plurality of identical packaging units.

[0032] Furthermore, it can be provided that the control system has an image acquisition system (e.g. a camera) for recording images of the contact side of the packaging unit and an evaluation unit, wherein the evaluation unit is configured to determine the surface properties of the contact side based on the images recorded by the image acquisition system and to determine the grippability based on the surface properties. This allows, for example, new basic data to be detected or generated or the gripping type to be determined without the grippability of the packaging unit having to be known in advance. For this purpose, it is expedient for the image acquisition system to be connected to the evaluation unit in terms of data technology. It is advantageous if the optical axis of the image acquisition system extends parallel to the removal direction or orthogonally to the front plane.

[0033] The evaluation unit can include an algorithm, by means of which the surface properties of the contact side are evaluated, in particular an algorithm for image recognition.

[0034] Advantageously, the control system has a monitoring unit, which is configured to detect gripping parameters during lifting of the packaging unit and to store training data in an electronic memory, wherein the training data include the determined gripping capability and the detected gripping parameters, and wherein the evaluation unit includes a machine-learning model for determining the gripping capability, which machine-learning model can be trained with the aid of the training data.

[0035] The machine learning model may include an algorithm for recognizing images. Preferably, the machine learning model is trained by unsupervised, (partially) supervised and / or enhanced learning. The training data may in particular include the basic data described above.

[0036] Preferably, the gripping head has a clamping unit for fixing the packaging unit, the clamping unit comprising two cooperating clamping means which are supported on a base frame so as to be movable relative to one another in order to generate a clamping force, in particular acting on the packaging unit. The packaging unit can thus be fixed and / or aligned on the gripping head in a simple manner. Particularly preferably, the clamping unit comprises a gripping unit which provides one of the gripping units.

[0037] In order to make the clamping means bear against the side walls of the packaging unit and thus generate a clamping force acting on the packaging unit, the clamping means can be movable toward each other. To this end, the clamping means can be moved relative to each other from an open position into a clamped position. The spacing between the clamping means in the clamped position is smaller than in the open position. In the clamped position, the spacing corresponds essentially to the width of the packaging unit, so that the packaging unit is fixed by clamping on the opposite side walls.

[0038] It can be advantageous here that one of the clamping means, in particular the first clamping means, can be ready in the stop position. It can also be provided that the other of the clamping means, in particular the second clamping means, can be ready in the open position. According to a first embodiment of the clamping unit, the second clamping means can be moved toward the first clamping means from the open position into the clamped position. According to a second embodiment of the clamping unit, the first and second clamping means can be moved toward each other, so that the first and second clamping means can be moved from the open position (moved away from each other) into the clamped position (moved toward each other).

[0039] Advantageously, at least one of the clamping means is movable between a stowed position and an operating position, wherein the front plane and the outer surfaces of the side walls facing away from each other define an interior space, and the at least one clamping means is arranged completely in the stowed position in the interior space and at least partially outside the interior space in the operating position. Advantages achieved thereby are also achieved in particular in that no protruding interfering contours are present on the side walls or on at least one side wall, so that the gripping module can be positioned as close to the wall as possible, for example. This makes it possible to reliably lift even a packaging unit that is arranged against a wall or next to another packaging unit, or to place the packaging unit as close to the wall as possible and thus be delivered very reliably.

[0040] The stop position may correspond to the operating position of the first clamping means. The open position may correspond to the operating position of the second clamping means.

[0041] Furthermore, it can be provided that the clamping unit comprises a drive device for moving the clamping means. It can be provided that the drive device comprises a separate drive for each clamping means, so that the clamping means can be moved independently.

[0042] Advantageously, the loading tongue module comprises two loading tongues arranged side by side, which have lateral connecting contours along the side facing the respective other loading tongue, the connecting contours having projections and recesses alternately, and the gripping head can be placed in a first configuration, in which the loading tongues are arranged at a minimum distance from one another and the connecting contours of the loading tongues engage one another, and in a second configuration, in which the loading tongues are arranged at a maximum distance from one another, wherein the maximum distance is greater than the minimum distance. The advantages achieved thereby are, in particular, that the supporting surface is increased by the lateral connecting contours when the loading tongues are moved apart from one another, and that the supporting surface can be adapted to the width of the packaging unit by width adjustment or the spacing between the loading tongues and can thus be maximized. Reliable handling of packaging units, in particular those that are unstable in shape or particularly heavy, is thus ensured.

[0043] In order to vary the spacing between the loading tongues, it is advantageous if the loading tongues are movable relative to one another in the width direction.

[0044] The minimum spacing between the loading tongues is preferably substantially zero, so that they are connected to each other. Particularly preferably, the spacing between the loading tongues can be adjusted steplessly from a minimum spacing to a maximum spacing. As a result, the loading tongue module can be placed in other configurations and can therefore be individually adapted to the width of the packaging unit.

[0045] In the extended receiving position, the loading tongue module preferably protrudes beyond the front plane, so that a packaging unit can be placed on the loading tongue module.

[0046] Advantageously, the loading tongue module is arranged flush with the front plane or offset from the front plane to the rear plane in the retracted initial position. Therefore, the loading tongue module does not form an interfering contour when positioning the gripping head.

[0047] It is particularly preferably provided that the loading tongues are each designed to be plate-shaped.

[0048] Furthermore, it can be provided that the loading tongue module comprises a drive device for moving the loading tongue module, in particular the loading tongue. If there are a plurality of loading tongues, it can be provided that the drive device comprises a separate drive for each loading tongue, so that they can be moved independently.

[0049] It is preferably provided that the gripping module is movable parallel to the extension direction between a retracted inactive position and an active position located in front of the inactive position in the extension direction. It is particularly preferably provided that the gripping units of the gripping module, in particular gripping units of different gripping types, are movable independently of one another parallel to the extension direction between an inactive position and an active position. The gripping units can be selectively moved into the active position in order to activate the respective gripping unit.

[0050] Particularly preferably, the gripping module comprises a first and a second gripping unit, in particular a first and a second gripping unit of different gripping types, which can be moved independently of one another so that the first or the second gripping unit can be selectively moved into the activation position. It can be advantageous if, in the first gripping adjustment position, the first gripping unit is in the use position and the second gripping unit is in the starting position and / or if, in the second gripping adjustment position, the first gripping unit is in the starting position and the second gripping unit is in the use position.

[0051] Advantageously, the gripping head comprises a clamping element protruding from the front plane, in particular from the gripping module or the gripping unit or units, which is mounted on the base frame so as to be movable relative to the loading tongue parallel to the lifting direction in order to generate a clamping force between the clamping element and the loading tongue. This makes it possible to fix the packaging unit. In addition, it is possible to prevent the packaging unit from tilting forward from the loading tongue.

[0052] In order to detect or determine, for example, the stacking height of the stack of packaging units and / or the upper edge of the packaging unit to be received, the gripping head may include a probe element and a probe sensor mechanism protruding from the front plane, in particular protruding from the gripping module or the one or more gripping units, wherein the probe element can be moved between a probe position and an actuating position, and the probe sensor mechanism is configured to detect the movement of the probe element from the probe position to the actuating position. Preferably, the probe element is formed by a clamping element. Alternatively, the probe element can be configured as a probe finger.

[0053] In order to detect or monitor the horizontal positioning of the gripping head relative to the packaging unit, it can be provided that the gripping head comprises a camera unit which is mounted on the base frame protruding beyond the front plane in the removal direction, wherein the optical axis of the camera unit extends parallel to the lifting direction.

[0054] It is also advantageous if the gripping module comprises at least two gripping units of the same gripping type, which are movable relative to one another in the width direction in order to change the spacing between them, thereby making it possible to adjust the receiving width to receive packaging units of different widths.

[0055] It is also advantageous if the side walls of the base frame are movable relative to one another in the width direction in order to change the spacing between the side walls.

[0056] Advantageously, the base frame forms a supporting structure for the gripping module and the loading tongue and, if necessary, for the clamping unit. The front plane and the rear plane defined by the base frame preferably extend parallel to each other. Similarly, the side walls also preferably extend parallel to each other.

[0057] In order to position the gripping head relative to the packaging unit and / or to transport the packaging unit from a source location to a destination location, it is preferably provided that the gripping head is (automatically) movable in space.

[0058] Advantageously, the transport device comprises a handling unit, by means of which the gripping head can be moved (automatically) in space. The handling unit is preferably designed as a gantry robot or an articulated arm robot.

[0059] The lifting direction is preferably oriented parallel to the front plane and parallel to the side walls. In addition, the removal direction is preferably oriented orthogonally to the front plane and parallel to the side walls. Further, the width direction is preferably oriented parallel to the front plane and orthogonally to the side walls. Particularly preferably, the lifting direction, the removal direction and the width direction each enclose an angle of 90° in pairs.

[0060] Advantageously, the gripping head can be placed in a neutral position in which the lifting direction extends vertically, while the removal direction and the width direction extend horizontally.

[0061] While making full use of the above-mentioned advantages and effects, the object is also achieved by a sorting system having a conveyor device or a plurality of conveyor devices for processing packaging units, wherein the conveyor device is designed according to one of the above-mentioned aspects.

[0062] The sorting system can comprise, in particular, a source location and a destination location, wherein the conveying device is designed to convey the packaging units from the source location to the destination location.

[0063] Furthermore, the sorting system can have a preparation device for preparing the packaging units at the source, in particular on the source loading carrier. The preparation device can include a conveying technology for transporting the packaging units to the source, in particular on the source loading carrier. The sorting system can also include a conveying technology for transporting the packaging units away from the destination, in particular on the destination loading carrier, and / or a preparation device for preparing the destination loading carrier at the source.

[0064] Particularly preferably, the conveying device is designed to remove the packaging units from a source loading carrier and / or to place the packaging units on a target loading carrier or a conveying system.

[0065] The conveying device of the sorting system is particularly designed to handle sorting tasks and can therefore be part of a sorting station or provide such a sorting station. Here, packaging units can be conveyed from a source charging carrier prepared at a source location to a target charging carrier prepared at a target location according to the sorting task.

[0066] While fully utilizing the above advantages and effects, in the method of the type mentioned at the beginning, according to the purpose of the method, the gripping module has a plurality of gripping units of different gripping types, and the step ii) includes the following steps:

[0067] - detecting the grippability of the packaging unit by means of a control system, wherein the grippability indicates a type of grip that is suitable for lifting the packaging unit;

[0068] - selecting a gripping unit from gripping units of different gripping types by means of a control system according to the detected grippability;

[0069] - Activate the selected gripping unit via the control system;

[0070] - A detachable connection is produced between the selected gripping unit and the contact side of the packaging unit.

[0071] Detecting the grippability may include retrieving the grippability from an electronic memory and / or evaluating the surface properties of the contact side.Based on the detected grippability, a gripping unit suitable for lifting is selected and subsequently activated.

[0072] Advantageously, packaging units with smooth surfaces are associated with a first grippability, which means that a gripping unit of the force-locking gripping type, in particular comprising vacuum gripping means, is suitable for lifting the packaging unit. Furthermore, advantageously, packaging units with structured surfaces are associated with a second grippability, which means that a gripping unit of the form-locking gripping type, in particular comprising elastically supported pins, is suitable for lifting the packaging unit.

[0073] Advantageously, when activated, a relative movement is performed between the selected gripping unit of the plurality of gripping units and the at least one other gripping unit, wherein the selected gripping unit is positioned in front of the at least one other gripping unit in the extension direction. The relative movement can be performed by moving the selected gripping means in the extension direction and / or by moving the at least one gripping means that is not selected counter to the extension direction.

[0074] Advantageously, provision is made that the detection of grippability includes a step of identifying the packaging unit. This can be achieved, for example, as described above, by detecting and evaluating identification marks arranged on the packaging unit. Alternatively, the packaging unit can be identified from a gripping task, wherein the gripping task includes the position of the packaging unit and, if necessary, associated basic data.

[0075] It is also advantageous if the detection of the grippability includes the step of transmitting the grippability of the identified packaging unit from an electronic memory to the control system. This can, for example, include receiving data relating to the grippability by the control system, which data are transmitted to the control system, for example, from a superordinate host computer. Alternatively or additionally, the transmission can include the retrieval of such data by the control system from the electronic memory.

[0076] It is also advantageous if the gripping detection comprises the step of recording an image of the contact side by means of an image acquisition system and the step of evaluating the (recorded) image by means of an evaluation unit in order to determine the surface properties. The evaluation of the image can be performed, for example, as described above, by means of an algorithm for image recognition. It is also advantageous if the gripping detection subsequently comprises the step of determining the gripping of the packaging unit based on the surface properties.

[0077] In general, the surface properties can indicate, for example, whether substances or structures are present which influence the suction force effect of the gripping means or enable a positive connection and gripping means when the gripping means are designed accordingly. For example, the surface properties can indicate the surface roughness and / or the surface structure and / or the like. The surface properties can indicate in particular whether there are elevations, depressions, plastic films, dirt, water drops, etc. on the contact side.

[0078] It is particularly preferably provided that when detecting the grippability, depending on whether the grippability is stored in an electronic memory, the grippability is selectively transmitted from the electronic memory to the control system or the recorded image of the contact side is evaluated and the grippability of the packaging unit is determined based on the surface properties.

[0079] Advantageously, the images are evaluated using a machine learning model.

[0080] Furthermore, it is advantageous if the method comprises a step vii) of detecting gripping parameters, wherein the gripping parameters relate to or indicate the quality of the connection between the selected gripping unit and the contact side. The gripping parameters are preferably detected during steps ii), iii), iv) and / or v). In this case, the gripping parameters can be assigned to the gripping type and the determined surface properties in order to provide training data. It is expedient if the method comprises a step viii) of training a model for machine learning with the aid of the training data. The training of the model can be performed as described above.

[0081] Advantageously, the positioning of the packaging unit according to step vi) comprises the step of preparing two cooperating clamping means of a clamping unit, which are supported on a base frame, on opposite sides of the packaging unit.

[0082] In addition, the fixing of the packaging unit may include the step of aligning and / or clamping the packaging unit between the clamping devices by reducing the spacing between the clamping devices. Thus, the packaging unit can be placed in a well-defined position and / or reliably fixed by clamping during the movement of the gripping head.

[0083] During alignment, the packaging unit can be positioned centrally on the loading tongue module, for example, by moving the two clamping means toward each other. Alternatively, the packaging unit can be positioned against a fixed stop provided by a first of the clamping means by pushing the packaging unit toward the first clamping means on the loading tongue module by moving a second of the clamping means. For clamping, the two clamping means are moved toward each other, or the second clamping means is moved toward the second clamping means, until the packaging unit is fixed between the cooperating clamping means.

[0084] For alignment and / or clamping, the clamping means are first prepared in the above-described open position and then moved relative to one another into a clamped position, in which the distance between the clamping means is reduced.

[0085] Furthermore, it is advantageous if the positioning according to step vi) comprises, after the lowering of the packaging unit according to step v), a step of releasing the connection between the gripping unit and the contact side, wherein the alignment and / or clamping of the packaging unit is carried out after the release of the connection.

[0086] Therefore, while fully utilizing the above-mentioned advantages and effects, in a method of the type mentioned at the outset, the object is also achieved in that the positioning according to step vi) comprises the following steps:

[0087] - two co-acting clamping means of the clamping unit, which are supported on a base frame, are provided on opposite sides of the packaging unit;

[0088] - after the packaging unit has been lowered according to step v), releasing the connection between the gripping unit and the contact side;

[0089] - Aligning and / or clamping the packaging unit between the clamping means by reducing the spacing between the clamping means.

[0090] Advantageously, the alignment and / or clamping of the packaging unit comprises the following steps:

[0091] - preparing a first of the clamping means in a stop position (preferably as described above);

[0092] - moving the second clamping device of the clamping devices towards the first clamping device;

[0093] - Pushing the packaging unit by means of the second clamping means in the direction of the first clamping means until the packaging unit comes into contact with the first clamping means.

[0094] When the second clamping means is moved, it is preferably prepared in the above-described operating position of the second clamping means or in the open position and is subsequently moved into the clamping position.

[0095] The pushing of the packaging unit preferably takes place by or during the movement of the second clamping means.

[0096] In order to prevent the packaging unit from tipping forward, it is advantageously provided that the positioning in step vi) comprises the following steps:

[0097] - providing a clamping element which projects beyond the gripping module and is mounted on the base frame so as to be movable relative to the loading tongue module,

[0098] - positioning the clamping element in a basic position in which it is positioned above the packaging unit and projects beyond the packaging unit in the removal direction,

[0099] - Moving the clamping element from the basic position into the fixing position, wherein the clamping element comes into contact with the upper edge of the packaging unit and the packaging unit is fixed by clamping between the clamping element and the loading tongue of the loading tongue module.

[0100] Furthermore, it can be provided that the positioning of the gripping head according to step i) comprises the following steps:

[0101] - preparing a scanning element which is mounted on a base frame so as to be movable relative to the loading tongue module in a scanning position in which the scanning element projects beyond the gripping module;

[0102] - horizontal positioning of the gripper head, wherein the gripper head is moved into a first position in which the scanning element projects beyond the packaging unit and the gripper module is arranged parallel to the removal direction at a distance from the contact side;

[0103] - Vertical positioning of the gripping head, wherein the sensing element is prepared in a sensing position in which it is positioned at the lower end of the gripping module, and the gripping head is lowered until the sensing element moves from the sensing position into the actuating position by contacting the upper edge of the packaging unit, after which the gripping head is lowered further so that the loading tongue module is aligned with the lower edge of the packaging unit.

[0104] In the case of vertical positioning, the movement of the sensing element from the sensing position to the actuating position can be detected by means of the sensing sensor. By contacting the upper edge and the movement of the sensing element triggered thereby, the position of the upper edge and thus the stack height can be determined. Based on the stack height, the receiving level can be determined at which, for example, the loading tongue should be positioned and / or moved out in order to receive the packaging unit to be received.

[0105] A packaging unit may comprise a single packaging or a plurality of packagings, in particular stacked one above the other. The packaging may be, for example, a container, a carton, a crate, a box or the like.

[0106] On the conveyor, the packaging units to be processed can be provided individually or as part of a bundle of packaging units. A bundle of packaging units can comprise a plurality of packaging units, in particular stacked one on top of the other.

[0107] Preferably, the packaging units and / or the packaging unit bundles are prepared on a loading carrier, in particular a source loading carrier, from which the packaging units are to be taken. It can also be provided that the packaging units are to be delivered to a loading carrier, in particular a target loading carrier.

[0108] Such a load carrier, in particular a source load carrier or a target load carrier, can be designed, for example, as a pallet, a pallet, a roll-on container, a transport rack or the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0109] In order to better understand the present invention, the present invention is further explained with the help of the following drawings.

[0110] The figure shows a strongly simplified schematic diagram:

[0111] Figures 1a to 2b A grab head of a conveyor is shown;

[0112] Figure 3a A conveying device for packaging units having a smooth surface is shown;

[0113] Figure 3bA conveying device for packaging units having a structured surface is shown;

[0114] Figures 4a to 4d The receiving of the packaging unit by the conveying device is shown in a side view;

[0115] Figure 5a to Figure 5c shows the alignment of the packaging unit on the loading tongue;

[0116] Figure 6a shows the first delivery of a packaging unit by a conveyor in a sorting system;

[0117] Figure 6b shows the second delivery of the packaging unit by the conveyor in the sorting system;

[0118] Figure 7 A method for handling a packaging unit is shown;

[0119] Figure 8 shows the positioning of the grab head of the conveyor;

[0120] Fig. 9 shows the grabbing of a packaging unit;

[0121] Fig.10 shows the detection of the packaging unit;

[0122] Fig.11 Another detection of the packaging unit is shown;

[0123] Fig.12 showing the alignment or fixation of the packaging unit;

[0124] Fig.13 The vertical clamping of the packaging unit is shown;

[0125] Fig.14 The horizontal clamping of the packaging unit is shown. DETAILED DESCRIPTION

[0126] First of all, it should be made clear that in the different described embodiments, the same components are provided with the same reference numerals or the same component names, wherein the disclosure contained in the entire description can be transferred to the same components provided with the same reference numerals or the same component names. In addition, the positional descriptions selected in the description, such as top, bottom, side, etc., are transferred to the new position in the directly described and shown figures and in the event of a change in position.

[0127] exist Figures 1a to 2b 1 shows a perspective view of a conveyor device 1 for handling packaging units P. The conveyor device 1 comprises a gripping head 2, which comprises a base frame 3, a gripping module 4 and a loading tongue module 5. Figure 2a and Figure 2bIn the drawing, the conveying device 1 is shown in a greatly simplified manner.

[0128] The base frame 3 defines a front plane FE and a rear plane RE, which are Figure 1a In addition, the base frame 3 forms two side walls 31 extending between the front plane and the rear plane RE.

[0129] Optionally, the grab head 2 can be constructed as follows Figure 1a a first configuration having a first width as shown in and / or as Figure 1b A second configuration with a second width is shown. It is particularly preferred that the gripping head 2 is (steplessly) adjustable between these configurations.

[0130] For this purpose, it can be provided that the side walls 31 can be moved relative to each other in the width direction Z in order to change the spacing between the side walls 31. Figure 1a and Figure 1b As shown, the spacing in the first configuration can be smaller than the spacing in the second configuration. Through this adjustability, packaging units P of different sizes can be reliably accommodated. The first configuration can correspond to the minimum adjustable spacing between the side walls 31. The second configuration can correspond to any other spacing between the side walls 31, which spacing is in particular greater than the minimum adjustable spacing. It is expedient for the other spacing to be less than or equal to the maximum adjustable spacing between the side walls 31.

[0131] The gripping module 4 and the loading tongue module 5 are movably supported on the base frame 3. The base frame 3 thus essentially forms a support structure for the gripping module and the loading tongue module.

[0132] Furthermore, the gripping module 4 is supported on the base frame 3 so as to be movable along the lifting direction Y and comprises at least one gripping unit 41. Preferably, the gripping module 4 comprises a plurality of, in particular two, gripping units 41, as in the case of Figure 1a and Figure 1b As shown by way of example in FIG. 4 , the gripping units 41 shown are constructed according to the same gripping type.

[0133] As shown by way of example, the gripping unit 41 can be constructed according to a force-locking gripping type, in particular a vacuum gripping type, and include a plurality of vacuum grippers. Of course, as an alternative to the gripping unit 41 shown, a gripping unit 41 of another gripping type can also be provided.

[0134] In addition to or as an alternative to Figure 1a and Figure 1b In addition to the force-locking gripping type gripping unit 41 shown in FIG, the gripping module 4 can also include a form-locking gripping type gripping unit 41, each of which has a plurality of form-locking gripping means 43. The form-locking gripping means 43 can be designed as a spring-mounted pin, for example.

[0135] Therefore, the gripping module 4 can include a plurality, in particular two or four, gripping units 41 of the same gripping type and / or a plurality, in particular two or four, gripping units 41 of different gripping types.

[0136] If the gripping head 2 is adjustable between a first and a second configuration, it can also be provided that the gripping units 41 of the same gripping type can be moved relative to one another in the width direction Z in order to change the spacing between them, e.g. from Figure 1a and Figure 1b As can be seen overall.

[0137] Furthermore, it is advantageous if the gripping modules 4 , in particular the gripping units 41 , can be moved individually in the extension direction X between a retracted, inactive position and a forward, active position.

[0138] In order to lift the packaging unit P relative to the loading tongue module 5, the gripping unit 41 is mounted on the base frame 3 so that it can move along the lifting direction Y. The lifting direction Y is Figure 1a In the figure, it is shown as a double arrow by way of example.

[0139] The loading tongue module 5 is supported on the base frame 3 so as to be movable along the extension direction X between a retracted initial position and a retracted receiving position. Figure 2a In addition, the initial position of the shift is Figure 1a , Figure 1b and Figure 2b In Figure 1a In FIG. 1 , the removal direction X is shown by way of example by a double arrow.

[0140] The packaging unit P can be received on the loading tongue module 5, as in Figure 2b as shown in .

[0141] Preferably, the loading tongue module 5 comprises a plurality of, in particular two, loading tongues 51. Alternatively, the loading tongue module 5 may comprise a single loading tongue 51, as not explicitly shown. Particularly preferably, the loading tongues 51 or the single loading tongue 51 are of plate-shaped design.

[0142] Advantageously, the loading tongues 51 are movable in the width direction Z, similar to the side walls 31 or the gripping units 41 , in order to vary the spacing between them.

[0143] Figure 1a The gripping head 2 in FIG. 1 is presented in a first configuration in which the loading tongues 51 are arranged with a minimum spacing relative to one another. Figure 1a As can be seen in FIG. 5 , the minimum spacing between the loading tongues 51 can be substantially zero, so that the loading tongues are connected to each other. Figure 1bThe gripping head 2 in FIG. 2 is presented in a second configuration in which the loading tongues 51 are arranged at a further spacing relative to one another, which is greater than the minimum spacing.

[0144] In order to widen the support surface for the packaging unit P, in particular in the second configuration, it can be provided that the loading tongue 51 has a lateral connecting contour 52, which each includes a projection and a recess. In the first configuration, the projections and recesses of the loading tongues 51 arranged side by side engage with each other, such as Figure 1a The second configuration can be selected, for example, so that the protrusion and the recess only partially engage with each other or no longer engage with each other, such as Figure 1b In the example shown, the connecting contour 52 is designed essentially in a wavy or zigzag manner.

[0145] In order to align and / or fix the packaging unit P on the loading tongue module 5, the gripping head 2 can, as in the example shown, have a clamping unit with two cooperating clamping means 6. The clamping means 6 are arranged essentially on both sides of the base frame and supported on the base frame. Figures 1a to 2b As shown in FIG. , it is preferably provided that the clamping means 6 is arranged laterally or in the width direction Z flush with the respective side wall 31 .

[0146] Furthermore, it is provided that the clamping means 6 Figure 1a As indicated by the double arrow in the figure, they can be moved relative to each other in the width direction Z, in particular can be moved towards each other, in order to generate a clamping force or to move the packaging unit P onto the loading tongue module 5.

[0147] Furthermore, the clamping means 6 can be movable between a (retracted) storage position and a (advanced) operating position in the extension direction X. On the one hand, the respective clamping means 6 is flush with the front plane FE in the storage position or does not protrude beyond it. On the other hand, the respective clamping means 6 protrudes beyond the front plane FE in the operating position. Figure 1a and Figure 1b In FIG. 1 , one of the clamping means 6 (left side) is arranged in the operating position, while the other clamping means 6 (right side) is arranged in the storage position. Figure 2a and Figure 2b The clamping means 6 shown in FIG. 8 are each shown positioned in an operating position.

[0148] Advantageously, the conveyor device 1 comprises a schematically illustrated control system 7. The control system 7 is designed to control the conveyor device 1, in particular the gripping module 4, the loading tongue module 5 and / or the clamping unit, for detecting the grippability of the packaging unit P, for selecting the gripping unit 41 and / or for triggering the activation of the selected gripping unit 41. Preferably, the control system 7 is connected to an optional electronic memory 71 in terms of data technology or comprises such an electronic memory. The optional electronic memory 71 is illustrated by dashed lines.

[0149] Furthermore, the gripping head 2 can include an optional camera unit 8 which projects beyond the gripping module 4 in the removal direction X and whose optical axis extends parallel to the lifting direction Y, as in Figures 1a to 2b As shown by way of example in FIG. Horizontal positioning processes can be monitored using the camera unit 8 .

[0150] In order to record an image of the contact side of the packaging unit P, the control system 7 can have an image acquisition system 9. The image acquisition system 9 is preferably arranged on the gripping head 2. Advantageously, the control system 7 comprises an evaluation unit for evaluating the acquired images, to which the image acquisition system 9 is connected in terms of data technology. The optical axis of the image acquisition system 9 preferably extends parallel to the removal direction X. The image acquisition system 9 generally comprises a camera.

[0151] For vertical positioning, the gripping head 2 can have a scanning element 10 protruding beyond the front plane FE. The scanning element 10 can be moved along a lifting direction Y in this case.

[0152] In order to fix the packaging unit P on the loading tongue 51, it can also be provided that the scanning element 10 is used as a clamping element. In all described embodiments, such a scanning element 10 or a clamping element can be selectively provided and for the sake of clarity. Figure 1a and Figure 1b Such a scanning element or clamping element is not shown in FIG.

[0153] In order to automatically move and / or align the conveyor device 1 or the gripping head 2, the conveyor device or the gripping head can include a manipulation unit 12, on which the gripping head 2 is supported. Such a manipulation unit 12 can be provided in all described embodiments and is only described for the sake of clarity. Figure 2a and Figure 2b Indicated by dotted lines.

[0154] exist Figure 3a In the middle of the simple diagram along Figure 2a The sectional view along the line I in FIG. 1 shows the transport device 1 . It can be seen here that the camera unit 8 described above and the scanning element 10 protrude in the extension direction X beyond the front plane FE, in particular beyond the gripping module 4 .

[0155] exist Figure 3a , a packaging unit P is received by a conveying device 1, wherein a gripping unit 41 of force-locking gripping type is activated and a releasable connection is established between a vacuum gripping means 42 of the gripping unit 41 and a contact side of the packaging unit P. For this purpose, the gripping unit 41 of force-locking gripping type is activated by positioning the vacuum gripping means 42 before the form-locking gripping means 43. In this example, the packaging unit P comprises a contact side with a smooth surface, so that the vacuum gripping means 42 tightly seals against the contact side and thereby establishes a releasable connection by applying negative pressure.

[0156] In addition, Figure 3b , a packaging unit P is received by a conveying device 1, wherein a gripping unit 41 of the form-locking gripping type is activated and a releasable connection is established between a form-locking gripping means 43 of the gripping unit 41 and a contact side of the packaging unit P. To this end, the gripping unit 41 of the form-locking gripping type is activated by positioning the form-locking gripping means 43 in front of the vacuum gripping means 42. In this example, the packaging unit P comprises a contact side with a structured surface, on which a plurality of tabs 14 are arranged. The form-locking gripping means 43 engage with these tabs 14 to establish a releasable connection.

[0157] As in Figure 3a and Figure 3b As shown in , the scanning element 10 can respectively rest against the upper edge or the upper side of the packaging unit P. As a result, the upper edge can be detected and / or the packaging unit P can be fixed on the loading tongue module 5.

[0158] exist Figures 4a to 4d The process of handling a packaging unit P, in particular the process of removing a packaging unit P from a packaging unit stack or a packaging unit bundle, is shown in FIG. Figures 7 to 12 The individual steps of the method are described in detail.

[0159] The packaging units P can be stacked on a loading carrier 15, for example on a pallet. Alternatively, the packaging units P can also be prepared or stacked on a conveying technology or on the ground.

[0160] When handling a packaging unit P, the gripping head 2 is first positioned 100 in front of the packaging unit P. If a sensing element 10 is present, the gripping head 2 can first be moved downwards for this purpose until the sensing element 10 touches the upper edge of the packaging unit P. This is done in Figure 4a If necessary, the contact with the upper edge can be detected by moving the sensing element 10 from the sensing position to the actuating position. To monitor this, the gripping head 2 may include a Figure 4a The probe sensor mechanism 11 is shown in dashed lines in FIG. Figure 4b to Figure 4dThe sensing sensor system 11 is not shown.

[0161] Subsequently, the gripping head 2 can be lowered to such an extent that the loading tongue module 5 is aligned with the lower edge of the packaging unit P. Figure 4b For this purpose, the scanning element 10 can be pivoted away or Figure 4b The gripping head 2 is moved upwards as in FIG. 1 , so that the probe element does not hinder the movement of the gripping head 2 .

[0162] If the gripping head 2 is positioned, the gripping 200 of the packaging unit P is carried out by establishing a connection between the gripping module 4 and the packaging unit P, which is also carried out in Figure 4b Here, one or more of the existing gripping units 41 can be selectively used.

[0163] exist Figure 4c 3 shows a lifting 300 of a packaging unit P, wherein the gripper module 4 is moved relative to the loading tongue module 5 in a lifting direction Y. As a result, the packaging unit P is lifted. In the example shown, the lifting 300 comprises, in particular, tilting the packaging unit P. As a result, a gap is formed below the packaging unit P, into which the loading tongue module 5, in particular one or more loading tongues, can be introduced, thereby achieving a support 400 of the packaging unit P from below.

[0164] By moving the gripping module 4 downwards in the direction of the loading tongue module 5 , the packaging unit P is lowered 500 onto the loading tongue 51 .

[0165] After the packaging unit P is lowered 500, the connection between the gripping module 4 and the packaging unit P is released, as shown by Figure 4d The positioning 600 of the packaging unit P on the loading tongue module 5 is preferably carried out by means of a clamping unit, as will be described in more detail below.

[0166] If the scanning element 10 can be used as a clamping element, it can also be used to fix the packaging unit P by moving the scanning element in the direction of the loading tongue module 5 so that the packaging unit P is fixed between the loading tongue module 5 or the loading tongue 51 and the scanning element 10 by clamping. Figure 4d Alternatively, a separate clamping element can be provided for this purpose.

[0167] exist Figure 5a to Figure 5c The positioning 600 of the packaging unit P on the loading tongue module 5 , in particular on the loading tongue 51 , is shown in a top view.

[0168] First, the clamping means 6 of the clamping unit can be prepared in the operating position described above, as in Figure 5aHere, the first clamping means 6 (in the example shown, the right clamping means 6) is ready in the stop position. The other or second clamping means 6 (in the example shown, the left clamping means 6) is ready in the open position, so that the spacing between the clamping means 6 is greater than the width of the packaging unit P.

[0169] Subsequently, the second clamping means 6 in the open position moves in the direction of the first clamping means 6 in the stop position. Figure 5b Shown in.

[0170] By this movement of the second clamping means 6 parallel to the width direction Z, the packaging unit P is moved in the direction towards the first clamping means 6 and is thereby positioned or aligned on the loading tongue module 5, as in Figure 5c as shown in .

[0171] Alternative to Figure 5a to Figure 5c In the example shown in FIG. 5 , the clamping means 6 can also be moved toward one another, so that the packaging unit P is centered on the loading tongue module 5 if necessary.

[0172] exist Figure 6a and Figure 6b Detailed description of the invention is given in FIG. 1 , which shows a detail of a sorting system 16 including a conveying device 1 in a top view.

[0173] Preferably, the conveying device 1 of such a sorting system 16 can include a gripping head 2 which is designed as described above and is arranged on a handling unit 12. As shown, the handling unit 12 can be designed as a gantry robot or as an articulated arm robot.

[0174] The conveying device 1 of the sorting system 16 is designed to remove the packaging unit P from a source location 17a, at which, for example, an active load carrier 15 is prepared, and to deliver it to a destination location 17b, at which, for example, a target load carrier 15 is prepared. In this case, the packaging unit P can be removed from the source load carrier 15 and transferred to or in the target load carrier 15, for example, Figure 6a Thus, the conveyor device 1 essentially provides a sorting station.

[0175] Advantageously, the sorting system 16 has a first preparation device 18a for automatically transporting the packaging units P to the source location 17a and / or for automatically transporting the packaging units P or the (source) charge carrier 15 from the source location 17a. The first preparation device 18a can in particular include a conveying technology for transporting the packaging units P and / or the charge carrier 15.

[0176] It is also advantageous if the sorting system 16 comprises a second preparation device 18b for automatically transporting the (target) charge carrier 15 to the target location 17b and / or transporting the packaging unit P from the target location 17b. Figure 6a and Figure 6b Indicated by dotted lines.

[0177] exist Figure 6a In the example shown in FIG. 1 , at a source location 17a, a packaging unit P is automatically prepared by means of a first preparation device 18a, for example on a (source) loading carrier 15. At a destination location 17b, a (destination) loading carrier 15 is prepared by means of a second preparation device 18b, to which the packaging unit P is to be transferred, in particular according to the sorting task.

[0178] exist Figure 6b Another example is shown in FIG, in which a packaging unit P is automatically prepared at a source location 17a by means of a first preparation device 18a, for example on a (source) charging carrier 15. At a destination location 17b, the packaging unit P is placed directly on the conveying surface of the preparation device. For this purpose, the preparation device comprises a conveying technology device, which provides a conveying surface. In this case, the conveying technology device can include a fixed conveying technology device, such as a roller or belt conveyor, which provides a conveying surface. Alternatively, the conveying technology device can include a mobile conveying technology device, which includes a plurality of unmanned transport vehicles, whose placement surfaces respectively provide a conveying surface.

[0179] exist Figure 7 A method for handling a packaging unit P is schematically shown in FIG. 1 , wherein firstly a gripping head 2 is positioned 100 in front of the packaging unit P. This can be combined with Figure 4a and Figure 4b Proceed as described.

[0180] Advantageously, the positioning 100 of the gripping head 2 comprises Figure 8 , wherein the first step preferably comprises preparing 110 the above-described scanning element 10 in a scanning position.

[0181] Furthermore, in a next step, the gripper head 2 is horizontally positioned 120, wherein the gripper head 2 is moved into a first position in which the scanning element 10 projects over the packaging unit P and the gripper module 4 is arranged at a distance from the contact side parallel to the removal direction X. The horizontal position can be monitored, for example, using the camera unit 8 described above. This position of the gripper head 2 is, for example, Figure 4a Shown in.

[0182] Furthermore, in a further step, the gripping head 2 is vertically positioned 130, wherein the gripping head 2 is moved downward (vertically) until the sensing element 10 contacts the upper edge of the packaging unit P and thus moves from the sensing position into the actuating position. This can be monitored, for example, by means of the sensing sensor 11. The stack height is determined by this so-called sensing. Subsequently, the gripping head 2 is further moved downward or lowered by a certain adjustment stroke until the loading tongue module 5 is aligned with the lower edge of the packaging unit P. The adjustment stroke can be derived, for example, from the determined stack height and the known height of the packaging unit P.

[0183] After positioning 100 the gripping head 2, the gripping 200 of the packaging unit P can be carried out by the gripping module 4, in particular by one or more of the gripping units 41 of the gripping module 4. In this case, a releasable connection is established between the gripping unit 41 and the contact side of the packaging unit P. When using a gripping unit 41 of the vacuum gripping type, the releasable connection can be established in particular by applying negative pressure, or when using a gripping unit 41 of the form-fitting gripping type, the releasable connection can be established in particular by engaging the gripping unit 41 and the structured surface of the packaging unit P, in particular the tab 14, in one another in a form-fitting manner, as is exemplified in FIG. Figure 3a or Figure 3b As shown in .

[0184] If the gripping module 4 has a plurality of gripping units 41 of different gripping types, the gripping 200 can be as in Fig. 9 Here, firstly the gripping ability of the packaging unit P is detected 210 by the control system 7 .

[0185] If the gripping ability of the packaging unit P is known or stored in the electronic memory 71, the gripping ability can be detected 210, for example, as follows: Fig.10 Here, the identification 211 of the packaging unit P is first performed. This can be performed by detecting the identification mark of the packaging unit P by the control system 7. Then, the graspability of the identified packaging unit P can be transmitted 212 from the electronic memory 71 to the control system 7.

[0186] Alternatively, in particular when the graspability is not known, the graspability detection 210 is performed, for example, Fig.11 In this case, an image of the contact side can be recorded 313 by means of the above-described image acquisition system 9 , which can then be evaluated with regard to the surface properties.

[0187] For this purpose, the control system 7 may include an evaluation unit. Thus, the evaluation 314 of the image may be performed by means of an evaluation unit of the control system 7. Particularly preferably, the evaluation unit includes an algorithm for image recognition, in particular a machine learning model, for this purpose.

[0188] Based on the determined surface properties, the grippability can be determined 215. This can also be carried out automatically by the control system 7, in particular by an evaluation unit, preferably by a machine learning model.

[0189] Based on the detected grippability, a selection 220 of a gripping unit suitable for lifting the packaging unit P can be performed by the control system 7 .

[0190] The selected gripping unit or units are then activated 230 by the control system 7. This can be done in particular by moving the selected gripping unit or units from the previously described inactive position into an active position.

[0191] A releasable connection between the selected and activated gripping unit 41 and the contact side of the packaging unit P can now be produced 240 .

[0192] When the releasable connection is established, the lifting 300 of the packaging unit P can be achieved by moving the gripping module 4 away from the loading tongue module 5 in the lifting direction Y. In this case, the packaging unit P is lifted or tilted, such as in Figure 4c As shown by way of example in . Thus, a gap is formed below the packaging unit P. The loading tongue module 5, in particular the loading tongue, can now be introduced into this gap by moving the loading tongue module, in particular the loading tongue, from the retracted initial position into the extended receiving position. This enables a support 400 of the packaging unit P to be achieved by the loading tongue module 5. This is shown in FIG. Figure 4c It is shown as an example in FIG.

[0193] If the loading tongue module 5 is positioned below the packaging unit P, the lowering 500 of the packaging unit P can be achieved by moving the gripper module 4 towards the loading tongue module 5 counter to the lifting direction Y. Thus, the packaging unit P is substantially placed on the loading tongue module 5 , in particular on the loading tongue or tongues 51 .

[0194] In a next step, the packaging unit P can be positioned 600 on the loading tongue module 5 , wherein the packaging unit P is preferably moved on the loading tongue module 5 by means of clamping means 6 of a clamping unit and thus moved into a defined position.

[0195] Positioning 600 is preferably as in Fig.12 As schematically shown in FIG. Figure 5a to Figure 5c First, the clamping means 6 is prepared 610 in the operating position and the detachable connection between the gripping unit 41 and the packaging unit P is released 710 . The packaging unit P is thus freely movable on the loading tongue module 5 .

[0196] Subsequently, the spacing between the clamping means 6 can be reduced as described above in order to move the packaging unit P on the loading tongue module 5 and / or fix the packaging unit by clamping. Thus, an alignment and / or clamping 630 of the packaging unit P can be performed.

[0197] The alignment and / or clamping 630 of the packaging unit P may in particular comprise: preparing 631 a (first) clamping means 6 of the clamping unit in a stop position, and subsequently moving 632 a further clamping means 6 of the clamping unit in the direction towards the clamping means 6 prepared in the stop position, as in combination with Figure 5a to Figure 5c During the movement 632, the moved clamping device 6 is brought into contact with the packaging unit P, thereby pushing 633 the packaging unit P. This Fig.13 It is schematically shown in FIG.

[0198] Additionally, positioning 600 may include Fig.12 The steps of preparing 640 a clamping element, positioning 650 the clamping element and clamping 660 a packaging unit P are shown. In the preparation step 640 , a clamping element protruding beyond the gripping module 4 in the removal direction X can be prepared, and in the positioning step 650 , the clamping element is positioned in a basic position in which the clamping element is positioned above the packaging unit P and protrudes beyond the packaging unit P in the removal direction X. In this case, the clamping element can be provided by the scanning element 10 as described above.

[0199] Subsequently, in a clamping step 660 , the clamping element can be moved parallel to the lifting direction Y in the direction of the loading tongue module 5 and abut against the packaging unit P from above, thereby fixing the packaging unit P between the loading tongue module 5 and the clamping element by clamping.

[0200] As in Figure 7 As indicated by dashed lines in FIG. 8 , the method may include an optional step of detecting 700 gripping parameters and, if necessary, a step of training 800 an evaluation unit, in particular a machine learning model.

[0201] When checking 700 the gripping parameters, data about the quality of the releasable connection can be checked. Thus, for example, it can be determined whether the connection is maintained during the entire lifting 300, the strength of the vacuum applied by the vacuum gripper, etc. This can be seen as a measure of whether the selected gripping unit 41 is suitable for lifting the packaging unit P. The gripping parameters can be assigned to the gripping type and the determined surface properties in order to provide training data.

[0202] The evaluation unit can be trained 800 using such training data.

[0203] Finally, it should be made clear that the scope of protection is determined by the claims. However, the claims should be interpreted with reference to the description and the drawings. Individual features or combinations of features from the various embodiments shown and described may themselves be independent inventive solutions.

[0204] In particular, it should be clear that the illustrated device may in practice also include more or fewer components than those illustrated. Parts of the illustrated device or its components may also be shown not to scale and / or enlarged and / or reduced.

[0205] Reference numerals list

[0206] 1Transmission device

[0207] 2 Grab head

[0208] 3 base frame

[0209] 31 Sidewall

[0210] 4. Grab Module

[0211] 41 Grasping unit

[0212] 42 Vacuum gripping device

[0213] 43 Form-locking gripping device

[0214] 5 Loading tongue module

[0215] 51 Loading Tongue

[0216] 52 Connecting contours

[0217] 6 Clamping device

[0218] 7. Control System

[0219] 71 Memory

[0220] 8-camera unit

[0221] 9 Image acquisition system

[0222] 10 Sensing element

[0223] 11. Touch sensor mechanism

[0224] 12 control units

[0225] 14. Splice

[0226] 15 Loading carrier

[0227] 16 Sorting system

[0228] 17a, 17b Source location, target location

[0229] 18a, 18b first and second preparation devices

[0230] 100 Positioning Grabbing Head

[0231] 110 Prepare the sensing element

[0232] 120 horizontal positioning

[0233] 130 vertical positioning

[0234] 200 grab packaging units

[0235] 210 Check crawlability

[0236] 211 Identify packaging unit

[0237] 212 Transmission Capturing

[0238] 213 Capture images

[0239] 214 evaluation images

[0240] 215 Determining Crawlability

[0241] 220 Select grabbing unit

[0242] 230 Activate the gripping unit

[0243] 240 Establish a releasable connection

[0244] 300 lift packaging units

[0245] 400 support packaging units

[0246] 500 drop packaging units

[0247] 600 positioning packaging units

[0248] 610 Prepare to clamp the device

[0249] 620 Loose connection

[0250] 630 Aligning and / or clamping packaging unit

[0251] 631Preparing the first clamping device

[0252] 632 Move the second clamping device

[0253] 633 Push Packaging Unit

[0254] 640 Prepare clamping elements

[0255] 650 Positioning Clamping Components

[0256] 660 clamping packaging unit

[0257] 700 detection crawling parameters

[0258] 800 Training

[0259] Packaging Unit

[0260] X outward direction

[0261] Y lifting direction

[0262] Z width direction

[0263] FE front plane

[0264] RE rear plane

Claims

1. A conveying device (1) for handling packaging units (P), the conveying device comprising a gripping head (2), the gripping head having a base frame (3), a gripping module (4) for lifting the packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), wherein: The base frame (3) defines a front plane (FE) and a rear plane (RE) and forms two side walls (31), which extend between the front plane (FE) and the rear plane (RE), the gripping module (4) is supported on the base frame (3) so as to be movable relative to the loading tongue (51) and relative to the base frame (3) along a lifting direction (Y), and the loading tongue (51) is supported on the base frame (3) so as to be movable relative to the base frame (3) and relative to the gripping module (4) along a removal direction (X) between a retracted initial position and a removed receiving position, It is characterized in that The gripping module (4) has a plurality of gripping units (41) of different gripping types, the gripping units being configured to contact a contact side of a packaging unit (P) and being capable of being activated alternately, and the conveying device (1) has a control system (7), the control system being configured to: detect the grippability of the packaging unit (P), determine a gripping type suitable for lifting the packaging unit (P) based on the grippability, select a gripping unit (41) corresponding to the determined gripping type, and trigger activation of the selected gripping unit (41).

2. The conveying device (1) according to claim 1, characterized in that The gripping type is selected from the group consisting of one or more force-locking gripping types and / or one or more form-locking gripping types.

3. The conveying device (1) according to claim 1 or 2, characterized in that: The control system (7) is designed to retrieve basic data of the packaging unit (P) stored in an electronic memory (71) and / or to store the basic data (71) of the packaging unit (P) in the electronic memory (71).

4. The conveying device (1) according to any one of claims 1 to 3, characterized in that The control system (7) has an image acquisition system (9) for capturing an image of a contact side of the packaging unit (P) and an evaluation unit, the image acquisition system being used to capture an image of the contact side of the packaging unit (P), the evaluation unit being configured to determine a surface property of the contact side based on the image captured by the image acquisition system (9) and to determine grippability based on the surface property.

5. The conveying device (1) according to claim 4, characterized in that The control system (7) has a monitoring unit, which is configured to detect gripping parameters during lifting of the packaging unit (P) and store training data in an electronic memory (71), the training data comprising the determined gripping capability and the detected gripping parameters, and the evaluation unit comprises a machine learning model that can be trained with the aid of the training data for determining the gripping capability.

6. The conveying device (1) according to any one of claims 1 to 5, characterized in that The gripping head (2) has a clamping unit for fixing the packaging unit (P), the clamping unit comprising two cooperating clamping means (6) which are mounted on a base frame (3) so as to be movable relative to one another in order to generate a clamping force.

7. The conveying device (1) according to claim 6, characterized in that At least one of the clamping devices (6) is movable between a storage position and an operating position, the front plane (FE) and the outer surfaces of the side walls (31) facing away from each other bound an interior space, and the at least one clamping device (6) is completely arranged in the interior space in the storage position and is at least partially arranged outside the interior space in the operating position.

8. A conveying device (1) for handling packaging units (P), the conveying device comprising a gripping head (2), the gripping head having a base frame (3), a gripping module (4) for lifting the packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), wherein: The base frame (3) defines a front plane (FE) and a rear plane (RE) and forms two side walls (31), which extend between the front plane (FE) and the rear plane (RE), the gripping module (4) is supported on the base frame (3) so as to be movable relative to the loading tongue (51) and relative to the base frame (3) along a lifting direction (Y), and the loading tongue (51) is supported on the base frame (3) so as to be movable relative to the base frame (3) and relative to the gripping module (4) along a removal direction (X) between a retracted initial position and a removed receiving position, It is characterized in that The gripping head (2) has a clamping unit for fixing the packaging unit (P), the clamping unit comprising two co-acting clamping devices (6), the clamping devices being supported on a base frame (3) so as to be movable relative to each other in order to generate a clamping force, wherein at least one of the clamping devices (6) is movable between a storage position and an operating position, the outer surfaces of the front plane (FE) and the side walls (31) facing away from each other delimit an inner space, and the at least one clamping device (6) is completely arranged in the inner space in the storage position and is at least partially arranged outside the inner space in the operating position.

9. The conveying device (1) according to any one of claims 1 to 8, characterized in that The loading tongue module (5) comprises two loading tongues (51) arranged side by side, the loading tongues having a lateral connecting profile (52) along the side facing the respective other loading tongue (51), the connecting profile having protrusions and recesses alternately, and the gripping head (2) can be placed in a first configuration and a second configuration, in which the loading tongues (51) are arranged at a minimum distance from each other and the connecting profiles (52) of the loading tongues (51) are embedded in each other, and in which the loading tongues (51) are arranged at a maximum distance from each other, the maximum distance being greater than the minimum distance.

10. A conveying device (1) for handling packaging units (P), the conveying device comprising a gripping head (2), the gripping head having a base frame (3), a gripping module (4) for lifting the packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), wherein: The base frame (3) defines a front plane (FE) and a rear plane (RE) and forms two side walls (31), which extend between the front plane (FE) and the rear plane (RE), the gripping module (4) is supported on the base frame (3) so as to be movable relative to the loading tongue (51) and relative to the base frame (3) along a lifting direction (Y), and the loading tongue (51) is supported on the base frame (3) so as to be movable relative to the base frame (3) and relative to the gripping module (4) along a removal direction (X) between a retracted initial position and a removed receiving position, It is characterized in that The loading tongue module (5) comprises two loading tongues (51) arranged side by side, the loading tongues having a lateral connecting profile (52) along the side facing the respective other loading tongue (51), the connecting profile having protrusions and recesses alternately, and the gripping head (2) can be placed in a first configuration and a second configuration, in which the loading tongues (51) are arranged at a first distance from each other and the connecting profiles (52) of the loading tongues (51) are embedded in each other, and in the second configuration, the loading tongues (51) are arranged at a second distance from each other, the second distance being greater than the first distance.

11. The conveying device (1) according to any one of claims 1 to 10, characterized in that The gripping module (4) is movable parallel to the removal direction (X) between a retracted inactive position and an active position located in front of the inactive position in the removal direction (X).

12. The conveying device (1) according to claim 11, characterized in that The gripping units (41) of the gripping module (4), in particular gripping units (41) of different gripping types, can be moved independently of one another parallel to the removal direction (X) between an inactive position and an active position.

13. The conveying device (1) according to any one of claims 1 to 12, characterized in that The gripping head (2) comprises a clamping element protruding from a front plane (FE) and supported on a base frame (3) so as to be movable relative to a loading tongue (51) parallel to a lifting direction (Y) in order to generate a clamping force between the clamping element and the loading tongue (51).

14. The conveying device (1) according to any one of claims 1 to 13, characterized in that The gripping head (2) comprises a scanning element (10) protruding from a front plane (FE) and a scanning sensor device (11), wherein the scanning element (10) is movable between a scanning position and an operating position, and the scanning sensor device (11) is designed to detect the movement of the scanning element (10) from the scanning position to the operating position.

15. The conveying device (1) according to any one of claims 1 to 14, characterized in that The gripping head (2) comprises a camera unit (8) which is mounted on a base frame (3) protruding beyond a front plane (FE) in a removal direction (X), the optical axis of the camera unit (8) extending parallel to a lifting direction (Y).

16. The conveying device (1) according to any one of claims 1 to 15, characterized in that The gripping module (4) comprises at least two gripping units (41) of the same gripping type, the gripping units being movable relative to each other in a width direction (Z) so as to change the spacing between the gripping units.

17. The conveying device (1) according to any one of claims 1 to 16, characterized in that The side walls (31) of the base frame (3) are movable relative to each other in a width direction (Z) so as to change the spacing between the side walls.

18. A sorting system (16), comprising a conveying device (1) for handling packaging units (P), characterized in that: The conveying device (1) is configured according to any one of claims 1 to 17.

19. A method for handling packaging units (P) by means of a conveyor device (1), in particular a conveyor device (1) according to any one of claims 1 to 17, wherein: The conveying device (1) comprises a gripping head (2), the gripping head having a base frame (3), a gripping module (4) for lifting a packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), the method comprising the following steps: i) positioning (100) the gripping head (2) in front of the packaging unit (P); ii) grabbing (200) the packaging unit (P) by means of a grabbing module (4); iii) lifting (300) the packaging unit (P) by moving the gripping module (4) relative to the base frame (3) in a lifting direction (Y) such that a gap is formed between the packaging unit (P) and the base on which the packaging unit (P) is located; iv) supporting (400) the packaging unit (P) by means of the loading tongue module (5), by moving the loading tongue module (5) in the extension direction (X) from a retracted initial position into an extended receiving position and inserting it into the gap, so that the loading tongue module (5) is moved in from below the packaging unit (P); v) lowering (500) the packaging unit (P) onto the loading tongue module (5) by moving the gripping module (4) relative to the base frame (3) counter to the lifting direction (Y) in the direction of the loading tongue module (5); vi) positioning (600) the packaging unit (P) on the loading tongue module (5); It is characterized in that The gripping module (4) has a plurality of gripping units (41) of different gripping types, and step ii) comprises the following steps: - detecting (210) the grippability of the packaging unit (P) by means of a control system (7), said grippability indicating a type of gripping suitable for lifting said packaging unit (P); - selecting (220) a gripping unit (41) from gripping units (41) of different gripping types according to the grippability detected by the control system (7); - activating ( 230 ) the selected gripping unit ( 41 ) by means of the control system ( 7 ); - Producing (240) a releasable connection between the selected gripping unit (41) and the contact side of the packaging unit (P).

20. The method according to claim 19, characterized in that Upon activation (230), a relative movement is performed between the selected gripping unit (41) and at least one other gripping unit (41) of the plurality of gripping units (41), so that the selected gripping unit (41) is positioned in front of the at least one other gripping unit (41) in a removal direction (X).

21. The method according to claim 19 or 20, characterized in that Detecting (210) crawlability includes the following steps: - identification (211) of the packaging unit (P); - The detected grippability of the packaging unit (P) is transmitted (212) from the electronic memory (71) to the control system (7).

22. The method according to any one of claims 19 to 21, characterized in that Detecting (210) crawlability includes the following steps: - taking (213) an image of the contact side by means of an image acquisition system (9); - evaluating (214) the image by means of an evaluation unit in order to ascertain surface properties; - Determining (215) the grippability of the packaging unit (P) based on the surface properties.

23. The method according to claim 21 or 22, characterized in that When detecting the grippability, depending on whether the grippability is stored in the electronic memory, the grippability is selectively transmitted (212) from the electronic memory (71) to the control system (7) or the image of the contact side taken is evaluated (214) and the grippability of the packaging unit (P) is determined (215) based on the surface properties.

24. The method according to claim 22 or 23, characterized in that The images are evaluated (214) using a machine learning model.

25. The method according to claim 24, characterized in that The method further comprises the following steps: vii) during steps ii), iii), iv) and / or v), gripping parameters are detected (700) which relate to the quality of the connection between the selected gripping unit (41) and the contact side, and the gripping parameters are assigned to the gripping type and the determined surface properties in order to provide training data; viii) Training (800) the machine learning model using the training data.

26. The method according to any one of claims 19 to 25, characterized in that The positioning (600) according to step vi) comprises the following steps: - preparing (610) two co-acting clamping means (6) of a clamping unit, which are supported on a base frame (3), on opposite sides of the packaging unit (P); - Aligning and / or clamping (630) the packaging unit (P) between the clamping means (6) by reducing the spacing between the clamping means (6).

27. The method according to claim 26, characterized in that The positioning (600) according to step vi) comprises the following steps: - after lowering (500) the packaging unit (P) according to step v), releasing (620) the connection between the gripping unit (41) and the contact side; Therein, after releasing ( 620 ) the connection, an alignment and / or clamping ( 630 ) of the packaging unit (P) is performed.

28. A method for handling packaging units (P) by means of a conveyor device (1), in particular a conveyor device (1) according to any one of claims 1 to 17, wherein: The conveying device (1) comprises a gripping head (2), the gripping head having a base frame (3), a gripping module (4) for lifting a packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), the method comprising the following steps: i) positioning (100) the gripping head (2) in front of the packaging unit (P); ii) grabbing (200) the packaging unit (P) by means of a grabbing module (4); iii) lifting (300) the packaging unit (P) by moving the gripping module (4) relative to the base frame (3) in a lifting direction (Y) such that a gap is formed between the packaging unit (P) and the base on which the packaging unit (P) is located; iv) supporting (400) the packaging unit (P) by means of the loading tongue module (5), in that the loading tongue module (5) is moved in the extension direction (X) from a retracted initial position into a retracted receiving position and inserted into the gap, so that the loading tongue (51) is moved in from below the packaging unit (P); v) lowering (500) the packaging unit (P) onto the loading tongue (51) by moving the gripping module (4) relative to the base frame (3) counter to the lifting direction (Y) in the direction of the loading tongue (51); vi) positioning ( 600 ) the packaging unit (P) on the loading tongue ( 51 ); It is characterized in that The positioning (600) according to step vi) comprises the following steps: - preparing (610) two co-acting clamping means (6) of a clamping unit, which are supported on a base frame (3), on opposite sides of the packaging unit (P); - after lowering ( 500 ) the packaging unit (P) according to step v), releasing ( 620 ) the connection between the gripping unit ( 41 ) and the contact side; - Aligning and / or clamping (630) the packaging unit (P) between the clamping means (6) by reducing the spacing between the clamping means (6).

29. The method according to any one of claims 26 to 28, characterized in that The alignment and / or clamping (630) of the packaging unit (P) comprises the following steps: - preparing (631) a first clamping means of the clamping means (6) in a stop position; - moving the second clamping means of the clamping means (6) towards the first clamping means (632); - Pushing (733) the packaging unit (P) in the direction of the first clamping means by means of the second clamping means until the packaging unit (P) comes into contact with the first clamping means.

30. The method according to any one of claims 19 to 29, characterized in that The positioning (600) in step vi) comprises the following steps: - preparing (640) a clamping element which projects beyond the gripping module (4) and is mounted on the base frame (3) so as to be movable relative to the loading tongue module (5), - positioning (650) the clamping element in a basic position in which it is positioned above the packaging unit (P) and projects beyond the packaging unit (P) in the removal direction (X), - Clamping (660) the packaging unit (P) by moving the clamping element from a basic position into a fixing position, wherein the clamping element abuts against an upper edge of the packaging unit (P) and the packaging unit (P) is fixed by clamping between the clamping element and the loading tongue (51) of the loading tongue module (5).

31. The method according to any one of claims 19 to 30, characterized in that Positioning (100) the gripping head (2) according to step i) comprises the following steps: - preparing (110) a scanning element (10) mounted on a base frame (3) so as to be movable relative to a loading tongue module (5) in a scanning position in which the scanning element (10) projects beyond the gripping module (4); - horizontal positioning (120) of the gripper head (2), wherein the gripper head (2) is moved into a first position in which the feeler element (10) projects beyond the packaging unit (P) and the gripper module (4) is arranged parallel to the removal direction (X) at a distance from the contact side; - vertical positioning (130) of the gripping head (2), wherein the sensing element (10) is prepared in a sensing position in which it is positioned at the lower end of the gripping module (4), and the gripping head (2) is lowered until the sensing element (10) moves from the sensing position into the actuating position by contacting the upper edge of the packaging unit (P), after which the gripping head (2) is lowered further so that the loading tongue module (5) is aligned with the lower edge of the packaging unit (P).

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