Method for gripping and transferring at least one individual unit and use of system

Abstract

The invention relates to a method for gripping and transferring individual units (200) from a source of offset-stacked individual units (200), using a system (100) comprising a handling device (50) with a gripping device (1) and a controller (80), in which offset-stacked individual unit stores are arranged on a storage surface (500). A controller (80) detects the position and / or orientation of the exposed individual unit (200) on the storage surface (500). Depending on the determined position and / or orientation, the actuating device (50) and the gripping device (1) are activated by the controller (80) in order to grip the individual unit (200). The grabbed individual unit (200) is transferred to a designated location (400) and / or unit (400). The invention relates to a system (100) comprising a handling device (50) with at least one gripping device (1) and comprising a controller (80) for gripping and transferring individual units (200), by means of which a position and / or orientation of the exposed individual units (200) on a storage surface (500) is detected.

Description

Technical Field

[0001] The invention relates to a method for gripping and transferring at least one individual unit from a source of individual units stacked in an offset manner, using a system comprising at least one handling device with at least one gripping device and at least one controller. In this case, at least the source of individual units stacked in an offset manner is arranged on at least one storage surface. The invention also relates to gripping and transferring at least one individual unit using a system comprising at least one handling device with at least one such gripping device and at least one controller. Background Art

[0002] Various devices for gripping and transferring or transporting individual or stacked objects are known in the prior art.

[0003] When there are stocks or stacks of objects (eg, stacks of bags stacked in layers on a pallet in the area of ​​a packaging unit for bagging bulk materials), these stacks may exist in a manner that multiple layers overlap.

[0004] The problem with automatically grabbing bag stacks is that only the top most exposed bag stack needs to be grabbed so that other bag stacks do not slide uncontrollably and even fall off the pallet. Summary of the invention

[0005] It is therefore an object of the present invention to improve the automated gripping of single objects and / or stacks or bundles of objects.

[0006] This object is achieved by a method having the features of claim 1 and a use having the features of claim 10. Preferred further developments of the invention are subject matter of the dependent claims. Further advantages and features of the invention emerge from the general description and the description of exemplary embodiments.

[0007] The method according to the invention is used to grip and transfer at least one individual unit from a source of stacked or layered individual units that are stacked or layered in an offset manner. In this case, the system for gripping and transferring comprises at least one manipulator with at least one gripping device and at least one controller, wherein the source of individual units that are stacked or layered in an offset manner is arranged on at least one storage surface. In the process, the position and / or orientation of the individual unit on the storage surface is detected by the controller. In addition, the manipulator and the gripping device are actuated by the controller based on the determined position and / or orientation to grip the individual unit. Subsequently, the gripped individual unit is transferred to a specified position and / or unit.

[0008] The fact that individual units are stacked in a staggered manner especially means that at least two, especially more than two individual units are always at least partially arranged at the top of the storage surface. In this case, when individual units were stacked in a staggered manner, certain regions were always covered by another individual unit usually.

[0009] According to the invention, the position of the uppermost individual unit is detected, which is exposed, i.e. located at the top and not partially covered by other individual units. In this way, it is possible to detect whether the individual unit is the uppermost individual unit in the stock and can be freely removed or picked up. If multiple individual units are exposed at the same time, one is selected, taking into account that the storage surface is operated as horizontally as possible and not tilted, or forming depressions or protrusions.

[0010] Preferably, the individual units are gripped or can be gripped from a non-rigid surface. In this case, a non-rigid surface is in particular a ground surface or surface or a contact surface which is at least slightly elastic or yields under pressure and in particular is not rigid or hard or inelastic. However, it is also possible to grip the individual units from a rigid or hard ground surface, for example the last layer of individual units on a pallet or the like.

[0011] The detection of the position and / or orientation of the individual units on the storage surface by the controller can in particular be detected automatically based on the current situation, for example by means of sensor data or the like, and / or the position and / or orientation can also be stored in the controller.

[0012] However, the operator can also perform the detection manually via the controller if the user enters a specific position into the controller or activates the gripping device accordingly.

[0013] Depending on the configuration, the position and / or orientation of the individual units on the storage surface may be stored in the controller, for example if an object or individual unit is placed at a specified location with a specified orientation.

[0014] Automatic detection of the position and / or orientation of the individual units on the storage surface (e.g. by imaging and / or sensor-based methods) can reduce errors. In particular, it can also be taken into account if the actual specified position or orientation is not given, for example if an operator subsequently places the individual unit on the storage surface and / or if the individual unit slips off during transport or is otherwise brought to a non-specified position or orientation.

[0015] Correction or start-up of unknown positions can also be performed if the user manually informs the controller about the direction and / or position of the individual units.

[0016] In particular, if the individual units have a specified orientation or are to be transferred to a specified position and / or have a specified side or orientation, the orientation of the individual units on the storage surface can additionally or exclusively be detected.

[0017] The individual units can be in particular pieces of cloth or objects, which are preferably provided on the storage surface in the form of stacks or bundles. These individual units or bundles of individual units are stacked or layered, in particular in an offset manner. Thus, for example, the individual units can be empty bags, such as empty bags for filling bulk goods. In particular, the individual units are at least partially substantially flexible. For example, any empty bags or bags, such as valve bags, FFS bags, open bags or even bundles of paper bags, etc. can also be picked up by the gripping device. Preferably, the bundles of individual units also have a certain flexibility. For example, bundles of newspapers or bundles of thin cardboard or even bundles of paper, etc., can also be gripped and transferred to another specified position and / or unit by the method.

[0018] The gripping device can be configured in particular as described in the exemplary embodiment. The applicant reserves the right to further define the invention based on individual features or combinations of features of the gripping device.

[0019] The method according to the invention is particularly suitable for gripping and transferring a stack of empty bags from a source of bags or a source of bag stacks, such as a stack of layered bags on a pallet. In particular, the bag stack can be gripped by the gripping device from a specified position (i.e. the top) and transferred to a conveyor or an automatic bagging machine in a specified orientation. This is particularly advantageous for transferring the upper open end or valve of a valve bag in the correct orientation.

[0020] In order to check whether the individual units are correctly transferred to the designated location and / or to other units (depending on the configuration), at least one camera can preferably be provided to monitor and / or record the transfer. For example, it can be checked by means of images or data from the camera whether the orientation of the individual units during the transfer is correct and / or whether individual objects of an individual unit consisting of multiple objects (e.g. a stack of empty bags) have slipped during the transfer. If an incorrectly gripped individual unit and / or a faulty individual unit is detected, this individual unit can preferably be transferred, for example, to an ejection point. This ensures, among other things, that only those individual units are transferred that can be processed further.

[0021] Depending on the configuration, it can also be checked, for example, whether the storage location of the gripped individual unit is free or still occupied.

[0022] Depending on the configuration, the monitoring of the transfer location can preferably also be recorded by at least one other camera or camera arrangement arranged at a different location.

[0023] The method according to the invention has many advantages. One significant advantage is that, by detecting the position and orientation of an individual unit or a plurality of individual units on the storage surface, the individual units can be picked up in a targeted manner.

[0024] According to the invention, in a stacked or layered stock of individual units, the uppermost or exposed individual unit can be detected and then gripped in a defined manner so that the individual unit can be transferred in a defined direction for further processing.

[0025] Since individual units can be moved in a targeted manner in a specific direction and / or from a specific position, automation is possible in many applications.

[0026] In an advantageous configuration, the gripping device moves alongside the piece of clothing to be gripped and, before gripping, rests at least partially on a contact surface and / or on an individual unit located below the individual unit to be gripped.

[0027] Particularly preferably, the individual unit is a single object or also a bundle and / or stack of objects. Such an object is in particular at least one empty bag, wherein a bundle of such objects is a stack of bags, which is also defined as an individual unit. The stack of bags can include, for example, 5, 10 or 15 bags, or another number of bags.

[0028] Particularly preferably, the handling device comprises and / or is provided by at least one robotic device with at least one mechanical arm. By providing a mechanical arm or a robotic device as the handling device, the movement of the gripping device can be actuated particularly precisely and effectively in order to grip the individual units whose position and / or orientation have been detected.

[0029] In an advantageous further development, the system comprises at least one camera device operatively connected to the controller, wherein the position and / or orientation of the individual unit to be gripped on the storage surface is determined by means of data from the camera device. The controller determines the position and / or orientation of the individual unit on the basis of the data or the image of the storage surface recorded by the camera and activates the gripping device accordingly. In order to be able to accurately determine the orientation and / or position of the individual unit, the camera device is preferably attached above the storage surface, in particular in such a way that the storage surface is located within the detection area of ​​the camera. By detecting the position and / or orientation using the camera device, the individual units can be detected automatically, so that preferably also subsequently added individual units and / or individual units which are not placed in the specified position can be reliably detected and detected by the gripping device.

[0030] By detecting the position and / or orientation by the camera device, the individual units can be detected automatically, so that preferably also individual units which are added subsequently and / or which are not placed at the specified position can be reliably detected and detected by the gripping device.

[0031] The system preferably comprises at least one height detection device. With the aid of the height detection device, the handling device can be actuated and gripped not only along the storage surface but also with particularly high precision. In this way, the approach height of the handling device or the robot arm or the gripping device is determined so that in particular the uppermost individual unit or, in the case of a bag bundle, the uppermost bag bundle can always be gripped. Such a height detection device can, for example, use at least one laser, radar, ultrasound and / or similar device to determine the height to be approached by the gripping device.

[0032] In a preferred configuration, the height detection device is integrated in the camera device. If the height detection device is integrated in the camera device, no separate components are required, but only the data set of the readout device is required.

[0033] The camera device is particularly preferably designed as a 3D camera or comprises at least one 3D camera. With the help of the 3D camera, not only can the position on the storage surface be determined and approached, but the 3D camera can also automatically detect the correct height and transmit it to the controller, so that optimal driving can be carried out in three dimensions.

[0034] Preferably, the approach accuracy of the gripping device in all and / or individual planes can be taught or improved by at least one automation application and / or at least one AI application (artificial intelligence). In particular, neural networks and / or machine learning and / or deep learning methods can be used. After the teaching, the gripping device can preferably also work accurately offline.

[0035] Generally speaking, the position and / or orientation of the uppermost or exposed individual unit may be detected by at least one automated application, in particular at least one artificial intelligence based application, or may be detected with the support of the same.

[0036] Preferably, the automation application comprises at least one AI application and / or at least one machine learning application and / or at least one computer vision application. By using artificial intelligence and / or machine learning and / or computer vision applications, the detection of individual units can advantageously be actively taught or from previously learned "experience" of the AI ​​application or the like. In a stock of individual units stacked in a misaligned manner, the automation application or the AI ​​application and / or at least one machine learning application and / or at least one computer vision application can reliably detect the uppermost or exposed individual unit or its position and / or orientation. At the same time, the automation application can decide and determine from which of four possible directions the individual unit can be most safely grasped.

[0037] This information is then transmitted to the gripping device to ensure that the gripping device approaches the exposed individual cells in the best possible way, in particular from a specific side.

[0038] After the individual unit has been gripped and transferred, the position or orientation of the exposed individual unit is determined again and the data are forwarded to the gripping device.

[0039] Computer vision refers in particular to the analysis of images and videos by means of computer programs. The purpose of these analyses is primarily to extract the information contained in the images. Depending on the configuration, probabilistic methods, image processing methods, projective geometry, deep learning and computer graphics are preferably used.

[0040] In the field of artificial intelligence applications, any application from the field of artificial intelligence can be used which can have advantages for the respective intended evaluation of images, image data, data and / or data sets.

[0041] The use of machine learning (ML), a subfield of artificial intelligence (AI), is particularly advantageous here. The core components of machine learning are algorithms and methods that enable programs to learn from data without being explicitly programmed. This means that these programs are preferably able to make decisions independently.

[0042] A distinction is made between supervised learning, unsupervised learning and semi-supervised learning. Supervised learning methods include, among others, convolutional neural networks (also called spatially invariant artificial neural networks) and further developments of convolutional neural networks, such as region-based convolutional neural networks. These modifications of classical neural networks are particularly suitable for image processing applications, but not exclusively, since, depending on the configuration, one or more preprocessing steps are performed before the neural network, which include, among others, convolution operations, depending on the application.

[0043] Specifically, sensors (e.g., optical sensors such as color or black and white cameras, thermal imaging, temperature sensors, vibration sensors, etc.) are used to record data of certain states and store them in the corresponding controller.

[0044] The acquired, processed and declared information is then preferably transmitted / taught to a CNN (Convolutional Neural Network) by means of a machine learning or AI method or AI application. When detecting individual units, in particular detecting empty bags and / or stacks of empty bags, or when teaching, preferably firstly available image data of individual bags, bag stacks and / or pallets are generated (if not already available) and preferably a concept of pattern recognition is created. Images of individual bags may be particularly important here, these images are preferably taken individually in different deformations in front of a monochrome background.

[0045] Preferably, an interface is defined for inputting the current camera image into the AI ​​for classification and outputting the determined position and orientation of the bag.

[0046] After reviewing the data and specifying the interface, it is preferred to test the performance of various AI methods in dealing with a given problem. After selecting a suitable method, it is preferred to prepare the data for AI training. It is preferred to then conduct AI training and necessary iterations to stabilize the entire system so that it can be used in production.

[0047] The AI ​​application and / or other automation application taught in this way is now preferably ready for use and is then preferably integrated into the desired program flow. For this purpose, a software-based runtime environment is preferably developed that can operate the developed or defined interfaces. The runtime is preferably optimized for the required hardware and is in particular equipped with simple diagnostic tools.

[0048] After the AI ​​training and optimization of the entire system, a testing phase is preferably carried out to test the system under real conditions. The data collected during the testing is preferably evaluated and the system is adjusted.

[0049] Preferably, only an initial teaching of the AI ​​application or the automation application is performed, in particular for the individual units. In particular, this involves teaching the appearance of the individual units. As described above, it may be necessary to first teach different types of individual units. This may involve different orientations and / or variations of the bag type. However, different types of bags may also be presented and taught to the AI ​​application.

[0050] However, preferably, after the teaching process, it is the case, for example for empty bags or stacks of empty bags, that the AI ​​detects whether the individual unit is a bag or contains a bag, and in particular which bag is currently being used. This may include properties such as size or dimensions, material, whether it is a valve bag or an open bag. Furthermore, from this, it can then preferably be automatically inferred from which side the bag or stack of bags must be approached in order to transfer it in the correct orientation. Information about which type of bag is being transferred to which product can also be transferred to downstream machine control systems, such as packaging systems for bulk goods. In this way, it can be ensured that the product to be filled and the packaging material match in order to avoid incorrect filling. This is particularly important if the unit transfers bags of different types from two or more different storage surfaces to multiple packaging lines, some of which are different.

[0051] Furthermore, according to the invention, a system is used which comprises at least one handling device with at least one gripping device and comprises at least one controller for gripping and transferring at least one individual unit, wherein the position and / or orientation of an individual unit exposed in a stock of individual units stacked offset on a storage surface is detected by the controller, and wherein the detected individual unit is gripped by the gripping device.

[0052] The use of such a system may provide the same advantages as previously described as the method according to the invention.

[0053] Here too, the applicant reserves the right to further develop the gripping device having the features, alone or in combination, which are described in more detail in the exemplary embodiment.

[0054] Preferably, the handling device is provided by at least one robotic device having at least one robotic arm. By means of the robotic device or by means of the robotic arm, the gripping device can be moved particularly advantageously, effectively and precisely in order to approach and grip the individual units.

[0055] Particularly preferably, the system comprises at least one camera device, by means of which the position and / or orientation of the individual units to be gripped can be determined. Preferably, a 3D camera is used.

[0056] When the imaging method is used, after each transfer of the individual unit, the uppermost or exposed individual unit is newly determined by means of the recorded data so that the gripping device can grip the currently uppermost or exposed individual unit.

[0057] Depending on the configuration, the position and / or orientation may also be stored in the controller or manually entered by the user.

[0058] In an advantageous further development, the handling device is suitable and designed for gripping individual units from at least two storage surfaces. Depending on the configuration of the system, performance can be improved if, for example, another storage surface that is still full can be activated when more individual units are placed on the storage surface or when the stock is replenished. Depending on the configuration, the handling device can then transfer individual units from the two storage surfaces to the other unit, or even from one storage surface to one unit and from the other storage surface to the other unit. Depending on the configuration, it is also appropriate to provide a parallel supply of one storage surface to at least two units and / or a supply of at least two storage surfaces to at least two units.

[0059] In an advantageous further development, the camera device is arranged to be movable between the storage surfaces. By movable, it is meant that, if two storage surfaces cannot be detected simultaneously, the camera device or the detection area of ​​the camera device can be moved back and forth between the storage surfaces so that, depending on the storage surface being used, this storage surface can also be detected by the camera device.

[0060] Alternatively, if one camera device cannot detect two or more storage surfaces, at least one camera device may also be provided above each storage surface. Therefore, according to the configuration, preferably at least two camera devices are provided, in each case, at least one camera device is provided above the storage surface.

[0061] Further advantages and features of the present invention will become apparent from the exemplary embodiments explained below with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In the figure:

[0063] Figure 1 A purely schematic diagram of an exemplary embodiment of a system according to the invention is shown in the form of a perspective view;

[0064] Figure 2 Shows Figure 1 The purely schematic enlargement shown;

[0065] Figure 3 A purely schematic side view of an exemplary embodiment of a gripping device according to the invention is shown;

[0066] Figure 4 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0067] Figure 5 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0068] Figure 6 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0069] Figure 7 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0070] Figure 8 A purely schematic side view shows an exemplary embodiment of a gripping device according to the invention when gripping a single unit;

[0071] Fig. 9 A purely schematic diagram showing a side sectional view of an exemplary embodiment of a gripping device according to the invention;

[0072] Fig.10 A purely schematic diagram showing a perspective view of an exemplary embodiment of a gripping device according to the invention;

[0073] Fig.11 A purely schematic diagram showing a further perspective view of an exemplary embodiment of a gripping device according to the invention;

[0074] Fig.12 A purely schematic diagram showing a side sectional view of an exemplary embodiment of a gripping device according to the invention;

[0075] Fig.13 A purely schematic diagram showing a side view of another exemplary embodiment of a gripping device with a hood device according to the invention;

[0076] Fig.14 Shown according to Fig.13 A purely schematic diagram of a front view of an exemplary embodiment of ;

[0077] Fig.15 A purely schematic diagram shows a side view of another exemplary embodiment of a gripping device according to the invention;

[0078] Fig.16 Shown according to Fig.13 A purely schematic diagram of a front view of an exemplary embodiment of ;

[0079] Fig.17 Shown according to Fig.15 A view without fastening means for the hood arrangement;

[0080] Fig.18 Shown according to Fig.16 A view without fastening means for the hood arrangement;

[0081] Fig.19 Shown according to Fig.17 A purely schematic cross-sectional view of an exemplary embodiment of ; and

[0082] Fig. 20 A purely schematic sectional view of an exemplary embodiment of a receiving unit with a quick-change device is shown.

[0083] Reference numerals:

[0084] 1-gripping device; 2-gripping unit; 3-holding unit; 4-support section; 5-holding member; 6-free end; 7-lifting mechanism; 8-roller; 9-contact attachment structure; 10-receiving unit; 11-actuator; 12-cylinder; 13-holding roller; 14-fixing device; 15-fixing punch mechanism; 16-end position switch; 17-first end position; 18-second end position; 19-reference device; 20-adhesion enhancement surface; 21-motor; 22-compressed air motor; 23-rod; 24-rotation direction; 25-toothed belt; 26-hood device; 2 7-fastening device; 28-display device; 29-lighting device; 30-steering device; 31-quick change device; 32-bolt; 33-drive shaft; 34-deflection roller; 50-manipulation device; 60-robot; 61-robotic arm; 70-camera device; 71-3D camera; 75-height detection device; 80-control device; 100-system; 200-individual unit; 201-edge; 300-empty bag; 350-empty bag stacking; 400-unit; 401-placing support; 402-conveyor belt; 500-storage surface; 600-bundling / stacking. DETAILED DESCRIPTION

[0085] Figure 1 A system 100 according to the invention is shown purely schematically, which in the exemplary embodiment shown here comprises a handling device 50 and a control 80. In the exemplary embodiment shown, the system according to the invention is used to grab and transfer at least one individual unit 200 from a stock of stacked individual units 200 from a storage surface 500 to another unit 400. In the exemplary embodiment shown, the individual units are stacked in layers on a pallet, so that the stock of individual units 200 is provided.

[0086] For example, in particular, the individual units 200 are flat objects which are stacked as stock and placed on the storage surface 500. However, the individual units 200 can also be stacks or bundles 600 of objects, as shown in the example shown here, where the bundle or stack 600 is then grasped and transferred as an individual unit 200.

[0087] What is to be understood by the individual elements according to the present application is further defined in the general description by way of examples.

[0088] In the exemplary embodiment shown, the stacked objects are empty bags 300, the individual units 200 being provided here by a bag stack 350. Specifically, the stack of valve bags or the stack of empty bags 350 is transferred from a pallet on a storage surface 500 to another unit 400 by means of a manipulator 50. In the exemplary embodiment shown, the other unit 400 is a conveyor belt 402, to which the individual units 200 or the stack of empty bags 350 are transferred in a specified direction, i.e. the valves are in a specified direction on the conveyor belt 402. In the exemplary embodiment shown, the conveyor belt 402 is used to deliver a plurality of empty bags 300 or a single stack of empty bags 350 to an automatic bagging machine, which is connected upstream of a rotary packaging system. The bagging machine and the packaging system are not shown in the embodiment shown here.

[0089] In order to facilitate the placement of the gripped individual units 200 onto the conveyor belt 402 or to place it as accurately as possible, a placement support 401 is provided here, which is designed here as an obliquely mounted plate.

[0090] In order to check whether the manipulator 50 correctly transfers the individual unit 200 to the further unit 400 or here to the conveyor belt 402, at least one additional camera, not shown here, can be provided, depending on the configuration. For example, images or data from this camera can be used to check whether the orientation of the individual unit during the transfer is correct and / or whether an individual empty bag 300 has slipped during the transfer of the empty bag stack 350. If an incorrectly gripped individual unit 200 and / or a faulty individual unit 200 is detected, it can be transferred, for example, to an ejection point. In this way, it can be ensured, among other things, that only those individual units that can be further processed are transferred.

[0091] Depending on the configuration, it can also be checked whether the storage location of the gripped individual unit 200 is free or still occupied. However, depending on the detection area of ​​the camera device 70, it is also possible to perform a check of the transfer of the individual unit 200 to another unit 400 by means of this camera 70.

[0092] In the exemplary embodiment shown here, the handling device 50 comprises a robot 60 having a robot arm 61 , wherein the gripping device 1 according to the invention is attached to the free end of the robot arm 61 .

[0093] In order to be able to transfer the gripped individual unit 200 in a defined direction to another unit 400 or another position 400 by means of the manipulating device 50, the uppermost and therefore exposed individual unit must first be known or detected in order to ensure that no individual unit is gripped which is partially covered by other individual units 200. The gripping device 1 must then grip the uppermost or exposed individual unit 200 in a defined manner at a specific edge 201, for which purpose the controller 80 must detect the position and / or orientation of the individual unit 200 on or within the bag stock or the stock of individual units 200 in order to activate the gripping device 1 accordingly.

[0094] For this purpose, in the exemplary embodiment shown, a camera device 70 is arranged above the storage surface 500, wherein the controller 80 detects the position and / or orientation of the individual unit 200 to be gripped on the storage surface 500 via the evaluated data of the camera device 70. In the exemplary embodiment shown, the direction is the direction relative to the position of the valve of the valve bag.

[0095] In order to ensure that the gripping device 1 can also approach the appropriate individual unit 200 at the correct height, a height detection device 75 is provided so that the robot arm 61 can accurately move the gripping device 1 from a specified side to the correct individual unit 200 or to the correct edge 201 of the correct individual unit 200.

[0096] Depending on the configuration, the height detection device 75 can be provided as a separate component, in particular when the camera device 70 itself cannot detect the height or distance of the individual units 200. In the exemplary embodiment shown here, the camera device 70 is provided by a 3D camera 71, and the height detection device 75 is therefore integrated in the 3D camera 71.

[0097] In the exemplary embodiment shown here, two storage surfaces 500 are also shown, which are arranged in operative connection with the handling device 50 , wherein one storage surface 500 is arranged on the left side of the robot 60 and the other is arranged on the right side of the robot 60 .

[0098] The handling device 50 can pick up individual units 200 from two storage surfaces 500 , for example alternately or one after the other, and feed them into one unit and / or also supply individual units 200 to two individual units in parallel.

[0099] In order to ensure that the control device of the gripping device 1 can grip the respective individual unit 200 precisely, in the exemplary embodiment shown here, a camera device 70 is arranged above each storage surface 500 , both camera devices being designed here as 3D cameras 71 .

[0100] Depending on the detection range of the camera device 70 used, only one camera device 70 may be provided. In other embodiments, only one camera device 70 may be used, and the camera device 70 may be movable above the storage surface 500.

[0101] By means of the method according to the invention, the position and / or orientation of the individual unit 200 to be gripped is determined by the controller. As described above, this means, in particular, that the controller 80 determines the position and / or orientation of the individual unit 200 on the storage surface, for example by means of acquired sensor data or, in the exemplary embodiment shown here, by means of data from the camera device 70.

[0102] However, according to an embodiment, determination may also be made by the controller in such a manner that, for example, a designated layer pattern (eg, individual units 200 stacked on a pallet in an offset manner) is input into the controller 200 and each designated position is scanned by the controller 80 .

[0103] The advantage of automatically detecting the bag position or the position or orientation of the uppermost exposed individual unit 200 is that, for example, an individual unit 200 displaced during transfer or subsequently placed by an operator can be detected during the automatic detection process, so that no error occurs.

[0104] It can also be determined by the controller, ie the operator manually or by hand notifies the controller of a specific approach position.

[0105] Figure 2 A purely schematic enlargement of the free end of a robot arm 61 is shown, to which a gripping device 1 according to the invention is attached.

[0106] It is shown here that the gripping device 1 is received on the robot arm 61 via the receiving unit 10, whereby the robot arm 61 can move the gripping device 1 in any three-dimensional direction and can also rotate the gripping device 1 so that the gripping unit 2 of the gripping device 1 can move toward a specified side of the individual unit 200 to be gripped or a detected edge 201.

[0107] In the exemplary embodiment shown, the individual units 200 are stacks 350 of empty bags, in particular valve bags, which are stacked on a pallet in the form of bundles 600. The individual units 200 thus consist here of a bundle or stack 600 of empty bags 300.

[0108] In the exemplary embodiment shown here, the gripping device 1 comprises a gripping unit 2 and a holding unit 3 , wherein in the exemplary embodiment shown here, the gripping unit 2 and the holding unit 3 are connected to one another in an articulated manner via a receiving unit 10 .

[0109] As described above, the gripping device 1 is received on the robot arm 61 or the manipulator 50. In the exemplary embodiment shown, the gripping unit 2 comprises a support section 4, on which the individual unit 200 to be gripped and subsequently transferred rests and is clamped by a fixing device 14. In the exemplary embodiment shown here, the fixing device 14 comprises a fixing punch mechanism 15.

[0110] At the free end 6 of the support section 4, a lifting mechanism 7 is provided, which in the exemplary embodiment shown comprises one roller 8 or two rollers 8 arranged parallel to one another, which can be driven or rotated by a motor 21. In this case, a compressed air motor 22 is provided, which can drive the roller 8 in a specified direction 24 or, depending on the configuration, can also rotate the roller in both directions.

[0111] The motor is operatively connected to the roller 8. Any suitable power transmission can be used. Here, the roller 8 or rollers are connected to the motor 21 via a toothed belt 25 in order to transmit force or rotation to the roller 8. Depending on the configuration, multiple toothed belts and / or other power transmission means can also be provided. Thus, the motor 21 can also be arranged in almost any position via multiple toothed belts or similar means, for example to obtain a better weight distribution and / or to have a less interfering profile when approaching the individual units 200.

[0112] In the exemplary embodiment shown, the roller 8 comprises a contact adhesion structure 9, which is designed here as an external toothing or bump or groove. In addition, in the exemplary embodiment shown, the roller 8 comprises a friction or adhesion enhancing surface 20. In the exemplary embodiment shown, this surface is provided by a rubber coating.

[0113] Depending on the configuration, it may also be sufficient to provide only the contact attachment structure 9 or only the adhesion enhancing surface 20 .

[0114] The figure will explain in more detail how the lifting mechanism 7 lifts the individual unit 200 to be grasped so that the support section 4 can be transferred under the individual unit 200 to be grasped.

[0115] In the exemplary embodiment shown here, the holding unit 3 comprises a holding element 5, wherein a holding roller 13 is arranged at the free end of the holding element 5. The function of the holding element 5 or the holding roller 13 will be explained in more detail in the following figures.

[0116] Furthermore, in the embodiment shown, individual elements or units of the gripping device 1 are partially equipped or connected with an actuator 11, wherein the actuator 11 is provided here by a cylinder 12. Thus, in the embodiment shown, the gripping device 1 or the arrangement of the gripping unit 2 and the holding unit 3 is in a first end position 17 in the freely suspended state, and during the picking up or gripping of the individual unit 200, the gripping device 1 or the gripping unit 2 and the holding unit 3 is in a second end position 18. In the embodiment shown, the respective end positions 17, 18 can be detected by an end position switch 16. As shown, the end position switch 16 can be arranged, for example, on the holding unit 10 and / or on at least one actuator 11, for example, a cylinder 12. When arranged on the cylinder 12, for example, a retraction of the cylinder 12 or a certain end position 17, 18 can be detected by the piston rod of the cylinder 12 passing a sensor and thus triggering the end position switch 16.

[0117] Figure 3 The freely suspended configuration of the gripping device 1 according to the invention is shown, wherein in this state the gripping device 1 is close to an individual unit 200 to be gripped.

[0118] The gripping device 1 can access the individual units from any side of the individual units. This is particularly advantageous if a layer image of individual units 200 is provided, wherein certain sides of at least some of the individual units 200 are not freely accessible.

[0119] Depending on the form of the individual unit 200 to be gripped, the distance between the gripping unit 2 or the supporting section 4 or the lifting device 7 and the holding part 3 or the holding element 5 can also be varied and / or adjusted.

[0120] First, the position and / or orientation of the individual unit 200 to be picked up in the source of individual units 200 on the storage surface 500 is determined or detected in the above-described manner according to the invention. In this way, the support section 4 can be moved to the designated side or designated edge 201 of the individual unit 200 to be picked up.

[0121] Since the individual unit 200 is grabbed from a defined side or from a defined edge 201, it can also be transferred to another unit 400 in a defined manner, so that, for example, in the exemplary embodiment shown, the valve bag can be placed on the conveyor belt 402 in a certain direction so that the individual cargo bags 300 can be transferred to the bagging machine with the valve in a specified position.

[0122] As soon as the position and / or orientation of the individual unit 200 to be gripped is detected, the gripping device 100 is moved by the robot arm 100 in the correct direction towards the individual unit 200 to be gripped until the gripping unit 2 or the support section 4 is located next to the respective specified side or specified edge 201 of the individual unit 200 to be gripped. In this state, in the exemplary embodiment shown here, the holding unit 3 or the holding element 5 is located above the individual unit 200 to be gripped and the gripping device 1 is still in the first end position 17. In this exemplary embodiment, this position is determined by evaluating the camera image and / or the height detection device 75.

[0123] In all configurations, the gripping device can be taught and / or improved in terms of approach accuracy in all and / or individual planes, preferably by means of at least one AI application (artificial intelligence), depending on the design. In particular, neural networks and / or machine learning and / or deep learning methods can be used for this purpose. After the teaching, the gripping device (1) can also preferably work accurately offline, i.e. without AI running in the background.

[0124] Figure 4 It is shown that the gripping device 1 is then lowered further until the support section 4 rests on the same plane as the individual unit 200 to be gripped, in particular with a specified force, wherein, depending on the configuration, the support section 4 may not be completely present and / or may be slightly spaced apart from the contact plane of the individual unit 200. In this position, the gripping device 1 is in the second end position 18, which is detected here by the end position switch 16. However, depending on the configuration, the second end position 18 can also be detected by the height detection device 75.

[0125] As the gripping device 1 continues to move downwards, in the exemplary embodiment shown, the holding element 5 or the holding roller 13 comes into contact with the individual unit 200 to be gripped, thereby moving the position of the gripping unit 2 and the holding unit 3 into the second end position 18 .

[0126] Depending on the configuration, the control unit 80 or the end position switch 16 can detect via the second end position 18 that the gripping device 1 cannot or must not be moved further downwards.

[0127] exist Figure 5 In FIG. 1 , the free end 6 of the support section 4 with the rollers 8 is shown in an overall view and in an enlarged view. FIG. 2 shows how the lifting mechanism 7 lifts the individual unit 200 to be gripped so that the support section 4 can be transferred under the individual unit 200 to be gripped.

[0128] To this end, the roller 8 in the embodiment shown here or in the view shown here is rotated counterclockwise by the motor device 21 in a specified direction of rotation 24, so that the contact attachment structure 9 or the adhesion-enhancing surface 20 rolls over the empty bags 300 or individual units 200 of the single object or empty bag stack 350, thereby lifting them. In this case, the preferred direction of rotation 24 is set to result in an effective direction pointing upward, so that the individual unit 200 moves upward and the support section 4 can be transferred to the individual unit 200.

[0129] exist Figure 6 , it can be seen that after the lifting and, depending on the configuration, during the lifting, the robot arm 61 in the exemplary embodiment shown moves the gripping device 1 to the right, thereby transferring the support section 4 under the individual unit to be gripped 200. Here, the transfer is supported or simplified because the holder 5 comprises holding rollers 13, which are rolled by the robot arm 61 as the gripping device 1 is moved onto the individual unit to be gripped.

[0130] As shown, the individual units 200 (in this case the stack of empty bags 350) are preferably at least slightly flexible so that they can be slightly bent by pressing them down with the retaining members 5 or retaining rollers 13 and by lifting them with the lifting mechanism.

[0131] Depending on the configuration, when the support section 4 is transferred under the individual unit to be picked up, the lifting mechanism 7 or the rollers 8 can also be further rotated or driven to the picking device 100 (if necessary). This supports the placement of the individual unit 200 on the support section 4.

[0132] like Figure 6 , Figure 7 , it is shown that the support section 4 has been transferred under the individual unit 200 to be gripped, so that the individual unit 200 or an edge portion thereof rests on the support section 4 of the gripping unit 2 .

[0133] In order to enable the gripping device 1 to also lift individual units 200 or here a stack 350 of empty bags, a fixing device 14 with a fixing punch 15 is provided in the exemplary embodiment shown, which clamps the individual unit 200 here on the support section 4 .

[0134] Figure 8 The robot arm 61 is shown lifting the gripping device 1 including the gripped individual unit 200, whereby the individual unit 200 is now suspended on the support section 4. In this way, the individual unit 200 can be transferred.

[0135] By lifting the gripping device 1, the first end position 17 of the gripping unit 2 and holding unit 3 is again present in the exemplary embodiment shown. The robot arm 61 or the gripping device 1 can now be moved and / or rotated so that the gripped individual unit 200 is transferred to another unit 400 in a specified direction.

[0136] exist Figures 9 to 11 In the drawing, a side sectional view and two perspective views of an exemplary embodiment of a gripping device 1 according to the invention are shown purely schematically in order to explain a possible configuration of a gripping device 1 according to the invention in more detail.

[0137] Fig.12 It is shown purely schematically that the gripping device 1 can include a referencing device 19 which is designed as a rod 23 in the exemplary embodiment shown.

[0138] The reference device 19 is used for the initial installation of the system 100, wherein the initial alignment can be performed by the reference device 19, in particular the initial alignment between the height detection device 75 or the 3D camera 71 and the manipulation device 50. Specifically, by placing the reference device 19 on a specified surface, when the height detection device 75 detects a certain height, the height at which the gripping device 1 is located can be detected by the controller 80.

[0139] Furthermore, a movement adjustment or adjustment of the interfering contour during the rotation of the gripping device 1 can be carried out by means of the referencing device 19, so that the controller 80 can prevent collisions with other components, individual units and / or objects during movement and rotation, in particular during simultaneous movement and rotation.

[0140] Fig.13 and Fig.14 A further exemplary embodiment of a gripping device 1 with a hood device 26 which provides a protective cover is shown in purely schematic form from the side and from the front.

[0141] This cover device 26 can protect the mechanism of the gripping device from dust or dirt and collisions. Therefore, in the embodiment shown, maintenance intervals can be extended and in the event of a collision, usually only the cover device 26 will be damaged, and the sometimes sensitive mechanism of the gripping device 1 will not be damaged.

[0142] In the exemplary embodiment shown here, a display device 28 with an illumination device 29 is assigned to the hood device 26, or the components consist of the hood device 26. Here, the display device 28 in the form of an illumination device 29 is arranged behind the hood device 26 and provides a status display on the side of the gripping device 1 by means of a transparent marking here. Depending on the state, the marking can be illuminated in different colors.

[0143] The display device 28 or the lighting device 29 can be integrated, for example, into a fastening device 27 of the hood device 26 , which is covered by the hood device 26 or is associated with the hood device 26 .

[0144] The gripping device 1 can be fastened, for example, to a robot arm via a receiving unit 10 , which in the exemplary embodiment shown comprises a quick-change device 31 , so that the entire gripping device can be quickly and easily mounted and unmounted via actuating screws or bolts 32 .

[0145] In the exemplary embodiment shown, the hood device 26 does not cover the quick-change device, so that the gripping device can be replaced and installed at the same time as the hood device is installed.

[0146] Fig.15 and Fig.16 A next exemplary embodiment of a gripping device 1 is shown in a purely schematic representation from the side and from the front.

[0147] In this embodiment, a hood device 26 can also be installed. To this end, the gripping device 1 comprises a fastening device 27, or fastening devices 27 are arranged on the left and right sides of the gripping device 1.

[0148] In the exemplary embodiment shown, the fastening device 27 comprises a display device 28 or an illumination device 29. With a correspondingly designed hood device 26, it is possible to realize, for example, Fig.13 and 14 The status display shown.

[0149] The basic structure of the gripping device 1 or the gripping unit 2 and the holding unit 3 is similar to Figures 3 to 13 The exemplary embodiment shown is very similar. However, in the exemplary embodiment shown here, the motor 21 or the compressed air motor 22 is not arranged directly on the bearing section 4, but downstream and below the receiving unit 10 relative to the bearing section 4. In order to drive the rollers 8 of the lifting mechanism 7, a deflection device 30 is provided, which transmits the rotation of the motor 21 to the rollers 8 via a plurality of belts 25 or toothed belts and a drive shaft 33 and deflection rollers 34.

[0150] also, Fig.15 The dashed double arrow indicates that in all embodiments, the support section 4 can be telescopic and / or can achieve a certain length compensation in different ways. Thus, the support section 4 can be optimally adapted to the size of the individual unit 200 to be gripped, such as an empty bag 300 or a stack of empty bags 350.

[0151] exist Fig.17 and 18 In the figure, again a purely side view and a front view are shown according to Fig.14 and 15An exemplary embodiment of .

[0152] In these figures, the fastening means 27 for the hood means 26 are not shown in order to show the components behind it.

[0153] exist Fig.19 In the figure, a cross-sectional view is again shown according to Fig.17 , in which the steering device 30 is more easily recognizable.

[0154] exist Fig. 20 , a cross-sectional view of a receiving unit 10 of an exemplary embodiment of a gripping device 1 with a quick-change device 31 is shown.

[0155] Visible here is the spring bolt 32 , which is pulled out to the left and right, for example, to change the gripping device 1 so that it is separated from the robot arm 61 .

Claims

1. A method for gripping and transferring at least one individual unit (200) from a source of individual units (200) stacked in an offset manner using a system (100) comprising at least one manipulator (50) and at least one controller (80), wherein the manipulator (50) has at least one gripping device (1), wherein: A source of individual units stacked in an offset manner is arranged on at least one storage surface (500), It is characterized by comprising the following steps: - detecting the position and / or orientation of the exposed individual unit (200) on the storage surface (500) by means of a controller (80); - depending on the determined position and / or orientation, actuating the manipulator (50) and the gripping device (1) by means of the controller (80) to grip the individual unit (200); - Transferring the captured individual unit (200) to a specified location (400) and / or unit (400).

2. The method according to claim 1, wherein: The individual units (200) are bundles (600) and / or stacks (600) of objects.

3. A method according to any one of the preceding claims, wherein: The manipulator (50) is provided as at least one robotic device (60) having at least one robotic arm (61).

4. A method according to any of the preceding claims, wherein the system (100) includes at least one camera device (70) operatively connected to a controller (80), wherein the position and / or orientation of the individual unit (200) to be grasped on the storage surface (500) is determined by data from the camera device (70).

5. A method according to any of the preceding claims, comprising at least one height detection device (75).

6. The method according to the preceding claim, wherein the height detection device (75) is integrated into the camera device (70).

7. The method according to any one of the three preceding claims, wherein: The camera device (70) comprises at least one 3D camera (71).

8. The method according to any of the preceding claims, wherein at least one automation application and / or at least one AI application detects or assists in detecting exposed individual units (200) and their position and / or their orientation.

9. The method according to any of the preceding claims, wherein at least one automation application and / or at least one AI application increases the approach accuracy of the gripping device (1) to the individual unit (200) to be gripped.

10. Use of a system (100) comprising at least one handling device (50) with at least one gripping device (1) and at least one controller (80) for gripping and transferring at least one individual unit (200), wherein: The position and / or orientation of an exposed individual unit (200) in a source of individual units (200) stacked in an offset manner on a storage surface (500) is detected by a controller (80), and the detected individual unit (200) is grasped by a grasping device (1).

11. Use according to the preceding claim, wherein the manipulator (50) is formed by at least one robotic device (60) having at least one robot arm (61).

12. The use according to claim 1, wherein the system (100) comprises at least one camera device (70) by means of which the position and / or orientation of the individual unit (200) to be gripped can be determined.

13. The use according to any one of the two preceding claims, wherein: The handling device (50) is suitable and designed to pick up individual units (200) from at least two storage surfaces (500).

14. The use according to the preceding claim, wherein: The camera device (70) is configured to be movable between a plurality of storage surfaces (500).

15. The use according to any one of the two preceding claims, wherein: At least two camera devices (70) are provided, wherein at least one camera device (70) is always arranged above the storage surface (500).

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