Robot palletizer head, robot palletizer and method for palletizing at least one layer to be palletized

Abstract

The invention relates to a palletizing robot head (1) for a palletizing robot (100) for palletizing bundles or containers, comprising a first assembly (7) and a second assembly (3), the first assembly (7) and the second assembly (3) being displaceable in opposite directions relative to one another between an out position and an in position, wherein the first assembly (7) is moved out of the palletizing robot head (1) in a moved-out position and is designed to receive at least one palletizing layer (102) and is moved into the palletizing robot head (1) in a moved-in position, wherein the second component (3) is designed as a counterweight for the first component (7) at least in the removed position and between the removed position and the inserted position. According to the invention, the to-be-stacked layer can be prevented from being damaged with little consumption during receiving and / or putting down. In addition, compared with the prior art, layers to be stacked can be taken and placed more quickly.

Description

Technical Field

[0001] The invention relates to a palletizing robot head, a palletizing robot and a method for palletizing at least one layer to be palletized. Background Art

[0002] Palletizers are used, for example, for filling beverages and to palletize layers of filled containers and / or bundles. For this purpose, layers of containers or bundles such as bottles or cans are formed, for example. The palletizer can stack or palletize the formed layers to form a pallet stack.

[0003] US2020 / 0062518A1 discloses a palletizing robot head, a palletizing robot and a corresponding method. The palletizing robot head has a gripping device, an upper pad and a supporting layer. When receiving a layer, the upper pad first contacts the layer from above, and then the gripping device grips and lifts it. Then, the supporting layer is moved below the lifting layer to support it.

[0004] Another palletizing robot head is disclosed, for example, by DE 10 2008 035 330 A1. This palletizing robot head has a drivable roller and a winding roller arranged laterally on the feed side of the palletizing robot head, which can support the received layer. In order to receive the layer, the winding roller can contact the containers and / or bundles to be palletized in the layer and lift them above the winding roller while the winding roller rotates. By moving the palletizing robot head, the containers or bundles can be conveyed to the rollers or the support formed by the rollers, so that the rollers can convey the containers or bundles away from the rollers in order to receive further containers and / or bundles forming the layer.

[0005] These known solutions require relatively large expenditure to ensure that the containers and / or bundles forming the layer are not damaged during reception and / or laying down. In addition, receiving and laying down the layer requires relatively long time. Summary of the invention

[0006] The task of the present invention is to provide a palletizing robot head, a palletizing robot and a method which overcome these disadvantages.

[0007] This object is achieved by the features of the independent claim. Advantageous developments are the subject matter of the dependent claims and the following description.

[0008] According to the present invention, a palletizing robot head of a palletizing robot for palletizing bundles or containers is provided, comprising a first component and a second component, wherein the first component and the second component are capable of moving relative to each other in opposite directions between a moving-out position and a moving-in position. The present invention proposes that the first component is moved out from the palletizing robot head at the moving-out position and is configured to receive at least one layer to be palletized and is moved into the palletizing robot head at the moving-in position, wherein the second component is configured as a counterweight for the first component at least at the moving-out position and between the moving-out position and the moving-in position.

[0009] Therefore, the present invention provides a palletizing robot head, wherein the weight displacement caused by the removal of the first component is compensated by the second component. Here, the second component acts as a counterweight for the first component during and after the removal of the first component. Therefore, during and after the removal of the first component, the common center of gravity of the first and second components is always close to the palletizing robot head. The first torque acting on the palletizing robot head due to the removal of the first component from the palletizing robot head is offset or compensated by the second torque, which acts on the palletizing robot head due to the removal of the second component from the palletizing robot head. Therefore, compared with the prior art, a smaller palletizing robot can be used to move the palletizing robot head, because when selecting the robot, not only the payload but also the center of gravity position and the inertia of the tool (in this case, the palletizing robot head) should be considered. For example, the payload of the palletizing robot may be sufficient to meet the application requirements, but the center of gravity position and the inertial forces generated during the dynamic process may overload it. Overloading can be avoided by using the second component as a counterweight for the first component. To this end, the first component can be removed in the removal position against the loading direction. In addition, the second component can also be removed in the loading direction. The first component and the second component are spaced apart from each other at a certain distance in the removal position. This distance enables the first component to receive at least one layer to be palletized independently of the second component. Here, the first component can, for example, clamp, grab or only partially surround at least one layer to be palletized. In particular, if the first component only partially surrounds at least one layer to be palletized, without clamping or grabbing it, the first component can be designed to push the at least one layer to be palletized in the direction of the second component when it is moved into the palletizing robot head. At the same time, when the second component is moved into the palletizing robot head, the at least one layer to be palletized will be at least partially pushed onto the second component, wherein the second component can be kept fixed in position by a corresponding movement of the palletizing robot head. In this way, the at least one layer to be palletized can be supported by the second component in the moved-in position. Here, the moved-in position can also be such a moved-in position in which the palletizing robot head moves as a whole with the at least one layer to be palletized. Since the second component is designed as a counterweight for the first component, the first component can also be regarded as a counterweight for the second component. In order to put down the at least one layer to be palletized, the first component can be moved out of the palletizing robot head. In this case, the second component can be moved away from under the at least one layer to be palletized, in particular when the second component supports the at least one layer to be palletized in the moved-in position, wherein the first component can be kept fixed in position by a corresponding movement of the palletizing robot head when the first component is moved out of the palletizing robot head. Here, when the first component is moved out of the palletizing robot head, the at least one layer to be palletized can be pushed away from the second component, for example. Thus, when receiving and / or setting down, damage to the at least one layer to be palletized can be avoided with little effort. In addition, compared to the prior art, the at least one layer to be palletized can be received and set down faster.

[0010] For example, the assembly can be movably mounted on a linear guide extending in the loading direction. The linear guide can be fixed on the palletizing robot head. In addition, the linear guides of the two assemblies can be oriented parallel to each other.

[0011] According to one example, the first component and the second component can be moved simultaneously relative to each other in opposite directions between the removal position and the insertion position. To this end, the first and second components can have a common drive or two synchronous drives. Thus, the movement of the components during the removal and insertion process can be synchronized, wherein the distances covered by the two components relative to the palletizing robot head do not necessarily have to be the same, but can also be different.

[0012] In some examples, a common drive may drive a first component and couple it to a second component through a transmission, or vice versa.

[0013] In some examples using a common drive, the transmission may have a transmission ratio, for example, which may be selected so that the first and second components move synchronously. In some embodiments, the transmission may have a transmission ratio, which may be selected so that the first and second components move substantially the same path or distance relative to the palletizing robot head, for example relative to a reference point of the palletizing robot head.

[0014] According to some other examples, the common drive device can be coupled to the first component via a first transmission device and coupled to the second component via a second transmission device. The transmission ratios of the first and second transmission devices can be selected so that the first and second components move with substantially the same path or distance relative to the palletizing robot head, for example, relative to a reference point of the palletizing robot head.

[0015] According to another example, in the moved-out position and between the moved-out position and the moved-in position, a first torque applied by the first component to the head of the palletizing robot is substantially equal to a second torque applied by the second component to the head of the palletizing robot.

[0016] Furthermore, the first and second components can be configured so that the weight of the at least one stacking layer has a negligible effect on the balance between the first torque and the second torque. Alternatively or additionally, the second component can also move independently of the first component to adjust the distance traveled by the second component during the removal process so that the second torque matches the first torque. Thus, in the removal position and between the removal position and the removal position, the additional torque acting on the palletizing robot head by the at least one layer to be palletized can be compensated by the second torque acting on the palletizing robot head by the second component.

[0017] Furthermore, it is also conceivable, for example, that the first component can have at least one centering frame for receiving at least one layer to be palletized, wherein the centering frame is preferably designed to move the at least one layer to be palletized.

[0018] The centering frame can be configured such that the at least one layer to be palletized is framed transversely thereof. In particular, the centering frame can have frame elements in front of and behind the at least one layer to be palletized, relative to the loading direction. The frame elements have a stability sufficient to push the at least one layer to be palletized or to prevent movement of the at least one layer to be palletized during placement and handling.

[0019] In another example, the second component can have a support device for at least one layer to be palletized, wherein the support device is designed in particular as a carrier plate for arrangement below the at least one palletized layer.

[0020] By means of the support device, the at least one layer to be palletized can be additionally supported in the retracted position and at least partially between the retracted position and the retracted position. In particular in the case of multi-part layers, for example a plurality of containers or bundles, a carrier plate can be arranged below the at least one layer to be palletized as a support device in order to support all parts of the layer from below. Alternatively or additionally, the support device can also have two rails, which are respectively pushed under the at least one layer to be palletized on opposite sides. In particular in the case of single-part layers, the rails are sufficient to provide support from below.

[0021] For example, the at least one layer to be palletized may include or consist of one or more containers and / or bundles. The container may be or include a can, a bottle (e.g., a glass bottle) or a plastic bottle (e.g., a PET bottle). The container may be or include a bag, a package, a package, a carton or the like. The bundle may have a bottle and / or a container or consist of a bottle and / or a container, wherein the bottle and / or the container may be joined together to form a bundle, such as glued, packaged and / or connected together. In certain embodiments, the layer may be arranged by multiple rows of containers and / or bundles, such as 2x2 containers and / or bundles, i.e., two rows arranged side by side, respectively, consisting of two containers and / or bundles. In certain embodiments, the layer may be arranged by 2x2 to 24x24 containers and / or bundles, such as 2x4, 8x6, 6x8, 10x12, 12x12, 16x14 or the like.

[0022] According to another example, the palletizing robot head may have a carrier frame, wherein the first component and the second component are mounted to be movable along the carrier frame between a moved-out position and a moved-in position.

[0023] For this reason, for example, the linear guide device for the first assembly and the second assembly can also be fixed on the supporting frame. In addition, for example, the drive device for these two assemblies or the independent drive device for each assembly can be fixed on the supporting frame.

[0024] Furthermore, it is conceivable that the first component in the extended position can be offset by a first distance from the retracted position and the second component can be offset by a second distance from the retracted position, wherein the length of the second distance corresponds to at least one third of the sum of the first and second distances, preferably at least 50%.

[0025] If the length of the second distance corresponds to half the length of the first distance, the path or distance that the second component moves relative to the palletizing robot head can be the same as the path or distance that the first component moves relative to the palletizing robot head. Therefore, the first and second components can move substantially synchronously with the palletizing robot head. However, in some embodiments, the length of the first distance can be less than half the length of the second distance.

[0026] The present invention also relates to a palletizing robot, comprising a robot arm and a palletizing robot head according to the above description connected to the robot arm.

[0027] The palletizing robot can have a control unit and / or be controlled by a control unit. For example, the control unit can control the motors of the palletizing robot and / or the palletizing robot head.

[0028] More advantages and effects of the palletizing robot and their expansion solutions can be derived from the advantages and effects of the palletizing robot head and their expansion solutions described above. Therefore, to avoid repetition, please refer to the previous description.

[0029] According to one example, the palletizing robot can be designed such that when receiving at least one layer to be palletized, the movement of the robot arm is superimposed on the movement of the second component and the first component, wherein the second component preferably remains stationary during this movement.

[0030] Here, when the first and second components move from the moving-out position to the moving-in position, the speed at which the palletizing robot head moves in the direction of the second component is, for example, the same as the speed at which the second component moves into the palletizing robot head. Thus, the second component can maintain its position for an observer. At the same time, when the palletizing robot head moves, the speed at which the first component moves into the palletizing robot head corresponds to the sum of the moving-in speed of the first component and the speed of the palletizing robot head for an observer. Thus, when the first component with at least one layer to be palletized moves in, the palletizing robot head has already started to move, preferably in the direction of the placement position of the at least one layer to be palletized. Thus, the conveying of the at least one layer to be palletized can be accelerated.

[0031] Furthermore, the palletizing robot can also be designed to, for example, superimpose the movement of the robot arm on the movement of the second component and the first component when placing down at least one layer to be palletized, while the first component preferably remains stationary during the movement.

[0032] When the first and second components are moved from the moving-in position to the moving-out position, the palletizing robot head can, for example, move away from the first component in the direction opposite to the moving-out direction of the first component, at the same speed as the first component is moved out of the palletizing robot head. As a result, the first component can maintain its position for an observer. At the same time, during the movement of the palletizing robot head, the speed of the second component when it is moved into the palletizing robot head corresponds to the sum of the moving-out speed of the second component and the speed of the palletizing robot head for an observer. In addition, the palletizing robot head can start moving immediately when the first component is moved out when at least one layer to be palletized is put down, preferably moving in the direction of the receiving position of at least one layer to be palletized. As a result, the movement to the receiving position can be accelerated.

[0033] For this purpose, it can be provided, for example, that the palletizing robot head is rotatably mounted about an axis which is perpendicular to the direction of movement of the first and second components and which is preferably arranged vertically. When moving between the receiving position of at least one layer to be palletized and its setting down position, the palletizing robot head can be rotated about this vertical axis, preferably by 180°, so that the palletizing robot head moves in the direction of the setting down position not only when receiving at least one layer to be palletized or when the first component is moved in, but also when setting down at least one layer to be palletized or when the first component is moved out.

[0034] The present invention also relates to a method for palletizing at least one layer to be palletized using the aforementioned palletizing robot, comprising the following steps: moving the palletizing robot head of the palletizing robot to a receiving position, wherein at the receiving position, a first component of the palletizing robot head is moved out of the palletizing robot head against a loading direction and a second component is moved out of the palletizing robot head along the loading direction; receiving at least one layer to be palletized with the first component in the receiving position and moving the first component into the palletizing robot head along the loading direction, wherein when the first component is moved in, the palletizing robot head moves along the loading direction and the second component is moved into the palletizing robot head so that the second component remains in a fixed position; moving the palletizing robot head to the palletizing position; and in the palletizing position, moving the second component out of the palletizing robot head along the loading direction, wherein when the second component is moved out, the palletizing robot head moves along the loading direction and the first component is moved out of the palletizing robot head to put down at least one layer to be palletized, so that the first component remains in a fixed position.

[0035] The method can be performed using the above-mentioned palletizing robot head and / or palletizing robot. The above-mentioned palletizing robot head and / or palletizing robot can be configured to perform the method. The method can also be performed using a double-column machine, for example.

[0036] When the palletizing robot head moves to the receiving position, the first and second components can either already be in the moving-out position or can also move from the moving-in position to the moving-out position. At the latest at the end of the step of moving the palletizing robot head to the receiving position, the first component can be moved out of the palletizing robot head and the first component can be arranged at at least one layer to be palletized. Then, the first component can receive the at least one layer to be palletized, for example, by horizontally arranging the centering frame of the first component near at least one layer to be palletized. Here, a plurality of layers to be palletized may have been stacked at the receiving position. Then, the first component can receive these layers simultaneously. In addition, the first component can be moved into the palletizing robot head along the loading direction, wherein the first component drives the at least one layer to be palletized. At the same time, the second component is moved into the palletizing robot head at a moving-in speed opposite to the loading direction, wherein the palletizing robot head moves at the same speed along the loading direction and thus moves in the direction of the second component, so that the second component remains fixed in position for an observer. In addition, the second component forms a counterweight for the first component when it is in the moving-out position and when the first component is moved into the palletizing robot head. Thus, the second component can be moved into the palletizing robot head at the same time as the first component. Furthermore, the palletizing robot head can be moved from the receiving position to the palletizing position. This movement can start with the first and second components being moved into the palletizing robot head. In the palletizing position, the first and second components are moved out of the palletizing robot head. Here, the first component is moved out of the palletizing robot head at a certain removal speed in the opposite direction of the loading. At the same time, the palletizing robot head moves in the loading direction at the same speed. As a result, the first component remains fixed in position in the palletizing position.

[0037] The method may be repeated at least once or more times to form a pallet stack of layers to be palletized. In certain embodiments it may be provided that some, several or all steps of the method are performed in reverse order in order to remove one or more layers of the pallet stack.

[0038] Through the advantages and effects of the above-mentioned palletizing robot head and the above-mentioned palletizing robot and the expansion scheme, more advantages and effects and expansion schemes of the method can be obtained. Therefore, to avoid repetition, please refer to the previous description.

[0039] In the method, after the step of receiving at least one layer to be palletized, the first component and the second component can be arranged one above the other in the moved-in position. Here, the centers of gravity of the two components can be arranged one above the other or overlap, for example, horizontally.

[0040] It is also conceivable that, before the step of receiving at least one layer to be palletized, the first component can be adjusted, for example, according to the dimensions of the at least one layer to be palletized, for example its footprint.

[0041] For example, the first component can have a centering frame which can be adjusted by a centering frame drive according to the dimensions of at least one layer to be palletized.

[0042] According to another example, the first component may at least partially surround the at least one layer to be palletized after being moved to the receiving position.

[0043] Furthermore, in another example, the palletizing robot head may rotate about a vertical axis, preferably 180°, when moving to the palletizing position.

[0044] Furthermore, in the step of receiving at least one layer to be palletized and / or moving out the second component, the first component can, for example, be moved out a first distance and the second component can be moved out a second distance, wherein the length of the second distance corresponds to at least one third of the sum of the first distance and the second distance, preferably at least 50%.

[0045] If the length of the second distance corresponds to half the length of the first distance, the path or distance that the second component moves relative to the palletizing robot head can be the same as the path or distance that the first component moves relative to the palletizing robot head. Therefore, the first and second components can move substantially synchronously with the palletizing robot head. However, in some embodiments, the length of the first distance can be less than half the length of the second distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Below, exemplary embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings:

[0047] Figure 1a , b show exemplary embodiments of a schematically depicted palletizing robot head in a moved-in position (a) and a moved-out position (b), each being a side view;

[0048] Figure 2 shows a schematic front view of an embodiment of the present invention according to FIG1 ;

[0049] Figure 3 According to Figure 1 and Figure 2 A schematic top view of the embodiment of the present invention shown in the removed position, wherein the first component is not shown;

[0050] Figure 4 According to Figure 1 to Figure 3 A schematic top view of an embodiment of the present invention shown in a removed position;

[0051] Figure 5a-i shows a schematic diagram of an embodiment of a palletizing robot according to the invention at different times of a process according to the invention; and

[0052] Figure 6 A flow chart of the method according to the invention is shown. DETAILED DESCRIPTION

[0053] Figures 1a to 4 An embodiment of a palletizing robot head 1 according to the invention is shown.

[0054] Figure 1a The palletizing robot head 1 is shown in the removed position. Figure 1b Shown in the moved-in position. Figure 2 A front view of the palletizing robot head 1 is shown. Figure 3 and Figure 4 The top view of the palletizing robot head 1 is shown respectively, wherein Figure 3 Some elements are not shown in the figure to facilitate a better overview.

[0055] according to Figure 1a The palletizing robot head 1 has a first component 7 and a second component 3. The first and second components 3 and 7 are movably mounted on the palletizing robot head 1. That is, the two components 3 and 7 can be moved out of the palletizing robot head 1 or moved into the palletizing robot head 1. During the process of moving one or both components 3 and 7 out and in, the palletizing robot head 1 can remain stationary. Figure 1a The first and second components 3 , 7 are shown in a retracted position in which they are retracted into the palletizing robot head 1 .

[0056] In the example shown in the figure, the second component 3 has a carrier plate onto which at least one to-be-palletized layer 102 can be pushed. The carrier plate is configured to carry at least one to-be-palletized layer in which a plurality of objects (such as containers or bundles) are grouped together.

[0057] Figure 1b The first and second components 3, 7 are shown in the removed position. In the removed position, the first and second components 3, 7 are removed from the palletizing robot head 1. In the removed position, the first component 7 can receive at least one layer 102 to be palletized, which is exemplarily located at Figures 5a to 5i The first component 7 can receive at least one layer 102 to be palletized independently of the second component 3. The second component 3 acts as a counterweight for the first component 3 in the removal position and between the removal position and the movement in position, so that the center of gravity of the palletizing robot head 1 can be kept close to the palletizing robot head 1. As a result, the palletizing robot head 1 is more stable and can move in a controlled manner during the removal and movement in of the two components 3 and 7.

[0058] In addition, the palletizing robot head 1 can also move during the process of moving out or in the two components 3, 7. Therefore, the movement of the palletizing robot head 1 can compensate for the movement of one of the two components 3, 7 out or in, so that the corresponding component 3, 7 appears motionless.

[0059] Furthermore, the palletizing robot head 1 can have a carrying frame 6 to which the first and / or second component 3, 7 can be connected, e.g. Figure 2 Here, the supporting frame 6 and the second component 3 can be connected to each other and can move relative to each other. In addition, the supporting frame 6 and the first component 7 can also be connected to each other and can move relative to each other.

[0060] The palletizing robot head 1 or the carrier frame 6 can have a first linear guide 8, along which the first component 7 can be guided. In addition, the palletizing robot head 1 or the carrier frame 6 can also have a second linear guide 9, along which the second component 3 can be guided. For example, the first linear guide 8 and / or the second linear guide 9 can have guide grooves and / or guide rails.

[0061] like Figure 2 and Figure 3 As shown, the palletizing robot head 1 may also have a drive device 12. The drive device 12 may be configured to move the second component 3 relative to the palletizing robot head 1 or the supporting frame 6 and / or vice versa. In some embodiments, the drive device 12 may include an electric motor. Alternatively or additionally, the drive device 12 may also be configured to be connected to an electric motor, for example when the palletizing robot head 1 is fixed to the palletizing robot 100 and the palletizing robot 100 includes a corresponding electric motor. The drive device 12 may have one or more of the following group of elements: a belt 13, a belt transmission, a gear, a rack, a transmission and / or a drive element. The belt 13 may have a toothed belt.

[0062] Furthermore, the drive device 12 may also be configured to move the first component 7 and / or the second component 3 relative to the palletizing robot head 1 or the supporting frame 6 .

[0063] The drive device 12 and / or the first linear guide device 8 are arranged and / or controlled so that the first component 7 can move a first distance S1 relative to the palletizing robot head 1 or the carrying frame 6. The first distance S1 may be a maximum distance, i.e. a maximum distance between two accessible points that are as far away from each other as possible along the first linear guide device 8. In addition, the first distance S1 may correspond to a movement distance of the first component 7 relative to the palletizing robot head 1 or the carrying frame 6 when the first component 7 is transferred from the moved-out position to the moved-in position and / or vice versa. The first distance S1 may also refer to a distance that the first component 7 and / or the palletizing robot head 1 and / or the carrying frame 6 actually moves, i.e. the first distance S1 may be less than the maximum distance along the first linear guide device 8.

[0064] In addition, the drive device 12 and / or the second linear guide device 9 can be configured and / or controlled so that the second component 3 can move a second distance S2 relative to the palletizing robot head 1. The second distance S2 can be a maximum distance, i.e., the maximum distance between two accessible points that are as far away from each other as possible along the second linear guide device 9. In some embodiments, the second distance S2 can correspond to the distance that the second component 3 moves relative to the palletizing robot head 1 or the carrying frame 6 when the second component 3 is transferred from the moved-out position to the moved-in position and / or vice versa. The second distance S2 can also refer to the distance that the second component 3 and / or the palletizing robot head 1 and / or the carrying frame 6 actually moves, i.e., the second distance S2 can be less than the maximum distance along the second linear guide device 9.

[0065] If the first and / or second components 3, 7 are switched between the moved-out position and the moved-in position, the first component 7 may be moved relative to the second component 3 by a third distance S3, and vice versa. The third distance S3 may correspond to the sum of the first distance S1 and the second distance S2. In some embodiments, the ratio of S2 / S3 may be between 1 / 3 and 2 / 3, such as 1 / 2. In some embodiments, the ratio of S2 / S3 may be substantially 1, and / or the length of the distance S2 may substantially correspond to the length of the distance S1.

[0066] In some embodiments, it can be provided that the drive device 12 can be coupled to the second component 3 and / or the first component 7 via a transmission device. The transmission device can have a transmission ratio, which can be selected so that, for example, the ratio of the second distance S2 moved by the second component 3 relative to the palletizing robot head 1 or the carrying frame 6 along the second linear guide device 9 to the first distance S1 moved by the first component 7 relative to the palletizing robot head 1 or the carrying frame 6 along the first linear guide device 8 can be fixed.

[0067] In some embodiments, the ratio of the first distance to the second distance S1 / S2 may be or may be selected such that it substantially corresponds to the ratio of two weight forces G1 / G2, wherein the weight force G1 may correspond to the weight force of the first component 7 acting on the center of gravity of the first component 7 (possibly with the layer to be conveyed 102), and the weight force G2 may correspond to the weight force acting on the center of gravity of the second component 3. Thus, the second component 3 acts as a counterweight for the first component 7 (possibly including at least one layer to be palletized received by the first component 7). It may be provided that the second component 3 and the first component 7 may be movable relative to the palletizing robot head 1 and the carrying frame 6, respectively.

[0068] like Figure 4 As shown, the palletizing robot head 1 can have a centering frame 2. The centering frame 2 can be connected to the first component 7. The centering frame 2 can be arranged to contact and / or push at least one layer to be palletized 102. It can be provided that when the first component 7 is displaced relative to the second component 3 and / or the palletizing robot head 1 or the supporting frame 6, the centering frame 2 pushes the at least one layer to be palletized 102 onto the second component 3. The at least one layer to be palletized 102 can be provided so that in the removal position and / or the receiving position, the centering frame 2 and / or the centering frame element 5 of the centering frame 2 can contact and / or at least partially surround the layer to be palletized 102, or at least be brought into the position of the at least one layer to be palletized 102 along the loading direction B. If the first component 7 is moved along the loading direction B, the centering frame 2 can correspondingly push the at least one layer to be palletized 102 along the loading direction B. For example, the centering frame element 5 can be made of a sliding material or a different material, which can be selected according to the requirements for the centering frame element 5.

[0069] The centering frame 2 may be substantially rectangular and / or square and is configured to support and / or hold the layer 102 to be palletized. In some embodiments, each side of the centering frame 2 may be formed by at least one centering frame element 5. If a plurality of centering frame elements 5 are provided on one side, they may be arranged parallel to each other and / or one above the other. In some embodiments, the centering frame 2 may be formed by four, eight or more centering frame elements 5.

[0070] The centering frame 2 may consist of one or more centering frame elements 5 and / or have one or more centering frame elements 5. In some embodiments, the palletizing robot head 1 may have at least one centering frame drive 4, which may, for example, be operated independently of the drive 12. It may be provided that a centering frame drive 4 is arranged on each side of the centering frame 2 and / or the first component 7. The centering frame elements 5 may be connected to the first component 7 and / or the centering frame drive 4 via one or more centering frame connectors 15. In some embodiments, every two centering frame elements 5 may be connected to the first component 7 and / or the centering frame drive 4 via one or more centering frame connectors 15, respectively. The centering frame drive 4 may be or include an electric motor and / or be driven by such an electric motor. Alternatively or additionally, the centering frame drive 4 may be or include a pneumatic cylinder and / or be driven by such a pneumatic cylinder.

[0071] The centering frame drive 4 can be configured to adjust at least one centering frame element 5 relative to the first component 7 to grasp or clamp at least one layer to be palletized. In some embodiments, the centering frame drive 4 can adjust the centering frame element 5 relative to the first component 7 along the longitudinal direction L of the palletizing robot head 1. Alternatively or additionally, it can also be provided that another centering frame drive or the centering frame drive 4 can adjust the centering frame element 5 relative to the first component 7 along the transverse direction Q of the palletizing robot head 1. The centering frame drive 4 and / or the first component 7 can have one or more centering frame rails 10, along which the centering frame 2 and / or the centering frame element 5 and / or the centering frame drive 4 can move.

[0072] The centering frame 2 and / or the centering frame element 5, in particular the area encompassed by the centering frame 2 and / or the centering frame element 5, can be adjusted and / or regulated. The centering frame 3 and / or the centering frame element 5 can be adjusted to the at least one layer 102 to be palletized. In particular, the area encompassed by the centering frame 3 can be adapted to the dimensions of the at least one layer 102 to be palletized, such as its footprint, outer contour or perimeter or the like. This can ensure that the centering frame 3 can completely or at least partially surround the at least one layer 102 to be palletized in the receiving position. It can be provided that the centering frame 3 in the receiving position can at least partially surround the at least one layer 102 to be palletized, so that when the centering frame 3 at least partially surrounds the at least one layer 102 to be palletized, there is only a small spacing and / or substantially no spacing between the at least one layer 102 to be palletized and the centering frame 3 and / or the centering frame element 5. Thus, it can be provided that the centering frame 2 can be in substantially direct contact with the at least one layer to be palletized 102 when the first component 7 and / or the centering frame 2 is moved in the loading direction B. It can be provided that the centering frame 3 can laterally contact and / or support or guide the at least one layer to be palletized 102 when the at least one layer to be palletized 102 is pushed. Alternatively or additionally, the centering frame 3 and / or the centering frame element 5 can also grip the at least one layer to be palletized.

[0073] The first component 7 can have a supporting frame, to which the centering frame 2 can be fastened.

[0074] The palletizing robot head 1 may have a robot arm connection element 11. The robot arm connection element 11 may be configured to detachably connect the palletizing robot head 1 to the robot arm 102 of the palletizing robot 100.

[0075] Figures 5a to 5i An embodiment of a palletizing robot 100 according to the invention is shown, which has a robot arm 101 connected to a palletizing robot head 100. The palletizing robot head 100 may have one, more or all of the above-mentioned features and / or advantages. The palletizing robot 100 may rotate about an axis of rotation X. The palletizing robot 100 may be arranged so that the palletizing robot head 100 moves between a receiving position and a palletizing position, and / or vice versa. The palletizing robot may have a control unit and / or be controlled by a control unit.

[0076] The palletizing robot 100 and / or the palletizing robot head 1 may have a sensor (not shown). For example, the palletizing robot 100 and / or the palletizing robot head 1 may have a distance sensor for detecting the distance between the palletizing robot head 1 and / or the palletizing robot 100 and the layer 102. For example, the layer 102 may be arranged in a palletizing position and / or a layer placed on a pallet stack. In addition, the distance to the pallet stack and / or the distance to the provided layer 102 received at the receiving position may also be measured. For example, the palletizing robot 100 and / or the palletizing robot head 1 may have a height sensor for detecting the height of the palletizing robot head 1 above a reference plane.

[0077] The receiving position may be a position in which the palletizing robot 100 and / or the palletizing robot head 1 has received or can receive at least one to-be-palletized layer 102. The palletizing position may be a position in which at least one to-be-palletized layer 102 received by the palletizing robot 100 and / or the palletizing robot head 1 has been palletized and / or has been put down or can be palletized and / or can be put down.

[0078] Figures 5a to 5i Nine different time points of a method 500 for palletizing at least one layer 102 to be palletized according to the invention are shown, wherein the steps of the method 500 follow Figure 6 Flowchart of the process.

[0079] Figure 5a The time point at which the palletizing robot head 1 is located between the receiving position and the palletizing position is shown. The palletizing robot head 1 can be in a moving-out position in which the first and second components 3, 7 are moved out of the palletizing robot head 1. The first component 7 can be moved out relative to the palletizing robot head 1 or the carrying frame 6 against the loading direction B. The second component 3 can be moved out relative to the palletizing robot head 1 or the carrying frame 6 along the loading direction B. Figure 5a The time point shown in can be after the time point at which the palletizing robot 100 and / or the palletizing robot head 1 puts down and / or palletizes at least one layer 102 to be palletized. Figure 5a At the time shown, the palletizing robot 100 and / or the palletizing robot head 1 does not hold and / or convey the layer 102 to be palletized. Figure 5a At the time point shown, at least one to-be-palletized layer 102 may be provided, for example, at or near the receiving position. In this case, a plurality of layers 102 already stacked one above the other may be provided at the receiving position.

[0080] Figure 5b The point in time at which the palletizing robot 100 and / or the palletizing robot head 1 moves to the receiving position according to step 501 , so that the centering frame 2 or the first component 7 at least partially receives or surrounds at least one layer 102 to be palletized according to step 502 .

[0081] If at least one layer 102 to be palletized has been or is about to be received by the first component 7 or is at least partially surrounded and / or contacted by the centering frame 2, at least one layer 102 to be palletized can be pushed onto the carrying plate 3 of the second component 3 while the first component 7 moves along the loading direction B, that is, in this example, this is achieved by moving the first component 7 and the second component 3 into the palletizing robot head 1.

[0082] Figure 5c The time point at which at least one layer 102 to be palletized is at least partially pushed onto the carrier plate 3 is shown. When the at least one layer 102 to be palletized is pushed, the first component 7 moves relative to the palletizing robot head 1 or the carrier frame 6 and the second component 3 or the carrier plate in the loading direction B. Here, the palletizing robot head 1 or the carrier frame 6 also moves relative to the second component 3 in the loading direction B. Here, the second component 3 can be moved relative to the palletizing robot head 1 or the carrier frame 6 against the loading direction B. It can be provided that when the first component 7 moves relative to the palletizing robot head 1 or the carrier frame 6, the movement of the robot arm 101 in the loading direction B can be superimposed on the movement of the second component 3 relative to the carrier frame 6, so that the second component 3 remains fixed in position as seen by an observer. Since both the first component 7 and the palletizing robot head 1 or the carrier frame 6 move when the at least one layer 102 to be palletized is pushed, while the second component 3 moves in relative to the first component 7, the torque acting on the palletizing robot head 1 or the robot arm 101 by the first and second components 3, 7 is at least partially compensated for in relation to the palletizing robot head 1 or the robot arm 101. Furthermore, the time required to push at least one layer 102 to be palletized onto the carrier plate can be reduced by moving in the second component 3. Here, the movement speed of the palletizing robot head 1 in the loading direction is the same as the speed at which the second component 3 or the carrier plate is moved into the palletizing robot head 1. Therefore, the movement of the palletizing robot head 1 is superimposed on the movement of the second component 3 being moved in.

[0083] like Figure 5d and 5e As shown, after at least one layer 102 to be palletized is pushed, the robot 100 and / or the robot arm 101 can move to the palletizing position according to step 503. During the movement, the first and second components 3, 7 can be in the moved-in position. The supporting frame 6, the first component 7 and the second component 3 can be arranged one above the other and form a compact group. For example, the respective centers of gravity and / or midpoints can overlap each other or be arranged horizontally one above the other.

[0084] exist Figure 5fAt the time point shown, the palletizing robot 100 and / or the palletizing robot head 1 is in the palletizing position. In this palletizing position, the second component 3 or the carrier plate can be moved relative to the first component 7 and / or the centering frame 2 and moved out of the palletizing robot head 1 or the carrier frame 6 along the loading direction B according to step 504, as shown in FIG. Figure 5g As shown. At the same time, the palletizing robot head 1 or the carrying frame 6 can move relative to the first component 7 and / or the centering frame 2, wherein the first component 7 is moved out of the palletizing robot head 1. When the second component 3 moves, the first component 7 and / or the centering frame 2 can contact and / or hold at least one layer to be palletized 102, so that the second component 3 and / or the carrying plate can be pulled out under at least one layer to be palletized 102. If the second component 3 is completely moved out and / or pulled out under at least one layer to be palletized 102, the at least one layer to be palletized 102 can be palletized or has been palletized.

[0085] It can be provided that the movement speed of the palletizing robot head 1 in the loading direction is the same as the speed at which the first component 7 or the centering frame 2 is removed from the palletizing robot head 1. Therefore, the movement of the palletizing robot head 1 is superimposed on the removal movement of the first component 7, so that the first component 7 or the centering frame 2 remains in a fixed position. When the carrier plate is pulled out, since both the second component 3 and the carrier frame 6 move under at least one layer 102 to be palletized, the torque acting on the palletizing robot head 1 or the robot arm 101 by the first and second components 3, 7 is at least partially torque-compensated as far as the palletizing robot head 1 or the robot arm 101 is concerned. In addition, the time required for the second component 3 to be put down or palletize at least one layer 102 to be palletized can also be shortened by the movement of the robot arm 101.

[0086] exist Figure 5h At the time point shown, the carrier plate 3 can be completely moved. At this time point, the first component 7 can be completely removed from the palletizing robot head 1. In addition, the first component 3 and the second component 7 can be in the removed position. Subsequently, the palletizing robot head 1 and / or the palletizing robot 100 can be moved to the receiving position, such as Figure 5i As shown, in order to palletize the next layer 102.

[0087] In certain embodiments, Figures 5a to 5i The steps, controls and / or times shown can be carried out in reverse order, so that the palletizing robot 100 and / or the palletizing robot head 1 can gradually remove a layer 102 of the pallet stack.

[0088] The above examples are by no means limiting of the present invention. On the contrary, the present invention can be modified in many ways. All the above features of the present invention can constitute the basic features of the present invention alone or in any combination.

[0089] Reference numerals list

[0090] 1 Palletizing robot head

[0091] 2 Centering frame

[0092] 3 Second Component

[0093] 4 Centering frame drive

[0094] 5 Centering frame elements

[0095] 6 Loading frame

[0096] 7. First Component

[0097] 8First linear guide device

[0098] 9 Second linear guide device

[0099] 10 Centering frame rails

[0100] 11Robot arm connection elements

[0101] 12. Drive device

[0102] 13 Belt

[0103] 15 Centering frame connector

[0104] 100 Palletizing Robot

[0105] 101 Robot Arm

[0106] 102nd floor

[0107] X Rotation Axis

[0108] B Loading direction

[0109] L vertical

[0110] Q horizontal.

Claims

1. A palletizing robot head (1) of a palletizing robot (100) for palletizing bundles or containers, comprising a first component (7) and a second component (3), wherein the first component (7) and the second component (3) are movable relative to each other in opposite directions between a moving-out position and a moving-in position, It is characterized in that The first component (7) is moved out from the palletizing robot head (1) in a moving-out position and is configured to receive at least one layer to be palletized (102) and is moved into the palletizing robot head (1) in a moving-in position, wherein the second component (3) is configured as a counterweight for the first component (7) at least in the moving-out position and between the moving-out position and the moving-in position.

2. The palletizing robot head (1) according to claim 1, It is characterized in that The first component (7) and the second component (3) are simultaneously movable relative to each other in opposite directions between a moved-out position and a moved-in position.

3. The palletizing robot head (1) according to claim 1 or 2, It is characterized in that In the extended position and between the extended position and the extended position, a first torque applied by the first component (7) to the palletizing robot head (1) is substantially equal to a second torque applied by the second component (3) to the palletizing robot head (1).

4. The palletizing robot head (1) according to any one of claims 1 to 3, It is characterized in that The first component (7) has at least one centering frame (2) for receiving a layer (102) to be palletized, wherein the centering frame (2) is preferably designed to move the layer (102) to be palletized.

5. The palletizing robot head (1) according to any one of claims 1 to 4, It is characterized in that The second component (3) has a support device for the layer (102) to be palletized, wherein the support device is designed in particular as a carrier plate for arrangement below the layer (102) to be palletized.

6. The palletizing robot head (1) according to any one of claims 1 to 5, It is characterized in that The palletizing robot head (1) has a carrying frame (6), wherein the first component (7) and the second component (3) are mounted so as to be movable along the carrying frame (6) between a moved-out position and a moved-in position.

7. The palletizing robot head (1) according to any one of claims 1 to 6, It is characterized in that The first component (2) is offset from the retracted position by a first distance (S1) in the retracted position and the second component (3) is offset from the retracted position by a second distance (S2), wherein the length of the second distance (S2) corresponds to at least one third of the sum of the first and second distances (S1, S2), preferably at least 50%.

8. A palletizing robot (100), comprising a robot arm (101) and a palletizing robot head (1) according to one of the preceding claims connected to the robot arm (101).

9. The palletizing robot (100) according to claim 8 is configured to superimpose the movement of the robot arm (101) with the movement of the second component (3) and the first component (7) when receiving the layer to be palletized (102), wherein preferably, the second component (3) remains in a fixed position during the movement.

10. The palletizing robot (100) according to claim 8 or 9 is configured to superimpose the movement of the robot arm (101) with the movement of the second component (3) and the first component (7) when placing down the layer to be palletized (102), wherein preferably, the first component (7) remains in a fixed position during the movement.

11. A method (500) for palletizing at least one layer (102) to be palletized using a palletizing robot (100) according to any one of claims 8 to 10, The following steps are involved: - moving (501) a palletizing robot head (1) of a palletizing robot (100) to a receiving position, wherein in the receiving position a first component (7) of the palletizing robot head (1) is moved out of the palletizing robot head (1) counter to a loading direction (B) and a second component (3) is moved out of the palletizing robot head (1) along the loading direction (B); - receiving (502) at least one layer (102) to be palletized with the first component (7) in the receiving position, and moving the first component (7) into the palletizing robot head (1) along the loading direction (B), wherein when the first component (7) is moved in, the palletizing robot head (1) moves along the loading direction (B) and the second component (2) moves into the palletizing robot head (1), so that the second component (3) remains in a fixed position; - moving (503) the palletizing robot head (1) to the palletizing position; as well as - In the palletizing position, the second component (3) is moved out of the palletizing robot head (1) along the loading direction (B) (504), wherein when the second component (3) is moved out, the palletizing robot head (1) moves along the loading direction (B) and the first component (7) is moved out of the palletizing robot head (1) to put down at least one layer to be palletized (102), so that the first component (7) remains in a fixed position.

12. The method (500) according to claim 11, in, After the step (502) of receiving at least one layer (102) to be palletized, the first assembly (7) and the second assembly (3) are arranged one above the other.

13. The method (500) according to claim 11 or 12, in, Prior to the step (502) of receiving at least one layer (102) to be palletized, the first component (7) is adapted to the dimensions of the layer (102) to be palletized, for example its footprint.

14. The method (500) according to any one of the preceding claims 11 to 13, in, After being moved into the receiving position, the first component (7) at least partially surrounds the at least one layer (102) to be palletized.

15. The method (500) according to any one of the preceding claims 11 to 14, in, In the step (502) of receiving at least one layer (102) to be stacked and / or the step (504) of removing the second component (3), the first component (7) is removed at a first distance (S1) and the second component (3) is removed at a second distance (S2), wherein the length of the second distance (S2) corresponds to at least one third of the sum of the first and second distances (S1, S2), preferably at least 50%.

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