Device and method for folding a load carrier that can be folded over its pivotable side walls

Abstract

Device (10) for folding a load carrier (14) that is foldable over its pivotable side walls (12), comprising a folding area (16), a first pair of links (18) comprising two first folding links (20) arranged at opposite first edges (22) of the folding area (16) and movable translationally towards each other and thus into the folding area (16) along a first direction of movement, and a second pair of links (24) comprising two second folding links (26) arranged at opposite second edges (28) of the folding area (16), each arranged next to one of the first edges (22), and movable translationally towards each other and thus into the folding area (16), wherein the load carrier (14) can be positioned in the folding area (16) in such a way,that in the respective process of the two first folding elements (20) and the two second folding elements (26), each of these folding elements (20, 26) makes one of the side walls (12) of the charge carrier (14) movable for folding it together.

Description

[0001] The invention relates to a device for folding a load carrier that can be folded via its pivotable side walls according to patent claim 1. Furthermore, the invention relates to a method for folding a load carrier that can be folded via its pivotable side walls according to patent claim 6.

[0002] In production facilities, such as vehicle production, various container types are often used during assembly, for example, for transport between individual production sites or for transport on conveyor systems. A common container type in vehicle production is a small load carrier (KLT) of the type designated 6410 by the German Association of the Automotive Industry (VDA). This KLT is characterized by its collapsibility, primarily via its pivoting side walls. Such a load carrier offers the advantage that it can be folded once it is empty, thus saving space and / or costs.

[0003] DE 102 52 374 A1 discloses a device for folding containers with a rectangular container base and folding walls pivotable toward the container interior, of which two opposing folding walls are pivotable first and two opposing folding walls are pivotable last. Furthermore, EP 3 744 648 A1 discloses a device for folding a foldable box, wherein the foldable box comprises a base, a first pair of opposing walls pivotable about their upper edges from a locked position to initiate folding of the foldable box, and a second pair of opposing walls configured to deform after the first pair of opposing walls has been moved from the locked position.

[0004] Furthermore, according to the current state of the art, the stacking of load carriers is primarily carried out by tugger train drivers. Since more and more automated tugger trains are being used in factories, the object of the present invention is to provide an automated solution for stacking load carriers.

[0005] This problem is solved by the subject matter of the independent patent claims. Advantages and advantageous embodiments of the invention are set forth in the remaining patent claims, the description, and the drawings.

[0006] A first aspect of the invention relates to a device for folding a load carrier that can be folded via its pivotable side walls. The device has a folding region and comprises a first pair of links, which comprises two first folding links that are arranged on opposite, first edges of the folding region and can be moved translationally toward one another along a first direction of movement and thus into the folding region. Furthermore, the device comprises a second pair of links, which comprises two second folding links that are arranged on opposite, second edges of the folding region, each of which is arranged next to one of these first edges and is thus different from the first edges, and can be moved translationally toward one another and thus into the folding region.According to the invention, the load carrier can be positioned in the folding area in such a way that, during the respective movement of the two first folding elements and the two second folding elements, one of the side walls of the load carrier can be moved or pivoted by each of these folding elements for folding the load carrier. This means that the height at which the respective folding element touches the respective side wall during movement is predetermined or can be predetermined.

[0007] In other words, a device is provided by which a small load carrier (KLT), for example of the KLT-6410 type or functionally identical to it, can be folded or collapsed and thus transferred into a non-use position. The (small) load carrier is characterized in that its side walls, in particular four, can each be folded or pivoted into its interior, whereby an upper region of the small load carrier can be lowered down to its base plate, thus collapsing or folding the load carrier.

[0008] The device according to the invention enables foldable load carriers, in particular small load carriers, to be folded by linear movements of the individual first and second folding members through a respective translational movement, particularly in an intelligent combination. For example, by means of a respective linear mechanism that enables the translational movement of the respective folding member of the respective pair of members, one of the side walls can be pivoted in such a way that the load carrier can be folded or collapsed. The respective folding member, for example at least in the part that can be moved into the folding area, is designed as a simple rod, for example with a rounded tip or a ball in an end region that meets the side wall.It is advantageous if the respective side wall is held in the pivoted-in or pivoted state, at least until all side walls have been pivoted. As a rule, the load carrier is designed in such a way that two of the side walls which are opposite one another can be pivoted together. The side walls which are also opposite one another and adjacent to the first side walls can also be pivoted in and, in the process, folded in halfway up the respective side wall, as a result of which the upper region of the load carrier can be placed on its base plate. It is therefore helpful if the first pair of links is held in this position after a translational movement of the folding links towards one another, by which the first opposite side walls are pivoted in.Advantageously, the second pair of links is subsequently moved in such a way that its folding elements are moved toward each other, pivoting the second pair of opposite side walls, which now allows the load carrier to be folded together. Depending on the design of the load carrier, it may be advantageous for the first pair of links and the second pair of links to pivot the side walls simultaneously or sequentially.

[0009] The device according to the invention offers the advantage that, for example, in a production process in which the load carriers are used, separate, manual folding of the load carriers, for example for storage, can be avoided. One advantage of the device is the automatic folding of the load carriers, which can save storage space and / or costs, for example.

[0010] In an advantageous embodiment of the invention, the first folding members and / or the second folding members can be moved translationally essentially perpendicular to a base surface of the folding region and / or essentially perpendicular to the first direction of movement. The base surface of the folding region is the surface on which the load carrier is positioned for folding with its base plate. Essentially perpendicular means that a deviation from the vertical is possible in a direction in which a vector component perpendicular to the base surface or to the first direction of movement is always greater than the component parallel to the base surface or to the direction of movement. In other words, the first folding members are designed such that they can be raised or lowered relative to the base surface and thus to the base plate of the load carrier.This has the advantage that, particularly after both pairs of links have pivoted the respective side walls of the load carrier inwards, the box can be easily folded by lowering the first folding links, particularly after the second folding links have been moved out of the folding area again.

[0011] In a further advantageous embodiment of the invention, a detection device is provided which is designed to detect the fill level of the unfolded load carrier. In other words, before folding, the load carrier that has not yet been folded is checked to see whether it is completely empty or whether there are still objects in it. In this case, a camera, for example, is provided as the detection device. This camera is connected, for example, to an electronic computing device which can detect the condition or fill level of the load carrier using computer vision. This has the advantage that damage to the device, which could be caused, for example, by an unemptied load carrier or the object located in it, can be avoided.A further advantage is that the device can be operated particularly safely.

[0012] In a further advantageous embodiment of the invention, a holding element is provided which reversibly blocks the introduction of the load carrier into the folding area along an introduction direction. In other words, the holding element prevents a load carrier from being introduced into the folding area if, for example, the device is not yet ready to fold another load carrier. In this case, a conveyor system, such as a conveyor belt or a roller conveyor, can be provided along the introduction direction, by means of which load carriers can be introduced, in particular automatically, into the folding area. In this case, the holding element can now block the introduction into the folding area, for example periodically after a period of time within which the folding of a load carrier is realized by the device, until a new folding is made possible by the device.This has the advantage that the device can be used to automatically combine several load carriers one after the other.

[0013] In a further advantageous embodiment of the invention, at least one positioning element is provided, by which the load carrier can be positioned perpendicular to the insertion direction. In other words, a positioning element, in particular driven by an actuator, is provided, by which the load carrier is positioned transversely to the insertion direction, particularly during automated insertion, for example, by a conveyor system such as a conveyor belt, whereby the load carrier can be correctly inserted into the folding area in order to be folded by the device. This results in the advantage that the device can be operated in a particularly advantageous automated manner.

[0014] A second aspect of the invention relates to a method for folding a load carrier that can be folded via its pivotable side walls in a folding area. In the method according to the invention, two first folding members of a first pair of members, which are arranged at opposite first edges of the folding area, are moved translationally toward each other and thus into the folding area.Furthermore, in the method, two second folding members of a second pair of members, which are arranged on opposite, second edges of the folding region, which are different from the first edges and are each arranged next to one of these first edges, are moved translationally towards one another and thus into the folding region, wherein the load carrier is positioned in the folding region in such a way that during the respective movement of the two first folding members and the two second folding members, one of the side walls of the load carrier is moved by each of these folding members in order to fold it together.

[0015] Advantages and advantageous embodiments of the first aspect of the invention are to be regarded as advantages and advantageous embodiments of the second aspect of the invention and vice versa.

[0016] Advantageously, the two folding elements of each pair of elements are simultaneously moved toward each other in a translational manner, with the first folding elements first pivoting and holding two of the side walls and, as they move toward each other, being moved away from the base of the folding area. And / or after the first two folding elements have been moved toward each other in a translational manner, the second two folding elements pivot in two additional side walls of the load carrier, so that the load carrier can be folded without, in particular, any additional, effort. Thus, the load carrier now generally folds itself due to gravity as soon as the folding elements are removed from the folding area.In other words, the two folding members of the first pair of members are moved towards each other simultaneously in order to pivot the first side walls, wherein after pivoting the first folding members are held in the position in a translationally extended position in a first movement so that the first side walls remain pivoted. Subsequently or simultaneously the first folding members are raised translationally from the base surface or from the base plate of the load carrier so that during retraction or subsequently the side walls are held in an upper region of the load carrier, which makes it easier, for example, to pivot and fold in the second adjacent side walls. Additionally or alternatively the second folding members are retracted in such a way that the other side walls are folded in. This has the advantage that the load carrier can be folded together in a particularly advantageous manner.

[0017] In a further advantageous embodiment of the invention, the second folding members are moved back, and during or after this, the first folding members are lowered toward the base surface, whereby an upper region of the load carrier is lowered and the load carrier is thus folded. In other words, after the side walls of the load carrier have been pivoted in, the upper region of the load carrier is lowered down to the base plate of the load carrier. Subsequently, or as the folding members are lowered, they are moved back out of the folding area so that the load carrier can finally be folded.For example, by lowering the folding elements toward the base of the folding area or the base plate of the load carrier, it can be achieved that the folding elements do not have to be moved out of the folding area particularly quickly, thus preventing, for example, one of the side walls from pivoting out again during folding. This has the advantage that the load carrier can be folded particularly reliably.

[0018] In a further advantageous embodiment of the invention, a respective force with which the respective folding member is moved into the folding area is adapted to a resistance that needs or must be applied to pivot the respective side wall. In other words, the respective folding member is subjected to a force, for example by an actuator, depending on the force required to fold in or pivot a side wall. For example, it is technically complex to fold the load carrier because it may, for example, be damaged, whereby pivoting at least one of the side walls requires more force than with an undamaged load carrier.This has the advantage that by adjusting the force required for folding, the load carrier can be folded particularly stably and uniformly.

[0019] In a further advantageous embodiment of the invention, the load carrier is automatically introduced into and / or removed from the folding area by means of a conveyor. In other words, the device is positioned on a conveyor system, for example designed as a conveyor belt, or the method is carried out there, such that the folding area forms, for example, part of the conveyor system. For example, the conveyor can be designed in particular as a roller conveyor, so that part of the roller conveyor forms the base area of ​​the folding area. This results in the advantage that the method can be applied automatically and particularly advantageously with a large number of consecutive load carriers.

[0020] Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective specified combination, but also in other combinations or on their own.

[0021] The invention will now be explained in more detail using a preferred embodiment and with reference to the drawings. It shows: Fig. 1 shows a schematic perspective view of a device for folding a load carrier that can be folded via its pivotable side walls; Fig. 2 shows a schematic perspective view of a folding region of the device in which the load carrier is arranged; Fig. 3 in a schematic perspective view the load carrier according to Fig. 1 and Fig. 2 with a holding element and at least one positioning element for positioning the load carrier; Fig. 4 a schematic flow diagram of a method for merging the load carrier; Fig. 5 in two diagrams a force required to pivot opposite side walls of the load carrier; Fig. 6 shows a schematic perspective view of a second embodiment of the device.

[0022] Fig. 1 shows a schematic perspective view of a device 10 for folding a load carrier 14 which can be folded via its pivotable side walls 12. The device 10 has a folding area 16. Furthermore, the device comprises a first pair of links 18 which comprises two first folding links 20 which are arranged at opposite first edges 22, in Fig. 2, of the folding area 16. The first folding members 20 are translationally movable along a first direction of movement towards each other and thus into the folding area 16. Furthermore, the device comprises a second pair of members 24, which comprises two second folding members 26, which are shown schematically in the Fig. 2, which are arranged on opposite second edges 28 of the folding area 16 and can be moved translationally towards each other and thus into the folding area 16. The second edges 28 are different from the first edges 22 and are arranged in particular next to them.

[0023] In particular, with a rectangular base plate 30 of the load carrier 14, the load carrier 14 has four side walls 12, so that the respective edges 22 and 28 are arranged such that the pair of links 18 with the edges 22 is arranged at opposite ends of the base plate 30 on the folding region 16, and the pair of links 24 with the edges 28 is arranged on opposite sides of the base plate 30 or a base surface 34 of the folding region 16. Thus, each of the folding links 20 and 26 is arranged on one side of the load carrier 14 and thus each assigned to a side wall 12.

[0024] In the device 10, the load carrier 14 can be positioned in the folding area 16 in such a way that, during the respective movement of the two first folding members 20 and the two second folding members 26, one of the side walls 12 of the load carrier 14 can be moved by each of these folding members 20 and 28, respectively, for its folding.

[0025] The device 10 of the Fig. 1 to 3 and the Fig. 6 is further suitable for carrying out a method for folding a load carrier 14 which can be folded via its pivotable side walls 12 in a folding area 16, with a first pair of links 18 which comprises two first folding links 20 which are arranged on opposite first edges 22 of the folding area 16 and are moved translationally towards one another and thus into the folding area 16, and with a second pair of links which comprises two second folding links 26 which are arranged on opposite second edges 28 of the folding area 16, which are different from the first edges 22 and each arranged next to one of these first edges 22, and are moved translationally towards one another and thus into the folding area 16, wherein the load carrier 14 is positioned in the folding area 16 in such a way that during the respective movement of the two first folding links 20 and the two second folding links 26,By means of each of these folding members 20 and 26, one of the two side walls 12 of the load carrier 14 is moved for folding the load carrier. The method can advantageously be carried out automatically, with the load carrier 14 being introduced into or removed from the folding area 16 by means of a conveyor 32, which can be designed, in particular, as a roller conveyor.

[0026] It has proven advantageous if the conveying means 32 forms a base surface 34 of the folding area 16, on which in particular the base plate 30 of the load carrier 14, which is designed in particular as a small load carrier of type 6410, rests, whereby the load carrier 14 can be folded particularly easily.

[0027] Fig. 2 shows in a schematic perspective view in particular a section of the device 10 of the Fig. 1, wherein the load carrier 14 is inserted into the folding region 16 and, in particular, the right folding member 20 of the pair of members 18 has already pressed in one of the side walls 12 of the load carrier 14. The first folding members 20 are advantageously movable or displaceable substantially perpendicular to the base surface 34 of the folding region 16 and thus substantially perpendicular to the first direction of movement, which runs in the image plane, in particular in the transverse direction.

[0028] Advantageously, in contrast to the Fig. 2, the two folding members 20 and 26 of the respective pair of members 18 and 24 are simultaneously moved translationally towards each other, wherein the first folding members 20 first pivot two of the side walls 12 and keep them pivoted. Now, during the retraction of the first folding members 20 or subsequently, these can be moved away from the base surface 34 and thus lifted, whereby the two opposite side walls 12, which are in the Fig. 2 are oriented to the left and right, can be held particularly advantageously and thus do not hinder the pivoting of the further side walls 12 when the second folding members 26 are retracted, so that the load carrier 14 can subsequently be folded together without any effort.

[0029] The folding members 20 and 28 can, for example, be designed as simple rods, which, for example, have a rounded end that comes into contact with the side walls 12. The folding members 20 and 26, and thus the respective pair of members 18 and 24, can be driven for translational movement, for example, by means of an actuator (not shown).

[0030] In order for the load carrier 14 to be folded particularly advantageously, the second folding members 26 can advantageously be moved back and, at the same time or subsequently, the first folding members 20 can be lowered in the direction of the base surface 34 or the base plate 30, wherein an upper region of the load carrier 14 is lowered and thus the load carrier 14 is folded.

[0031] Fig. 3 shows a schematic perspective view of the device 10, wherein the device 10 is positioned above the conveyor 32, thus enabling automated insertion of the load carrier 14. In order to ensure a smooth process for combining a plurality of load carriers 14, it is advantageously provided that a holding element 36 is provided, which can reversibly block insertion of the individual load carrier 14 into the folding area 16 along an insertion direction 38. Furthermore, it is provided that at least one positioning element 40 is provided, by means of which the load carrier 14 can be positioned perpendicular to the insertion direction 38. In other words, the load carrier 14 can be inserted into the folding area 16 in a correctly positioned manner by means of the at least one positioning element 40.The holding element 36 can ensure the correct periodicity of successive load carriers 14 so that they can be moved into the folding area 16 by means of the conveyor means 32 evenly, for example at the time interval required for folding or collapsing a load carrier 14.

[0032] In addition, a detection device 42, designed for example as a camera, is provided, which in Fig. 3 is shown schematically, which is designed to detect a fill level of the not yet folded or collapsed and thus unfolded load carrier 14. The detection device 42 can thus determine whether, for example, there are still objects in the load carrier 14, wherein the detection device 42 has, for example, machine vision for this purpose. If it is determined that an object is located in the load carrier 14, the load carrier is not collapsed by the device 10 or the method. In order to prevent damage to the load carrier 14 and / or the device 10, the load carrier 14 is, for example, simply conveyed through the device 10 by means of the conveyor 32.

[0033] Computer vision, also known as "computer vision," can, for example, capture information about the fill level of the load carrier 14 using RGB or depth images. This makes it possible, for example, to capture objects that are less than 1 cm in size or height in the folding area 16 or when being inserted into the folding area 16, even under poor lighting conditions. It has proven advantageous to capture essentially flat objects using an RGB image and three-dimensional objects using a depth information image.

[0034] Fig. 4 shows a schematic process for assembling the load carrier 14, wherein, for example, the method already presented is applied and further steps are shown.

[0035] For example, in step S1, the flow of load carriers 14 through the device 10 is determined by the holding element 36. In step S1, the position of the load carrier 14 for the folding area 16 can additionally be prepared, for example by the positioning elements 40.

[0036] In step S2, a check is carried out by means of the detection device 42, for example by means of a stereoscopic camera or a generable 3D point cloud, as to whether the load carrier 14 is unfilled and thus empty.

[0037] In step S3, the actual folding of the load carrier 14 takes place according to the presented folding method.

[0038] Finally, in step S4, in particular automatically via the conveyor means 32, the now folded load carrier 14 is delivered or removed from the device 10, so that the respective load carrier 14 can be picked up there, for example, by a robot.

[0039] Thus, the device 10 itself can be designed, in particular, as a robot for folding the load carrier 14. The device 10 enables the load carrier 14, which can be folded via its side walls 12, to be folded through an intelligent combination of linear movements of the folding members 20 and 26. This can be particularly technically complex, since individual load carriers 14 may be damaged, so that, for example, different amounts of force must be applied to fold the respective load carrier 14.

[0040] This shows Fig. 5 for the left side wall 12 of the Fig. 2 and Fig. 3 above a first force diagram, which indicates the force required to fold or pivot the side wall 12. The lower diagram of the Fig. 5 shows the force required for the Fig. 2 and Fig. 3 right-hand side wall 12.

[0041] Thus, the device 10 is designed, or the presented method allows, a respective force with which the respective folding member 20 or 24 is moved into the folding area 16 to be adapted to a force or resistance that must be applied to pivot the respective side wall 12. This allows the load carrier 14 to be folded in a particularly advantageous manner.

[0042] Finally, Fig. 6 shows a schematic perspective view of a further embodiment of the device 10, wherein this device 10 is arranged according to the Fig.1 to 3 is primarily characterized by a different housing 44. The device 10 is also positioned above a conveyor 32.

[0043] The presented device 10 and the method can provide an automated folding of small load carriers of type 6410 and other load carriers 14 in a particularly advantageous manner.

Claims

[1] Device (10) for folding a load carrier (14) which can be folded via its pivotable side walls (12), with a folding region (16), with a first pair of links (18) which comprises two first folding links (20) which are arranged on opposite, first edges (22) of the folding region (16) and can be moved translationally towards one another along a first direction of movement and thus into the folding region (16), and with a second pair of links (24) which comprises two second folding links (26) which are arranged on opposite, second edges (28) of the folding region (16), which are each arranged next to one of the first edges (22), and can be moved translationally towards one another and thus into the folding region (16), wherein the load carrier (14) can be positioned in the folding region (16) in such a way,that during the respective movement of the two first folding members (20) and the two second folding members (26), one of the side walls (12) of the load carrier (14) can be moved by each of these folding members (20, 26) for its folding. [2] Device (10) according to claim 1, characterized by that the first folding members (20) and / or the second folding members (26) are translationally movable substantially perpendicular to a base surface (34) of the folding region (16) and / or substantially perpendicular to the first direction of movement. [3] Device (10) according to claim 1 or 2, characterized by that a detection device (42) is provided which is designed to detect a fill level of the unfolded load carrier (14). [4] Device (10) according to one of the preceding claims, characterized bythat a holding element (36) is provided which reversibly blocks introduction of the load carrier (14) into the folding region (16) along an introduction direction (38). [5] Device (10) according to claim 4, characterized by that at least one positioning element (40) is provided, by means of which the load carrier (14) can be positioned perpendicular to the insertion direction (38). [6] Method for folding a load carrier (14) which can be folded via its pivotable side walls (12) in a folding area (16), with a first pair of links (18) which comprises two first folding links (20) which are arranged on opposite, first edges (22) of the folding area and are moved translationally towards one another and thus into the folding area (16), and with a second pair of links (24) which comprises two second folding links (26) which are arranged on opposite, second edges (28) of the folding area, which are each arranged next to one of the first edges (22), and are moved translationally towards one another and thus into the folding area (16), wherein the load carrier (14) is positioned in the folding area (16) in such a way that during the respective movement of the two first folding links (20) and the two second folding links (26), each of these folding links (20,26) one of the side walls (12) of the load carrier (14) is moved for its folding., [7] Method according to claim 6, characterized by that the two folding members (20, 26) of the respective pair of members (18, 24) are simultaneously moved translationally towards one another, wherein the first folding members (20) first pivot and hold two of the side walls (12) and are moved away from the base area (34) of the folding region (16) when moving towards one another and / or the two second folding members (26) then pivot in two further side walls (12) of the load carrier (14) so ​​that the load carrier (14) can be folded together without the expenditure of force. [8] Method according to claim 7, characterized bythat the second folding members (26) are moved back from the folding region (16) and, at the same time or subsequently, the first folding members (20) are lowered in the direction of the base area (34), whereby an upper region of the load carrier (14) is lowered and the load carrier (14) is thus folded together. [9] Method according to one of claims 6 to 8, characterized by that a respective force with which the respective folding member (20, 26) is moved into the folding area (16) is adapted to a resistance which needs to be applied to pivot the respective side wall (12). [10] Method according to one of claims 6 to 9, characterized by that the load carrier (14) is automatically introduced into and / or removed from the folding area (16) by means of a conveyor (32).

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