Device for handling objects, handling system, method for handling objects

Abstract

The invention relates to a device (10) for handling objects (12), in particular cardboard boxes (12), with a conveying device (14) comprising at least one continuous conveyor (16), wherein the continuous conveyor (16) comprises at least one circulating conveying element (18) which can be driven by a drive unit (24) in at least one direction of travel (26), and with a gripping device (32) comprising at least one gripping unit (34), wherein the gripping unit (34) is configured to grip at least one object (12) and to arrange the gripped object (12) on the continuous conveyor (16), in particular on the conveying element (18), characterized in that the gripping unit (34) is coupled to the conveying element (18) in such a way that it is moved with the conveying element (18) in the direction of travel (26).

Description

[0001] The present invention relates to a device for handling objects, comprising a conveyor device that includes at least one continuous conveyor, and a gripping device that includes at least one gripping unit. Furthermore, the present invention relates to a handling system comprising such a device and a handling device for handling the device. Furthermore, the present invention relates to a method for handling objects using such a device or such a handling system.

[0002] In logistics, a large number of objects, such as cardboard boxes, typically have to be handled. It is known to use devices comprising a gripping device and a conveying device for handling objects. Such devices are used, for example, when unloading (e.g. stacked) containers or trucks. The gripping device comprises at least one gripping unit designed to grip at least one object. The conveying device often comprises a continuous conveyor which has at least one circulating conveyor element. The conveyor element can be driven by a drive unit in at least one direction of travel. An object gripped by the gripping unit can be arranged on the continuous conveyor. The object arranged on the continuous conveyor can then be transported away by the continuous conveyor.For example, the object is fed to another continuous conveyor downstream of the continuous conveyor.

[0003] In known devices, the gripping unit is typically attached to a robot arm arranged adjacent to the continuous conveyor. Such devices are known, for example, from the publications US 9,701,492 B2, WO 2016 / 054656 A1, US 2017 / 0190054 A1, DE 10 2010 033 115 A1, US 5,015,145 and US 2016 / 0221187 A1. The devices have a comparatively low throughput and are therefore inefficient. This is due in particular to the fact that the robot arm must move the gripping unit with a gripped object to the continuous conveyor in order to arrange the object on the continuous conveyor. Correctly arranging the object on the continuous conveyor can sometimes be time-consuming. The gripped object must then be released from the gripping unit. Only then can the robot arm perform another handling operation using the gripping unit.

[0004] The invention is concerned with the task of improving the efficiency of handling operations in a device for handling objects.

[0005] This object is achieved according to the invention by a device having the features of claim 1, by a handling system having the features of claim 10, and by a method having the features of claim 11. The subclaims and the description specify advantageous variants and embodiments.

[0006] According to the invention, a device for handling objects is provided. In particular, the objects are cardboard boxes, crates, cartons, or boxes. However, the device can also be used to handle other objects.

[0007] The device comprises a conveyor device that includes at least one continuous conveyor. The continuous conveyor comprises at least one circulating conveyor element that can be driven by a drive unit in at least one running direction. A circulating conveyor element is a conveyor element that is closed in the running direction. If a circulating conveyor element is driven in one running direction, each point on the conveyor element returns to its respective starting position at a specific time, depending on the length of the conveyor element and the running speed. In particular, the conveyor element is guided around one or more deflection rollers of the continuous conveyor. Said deflection rollers are preferably rotatably mounted on a base body of the continuous conveyor. The drive unit can be designed to rotate one or more of the deflection rollers. The rotation of the deflection rollers then drives the conveyor element in the running direction.The conveying element can also be driven in the running direction and in a further running direction opposite to the running direction.

[0008] The device further comprises a gripping device comprising at least one gripping unit. The gripping unit is designed to grip at least one object and to place the gripped object within the effective range of the continuous conveyor, in particular on the continuous conveyor on its revolving conveyor element. Depending on the design of the gripping unit, the gripping unit can grip the object in different ways, as explained in more detail below. The gripping unit can also be designed to grip multiple objects simultaneously.

[0009] It is now provided that the gripping unit is coupled to the conveyor element in such a way that it is moved along with the conveyor element in the running direction.

[0010] By coupling the gripping unit to the conveyor element, efficiency with regard to handling processes can be increased. If, following the gripping of an object, the conveyor element is driven in such a way that it is moved in the direction of travel by the gripping unit, the gripping unit and the gripped object are inevitably moved along with the conveyor element. This movement pulls the gripped object onto the continuous conveyor and thereby arranges it on the continuous conveyor. The arrangement of the object on the continuous conveyor results directly from the drive of the conveyor element and the coupling, in particular the forced coupling, of the gripping unit to the conveyor element. Positioning by means of a rotary arm or the like is not necessary. The object arranged on the continuous conveyor can then be detached from the gripping unit and transported further.For example, the detached object is fed to another continuous conveyor downstream of the continuous conveyor.

[0011] The gripping unit preferably comprises a plurality of gripping elements and is configured to grip the object using the plurality of gripping elements. However, the gripping unit can also comprise only a single gripping element and be configured to grip the object using the single gripping element.

[0012] The continuous conveyor is preferably designed as a belt conveyor. This type of continuous conveyor is preferred because a belt conveyor is particularly suitable for the safe transport of objects such as cardboard boxes. However, the continuous conveyor can also be designed as a chain conveyor or circular conveyor.

[0013] The gripping unit is preferably designed as a suction gripper. A suction gripper is designed to grip an object by generating a negative pressure. For this purpose, the gripping element(s) in a suction gripper are designed as suction elements. The gripping element(s) are assigned a negative pressure generating unit which is designed to generate a negative pressure between the gripping element(s) and an object to be gripped. The ambient pressure then presses the gripping element(s) against the object, whereby the required holding force is applied and the object is gripped. One advantage of a gripping unit designed as a suction gripper is that a gripped object can be easily released, namely by ventilating the volume in which the negative pressure is created. However, the gripping unit can also be designed as a clamping gripper or an adhesion gripper.A clamping gripper comprises several gripping elements that can be moved relative to one another such that the object can be clamped between the gripping elements. By clamping the object between the gripping elements, the required holding force is applied and the object is gripped. An adhesion gripper is designed to grip objects using adhesive forces, particularly van der Waals forces. For this purpose, the gripping element(s) in an adhesion gripper are designed with an adhesive structure.

[0014] In some preferred embodiments, the gripping unit comprises a first part and a second part, wherein one or more gripping elements of the gripping unit are arranged on the first part, wherein the first part is coupled to the conveying element by the second part, and wherein the first part is pivotally mounted on the second part. Such a design of the gripping unit offers advantages with regard to the arrangement of the gripping unit on the object to be gripped. By pivoting the first part, a desired orientation of the gripping unit relative to the object can be realized. In addition, the design also offers advantages with regard to the arrangement of a gripped object on the continuous conveyor. Specifically, the first part can, for example, be pivoted counter to the running direction of the conveying element, so that the object is arranged behind the gripping unit on the continuous conveyor in the running direction.Particularly preferably, the first part is pivotally mounted on the second part about a pivot axis oriented perpendicular to the running direction. Preferably, the first part is associated with an actuator configured to pivot the first part relative to the second part.

[0015] In some preferred embodiments, the gripping unit is arranged centrally on the continuous conveyor relative to a width of the continuous conveyor. The width of the continuous conveyor is oriented perpendicular to the running direction of the conveyor element. If the gripping unit is arranged centrally, an object gripped by the gripping unit is pulled onto the continuous conveyor particularly securely by moving the gripping unit in the running direction.

[0016] In some preferred embodiments, the gripping device comprises at least one further gripping unit, wherein the gripping unit and the further gripping unit are arranged one behind the other in the direction of travel. By providing an additional gripping unit, the efficiency of the device with regard to carrying out handling operations can be further increased. For example, if two gripping units are arranged one behind the other in the direction of travel, each of the gripping units can carry out a handling operation during a complete revolution of the conveyor element.

[0017] In some preferred embodiments, the continuous conveyor comprises at least one further circulating conveyor element, wherein the conveyor element and the further conveyor element are arranged next to one another, and wherein a distance between the conveyor element and the further conveyor element is adjustable. Such a design can increase the flexibility of the device. If, for example, small-sized objects are to be handled by means of the device, a small distance between the conveyor elements is set. If, on the other hand, larger objects are to be handled, a larger distance between the conveyor elements is also set. In addition, by providing two conveyor elements between the conveyor elements, an intermediate space is created which is particularly suitable for the arrangement of the gripping element(s). The gripping element is preferably arranged between the conveyor elements.In particular, the conveyor elements can be driven in the running direction by the same drive unit. However, each conveyor element can also be assigned its own drive unit.

[0018] In some preferred embodiments, the device comprises at least one imaging sensor unit configured to detect objects to be grasped. Such a sensor unit allows a user of the device to perform a visual inspection, thereby facilitating a desired arrangement of the gripping unit on the object to be grasped. The sensor unit is preferably configured as a camera sensor.

[0019] The device preferably comprises at least one connecting structure, in particular a connecting flange, for attaching the device to a handling device. The attachment to the handling device can increase flexibility with regard to carrying out handling operations. For example, the handling device can displace the attached device in a vertical direction or change an inclination angle of the device. The connecting structure is preferably attached to the aforementioned base body of the continuous conveyor or formed integrally with the base body.

[0020] The handling system according to the invention comprises a device configured as described above and a handling device for handling the device. Preferably, the device, in particular the continuous conveyor, is releasably attached to the handling device.

[0021] With regard to the advantages achievable with the handling system, reference is made to the relevant explanations of the device and method. The features described in connection with the device and method can be used to further refine the handling system.

[0022] The method according to the invention for handling objects by means of a device designed as described above or a handling system designed as described above comprises at least the following: Gripping at least one object, in particular cardboard, by the gripping unit. Preferably, the object is gripped by generating a negative pressure between the object and one or more gripping elements of the gripping unit.

[0023] The drive unit drives the conveyor element in the direction of travel, whereby the gripping unit is moved in the direction of travel by forced coupling with the conveyor element, and the gripped object is arranged on the continuous conveyor. Preferably, the gripped object is released from the gripping unit after being arranged on the continuous conveyor. The object can then be further handled independently of the gripping unit. Depending on the design of the gripping unit, the gripped object can be released in different ways. For example, if the gripping unit is designed as a suction gripper, the object is preferably released from the gripping unit by ventilating the volume in which the negative pressure is created.

[0024] Advantages and further development possibilities of the device are to be understood as being described in relation to the method and, conversely, advantages and further development possibilities of the method are to be understood as being described in relation to the device.

[0025] In some preferred embodiments of the method, the gripping unit grips the object in a vertically lower region of the object relative to a vertical extent of the object. If the gripping unit grips the object in the vertically lower region, the object is then pulled particularly securely onto the continuous conveyor. If the gripping unit were to grip the object, for example, in a vertically upper region, the lower region could get caught on a front end of the continuous conveyor when attempting to pull it onto the continuous conveyor. This could cause the object to be detached from the gripping unit and fall to the ground. The gripping unit particularly preferably grips the object adjacent to a vertically lower edge of the object.

[0026] In some preferred embodiments of the method, the angle of inclination of the continuous conveyor is changed to grip the object. By changing the angle of inclination, the position of the gripping unit can be adjusted vertically to the position of the object to be gripped.

[0027] In some preferred embodiments of the method, the first part of the gripping unit is pivoted relative to the second part in order to grip the object. The first part is preferably pivoted relative to the second part about the pivot axis oriented perpendicular to the running direction. In certain situations, it may occur that a holding plane of the gripping unit is initially aligned at an angle to a surface of the object to be gripped. This can occur, for example, if the angle of inclination of the continuous conveyor is changed or if the surface to be gripped is not aligned vertically, but at an angle to a vertically oriented axis. By pivoting the first part of the gripping unit, the orientation of the gripping unit can be adapted to the orientation of the surface of the object to be gripped, so that the object can be gripped securely.

[0028] The invention is described in more detail below with reference to the figures, wherein identical or functionally identical elements may be provided with reference numerals only once. The description serves as an example and is not to be understood as limiting. Fig. 1A to 1I a device for handling objects at different times during an unloading process.

[0029] The Fig. 1A to 1I show a side view of a device 10 for handling objects 12. The objects 12 in this case are cardboard boxes 12 that are stored stacked one on top of the other in a container or the like. The figures show the device 10 at successive times during an unloading process. During the unloading process, which will be described in more detail below, three objects 12A, 12B, and 12C, initially arranged stacked one on top of the other, are handled or unloaded by means of the device 10. It should be noted that the device 10 is only shown schematically in the figures.

[0030] First, with reference to Fig. 1A the design of the device 10 is explained in more detail.

[0031] The device 10 comprises a conveyor device 14 with a continuous conveyor 16. The continuous conveyor 16 comprises a rotating conveyor element 18. In the illustrated embodiment, the continuous conveyor 16 is designed as a belt conveyor 16. The conveyor element 18 is a conveyor belt 18. The continuous conveyor 16 also comprises a rotatably mounted first deflection roller 20 and a rotatably mounted second deflection roller 22. The conveyor element 18 is guided around the deflection rollers 20 and 22. In the present case, the deflection rollers 20 and 22 form a front end 28 and a rear end 30 of the continuous conveyor 16, respectively.

[0032] The continuous conveyor 16 also comprises a drive unit 24 which is designed to drive the conveyor element 18 in a running direction 26. In the present case, the drive unit 24 is integrated into the rear deflection roller 22, which in Fig. 1A is indicated by dashed lines. Accordingly, the rear deflection roller 22 is designed as a drive roller.

[0033] In the present case, the continuous conveyor 16 comprises, in addition to the conveyor element 18, a further conveyor element, which is arranged adjacent to the conveyor element 18 and is therefore concealed by the conveyor element 18 in the figures. The further conveyor element can be driven by the drive unit 24. However, the further conveyor element can also be assigned its own drive unit, for example, a drive roller independent of the conveyor element 18.

[0034] The device 10 also comprises a gripping device 32. The gripping device 32 comprises a gripping unit 34. The gripping unit 34 is designed to grip at least one object 12. The gripping unit 34 can also be designed to grip multiple objects 12 simultaneously. In the present case, the gripping unit 34 is designed as a suction gripper 34. In this respect, the gripping unit 34 comprises one or more gripping elements (not visible in the figures) that are designed as suction elements.

[0035] The gripping unit 34 is mechanically coupled to the conveying element 18 in such a way that it is moved along with the conveying element 18 in the running direction 26 when the conveying element 18 is driven.

[0036] In the present case, the gripping unit 34 comprises a first part 36 and a second part 38. The gripping element(s) are arranged on the first part 36. The first part 36 is coupled to the conveying element 18 by the second part 38. For example, the second part 38 is fastened to the conveying element 18. The first part 36 is connected to the second part 38 by a pivot joint 40. In the present case, the pivot joint 40 is designed such that the first part 36 can be pivoted about a pivot axis oriented perpendicular to the running direction 26. The gripping unit 34 comprises an actuator which is designed to pivot the first part 36 relative to the second part 38 about the pivot axis. In the present case, the actuator is integrated into the pivot joint 40 and is therefore not visible.

[0037] As previously mentioned, the continuous conveyor 16 in this case comprises a further conveyor element in addition to the conveyor element 18. The gripping unit 34 is arranged centrally on the continuous conveyor 16 with respect to the width of the continuous conveyor 16, i.e., in a space between the conveyor element 18 and the further conveyor element.

[0038] Preferably, the distance between the conveyor element 18 and the further conveyor element is variable. This has the advantage that the width of the continuous conveyor 16 can be adjusted to the size of the objects 12 to be gripped.

[0039] In the embodiment illustrated in the figures, the gripping device 32 comprises, in addition to the gripping unit 34, a further gripping unit 44. With regard to the design of the further gripping unit 44, reference is made to the above explanations regarding the gripping unit 34. The gripping unit 34 and the further gripping unit 44 are arranged one behind the other in the running direction 26. During a complete revolution of the conveyor element 18, each of the gripping units 34 and 44 can grip and unload an object 12, as will be explained in more detail below.

[0040] The device 10 also comprises a connecting structure 46, which in this case is designed as a connecting flange 46. The connecting structure 46 is fastened, for example, to a base body of the continuous conveyor 16, on which the deflection rollers 20 and 22 are rotatably mounted. The connecting structure 46 enables the device 10 to be connected to a handling device (not shown in the figures) that is designed to handle the device 10. In the present case, the device 10 comprises a further connecting element arranged on the other side of the continuous conveyor 16. In the side view shown, the further connecting element is concealed by the connecting element 46 and therefore not visible.

[0041] In the following, with additional reference to the Fig. 1B to 1I the sequence of the discharge process by means of the device 10 is explained in more detail.

[0042] As from Fig. 1B, the gripping unit 34 is first arranged at a vertically lower region of the object 12A. In the present case, the gripping unit 34 is arranged on the object 12A immediately adjacent to a vertically lower edge of the object 12A. A negative pressure is then generated between the object 12A and the gripping element(s) of the gripping unit 34, whereby the object 12A is gripped by the gripping unit 34. The conveying element 18 is preferably stationary during the gripping of the object 12.

[0043] As can be seen from the Fig. 1C to 1E, the conveyor element 18 is then driven by the drive unit 24 in the running direction 26. The gripping unit 34, together with the gripped object 12A, is moved by forced coupling with the conveyor element 18, whereby the gripped object 12A is pulled onto the continuous conveyor 16 and is thus arranged on the continuous conveyor 16. The first part 36 of the gripping unit 34 is pivoted about the pivot axis counter to the running direction 26, so that the object 12A is arranged behind the gripping unit 34 in the running direction 26. Because the gripping unit 34 grips the object 12A in its vertically lower region, the pulling of the object 12A onto the continuous conveyor 16 is not blocked by the vertically lower edge of the object 12A.

[0044] Subsequently, the gripped object 12A is released from the gripping unit 34, as can be seen from Fig. 1F. In the case of the gripping unit 34 designed as a suction gripper 34, the space between the gripping element(s) and the object 12A is ventilated for this purpose. The detached object 12A can then be handled independently of the gripping unit 34. For example, the detached object 12A is fed to a further continuous conveyor (not shown) that is arranged behind the continuous conveyor 16.

[0045] Out of Fig. 1F also shows that a subsequent handling operation is performed by means of the additional gripping unit 44. The object 12B to be gripped is positioned vertically lower than the previously gripped object 12A. To grip the object 12B, the device 10 is displaced vertically downward by the handling device, with the angle of inclination of the device 10 remaining constant.

[0046] The Fig. 1G to 1I show a further handling process in which an object 12C is gripped which is arranged vertically lower than the previously gripped object 12B. In order to grip the object 12C, the angle of inclination of the device 10 is changed by the handling device such that the front end 28 of the continuous conveyor 16 is arranged vertically lower than the rear end 30 of the continuous conveyor 16. By inclining the continuous conveyor 16, contact between the underside of the continuous conveyor 16 and a floor (not shown) on which the object 12C is arranged can be avoided. As can be seen from Fig.1G, the inclination of the continuous conveyor 16 results in a surface of the object 12C to be gripped being initially aligned obliquely to a holding plane of the gripping unit 34. In order to enable a planar contact of the gripping unit 34 with the object 12C, the first part 36 of the gripping unit 34 is pivoted about the pivot axis relative to the second part 38 in the running direction 26. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 9,701,492 B2

[0003] WO 2016 / 054656 A1

[0003] US 2017 / 0190054 A1

[0003] DE 10 2010 033 115 A1

[0003] US 5,015,145

[0003] US 2016 / 0221187 A1

[0003]

Claims

[1] Device (10) for handling objects (12), in particular cardboard boxes (12), with a conveyor device (14) comprising at least one continuous conveyor (16), wherein the continuous conveyor (16) comprises at least one circulating conveyor element (18) which can be driven by a drive unit (24) in at least one running direction (26), and with a gripping device (32) comprising at least one gripping unit (34), wherein the gripping unit (34) is designed to grip at least one object (12) and to arrange the gripped object (12) on the continuous conveyor (16), in particular on the conveyor element (18), characterized by that the gripping unit (34) is coupled to the conveying element (18) in such a way that it is moved along with the conveying element (18) in the running direction (26). [2] Device (10) according to claim 1, characterized by that the continuous conveyor (16) is designed as a belt conveyor, chain conveyor or circular conveyor. [3] Device (10) according to one of the preceding claims, characterized by that the gripping unit (34) is designed as a suction gripper, clamping gripper, or adhesion gripper. [4] Device (10) according to one of the preceding claims, characterized by in that the gripping unit (34) comprises a first part (36) and a second part (38), wherein one or more gripping elements of the gripping unit (34) are arranged on the first part (36), wherein the first part (36) is coupled to the conveyor element (18) by the second part (38), and wherein the first part (36) is pivotally mounted on the second part (38), in particular about a pivot axis (42) oriented perpendicular to the running direction (26). [5] Device (10) according to one of the preceding claims, characterized by that the gripping unit (34) is arranged centrally on the continuous conveyor (16) with respect to a width extension of the continuous conveyor (16). [6] Device (10) according to one of the preceding claims, characterized by that the gripping device (32) comprises at least one further gripping unit (44), wherein the gripping unit (34) and the further gripping unit (44) are arranged one behind the other in the running direction (26). [7] Device (10) according to one of the preceding claims, characterized by in that the continuous conveyor (16) comprises at least one further circulating conveyor element, wherein the conveyor element (18) and the further conveyor element are arranged next to one another, and wherein a distance between the conveyor element (18) and the further conveyor element is adjustable, in particular wherein the device (10) comprises an actuator for adjusting the distance. [8] Device (10) according to one of the preceding claims, characterized by at least one imaging sensor unit designed to detect objects (12) to be grasped. [9] Device (10) according to one of the preceding claims, characterized by that it comprises at least one connecting structure (46), in particular a connecting flange (46), for fastening the device (10) to a handling device. [10] Handling system comprising a device (10) according to one of the preceding claims and a handling device for handling the device (10). [11] Method for handling objects (12) by means of a device (10) according to one of claims 1 to 9 or by means of a handling system according to claim 10, comprising: Gripping at least one object (12), in particular cardboard (12), by the gripping unit (34), driving the conveyor element (18) in the running direction (26) by the drive unit (24), wherein the gripping unit (34) is moved in the running direction (24) by forced coupling with the conveyor element (18) and the gripped object (12) is arranged on the continuous conveyor (26). [12] Method according to claim 11, characterized bythat the gripping unit (34) grips the object (12) in a vertically lower region of the object (12) with respect to a vertical extension of the object (12). [13] Method according to one of claims 11 and 12, characterized by that an angle of inclination of the continuous conveyor (16) is changed to grip the object (12). [14] Method according to one of claims 11 to 13, characterized by that the first part (36) is pivoted relative to the second part (38) for gripping the object (12).

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