Handling device for handling a piece of goods and a method

Abstract

A handling device (10) for picking up at least one piece of goods is provided. The handling device (10) comprises at least one gripping device (11) which is designed to grip a piece of goods in a gripping position, wherein the gripping device (11) has a contact surface (12) with which the gripping device (11) is in contact with the at least one gripped piece of goods during the gripping position, wherein the gripping device (11) is designed to vary the contact surface (12) based on at least one piece of goods property of the at least one piece of goods to be gripped. Furthermore, a method for picking up at least one piece of goods is provided.

Description

[0001] The invention relates to a handling device for picking up at least one piece of goods and a method.

[0002] Various devices are known from the prior art for picking up piece goods with different properties, such as parcels or mail. Different properties include, for example, the weight, shape, dimensions, deformability, hardness, material, center of gravity, etc. of a piece of goods. These different properties can mean that not every piece of goods can be picked up by the same device or machine, or handled in the same way using a single mechanical manipulation or process.

[0003] In known sorting systems, several different devices are necessary to grip piece goods of different sizes and / or weights. For example, smaller parcels can be picked up precisely with just one suction cup without accidentally picking up neighboring parcels. Larger, heavier parcels, however, cannot be lifted with just one suction cup and require several or one larger suction cup. A gripping device with several and / or larger suction cups can indeed pick up larger, heavier parcels. However, with many, particularly smaller, shipments lying next to each other, it is no longer easily possible to specifically pick up a single shipment from the stream. In a piece goods stream or a parcel stream with different piece goods or parcels, only a portion of the piece goods or parcels can therefore be picked up or handled by such a device.A manual processing station, where unprocessable piece goods or packages are sorted out, can be arranged downstream of the device in the direction of the piece goods or package flow. However, this reduces the degree of automation and incurs additional personnel costs. Alternatively, two or more devices with different numbers of suction cups can be connected in series. However, this increases space requirements and leads to high installation, maintenance, and operating costs.

[0004] It is therefore an object of the present invention to provide an improved handling device. In particular, it is an object of the present invention to provide a handling device that can handle a wide range of different piece goods smoothly and efficiently.

[0005] This object is achieved by a handling device having the features of claim 1 and by a method having the features of claim 15.

[0006] According to one aspect of the present invention, a handling device for picking up at least one piece of goods is provided. The handling device can comprise at least one gripping device configured to grip a piece of goods in a gripping position. The gripping device can have a contact surface with which the gripping device is in contact with the at least one gripped piece of goods during the gripping position. The gripping device can be configured to vary the contact surface based on at least one piece of goods property of the at least one piece of goods to be gripped.

[0007] Compared to the known prior art, the present invention provides the advantage that a very broad spectrum of piece goods, for example packages, with different piece goods properties can be handled using just one handling device, for example a robot. The piece goods can be provided in a piece goods stream. In this case, the present invention offers the advantage that, by varying the contact surface, precisely the piece goods to be gripped (hereinafter also referred to as the target piece goods) can be handled without unintentionally affecting adjacent piece goods. This means that the handling device can also specifically pick a target piece goods from a large number of piece goods. Consequently, the handling device can have a very broad range of applications.

[0008] The handling device can be a device that can move a piece of goods from a first position to a second position. In other words, the handling device can physically move a piece of goods. The handling device can, for example, be a robot with a movable arm. The handling device can, for example, comprise a SCARA robot with four axes and four degrees of freedom. All axes can be designed as serial kinematics, i.e. the coordinate origin of the following axis depends on the position of the previous one. Due to its fast and repeatable movement, this type of robot is particularly well suited for so-called pick-and-place applications in which a piece of goods can be moved from a first position to a second position. Alternatively, 5- or 6-axis robots are also possible.Other handling devices, for example handling devices guided on rollers or rails, are also conceivable. In other words, a handling device can be understood as any device configured to move a piece of goods. In particular, moving can include a change in direction, acceleration, a gripping process, picking up, holding, releasing, transporting and / or shifting a piece of goods. In particular, the term moving can also be understood as manipulating. In this case, an action can be performed that includes a translational and / or rotational movement of the piece of goods. This can be understood in particular as physical manipulation of a piece of goods.

[0009] The handling device can comprise a gripping device. The gripping device can be designed to grip, hold, and release a piece of goods. The gripping device can, for example, be or comprise a suction gripper. Alternatively or additionally, the gripping device can comprise a mechanical gripper, for example, a pincer gripper. Other types of gripping devices are also possible. For example, the handling device can comprise a SCARA robot (Selective Compliance Assembly Robot Arm). Such a robot can also be referred to as a horizontal articulated-arm robot.

[0010] The handling device can be designed to pick up (e.g. grip) a piece of goods with piece goods properties using the gripping device. The contact surface of the gripping device can be variable or changeable depending on the piece goods properties of the piece goods to be gripped. In other words, the contact surface of the gripping device can be adapted to a piece of goods to be gripped. In other words, the contact surface of the gripping device can be adapted for different piece goods or different groups of piece goods (e.g. with different piece goods properties) depending on the piece goods properties. The contact surface can be actively varied by the gripping device. In other words, the gripping device can have at least one element which can actively vary the contact surface.Additionally, the contact surface can also change passively, for example, if the gripping device has an elastic element that comes into contact with a piece of goods and deforms in the process. In a preferred embodiment of the present invention, such a passive variation of the contact surface is not meant by a variation of the contact surface based on the piece of goods properties of the at least one piece of goods to be gripped.

[0011] The contact surface of the gripping device can be a surface that comes into contact with a gripped piece of goods. The contact surface can be the contact surface between the handling device and the piece of goods. The contact surface can be an integral surface or a contact surface composed of several sub-contact surfaces. In other words, the contact surface can comprise several individual surfaces that are separate from one another. The contact surface can have different contours. The contact surface can have a circular or polygonal contour. For example, the contact surface can be defined by a suction gripper that is used as a gripping device. In this case, the contact surface can have a circular contour. In a mechanical gripping device such as a pair of pliers, the contact surface can be the sum of all contact surfaces between the gripping device and the piece of goods.

[0012] A piece of cargo can be understood to mean a transportable good or object, in particular a parcel, small package, shipping bag, small envelope, etc. In particular, mail items or mail consignments can be understood to mean piece of cargo. Different piece of cargo can have different piece of cargo properties. The piece of cargo property can, for example, be indicative of a quality of the piece of cargo. The piece of cargo can be essentially symmetrical or asymmetrical in shape. Furthermore, the piece of cargo can each have different masses. For example, a piece of cargo is a package made of a cardboard material, e.g. cardboard, with contents. A variety of designs of piece of cargo are conceivable, which is why there can also be a variety of different piece of cargo properties. Furthermore, the piece of cargo can be a package or small parcel made of a film material.The gripping position can be a position in which the gripping device is in physical contact with the piece goods. The contact area can be varied, for example, by increasing or decreasing its size. A larger contact area can transmit a greater force. Thus, for example, in the case of a heavy piece goods, the contact area can be increased so that the piece goods can be securely held on the gripping device. For a particularly small piece goods (in terms of its dimensions), the contact area can be reduced, for example, to easily lift the piece goods from a stream of piece goods without affecting other adjacent piece goods.

[0013] The handling device can be used, for example, in a system designed to transport and / or sort piece goods. For example, multiple piece goods can be moved in a piece goods flow on a conveyor belt. It is further conceivable for the gripping device of the handling device to comprise a gripper, in particular a vacuum suction gripper, for handling piece goods. The handling device can be used, for example, to remove individual piece goods from a piece goods flow.

[0014] The gripping device is preferably designed to vary the size and / or spatial orientation of the contact surface based on at least one property of the at least one piece of goods to be gripped. The variation in the size of the contact surface can be achieved, for example, by the gripping device adapting. In this case, a gripping element can be adapted such that the contact surface increases. Additionally or alternatively, a further gripping element of the gripping device can be used to form the contact surface. The size of the contact surface can thus be varied in a simple manner. Furthermore, the gripping device can be designed to adapt the spatial orientation of a gripped piece of goods. For this purpose, the gripping device can have at least one joint or movable section. The gripping device can thus tilt or rotate the contact surface, for example.This makes it possible to grip and hold a piece of goods in such a way that minimal force acts on the gripping device. In other words, it can be adjusted to the center of gravity of the piece of goods. Furthermore, by rotating and / or pivoting the contact surface, it can be prevented that a gripped piece of goods collides with other piece of goods. Overall, this can improve the operation of the handling device and increase its efficiency. Furthermore, the contact surface can be adapted to a surface of the piece of goods before a piece of goods is gripped. This allows a safe gripping process to be implemented. For example, it can happen that a piece of goods has an inclined surface on which the piece of goods is to be gripped. If the contact surface is inclined to match the inclined surface before the actual gripping, the gripping process can be easier and faster.It should be noted that the contact surface of the gripping device is present even when no item is gripped. In this case, the contact surface is a theoretical contact surface between the gripping device and the item.

[0015] The gripping device can comprise at least one gripping element that is intended to be brought into contact with the piece goods to be gripped in order to grip and / or hold the piece goods. The size of the contact surface can be varied, for example, by additionally activating or deactivating several gripping elements of the gripping device. An activated gripping element is arranged or aligned in a position to interact with a piece goods to be gripped. A deactivated gripping element is arranged or aligned in a position so as not to interact with a piece goods. This means that the number of active gripping elements of the gripping device is increased or decreased. Alternatively or additionally, an active gripping element that is not suitable for a piece goods with certain piece goods properties can be replaced with another gripping element adapted to the piece goods properties.Furthermore, it is conceivable for the gripping device to be exchanged for a further gripping device. For example, a first gripping device for a first piece of goods and a second gripping device for a second piece of goods can be used alternately as required. The first gripping device and the second gripping device are part of the handling device or are arranged on the handling device. The first gripping device has, for example, a smaller contact surface than the second gripping device. For example, the first gripping device has fewer and / or smaller gripping elements than the second gripping device. It is possible for one gripping element to be suitable for several piece of goods with different piece of goods properties.

[0016] The piece goods property preferably comprises a dimension of the piece goods to be gripped, a surface quality of the piece goods to be gripped, a weight of the piece goods to be gripped, a center of mass of the piece goods to be gripped and / or a positioning of the piece goods to be gripped relative to other piece goods. This allows the gripping device to grip a piece goods to be gripped in such a way that the piece goods can be handled without problems. In other words, the variable contact surface can be adapted to the piece goods to be gripped. It is possible for the center of mass to be determined using the dimension and weight of the piece goods to be gripped. The center of mass can be determined in conjunction with an optical analysis system or optical sensors. The dimension of the piece goods can be indicative of a dimension of the piece goods in space.The surface texture can be indicative of how a piece of goods should be gripped. For example, a piece of goods with a film surface can have different gripping properties than one with a cardboard surface. Depending on this, a different contact surface may be better suited to one material than another. The weight of the piece of goods can be indicative of the mass of the piece of goods. The center of gravity can be indicative of the center of mass of the piece of goods. For example, the contents of the piece of goods can result in a center of mass that does not correspond to the geometric center of gravity of the piece of goods. In such a case, significant moments can occur during a gripping process, so varying the contact surface can still ensure that the piece of goods is held securely. The placement of the piece of goods relative to other piece goods can indicate the position of the target piece of goods in a piece of goods flow.In other words, this information can be used to determine how well the target piece of cargo can be grasped without affecting adjacent or neighboring piece of cargo.

[0017] The handling device is preferably designed to obtain or record at least one piece goods property. For example, a piece goods property can be recorded using at least one sensor. Alternatively, a piece goods property can be obtained from a database or from another handling device. The obtained or recorded piece goods properties can be processed using a control unit. The control unit can be a computer-like device that is designed to receive information (input data), process the information, and output information (output data). For example, the control unit can receive piece goods information as input data and output handling commands for controlling the handling device (output data). In particular, the obtained or recorded piece goods properties can be used to adapt orAdjusting the contact surface of the gripping device can be used. For example, a predefined contact surface can be stored in a database for a piece of goods and / or a combination of different piece of goods properties of a piece of goods to be gripped, which can be retrieved by the control unit. The control unit can then control the handling device (e.g., the gripping device) such that the contact surface is adjusted (i.e., varied) according to the piece of goods properties of the piece of goods to be gripped.

[0018] The handling device preferably has a vision system to detect the at least one piece goods property. In other words, the handling device can comprise at least one optical sensor, for example a camera, to determine piece goods properties of the piece goods to be gripped. Furthermore, a position of other piece goods can be detected to determine how the piece goods to be gripped can be gripped. The at least one optical sensor can be formed integrally with the handling device or arranged on the handling device. Alternatively or additionally, the handling device can be connected to at least one optical sensor. The at least one sensor can be designed to provide information for controlling the handling device. A sensor already provided on the handling device can thus be used to obtain the piece goods properties.

[0019] The handling device is preferably designed to determine the contact surface individually for each piece of goods. In other words, the contact surface of the gripping device can be adapted for any number of piece goods to be handled consecutively. For example, the contact surface for a first piece of goods can be smaller than for a second piece of goods that is, for example, heavier than the first piece of goods. The piece of goods property of the second piece of goods can, for example, be transmitted to the control unit of the handling device or retrieved from the control unit of the handling device. The contact surface of the gripping device can then be adapted to the second piece of goods. This process can be repeated as often as desired for any number of piece goods with different piece of goods properties.

[0020] The handling device is preferably designed to move at least one piece of goods to another position. In particular, the handling device can be designed to move the piece of goods to be gripped from a first position to a second position. To this end, the handling device picks up the at least one piece of goods at the gripping position with the gripping device, so that the at least one piece of goods is held in the gripping device. The at least one piece of goods can then be transferred by the handling device from the gripping position to an end position. In the end position, the gripping device can release or place the piece of goods.

[0021] The handling device preferably has a parallelogram guide for spatially displacing the gripping device. A parallelogram guide can be understood as a mechanism by which a piece of goods held on a double arm is held at its original angle in the plane perpendicular to the rotation axis during a movement of the gripping device. This allows for a uniform displacement of the piece of goods. This is particularly advantageous for fragile items.

[0022] The handling device is preferably designed to rotate the gripping device. This makes it possible for at least one piece of goods to be moved along a circular path. In other words, the at least one piece of goods can be moved around a rotational axis in this way. This makes it possible to align the piece of goods when they are held by the gripping device, for example, to better hold and / or position the piece of goods.

[0023] The handling device preferably has a linear drive for spatially displacing the gripping device. The linear drive can preferably be an electric linear drive. The linear drive is particularly suitable for moving the at least one piece of goods in a straight line or along an axis. For example, the linear drive can move the gripping device toward the piece of goods in order to grip the piece of goods. Subsequently, after the piece of goods has been gripped by the gripping device, the piece of goods can be lifted by the linear drive in order to move or displace the piece of goods from the gripping position to the end position.

[0024] The handling device preferably has at least one conveyor designed to bring piece goods into a gripping area of ​​the gripping device. The conveyor can convey piece goods in a conveying direction. The conveyor can comprise a conveyor belt or conveyor rollers. When a piece of goods reaches a gripping position, the handling device can handle the piece goods from the conveyor using the gripping device. The conveyor can comprise one or more roller rows. The roller rows can, for example, feed piece goods onto a conveyor belt or divide them into different piece goods streams. It is therefore advantageous to arrange the roller rows downstream of a singulator in the direction of operation. More specifically, the roller rows are advantageously used to divide a piece goods stream downstream of the singulator. The conveyor can comprise a belt conveyor. Belt conveyors are advantageous for transporting large volume flows of piece goods.For example, belt conveyors in the system must be designed to handle a wide variety of transport loads while maintaining high availability and reliability. Belt conveyors can precisely position and sort unit loads at high frequency and with short acceleration and braking distances. Alternatively, or additionally, the conveyor can include a chute on which the unit loads are transported to the gripping position.

[0025] The gripping device preferably has at least one gripping element, preferably a plurality of gripping elements. The at least one gripping element can be a suction gripper. The suction gripper can comprise a suction cup. The at least one gripping element can comprise the variable contact surface of the gripping device. In other words, the gripping elements define the variable contact surface. This means that the variable contact surface can be part of the gripping element. In a mechanical pincer gripper, for example, pincers can correspond to the gripping elements.

[0026] The gripping elements are preferably displaceable relative to one another. This means that the gripping elements are designed to be movable relative to one another. In other words, a plurality of gripping elements can be provided on the gripping device (i.e., more than one gripping element). The gripping elements can be movable relative to one another. For example, the gripping elements are arranged to be movable towards and away from one another. The gripping elements can be displaceable relative to one another by a pivoting movement and / or by a linear or rectilinear movement. The gripping elements can have return elements that apply a force to the gripping elements in order to transfer the gripping elements from a closed position to an open position.

[0027] The gripping device preferably has at least one connecting element, to which at least one gripping element is attached or can be attached, wherein the at least one gripping element defines the contact surface. In other words, the connecting element forms an interface between the gripping device and the gripping elements. The connecting element preferably has a connection geometry that corresponds to a further connection geometry of the gripping element. For example, the connecting element and the gripping element can comprise a plug connection and / or screw connection. The connecting element can preferably be designed such that the connecting element can be connected to a plurality of different gripping elements. In other words, the connecting element is preferably compatible with a plurality of gripping elements, which in particular have different contact surfaces.

[0028] Preferably, the at least one connecting element is designed such that a negative pressure can be transmitted to a gripping element connected to it. For this purpose, the connecting element can comprise a through-opening or a valve. In particular, the connecting element can be detachably connected to the at least one gripping element in a fluid-tight, particularly air-tight, manner. For this purpose, the gripping element is preferably designed as a suction element or suction cup. Such a connecting element is particularly advantageous for use with a suction gripper or for being arranged on a suction gripper.

[0029] The gripping device is preferably designed to grip at least two piece goods in the gripping position simultaneously. For example, the gripping device can have a plurality of gripping elements intended to pick up or grip at least two piece goods simultaneously. For this purpose, the piece goods can already be arranged in the gripping position corresponding to the gripping elements of the gripping device. In particular, the gripping positions of the at least two piece goods can be predetermined so that the at least two piece goods can be picked up simultaneously by the handling device, in particular the gripping device. It is conceivable for the handling device to comprise two gripping devices in order to grip two piece goods simultaneously or shortly after one another.

[0030] Preferably, the contact surface is defined exclusively by a single gripping element or the contact surface is defined by multiple gripping elements. The gripping device can therefore comprise a single gripping element or multiple gripping elements. The total contact surface of the gripping device is made up of the sum of the contact surfaces of the individual gripping elements. For example, the gripping device can comprise a suction gripper with a single gripping element. The contact area of ​​the suction gripper essentially corresponds to a suction area or a surface of the suction cup. Alternatively, the gripping element can have multiple gripping elements that are arranged next to one another or adjacent to one another. A larger contact surface, in particular a larger suction surface, makes it possible to grip and handle heavy piece goods.

[0031] Preferably, the gripping elements are designed differently, in particular, the gripping elements have different geometries. It is possible for the gripping elements to have different sizes. This allows the contact surface of the gripping device to be more precisely adapted depending on the properties of the piece goods. For example, several smaller gripping elements or a single larger gripping element can be activated in this way. This allows the gripping device to be adapted to the weight and size of the piece goods to be gripped.

[0032] Preferably, the at least one gripping element can be reversibly attached to the at least one connecting element. In other words, the gripping element can be detachably connected to the connecting element. In particular, the gripping element can be connected to the connecting element in a force-locking and / or form-locking manner. The connecting element and the at least one gripping element can both be designed such that a force-locking and / or form-locking connection is possible between the connecting element and the at least one gripping element. For example, the gripping elements and the connecting elements can be detachably connected to one another by means of a snap-in connection, a bayonet connection, and / or a screw connection.

[0033] The gripping device preferably has a magazine in which a plurality of gripping elements are provided, wherein the gripping device is designed such that different gripping elements can be mounted thereon. The gripping device can be designed to accommodate different gripping elements in order to handle piece goods. Thus, the appropriate gripping element for a specific piece of goods to be gripped can be selected depending on its piece goods properties and attached to the gripping device. The gripping elements can thus be mounted interchangeably on the gripping device. The gripping elements are preferably mounted automatically.

[0034] The magazine is preferably designed as a revolver mechanism. This means that the gripping elements, preferably different gripping elements, are arranged on a circular line and can rotate about a common axis of rotation. By rotating the gripping elements about the axis of rotation, one or more gripping elements of the gripping device can be exchanged. The revolver mechanism can be used, for example, to couple or connect the individual gripping elements to the connecting element.

[0035] The gripping device preferably has a changing mechanism in which, depending on the position of the changing mechanism, a gripping element is positioned such that it can come into contact with a piece of goods to be gripped. In other words, the changing mechanism can be part of the gripping device. The gripping element of the gripping device can be exchanged by the changing mechanism depending on the piece of goods to be gripped. The changing mechanism can select from several different gripping elements and bring them into a position to grip a piece of goods to be gripped. For example, the changing device can comprise a rotary or revolver mechanism on which several gripping elements with different contact surfaces are arranged along a circumferential direction.By rotating the change mechanism around a rotation axis, a desired gripping element can be positioned to grip a piece of equipment. In particular, the angle of the gripping element can be adjusted by rotating the change mechanism.

[0036] Preferably, a changing device can be arranged separately from the handling device. The changing device can comprise a plurality of gripping elements. The changing device can be designed as a magazine or comprise a magazine from which the handling device automatically selects the desired gripping element and arranges or mounts it on the gripping device. Alternatively, the changing device can comprise a revolver mechanism that positions the gripping element to be connected to the handling device by rotating it about a rotation axis.

[0037] The gripping device preferably has a folding mechanism, whereby the number of gripping elements arranged in the gripping position can be changed. For example, a pivoting movement can be used to provide or bring into position additional gripping elements for receiving a piece of goods to be gripped. The folding mechanism can, for example, be arranged adjacent to the gripping elements of the gripping device, wherein the folding mechanism comprises further gripping elements. The cutting mechanism can, for example, be movable from a first position to a second position. In the first position of the folding mechanism, the further gripping elements are deactivated. This means that in the first position the further gripping elements are not intended to grip or manipulate a piece of goods. In the second position, the further gripping elements are activated.This means that the gripping elements and the additional gripping elements are designed to grip or manipulate a piece of goods. Alternatively or additionally, the gripping elements can also be arranged on a further folding mechanism, which allows the gripping elements to be moved from a first position to a second position.

[0038] The gripping device is preferably designed to grip at least one piece of goods with a suction gripper and / or a mechanical gripper. The mechanical gripper can, for example, comprise a pincer gripper. The suction gripper is suitable for gripping various piece goods with different properties such as size, shape, weight, surface finish, etc. and moving them from a starting position to an end position. The suction gripper is preferably arranged downstream of the singulator in the direction of operation. Gripping can be achieved by means of a negative pressure. The pressure difference is created by forming a vacuum between the suction gripper and the piece of goods. More precisely, a negative pressure is generated as soon as the suction gripper touches the surface of the piece of goods and the surface is sealed off from the environment.The holding force depends on the pressure difference between the ambient pressure and the pressure in the suction cup, as well as on the size of the contact area between the vacuum suction cup and the piece goods. Thus, a suitable gripping element can be selected depending on at least one piece goods characteristic. A gripping point or suction point can be specified as a further piece goods characteristic, depending on the shape of the piece goods.

[0039] The handling device preferably has at least one further gripping device with at least one further gripping element, which can be activated depending on the property of the piece goods to be gripped in order to increase the contact area. Alternatively, the further gripping device can be used to handle additional piece goods. For example, the handling device can comprise a vacuum suction gripper and a pincer gripper, wherein the vacuum suction gripper and the pincer gripper are each intended for piece goods with different properties.

[0040] According to a further aspect of the present invention, a method for picking up at least one piece of goods is provided. The method may comprise: gripping at least one piece of goods in a gripping position using a gripping device having a contact surface with which the gripping device is in contact with the at least one piece of goods to be gripped during the gripping position, wherein the contact surface is adapted based on at least one piece of goods property of the at least one piece of goods to be gripped. The piece of goods can be released one after the other. Alternatively, at least two piece of goods can be picked up with a small intermediate movement.

[0041] In other words, the method for handling at least one piece of goods with a handling device according to one of the preceding claims can comprise the steps of: detecting or obtaining at least one piece of goods property of a piece of goods to be gripped; adapting a contact surface of a gripping device of the handling device based on the piece of goods property; gripping and handling the piece of goods with the gripping device.

[0042] The suction device is equipped, for example, with several suction grippers that can move relative to one another depending on the piece of goods to be gripped. For example, one suction gripper could be permanently attached to the robot arm to pick smaller piece goods. Additional suction grippers can be folded down, for example, using a pivoting mechanism, to grip piece goods with different piece properties, such as larger and / or heavier piece goods. Alternatively, the gripping device can have an interchangeable gripper or a changing device that selects the appropriate suction gripper from an adjacent changing station. A revolver mechanism is also possible, which is mounted, for example, on a robot arm of the handling device and rotates down the appropriate number of suction grippers.Instead of using different numbers of suction cups, only the size or geometry of the suction cup used can be changed or the suction cup can be replaced with a different gripping mechanism, for example a pincer gripper.

[0043] A further aspect of the present invention relates to the use of a handling device according to one of the above-mentioned embodiments in a sorting system.

[0044] The gripping device can comprise a physical mechanism, in particular a movable gripper. The gripping device can be designed to be linearly movable, for example by means of a parallelogram guide. The gripping device can also be designed with a pivot point, for example, pivotable by 180° at the rear end of the gripper. The gripping device can be controlled depending on a vision system. An individual gripper can thus be specifically detected, selected, controlled, and / or moved depending on the center of gravity, geometry, material properties, and weight, for example, by a scale. The individual gripper can approach during transport of the piece goods as soon as a risk of loss is determined, for example through leak detection, weight deviation, or vision information.If at least two items of goods that are suitably positioned relative to one another, for example smaller items, are detected by the vision system, at least one additional gripper can be lowered in order to then pick up both items of goods in one movement and transport them together.

[0045] Individual features of the illustrated embodiments can also be used in other embodiments, unless expressly excluded. Further developments and advantages mentioned in connection with the device also apply analogously to the method, and vice versa.

[0046] Further advantages and features of the present invention will become apparent from the following description with reference to the figures. Fig. 1 a schematic view of an embodiment of a handling device according to the invention; Fig. 2 a schematic view of an embodiment of a handling device according to the invention; Fig. 3 a schematic view of a method for using a handling device.

[0047] Fig. Figure 1 shows a schematic view of a handling device 10. The handling device 10 comprises a support element 14 and several pivoting elements. The support element 14 is immovable or fixed. A first pivoting element 15 is arranged at an axial end of the support element 14 or in the region of an axial end of the support element 14.

[0048] The handling device 10 has a first rotary joint G1 and a second rotary joint G2. The first rotary joint G1 is arranged at an axial end or in the region of an axial end of the first pivot element 15. A second pivot element 16 is arranged between the first rotary joint G1 and the second rotary joint G2. The second pivot element 16 is pivotally connected to the first pivot element 15 about a first rotation axis R1 of the rotary joint R1.

[0049] The second rotary joint G2 is arranged at the axial end of the second pivot element 16 facing away from the first pivot element 15 or is arranged in the region of the axial end of the second pivot element 16 facing away from the first pivot element 15. The second pivot element 16 is connected to a third pivot element 17 via the second rotary joint G2. The third pivot element 17 is pivotally connected to the second pivot element 10 about a second rotation axis R2 of the second rotary joint G2.

[0050] The support element 14 extends substantially parallel to the first rotation axis R1 and / or the second rotation axis R2. The first pivot element 15 extends substantially in a direction perpendicular to the first rotation axis R1 and / or the second rotation axis R2.

[0051] A gripping device 11 is arranged in the region of the new end of the third pivot element 17. The present gripping device 11 comprises a gripping element 13. The gripping device 11 is designed as a vacuum suction gripper. The gripping element 13 is designed as a suction element, in particular as a suction cup. Alternatively, other types of gripping devices 11, for example a mechanical pincer gripper, are conceivable. The handling device 10 can also have more than one gripping device 11. A combination of different types of gripping devices 11 is also possible. For example, the handling device 10 can comprise a vacuum suction gripper and a mechanical pincer gripper, which can be activated, deactivated, or exchanged by a mechanism as needed depending on the properties of the item to be gripped.

[0052] The gripping device 11 is linearly movable in a vertical direction. The direction of movement of the gripping device 11 is schematically represented by the double arrow. This allows the gripping element 13 to be brought into contact with a piece of goods to be gripped. For example, the gripping device 11 can comprise a linear motor or a linear actuator for this purpose. It is also possible for the linear movement of the gripping device 11 to be activated hydraulically or pneumatically. The vertical direction is essentially understood to mean a direction parallel to the support element 14. During operation, the vertical direction can preferably run parallel to the direction of gravity.

[0053] The gripping element 13 has a contact surface 12. The contact surface 12 of the gripping element 13, which is designed as a suction element, is circular or comprises a circular or annular geometry. Alternatively, other geometries of the contact surface 12, such as polygonal geometries, are conceivable. The gripping element can alternatively or additionally comprise a pincer element.

[0054] The gripping element 13 is designed to be variable. More precisely, the contact surface 12 of the gripping element 13 is variable. The contact surface 12 of the gripping element 13 is adapted depending on at least one property of the piece goods to be gripped. The adaptation of the contact surface 12 can be achieved, for example, by replacing the gripping element 13. The handling device 10 can have a magazine in which several different gripping elements 13 are arranged. If necessary, depending on the properties of a piece goods to be gripped, a suitable gripping element 13 can be selected from the magazine and arranged or mounted on the gripping device 11. The selection and mounting can be carried out automatically by a robot arm. The magazine 10 can be stationary. Alternatively or additionally, the magazine can comprise a revolver mechanism.As a result, the gripping elements of the gripping device 11 can be brought into position and / or changed by rotation about a rotation axis.

[0055] For this purpose, the gripping device 11 has a connecting element. The connecting element serves to fasten the gripping elements 13 to the gripping device 11. The connecting element is preferably designed such that the gripping elements 13 can be detachably connected to the gripping device. The connecting element can provide a detachable positive-locking and / or a detachable non-positive connection for the gripping elements 13.

[0056] Fig. 2 shows a further embodiment of handling device 10. The illustrated handling device 10 essentially corresponds to the one in Fig. 1 illustrated handling device 10. The Fig. The handling device 10 shown in Figure 2 differs in that the gripping device 11 has a folding mechanism 18.

[0057] An additional gripping element 13' is arranged on the folding mechanism 18. The additional gripping element 13', which is arranged on the folding mechanism 18, has a smaller additional contact surface 12' than the gripping element 13. The additional gripping element 13' can be moved into a first position and into a second position by folding. In the first position, the additional gripping device 13' is deactivated. This means that the additional gripping device 13' cannot come into contact with any piece of goods and can grip the piece of goods. In the second position, the additional gripping device 13' is arranged in such a way that, together with the gripping device 13, it can grip a piece of goods. In the second position, the total effective contact surface is formed from the sum of the contact surface 12 of the gripping element 13 and the additional contact surface 12' of the additional gripping element 13'. If necessary, the additional gripping element 13' can be moved back into the first position by folding.

[0058] Fig. 3 shows a schematic flow diagram of a method for picking up at least one piece of goods with a handling device 10.

[0059] The method comprises gripping at least one piece of goods in a gripping position using a gripping device 11 having a contact surface 12 with which the gripping device 11 is in contact with the at least one gripped piece of goods during the gripping position, wherein the contact surface 12 is adapted based on at least one piece of goods property of the at least one piece of goods to be gripped.

[0060] A first step S1 involves detecting or obtaining at least one property of a piece of goods to be picked up. In other words, the properties can be retrieved from a database or detected using sensors.

[0061] A second step S2 comprises adjusting the contact surface 12 of the gripping device 11 of the handling device 10 based on the detected or acquired piece goods information. For example, the contact surface 12 can be expanded for a piece goods with a greater weight than an immediately preceding piece goods. This can be done by changing the gripping element 13 or by adding at least one additional gripping element 13.

[0062] A third step involves gripping and handling the piece goods with the gripping device 11. This means that the piece goods are moved by the handling device 10. For example, the piece goods can be sorted out of a shipment stream. The piece goods can be shifted from a first conveyor belt to a second conveyor belt.

[0063] Other embodiments of the present invention are possible and can be understood and carried out by those skilled in the art when applying the claimed subject matter from a study of the figures, the disclosure, and the appended claims. In particular, the respective parts / functions of the respective embodiment described above can also be combined with one another. Furthermore, various steps of the method can be carried out in a different order than disclosed here. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. The mere fact that certain measures are recited in dependent claims does not mean that a combination of these measures cannot be advantageous. Any reference signs in the claims should not be interpreted as limiting the scope of the claims. List of reference symbols: G1 first rotation joint G2 second rotation joint R1 first rotation axis R2 second rotation axis 10 Handling device 11 Gripping device 12 Contact surface 12' additional contact area 13 Gripping element 13' additional gripping element 14 supporting element 15 first swivel element 16 second swivel element 17 third swivel element 18 Folding mechanism

Claims

[1] Handling device (10) for receiving at least one piece of goods, comprising: at least one gripping device (11) which is designed to grip a piece of goods in a gripping position, wherein the gripping device (11) has a contact surface (12) with which the gripping device (11) is in contact with the at least one gripped piece of goods during the gripping position, wherein the gripping device (11) is designed to vary the contact surface (12) based on at least one piece goods property of the at least one piece goods to be gripped. [2] Handling device according to claim 1, wherein the gripping device (11) is designed to vary the contact surface (12) in its size and / or orientation in space based on at least one piece goods property of the at least one piece goods to be gripped. [3] Handling device (10) according to claim 1 or 2, wherein the piece goods property comprises a dimensioning of the at least one piece goods, a surface quality of the at least one piece goods, a weight of the at least one piece goods, a center of mass of the at least one piece goods and / or a placement of the at least one piece goods relative to other piece goods. [4] Handling device (10) according to one of the preceding claims, wherein the handling device (10) comprises a vision system to detect the at least one piece goods property. [5] Handling device (10) according to one of the preceding claims, wherein the gripping device (11) has at least one gripping element (13), preferably a plurality of gripping elements (13, 13'). [6] Handling device (10) according to claim 5, wherein the gripping elements (13, 13') are designed differently, in particular have a different geometry. [7] Handling device (10) according to claim 5 or 6, wherein the gripping device (11) has a magazine in which a plurality of gripping elements (13, 13') are provided, wherein the gripping device (11) is designed such that different gripping elements (13, 13') can be mounted thereon. [8] Handling device (10) according to one of claims 5 to 7, wherein the gripping elements (13, 13') are designed differently, in particular the gripping elements (13, 13') have a different geometry. [9] Handling device (10) according to one of claims 5 to 8, wherein the gripping device (11) has a changing mechanism in which, depending on the position of the changing mechanism, a gripping element (13) is positioned such that it can come into contact with a piece of goods to be gripped. [10] Handling device (10) according to one of the preceding claims, wherein the gripping device (11) is designed to grip at least two piece goods in the gripping position simultaneously. [11] Method for picking up at least one piece of goods, comprising: Gripping at least one piece of goods in a gripping position using a gripping device (11) with a contact surface (12) with which the gripping device (11) is in contact with the at least one gripped piece of goods during the gripping position, wherein the contact surface (12) is adapted based on at least one piece goods property of the at least one piece goods to be gripped.

Images