Bale handling equipment and bale storage

Abstract

Automatic bale handling device designed for the automatic handling of compressed bales (7, 7') at a stationary bale storage facility (1) for preferably cuboid, fixed compressed bales (7, 7') which are preferably made of recycled material, in particular plastic waste, wherein the bale handling device (2) comprises an automatic bale gripping device (3) which has a carrier (20) and at least one bale gripper (10) arranged on the carrier (20), which is designed to detachably grip and hold at least one compressed bale (7, 7'), characterized in that the bale gripping device (3) comprises a driven positioning device (14) which is designed to move the bale gripper (10) with a positioning stroke (s) relative to the carrier (20) and thereby change the distance between the carrier (20) and the bale gripper (10).

Description

[0001] The invention relates to an automatic bale handling device and an automated bale storage system for compressed bales made of recycled material with the features in the preamble of the independent claims.

[0002] In practice, it is known that bales of recycled plastic waste, which are prone to instability, are manually stacked in a bale storage area using forklifts, with a stack height of two or three bales. A worker operates the forklift, retrieving the bales individually from a baler, transporting them to the storage area, and stacking them on top of each other, creating column-like stacks. The recycled material, especially plastic waste, can lead to irregularities in the shape of the bales, and the density of the bales can also vary locally. The bales can deform under pressure within the stack, which can compromise the stability of the stack. Therefore, the stacking height is limited. Furthermore, for stability reasons, the bales of recycled plastic waste are often placed on a pallet and stacked together with it.Pallets are then arranged between the pressed bales in the bale stack.

[0003] EP 0 796 212 B1 and DE 94 19 918 U1 disclose an automatic bale storage system for highly compressed bales made of textile fibers. These textile bales have a uniform shape and density and are less critical in terms of stability and stackability. An automatic crane-like stacking device with three bale grippers arranged one above the other handles the bales in the storage system and moves them to a bale removal conveyor. The bales are placed on the conveyor, moved out of the storage system, and made available for external collection by a forklift.

[0004] DE 30 04 645 relates to a method and a device for loading bales of waste ejected from a horizontal baling press onto a transport vehicle whose vertical longitudinal center plane is aligned with the vertical center plane of the baling press. The bales ejected from the baling press in a row are removed one after the other by individual transport in the pressing direction, moved to a predetermined end position, and finally pushed horizontally from this position in the pressing direction onto the transport vehicle.

[0005] The object of the present invention is to demonstrate a better and automatable bale handling technology for pressed bales, in particular made from recycled material.

[0006] The claimed bale handling technology, i.e. the automatic bale handling device and the bale storage facility equipped with it, has several advantages.

[0007] The bale handling technology offers increased efficiency. It can be used for storing compressed bales in a stationary, automated bale storage system and also for retrieving compressed bales, particularly for loading a transport vehicle. Loading can be carried out faster and with less effort than with the current state of the art. In particular, a transport vehicle can be loaded by the automated bale handling system within the stationary bale storage system.

[0008] A transport vehicle can also serve as a temporary storage area for compressed bales or a buffer storage area. The compressed bales can also be unloaded from the transport vehicle or transferred between different transport vehicles. The compressed bales can be handled in groups, especially in stacks, which is particularly efficient. Additional loading devices, as required by prior art, are not necessary. Furthermore, the bale handling system is also particularly suitable for smaller stationary bale storage facilities.

[0009] Another advantage is the universal applicability of the automatic bale handling system for various types of automatic and stationary bale storage systems. These can include, for example, bale storage systems with floor-level storage bays for individual compressed bales or stacks of two or more bales. Alternatively or additionally, a bale storage system can also be designed as a rack storage system or comprise a rack storage system. The automatic bale handling system can both place individual compressed bales or stacks on the floor and gradually build them up, as well as store individual compressed bales or stacks in rack compartments. Conversely, it can also retrieve bales.

[0010] The powered and remotely controlled positioning device offers advantages when loading transport vehicles, as well as when storing and retrieving bales from shelves or for stacking, for example, on the floor of a warehouse. A further benefit is that the bale gripper can grasp and handle individual bales or stacks of bales. This increases efficiency during storage, retrieval, and loading of transport vehicles. Furthermore, the bale gripper can handle multiple bales side-by-side, such as two, or multiple stacks of bales side-by-side. The positioning device can also be designed for this purpose. This further increases efficiency during storage, retrieval, and loading operations.

[0011] The automatic bale handling device is particularly suitable for the automatic handling of preferably cuboid and fixed compressed bales. The compressed bales can consist of, for example, recycled material, especially plastic waste, metal waste, paper waste, or the like. However, it is also suitable for compressed bales made of other materials. Such compressed bales can, for example, weigh 300 kg or more each, up to 1.5 t. Accordingly, a column-like stack of two or more stacked compressed bales can weigh 600 kg or more. The base of such preferably cuboid compressed bales can have a substantially rectangular shape with an edge length of approximately 110 cm in both width and depth.

[0012] The automatic bale handling device comprises an automatic bale gripper, which has a carrier and at least one bale gripper arranged on the carrier. The bale gripper is designed to detachably grip and hold at least one compressed bale. The bale gripper can also detachably grip and hold several compressed bales, in particular a column-like stack of two or more stacked compressed bales. The bale gripper can also detachably grip and hold a series of two or more individual compressed bales arranged laterally side by side, or two or more stacks of bales arranged laterally side by side.

[0013] The bale gripping device comprises a driven and preferably remotely controllable positioning device that moves the bale gripper relative to the carrier with a positioning stroke (s), thereby changing the distance between the carrier and the bale gripper. The positioning stroke (s) can be reversible. It can be, for example, translational, and in particular linear. The positioning device can be arranged between the carrier and the bale gripper. The positioning stroke (s) can be oriented transversely to the carrier, and in particular transversely to its extent, especially its vertical axis.

[0014] The automatic bale gripping device can be designed in various ways. In an advantageous embodiment, it is designed as a crane robot. This includes, for example, a preferably non-stationary, horizontally arranged crane bridge, which can, for example, travel on a portal or on elevated rails. At least one movable carriage can be arranged on the crane bridge, from which the preferably column-like support is suspended. A design is advantageous in which the support is rotatably driven about its vertical axis on the carriage by means of a rotary bearing. The at least one bale gripper and the positioning device can also be rotated about the aforementioned vertical axis along with the support. The at least one bale gripper and the positioning device can be arranged on the support in a height-adjustable manner, for example, by means of a guided carriage or in another way. The crane bridge can be arranged horizontally, in particular in a horizontal position.Instead of a crane bridge, a mobile column with an upright orientation can also be positioned in front of a rack storage system.

[0015] The automatic bale gripping device can have several bale grippers, in particular two or three, arranged one above the other on a positioning device. The bale grippers can have a fixed and predetermined position relative to each other. In one variant, it is possible to arrange the bale grippers so that they are height-adjustable relative to each other on a common frame or on separate frames. The bale grippers can be adjusted individually or together on the support. The positioning device, whether present individually or in multiples, can be adapted accordingly.

[0016] The automatic bale gripper can be designed to grip a single compressed bale or a column-like stack of bales. It is also possible to grip several individually arranged compressed bales or several stacks of bales arranged side by side.

[0017] The automatic bale gripping device is further preferably designed for a compressed bale weight of a gripped single bale of 300 kg or more, or for a bale stack weight of a gripped bale stack of 600 kg or more.

[0018] The bale grab can be designed in various ways. In an advantageous embodiment, the bale grab is fork-shaped and comprises a frame with fork arms movably mounted and driven on it, which can grasp at least one compressed bale laterally and clamp it between them. The fork arms can be gripping arms. The distance between the fork arms can be adjusted. With a corresponding number of bale grabs, several compressed bales arranged side by side in a row or stacked one above the other in a column-like pile can also be grasped and clamped.

[0019] Grasping bales, stacks of bales, or rows of bales from the side has the advantage that the base and top surfaces of the bale, stack, or row remain unobstructed. This facilitates and simplifies the placement of a single bale, stack, or row of bales on the floor of a storage area, on the loading platform of a transport vehicle, or on the floor of a storage compartment in a racking system.

[0020] The driven and preferably remotely controlled positioning device can be designed in various ways. For example, the positioning device can have an extendable and driven telescopic arm with which the associated bale gripper is moved along the positioning stroke (s).

[0021] In another embodiment, the positioning device can, for example, have an extendable and driven scissor arm. This arm comprises, for example, two or more crossed rods or links that are articulated together at the point of intersection, with their ends articulated to the support on one side and the bale gripper on the other, or to another scissor arm. At each end, one joint is rotatably and fixedly mounted on the support and the bale gripper, respectively, and the other joint is height-adjustable, optionally in a driven and controlled manner, on the support and the bale gripper. This height adjustment extends or retracts the scissor arm transversely to the direction of height adjustment.

[0022] In addition, other design variations of the positioning device are possible. A guide for at least one bale gripper during the positioning stroke (s) may also be provided, which is, for example, supported on the carrier in a height-adjustable manner.

[0023] The positioning device can have a positioning stroke (s), which is preferably directed horizontally, in particular in a lying position. The positioning stroke (s) can be aligned parallel to the floor of a storage area, a shelf compartment, or a loading platform. The positioning stroke (s) can have a potential length, for example, approximately 70 cm or possibly more. The length of the positioning stroke (s) can be adapted to the width of a loading platform of a transport vehicle and / or to the depth of a shelf compartment such that the positioning stroke (s) can move the gripped bale, bale stack, or row of bales to the opposite edge of the loading platform or shelf compartment. This is advantageous for being able to place several bales, bale stacks, or bale rows one after the other in the direction of the positioning stroke (s) when loading a loading platform or storing them in a shelf compartment, thus utilizing the full width of the loading platform or shelf depth.

[0024] The design of the automatic bale handling system with a bale gripper that laterally grasps one or more compressed bales offers advantages for the stable holding and movement of the gripped bale(s) during storage, retrieval, and loading. This prevents the gripped compressed bales, bale stacks, or bale rows from wobbling uncontrollably and potentially falling over.

[0025] The automatic bale gripper can be designed to load a transport vehicle, such as a truck and / or trailer or railway wagon, with multiple compressed bales. The compressed bales or bale stacks can be arranged side by side and one behind the other on the loading platform of the transport vehicle. The automatic bale gripper can be designed to load one or more gripped compressed bales onto the transport vehicle in a single lifting operation using the positioning device.

[0026] In this process, one or more compressed bales are lifted and moved across the loading platform, then placed down on it. This suspended movement has the advantage that the final position of the compressed bales on the loading platform can be reliably located and secured.

[0027] The suspended lifting motion is also safer than sliding bales or bale stacks on a loading platform. Furthermore, the suspended lifting motion prevents damage to the bale(s). This lifting technique is also advantageous when storing and retrieving bales or bale stacks at floor level or in and out of a shelf compartment in a racking system. The automatic bale gripper can be used for a wide variety of handling operations with bales or bale stacks.

[0028] The automatic bale handling system can include an automatic bale inspection system. This system can be configured to perform a quality inspection of bales to be stored, in particular a quality inspection of their stacking quality. It can also be configured to perform a quality inspection of bale stacks. The preferably automatic bale inspection system can be configured to reject bales of insufficient quality.

[0029] The automatic bale inspection system can also include a sorting device for removing bales. Quality control is particularly advantageous for compressed bales made from the aforementioned recycled material, as this can be an inhomogeneous material that may deform under pressure into a stack of bales. The stack can then become unstable and topple over. Quality control can include compression testing, inspection of fastening devices (e.g., strapping), contour and dimensional checks with the trimming of excess material, and similar procedures.

[0030] In an advantageous embodiment, the at least one bale gripper can include a compression testing device for automatic quality control of one or more compressed bales. The compression testing device can be part of the automatic bale testing unit. For example, the compression testing device can include a displacement sensor and a force sensor, which can detect and evaluate any bale deformation during gripping and clamping of one or more compressed bales. The compression testing device on the bale gripper has the advantage that at least one important aspect of quality control can be carried out during handling of the compressed bale and its storage in a bale storage facility.

[0031] The automatic bale handling device may have a programmable logic controller (PLC) or be connected to a programmable logic controller (PLC) of an automatic bale storage system. The bale gripping device and the positioning device, in particular their drives, may be connected to the controller. The automatic bale handling device, especially the automatic bale gripping device, may also include a positioning device for automatic positioning. The positioning device may also be connected to the programmable logic controller. Furthermore, the bale inspection device and the sorting device may be connected.

[0032] The positioning system can include sensors for detecting the position of storage locations on the floor and / or in rack compartments of a storage area and / or for detecting the position of a transport vehicle and its storage area. Additional sensors, in particular force sensors and / or displacement sensors, can be used to detect the movement of the automatic bale handling device and its components, especially the at least one bale gripper and the one or more compressed bales being gripped. The positioning system enables compressed bales to be stored and retrieved with pinpoint accuracy in stationary and automated bale storage systems at floor-level storage locations or in rack compartments of a storage rack system or similar. They can also be loaded with pinpoint accuracy onto a transport vehicle, in particular onto its loading platform. The corresponding data is transmitted to and processed by the programmable logic controller (PLC).

[0033] The invention also relates to an automatic bale storage system for stacks of bales made from the aforementioned preferably cuboid and fixed compressed bales, which are preferably made from recycled material. The automatic bale storage system can include an automatic bale handling device of the type claimed and mentioned above.

[0034] The automatic and stationary bale storage system can comprise a preferably enclosed storage area for bale stacks with a bale infeed and bale outfeed. The bale storage system can also include a baler or be associated with one. A baler can, for example, be located upstream of a bale infeed. An automatic bale inspection device can be arranged between a baler and the bale infeed. It can also be located within the bale storage system and within a storage area.

[0035] The automated and preferably stationary bale storage system, with its preferably enclosed storage area, can include several floor-level storage positions for column-like bale stacks. It can additionally or alternatively include a rack storage system with several vertically and horizontally arranged rack compartments for compressed bales or bale stacks.

[0036] The automatic bale storage system can be designed to accommodate column-like stacks of bales consisting of at least two pressed bales of the aforementioned recycled material or another bale material stacked directly on top of each other. In a particularly advantageous embodiment, the automatic bale storage system can comprise such column-like stacks of bales consisting of four or more, preferably five or more, pressed bales of the aforementioned material stacked directly on top of each other. At the bottom storage points, such column-like and tall stacks of bales can be arranged close together and in a similarly close arrangement one behind the other in two or more rows. The stacks of bales can be oriented at an angle and inclined towards each other at the top, so that they support each other. In a row arrangement of bale stacks, there can also be an offset of the bales in the longitudinal direction and, if necessary, also in the transverse direction of the stack rows.

[0037] The claimed automatic bale handling device can be arranged within the storage area. It can thus be used multiple times in the aforementioned manner for storing and retrieving compressed bales and bale stacks, as well as for loading a transport vehicle, which preferably takes place within the storage area. The automatic bale storage system can have at least one loading station within the storage area, which is designed for the arrangement of a mobile transport vehicle. The loading station can be located within the working area of ​​the automatic bale handling device.

[0038] The aforementioned loading points on the floor or in shelf compartments of the storage area are also located within the working area of ​​the automatic bale handling device.

[0039] The invention is illustrated in the drawings in an exemplary and schematic manner. Specifically, the drawings show: Fig. 1: A first variant of an automatic and stationary bale storage system and an automatic bale handling device with a loading area for a transport vehicle in a top view, Fig. 2: A variant of the bale storage and bale handling device with a loading area in a truncated perspective view, Fig. 3 and Fig. 4: a side view and a top view of the arrangement of Fig. 2, Fig. 5: a front view of the arrangement of Fig. 2 according to arrow direction V Fig. 6 to 8: a loading process on a means of transport in three steps, Fig. 9 and Fig. 10: a bale grabber in a perspective view and a side view, Fig. 11: a pressed bale in perspective view and Fig. 12: A top view of a bale grabber with a row of two adjacent and jointly gripped compressed bales or bale stacks.

[0040] The invention relates to an automatic bale handling device (2) for automatically handling compressed bales (7, 7'). The invention also relates to a stationary and automatic bale storage facility (1) with such a bale handling device (2).

[0041] Fig. Figure 11 shows an example of the formation of a preferably cuboid-shaped press bale (7, 7'). This comprises a bale body (8) with a surrounding bale fixation (9), which is formed, for example, by strapping made of metal or plastic bands, which are wound, for example, crosswise or only in several parallel, closed rings around the bale body (8). The bale fixation (9) secures and fixes the press bale (7, 7') and holds it together in the shape shown.

[0042] The compressed bale (7, 7') preferably consists of a recycled material. This can be, for example, waste from plastic and / or metal and / or paper and / or textiles. These materials can be in sheet or web form. They can also be shaped as hollow bodies. In another variant, not shown, compressed bales (7, 7') can also comprise short-cut synthetic or natural fibers or very long bundles of such fibers, so-called tow.

[0043] The preferably cuboid-shaped pressed bales (7,7') have a bale width (b), a bale height (h) and a bale depth (t). They preferably have a substantially rectangular base with side edges (b,t) that each have a length of approximately 110 cm, for example.

[0044] Fig. Figure 1 shows a first variant of an automatic and stationary bale storage system (1) and an automatic bale handling device (2) arranged therein. These are designed for the automatic handling of the said compressed bales (7, 7').

[0045] The automatic bale handling device (2) includes an automatic bale gripping device (3). It may also include a bale manipulator (15).

[0046] The automatic bale gripping device (3) comprises a carrier (20) and at least one bale gripper (10) arranged on the carrier (20). The at least one bale gripper (10) is designed to detachably grip and hold at least one compressed bale (7, 7'). This can be, for example, a single compressed bale (7, 7'). The bale gripper (10) can also be configured according to Fig. 12 Releasably grasp and hold two or more press balls arranged side by side (7,7').

[0047] The bale gripping device (3) also includes a driven and preferably remotely controllable positioning device (14) configured to move the at least one bale gripper (10) relative to the carrier (20) with a positioning stroke (s), thereby changing the distance between the carrier (20) and the bale gripper (10). The positioning stroke (s) is preferably directed transversely to the extent of the carrier (20), in particular transversely to its vertical axis. The positioning stroke (s) is preferably directed parallel to a floor or base of the bale storage (1). The positioning stroke (s) preferably has a horizontal or slightly inclined orientation. The positioning device (18) and its arrangement are described below.

[0048] The automatic and stationary bale storage system (1) comprises a storage area (39) for bale stacks (6, 6'). The storage area (39) is preferably surrounded by an enclosure (27), e.g., a building wall, and has a bale inlet (22) and a bale outlet (23). In the Fig. In the bale storage facility (1) shown, the compressed bales (7, 7') are placed in column-like bale stacks (6, 6') on ground-level storage points (35). The stack height of the bale stacks (6, 6') can comprise three or more, in particular four, five or six, compressed bales (7, 7') stacked on top of each other.

[0049] The bale stacks (6, 6') are arranged, for example, in stacking rows one behind the other at the storage locations (35). Two parallel stacking rows are arranged closely adjacent to each other. The stacking rows and their bale stacks (6, 6') may be inclined vertically and may be inclined towards each other at the top, possibly also in mutually supporting contact. Storage aisles (40) may be arranged between the storage locations (35), in which the automatic bale handling device (2) and, in particular, its bale gripping device (3) with the at least one bale gripper (10) can move.

[0050] The automatic bale storage system (1) can include a programmable logic controller (PLC) (38) that can control the automatic bale handling device (2) and other components of the automatic bale storage system (1). The PLC (38) can be an electronic control unit with one or more processors and one or more data and program memories, as well as interfaces for wired or wireless data input and output. The controller (38) can be configured as a central controller or as a distributed controller with several control modules located at different locations. The controller (38) can contain various programs in its memories, for example, a storage management program for the arrangement of the compressed bales in the bale storage system (1), a control program for the movements and functions of the automatic bale handling device (2), and other components of the bale storage system (1).

[0051] In the storage area (39), and preferably within the enclosure (27), at least one loading point (24) is arranged at a bale discharge point (23), where at least one movable transport means (25) can be parked. The transport means (25) can be, for example, a truck and / or its trailer, a railway wagon, or the like. The transport means (25) has at least one loading platform (26) on which several individual compressed bales (7) or bale stacks (6) can be loaded. Preferably, to utilize the loading volume, bale stacks (6) consisting of two or more compressed bales (7, 7') stacked on top of each other are arranged in two or more parallel rows on the loading platform (26). The compressed bales (7) are arranged side by side and one behind the other. An opening associated with the loading point (24), for example, a lockable gate, is arranged in the enclosure (27).

[0052] The automatic bale storage (1) can include a baler (29) or be associated with a baler. In the baler (29), the bales (7, 7') are produced from the bale material and pressed under high pressure into the cuboid shape mentioned above, and fitted with the bale clamp (9). The baler (29) can be present individually or in multiples.

[0053] In the exemplary embodiment of Fig. 1 Two baling presses (29) are arranged outside the enclosure (27). The bales (7, 7') produced there are conveyed on a conveyor at the bale feed (22) into the storage area (39). Here they can be picked up and distributed by the bale manipulator (15). The bale manipulator (15) can also include at least one bale gripper (10) of the type mentioned.

[0054] The automatic bale handling device (2) can include an automatic bale inspection device (4) that performs a quality check of the bales (7, 7') being fed into the storage area (39) with regard to their stacking quality. This can, for example, relate to the compressibility or deformation resistance of the individual bales (7, 7'). Further quality criteria can relate to the existence, integrity, and correct arrangement of bale fixings. Additional quality criteria can relate to the exact contour and dimensions of the bales (7, 7'), the existence of any local material protrusions, etc. The automatic bale inspection device (4) can also check the stacking quality of the bale stacks (6, 6'), e.g., their vertical alignment and any tilting, e.g., visually.

[0055] At Fig. 1 Some of the test components of the bale testing device (4) are arranged between the balers (29) and the bale feeder (22) outside the storage area (39). Alternatively, they can also be arranged inside the storage area (39). In addition, a sorting device (5) is assigned to the bale testing device (4), with which bales (7, 7') that are classified as inferior during quality testing can be rejected and removed.

[0056] Part of the bale testing device (4), in particular a compression tester, can also be located within the storage area (39). It can, for example, be located at one or more storage positions in the area of ​​the bale manipulator (15). Alternatively or additionally, it can also be located on a bale gripper (10) of the bale gripping device (3). The sorting device (5) can also include a sorting station (28) within the storage area (39) where lower-quality bales (7, 7') are placed and made available for collection.

[0057] Fig. Figures 2-8 show an example of another variant of a bale storage facility (1), which can be located, for example, in a building. The storage area (39) can comprise several storage locations (35) arranged within a rack storage system (36), which are designed, for example, as shelf compartments. The shelf compartments can, for example, hold one or more stacks of bales (6, 6'), whereby the stacks of bales (6, 6') can be arranged side by side and one behind the other. The floor of the shelf compartment can be rigid or, according to Fig. 5. Movable and equipped, for example, with a conveyor (37). This can also be connected to the control unit (38). Furthermore, bottom-mounted bearing points (35), not shown, can be provided as in Fig. 1 must be present.

[0058] A baler (29) is located elsewhere in the building, for example on an upper floor. The baled bales (7, 7') can be transported via a bale manipulator (15) to a storage area next to or at the rack storage (36). The bale manipulator (15) may include a lift or other conveyor. It is located at the bale feed (22).

[0059] At the bale discharge point (23), at least one loading point (24) for receiving a transport means (25) is arranged. Furthermore, an automatic bale handling device (2) with at least one automatic bale gripping device (3) is arranged in the stationary bale storage area (1) and in the storage area (39). This can be designed as a crane robot (16) as described above, wherein Fig. 2-8 whose parts and functions are described in more detail and by way of example.

[0060] The loading station (24) and the rack storage (36) are located within the working area of ​​the automatic bale gripping device (3) and are accessible from it. The rack storage (36) can also be present multiple times.

[0061] In Fig. In Figures 2-8, the bale gripping device (3) is designed as a crane robot (16). This robot has, for example, a stationary and, for example, horizontally arranged crane bridge (18), which is movably mounted on a portal (17) or on other elevated rails. At least one carriage (19) is movably mounted on the crane bridge (18), on which the aforementioned support (20) is suspended downwards. The support (20) has a column-like shape and is rotatably mounted on the carriage (19) about its vertical axis by means of a rotary bearing (21). A rotary drive for rotating the support (20) is also provided on the carriage (19). The at least one bale gripper (10) and the positioning device (14) are height-adjustable, for example, by means of a guided slide (not shown), mounted on the support (20). In the illustrated embodiment, the automatic bale gripping device (2) comprises two bale grippers (10) arranged one above the other, which, for example,The two bale grippers (10) are arranged together on an positioning device (14). They jointly grip a stack of bales (6, 6') consisting, for example, of two stacked and contacting compressed bales (7, 7'). The number of bale grippers (10) can also be higher.

[0062] How Fig. 9 and Fig. As illustrated in Figure 10, the bale grab can, for example, be designed in a fork-like form and can comprise a frame (11) on which two fork arms (12) are movably mounted and driven relative to each other by a drive (13). The parallel fork arms (12) are aligned in the same direction and perpendicular to the frame (11) and its main plane. The fork arms (12) form gripping arms. They are designed to grip at least one compressed bale (7, 7') laterally and clamp it between themselves. The drive (13) applies the clamping force. Fig. 2-8 each of the fork arms (12) grips a single press ball (7,7') laterally.

[0063] Fig. Figure 12 shows a variant of the bale gripper (10) that grips a row of two adjacent compressed bales (7, 7'). The bale gripper (10) can have a separating plate between the compressed bales (7, 7'). If several, in particular two, bale grippers (10) are arranged one above the other, they can grip a row of two or more stacks of bales (6, 6').

[0064] In the illustrated embodiments, the positioning device (14) is arranged between the at least one bale gripper (10) and the carrier (20) or a slide or other means of movement located thereon. The positioning device (14) can be designed in various ways. For example, it can have an extendable and driven telescopic arm, which can also be present in multiple locations and which extends in the direction of the positioning stroke (s). Fig. Figure 10 indicates a different design of the positioning device (14) as an extendable and driven scissor arm of the aforementioned type.

[0065] The adjusting device (14) has an adjusting stroke (s), which is, for example, horizontally oriented. It can also be directed transversely to the vertical axis of the support (20). In Fig. The stroke (s) is indicated in 6-8. It can, for example, have a length of approximately 70 cm or possibly more.

[0066] The length of the adjustment stroke (s) can be adapted to the width of a loading surface (26) and / or to the depth of a shelf compartment. In the embodiment shown, this allows according to Fig. 6-8 the one or more grasped press bales (7,7') ]or the bale stack (6) are fed to one side, e.g. long side, of the loading area (26) and moved across the width of the loading area (26) to the opposite edge and placed there.

[0067] The automatic bale gripping device (3) can load the one or more gripped compressed bales (7, 7') onto the transport vehicle (25) in a lifting operation using the positioning device (14). The one or more gripped compressed bales (7, 7') are held suspended and at a distance above the loading platform (26) by appropriately positioning the at least one bale gripper (10) at a certain height. They can be moved across and over the loading platform (26) by means of a travel movement of the carriage (19) and the positioning stroke (s) of the positioning device (14). At the destination, in particular at the opposite edge of the loading platform, they can then be lowered onto the loading platform (26). Fig. Figures 6-8 illustrate this process.

[0068] The first part of the loading movement can be performed by the carriage (19) until the carrier (20) contacts the transport means (25) or stops shortly before it. The at least one bale gripper (10), the at least one gripped compressed bale (7, 7') and, if applicable, the positioning device (14) can already be positioned above the loading platform (26). The remaining movement is carried out by the positioning device (14) with the positioning stroke (s).

[0069] After the release of the one or more gripped bales (7, 7'), the positioning device (14) returns the at least one bale gripper (10) to its starting position. The automatic bale gripper (3) then moves to a loading point (35) and grips the next one or more bales (7, 7') there. The in Fig. The loading process, illustrated in Figures 6-8, then repeats itself, with the one or more picked-up bales (7, 7') being placed in the feed direction in front of the bales (7, 7') already loaded on the loading platform (26). The travel distance of the carriage (19) may be sufficient for this loading movement, and the actuating device (14), which has been retracted to its starting position, may remain inactive.

[0070] The described loading process is then repeated, with the next pairs of press bales (7,7') being loaded in the longitudinal direction of the loading area (26).

[0071] With the aforementioned bale dimensions, edge lengths of approximately 110 mm and a bale height (h) of approximately 1 m or slightly more, bale stacks (6.6') with a stack height of two bales (7.7') can be accommodated in the loading space volume.

[0072] In Fig. 2-8, for example, the two bale grabbers (10) together grasp a single stack of bales (6). In the Fig. In the gripper variant shown in 12, two stacks of bales (6,6') can be gripped together and loaded onto the loading platform (26).

[0073] The processes described above can also be carried out in reverse order when unloading a loading platform (26). Furthermore, it is possible to transfer the compressed bales (7, 7') between several means of transport (25), which can also be done in the prescribed manner. The compressed bales (7, 7') are lifted from the loading platform (26).

[0074] The automatic bale gripping device (3) shown can also be used for storing and retrieving the compressed bales (7, 7') or bale stacks (6, 6') at the storage locations (35), in particular the shelf compartments. Individual compressed bales (7, 7') or bale stacks (6, 6') can also be picked up from the staging area at the bale manipulator (15) and transported to the storage locations (35) or shelf compartments and stored there. The storage and retrieval process can also be carried out using the lifting motion described above, as when loading and unloading a transport vehicle (25).

[0075] How Fig. As illustrated in Figure 5, the automatic bale handling device (2) can include a positioning device (30) for automatic positioning. The positioning device (30) can be connected to the control unit (38). It can be designed as a single unit or in multiple units and can comprise various components. For example, it can have one or more sensors, in particular cameras, for detecting the position of the transport vehicle (25) and its loading platform (26) and for detecting the position of a storage location (35). Furthermore, the position of the at least one bale gripper (30) and also of the gripped compressed bale (7, 7') or bale stack (6, 6') can be detected. Additionally, the distance traveled by the crane robot (16) and also by the at least one bale gripper (6) and the positioning device (14) on the support (20) can be detected via displacement sensors or other sensors.

[0076] The in Fig. The variant shown in Figures 2-8 can also include a bale inspection device (4) and a sorting device (5) of the type described above. These are not shown for clarity.

[0077] The at least one bale grab (10) can include a compression testing device (31) with which an automatic quality check, in particular a compression test, can be carried out on the one or more gripped press bales (7,7'). Fig. 9 and Fig. Figure 10 illustrates an example of such a compression test device (31).

[0078] It includes, for example, a displacement sensor (32) which measures the displacement, in particular the clamping displacement, of the fork arms (12) when laterally gripping and clamping the at least one compressed bale (7, 7'). The compression test device (31) may also include a force sensor (33), which is, for example, associated with the drive (13) of the fork arms (12). The force sensor (33) can measure the clamping force acting between the fork arms (12) when the at least one compressed bale (7, 7') is clamped. Any deformation of the at least one gripped compressed bale (7, 7') can be detected via the clamping displacement and clamping force and compared with a target value. If the degree of deformation is too high, the bale stability and the stability of a bale stack (6,6') may be compromised, so that at least one lower-quality pressed bale (7,7') can be sorted out and removed via a sorting device (5) and, for example, a sorting station (28).

[0079] Variations of the illustrated and described embodiments are possible in various ways within the scope of the claims. In particular, components of the embodiments can be combined or exchanged. REFERENCE MARK LIST 1 bale storage 2 automatic bale handling devices 3 Bale gripping device 4 Bale testing device 5 sorting devices 6 bale stacks 6' bale stack 7 compressed bales 7' Pressed bales 8 bale bodies 9. Bale securing, strapping 10 bale grabs 11 frame 12 Gripping arm, fork arm 13 Drive 14 Actuating device 15 bale manipulator 16 crane robots 17 Portal 18 Crane bridge 19 trolleys 20 carriers 21 swivel bearings 22 bale feed 23 Bale removal 24 charging points 25 means of transport 26 loading area 27 Enclosure 28 sorting station 29 balers 30 positioning devices 31 Compression test materials 32 distance measuring devices 33 force gauges 34 Soil, subsoil 35 storage location 36 shelf storage 37 sponsors 38 Control 39 storage area 40 lanes b Bale width h Ball height t Ball depth s adjustment stroke QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] EP 0 796 212 B1

[0003] DE 94 19 918 U1

[0003] DE 30 04 645

[0004]

Claims

[1] Automatic bale handling device designed for the automatic handling of compressed bales (7, 7') at a stationary bale storage facility (1) for preferably cuboid, fixed compressed bales (7, 7') which are preferably made of recycled material, in particular plastic waste, wherein the bale handling device (2) comprises an automatic bale gripping device (3) which has a carrier (20) and at least one bale gripper (10) arranged on the carrier (20), which is designed to detachably grip and hold at least one compressed bale (7, 7'), characterized by , that the bale gripping device (3) comprises a driven positioning device (14) which is designed to move the bale gripper (10) with a positioning stroke (s) relative to the carrier (20) and thereby change the distance between the carrier (20) and the bale gripper (10). [2] Device according to claim 1, characterized bythat the adjusting device (14) is arranged between the support (20) and the bale gripper (10). [3] Device according to claim 1 or 2, characterized by , that the bale gripping device (3) is designed as a crane robot (16) comprising a preferably non-stationary crane bridge (18) and a carriage (19) that can be moved thereon, on which the preferably column-like support (20) is suspended. [4] Device according to claim 1, 2 or 3, characterized by , that the carrier (20) is arranged on the carriage (19) so as to be rotatable about its vertical axis by means of a rotary bearing (21). [5] Device according to any one of the preceding claims, characterized by , that the at least one bale gripper (10) and the adjusting device (14) are arranged in a height-adjustable manner on the carrier (20). [6] Device according to any one of the preceding claims, characterized by, that the automatic bale gripping device (3) has several, in particular two or three, bale grippers (10) arranged one above the other on a common positioning device (14). [7] Device according to any one of the preceding claims, characterized by , that the automatic bale gripping device (3) is designed to grip a single compressed bale (7,7') or to grip a stack of bales (6,6'). [8] Device according to any one of the preceding claims, characterized by , that the automatic bale gripping device (3) is designed for a compressed bale weight of a gripped single bale of 300 kg or more for a bale stack weight of a gripped bale stack (6,6') of 600 kg or more. [9] Device according to any one of the preceding claims, characterized by, that the bale grab (10) is designed in a fork-like form and has a frame (11) with movably mounted, driven fork arms (12) which are designed to grip at least one pressed bale (7,7') laterally and clamp it between them. [10] Device according to any one of the preceding claims, characterized by , that the positioning device (14) has an extendable, driven telescopic arm and / or an extendable, driven scissor arm on which the at least one bale gripper (10) is arranged. [11] Device according to any one of the preceding claims, characterized by , that the actuating device (14) has an actuating stroke (s) of approximately 70 cm. [12] Device according to any one of the preceding claims, characterized by , that the automatic bale handling device (2) has a positioning means (30) for automatic positioning. [13] Device according to any one of the preceding claims, characterized by , that the automatic bale gripping device (3) is designed to load a transport means (25), in particular a truck and / or a trailer, with several compressed bales (7, 7'), wherein the compressed bales (7, 7') are arranged next to each other and one behind the other on a loading platform (26) of the transport means (25). [14] Device according to any one of the preceding claims, characterized by , that the automatic bale gripping device (3) is designed to load one or more gripped compressed bales (7, 7') onto the transport means (25) in a lifting operation by means of the positioning device (14), wherein one or more gripped compressed bales (7, 7') are moved suspended over the loading surface (26) and then placed on the loading surface (26). [15] Device according to any one of the preceding claims, characterized by, that the automatic bale gripping device (3) is designed to store and retrieve compressed bales (7,7') in a stationary bale storage facility (1), in particular a rack storage facility (36). [16] Device according to any one of the preceding claims, characterized by , that the automatic bale handling device (2) comprises an automatic bale inspection device (4) which is designed to perform a quality inspection of bales (7,7') to be stored, in particular their stacking quality, and / or a quality inspection of bale stacks (6,6'), wherein preferably the automatic bale inspection device (3) is designed to sort out bales (7,7') of insufficient quality and the automatic bale inspection device (3) comprises a sorting means (4). [17] Device according to any one of the preceding claims, characterized by, that the bale gripper (10) includes a compression testing device (31) for automatic quality testing of one or more gripped compressed bales (7,7'). [18] Device according to any one of the preceding claims, characterized by , that the compression test device (31) comprises a displacement meter (32) and a force meter (33) and is designed to detect and evaluate any bale deformation when gripping and clamping one or more compressed bales (7,7'). [19] Device according to any one of the preceding claims, characterized by , that the automatic bale handling device (2) has a programmable logic controller (38) or is connected to a programmable logic controller of an automatic bale storage facility (1), to which the bale gripping device (3) and the positioning device (14), in particular their drives, and the positioning means (30) are connected. [20] Automatic bale storage (1) for bale stacks (6,6') made of compressed bales (7,7'), wherein the preferably cuboid and fixed compressed bales (7,7') are preferably made of recycled material, in particular plastic waste, characterized by , that the automatic bale storage (1) comprises an automatic bale handling device (2) designed according to at least one of claims 1 to 19. [21] Bale storage according to claim 20, characterized by , that the automatic bale storage (1) comprises a preferably enclosed storage area (39) for bale stacks (6,6') with a bale feed (22) and a bale discharge (23). [22] Bale storage according to claim 20 or 21, characterized by , that the automatic bale storage (1) includes a baler (29) or is associated with a baler. [23] Bale storage according to claim 20, 21 or 22, characterized by, that the automatic bale storage (1) comprises a preferably enclosed storage area (39) with floor-side storage locations (35) for column-like bale stacks (6,6') and / or a rack storage (36) for compressed bales (7,7') or bale stacks (6,6'). [24] Bale storage according to one of claims 20 to 23, characterized by , that the automatic bale storage (1) comprises column-like bale stacks (6,6') of four or more, preferably five or more, compressed bales (7,7') of recycled material, in particular plastic waste, stacked directly on top of each other. [25] Bale storage according to one of claims 20 to 24, characterized by , that the automatic bale handling device (2) is located in the storage area (39). [26] Bale storage according to one of claims 20 to 25, characterized by, that the automatic bale storage (1) has at least one loading space (24) in the storage area (39) which is designed for the arrangement of a movable transport means (25) and which is located in the working area of ​​the automatic bale handling device (2).

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