METHOD AND DEVICE FOR HANDLING PIECES, ARTICLES AND / OR CONTAINERS

Description

[0001] The present invention relates to a method and a device for handling piece goods, articles and / or containers according to the features of independent claims 1 and 9, respectively.

[0002] In known processes for packaging and / or palletizing piece goods such as packages, bundles, etc., these are first conveyed on in-line conveyor systems and then moved, aligned, and / or assembled in a suitable manner to create the desired layer patterns, which can then be stacked multiple times on top of each other, e.g. on pallets prepared for this purpose. These treatment steps can be particularly useful in systems for treating beverage containers. The piece goods in question can be, for example, packages, crates, cartons, bundles, or clusters. In order for the aforementioned pallets to be safe for transport, the assembled layer patterns, which are also referred to as assembled cycles, must meet certain requirements. Traditionally, preparatory measures are necessary to create such cycles. These consist, for example, of initially regularly or step-by-step stacking of the items on a so-calledTo group or collect the piece goods transported on the allocation belt on an intermediate conveyor belt in order to transfer them from there, collected and / or grouped, to a layer formation belt or a layer formation table.

[0003] It is known from the prior art to transfer piece goods individually from a distribution belt to a conveyor belt. This means that individual piece goods are transferred from the distribution belt to the conveyor belt. This transfer can take place by transferring each individual piece of goods to the conveyor belt using a speed difference between the distribution belt and the conveyor belt, whereby this can be controlled by optical sensors such as light barriers. It is also conceivable to transfer the piece goods individually from the conveyor belt by moving the layer forming belt step by step. In order to transfer individual piece goods from the conveyor belt to the layer forming belt in this way, the layer forming belt can be moved in synchronized steps with the conveyor belt by exactly one length of one piece of goods in the direction of transport. These cycles or groupings orParts of the grouped piece goods can also be rotated depending on the desired layer formation and then transferred to the layer formation belt.

[0004] The state of the art provides various design variants for grouping tables used to combine piece goods such as cartons, shrink packs, trays, and plastic crates. For example, piece goods can be combined by arranging them in a two-dimensional formation (block formation, e.g., pallet layer). For this purpose, a roller conveyor can be supplied linearly from one or more aisles. The piece goods can be rotated as needed in front of or on the roller conveyor and mechanically arranged in the required position on the roller conveyor using stop points. The piece goods positioned in this way can then be pushed off the roller conveyor orthogonally to the direction of transport. The infeed, arrangement, and pushing off of the piece goods can be viewed as a single cycle.At least one cycle is required to assemble a layer, but typically several cycles are required. The partially discontinuous conveying process, with its relatively abrupt changes in speed and direction, causes correspondingly high mechanical stress on the piece goods, which can be detrimental to gentle product processing.

[0005] A method according to the preamble of claim 1 is known, for example, from DE 10 2011 080 812 A1 or WO 2017 / 220215 A1, which is prior art according to Article 54(3) EPC.

[0006] Published patent application EP 2 174 895 A2 discloses a device and method for the economical forming of bundle layers, using a gripper. This gripper is designed to position and / or rotate at least one bundle, and to place at least one additional bundle in the same orientation onto the positioned and / or rotated bundle.

[0007] The object of the invention is to provide a method and a device for handling and / or grouping piece goods, articles and / or packages, which have an increased throughput compared to known methods and devices for layer formation and, in particular, operate in a process-reliable and error-free manner.

[0008] This object is achieved by the subject matter of the independent claims, i.e., by a method and a device for handling and / or grouping piece goods, articles, and / or packages, which comprise the features of the independent patent claims. Features of advantageous developments of the invention emerge from the respective dependent claims.

[0009] The invention relates to a method and a device for handling and / or grouping piece goods, articles, and / or packages during and / or in connection with their grouping and / or layering, in particular for the purpose of forming palletizable layers consisting of several piece goods, articles, and / or packages. In principle, handling and manipulation sequences are also possible that can be or are carried out using a so-called rotating and distributing system. The method described in the following context is therefore also intended to apply to such rotating and distributing systems.

[0010] In the following, we will generally refer to piece goods. Piece goods can be articles, packages, container assemblies, bundles, cartons, or similar items moved in a row one behind the other. For example, it can be provided that a plurality of identical or different articles are combined into a bundle or mixed bundle by means of cardboard packaging, one or more strappings, film packaging, or the like. Furthermore, a plurality of beverage containers, held together, for example, by shrink wrapping, one or more strapping bands, can each form a piece goods item. The piece goods moved in a row one behind the other can be of the same or different designs depending on the requirements of downstream handling devices.

[0011] The device comprises at least one transport device for the single-row or multi-row conveyance of piece goods, articles and / or containers in one transport direction. The at least two directly consecutive piece goods, which are moved in a row without gaps or with minimal gaps and / or are conveyed to an area - in particular called a manipulation area, detection area or movement area - are preferably transported as a closed formation. The term closed formation refers to a largely unbroken sequence of piece goods that are transported one after the other. The closed formation in the sense of the present invention can have a finite length and comprise a limited number of piece goods, after which a gap and such a gap can be followed by another such formation, which is then transported. Such a sequence can be repeated, if necessary.also multiple times, many times or in an indefinite number. The closed formation can also be transported as a continuous formation which has no interruption and comprises any number of piece goods. As an alternative option, which can nevertheless relate to some embodiments of the method according to the invention for handling piece goods moved in at least one row one behind the other and / or the device according to the invention for handling piece goods moved in at least one row one behind the other or even to several embodiments of this method or device, the at least two directly consecutive piece goods moved in defined rows without respective spacing or with minimal respective spacing from one another and / or conveyed to an area - in particular referred to as the manipulation area or detection area - can each be conveyed or transported in synchronized formations.The term "clocked formation" and / or "clocked inflow" refers to a largely regular sequence of defined rows of piece goods that are transported one after the other in the defined rows, although defined gaps may occur between successive rows, which is what the term "clocked inflow" or "clocked formations" refers to. The closed and / or continuous rows within the meaning of the present invention can each have a finite length and comprise a limited number of piece goods, after which a gap and such a gap can optionally be followed by another such row with consecutive piece goods that are transported subsequently. Such a sequence can be repeated, possibly multiple times, many times or in an indefinite number, preferably in a regular sequence, but possibly also in cyclically regular patterns or even in an irregular sequence.The closed rows of such a timed formation can in principle each contain any number of piece goods.

[0012] The at least one transport device transports the piece goods in single or multiple rows, in a closed and / or continuous formation, or in a formation with gaps between the piece goods, to a grouping module with at least one horizontal conveyor and at least one manipulator for the piece goods. The manipulator detects at least one of the piece goods entering its detection area, or groups of two or more piece goods, and arranges them into a defined layer by rotating, shifting, and / or lifting them. This creates a so-called prepared palletizable layer, in which gaps may still exist between individual piece goods that must be removed before the actual palletizing step.

[0013] From the incoming piece goods in a closed formation, the manipulator of the grouping module successively grasps at least one piece of transported piece goods and places it into a defined layered arrangement by rotating, shifting, and / or lifting. In particular, the manipulator of the grouping module grasps at least one piece of transported piece goods in a clamping and / or force-fitting and / or form-fitting manner, spatially separates it from the closed formation, and places it into a defined relative target position and / or target orientation relative to subsequent piece goods in the formation.

[0014] From the closed rows of a timed, gap-filled formation, at least one transported piece of goods is clamped and / or force-fitted and / or form-fitted by the manipulator of the grouping module, spatially separated from the gap-filled row of the timed formation and brought into a defined relative target position and / or target orientation or layer arrangement with respect to subsequent piece of goods in the formation, whereby usually a piece of goods located at the front of the respective row is grasped by means of the manipulator and picked up from the row.

[0015] When, in the context of the present invention, reference is made to a clamping gripping of piece goods, this also includes a force-locking and / or friction-locking gripping or receiving of piece goods. All of these variants of receiving, grasping and / or gripping piece goods can equally be combined with a form-locking grasping, gripping or receiving of the piece goods. When, in the context of the present invention, reference is made to a target position and / or target orientation, this can mean in particular that the piece goods can be grasped, moved and / or rotated, whereby the piece goods can also optionally only be moved (without rotation) or only rotated (without displacement movement).

[0016] The piece goods are transported within the grouping module on the horizontal conveyor at the conveyor speed of the horizontal conveyor. Individual piece goods or groups of piece goods are grasped and gripped by the manipulator and moved, relocated, positioned, and / or realigned on the horizontal conveyor. The piece goods can optionally be decelerated or accelerated relative to the conveyor speed of the horizontal conveyor and, if necessary, rotated and / or offset at an angle to the conveyor direction of the horizontal conveyor. The conveyor speed of the horizontal conveyor generally corresponds to the feed speed at which the piece goods flow into the grouping module via the transport device.

[0017] It is provided here that at least one of the handling steps of grasping, rotating, shifting and / or lifting at least one piece of goods, which are carried out in chronological order to form a defined layer arrangement within the grouping module, includes lifting and lifting over the respective at least one piece of goods grasped by the manipulator above at least one other piece of goods located in the grasping range of the manipulator. In this case, a piece of goods that has already been moved into a target position and / or target arrangement by the manipulator is lifted over, in particular a piece of goods that has already been grasped and shifted, rotated and / or lifted by the manipulator and in the process repositioned to form layers and / or is not moving in the transport direction in alignment with a transport device upstream of the grouping module, from which it was transferred to a horizontal conveyor device of the grouping module.

[0018] The already positioned piece goods that are being lifted over can be located in line with the row of trailing piece goods in the transport direction, from which the manipulator picks up at least one piece of goods. Alternatively, the already positioned piece goods can also be arranged laterally offset to the row of trailing piece goods, i.e. they cannot move in the transport direction in line with a transport device upstream of the grouping module, from which it was transferred to a horizontal conveyor device of the grouping module. In addition, the already positioned piece goods can have a different target arrangement than the piece goods following on the at least one transport device if they have been rotated by the manipulator during the positioning process, for example by 90° or 270°.The at least one piece of goods grasped by the manipulator can, for example, be lifted above the already positioned piece of goods in such a way that it is positioned in front of or laterally offset from the already positioned piece of goods in the transport direction. In this case, the at least one piece of goods grasped can, if necessary, be rotated by the manipulator relative to its initial orientation within the incoming row.

[0019] The piece goods arranged in the layer arrangement are then conveyed to further handling, stacking and / or palletising modules arranged downstream of the grouping module, for example to at least one pre-grouping, in which any gaps that may exist between the piece goods arranged according to a predetermined layer scheme within the grouping module are removed by pushing together the layer prepared within the grouping module, before this so-called compressed or closed layer is subsequently transferred, for example, to a pallet.

[0020] According to a preferred embodiment, the at least one piece of goods grasped by the manipulator is moved during its positioning by the manipulator with a movement component transverse to the transport direction and is thereby lifted to a height that avoids a collision with the at least one piece of goods being lifted over. In particular, the piece of goods is subjected to at least one vertically upward movement component and is lifted to a height above the conveying surface of the horizontal conveyor device that is greater than the height of the at least one piece of goods to be lifted over.

[0021] In another embodiment, the piece goods located in the detection area are detected by sensors with regard to their position and / or the presence of gaps between consecutively transported piece goods. At least one suitable sensor determines whether there are gaps between consecutive piece goods in the detection area of ​​the manipulator. Both already positioned and following, not yet manipulated piece goods can be detected within the detection area and evaluated accordingly. If a sufficiently large gap is detected between consecutive piece goods in the detection area, the manipulator can be controlled accordingly in order to insert at least one further piece of goods into the gap. In this case, the piece goods to be inserted can - if sufficient space is available - be pushed into the gap, for example.More often, however, the space around the gap will not be sufficient for this, so it may be necessary to insert the piece goods into the gap from above, or in particular to lower them into it, by lifting other piece goods over them.

[0022] This is particularly advantageous if, for example, during layer formation within the grouping module, an undesired gap is created between the piece goods in the layer arrangement due to at least one missing piece goods. According to one embodiment, an image recognition sensor records the created layer arrangement and transmits the recorded data to a control unit, which compares the recorded layer image with the desired layer image. If the control unit detects a deviation between the recorded layer image and the desired layer image, the control unit calculates the number and position of the missing piece goods as well as a corrective work or movement sequence for the manipulator. The control unit then controls the manipulator in such a way that it picks up a corresponding number of piece goods from a row of trailing piece goods and inserts them into a detected and / or calculated error position of the faulty layer arrangement.In this case, it is usually necessary to lift at least one piece of goods grasped by the manipulator, which is required to correct the faulty layer pattern, over at least some of the pieces of goods already correctly positioned within the layer arrangement and to insert it into the faulty position from above to avoid collisions with the correctly positioned pieces of goods. The method and device described here can therefore also be advantageously used to control the manipulator's movement sequences during production and, in particular, during the correction of the layer arrangements.

[0023] During the lifting and transfer of the respective at least one piece of goods over at least one other piece of goods in the detection area, it can be provided that at least a brief delay in the feed speed of the at least one transport device and / or an at least brief delay in the conveying speed of the horizontal conveyor device occurs simultaneously, so that the supply of piece goods entering the detection area via the at least one transport device is briefly reduced. This saves a small amount of working time, which may be necessary to manage the longer lifting movement and possibly longer distance to be performed by the manipulator.

[0024] It should be expressly stated at this point that all aspects and embodiments explained in connection with the device according to the invention equally relate to, or can be, partial aspects of the method according to the invention. Therefore, if certain aspects and / or relationships and / or effects are mentioned at any point in the description or in the claim definitions for the device according to the invention, this equally applies to the method according to the invention. The same applies in reverse, so that all aspects and embodiments explained in connection with the method according to the invention equally relate to, or can be partial aspects of the device according to the invention.Therefore, if at one point in the description or in the claim definitions of the method according to the invention certain aspects and / or relationships and / or effects are mentioned, this applies equally to the device according to the invention.

[0025] In the following, exemplary embodiments will explain the invention and its advantages in more detail with reference to the accompanying figures. The relative sizes of the individual elements in the figures do not always correspond to the actual sizes, as some shapes are simplified and others are enlarged relative to other elements for better illustration. Fig. 1 shows a side view of an embodiment variant of a layer forming and palletizing device according to the invention. Fig. 2 shows a layer forming and palletizing device according to Fig. 1 from above. Figures 3 to 6show schematically a useful temporal sequence of a first embodiment of a method, wherein piece goods supplied in at least two parallel rows are grouped and / or arranged according to a predetermined layer scheme. Figures 7 to 9 show schematically a useful temporal sequence of a second embodiment of the method, wherein piece goods supplied in at least two parallel rows are grouped and / or arranged according to a predetermined layer scheme. Figures 10 to 12 show schematically a meaningful time sequence of a third embodiment of the method. Figures 13 and 14 show a meaningful time sequence of a fourth embodiment of the method. Figures 15 to 17 show a meaningful time sequence of a fifth embodiment of the method. Figures 18 to 19show schematically a useful time sequence of a further embodiment of the method for handling piece goods moved in at least one row one behind the other by means of a corresponding handling device.

[0026] Identical reference numerals are used for identical or equivalently functioning elements of the invention. Furthermore, for the sake of clarity, only those reference numerals are shown in the individual figures that are necessary for the description of the respective figure. The illustrated embodiments merely represent examples of how the device or method according to the invention can be configured and do not represent a definitive limitation.

[0027] The schematic side view of the Fig. 1 shows a side view of a layer forming and palletizing device 100, while the top view of the Fig. 2shows a top view of the layer forming and palletizing device 100. First, in the Figures 1 and 2Unit loads (not yet shown in detail) are assembled into a layer to be palletized. For example, packages, each comprising a plurality of beverage containers held together by outer packaging in the form of shrink film or by strapping or the like, are fed in the transport direction TR to a layer preparation and provision module 16 via a transport device 3, for example in the form of a suitable conveyor. The layer preparation and provision module 16 comprises a grouping module 20 in which the unit loads are assembled as a prepared, palletizable layer by at least one suitable manipulator 5 or the like moving within a defined movement space, according to a desired and / or predetermined layer pattern.The grouping module 20 and the feeding transport device 3 can, for example, form a device for handling piece goods moved one behind the other in at least one row, as described in corresponding patent applications having the same filing date as the present application. Such a device can process piece goods fed seamlessly in a row, for example, seamlessly fed packages, each comprising a plurality of articles combined by outer packaging. Furthermore, such a device is also suitable for processing piece goods spaced apart from one another in a row and assembling them into a palletizable layer according to a desired and / or predetermined layer pattern.

[0028] The individual items are fed to a manipulator 5 of the grouping module 20, for example, via a conveyor or transport device 3 with at least two transport sections adjoining one another in a transport direction. The first transport section is formed, for example, by a roller chain or the like, and the second transport section is formed, for example, by a conveyor belt with an adhesive surface, such as a rubberized conveyor belt. Such a transport device is described in the patent application with the file number DE 10 2017 207 353.5, the content of which is hereby incorporated into this application and the content of which is to be considered familiar to the reader of the present application.

[0029] The at least one manipulator 5 of the grouping module 20 defines and establishes within the grouping module 20 the cycle of the piece goods to be processed in each case by picking up the corresponding number of piece goods from the piece goods arriving in at least one row, either continuously or at a distance from one another. The manipulator 5 is formed, for example, by a parallel kinematics robot or a delta kinematics robot, which can have, for example, a first shaft and a second shaft for gripping, releasing, and rotating products. In particular, the manipulator 5 can be flange-mounted in a rotationally fixed manner to a linear guide, wherein the linear guide is designed as the first shaft, so that the manipulator 5 can be rotated via the first shaft or the linear guide. The second shaft forms an actuating device, by means of which clamping jaws of the manipulator 5 can be controlled for closing and opening.The axes of rotation of the first shaft and the second shaft are identical or approximately coincident; moreover, they are oriented and arranged coaxially with each other. The first shaft can preferably be formed by a hollow tube, with the second shaft being arranged in the cavity of the first shaft.

[0030] Optionally, however, the at least one manipulator 5 in the grouping module 20 can also be formed by a gantry robot, by a multi-axis robot or by another suitable gripping and / or manipulation device which is capable of gripping, rotating, shifting, lifting, releasing, etc., the conveyed piece goods in rapid succession, so that the desired layer patterns can be generated.

[0031] The palletizable layer prepared by appropriate handling of the piece goods within the grouping module 20 may still have gaps between the piece goods, which should be at least partially closed before palletizing, since it is not advisable to palletize layers that are not completely pushed together for stability reasons and to save space. To eliminate the gaps between the individual piece goods, the palletizable layer prepared within the grouping module is fed successively in the transport direction TR to a first pre-grouping 17 and a second pre-grouping 18, where the piece goods of the prepared palletizable layer are pushed together, eliminating the gaps still existing between the piece goods, thus creating the desired finished palletizable layer; this layer or palletizable layer is also referred to below as the closed layer.

[0032] In particular, it is provided that the piece goods of the palletizable layer prepared by the grouping module 20 in the first pre-grouping 17 are pushed in the transport direction TR against a first stop element 40 extending transversely to the transport direction (cf. Fig. 2 ), so that the movement of the piece goods in the transport direction TR closes the first gaps between the piece goods in the prepared palletizable layer and forms a so-called compressed palletizable layer. In the subsequent second pre-grouping 18, second stop elements 42 extending parallel to the transport direction on both sides are moved towards each other (cf. Fig. 2 ), so that second gaps between the piece goods of the compressed palletizable layer can be closed and eliminated transversely to the transport direction TR.

[0033] The finished or closed palletizable layer produced by the first and second pre-grouping is pushed from the second pre-grouping 18 in the transfer direction ÜR into a loading station 22. The palletizable layer is placed on a pallet or on at least one upper side of another palletizable layer arranged on a pallet. The pallet required for this purpose (not shown) is introduced into the loading station 22 in the pallet feed direction 23 and removed from the loading station 22 in the pallet removal direction 24. The pallet feed direction 23 and the pallet removal direction 24 are preferably designed to be straight, aligned and transverse to the transfer direction ÜR of the palletizable layer within the loading station 22.

[0034] Furthermore, the layer forming and palletizing device 100 preferably comprises a so-called intermediate layer pre-separator 25 including a magazine for intermediate layers and a centering unit for centering the intermediate layer to the respective palletizable layer. Furthermore, the loading station 22 can also be assigned an intermediate layer inserter 26 in order to arrange an intermediate layer, for example made of a cardboard blank or similar, between the palletizable layers to be stacked on top of one another to protect the respective lower palletizable layer. Optionally, two layers can also be stacked on top of one another first, before a third layer to be placed on top of them is separated from the top of the second layer by such an intermediate layer. In this case, for example, stacks of layers are formed in pairs, which are separated from one another in pairs of consecutive layers by intermediate layers.Other separation systems using such intermediate layers are also conceivable, but are not explained in detail here.

[0035] The Figures 3 to 6 show schematically a useful temporal sequence of a first embodiment of a method, wherein piece goods 2 supplied in at least two parallel rows 1a, 1b are grouped and / or arranged according to a predetermined layer scheme.

[0036] The handling device 10 comprises at least one first transport device 3, via which directly successive piece goods 2 in a row 1 are transported without interruption and / or at a continuous transport speed v3 to a grouping module 20 with at least one manipulator 5, in particular into a detection area (cf. reference number 4 in Fig. 7) of the at least one manipulator 5 of the handling device 10. In the present context, the detection range means in particular the maximum and / or the respectively program-controlled predetermined movement range of the manipulator 5. The detection range or its outer spatial boundary can be larger than the outer limits of the horizontal conveyor device 6, on whose approximately horizontal upper side the piece goods 2 are conveyed and / or positioned and / or moved by means of the manipulator 5. Normally, however, the detection range of the manipulator 5 is the sensible movement range in which the piece goods 2 to be detected can be located and / or in which the piece goods 2 to be deposited can be positioned.

[0037] The at least one transport device 3 is, for example, at least one conveyor belt or at least one other suitable conveyor device on which the piece goods 2 are transported in at least one row, wherein there is no gap or only a slight gap, possibly process-related and / or predetermined, between directly successive piece goods 2. In particular, the transport device 3 can be formed by an endlessly circulating conveyor belt, an endless conveyor chain or the like, so that the piece goods 2 can be delivered to and conveyed to the horizontal conveyor device 6. The piece goods 2 located in row 1 on the transport device 3 preferably run into the detection area 4 of the manipulator 5 at a transport speed v3 in a so-called closed formation F. However, it can also be provided that defined distances are formed between the piece goods 2 of the at least one row 1.In this case we speak of a clocked formation.

[0038] Unit loads 2 within the meaning of the present invention or the described exemplary embodiment can be, for example, individual articles, packages, or bundles. Packages or bundles can be, for example, shrink-wrapped bundles and / or strapped bundles or the like, whereby normally several articles, such as in particular containers, liquid and / or beverage containers, are combined into bundles by means of outer packaging in the form of strapping, shrink film, or the like.

[0039] As already mentioned, it is optionally possible for the piece goods 2 to be transported on a transport device 3 or on several, in particular parallel, transport devices 3 in multiple rows, in particular in several parallel rows, towards the detection area 4 of the manipulator 5. The parallel rows can be transported spaced apart from one another or largely without any spacing from one another on the at least one transport device 3.

[0040] A horizontal conveyor 6 is assigned to the detection area of ​​the manipulator, the surface of which supports the piece goods 2 moving at a conveying speed v6. In particular, the conveying speed v6 of the horizontal conveyor 6 can correspond to the feed speed v3 of the transport device 3. Optionally, the feed speed v3 and the conveying speed v6 can also differ slightly, provided that it can be guaranteed that the uninterrupted conveying of the piece goods 2 to the horizontal conveyor 6 is maintained. The piece goods 2 arriving in row 1 or formation F via the transport device 3 can, at least with differing v3 and v6, be pushed over to the horizontal conveyor 6 by the dynamic pressure of the following piece goods 2 that may arise due to the higher transport speed v3 and can be conveyed there without interruption.

[0041] However, it is necessary to reduce this back pressure by suitable measures, e.g. by means of a rubberized conveyor belt of the horizontal conveyor device 6 and / or by means of a rubberized conveyor belt of the transport device 3, optionally also by means of a so-called brake belt located between the transport device 3 and the horizontal conveyor device 6, which is characterized by a surface supporting the piece goods 2 with a particularly high coefficient of friction. These or other suitable measures ensure precise positioning of the respective piece goods 2 at the respective detection location in the detection area, so that precise transfer by the manipulator 5 is guaranteed. It should be emphasized, however, that such measures for reducing any existing or resulting back pressure are not desirable, even if they are indispensable or sensible to use depending on the selected configuration of the moving parts.

[0042] The manipulator 5 is designed and equipped for the clamping and / or form-fitting and / or force-fitting acceptance of piece goods 2 within the detection area. The piece goods 2 detected by the manipulator 5 - i.e. generally the piece goods 2 arriving first in the formation F - are designated below by the reference symbol 2* to distinguish them from the other piece goods 2 arranged in the formation F or the overall formation. In particular, the manipulator 5 picks up a piece of goods 2* according to a cycle predetermined for layer formation, wherein a cycle comprises a defined number of piece goods 2*. For example, the manipulator 5 picks up a cycle comprising at least one, preferably at least two or three piece goods 2* arranged one after the other in a closed formation F, separates this from the single-row formation F of the piece goods 2 (cf. Fig. 2) and transfers the cycle, ie the separated piece goods 2* or the separated group of two or three piece goods 2* arranged in a row without gaps, into a target position P and / or target orientation (cf. Fig. 6 ). In this case, it can be provided that the piece goods 2* or the group of piece goods 2* is shifted laterally relative to the incoming formation F of piece goods 2 and / or it can be provided that the piece goods 2* or the group of piece goods 2* is spaced apart from the formation F of the piece goods 2 by the manipulator 5 in the transport direction TR and / or that the piece goods 2* or the group of piece goods 2* is rotated relative to the piece goods 2 of the formation F or similar.

[0043] If in the present case or generally in the context of the present invention a manipulator 5 is referred to in general terms, the part of the manipulator 5 intended for transferring the at least one piece goods 2* picked up by the manipulator into the target position P and / or target orientation can be, for example, a tool head, a gripper head 50 or the like (cf. Fig. 1), which is held and mounted, for example, on movably mounted cantilever arms, which can in turn typically be fixedly mounted on a frame or the like. Such a manipulator suspension or manipulator arrangement - also known as a parallel kinematics arrangement - enables the desired mobility of the gripper head 50 (also: the manipulator 5), which can grasp, move, position, place, rotate, etc., the piece goods 2* in the desired manner in order to be able to approach the respective target positions P and / or target orientations for the piece goods 2*. However, other suitable manipulator configurations are also conceivable, for example those with gantry robot guides or the like. These other manipulator configurations can optionally refer to individual, several, or all of the embodiments mentioned in connection with the present description of the figures and / or the entire description of the invention.

[0044] In this exemplary embodiment and / or in connection with the present invention as a whole, the manipulator 5 can be formed, for example, by a gripper head 50 with lateral clamping jaws 52 or the like, or can comprise such a gripper head 50 with lateral clamping jaws 52, which can typically be advanced toward one another when gripping the piece goods 2* in order to grip or clamp the piece goods 2* in a form-fitting and / or force-fitting manner, whereas the clamping jaws 52 can be opened again upon reaching the target position P and / or target alignment. Therefore, when reference is made in the present context or in the present description to a manipulator 5 and / or a gripper or gripper head 50, these terms can be used as synonyms; if necessary, the gripper or gripper head 50 can also be viewed as a subassembly or component of the more comprehensively understood manipulator 5.

[0045] In the Figures 3 to 6In the embodiment shown in side view, the manipulator picks up two piece goods 2 from the front row 1a in the picture ( Fig. 4 ) and lifts them over the piece goods 2 of a parallel, only in the Figures 5 and 6 visible row 1b ( Fig. 5 ) in order to transfer the detected piece goods 2* of row 1a to a target position P and / or target arrangement which is located to the right of row 1b in the transport direction TR on the horizontal conveyor device 6 ( Fig. 6 ).

[0046] This can be used advantageously, for example, when, in the case of a multi-row feed, piece goods 2 are picked up several times from the same row 1a or 1b by the manipulator 5.

[0047] The Figures 7 to 9schematically show a useful temporal sequence of a second embodiment of a method, wherein piece goods 2 fed into two rows 1a, 1b in at least two parallel rows 1a, 1b via two transport devices 3a, 3b are grouped and / or arranged according to a predetermined layering scheme. The manipulator picks up a piece of goods 2 from the row 1b arranged on the left in the transport direction TR (cf. Fig. 7 ) and transfers this detected piece goods 2* to a target position P and target arrangement, which is located on the right side of the right row 1a as seen in the transport direction TR ( Fig. 9 ).

[0048] The detected piece goods 2* are lifted by the manipulator 5 in such a way that they can be moved over the piece goods 2 of the right-hand row 1a that continue to enter the detection area 4 without colliding with them. At the same time, the detected piece goods 2* are rotated 90° counterclockwise by the manipulator 5, so that the target arrangement of the piece goods 2* is in the target position P according to Fig. 9rotated by 90° relative to the initial alignment of the following piece goods 2 in row 1b. By significantly lifting at least one detected piece goods 2* by a vertical distance that is at least slightly greater than the respective height of the processed piece goods 2, it is possible to lift detected piece goods 2* above incoming piece goods 2 of a parallel row 1a. This significantly increases the number of possible target positions to which the detected piece goods 2* can be moved, since these are not limited to target positions aligned in the transport direction or to the side of the exit row 1b.

[0049] The Figures 10 to 12show a schematic representation of a useful chronological sequence of a third exemplary embodiment of a method. In this case, a single-row inflow of piece goods 2 in a closed formation F via a transport device 3 is shown. A first piece of goods 2* is already located in a target position P1 on the horizontal conveyor device 6. The target position P1 is located, for example, in front of and aligned with row 1 of the following piece goods 2 in the transport direction TR. The piece of goods 2* in the target position P1 is identical to the following piece goods 2 in row 1; for better understanding and improved clarity of the figures, the piece of goods 2* in the target position P1 is shown hatched.

[0050] The manipulator 5 picks up two more piece goods 2* from row 1 ( Fig. 10), lifts them and moves the two piece goods 2* to a target position P2, which, as seen in the transport direction TR, is offset laterally to the right relative to the target position P1 and to the trailing piece goods 2 of row 1. The two piece goods 2 grasped by the manipulator 5 are lifted in such a way that they are lifted above the piece goods 2* located in the target position P1.

[0051] With the method described here, the manipulator 5 can also lift piece goods 2* over already manipulated piece goods 2*, i.e., those already located in a target position P1 and / or target arrangement according to a predetermined layer pattern, and position them in front of or to the side of them in the transport direction TR. Here, too, further, possibly superimposed movements of the manipulator 5 are possible, which transfer the detected piece goods 2* into a desired target arrangement.

[0052] The Figures 13 and 14show a useful chronological sequence of a fourth exemplary embodiment of a method. Here, sensory layer detection is provided within the grouping module 20. A suitable sensor 45, for example, an image recognition sensor 46, detects the layer arrangement 12 created by the manipulator 5 within the grouping module 20 (cf. Fig. 14 ). According to Fig. 13 a faulty layer arrangement 12* was formed, in which a piece of goods 2 is missing at the fault position X marked with hatching. The sensor 45 transmits the recorded data to the control unit 15, which compares the recorded layer image 12* with the desired layer image 12 (cf. Fig. 14). In the event of a deviation between the detected layer image 12* and the desired layer image 12, the control unit 15 determines the number and position of the missing piece goods as well as a corrective work and / or movement sequence for the manipulator 5. The control unit 15 then controls the manipulator 5 in such a way that it picks up a corresponding number of piece goods 2* from the row 1 of the trailing piece goods 2 and places them in the calculated error position X. To do this, it is generally necessary to lift the at least one piece of goods 2* required by the manipulator 5 to correct the incorrect layer image 12* over at least some of the piece goods 2* that are already correctly positioned within the layer arrangement 12* in order to avoid collisions with them.

[0053] The method described here can therefore also be used advantageously to eliminate unwanted gaps in the layer arrangement 12* of the piece goods 2* before the layer 12 is transferred to further processing machines (cf. Figures 1 and 2 ) close.

[0054] The Figures 15 to 17show a useful chronological sequence of a fifth exemplary embodiment of a method. This shows a single-row feed of piece goods 2 via a transport device 3 to the grouping module 20. The piece goods 2v, which is the first to enter the detection area 4 of the manipulator 5 and has not yet been previously detected and positioned by the manipulator 5, and which moves in the transport direction TR in alignment with the transport device 3 arranged upstream of the grouping module 20 and was transferred from there to the horizontal conveyor device 6 of the grouping module 20, is lifted over by a group comprising three piece goods 2* which are detected by the manipulator 5 and follow the foremost piece goods 2v.

[0055] The three piece goods 2* grasped by the manipulator 5 are, for example, placed in a target position P, which is located in the transport direction TR, aligned in front of the foremost piece goods 2v on the horizontal conveyor 6. However, depending on the desired layer arrangement, it may also be expedient to arrange the piece goods 2* laterally offset from the foremost piece goods 2v on the horizontal conveyor 6. In addition, the group of three piece goods 2* can be rotated by the manipulator 5 before being positioned on the horizontal conveyor 6, thus bringing them into a new target orientation.

[0056] The Figures 18 and 19 show schematically a useful temporal sequence of a further embodiment of a method for handling piece goods 2 moved one behind the other in at least one row 1 by means of a corresponding handling device 10.

[0057] Since frictional effects superimpose themselves on all inertial forces during the manipulator movements when the piece goods 2* are moved by the manipulator 5, and since the frictional forces can change depending on the changing environmental conditions and possibly changing surface properties at the interfaces of the parts moving relative to one another, while the inertial forces essentially depend only on the moving masses and centers of gravity of the piece goods 2*, it is provided that the manipulator 5, after picking up a necessary number of piece goods 2* according to the layer diagram to be created, lifts them at least briefly and by a small amount. In particular, the contact with the upper side of the horizontal conveyor device 6 is eliminated, and the manipulator 5 can more easily move the picked-up piece goods 2* to the desired target position (not shown).For this purpose, a slight vertical movement of the manipulator 5 together with the detected piece goods 2* is sufficient. In particular, the detected piece goods 2* can now be moved smoothly into the target position and / or target arrangement.

[0058] The invention has been described with reference to preferred embodiments. It is conceivable for a person skilled in the art that modifications or variations of the invention can be made without departing from the scope of the following claims. It is possible to use some of the components or features of one of the examples in combination with features or components of another example. List of reference symbols

[0059] 1, 1a, 1b Row 2, 2*Unit goods 2vFirst incoming unit goods 3, 3a, 3bTransport device 4Processing or detection area 5Manipulator 6Horizontal conveyor device 10Handling device 12Layer arrangement, layer 12*Incorrect layer arrangement 15Control unit 16Layer preparation and supply module 17First pre-grouping 18Second pre-grouping 20Grouping module 22Loading station 23Pallet feed direction 24Pallet removal direction 25Interlayer pre-separator 26Interlayer inserter 40First stop element 42Second stop element 45Sensor 46Image recognition sensor 50Gripper head 52Clamping jaw 100Layer formation and palletizing device FFormation P, P1, P2Target position TRTransport direction ÜRTransfer direction v3Feed speed v6Conveyor speed XError position

Claims

1. A method for handling piece goods (2) during and / or in the context of grouping the piece goods (2) and / or forming layers thereof, in particular for the purpose of forming palletisable layers (12) that each consist of a plurality of piece goods (2), - wherein the method provides a single- or multiple-row conveyance of the piece goods (2) by means of at least one transport device (3) in a transport direction (TR), in each case in closed and / or unspaced formation (F), or in a formation with spaces in each case between the piece goods (2), to a grouping module (20) with at least one horizontal conveyor (6) and with at least one manipulator (5), - wherein the piece goods (2) are successively seized, individually or in groups of two or more piece goods (2), by the manipulator (5) moving within a seizing range (4) within the grouping module (20) from the at least one closed formation (F) or the formation with spaces present, and are brought into a defined layer arrangement (12) by being rotated and / or shifted and / or lifted, - whereupon the piece goods (2), having been brought into the layer arrangement (12), are conveyed further in transport direction (TR) to further handling modules, stacking modules, and / or palletising modules arranged downstream from the grouping module (20), characterised in that at least one of the handling steps of seizing, rotating, shifting, and / or lifting at least one piece good (2), the handling steps being carried out within the grouping module (20) temporally successively one after the other in order to form a defined layer arrangement (12), provides at least one particular piece good (2) to be lifted up and lifted over at least one other piece good (2*) located in the seizing range (4), which other piece good (2*) has already previously been seized and shifted, rotated and / or lifted by the manipulator (5) and thereby repositioned for layer formation, wherein the at least one piece good (2) seized by the manipulator (5) is lifted over the other piece good (2*) located in the seizing range (4) in such a manner that it is located in transport direction (TR) in front of or laterally offset to the already positioned piece good (2).

2. The method according to claim 1, in which the at least one piece good (2) seized by the manipulator (5) is moved with a movement component transverse to the transport direction (TR) while being positioned by the manipulator (5), and is in this context lifted to a height that prevents a collision with the at least one piece good (2) that it is being lifted over.

3. The method according to claim 1 or 2, in which at least one manipulator-seized piece good (2) to be positioned or a plurality of manipulator-seized piece goods (2) to be positioned is or are lifted over at least one piece good (2) in the seizing range (4), which piece good (2) has not yet been previously positioned, and which piece good (2) is moving in transport direction (TR) in alignment with a transport device (3) arranged upstream from the grouping module (20) by which it has been delivered to a horizontal conveyor (6) of the grouping module (20).

4. The method according to claim 3, in which at least one manipulator-seized piece good (2) to be positioned or a plurality of manipulator-seized piece goods (2) to be positioned, which is / are being transported from a second transport device (3) parallel to the first transport device (3) into the seizing range (4) of the manipulator (5), is or are lifted over at least one piece good (2) coming from a first of a plurality of parallel transport devices (3) into the seizing range (4) of the manipulator (5) of the grouping module (20), which piece good (2) has not yet been previously positioned, and which piece good (2) is moving in transport direction (TR) in alignment with the transport device (3) arranged upstream from the grouping module (20).

5. The method according to one of the claims 1 to 4, in which the piece goods (2) located in the seizing range (4) are sensor-detected in terms of their positions and / or the presence of spaces between consecutively transported piece goods (2), wherein it is determined by at least one sensor (45) whether there are spaces between successive piece goods (2) in the seizing range (4) of the manipulator (5).

6. The method according to claim 5, in which, after identification of a sufficiently large space between successive piece goods (2) in the seizing range (4), a further piece good (2) is inserted into the space and / or lowered into the space from above by being lifted over other piece goods (2).

7. The method according to claim 5 or 6, in which the sensor (45) transmits appropriate signals to a control unit (15) controlling the movements of the manipulator (5) in the production of the layer arrangements (12).

8. The method according to one of the claims 1 to 7, wherein the feed speed (v3) of the at least one transport device (3) is at least briefly decelerated and / or the conveying speed (v6) of the horizontal conveying device is at least briefly decelerated synchronously with lifting up the particular at least one piece good (2) and lifting it over at least one other piece good (2) located in the seizing range (4).

9. An apparatus (10) for carrying out a method according to any of the claims 1 to 8 for handling piece goods (2) during and / or in the context of grouping the piece goods (2) and / or forming layers thereof, in particular for the purpose of forming palletisable layers (12) that each consist of a plurality of piece goods (2), the apparatus (10) comprising - a grouping module (20) with at least one horizontal conveyor (6) and at least one manipulator (5), - a transport device (3) for the single- or multiple-row conveyance of the piece goods (2), in each case in closed and / or unspaced formation, or in a formation with spaces in each case between the piece goods, in a transport direction (TR) to the grouping module (20), - at least one sensor (45) for detecting the piece goods (2) located in the seizing range (4) of the manipulator in terms of their positions; - a control unit (15), wherein the at least one sensor (45) transmits appropriate signals to the control unit (15) that control the movements of the manipulator (5) of the method according to any one of claims 1 to 8, - a further handling module, stacking module, and / or palletising module arranged downstream in transport direction (TR) from the grouping module (20), wherein the piece goods (2), having been brought into the layer arrangement (12), are conveyed further in transport direction (TR) to the further handling module, stacking module, and / or palletising module.

10. The apparatus (10) according to claim 9, wherein it is determined by the at least one sensor (45) whether there are spaces between successive piece goods (2) in the seizing range (4) of the manipulator (5).