Depalletizing arrangement with a device for depalletizing stackable unit loads and method for depalletizing stackable unit loads

Description

[0001] The present invention relates to a depalletizing arrangement with a device for depalletizing stackable unit load containers, wherein the device has a holding device with suction means arranged thereon and designed for releasable suction engagement with a side wall of the container and a support plate movable relative to the holding device for supporting the container, and has a receptacle with at least one carrier on which the holding device is arranged and the device has an engagement device designed for releasable engagement with a recess in a side wall of the container, according to the preamble of claim 1.

[0002] The stackable unit load containers mentioned above can be disposable containers in the form of cardboard boxes, for example, or reusable containers made of plastic or cardboard, or even folding boxes, i.e., containers with foldable side walls. These containers can generally contain any type of item, for example, intended for daily use or consumption.

[0003] The variety of packaging mentioned above is often found in the area of ​​fruit and vegetables, i.e. general cargo that, due to its perishability, must be handled quickly yet carefully in the distribution center.

[0004] The handling or transshipment of general cargo containers filled with fruit and vegetable products or salads often takes place in pallet warehouses. These products are delivered in the aforementioned containers on standardized pallets and must be depalletized or unpalletized for further handling. For this purpose, in the aforementioned pallet warehouses or fruit and vegetable distribution centers, the containers are depalletized by hand, i.e., manually removed from the pallet, and the removed container is then placed on another pallet.

[0005] It has also been shown that fruit and vegetable products are delivered to distribution centres in containers with standardised dimensions, which usually have a base area of ​​600 x 400 mm with different heights or a base area of ​​300 x 400 mm with also different heights.

[0006] Disposable containers often have centering tabs or stacking lugs arranged in the area of ​​the sides or transverse edges, which are each arranged in the corner area of ​​the upper edges of the disposable containers, which are often made of cardboard material.

[0007] The reusable containers and folding boxes often have handle recesses or grips in the side walls or cross walls with which these reusable containers and folding boxes can be lifted manually.

[0008] An additional problem with the aforementioned fruit and vegetable products is that they often have a high moisture content, which means that cardboard containers must be supported from the bottom during depalletizing to prevent damage to the container. However, other items contained in the general cargo containers with dimensions that differ from the stated dimensions, such as chocolate, meat, fish, sausages, other foodstuffs, or even drugstore items, must also be handled with care to avoid damaging the contents. This also requires that damage to the container itself be avoided.

[0009] DE 199 59 285 B4 discloses a vacuum gripping system for gripping an object and a handling device for handling the object. In the known vacuum gripping system described here, a suction head with multiple suction means is described on the boom of a manipulator in the form of an industrial robot. This suction head is attached to a side wall of an object to be manipulated and can fix it in place by means of a holding force brought about by the generation of negative pressure. For further stabilization and fixation of the object to be manipulated, this known vacuum gripping system has a second suction head arranged at a right angle to the suction head, which can be brought into contact with the top or top side of the object to be manipulated in order to exert a lifting force by generating negative pressure in the area of ​​the second suction head.

[0010] The object lifted in this way can then be stabilized by pushing a mechanical lower gripper into the space between the lifted object and the object below.

[0011] This known vacuum gripping system is not suitable for depalletising containers containing fruit and vegetable products, since the containers in which the fruit and vegetable products are delivered on pallets to the distribution centres do not have tops on which the second suction head could be arranged, but the containers containing the fruit and vegetable products are usually open at the top or on the top.

[0012] EP 2 874 925 B1 discloses a gripper head for transporting piece goods containers, which has a suction bar that can be brought into contact with a side wall of the container to be manipulated in order to exert a lifting force on the piece goods container by generating negative pressure in order to create an intermediate space between the piece goods container and the container below it, into which space a carrying plate can be inserted from below to support the container to be manipulated.

[0013] Based on US 2007 / 0280812 A1, a handling device equipped with a vacuum clamp has become known.

[0014] EP 2 441 709 A1 discloses a device for a depalletizing arrangement according to the preamble of claim 1.

[0015] Attempts have already been made to depalletize unit load containers using a gripper system with an industrial robot with a boom and laterally adjustable pressure plates. However, this known gripper system is not suitable for depalletizing containers containing fruit and vegetable products due to the fact that the unit load container is held by the clamping force exerted on the side walls of the container by the pressure plates. The pressure plates would crush the disposable containers, resulting in dents on the fruit and vegetable products and thus damaging them.

[0016] General cargo containers of the type mentioned are often stored or temporarily stored in high-bay warehouses which have shelves or rows of shelves on both sides of a storage aisle required for the operation of a manipulator in the form of a robot, whereby the manipulator serves both rows of shelves from the storage aisle.

[0017] Based on this, the present invention is based on the object of creating a depalletizing arrangement with a device for depalletizing stackable unit load containers which are filled, for example, with fruit and vegetable products and which unit load containers can be in the form of disposable containers as well as in the form of reusable containers or folding boxes, which can be operated in a storage aisle with product rows arranged on both sides of the storage aisle.

[0018] To achieve this object, the invention has the features specified in claim 1 with regard to the depalletizing arrangement. Advantageous embodiments of the depalletizing arrangement are described in the further claims.

[0019] The invention provides a depalletizing arrangement with a device for depalletizing stackable unit load containers, wherein the device has a holding device with suction means arranged thereon and designed for releasable suction engagement with a side wall of the container and a support plate movable relative to the holding device for supporting the container, and has a receptacle with at least one carrier on which the holding device is arranged and the device has an engagement device designed for releasable engagement with a recess in a side wall of the container, wherein the depalletizing arrangement has a manipulator with a support structure and a rotary receptacle arranged rotatably relative thereto is arranged on the support structure and the device is arranged on the rotary receptacle so as to be movable relative to the manipulator,wherein the engagement device is arranged on the receptacle and is designed to be movable relative to the support plate in the vertical axis direction.,

[0020] The depalletizing arrangement thus created thus has a support structure in the form of, for example, a rack, a receptacle or a structure or a frame or a portal or a grid structure or another load-bearing structure, which can be part of a manipulator in the form of a robot, a gantry robot or another controllable unit which can be operated in a storage aisle of a storage arrangement.

[0021] The support structure is therefore generally intended to accommodate a device for depalletizing stackable unit loads, which will be described in more detail below, and can be part or unit or component of a manipulator, as described above.

[0022] By arranging the device for depalletising stackable unit load containers on a holder, which can be a rotating holder or a rotating head, in such a way that the device is arranged so as to be rotatable relative to the support structure, it is achieved that the device for depalletising stackable unit load containers can reach product rows with the unit load containers arranged, stored or temporarily stored on both sides of the storage aisle and in this way, a device for depalletising the stackable unit load containers or devices for depalletising the stackable unit load containers do not have to be provided on both sides of the support structure on the depalletising arrangement, but with a unit or an assembly which comprises the device for depalletising the unit load containers or devices for depalletising the unit load containers,the storage rows with general cargo containers on both sides of the storage aisle can be reached, grasped or served by one unit or assembly.

[0023] In order to ensure that the device for depalletizing the piece goods containers or the devices for depalletizing the piece goods containers can each reach the piece goods containers from the access side, the device for depalletizing the piece goods containers provided on the rotary holder or the devices for depalletizing the piece goods containers provided on the rotary holder can be rotated towards the piece goods containers by means of the rotary holder.

[0024] If first piece goods containers are initially depalletized on a first side of the storage aisle and for this purpose the rotating holder with the device for depalletizing the piece goods containers or the devices for depalletizing the piece goods containers is aligned towards this first side of the storage aisle, the rotating holder can be rotated by 180 degrees towards a second side of the storage aisle in order to align the device for depalletizing the piece goods containers or the devices for depalletizing the piece goods containers towards the second side of the storage aisle, so that second piece goods containers on the second side of the storage aisle can then be reached and depalletized with the device for depalletizing the piece goods containers or the devices for depalletizing the piece goods containers.

[0025] According to a further development of the invention, it is also provided that the support structure has a support which is movable in the vertical axis direction of the support structure, on which a support arm which is movable in the longitudinal direction of the support is arranged and the rotary holder with the device is arranged rotatably relative to the support arm.

[0026] A piece goods container picked up by the device for depalletizing the piece goods containers can be moved in the vertical axis direction of the support structure of the manipulator via the carrier which can be moved in the vertical axis direction in order to be placed on a conveyor device after depalletizing, for example, in order to be transported by this conveyor device to another handling location.

[0027] The rotary holder with the device or devices can be moved from the storage aisle in the direction of the first or second storage rows with the piece goods containers via the support arm which is movable in the longitudinal direction of the carrier, so that the device or devices can reach the piece goods containers on both sides of the storage aisle in order to remove them from the pallets and, for example, to feed them to the above-mentioned conveyor device.

[0028] According to a further development of the invention, it is provided that the rotary holder with the device or devices is designed to be movable relative to the support structure in the longitudinal direction of the support structure.

[0029] This ensures that the rotary holder with the piece goods containers arranged on the device or devices can be moved from the storage rows arranged on both sides of the storage aisle, from which the piece goods containers have just been removed, i.e. depalletized, for example into the middle of the storage aisle, i.e. relative to the support arm and also relative to the carrier, so that then via a vertical movement of the carrier with the support arm and the rotary holder with the device or devices and the depalletized piece goods containers can be released from the device or devices onto the above-mentioned conveyor device in order to be able to be moved on to the other handling location also mentioned.

[0030] For this purpose, it is advantageous and provided according to a further development of the invention that the rotary mount with the device is designed to be movable relative to the support arm in the longitudinal direction of the support arm. This allows the rotary mount with the device(s) to be moved relative to the support independently of the longitudinal movement of the support arm, thus enabling a relative movement of the rotary mount relative to the support structure and also relative to the support arm.

[0031] According to a further development of the invention, it is also provided that the support structure has at least two devices arranged adjacent to one another, which are designed to be operable jointly or separately from one another.

[0032] Two or more than two devices for depalletizing piece goods containers can therefore be arranged adjacent to one another on the support structure, which devices can therefore also be arranged on the rotary mount, and these devices can be operated jointly or separately to depalletize the piece goods containers. This makes it possible, for example, for two devices for depalletizing piece goods containers to be arranged adjacent to one another, to operate both devices together to depalletize two piece goods containers or several piece goods containers arranged next to one another at the same time, or to operate only one of the two or more adjacent devices for depalletizing piece goods containers, or to operate only one of the several devices for depalletizing piece goods containers, thus enabling a targeted selection of the devices for depalletizing piece goods containers.

[0033] According to a further development of the invention, the manipulator is also designed to be movable relative to a support supporting the manipulator. This ensures that the manipulator, which can be moved, for example, along a storage aisle, can be moved along the storage row or rows in this storage aisle, which is equipped with a hall floor as a support, in order to depalletize unit loads with different contents or articles, thanks to the rotating support on both sides of the storage aisle.

[0034] According to a further development of the invention, the support arm and the rotary mount are designed to be movable independently of one another in the longitudinal direction of the support. This allows for targeted control of the rotary mount with the device(s) for depalletizing the unit load containers, independent of the longitudinal movement of the support arm on the support of the manipulator's supporting structure.

[0035] The suction means provided on the depalletizing device can be used to bring about suction engagement with a side wall of a container by bringing the suction means up to the side wall, which can be a longitudinal or transverse wall of the container, so that the suction means come into contact with the side wall and, by applying negative pressure to the suction means, a holding force is built up between the side wall and the suction means, which is sufficiently dimensioned so that, by displacing the suction means in the vertical axis direction of the side wall, the container is lifted on one side to such an extent that a gap is formed between the lifted container and the container arranged underneath.

[0036] By lifting the container, which can be, for example, a disposable container in the form of a carton open at the top in which fruit or vegetables are arranged as piece goods, a space is formed which is sufficiently dimensioned so that the support plate can be moved relative to the lifted container until it overlies at least a partial area of ​​the bottom surface of the underside of the container and in this way supports the container from below.

[0037] A translational movement of the support plate with the container arranged on it ensures that the container can be separated from the stacked arrangement of the remaining containers and, for example, placed on a belt device for further transport.

[0038] As already mentioned above, the distribution center may also contain piece goods containers in the form of reusable containers or folding boxes, which can also be automatically depalletized using the depalletizing arrangement according to the invention.

[0039] For this purpose, the device has an engagement device which is designed for releasable engagement with a recess in a side wall of the container.

[0040] The recess may be a depression in a side wall of the container, which is usually intended for manual handling of the container, since the container is usually handled by hand when filling the container on site with fruit or vegetable products or salads, for example in the field or in the greenhouse, and thus such containers have recesses in the form of handle recesses on both the long sides and the short sides.

[0041] The containers thus filled are delivered to the distribution center as stacked general cargo containers, arranged on a standard pallet so that the pallet can be transported, for example, with a forklift.

[0042] The unit load containers arranged in this stacked arrangement can also be automatically depalletized using the device according to the invention, which is also provided here. For this purpose, the engagement device can effect a releasable engagement with a recess in a side wall.

[0043] According to the invention, the engagement device is arranged on the receptacle and is designed to be movable in the vertical axis direction relative to the support plate, so that the engagement device, while maintaining the releasable engagement with the recess of the container with a predetermined movement in the vertical axis direction, ensures that the container can be lifted on one side by a distance corresponding to the predetermined movement from the container arranged underneath and in this way a space is formed between the underside of the lifted container and the top side of the container located underneath.

[0044] In a manner similar to that described above, a support plate can then be moved into the intermediate space so that the lifted container comes to rest on the support plate or the support plate supports the lifted container from below, thus creating a separation between the lifted container and the container previously arranged underneath.

[0045] According to a further development of the invention, the engagement device is designed to be movable in at least one plane direction of a plane extending largely at right angles to the carrier. In this way, the engagement device can be moved relative to the side wall for engagement with the recess in the side wall of the container. The engagement device is also designed to be movable in the vertical axis direction, so that it can engage in recesses of containers with different heights. The respective recess can be detected by a sensor device.

[0046] The recess can be a handle recess with a passage completely extending through the side wall, so that the engagement device can pass through the handle recess and a displacement movement of the engagement device, for example in a vertical direction, leads to the lifting of the container to be depalletized that is engaged with the engagement device. This lifting of the corresponding container creates the previously explained gap between the underside of the lifted container and the top side of the container below it, into which the carrying plate can be inserted.

[0047] According to a further development of the invention, the engagement device comprises an engagement means designed for releasable engagement with a handle recess in a side wall of the container. The engagement means can be, for example, a gripping finger that can be inserted into the handle recess, so that lifting the gripping finger leads to a one-sided lifting of the container, thus forming a space that is triangular in shape when viewed from the side, into which the carrying plate can be inserted.

[0048] In contrast to the previously described known device with pressure plates that can be moved laterally relative to the container, the device according to the invention does not exert any lateral force on the container, so that the fruit and vegetable products contained in the container cannot be subjected to pressure, and these delicate goods therefore do not develop pressure marks. This is especially true for folding boxes as containers, since otherwise there is a risk of the side walls of these containers accidentally collapsing, resulting in damage to the items contained in the containers.

[0049] The depalletized container, supported from below by the support plate, can be transported to a conveyor belt and transferred to it, for example. During the movement of the container to the conveyor belt or after the container has been positioned above the conveyor belt, the engaging means can be released from the releasable engagement with the recess in the side wall of the container, and the depalletized container can then be placed on the conveyor belt.

[0050] The device according to the invention is thus designed for the automatic depalletizing of both disposable and reusable containers, as well as for the automatic depalletizing of folding boxes, which also have recesses for manual handling, with which the engagement device can releasably engage. Folding boxes can therefore also be automatically depalletized using the device according to the invention, in the same way as was already explained in detail above with reusable containers.

[0051] In this way, the device according to the invention can automatically depalletize all known types of containers used for transporting fruit and vegetable products and for distribution in distribution centers and further transport to the sales branch.

[0052] According to a further development of the invention, the device also comprises a holding means designed for releasable arrangement on an upper edge region of the container. This holding means can be used to secure the container, for example, for transport from the pallet to the conveyor belt, between the gripping finger extending through the handle recess and the edge region of the container located above it, in the form of a reusable container or a folding box.For this purpose, the gripper finger exerts a slight lifting force on the lower edge area of ​​the handle recess and the holding means exerts a slight holding force on the edge area of ​​the container located above the handle recess, so that in this way the container is clamped in the area of ​​the edge area similar to a pliers grip and cannot slip on the carrying plate during transport on the carrying plate to the conveyor belt, thus securing the position of the container relative to the carrying plate or undercarriage plate.

[0053] According to a further development of the invention, the holding means has a strip-shaped or bar-shaped configuration and is provided with an elastically designed support means in a region designed for contact with the upper edge region of the container.

[0054] The edge area of ​​the container in the form of, for example, a reusable box or a folding box or another reusable container above the handle recesses regularly has a strip-shaped or ledge-shaped configuration and the holding means therefore also has a strip-shaped or ledge-shaped configuration in order to be able to be brought into clamping engagement or holding engagement with the container edge area.

[0055] The elastically designed support means on the holding means therefore accesses the edge area of ​​the container from above and, due to its elastically yielding configuration, ensures that even with a small difference between the target position and the actual position of the holding means relative to the upper edge area, a secure clamping of the edge area of ​​the container between the engagement device in the form of, for example, the gripping finger already mentioned and the holding means is achieved.

[0056] According to a further development of the invention, it is also provided that the holding means is arranged on a cross member provided on the receptacle so as to be movable, in particular in the vertical axis direction, and can be actuated by means of an actuator for detachable arrangement on the strip-shaped or strip-shaped edge region of the container.

[0057] By arranging the holding means on the cross member, which is provided so as to be movable in the vertical axis direction of the holder, it is achieved that different container heights can be taken into account by detecting the height of the respective container, for example by means of a sensor device or by positioning it accordingly on the basis of a predetermined height of the container known from a control computer and the cross member is accordingly positioned with the holding means arranged thereon relative to the height of the side wall and then, by lowering the holding means onto the upper edge area of ​​the container, a secure clamping of the container is achieved between the gripping finger passing through the handle recess and the holding means provided with the elastically designed support means.

[0058] According to a further development of the invention, it is provided that the holding means is arranged along a pivot axis provided largely transversely to the receptacle and can be pivotally actuated by means of an actuator for releasable arrangement on the strip-shaped or strip-shaped edge region of the container on the pivot axis.

[0059] In a similar way to what has just been explained, a secure clamping of the upper edge region of the container between the engagement means in the form of, for example, a gripping finger arranged in the recess of the container and the strip-shaped or strip-shaped holding means can also be achieved in this way with the pivotably actuated holding means, so that the container is securely held during movement on the undercarriage plate or support plate to the conveyor belt.

[0060] The actuator may, for example, be an electric motor, a pneumatic cylinder or another actuating device which is designed to lower the holding means onto the upper edge region of the container and to raise the holding means from the edge region.

[0061] According to a further development of the invention, the holding means comprises a receiving plate extending away from the receptacle, on which the support means is arranged. By lowering the receiving plate by means of a vertical movement or a pivoting movement relative to the support of the device, the support means can be lowered onto the upper edge region of the container. The support means can be lifted from the edge region again by means of a lifting movement or pivoting movement when the separated or depalletized container is released for further transport on the belt conveyor.

[0062] As an advantageous embodiment of the actuator, for example, a pneumatically actuated piston-cylinder unit can be provided, by means of which the holding means can be releasably brought into contact with the strip-shaped or ledge-shaped edge region of the container. This clamps the edge region between the engagement means and the holding means, but without subjecting the container to a compressive force in the area of ​​the side wall, which could lead to pressure marks on the fruit or vegetables contained in the container.

[0063] The invention does not include a method for depalletising stackable unit load containers by means of a depalletising arrangement described above, in which a container having a lower support area is lifted from a base by means of an engagement device along at least a partial area of ​​the support area and a support plate is moved under the lifted partial area, and a physical contact of the partial area with the support plate is brought about to support the container resting on the support plate with the partial area, comprising the following steps: bringing about a releasable engagement of the engagement device with a recess of a side wall of the container. Lifting the container by means of the engagement device in order to separate the support area of ​​the container from the base at least along a partial area in order to bring about an intermediate space between the support area and the base.

[0064] The base can, for example, be another container underneath the container to be depalletized or another base in the form of a pallet or simply a support surface.

[0065] By bringing about a releasable engagement of the holding device with the recess of a side wall of the container, it is achieved that a subsequent lifting of the container by means of the holding device leads to the separation of the support area of ​​the container from the base at least along a partial area, whereby an intermediate space is created between the support area and the base, so that a support plate or underrun plate can then be moved in this intermediate space, and the container to be depalletized then rests on the support plate or underrun plate.

[0066] According to a further development of the method, it is provided that the holding device is inserted into the recess, at least partially penetrating it, in such a way that the container can be lifted from the base by means of the holding device at least along the partial area.

[0067] By lifting the container along the partial area, a space sufficient to insert the support plate or underrun plate is created between the underside of the container to be depalletized and the top side of another container or another support arranged underneath.

[0068] According to a further development of the method, a holding means is brought into releasable contact with an upper edge region of the container. This allows the upper edge region of the container, and thus the container to be depalletized, to be clamped between the holding device, which can be an engagement device with a gripping finger or the like, and the holding means. In this way, the container is secured in position, which is advantageously maintained during movement of the container toward a transport device in the form of, for example, a belt conveyor.

[0069] The above-mentioned gripping finger can therefore be inserted into a recess provided on the container in the form of, for example, a handle recess and then the holding means can be lowered from above onto the upper edge region of the container, whereby the upper edge region of the container is clamped between the gripping finger and the holding means without coming into contact with the fruit or vegetables in the container and also without applying a compressive force to the fruit or vegetables.

[0070] The thus clamped container can be separated from the base by lifting the holding device, for example, in the form of the aforementioned gripping finger, together with the holding means resting on the edge area, and the underrun plate or support plate can be inserted into the space thus created. Alternatively, the underrun plate or support plate can also be inserted into the space created by raising the holding device between the raised container and the container or base below it, and only in a subsequent step can the holding means be lowered onto the upper edge area of ​​the container.

[0071] The container resting on the support plate or the undercarriage plate is then separated from the base and can be transported further in a further step while resting on the support plate or the undercarriage plate.

[0072] The invention is explained in more detail below with reference to the drawing, which shows: Fig. 1 four views of different containers which are commonly used to hold fruit and vegetable products and which can be automatically depalletized using the depalletizing arrangement according to the invention and the method according to the invention; Fig. 2 a schematic representation of an embodiment of the depalletizing arrangement according to the invention designed as a gantry robot in a distribution center with respective storage locations with different containers, as shown in Fig. 1 shown in the drawing; Fig. 2A a more detailed representation of the depalletizing arrangement according to Fig. 2 in a rack aisle with storage rows of general cargo containers arranged on both sides of the rack aisle; Fig. 2B an enlarged view of a section of the depalletizing arrangement according to Fig. 2A ; Fig. 2C a perspective view of the depalletizing arrangement when depalletizing unit load containers arranged in a rear row of a pallet stack with unit load containers; Fig. 2D a representation similar to that according to Fig. 2C , in which the depalletizing device with the rotary holder from the projecting position to Fig. 2C has already been withdrawn; Fig. 2E a representation similar to that according to Fig. 2D , in which the carrier with the rotating holder was lowered onto a conveyor system for depositing the depalletized unit loads; Fig. 3 a perspective view of a schematically illustrated embodiment of a depalletizing device according to the present invention; Fig. 4 a sequence of eight schematic representations 4.1, 4.2, 4.3, 4.4, 4.5, 4.6, 4.7 and 4.8, showing the device for depalletising disposable containers with stacking lugs in the respective corner area of ​​the containers; Fig. 5 a sequence of eight schematic representations 5.1, 5.2, 5.3, 5.4, 5.5, 5.6, 5.7 and 5.8, showing the device for depalletising reusable containers with handle recesses on the longitudinal walls and on the transverse walls; Fig. 6 a schematic and perspective view of a folding box with the device according to the invention and a gripping finger engaging with the handle recess of the folding box, as well as with holding means resting on the upper edge area of ​​the folding box; and Fig. 7 a schematic representation of a reusable container with the engagement means already engaged with the handle recess in a position before the holding means lowers onto the upper edge area.

[0073] Containers containing fruit and vegetable products arriving at the distribution center are delivered on item pallets containing containers filled with the same item, such as fruit, vegetables, or salads.

[0074] Due to the perishability of the goods, these containers must be removed quickly and without damaging the goods from the item pallets, which may be standardised pallets, in order to be able to be transferred in such an individual manner via a belt conveyor or similar to an intermediate storage facility.

[0075] Until now, fruit and vegetable containers were manually depalletized in distribution centers because a device for automatically depalletizing stackable unit loads was lacking. This invention now provides a solution.

[0076] Fig. 1 The drawing shows, in four views, a variety of container types that are delivered to the distribution center together to form a respective article pallet and must be depalletized.

[0077] The illustration 1.1 of the Fig. 1 shows a standardized pallet 1 with reusable containers 2 arranged thereon, which have a respective handle recess 5 on both the respective long side wall 3 and the respective transverse side wall 4, since the containers are filled by the producer of the fruit and vegetable products and arranged in a stacking arrangement on the pallets 1 and this takes place manually.

[0078] While illustration 1.1 shows containers with a base area of, for example, 600 x 400 mm, which can be available in different heights depending on which products are held in the containers, illustration 1.2 shows a pallet 1 with containers 2, each with a base area of ​​300 x 400 mm, and in a height of the respective container 2 that differs from the containers 2 according to illustration 1.1.

[0079] The illustration 1.3 of the Fig. 1 shows a pallet 1 with disposable containers 6 with stacking lugs 7 on the respective transverse side of the container 6 and a base area of ​​600 x 400 mm. The illustration 1.4 of the Fig. 1 shows a pallet 1 with disposable containers 1 with a respective base area of ​​300 x 400 mm and a lower height than the disposable containers 6 according to illustration 1.3 and stacking lugs 7 in the respective corner area of ​​the containers 6.

[0080] Fig. 6 Finally, the drawing shows a reusable container in the form of a folding box 8, so that it is clear that different types of containers with fruit and vegetable products are delivered to the distribution center and there is a considerable need for a device that is designed for the automated handling of the depalletizing of all the container types shown.

[0081] Fig. 2 The drawing shows an embodiment of a depalletizing arrangement 38 with a device 9 for depalletizing, which is integrated into a gantry robot system 10, which is in a Fig. 2A visible distribution center with storage rows with pallet stacks on both sides and can be moved along the storage aisle both in the vertical axis direction Y and in the transverse direction Z as well as in the orthogonal direction X in order to have access to the pallets temporarily stored there with the Fig. 1 explained different types of containers.

[0082] The portal robot system 10 according to Fig. 2 is more detailed based on Fig. 2A shown, so that the gantry robot system 10 comprises the depalletizing arrangement 38, which has a support structure in the form of a gantry 39, wherein the gantry robot system 10 as a controllable robot is generally referred to as a manipulator 40, which accordingly comprises the depalletizing arrangement 38.

[0083] As shown by Fig. 2A the drawing is clear, the more detailed description is based on Fig. 3 The device 9 shown in the drawing for depalletizing the piece goods containers 2, 6, 8 is arranged on a rotary holder 41, so that both rows of shelves 42, 43 with pallet stacks 44 with the piece goods containers, which extend along the storage aisle 45, can be reached by rotating the rotary holder 41 with, in the embodiment shown, two devices 9 for depalletizing the piece goods containers arranged on the rotary holder 41.

[0084] Fig. 2B shows an enlarged view of a section of Fig. 2A with the rotary holder 41 with the two devices 9 arranged thereon for depalletizing the piece goods containers.

[0085] As is readily apparent, a support 46 is provided on the support structure 39 in the form of a portal, which support 46 is movable in the vertical axis direction Y of the support structure 39, which extends in the transverse direction of the support structure 39 and on which a support arm 47 is provided, which is movable in the Z direction relative to the support 46 and thus relative to the support structure 39, and, as can be seen for example from Fig. 2A the drawing can be seen, can be extended so that the rotary holder 41 and thus the two devices 9 for depalletizing the piece goods containers can reach the containers on both sides of the storage aisle 45, in such a way that the containers arranged in the first row 48 of the rack row 42 and also the containers arranged in the second row 49 of the rack row 42 can be reached, and also the containers in the two rows 48, 49 of the second rack row 43 can be reached by the rotary holder or the rotary head 41 with the two devices 9 for depalletizing the piece goods containers. The rotary head or the rotary holder 41 is rotatable about a vertical axis on the support arm 47 by means of an electric motor arranged on the rotary head and a toothed belt driven by it, as indicated by the arrow R in Fig. 2B is shown.

[0086] By means of an axial movement of the support arm 47 relative to the carrier 46, i.e. a movement of the support arm 47 with the rotary head 41 arranged thereon with the devices 9 in the Z direction to Fig. 2 According to the drawing, the devices 9 of the depalletizing arrangement 38 can reach all the piece goods containers in the rows of shelves 42, 43, and by rotating the rotating head 41 by 180 degrees relative to the support arm 47 or the support 46, the devices 9 for depalletizing the piece goods containers can be aligned relative to the piece goods containers.

[0087] As shown by Fig. 2B As can be seen from the drawing, the direction of travel of the support arm 47 in the Z direction in both directions is designated Z1. A drive with a rack and pinion is provided to move the support arm 47 in both directions.

[0088] The rotary head 41 with the two devices 9 can also be moved relative to the support arm 47 in the Z direction and also in both directions, which in Fig. 2B is designated Z2. The travel movement of the rotary head 41 in the Z2 direction can thus be superimposed as a relative movement on the guide movement of the support arm 47 in the Z1 direction, and the travel movement of the rotary head 41 is also possible independently of the travel movement of the support arm in the Z1 direction. A toothed belt drive with an electric motor and toothed belt is provided for the travel movement of the rotary head in the Z2 direction.

[0089] Fig. 2C The drawing shows that the support arm 47, which is movable in the Z-direction on the support 46, has been extended towards the rack row 42, and accordingly also the rotating head 41 with the two devices 9 for depalletizing the unit loads. The unit loads placed in the first row 48 of the rack row 42 have already been depalletized and Fig. 2C The drawing shows the devices 9 during depalletizing of the piece goods containers arranged in the second row 49 of the shelf row 42.

[0090] Fig. 2D The drawing shows that the rotating head 41 with the two devices 9 and the depalletized unit loads relative to the support arm 47 and also the support arm 47 itself has been moved in the direction of the rack aisle 45 and the support 46 in the Y-direction is still at the height according to Fig. 2C is located.

[0091] In a next step, the carrier 46 with the support arm 47 and the rotating head 41 and the devices 9 are lowered in the Y direction so that the depalletized unit loads can be lowered onto the conveyor belts 23 and transferred to the conveyor belts 23, as can be seen from Fig. 2E The conveyor belts 23 are in Fig. 2 and Fig. 2A as can be seen in the drawing.

[0092] Fig. 3 The drawing shows a schematic perspective view of the device 9 with the already in Fig. 2 explained coordinate system.

[0093] The device 1 has a holding device 11, on which a suction device 12 in the form of suction means 13 arranged at a distance from one another is provided, which can be brought up to a side wall of a disposable container 6, can be brought into contact there and can exert a suction force on the side wall of the disposable container 6 by generating negative pressure by means of a suction pump (not shown in detail), which suction force is sufficient for the disposable container to be lifted in a predetermined manner while maintaining the suction force in order to create an intermediate space between the raised disposable container and the disposable container or a base arranged underneath it, so that the support plate or undercarriage plate 14 can be moved into the intermediate space.

[0094] In addition, the device 1 also has a receptacle 15 on which two supports 16 are arranged, extending away from the support plate 14 at an angle thereto, on which a cross member 17 is arranged displaceably in the vertical axis direction Y.

[0095] An engagement device 18 is also arranged on the receptacle 15, which is designed to bring about a releasable engagement position with a handle recess of a container, as will be explained below.

[0096] In addition, the device 9 also has a holding means 19 which is designed and provided for detachable arrangement or support on an upper edge region of a respective container, as will be explained in more detail below.

[0097] Fig. 4 shows in several representations the device 9 during depalletizing of disposable containers 6 with respective stacking lugs 7 in the corner area of ​​the disposable containers 6.

[0098] As can be seen from illustration 4.1, the device 9 is brought up to a side wall 20 of the disposable container 6 in such a way that the suction means 13 come into contact with the side wall 20. By means of a pump (not shown in detail), negative pressure can be generated between the suction means 13 and the side wall 20, so that the side wall 20 and thus the disposable container 6 can be subjected to a holding force without the development of a compressive force on the side wall 20. This holding force is sufficiently large so that by lifting the holding device 11 with the suction device 12 formed thereon with the suction means 13, a gap 21 can be formed between the disposable container 6 to be depalletized and the further disposable container 6 arranged underneath.

[0099] As can be seen from illustration 4.3, the front stacking lugs 7 facing the device are disengaged and the underrun plate or support plate 14 can be moved into the intermediate space 21 until the disposable container 6 to be depalletized rests on the underrun plate or support plate 14, as shown in illustration 4.4 of the Fig. 4 is visible. The plate 14 is pushed far enough beneath the underside or lower surface 22 of the disposable container 6 until the center of gravity of the disposable container 6 with the fruit or vegetable products contained therein comes to rest on the plate 14, and the rear stacking lugs 7 are also disengaged.

[0100] As can be seen from illustration 4.3, the suction device 12 assumes a configuration inclined together with the side wall 20 in relation to the side wall 20 of the disposable container 6, ie the suction device 12 can move together with the angular configuration of the side wall 20 which is adjusted by the lifting of the disposable container 6, i.e. the angle can change relative to the vertical axis direction of the supports 16, so that despite the change in angle of the side wall 20 relative to the vertical axis direction of the supports 16, a slight negative pressure is sufficient to hold the side wall 20.

[0101] As soon as the container 6 is arranged on the support plate 14, the device 9 can be displaced in the Z-direction in such a way that the disposable container 6 comes to rest above a conveyor belt 23 shown schematically in Figure 4.6 with the reference number 23. The support plate 14 can then be pulled away from under the disposable container 6, again in the Z-direction, and the negative pressure on the suction device 12 is removed. The depalletized disposable container 6 is, as shown in Figure 4.7 of the Fig. 4 can be seen, is conveyed away in the X direction and the device 9 is, as can be seen in illustration 4.8, ready for the next depalletizing process and can be moved with the suction device 12 in the direction of the side wall of a further container 6 adjacent to the container 6 just depalletized and the process of depalletizing this next container 6 can be carried out.

[0102] Fig. 5 The drawing shows in several representations the process of depalletizing reusable containers 2, each of which has transverse side walls 4 with handle recesses 5. As can be seen from the illustrations of the Fig. 5 As can be seen, the reusable containers 2 also have corresponding handle recesses 5 on the long side walls 3, so that with the device 9 according to the invention, depalletizing of the reusable containers 2 from the long side walls 3 is also possible.

[0103] As can be seen from illustration 5.1, the device 9 is moved towards the transverse side wall 4 of the container 3 in the upper container layer and in the process the position of the handle recess 5 is detected via a sensor device and the engagement device 18 with the gripping finger 24 is positioned at such a height in the Y-direction that the gripping finger 24 can be moved into the handle recess 5 via a translatory movement in the Z-direction until the gripping finger 24 passes through the handle recess 5, as can be seen from illustration 5.2 of the Fig. 5 is evident.

[0104] In the next step, as shown in Figure 5.3 of the Fig. 5 can be seen, the holding means 19 is lowered onto the upper edge 25 of the transverse side wall 4 until the Fig. 7 The elastically designed support means 26 in the form of a rubber lip 27, which can be seen in the drawing, rests on the upper edge 25.

[0105] The rubber lip 27 can apply a holding force to the edge 25 from above, whereby any existing deformations of the edge region of the edge 25 can be compensated by the elasticity of the rubber lip 27.

[0106] As shown by Fig. 7 As can be seen further in the drawing, for this purpose the holding means 19 provided with the rubber lip 27 in the form of a pivoting holder 28 is lowered via an actuator 29 in the form of a pneumatic cylinder 30 in a pivoting movement on the pivot axis 31 onto the edge 25 of the reusable container 2, as can be seen from the double arrow 32.

[0107] The holding means 19 of the Fig. 7 The device 9 shown has a receiving plate 34 in the form of an extension arm 33, on which the rubber lip 27 is arranged at the front edge region, and on a lower side 35 of the extension arm 33 there is provided a schematically illustrated spring device 35 which acts as a stop damper and can gently rest from above on the gripping finger 24 located in the handle recess 5, so that the edge 25 can be clamped between the container 2, which can be moved in the Y direction to lift the container 2, as can be seen from the double arrow 36, and the rubber lip 27, without a compressive force being exerted on the transverse side wall 4, and thus no damage can occur to the fruit and vegetable products located in the container 2.

[0108] The illustration 5.3 shows that by lifting the container 2 relative to the container 2 arranged underneath, a gap 21 is formed into which the support plate or underrun plate 14 can be moved until it assumes the position shown in the illustration 5.4 relative to the underside 22 of the container and the container is thus completely lifted off the other container located underneath.

[0109] In a next step, the container located on the support plate 14 can be separated from the stack of containers by a displacement movement of the device 9 carrying the container, as shown in Figure 5.5 of the Fig. 5 can be seen and then the support plate 14 is pulled away from the underside 22 of the container 2 by a corresponding displacement movement according to the illustration 5.6 to the left, so that the container 2 comes to rest on the conveyor belt 23 and is transported by it for further handling, as can be seen from the illustration 5.7 of the Fig. 5 as can be seen in the drawing.

[0110] The illustration 5.8 of the Fig. 5 finally shows that a next depalletizing can now take place, namely with regard to the container 2 adjacent to the container 2 just depalletized, for which purpose the device uses the space 37 freed up by the depalletizing of the container 2 just depalletized and can be moved in the Z direction until it detects the handle recess 5 of the adjacent container 2.

[0111] Fig. 6The drawing shows a schematically illustrated folding box 8 with fruit and vegetable products contained therein and a device 9 according to the present invention which is in the clamping position with the upper edge 25 and the handle recess 5. Since the transverse side walls 4 of the folding box 8 are designed to be foldable, it is of essential importance that these transverse side walls 4 are not subjected to a compressive force, as is the case with the known device explained at the outset, so that the folding box type of container cannot be handled by the known device. In contrast to this, the folding box usually used for transporting fruit and vegetable products can also be depalletized with the device according to the invention and according to the method according to the invention.

[0112] The invention is characterized in that with the device according to the invention and according to the method according to the invention, all known types of containers can be automatically depalletized which are used for the transport of fruit and vegetable products to distribution centers and for further transport for sale to the purchaser of the fruit and vegetable products.

[0113] Since these containers can have a net mass of up to 20 kg, depending on the product they are filled with, the device and method according to the invention ensure a significant simplification in the depalletizing of the containers and a rapid transfer and very short dwell times in the distribution centers.

[0114] Because the device according to the invention does not subject the side walls of the containers to a clamping force or lateral force directed toward the interior of the container, the risk of damage to the delicate fruit and vegetable products during depalletizing is also eliminated. Likewise, the risk of tearing or denting the side walls of the container is eliminated. The respective position of the container's handle recesses can be precisely detected by a sensor device, allowing the gripper finger to be positioned precisely in the handle recess.

[0115] By lifting the gripper finger with the holding device resting on the upper edge of the container, the container can be clamped without applying lateral force to the container walls and is supported from below by the undercarriage plate. Similarly, disposable containers are supported from below by the undercarriage plate, ensuring that any centering tabs or corners on the containers are not damaged. Such disposable containers are lifted by the suction force applied by the suction device, whereby the suction device can be lifted on one side together with the container until the support plate or undercarriage plate is inserted into the gap, thus resting the container on the support plate or undercarriage plate.By releasing the suction force and moving out the support plate or undercarriage plate, the container can then be placed on the removal belt and a short blowing pulse can remove any contaminants from the suction device.

[0116] The containers depalletized in this way, whether they are disposable or reusable containers or folding boxes with the fruit and vegetable products inside, are moved to a conveyor belt and placed on it so that they can be transported for further distribution in the distribution center.

[0117] Using the suction device or gripper finger, the respective containers only need to be lifted by approximately 25 mm in the Y direction, creating sufficient clearance to insert the undercarriage plate or support plate into the gap from below to support the container to be depalletized. The undercarriage plate is moved in the Z direction beyond the center of gravity of the container, thus supporting the container from below and preventing it from accidentally detaching from the undercarriage plate during transport to the removal conveyor.

[0118] Although the above-mentioned unit load containers are filled with perishable goods, such as fruit and vegetable products in particular, this is not to be interpreted as a limitation, since the device and method according to the invention can also be used to depalletize empty unit load containers, as well as unit load containers filled with other goods, such as drugstore articles or personal care products or goods of any other kind.

[0119] With regard to features of the invention not explained in detail above, reference is expressly made to the patent claims and the drawings. List of reference symbols

[0120] 1. Pallet 2. Reusable container 3. Longitudinal side wall 4. Transverse side wall 5. Handle recess 6. Disposable container 7. Stacking nose 8. Folding box 9. Device 10. Gantry robot system 11. Holding device 12. Suction device 13. Suction means 14. Support plate, undercarriage plate 15. Holder 16. Beam 17. Cross beam 18. Engagement device 19. Holding means 20. Side wall 21. Space 22. Underside 23. Conveyor belt 24. Gripping finger 25. Edge 26. Support means 27. Rubber lip 28. Swivel holder 29. Actuator 30. Pneumatic cylinder 31. Swivel axis 32. Double arrow 33. Boom 34. Support plate 35. Spring device 36. Double arrow 37. Space 38. Depalletizing arrangement 39. Gantry, supporting structure 40. Manipulator 41. Rotating holder, rotating head 42. Rack row 43. Rack row 44. Pallet stack 45. Storage aisle 46. Beam 47. Support arm 48. First row 49. Second row Arrow R Rotational movement Arrow Z1 Movement in Z direction Arrow Z2 Movement in Z direction

Claims

1. Depalletizing arrangement (38) having an apparatus (9) for depalletizing stackable parcelled goods containers (2, 6), wherein the apparatus (9) has a holding device (11) having suction means (12, 13) that are arranged thereon and that are designed for releasable suction engagement with a side wall (3, 4) of the container (2, 6), and said apparatus has a support plate (14) for supporting the container (2, 6), that is to be moved relative to the holding device (11), and said apparatus includes a receptacle (15) having at least one support (16), on which the holding device (11) is arranged, and the apparatus (9) has an engagement device (18), which is designed for releasable engagement with a cutout (5) of a side wall (3, 4) of the container (2, 6), characterised in that the depalletizing arrangement (38) has a manipulator (40) having a support structure (39), and a rotary receptable (41) arranged to be rotatable relative thereto is arranged on the support structure (39) and the apparatus (9) is arranged on the rotary receptable (41) to be moveable relative to the manipulator (40), wherein the engagement device (18) is arranged on the receptacle (15) and is designed to be moveable relative to the support plate (14) in the vertical direction.

2. Depalletizing arrangement (38) according to claim 1, characterised in that the support structure (39) has a support (46) that is to be moved in the vertical direction of the support structure (39), on which a support arm (47) is arranged to be moveable in the longitudinal direction of the support (46), and on which the rotary receptable (41) with the apparatus (9) is arranged to be rotatable relative to the support arm (47).

3. Depalletizing arrangement (38) according to claim 1 or 2, characterised in that the rotary receptable (41) with the apparatus (9) is designed to be moveable relative to the support structure (39) in the longitudinal direction of the support structure (39).

4. Depalletizing arrangement (38) according to claim 2 or 3, characterised in that the rotary receptable (41) with the apparatus (9) is designed to be moveable relative to the support arm (47) in the longitudinal direction of the support arm (47).

5. Depalletizing arrangement (38) according to one of the preceding claims, characterised in that the support structure (39) has at least two apparatuses (9) arranged adjacent to one other, which are designed to be actuated together or separately from one other.

6. Depalletizing arrangement (38) according to one of the preceding claims, characterised in that the manipulator (40) is designed to be moveable relative to a receptacle supporting the manipulator (40).

7. Depalletizing arrangement (38) according to one of claims 2 to 6, characterised in that the support arm (47) and the rotary receptable (41) are designed to be moveable independently of one other in the longitudinal direction of the support (46).

8. Depalletizing arrangement (38) according to one of the preceding claims, characterised in that the engagement device (18) is designed to be moveable in at least one plane direction of a plane extending largely at a right angle to the support (16).

9. Depalletizing arrangement (38) according to one of the preceding claims, characterised in that the engagement device (18) has an engagement means (24), which is designed for engaging with a hand grip cutout (5) of a side wall (3, 4) of the container (2, 6).

10. Depalletizing arrangement (38) according to claim 9, characterised in that the engagement means (24) is designed to be moveable relative to the hand grip cutout (5) of the container (2, 6) in such a way that the engagement means (24) is to be moved into the hand grip cutout (5) and at least partially through it, and said engagement means is designed to be removeable from the hand grip cutout (5).

11. Depalletizing arrangement (38) according to one of the preceding claims, characterised by at least one holding means (19) which is designed for releasable arrangement to an upper edge region (25) of the container (2, 6).

12. Depalletizing arrangement (38) according to claim 11, characterised in that the holding means (19) has a strip-shaped or bar-shaped configuration and is provided with an elastically designed support means (26, 27) at a region designed for contact with the upper edge region (25) of the container (2, 6).

13. Depalletizing arrangement (38) according to claim 11 or 12, characterised in that the holding means (19) is arranged on a transverse support (17) provided on the receptacle (15) and is to be actuated by means of an actuator (29) for releasable arrangement on the strip-shaped or bar-shaped edge region (25) of the container (2, 6).

14. Depalletizing arrangement (38) according to one of claims 11 to 13, characterised in that the holding means (19) is arranged along a pivot axis (31) provided largely transverse to the receptacle (15) and is to be actuated to be pivotable on the pivot axis (31) by means of an actuator (29) for releasable arrangement on the strip-shaped or bar-shaped edge region (25) of the container (2, 6).

15. Depalletizing arrangement (38) according to one of claims 11 to 14, characterised in that the holding means (19) has a receptacle plate (34) extending away from the receptacle (15), on which the support means (26, 27) is arranged.

16. Depalletizing arrangement (38) according to one of claims 13 to 15, characterised in that the actuator (29) has a pneumatically actuated piston cylinder unit (30), by means of which the holding means (19) is to be releasably applied to the strip-shaped or bar-shaped edge region (25) of the container (2, 6).