METHOD FOR STACKING ARTICLES AND / OR PIECE GOODS AND STACKING DEVICE

Description

[0001] The present invention relates to a method for stacking articles and / or piece goods and a stacking device.

[0002] To palletize entire layers of items, the items typically first pass through a grouping station, where the transported items are assembled into palletizable layers. These palletizable layers are then transferred to a loading station. The loading station then deposits these layers of items at a desired location. In practice, this location is formed by a stacking station and a transport pallet on top of it, on which the layers of items can be deposited.

[0003] Such a palletizing device is known, for example, from EP 1 321 396 A1. This discloses a palletizing device in which the articles are displaced laterally in a random manner by a horizontal conveyor and grouped in the process before being transferred in complete layers to a lifting device. The lifting device or transfer platform serves as a height compensation device between the grouping station and a loading station, which stacks the layers on top of each other and places them on a pallet using an openable roller floor.

[0004] Another palletizing device is known from US 2006 / 0182545 A1. This palletizing device comprises two consecutive workstations, each of which places items on a pallet. The pallet is stopped in the area of ​​a first workstation, whereupon a manipulator assigned to the first workstation stacks items on the pallet. Subsequently, the pallet, along with the already stacked items, is moved toward the second workstation. There, a manipulator assigned to the second workstation places additional items on the pallet.

[0005] In such and similar palletizing devices known from the prior art, the respective transport pallet remains in the area of ​​its respective stacking location until all layers of articles are stacked on the respective transport pallet. Subsequently, the respective transport pallet, along with its stacked layers of articles, is removed from the stacking location, and a new transport pallet is introduced or inserted into the stacking location, whereupon stacked layers of articles are deposited on this new transport pallet.

[0006] The necessary removal of the respective transport pallet with the stacked layers of articles from the stacking station and the necessary insertion of a new transport pallet into the stacking station results in a loss of time during palletizing, which is also undesirable due to the highest possible palletizing throughput. In particular, transport pallets with the layers of individual articles stacked on them are accelerated very slowly in order to prevent articles or even individual layers of articles from tipping over due to an unstable pallet configuration. Practice has also shown that when the respective transport pallet with the layers of articles stacked on it is removed, the transport pallet with the layers of articles stacked on it accelerates, which occasionally causes individual articles to be unintentionally damaged.

[0007] The primary object of the invention can therefore be seen as providing a method and a stack-forming device that at least reduce the aforementioned problems. Furthermore, the method should be easy to implement. Furthermore, the stack-forming device should have a simple structure.

[0008] The above object is achieved by a method according to claim 1 and a stack forming device according to claim 3. Further advantageous embodiments are described by the subclaims.

[0009] The invention offers an improved method for stacking articles and / or piece goods. The articles can, for example, be formed by individual beverage containers such as beverage bottles or PET beverage bottles or the like. The piece goods can also be formed by several beverage containers already combined into a bundle or carrying case. The articles intended for stacking can optionally be assigned outer packaging, via which several articles intended for stacking are combined into piece goods. In this context, outer packaging can mean, for example, film wrapping, cardboard outer packaging, or the like.

[0010] A first step of the method according to the invention provides for the provision of at least one transport device, referred to here as such. The at least one transport device is formed by at least one transport pallet. The at least one transport pallet can be made of wood or plastic, for example. It is conceivable that the at least one transport pallet is formed by at least one Euro pallet. Therefore, when reference is made in the present and subsequent context to a transport device in general terms, what is meant according to the invention is a transport pallet.

[0011] The method provides for carrying out a stacking process in which articles and / or piece goods are deposited and stacked on the at least one transport device or on the at least one transport pallet, such that after completion of the stacking process, at least two layers of articles and / or piece goods are arranged one above the other on the at least one transport device or the pallet. It is conceivable that the transport device is provided together with at least one complete layer of articles and / or piece goods already arranged on the transport device.As part of the stacking process, further articles and / or piece goods can then be placed and stacked on the at least one complete layer of articles and / or piece goods already arranged on the transport device, whereby at least one further layer of articles and / or piece goods is formed on the provided transport device.

[0012] It is also conceivable that the at least one transport device is provided, whereby up to that point no articles and / or piece goods are located on the at least one provided transport device or whereby up to that point no articles and / or piece goods have been deposited on the at least one provided transport device. Only during the stack formation process can articles and / or piece goods be deposited and stacked on the at least one provided transport device, which up to that point does not carry any deposited articles and / or piece goods, in such embodiments, so that after the stack formation process has ended, at least two layers of articles and / or piece goods are arranged on top of one another on the at least one transport device.

[0013] It is intended that the at least one transport pallet or the at least one transport device is moved continuously and without interruption during the stack formation process. For this purpose, a transport device, described below, is provided, which can accommodate multiple transport pallets or multiple transport devices. All transport pallets or all transport devices picked up by the transport device are moved continuously. In particular, it can be the case that all transport pallets or all transport devices picked up by the transport device are moved continuously and at at least approximately the same and / or constant transport speed.

[0014] The stack formation process can begin with placing a layer or outer packaging, described below, intended to hold a lower layer of articles and / or piece goods onto the at least one transport pallet or onto the at least one transport device. The at least one transport pallet or the at least one transport device is moved forward without interruption at the latest from the time the layer or outer packaging intended to hold a lower layer of articles and / or piece goods is placed onto the at least one transport pallet or the at least one transport device.

[0015] The uninterrupted movement of the at least one transport pallet or the at least one transport device can preferably end at the earliest at a point in time at which the at least two stacked layers of articles and / or piece goods are completely arranged on the at least one transport pallet or on the at least one transport device. In preferred embodiments, the at least one transport pallet or the at least one transport device, with the at least two stacked layers of articles and / or piece goods arranged on the at least one transport pallet or on the at least one transport device, can be moved uninterruptedly and guided towards a loading station.The stacking process can therefore end at a time when the at least two layers of articles and / or piece goods stacked one above the other are completely arranged on the at least one transport pallet or on the at least one transport device.

[0016] In addition, a respective transport pallet or a respective transport provision is moved without interruption immediately upon placing at least one article and / or at least one piece of goods on this respective transport pallet.

[0017] Furthermore, within the framework of the stack formation process, at least one layer separating stacked layers of articles and / or piece goods and in particular designed as outer packaging is placed on the at least one transport pallet or on the at least one transport device, wherein the at least one transport pallet or the at least one transport device is moved forward without interruption during the placement of the at least one layer separating stacked layers of articles and / or piece goods and in particular designed as outer packaging. If it is provided within the framework of the stack formation process that on the at least one transport pallet orthat at least three layers of articles and / or piece goods stacked one above the other are arranged on the at least one transport device, a layer separating the respective layers of articles and / or piece goods and in particular designed as outer packaging can be arranged between each immediately adjacent layer of articles.

[0018] In various embodiments, articles and / or piece goods to be deposited on the at least one transport pallet or on the at least one transport device may be presented by means of an uninterrupted movement preferably formed in several parallel rows. In this case, articles formed by beverage containers containing a first type of beverage may be moved in a first row of the several parallel rows.

[0019] Furthermore, it is possible that in a second row of the plurality of rows, articles formed by beverage containers are moved which have received a second type of beverage which is different from the first type of beverage. Respective beverage containers with the first type of beverage received and respective beverage containers with the second type of beverage received can optionally be placed on a common transport pallet or on a common transport device until at least two layers of articles and / or piece goods stacked one above the other are arranged on the common transport pallet or on the common transport device, which at least two layers of articles and / or piece goods stacked one above the other each comprise beverage containers which have received the first type of beverage and also each comprise beverage containers which have received the second type of beverage. Transport pallets with such layers of articles orwith such layers of beverage containers are often referred to as mixed pallets in practice.

[0020] It may also be the case that, as part of the stacking process, for each of the at least two layers of articles and / or piece goods stacked on top of one another, several articles and / or piece goods are placed on a respective transport pallet in successive steps, wherein the respective transport pallet is moved without interruption, at the latest starting with the placement of articles and / or piece goods intended for a first lower layer of articles and / or piece goods on the transport pallet and at least until the completion of a topmost layer of articles and / or piece goods on the respective transport pallet.

[0021] Furthermore, as part of the stack formation process, the respective actual position of a respective transport pallet or respective transport device is determined by sensors and / or monitored by sensors over time. Articles and / or piece goods can be deposited on the respective transport pallet or respective transport device in accordance with the actual position determined by sensors and / or in accordance with the sensory monitoring of the respective actual position over time. It is also conceivable that the movement speed of the respective transport pallet or respective transport device is regulated taking into account the actual position determined by sensors and / or the sensory monitoring of the respective actual position over time.

[0022] According to the invention, the at least one transport device is formed by at least one transport pallet, on which at least one transport pallet articles and / or piece goods are placed and stacked during the stacking process, so that after completion of the stacking process, at least two layers of articles and / or piece goods are arranged on the at least one transport pallet stacked one above the other. The at least one transport pallet is continuously moved without interruption during the stacking process.

[0023] It may also be the case that the at least one transport device is not formed according to the invention by at least one conveyor belt, on which at least one conveyor belt articles and / or piece goods are deposited and stacked during the stacking process, so that after completion of the stacking process, at least two layers of articles and / or piece goods are arranged on the at least one conveyor belt stacked one above the other. A circulatingly driven conveyor strand of the at least one conveyor belt can be moved in a circulating manner at least temporarily and preferably continuously without interruption during the stacking process.

[0024] When we speak of a conveyor run here, this is to be understood in particular in distinction from a slack run of an endlessly circulating conveyor or transport belt, whereby the conveyor run provides an upper support level, while the slack run of such an endlessly circulating conveyor or transport belt runs back at a height below the support level.

[0025] It is further conceivable that the at least one transport device is not formed according to the invention by at least one driverless transport vehicle, on which at least one driverless transport vehicle, articles and / or piece goods are deposited and stacked during the stacking process, until at least two layers of articles and / or piece goods are arranged on the at least one driverless transport vehicle stacked one above the other. The at least one driverless transport vehicle can be moved at least temporarily and preferably continuously without interruption during the stacking process.

[0026] Furthermore, the at least one transport device may not be formed according to the invention by at least one runner of at least one linear motor, on which at least one runner articles and / or piece goods are deposited and stacked during the stacking process until at least two layers of articles and / or piece goods are arranged on the at least one runner stacked one above the other. In this case, the at least one runner can be moved at least temporarily and preferably continuously without interruption during the stacking process.

[0027] The invention further relates to a stacking device according to claim 3. The stacking device comprises at least one transport device for moving transport pallets or for moving at least one transport device. The at least one transport device can, for example, comprise at least one revolving belt and / or chain drive, by means of which revolving belt and / or chain drive the at least one transport device can move transport pallets. It is also conceivable, for example, that the at least one transport device comprises at least one driverless transport vehicle, by means of which at least one driverless transport vehicle the at least one transport device can move transport pallets or transport devices.It may also be the case that the at least one transport device comprises at least one electromagnetic direct drive, by means of which at least one electromagnetic direct drive the at least one transport device can move transport pallets or transport devices.

[0028] The stack-forming device further comprises at least one manipulator designed to produce at least two stacked layers of articles and / or piece goods on a respective transport pallet or transport device moved via the at least one transport device. The at least one manipulator can comprise, for example, at least one multi-axis robot and / or at least one gantry system and / or at least one delta kinematic robot for producing the at least two stacked layers of articles and / or piece goods.

[0029] The stack-forming device may comprise an infeed configured to present continuously moving articles and / or continuously moving piece goods to the at least one manipulator, which continuously moving articles and / or piece goods presented via the infeed are provided for producing the at least two stacked layers of articles and / or piece goods. The infeed may comprise at least one horizontal conveyor and a plurality of aisle plates, via which at least one horizontal conveyor and a plurality of aisle plates the articles and / or piece goods can be continuously moved in a plurality of parallel rows and presented to the at least one manipulator in a plurality of parallel rows.

[0030] Embodiments in which the first manipulator and the second manipulator are arranged on opposite sides of the at least one transport device have proven successful.

[0031] The second manipulator may be able to fold in and / or unfold tabs of a respective layer separating the at least two stacked layers of articles and configured as outer packaging. In particular, the second manipulator may be configured such that the second manipulator can fold in and / or unfold tabs of a respective layer separating the at least two stacked layers of articles and configured as outer packaging during a transfer movement oriented toward a respective transport pallet or toward a respective transport device.

[0032] The stack-forming device also comprises at least one sensor system, which is configured to detect a respective actual position of a respective transport pallet moved via the at least one transport device or of a respective transport device moved via the at least one transport device. Alternatively or additionally, the at least one sensor system may be configured to monitor a respective actual position over time of a respective transport pallet moved via the at least one transport device or of a respective transport device moved via the at least one transport device.

[0033] In this case, it can be provided that the at least one manipulator can produce the at least two layers of articles and / or piece goods stacked one above the other on a respective transport pallet moved via the at least one transport device or a respective transport device moved via the at least one transport device, taking into account the respective actual position determined by the at least one sensor and / or monitored over time by the at least one sensor. Alternatively or in addition to this, it can be the case that a transport speed designed via the at least one transport device for moving the respective transport pallet or for moving the respective transport device can be regulated, taking into account the respective actual position determined by the at least one sensor and / or monitored over time by the at least one sensor.The at least one sensor system can be formed by at least one optical sensor system and in particular by at least one camera system.

[0034] The individual items in a respective layer of articles can, for example, each be designed as a beverage container. A plurality of items in a respective layer of articles are normally placed on a layer separating the stacked layers of articles from one another, which can, for example, be formed by an outer packaging. Depending on the design, the outer packaging has, for example, several tabs along its entire circumference, which are erected using a suitable manipulator and, in the erected position, hold the items or beverage containers in a respective layer of articles in a form-fitting manner.

[0035] In practice, such outer packaging is also referred to as a tray. Embodiments are also conceivable in which the stacked layers separating articles do not have flaps that have been folded in or transferred to an upright position. Such outer packaging also forms a flat base for articles in a respective layer and is often referred to in practice as a pad or intermediate layer. Such outer packaging, with or without side flaps, pads, or intermediate layers, can be made of cardboard, for example.

[0036] Due to the layers or outer packaging placed between adjacent layers of articles, the pallet assembly has a high level of stability, even when a large number of layers of articles are stacked on top of each other.

[0037] The articles or beverage containers of a respective layer of articles are normally held in a form-fitting manner simply by means of a respective outer packaging. The articles or beverage containers are not connected to one another. In further embodiments, it can be provided that several articles or beverage containers of a respective layer of articles are combined into a bundle or carrying package, thereby forming a respective piece of goods.

[0038] The following describes in more detail the successive steps of a method for producing pallet assemblies as they can be stacked on top of one another using a stacking device according to the invention. The stacking device can be designed, for example, as a palletizing device. A component of the stacking device is an inlet, via which articles or beverage containers are initially moved or transported in a random mass flow. The inlet comprises, for example, several aisle plates oriented parallel to one another. The individual articles or beverage containers are then moved or transported between the aisle plates via a horizontal conveyor device designed as a component of the inlet and initially moving or transporting the articles or beverage containers in a random mass flow, so that the articles or beverage containers are moved or transported between the several aisle plates in several rows oriented parallel to one another.be transported.

[0039] The detection area of ​​a manipulator configured as a component of the stacking device extends over an area of ​​the inlet with the aisle plates. Thus, the manipulator can receive several articles already moved in parallel rows from the inlet with the aisle plates at least approximately simultaneously, or several beverage containers already moved in parallel rows at least approximately simultaneously. The manipulator can be configured, for example, as a multi-axis robot and / or a gantry robot.

[0040] The stack-forming device further comprises a transport device that moves a plurality of transport devices formed by transport pallets at a distance from one another in a defined conveying direction. The transport device is positioned such that the manipulator can place articles or beverage containers already received from the infeed at the same time, or at least approximately at the same time, onto a transport device or transport pallet provided for this purpose and moved in the conveying direction by the transport device. A transport pallet intended for receiving articles or beverage containers is thus moved into the working area of ​​the manipulator via the transport device and, after the pallet assembly has been fully assembled, as described in more detail below, is removed from the working area of ​​the manipulator.

[0041] In the conveying and handling situation described here, several articles or beverage containers received from the infeed have already been placed on the transport pallet in a previous step and form an unfinished layer of articles on the transport pallet. The articles or beverage containers already placed on the transport pallet are positioned indirectly on the transport pallet via a layer or outer packaging already arranged on the transport pallet. To transfer the layer or outer packaging to the transport pallet, the stacking device comprises an additional manipulator. The first manipulator and the additional manipulator are preferably located on opposite sides of the transport device.

[0042] Furthermore, a stack of layers, intermediate layers, or outer packaging is provided. The additional manipulator can receive a respective layer or outer packaging located at the top of the stack, then transfer the lateral flaps of a respective layer or outer packaging into an upright orientation, and then place the respective layer or outer packaging with its flaps transferred into the respective upright orientation onto a transport pallet provided for this purpose and moved by the transport device. The additional manipulator can also be designed, for example, as a multi-axis robot or a gantry robot.

[0043] To move the transport pallets in the aforementioned conveying direction, the transport device can, for example, comprise at least one circulating belt and / or at least one circulating chain drive. It is also conceivable for the transport device to have at least one driverless transport vehicle and / or an inductive guide line or inductive track guidance system for moving the transport pallets in the conveying direction. In further embodiments, the transport device can have at least one electromagnetic direct drive for moving the transport pallets in the conveying direction.

[0044] The horizontal conveyor device, the transport device, the first manipulator and the further manipulator, which are intended as part of the infeed and for the movement of articles or beverage containers in several parallel rows, are expediently in operative connection with a control and / or regulating device or are controlled by it.

[0045] This control and / or regulating device controls the horizontal conveyor system, which is designed as a component of the infeed and is intended for moving articles or beverage containers, in such a way that the horizontal conveyor system, which is designed as a component of the infeed and is designed for moving articles or beverage containers, moves the articles or beverage containers already arranged between the aisle plates at an at least approximately constant conveying speed over time. The articles or beverage containers already located between the aisle plates and moved in parallel rows are therefore never stationary and are moved uninterruptedly and preferably at a constant conveying speed by the horizontal conveyor system, which is designed as a component of the infeed.The articles or beverage containers already located between the lane sheets are transported in a direction that is parallel to the conveying direction of the transport device.

[0046] Furthermore, the transport device is controlled via the control and / or regulating device in such a way that the transport device moves the transport pallets without interruption at the latest when they enter the working area of ​​the first manipulator and / or the working area of ​​the further manipulator and at least until the respective pallet assembly has been completely completed or at least until the completion of a layer of articles to be arranged on top of the respective transport pallet. Since the transport pallets are therefore never stationary during a stacking process, a pallet assembly can be produced with a high throughput. It is also not necessary to accelerate a stationary transport pallet with articles or beverage containers standing on it, which would otherwise be necessary with existing palletizing devices to accelerate individual articles or containers standing on a transport pallet.Beverage containers can tip over unintentionally. The stacking device therefore allows pallet configurations to be created with high reliability.

[0047] Normally, the articles or beverage containers are moved further via the inlet, whereby a respective front article or a respective front beverage container of a respective row of articles or beverage containers moved between the aisle plates can come into surface contact with an optionally provided support beam. This support beam is sensibly designed to be movable and can be moved along the inlet. The movement of the support beam takes place at the instigation of the control and / or regulating device and is coordinated with the respective receipt of articles or beverage containers, which respective receipt takes place via the first manipulator. In this way, articles or beverage containers are aligned according to the position of the support beam along a direction of movement provided by the inlet for articles or beverage containers in such a way that the articles orBeverage containers are located at a respective predetermined position with regard to the direction of movement provided by the inlet for articles or beverage containers, in which respective predetermined position the first manipulator picks up the respective articles or beverage containers from the inlet.

[0048] The articles or beverage containers already received from the infeed via the first manipulator are initially carried by the first manipulator and then placed by the manipulator on the designated transport pallet or on the layer or outer packaging located thereon. Once the bottom layer of articles has been completely arranged on the designated transport pallet, the layer or outer packaging, which was previously still in the waiting position, can be placed by the additional manipulator onto the bottom layer of articles already arranged on the transport pallet.

[0049] The layer or outer packaging removed from the stack is moved further in the direction of the transport pallet provided for this purpose until the layer or outer packaging already removed from the stack is located above the lower layer of articles already placed on the transport pallet.

[0050] While the layer or outer packaging is placed on the lower layer of items already arranged on the transport pallet, the transport pallet and the lower layer of items already placed on the transport pallet are moved continuously and normally never stop. The uninterrupted movement of the transport pallet is achieved, as previously described, via the transport device and at the instigation of the control and / or regulating device.

[0051] A useful process variant provides for the articles or beverage containers located between the aisle plates to be moved together with the support beam, whereby the support beam remains in surface contact with the foremost articles or beverage containers of a respective row of articles or row of beverage containers moved between the aisle plates during the movement. Initially, the respective articles or beverage containers intended for transfer to the transport pallet are in a position in which the first manipulator can receive the articles or beverage containers from the infeed and then move them towards the transport device or towards the respective transport pallet moved by the transport device.

[0052] After the respective articles or beverage containers have been received from the infeed, they are then placed on the layer already arranged on the transport pallet or on the outer packaging already arranged on the transport pallet. This creates an incomplete or as yet unfinished middle layer of articles on the respective transport pallet. Subsequently, another layer or outer packaging located on top of the stack is removed from the stack. During the transfer or during the setting down of the articles or beverage containers on the layer or outer packaging, the transport pallet is moved continuously above the transport device, so that the transport pallet never comes to a standstill.

[0053] Meanwhile, the manipulator again received articles or beverage containers intended for the middle layer of articles from the infeed and placed them on the layer or outer packaging already placed on the transport pallet by the second manipulator, so that a complete middle layer of articles now sits on the transport pallet. The layer or outer packaging, now completely removed from the stack, is then moved further towards the transport pallet, which has received the complete middle layer of articles. While the articles or beverage containers intended for the middle layer of articles are being placed on the transport pallet, the transport pallet continues to move along the conveyor, ensuring that the transport pallet never comes to a standstill.

[0054] Through the continuous movement of articles or beverage containers over the infeed, the articles or beverage containers are moved between the lane plates and reach a position from which the first manipulator can pick up or receive the respective articles or beverage containers from the infeed to produce an upper layer of articles.

[0055] The articles or beverage containers intended for the upper layer of articles are first placed on the designated transport pallet, thus forming an incomplete upper layer of articles on the transport pallet. Then, another layer or outer packaging located on top of the stack is removed from the stack and moved toward the transport pallet or transport device via the second manipulator. While the articles or beverage containers intended for the upper layer of articles are placed on the transport pallet, the transport pallet is continuously moved and never stops.

[0056] Due to the continuous movement of the articles or beverage containers arranged between the aisle plates of the infeed, the articles or beverage containers are already ready for receipt by the first manipulator when the first manipulator reaches the infeed again after placing articles or beverage containers on the transport pallet. After receiving articles or beverage containers from the infeed again, these articles or beverage containers are placed on the transport pallet and then form the complete upper layer of articles as described above. The transport pallet, together with the layers or outer packaging placed on it, as well as the layers of articles placed on it, forms a finished pallet assembly and can be moved out of the working area of ​​the first manipulator using the transport device.Starting with the entry into the working area of ​​the first manipulator and / or the second or further manipulator, the transport pallet is moved without interruption until the completion of the complete pallet assembly and does not stop at any time.

[0057] Optionally, the article infeed can be designed differently. In this context, the design of the infeed and the pallet assembly to be formed with the transport pallet can also be designed differently. The above description shows how identical articles or beverage containers are initially moved in a random mass flow and then moved between the aisle plates in parallel rows without prior division.

[0058] In an alternative embodiment of the inlet, the articles or beverage containers can be arranged in parallel rows before their movement or before their entry into aisles formed by the aisle plates, so that in each aisle formed by a few immediately adjacent aisle plates there are only articles or beverage containers that are identical in terms of their content, type and / or geometric shape.

[0059] In practice, it may be provided that a first row of articles is moved between a first pair of immediately adjacent aisle plates, which articles in the first row are formed exclusively by beverage containers containing a first type of beverage. Furthermore, it may be that a second row of articles is moved between a second pair of immediately adjacent aisle plates, which articles in the second row are formed exclusively by beverage containers containing a second type of beverage, which second type of beverage differs from the first type of beverage.

[0060] Furthermore, a third row of articles may be moved between a third pair of directly adjacent aisle plates, which articles in the third row are formed exclusively by beverage containers containing a third type of beverage, which third type of beverage differs from the first type of beverage and the second type of beverage. By subsequently receiving articles or beverage containers containing different types of beverages, pallet assemblies containing articles or beverage containers containing different types of beverages can be produced by the steps described above. Such pallet assemblies are referred to in practice as mixed pallets.

[0061] The following explains the sequential process steps for implementing the method according to the invention and for forming pallet assemblies. In a first step, a transport pallet is moved into a working area of ​​one or more manipulators. In the first process step, an outer packaging is placed on the transport pallet, and a lower layer of articles is arranged on the outer packaging then located on the transport pallet. During the placement of the outer packaging and during the placement of the lower layer of articles, the transport pallet is continuously moved and never stops.

[0062] In a subsequent process step, another outer packaging is removed from the stack and placed on the lower layer of articles already on the transport pallet. A further or middle layer of articles is placed on the outer packaging now placed on the lower layer of articles. The individual articles or beverage containers in this middle layer of articles are again received from the infeed. While the further outer packaging is being removed from the stack, while the further outer packaging is being placed on the lower layer of articles already on the transport pallet, and while the further or middle layer of articles is being placed on the outer packaging, the transport plate never stops moving and moves continuously and without interruption.

[0063] In a subsequent, further or third process step, another outer packaging is removed from the stack and placed on the middle layer of articles already on the transport pallet. Another upper layer of articles is placed on the outer packaging now placed on the middle layer of articles. The individual articles or beverage containers in the upper layer of articles are again received from the infeed. While the further outer packaging is being removed from the stack, while the further outer packaging is being placed on the middle layer of articles already on the transport pallet, and while the upper layer of articles is being placed on the outer packaging, the transport pallet never stops moving and moves continuously and without interruption.

[0064] Once the top layer of items has been placed on the outer packaging, the pallet assembly is complete. In the subsequent fourth process step, the completed pallet assembly is then moved toward a loading station.

[0065] In a further embodiment of the stack forming device according to the invention, an inlet is also provided, via which articles or beverage containers are initially moved or transported in a random mass flow. Furthermore, several parallel aisle plates are provided, between which the articles or beverage containers are moved in several parallel rows. In addition, a support bar can be provided, the functioning of which has already been described above. In addition, the stack forming device is provided with the already described first manipulator, the detection area of ​​which extends over a region of the inlet with the aisle plates located therein. The first manipulator can thus receive the articles or beverage containers moved in parallel rows from the inlet.

[0066] A stack-forming device not according to the invention also includes a transport device, which can optionally be designed as a driverless transport vehicle or can comprise such a driverless transport vehicle. The transport device is also coupled to a control and / or regulating device that communicates with the driverless transport vehicle or with the transport device and specifies uninterrupted movement for the driverless transport vehicle or for the transport device.

[0067] In the process phase not according to the invention explained here, the transport device or the automated guided vehicle can already have been moved into the detection range of the first manipulator at the instigation and by control commands of the control and / or regulating device, so that the first manipulator can set down and stack articles or beverage containers on the transport device or on the automated guided vehicle, wherein several layers of articles stacked on top of one another are subsequently arranged on the transport device or on the automated guided vehicle. During the setting down and stacking of articles or beverage containers on the transport device designed as an automated guided vehicle, the transport device designed as an automated guided vehicle is moved forward without interruption. A movement of the first manipulator and a movement orThe continuous movement of the driverless transport vehicle is thus coordinated. While items or beverage containers are being deposited on the driverless transport vehicle, the driverless transport vehicle moves in a defined conveying direction. The conveying direction runs parallel and, in particular (but not necessarily) opposite to the direction of movement of the items or beverage containers already conveyed in parallel rows via the infeed.

[0068] The additional or second manipulator is also a necessary component of the stack-forming device in the embodiment described here, not according to the invention. Furthermore, layers configured as outer packaging can be deposited onto the transport device configured as a driverless transport vehicle via the second manipulator, so that each layer configured as outer packaging separates adjacent layers of articles from one another in the vertical direction. The second manipulator can remove each layer configured as outer packaging from the stack of layers or outer packaging and can be configured, for example, as a multi-axis robot.

[0069] In a subsequent process phase, the first manipulator has already transferred all articles or beverage containers of a topmost layer of articles to be formed on the transport device designed as an automated guided vehicle to the transport device designed as an automated guided vehicle or deposited them on the transport device designed as an automated guided vehicle. In the phase considered here, the topmost layer of articles is therefore completely arranged on the transport device designed as an automated guided vehicle, with the transport device designed as an automated guided vehicle having left a working area of ​​the first manipulator and a working area of ​​the further or second manipulator.The transport device, designed as a driverless transport vehicle, can then move the multiple stacked layers of articles towards a loading station or towards a work station, which can apply further outer packaging to the stacked layers of articles.

[0070] In all the embodiments described here, it may happen that a respective transport device enters a working area of ​​the first manipulator and the second manipulator, whereby several articles or at least one complete layer of articles may already be located on the transport device. The first manipulator can receive articles intended for a layer of articles not yet on the transport device from the infeed and then produce or form at least one further complete layer of articles on the transport device.

[0071] In such embodiments, the articles already on the transport device may differ from the articles presented via the infeed. For example, the articles already on the transport device may be beverage containers containing a first type of beverage, whereas the articles presented via the infeed may be beverage containers containing a second type of beverage. Advantageously, this allows for the simple and straightforward production of so-called mixed pallets with the aid of the stacking device.

[0072] 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 schematic view of a pallet assembly as it can be produced with various embodiments of the method according to the invention and various embodiments of the stack forming device according to the invention. Figures 2 to 13 show schematic views of an embodiment of a stack forming device according to the invention and illustrate individual steps as they can be provided in various embodiments of the method according to the invention. Fig. 14shows a schematic view of a further embodiment of a stack forming device according to the invention and illustrates steps as they can be provided in various embodiments of the method according to the invention. Fig. 15 illustrates individual temporally successive steps as they can be provided in various embodiments of a method according to the invention. Figures 16 and 17 show schematic views of a further embodiment of a stack forming device not according to the invention.

[0073] The schematic side view of the Fig. 1 illustrates a pallet assembly 20 as it can be used with various embodiments of the method 100 according to the invention (cf. Fig. 15 ) and various embodiments of the stack forming device 1 according to the invention (cf. Figures 2 to 14 ) can be formed and produced.

[0074] The Fig. 1The pallet assembly 20 shown in a side view comprises a transport device 11, referred to here as such, which is designed according to the invention as a transport pallet 12 and on which several layers of articles, designated by the reference numbers 3, 3' and 3", are stacked or on which several layers of articles, designated by the reference numbers 3, 3' and 3", are stacked by means of a stacking device 1 (cf. Figures 2 to 13 and 14 and 16 with 17) were stacked on top of each other.

[0075] In further embodiments not according to the invention, a transport device 11 can be designed or provided, for example, via a driverless transport vehicle. It is also conceivable for further embodiments not according to the invention that a transport device 11 is designed or provided via a conveyor belt. The conveyor belt can optionally comprise a circulating conveyor strand on which the Fig. 3 layers of articles designated by the reference numbers 3, 3' and 3" by means of a stacking device (cf. Figures 2 to 13 and 14 and 16 with 17) can be stacked on top of each other.

[0076] The individual articles 2 of a respective layer of articles 3, 3' and 3" are each designed as a beverage container 4 in the illustrated embodiment. A plurality of articles 2 of a respective layer of articles 3, 3' or 3" stand on a layer 5 separating the respective stacked layers of articles 3, 3' or 3" from one another, which separating layer 5 is designed as an outer packaging 6 in the present embodiment. The outer packaging 6 has a plurality of tabs 8 over its entire circumference, which tabs 8 are connected via a Figures 2 to 13 shown second manipulator 14 were erected and in the Fig. 1 In the position shown, hold article 2 or beverage container 4 of a respective layer positively on articles 3, 3' or 3".

[0077] In practice, outer packaging 6 according to the embodiment from Fig. 1referred to as a tray. Embodiments are also conceivable in which the stacked layers of articles 3, 3' or 3" separating layers 5 do not have tabs 8 that have been folded in or in an upright position according to Fig. 1 Such outer packaging 6 further forms a flat base for article 2 of a respective layer of articles 3, 3' or 3" and is referred to in practice as a pad.

[0078] Also the Fig. 1 The outer packaging 6 shown and designed as a so-called tray has a flat base on which articles 2 or beverage containers 4 of a respective layer of articles 3, 3' or 3" stand together. Due to the layers 5 or outer packaging 6 inserted between adjacent layers of articles 3, 3' or 3", the pallet assembly 20 has a high level of stability, even with a large number of layers of articles 3, 3' or 3" stacked on top of one another.

[0079] The articles 2 or beverage containers 4 of a respective layer of articles 3, 3', or 3" are Fig. 1 held in a form-fitting manner by means of a respective outer packaging 6. The articles 2 or beverage containers 4 are not connected to one another. In further embodiments, it can be provided that several articles 2 or beverage containers 4 of a respective layer of articles 3, 3' or 3" are combined to form a bundle or carrying bundle and thereby form a respective piece goods. The flaps 8 of the outer packaging 6 cover, in the exemplary embodiment of a pallet assembly 20 according to Fig. 1 labels applied to the outer surfaces of the beverage containers 4 are not completely visible, so that the labels applied to the outer surfaces of the beverage containers 4 are visible.

[0080] The Figures 2 to 13each show, in schematic views, an embodiment of a stack forming device 1 according to the invention and illustrate individual steps as they can be provided in various embodiments of the method 100 according to the invention.

[0081] The stack forming device is in the embodiment according to Figures 2 to 13designed as a palletizing device. Part of the stacking device 1 is an inlet 30, via which articles 2 or beverage containers 4 are initially moved or transported in a random mass flow. The inlet 30 comprises several parallel oriented lane plates 34. Via a horizontal conveyor device designed as a component of the inlet 30 and initially moving or transporting the articles 2 or beverage containers 4 in a random mass flow, the individual articles 2 or beverage containers 4 are then moved or transported between the lane plates 34, so that the articles 2 or beverage containers 4 are Fig. 2 between the several lane plates 34 in several rows oriented parallel to one another.

[0082] A detection range of a Fig. 2The first manipulator 13, which is only schematically illustrated and is designed as a component of the stack forming device 1, extends over a region of the inlet 30 in which region the inlet 30 forms the lane plates 34. Thus, the first manipulator 13 can receive from the region of the inlet 30, which region forms the lane plates 34, at least approximately simultaneously a plurality of articles 2 already moved in parallel rows or at least approximately simultaneously a plurality of beverage containers 4 already moved in parallel rows from the inlet 30. The first manipulator 13 can be designed, for example, as a multi-axis robot and / or as a gantry robot.

[0083] What can be seen is a transport device 40 which is designed as a component of the stack forming device 1 and which moves a plurality of transport devices 11 designed as transport pallets 12 at a distance from one another in the conveying direction FR. The transport device 40 is positioned in such a way that the first manipulator 13 can deposit articles 2 or beverage containers 4 already received from the inlet 30 at least approximately simultaneously onto a transport device 11 or transport pallet 12 provided for this purpose and moved in the conveying direction FR by means of the transport device 40. A transport device 40 which is designed as a component of the stack forming device 1 and which moves a plurality of transport devices 11 designed as transport pallets 12 at a distance from one another in the conveying direction FR.The transport pallet 12 intended to hold beverage containers 4 is moved into the working area of ​​the first manipulator 13 and, after the complete completion of a pallet assembly 20 (cf. ) as described in more detail below, Fig. 1 ) out of the working area of ​​the first manipulator 13.

[0084] In the Fig. 2 In the conveying and handling situation shown, several articles 2 received from the inlet 30 or several beverage containers 4 received from the inlet 30 were already placed on the transport pallet 12 in a previous step and form Fig. 2 an unfinished situation in Articles 3, 3' and 3" (cf. Fig. 1 ) on the transport pallet 12. The schematic top view of the Fig. 2also illustrates that the articles 2 or beverage containers 4 already placed on the transport pallet 12 are indirectly supported on the transport pallet 12 via a layer 5 or outer packaging 6 already arranged on the transport pallet 12. In order to transfer the layer 5 or outer packaging 6 to the transport pallet 12, the stacking device 1 comprises a second manipulator 14, which is only schematically indicated. The first manipulator 13 and the second manipulator 14 are located on opposite sides of the transport device 40.

[0085] Furthermore, a stack of layers 50 or a stack of outer packaging 60 is provided. The second manipulator 14 can receive a respective layer 5 arranged on top of the stack 50 or a respective outer packaging 60 arranged on top of the stack 60 from the stack 50 or 60, and then place lateral tabs 8 (cf. Fig. 1) of a respective layer 5 or outer packaging 6 into an upright orientation and then place the respective layer 5 or the respective outer packaging 6 with its tabs 8 transferred into the respective upright orientation onto a respective transport pallet 12 provided for this purpose and moved by means of the transport device 50. The second manipulator 14 can also be designed, for example, as a multi-axis robot or as a gantry robot.

[0086] To move the transport pallets 12 in the conveying direction FR, the transport device 40 can, for example, comprise at least one circumferentially guided belt and / or at least one circumferentially moving chain drive. It is also conceivable for the transport device 40 to have at least one driverless transport vehicle and / or an inductive guide line or an inductive track guidance system for moving the transport pallets 12 in the conveying direction FR. In further embodiments, the transport device 40 can have at least one electromagnetic direct drive for moving the transport pallets 12 in the conveying direction FR.

[0087] The horizontal conveyor device, provided as a component of the inlet 30 and for moving articles 2 or beverage containers 4 in several parallel rows, the transport device 40 as well as the first manipulator 13 and the second manipulator 14 are connected to a control and / or regulating device S.

[0088] The horizontal conveyor device, which is designed as a component of the inlet 30 and is intended to move articles 2 or beverage containers 4, is controlled by the control and / or regulating device S in such a way that the horizontal conveyor device, which is designed as a component of the inlet 30 and is designed to move articles 2 or beverage containers 4, moves the articles 2 or beverage containers 4 already arranged between the aisle plates 34 at at least approximately constant conveying speed over time. The articles 2 or beverage containers 4 already located between the aisle plates 34 and moved in parallel rows are therefore never at a standstill and are moved by the horizontal conveyor device designed as a component of the inlet 30 without interruption and preferably at a constant conveying speed. Transport of the articles 2 or beverage containers 4 already located between the aisle plates 34the beverage container 4 already located between the lane plates 34 takes place in a direction which is oriented parallel to the conveying direction FR of the transport device 40.

[0089] Furthermore, the transport device 40 is controlled via the control and / or regulating device S in such a way that the transport device 40 transports the transport pallets 12 at the latest upon entry into the working area of ​​the first manipulator 12 and / or into the working area of ​​the second manipulator 14 and at least until the complete completion of a respective pallet assembly 20 (cf. Fig. 1 ) or at least until the completion of a layer of articles 3" to be arranged on top of the respective transport pallet 12. Since the transport pallets 12 are thereby never stationary during a stacking process, the production of a pallet assembly 20 (cf. Fig. 1) with high throughput. It is also not necessary to accelerate a stationary transport pallet 12 with upright articles 2 or beverage containers 4, which, in previously known palletizing devices, can cause individual articles 2 or beverage containers 4 standing on a transport pallet 12 to tip unintentionally. By means of the stacking device 1, pallet assemblies 20 can therefore be produced with high reliability.

[0090] A summary of the Figures 2 and 3 shows that article 2 or beverage container 4 were moved further via the inlet 30, whereby a respective front article 2 or a respective front beverage container 4 of a respective row of articles 2 or a respective row of beverage containers 4 moved between the lane plates 34 comes into surface contact with a support beam 32.

[0091] A summary of the Figures 2 and 3 recognize that the support beam 32 is designed to be movable, or that the support beam 32 can be moved along the inlet 30. The movement takes place at the instigation of the control and / or regulating device S and is coordinated with a respective receipt of articles 2 or beverage containers 4, which respective receipt takes place via the first manipulator 12. Thus, articles 2 or beverage containers 4 are positioned according to the position of the support beam 32 according to Fig. 3aligned along a direction of movement provided by the inlet 30 for article 2 or beverage container 4 such that the articles 2 or beverage container 4 are located at a respective predetermined position with respect to the direction of movement provided by the inlet 30 for article 2 or beverage container 4, in which respective predetermined position the first manipulator 13 picks up the respective articles 2 or the respective beverage container 4 from the inlet 30.

[0092] The schematic top view of the Fig. 3 also shows that the second manipulator 14 has removed a layer 5 or an outer packaging 6 from the stack 50 or 60 and is now moving the layer 5 or outer packaging 6 removed from the stack 50 or 60 in the direction of an associated transport pallet 12 or in the direction of the transport device 40.

[0093] The articles 2 or beverage containers 4 already received from the inlet 30 via the first manipulator 13 are Fig. 3 still carried by the first manipulator 13 and are in Fig. 4 by the first manipulator 13 already placed on the transport pallet 12 provided for this purpose or on the layer 5 or outer packaging 6 already arranged for this purpose. In Fig. 4 is then the lowest layer of Articles 3 (cf. Fig. 1 ) is completely arranged on the transport pallet 12 provided for this purpose. The layer 5 or outer packaging 6, which has already been removed from the stack 50 or 60 via the second manipulator 14, is located in Fig. 4 still in a waiting position and can now be placed on the lower layer of articles 3 already arranged on the transport pallet 12.

[0094] Accordingly Fig. 5the layer 5 or outer packaging 6 already removed from the stack 50 or 60 is moved further in the direction of the transport pallet 12 provided for this purpose until the layer 5 or outer packaging 6 already removed from the stack 50 or 60 is located above the lower layer of articles 3 already placed on the transport pallet 12.

[0095] In Fig. 6 the layer 5 already removed from the stack 50 or 60 or the outer packaging 6 already removed from the stack 50 or 60 has reached this position and completely covers the lower layer of articles 3 already placed on the transport pallet 12. In the position after Fig. 6The layer 5 or outer packaging 6 already removed from the stack 50 or 60 can now be placed on the lower layer of articles 3 already arranged on the transport pallet 12, whereby the transport pallet 12 and the lower layer of articles 3 already placed on the transport pallet 12 are moved continuously during the placement of the layer 5 or outer packaging 6 and do not stand still at any time. The uninterrupted movement of the transport pallet 12 takes place, as already described above, via the transport device 40 and at the instigation of the control and / or regulating device S.

[0096] A summary of the Figures 5 and 6also shows that articles 2 or beverage containers 4 located between the lane plates 34 are moved together with the support beam 32, wherein the support beam 32 remains in surface contact with the foremost articles 2 or beverage containers 4 of a respective row of articles 2 or row of beverage containers 4 moved between the lane plates 34 during the movement. Fig. 6the respective articles 2 intended for transfer to the transport pallet 12 or the respective beverage containers 4 intended for transfer to the transport pallet 12 are in a position in which the first manipulator 13 can receive these respective articles 2 intended for transfer to the transport pallet 12 or the respective beverage containers 4 intended for transfer to the transport pallet 12 from the inlet 3 and then move them in the direction of the transport device 40 or in the direction of the respective transport pallet 12 moved by means of the transport device 40.

[0097] After the respective articles 2 or beverage containers 4 have been received from the inlet 30, they are then placed on the layer 5 already arranged on the transport pallet 12 or on the outer packaging 6 already arranged on the transport pallet 12 in accordance with Fig. 7This will create an incomplete or not yet completed middle layer of Articles 3' (cf. Fig. 1 ) on the respective transport pallet 12. The schematic plan view of the Fig. 7 further shows that a layer 5 or outer packaging 6 located on top of the stack 50 or stack 60 is again removed from the stack 50 or stack 60. During the transfer or during the setting down of the articles 2 or beverage containers 4 on the layer 5 or outer packaging 6 according to Fig. 7 the transport pallet 12 is moved continuously over the transport device 40, so that the transport pallet 12 never comes to a standstill.

[0098] By taking a look at the Figures 8 and 9It becomes clear that articles 2 intended for the middle layer of articles 3' or beverage containers 4 intended for the middle layer of articles 3' were received from the inlet 30 via the first manipulator 13 and were placed on the layer 5 or outer packaging 6 already placed on the transport pallet 12 by means of the second manipulator 14, so that in Fig. 9 Now there is a complete middle layer of articles 3' on the transport pallet 12. The articles from the stack 50 or 60 in Fig. 9 Now completely removed layer 5 or outer packaging 6 was removed from the position to Fig. 8 further in the direction of the transport pallet 12, which is in Fig. 9 the complete middle layer of articles 3' has been picked up. During the placement of the articles 2 or beverage containers 4 intended for the middle layer of articles 3' on the transport pallet 12 according to Fig. 9the transport pallet 12 continued to be moved via the transport device 40, so that the transport pallet 12 never came to a standstill.

[0099] In the presentation of the Fig. 10 Layer 5 or outer packaging 6 was placed on the Fig. 9 still recognizable middle layer of articles 3'. The transport pallet 12 as well as the transport pallet 12 in Fig. 10 already existing lower layer of Articles 3 and the Fig. 10 The middle layer of articles 3' already standing on the transport pallet 12 were continuously moved and did not stand still at any time.

[0100] Due to the continuous movement of articles 2 or beverage containers 4 via the inlet 30, articles 2 or beverage containers 4 were moved between the lane plates 34 and are located in Fig. 10in a position from which the first manipulator 13 moves the respective articles 2 or beverage containers 4 to produce an upper layer of articles 3" (cf. Fig. 1 ) from inlet 30 or receive it from inlet 30.

[0101] As in Fig. 11 As can be seen, the articles 2 and beverage containers 4 intended for an upper layer of articles 3" have already been placed on the transport pallet 12 provided for this purpose and form an incomplete upper layer of articles 3" on the transport pallet 12. Again, in Fig. 11a layer 5 or outer packaging 6 arranged on top of the stack 50 or 60 is pulled off the stack 50 or 60 and moved via the second manipulator 14 in the direction of the transport pallet 12 or in the direction of the transport device 40. During the placement of the articles 2 or beverage containers 4 intended for the upper layer of articles 3" on the transport pallet 12, the transport pallet 12 is continuously moved and never stands still.

[0102] A summary of the Figures 11 and 12once again illustrates the continuous movement of the articles 2 or beverage containers 4 arranged between the lane plates 34 of the inlet 30. Due to the continuous movement of the articles 2 or beverage containers 4 arranged between the lane plates 34 of the inlet 30, articles 2 or beverage containers 4 are already ready for receipt by the first manipulator 13 when the first manipulator 13 reaches the inlet 30 again after placing articles 2 or beverage containers 4 on the transport pallet 12.

[0103] After receiving articles 2 or beverage containers 4 from the inlet 30 again, these articles 2 or beverage containers 4 are placed on the transport pallet 12 and then form the complete upper layer of articles 3" according to Fig. 13. The transport pallet 12, together with the layers 5 or outer packaging 6 placed thereon, as well as the layers of articles 3, 3' and 3" placed thereon, forms a finished pallet assembly and can be moved out of the working area of ​​the first manipulator 13 by means of the transport device 40. Starting with the entry into the working area of ​​the first manipulator 13 and / or the second manipulator 14, the transport pallet 12 is moved without interruption until after the completion of the complete pallet assembly and does not stand still at any time.

[0104] The Fig. 13 also shows that a subsequent and until then still empty transport pallet 12 is brought into the working area of ​​the manipulators 13 and 14 and is thereby continuously moved. Fig. 13 Another layer 5 or outer packaging 6 was removed from the stack 50 or 60 and is Fig. 13in the direction of the still empty transport pallet 12 and then placed on the still empty transport pallet 12 below a lower layer of articles 3 or beverage containers 4 to be formed on the still empty transport pallet. The further steps then take place for the new or Fig. 13 still empty transport pallet 12 according to the description of the previous Figures 2 to 12 . Until the pallet assembly 20 is completely completed (see Fig. 1 ) with the new and in Fig. 13 still empty transport pallet 12, the new and in Fig. 13 still empty transport pallet 12 moves without interruption or continuously and never stands still.

[0105] The Fig. 14shows a schematic view of a further embodiment of a stack forming device 1 according to the invention and illustrates steps as they can be provided in various embodiments of the method 100 according to the invention.

[0106] Compared to the Figures 2 to 13 The embodiment of a stack forming device 1 described above differs from the embodiment of Fig. 14 in the design of the inlet 30 and in the associated design of the pallet assembly to be formed with the transport pallet 12. In the embodiment from the Figures 2 to 13 Identical articles 2 or beverage containers 4 are first moved in a random mass flow and are then moved as parallel rows between the lane plates 34 without prior division.

[0107] In contrast, the articles 2 and beverage containers 4 in the embodiment according to Fig. 14before their movement in parallel rows or before their entry into aisles formed by means of the aisle plates 34, so that in each aisle formed by a few immediately adjacent aisle plates 34 there are only articles 2 or beverage containers 4 which are identical in terms of their contents, their type and / or their geometric shape.

[0108] In practice, it can be provided that a first row of articles 2 is moved between a first pair of immediately adjacent lane plates 34, which articles 2 of the first row are formed exclusively by beverage containers 4 containing a first type of beverage. Furthermore, it can be that a second row of articles 2 is moved between a second pair of immediately adjacent lane plates 34, which articles 2 of the second row are formed exclusively by beverage containers 4 containing a second type of beverage, which second type of beverage differs from the first type of beverage.

[0109] Furthermore, it may be that a third row of articles 2 is moved between a third pair of immediately adjacent lane plates 34, which articles 2 of the third row are formed exclusively by beverage containers 4 containing a third type of beverage, which third type of beverage differs from the first type of beverage and the second type of beverage. By means of the subsequent receipt of articles 2 or beverage containers 4 with different types of beverages, the steps according to the previous description lead to the Figures 2 to 13 Produce pallet combinations that contain items 2 or beverage containers 4 with different types of beverages. In practice, such pallet combinations are referred to as mixed pallets.

[0110] The schematic representation of the Fig. 15illustrates individual temporally successive steps S1 to S4, as they can be provided in various embodiments of a method 100 according to the invention. Thus, in a first step S1, a transport pallet 12 is moved into a working area of ​​a Figures 2 to 14 each shown first manipulator 13 and / or second manipulator 14. In the first method step S1, an outer packaging 6 is also placed on the transport pallet 12 and a lower layer of articles 3 is arranged on the outer packaging 6 then located on the transport pallet 12. During the setting down of the outer packaging 6 and during the setting down of the lower layer of articles 3, the transport pallet 12 is continuously moved and never stands still.

[0111] In a second process step S2 following the first process step S1, a further outer packaging 6 is removed from the stack 50 or 60 and arranged on the lower layer of articles 3 already located on the transport pallet 12. On the outer packaging 6 now arranged on the lower layer of articles 3, a further or middle layer of articles 3' (cf. Fig. 1 ) are deposited. The individual articles 2 or beverage containers 4 of the middle layer of articles 3' are again received by the infeed 30. During the removal of the further outer packaging 6 from the stack 50 or 60, during the arrangement of the further outer packaging 6 on the lower layer of articles 3 already located on the transport pallet 12, and during the depositing of the further or middle layer of articles 3' on the outer packaging 6, the transport plate 12 never stands still and is moved continuously and without interruption.

[0112] In a third process step S3 following the second process step, a further outer packaging 6 is removed from the stack 50 or 60 and arranged on the middle layer of articles 3' already located on the transport pallet 12. On the outer packaging 6 now arranged on the middle layer of articles 3', a further upper layer of articles 3" (cf. Fig. 1 ). The individual items 2 or beverage containers 4 of the upper layer of items 3 are again received by inlet 30.

[0113] During the removal of the further outer packaging 6 from the stack 50 or 60, during the arrangement of the further outer packaging on the middle layer of articles 3' already located on the transport pallet 12 and during the placement of the upper layer of articles 3" on the outer packaging 6, the transport pallet 12 never stops and is moved continuously or without interruption.

[0114] After the top layer of articles 3" has been placed on the outer packaging 6, the pallet assembly 20 (cf. Fig. 1 ) is completely manufactured. In the subsequent fourth method step S4, the completely manufactured panel assembly 20 is then moved towards a loading station.

[0115] The Figures 16 and 17 show schematic views and plan views of a further embodiment of a stack forming device 1 not according to the invention. The stack forming device 1 from the embodiment according to Figures 16 and 17comprises an inlet 30, via which articles 2 or beverage containers 4 are initially moved or transported in a random mass flow. Furthermore, several parallel lane plates 34 can be seen, between which the articles 2 or beverage containers 4 are moved in several parallel rows. A support beam 32 is provided, the function of which, according to the embodiment from the preceding Figures 2 to 13 or the embodiment from Fig. 14 is trained.

[0116] In addition, in the stack forming device 1 of the embodiment according to Fig. 16 The previously described first manipulator 13 is provided, the detection range of which extends over an area of ​​the inlet 30 in which area the inlet 30 forms the lane plates 34. The first manipulator 13 can thus receive articles 2 or beverage containers 4 from the inlet 30 that are already moving in parallel rows.

[0117] A component of the stack forming device 1 is also a transport device 40, which comprises the transport device 11 designated by the reference number 11 and designed as a driverless transport vehicle 15. The transport device 40 also has a Figures 16 and 17 not shown control and / or regulating device which is connected to the driverless transport vehicle 15 or to the transport device 11 and specifies an uninterrupted movement for the driverless transport vehicle 15 or for the transport device 11.

[0118] In the Fig. 16In the phase shown, the transport device 11 or the driverless transport vehicle 15 has already been moved into the detection range of the first manipulator 13 at the instigation and by control commands of the control and / or regulating device not shown, so that the first manipulator 13 can place and stack article 2 or beverage container 4 on the transport device 11 or on the driverless transport vehicle 15, wherein subsequently several layers of articles 3, 3' or 3" stacked one on top of the other (cf. Fig. 1) are arranged on the transport device 11 or on the automated guided vehicle 15. During the setting down and stacking of articles 2 or beverage containers 4 on the transport device 11 designed as an automated guided vehicle 15, the transport device 11 designed as an automated guided vehicle 15 is moved forward without interruption. A movement of the first manipulator 13 and a movement or continuous movement of the transport device 11 designed as an automated guided vehicle 15 are thus coordinated with one another. During the setting down of articles 2 or beverage containers 4 on the transport device 11 designed as an automated guided vehicle 15, the transport device 11 designed as an automated guided vehicle 15 moves in the conveying direction FR. The conveying direction FR runs parallel to and, in this case, opposite to a direction of movement of the articles 2 or beverage containers 4 already guided in parallel rows via the inlet 30.Beverage container 4.

[0119] The second manipulator 14 is also Figures 16 and 17 shown embodiment, it is a component of the stack forming device 1. Layers 5 designed as outer packaging 6 can also be deposited on the transport device 11 designed as a driverless transport vehicle 15 via the second manipulator 14, so that a respective layer 5 designed as outer packaging 6 can deposit adjacent layers of articles 3, 3' or 3" (cf. Fig. 1 ) in the vertical direction. The second manipulator 14 can remove a respective layer 5 formed as outer packaging 6 from the stack of layers 50 or from the stack of outer packaging 60 and can be designed, for example, as a multi-axis robot.

[0120] In the Fig. 17In the process phase shown, the first manipulator 13 has already removed all articles 2 or beverage containers 4 of an uppermost layer of articles 3 to be formed on the transport device 11 designed as a driverless transport vehicle 15" (cf. Fig. 1 ) to the transport device 11 designed as a driverless transport vehicle 15 or deposited on the transport device 11 designed as a driverless transport vehicle 15. The top layer of articles 3" is in the Fig. 17In the phase shown, the transport device 11 is therefore arranged entirely on the transport device 11 designed as a driverless transport vehicle 15, wherein the transport device 11 designed as a driverless transport vehicle 15 has left a working area of ​​the first manipulator 13 and a working area of ​​the second manipulator 14. The transport device 11 designed as a driverless transport vehicle 15 can then move the multiple stacked layers of articles 3, 3' or 3" towards a loading station or towards a work station which applies further outer packaging to the stacked layers of articles 3, 3' or 3".

[0121] Both in the Figures 2 to 14 described version as well as in the version described in the Figures 16 and 17In the embodiment variant described, it may happen that a respective transport device 11 reaches a working area of ​​the first manipulator 13 and the second manipulator 14, wherein several articles 2 or at least one complete layer of articles 3, 3', 3" may already be located on the transport device 11. The first manipulator 13 can receive articles 2 intended for a layer of articles 3, 3' or 3" not yet located on the transport device 11 from the inlet 30 and then produce or form at least one further complete layer of articles 3, 3' or 3" on the transport device 11.

[0122] In such embodiments, the articles 2 already located on the transport device 11 may differ from the articles presented via the inlet 30. For example, the articles already located on the transport device 11 may be beverage containers 4 containing a first type of beverage, while the articles 2 presented via the inlet 30 may be beverage containers 4 containing a second type of beverage. Advantageously, this allows for the simple and uncomplicated production of so-called mixed pallets with the aid of the stacking device 1.

[0123] The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or variations of the invention may be made, provided that they do not depart from the scope of the following claims. List of reference signs

[0124] 1Stacking device 2Articles 3Layer of articles, lower layer of articles 3'Layer of articles, middle layer of articles 3"Layer of articles, upper layer of articles 4Beverage container 5Layer 6Outer packaging 8Tab 11Transport device 12Transport pallet 13First manipulator, Manipulator 14Second manipulator, Manipulator 15Automatic guided vehicle 20Pallet assembly 30Inlet 32Support beam 34Aisle plate 40Transport device 50Stack of layers, Stack 60Stack of outer packaging, Stack FR Conveying direction S Control and / or regulating device S1 First process step S2 Second process step S3 Third process step S4 Fourth process step

Claims

1. A method for stacking articles (2) and / or piece goods by means of a stack forming apparatus (1) according to one of the claims 3 to 7, the method comprising the following steps: - supplying at least one transport provision (11), - carrying out a stack formation process, wherein it is provided that the at least one transport provision (11) is formed by at least one transport pallet (12), on which at least one transport pallet (12) articles (2) and / or piece goods are deposited and stacked as part of the stack formation process, such that at least two layers of articles and / or piece goods (3, 3', 3"), which layers are stacked on top of one another, are arranged on the at least one transport pallet (12) after completion of the stack formation process, and wherein at least one pad (5) is deposited on the at least one transport pallet (12) as part of the stack formation process, which pad (5) separates stacked layers of articles and / or piece goods (3, 3', 3") and which pad (5) is formed, in particular, as outer packaging (6), wherein a particular actual position of the particular transport pallet (12) is sensor-detected and / or sensor-monitored over the course of time as part of the stack formation process, and wherein a) articles (2) and / or piece goods are deposited on the particular transport pallet (12) in coordination with the sensor-detected actual position and / or in coordination with the sensor monitoring provided over the course of time for the particular actual position, and / or wherein b) a movement speed of the particular transport pallet (12) is adjusted taking into account the sensor-detected actual position and / or taking into account the sensor monitoring provided over the course of time for the particular actual position, wherein the transport device (40) is controlled via the control device and / or regulating device such that the at least one transport pallet (12) is moved along in a continuously uninterrupted manner during the stack formation process.

2. The method according to claim 1, in which articles (2) and / or piece goods to be deposited on the at least one transport pallet (12) are staged by means of an uninterrupted movement preferably formed in a plurality of parallel rows.

3. A stack forming apparatus (1), comprising - at least one transport device (40) to move at least one transport provision (11), which at least one transport provision (11) is formed by at least one transport pallet (12), and - a first manipulator (13), which is designed to produce at least two stacked layers of articles and / or piece goods (3, 3', 3") on a particular transport pallet (12) that is being moved via the at least one transport device (40), and - a second manipulator (14), which can deposit a pad (5) on the at least one transport pallet (12), which pad (5) separates the particular at least two stacked layers of articles and / or piece goods (3, 3', 3") and which pad (5) is formed, in particular, as outer packaging (6), wherein the at least one transport device (40) and the first manipulator (13) are in operative connection with one another in such a manner that the at least one transport pallet (12) is moved in a continuous manner by means of the at least one transport device (40) during the production of the at least two stacked layers of articles and / or piece goods (3, 3', 3"), wherein the second manipulator (14) and the at least one transport device (40) are in operative connection with one another in such a manner that a particular transport pallet (12) is moved in an uninterrupted manner temporally immediately with a particular pad (5) being deposited on the at least one transport pallet (12), which pad (5) separates the at least two stacked layers of articles and / or piece goods (3, 3', 3") and which pad (5) is formed, in particular, as outer packaging (6), wherein the stack forming apparatus (1) furthermore comprises at least one sensor system, which at least one sensor system is designed to detect a particular actual position of a particular transport pallet (12) being moved via the at least one transport device (40), and / or which at least one sensor system is designed to monitor a particular actual position over the course of time of a particular transport pallet (12) being moved via the at least one transport device (40), and wherein the stack forming apparatus (1) comprises a control device and / or regulating device, with which the transport device (4), the first manipulator (13), and the second manipulator (14) are in operative connection or by which they are controlled.

4. The stack forming apparatus according to claim 3, comprising an infeed (30) designed to stage articles (2) and / or piece goods, which are being moved in a continuous manner, to the at least one manipulator (13, 14), which articles (2) and / or piece goods, which are being moved in a continuous manner and staged via the infeed (30), are provided to produce the at least two stacked layers of articles and / or piece goods (3, 3', 3").

5. The stack forming apparatus according to claim 3 or 4, in which the first manipulator (13) and the second manipulator (14) are arranged on opposite sides of the at least one transport device (40).

6. The stack forming apparatus according to one of the claims 3 to 5, in which the second manipulator (14) can fold in and / or fold out flaps (8) of a particular pad (5), which separates the at least two stacked layers of articles and / or piece goods (3, 3', 3") and which is formed as outer packaging (6).

7. The stack forming apparatus according to one of the claims 3 to 6, in which the at least one manipulator (13, 14) can produce the at least two stacked layers of articles and / or piece goods (3, 3', 3") on a particular transport pallet (12), which is being moved via the at least one transport device (40), taking into account the particular actual position detected via the at least one sensor system and / or monitored over the course of time, and / or wherein it is provided that a transport speed formed via the at least one transport device (40) to move the particular transport pallet (12) is adjustable taking into account the particular actual position detected via the at least one sensor system and / or monitored over the course of time.