DEVICE AND METHOD FOR DEPALLETIZING STACKABLE UNIT CONTAINERS

Description

[0001] The present invention relates to a device for depalletizing stackable packages, wherein the device comprises a holding device with suction means arranged thereon and designed for releasable suction engagement with a side wall of the package, and a support plate movable relative to the holding device for supporting the package, and has a receptacle with at least one support on which the holding device is arranged, according to the preamble of claim 1. Furthermore, the invention also relates to a method for depalletizing stackable packages according to claim 12.

[0002] The aforementioned stackable containers can be disposable containers in the form of, for example, cardboard boxes, or reusable containers made of plastic or cardboard, or collapsible boxes, i.e., containers with foldable side walls.

[0003] The aforementioned variety of packaging is often found in the fruit and vegetable sector, i.e., individual items that, due to their perishability, must be handled quickly yet gently in the distribution center.

[0004] The handling of individual packages filled with fruit, vegetables, or salads often takes place in pallet warehouses. There, the products arrive in their respective packages on standardized pallets and must be removed from the pallets for further processing. For this purpose, the packages are manually removed from the pallets in these pallet warehouses or distribution centers for fruit and vegetables, and then placed on a conveyor belt for onward transport.

[0005] The "pick to belt" process described above is therefore characterized by a high degree of manual labor.

[0006] It has also been shown that the fruit and vegetable products are delivered to the distribution centers in containers that are standardized in terms of dimensions, usually having a base area of ​​600 by 400 mm with different heights or a base area of ​​300 by 400 mm with also different heights.

[0007] Disposable containers often have centering tabs or stacking lugs located in the area of ​​the sides or transverse edges, which are positioned in the corner area of ​​the upper edges of the disposable containers, which are often made of cardboard material.

[0008] Reusable containers and folding boxes often have recessed handles or grips in the side walls or cross walls, which allow these reusable containers and folding boxes to be lifted manually.

[0009] An additional problem with the aforementioned fruit and vegetable products is that they often have a high moisture content, which means that cardboard packaging must be supported from below during depalletizing to prevent damage to the packaging.

[0010] German patent DE 199 59 285 B4 discloses a generic 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 elements is mounted on the arm of a manipulator in the form of an industrial robot. This suction head is attached to a side wall of the object to be manipulated and can fix the object by means of a holding force generated by the creation of a vacuum. 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 first suction head. This second suction head can be brought into contact with the top or surface of the object to be manipulated in order to exert a lifting force by generating a vacuum in the area of ​​the second suction head.

[0011] The object raised in this way can then be stabilized by inserting a mechanical gripper into the space between the raised object and the object below it.

[0012] This well-known vacuum gripping system is not suitable for depalletizing containers of fruit and vegetable products, because the containers in which the fruit and vegetable products are delivered on pallets to the distribution centers do not have tops on which the second suction head could be positioned, but rather the containers holding the fruit and vegetable products are regularly open at the top.

[0013] Based on EP 2 874 925 B1, a gripper head for transporting packaged goods is known which has a suction bar that can be brought into contact with a side wall of the package to be manipulated in order to exert a lifting force on the package by generating a vacuum, in order to create a gap between the package and the package below, into which a support plate can be inserted from below to support the package to be manipulated.

[0014] Attempts have already been made to depalletize individual packages using a known gripper system with an industrial robot equipped with a boom and laterally adjustable pressure plates. However, this known gripper system is unsuitable for depalletizing packages containing fruit and vegetables because the pressure plates exert a clamping force on the side walls of the package. This is because the pressure plates would crush the disposable packages, causing pressure marks and damage to the fruit and vegetables.

[0015] A generic process is known from US2015251319 A1.

[0016] Based on this, the present invention aims to provide a device for depalletizing stackable containers filled with fruit and vegetable products, where the containers can be in the form of single-use containers, reusable containers, or collapsible boxes. Furthermore, a method for depalletizing stackable containers that may contain fruit and vegetable products is also to be provided.

[0017] The invention, in order to solve this problem, comprises the features of the device specified in claim 1. Advantageous embodiments of the device are described in the further claims.

[0018] Furthermore, the invention has the features specified in claim 12 with regard to the method to be created, with advantageous embodiments of the method being described in the further claims.

[0019] The invention provides a device for depalletizing stackable packages, wherein the device has a holding device with suction means arranged thereon and designed for releasable suction engagement with a side wall of the package and a support plate movable relative to the holding device for supporting the package and has a receptacle with at least one support on which the holding device is arranged and has an engagement device designed for releasable engagement with a recess in a side wall of the package.

[0020] The suction means can be used to create a suction effect with a side wall of a container by bringing the suction means close 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 a holding force is built up between the side wall and the suction means by applying a vacuum. This holding force is sufficiently dimensioned so that, by shifting the suction means in the vertical 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 below it.

[0021] By lifting the container, which may be, for example, a disposable container in the form of an open-topped cardboard box containing individual pieces of fruit or vegetables, a gap is created that is sufficiently dimensioned to allow the support plate to be moved relative to the lifted container until it covers at least part of the bottom surface of the container and thus supports the container from below.

[0022] A translational movement of the support plate with the container arranged on it ensures that the container is separated from the stacked arrangement of the remaining containers and can, for example, be placed on a conveyor system for further transport.

[0023] As mentioned above, the distribution center may also contain individual items in the form of reusable containers or collapsible boxes, which can also be automatically depalletized using the device according to the invention.

[0024] For this purpose, the device according to the invention has an engagement device which is designed for releasable engagement with a recess in a side wall of the container.

[0025] 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 being filled 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.

[0026] The filled containers 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.

[0027] The individual packages arranged in this stacked configuration can also be automatically depalletized using the device according to the invention. For this purpose, the engagement device can create a releasable engagement with a recess in a side wall.

[0028] The engagement device can, for example, be arranged on the receiver and be designed to be movable relative to the support plate in the vertical axis direction, so that, while maintaining the releasable engagement with the recess of the container, the engagement device ensures with a predetermined movement in the vertical axis direction that the container can be lifted on one side by a distance corresponding to the predetermined movement from the container arranged below it, and in this way a gap is formed between the underside of the lifted container and the top side of the container located below it.

[0029] In a manner similar to that described above, a support plate can then be moved into the space between the containers so that the raised container rests on the support plate, or the support plate supports the raised container from below, thus creating a separation between the raised container and the container previously located below it. 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 support. In this way, the engagement device can be moved relative to the side wall of the container to engage with the recess. 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.According to the invention, the respective recess is detected by a sensor device.

[0030] The recess can be a handle recess with a through-hole extending completely through the side wall, allowing the handling device to pass through the handle recess. A vertical displacement movement of the handling device, for example, lifts the container to be depalletized that is engaged with the handling device. This lifting of the container creates the previously described gap between the underside of the lifted container and the top of the container below, into which the support plate can be inserted.

[0031] According to a further development of the invention, the engagement device comprises an engagement element designed for releasable engagement with a handle recess in a side wall of the container. The engagement element can, for example, be a gripping finger that can be inserted into the handle recess, such that lifting the gripping finger causes the container to lift on one side, thereby creating a triangular gap (in a side view) into which the support plate can be inserted.

[0032] In contrast to the known device described above 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 no pressure can be applied to the fruit and vegetable products contained in the container and these sensitive goods therefore do not get any pressure marks.

[0033] The depalletized container, supported from below by the support plate, can be transported to and transferred onto a conveyor belt. Even during the transfer of the container to the conveyor belt, or after it has been positioned above the belt, the handling device can be released from its releasable engagement with the recess in the side wall of the container, and the depalletized container can then be placed onto the conveyor belt.

[0034] The device according to the invention is thus designed for the automatic depalletizing of both single-use 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 engage in a releasable manner. Folding boxes can therefore also be automatically depalletized with the device according to the invention in the same way as has already been explained in detail above with regard to reusable containers.

[0035] In this way, the device according to the invention can automatically depalletize all known types of containers which are used for the transport of fruit and vegetable products and for distribution in distribution centers and further transport to the sales branch.

[0036] According to a further development of the invention, the device also includes a holding element designed for detachable attachment to an upper edge region of the container. This holding element allows the container to be fixed, for example, during transport from the pallet to the conveyor belt, between the gripping finger passing through the handle recess and the upper edge region of the container, in the form of a reusable container or a collapsible box.For this purpose, the gripping finger exerts a slight lifting force on the lower edge of the handle recess, and the holding element exerts a slight holding force on the edge of the container located above the handle recess, so that the container is clamped in the edge area similar to a pair of pliers and cannot slip on the support plate during transport to the conveyor belt, thus securing the container in position relative to the support plate or undercarriage plate.

[0037] According to a further development of the invention, the holding means has a strip-shaped or rib-shaped configuration and is provided with an elastically designed support means in an area designed for contact with the upper edge area of ​​the container.

[0038] The edge area of ​​the container, for example in the form of a reusable box, a folding box, or another reusable container, above the handle recesses, regularly has a strip-shaped or rib-shaped configuration, and the holding element therefore also has a strip-shaped or rib-shaped configuration in order to be able to engage in a clamping or holding engagement with the edge area of ​​the container.

[0039] The elastically designed support element on the holding device therefore grips the edge area of ​​the container from above and, due to its elastically flexible configuration, ensures that even with a small difference between the target position and the actual position of the holding device relative to the upper edge area, a secure clamping of the edge area of ​​the container is achieved between the engagement device in the form of, for example, the aforementioned gripping finger and the holding device.

[0040] According to a further development of the invention, it is also provided that the holding means is arranged on a crossbeam which is provided to be movable on the receiving, in particular in the vertical axis direction, and can be actuated by means of an actuator for releasable arrangement on the strip-shaped or strip-shaped edge area of ​​the container.

[0041] By arranging the holding device on the crossbeam, which is designed to be movable in the vertical direction of the holder, it is possible to accommodate different container heights. This is achieved by detecting the height of the respective container, for example, using a sensor device, or by positioning the crossbeam accordingly based on a predetermined height of the container known to a control computer. The holding device is then positioned relative to the height of the side wall, and the container is securely clamped between the gripping finger, which penetrates the handle recess, and the holding device, which is equipped with the elastically designed support element, by lowering the holding device to the upper edge area of ​​the container.

[0042] According to a further development of the invention, it is provided that the holding means is arranged along a pivot axis largely transverse to the receiving area and can be pivotally actuated by means of an actuator for releasable arrangement on the strip-shaped or strip-shaped edge area of ​​the container on the pivot axis.

[0043] Similar to what has just been explained, in this way the swivel-operated holding device can also be used to securely clamp the upper edge of the container between the engagement element, for example a gripping finger arranged in the recess of the container, and the strip-shaped or rib-shaped holding device, so that the container is securely held during movement on the undercarriage plate or support plate to the conveyor belt.

[0044] The actuator may be, for example, an electric motor, a pneumatic cylinder or another actuating device designed to lower the holding device to the upper edge of the container and to raise the holding device from the edge.

[0045] According to a further development of the invention, the holding device has a receiving plate extending away from the receiving area, on which the support element is arranged. By lowering the receiving plate via a vertical movement or a pivoting movement relative to the device's support, the support element can be lowered to the upper edge region of the container, and by means of a lifting or pivoting movement, the support element can be lifted from the edge region again when the separated or depalletized container is released for further transport on the conveyor belt.

[0046] As an advantageous embodiment of the actuator, for example, a pneumatically actuated piston-cylinder unit can be provided, by means of which the holding element can be detachably brought into contact with the strip-shaped or rib-shaped edge area of ​​the container. This results in the edge area being clamped between the engagement element and the holding element, without subjecting the container to a pressure force in the area of ​​the side wall that could lead to pressure marks on the fruit or vegetables contained in the container.

[0047] The invention also provides a method for depalletizing stackable unit loads, in which a unit having a lower support area is lifted from a base by means of a holding device along at least a partial area of ​​the support area, and a support plate is moved under the lifted partial area, and physical contact of the partial area with the support plate is brought about to support the unit resting on the support plate with the partial area, in the following steps: Bringing about a releasable engagement of the holding device with a recess in a side wall of the container; lifting the container by means of the holding device to separate the support area of ​​the container from the base, at least along a partial area, to create a gap between the support area and the base.

[0048] The base can be, for example, another container below the one to be depalletized, or another base in the form of, for example, a pallet or simply a support surface.

[0049] By creating a releasable engagement of the holding device with a recess in 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, thereby creating a gap between the support area and the base, so that a support plate or undercarriage plate can then be moved in this gap, and the container to be depalletized then rests on the support plate or undercarriage plate.

[0050] According to a further development of the inventive method, it is provided that the holding device is inserted into the recess, at least partially penetrating it, such that the container can be lifted from the base by means of the holding device at least along the partial area.

[0051] By lifting the container along this section, a sufficient gap is created between the underside of the container to be depalletized and the top of another container or base positioned below it, allowing the insertion of the support plate or undercarriage plate.

[0052] In a further development of the inventive method, a holding element 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 may be an engagement device with a gripping finger or the like, and the holding element, thereby securing the container in position. This position is advantageously maintained during movement of the container towards a transport device, for example, a belt conveyor.

[0053] The aforementioned gripping finger can therefore be inserted into a recess provided on the container, for example in the form of a handle recess, and then the holding device can be lowered from above onto the upper edge of the container, thereby clamping the upper edge of the container between the gripping finger and the holding device without coming into contact with the fruit or vegetables in the container and also without applying any pressure to the fruit or vegetables.

[0054] The clamped container can be separated from the base by lifting the holding device, for example, the aforementioned gripping finger, together with the holding element positioned at the edge. The base plate or support plate can then be inserted into the resulting gap. Alternatively, the base plate or support plate can be inserted into the gap created by raising the holding device between the lifted container and the container or base below. Only in a subsequent step can the holding element be lowered onto the upper edge of the container.

[0055] The container resting on the support plate or the undercarriage plate is then separated from the base and can be transported further in a subsequent step while resting on the support plate or the undercarriage plate.

[0056] The invention will be 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 device and method according to the invention; Fig. 2 a schematic representation of an embodiment of the device according to the invention designed as a portal robot in a distribution center with respective storage locations containing different containers, as shown in Fig. 1 the drawing depicted Fig. 3 a perspective view of a schematically depicted embodiment of a 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, which show the device when depalletizing 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, which show the device when depalletizing reusable containers with handle recesses on the longitudinal walls and on the transverse walls; Fig. 6 a schematic and perspective representation 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 region of the folding box; and Fig. 7 a schematic representation of a reusable container with the engagement element already engaged with the handle recess in a position before the holding element lowers to the upper edge area.

[0057] Containers of fruit and vegetable products arriving at the distribution center are delivered on pallets containing containers filled with the same item, such as fruits, vegetables, or salads.

[0058] Due to the perishability of the goods, these containers must be removed quickly and without damaging the goods from the pallets, which may be standardized pallets, in order to be transferred individually to an intermediate storage area via a conveyor belt or similar device.

[0059] Until now, containers of fruit and vegetables were manually depalletized in distribution centers because a device for automatically depalletizing stackable containers was lacking. This invention now remedies this problem.

[0060] Fig. 1 The drawing shows in four views a variety of container types that are delivered to the distribution center grouped together into a respective item pallet and must be depalletized.

[0061] The illustration 1.1 of the Fig. 1 Figure 1 shows a standardized pallet 1 with reusable containers 2 arranged on it, each having a handle recess 5 on both the respective longitudinal side wall 3 and the respective transverse side wall 4, because the containers are filled at the producer of the fruit and vegetable products and arranged in stacking order on the pallets 1, and this is done manually.

[0062] While illustration 1.1 shows containers with a base area of, for example, 600 by 400 mm, which can be of different heights depending on which products are contained in the containers, illustration 1.2 shows a pallet 1 with containers 2 with a base area of ​​300 by 400 mm each, and in a height of the respective container 2 that differs from the containers 2 according to illustration 1.1.

[0063] Figure 1.3 of the Fig. 1 Figure 1.4 shows a pallet 1 with disposable containers 6, each with stacking lugs 7 on its respective transverse side, and a base area of ​​600 by 400 mm. Fig. 1 Figure 1 shows a pallet 1 with disposable containers 1, each with a base area of ​​300 by 400 mm and a lower height than the disposable containers 6 according to Figure 1.3, and stacking lugs 7 in the respective corner area of ​​the containers 6.

[0064] Fig. 6 Finally, the drawing shows a reusable container in the form of a folding box 8, so that it is evident 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.

[0065] Fig. 2 The drawing shows an embodiment of the device 9 according to the invention, which is integrated into a portal robot system 10 and can therefore be moved both in the vertical axis direction Y and in the transverse direction Z into a storage rack (not shown in detail) as well as in an orthogonal manner thereto in order to access the pallets temporarily stored there with the contents referred to in the Fig. 1 explained different types of containers.

[0066] Fig. 3 The drawing shows a schematic perspective representation of the device 9 with the already in Fig. 2 explained coordinate system.

[0067] 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 each other are provided, which can be brought towards 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 means of a suction pump not shown in detail, which is sufficient to allow the disposable container to be lifted in a predetermined manner while maintaining the suction force in order to create a gap between the lifted disposable container and the disposable container or a base arranged below it, so that the support plate or base plate 14 can be moved into the gap.

[0068] Furthermore, the device 1 also has a receptacle 15 on which two supports 16 extending at an angle away from the support plate 14 are arranged, on which a crossbeam 17 is arranged to be displaceable in the vertical axis direction Y.

[0069] An engagement device 18 is also arranged at the inlet 15, which is designed to bring about a releasable engagement position with a handle recess of a container, as will be explained below.

[0070] Furthermore, the device 9 also has a holding means 19, which is designed and intended for detachable arrangement or placement on an upper edge area of ​​a respective container, as will be explained in more detail below.

[0071] Fig. 4 Figure 1 shows in several illustrations the device 9 during the depalletizing of disposable containers 6 with respective stacking lugs 7 in the corner area of ​​the disposable containers 6.

[0072] As can be seen in Figure 4.1, the device 9 is brought close to a side wall 20 of the disposable container 6 such that the suction elements 13 come into contact with the side wall 20. A vacuum can be created between the suction elements 13 and the side wall 20 by means of a pump (not shown in detail), so that the side wall 20, and thus the disposable container 6, can be subjected to a holding force that is sufficiently large to create a gap 21 between the disposable container 6 to be depalletized and the other disposable container 6 arranged below it, by lifting the holding device 11 with the suction device 12 formed thereon and the suction elements 13.

[0073] As can be seen from Figure 4.3, the front stacking lugs 7 facing the device are thereby disengaged and the undercarriage plate or support plate 14 can be moved into the space 21 until the disposable container 6 to be depalletized rests against the undercarriage plate or support plate 14, as shown in Figure 4.4. Fig. 4 The plate 14 is pushed under 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, thereby also disengaging the rear stacking lugs 7.

[0074] As can be seen from Figure 4.3, the suction device 12 assumes an inclined configuration with respect to the side wall 20 of the disposable container 6, i.e., the suction device 12 can move together with the angled configuration of the side wall 20 resulting from the lifting of the disposable container 6, thus changing its angle relative to the vertical axis of the supports 16, so that despite the change in angle of the side wall 20 relative to the vertical axis of the supports 16, a slight negative pressure is sufficient to hold the side wall 20.

[0075] Once the container 6 is positioned on the support plate 14, the device 9 can be moved in the Z-direction so that the disposable container 6 comes to rest above a conveyor belt 23, which is shown schematically with reference numeral 23 in Figure 4.6. The support plate 14 can then be pulled away from under the disposable container 6, again in the Z-direction, and the vacuum applied to the suction device 12 can be released. The depalletized disposable container 6 is then removed, as shown in Figure 4.7. Fig. 4 As can be seen, it is transported away in the X direction and the device 9 is, as can be seen in Figure 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 another container 6 adjacent to the container 6 that has just been depalletized and the process of depalletizing this next container 6 can be carried out.

[0076] Fig. 5 The drawing shows in several illustrations 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 longitudinal side walls 3, so that with the device 9 according to the invention it is also possible to depalletize the reusable containers 2 from the longitudinal side walls 3.

[0077] As can be seen from Figure 5.1, the device 9 is moved towards the transverse side wall 4 of the container 3 in the upper container position, and the position of the handle recess 5 is detected by a sensor device. The engagement device 18 with the gripping finger 24 is then positioned at such a height in the Y-direction that the gripping finger 24 can be moved into the handle recess 5 by a translational movement in the Z-direction until the gripping finger 24 penetrates the handle recess 5, as shown in Figure 5.2. Fig. 5 as is evident.

[0078] In the next step, as shown in Figure 5.3 of the Fig. 5 It can be seen that the retaining device 19 was lowered onto the upper edge 25 of the transverse side wall 4 until, based on Fig. 7 The elastically designed support means 26, as shown in the drawing, rests on the upper edge 25 in the form of a rubber lip 27.

[0079] The rubber lip 27 can exert a holding force on the edge 25 from above, whereby any existing deformations of the edge area of ​​the edge 25 can be compensated for by the elasticity of the rubber lip 27.

[0080] As demonstrated by Fig. 7 As can be seen further in the drawing, the holding means 19 provided with the rubber lip 27 in the form of a swivel holder 28 is lowered in a swiveling movement on the swivel axis 31 onto the edge 25 of the reusable container 2 via an actuator 29 in the form of a pneumatic cylinder 30, as can be seen from the double arrow 32.

[0081] The holding element 19 of the in Fig. 7 The illustrated device 9 has a receiving plate 34 in the form of a cantilever 33, on which the rubber lip 27 is arranged at the front edge area and a schematically illustrated spring device 35 is provided on a lower side 35 of the cantilever 33, which acts as a stop damper and can gently contact the gripping finger 24 located in the handle recess 5 from above, 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 exerting a pressure force on the transverse side wall 4, and thus no damage can occur to the fruit and vegetable products located in the container 2.

[0082] Figure 5.3 shows that by lifting container 2 relative to the container 2 arranged below it, a gap 21 is formed into which the support plate or undercarriage plate 14 can be moved until it assumes the position relative to the underside 22 of the container shown in Figure 5.4 and the container is thus completely lifted from the other container located below it.

[0083] 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 supporting the container, as shown in Figure 5.5 of the Fig. 5 as can be seen, and then the support plate 14 is pulled away to the left from the underside 22 of the container 2 by a corresponding displacement movement as shown in Figure 5.6, so that the container 2 comes to rest on the conveyor belt 23 and is transported by it for further handling, as shown in Figure 5.7. Fig. 5 as can be seen in the drawing.

[0084] The illustration 5.8 of the Fig. 5 Finally, this shows that a further depalletizing can now take place with regard to the container 2 adjacent to the container 2 that has just been depalletized, for which purpose the device uses the space 37 freed up by the depalletizing of the container 2 that has just been depalletized and can be moved in the Z direction until the handle recess 5 of the adjacent container 2 is detected.

[0085] Fig. 6The drawing shows a schematic representation of a collapsible box 8 containing fruit and vegetable products and a device 9 according to the present invention, which is in a clamping position with its upper edge 25 and the handle recess 5. Since the transverse side walls 4 of the collapsible box 8 are designed to be foldable, it is essential that these transverse side walls 4 are not subjected to a compressive force, as is the case with the known device described above, so that the collapsible box type cannot be handled by the known device. In contrast, the collapsible box commonly used for transporting fruit and vegetable products can also be depalletized with the device according to the inventive method.

[0086] The invention is characterized in that all known container types can be automatically depalletized with the device according to the invention and according to the method according to the invention, which are used for the transport of fruit and vegetable products in distribution centers and for further transport to the customer for sale of the fruit and vegetable products.

[0087] Since these containers, depending on the product they are filled with, can have a weight of up to 20 kg, the device and method according to the invention provide a significant simplification in the depalletizing of the containers and in rapid handling and very short dwell times in the distribution centers.

[0088] Because the inventive device prevents the side walls of the containers from being subjected to a clamping or lateral force directed towards the interior of the container, the risk of damage to the delicate fruit and vegetable products during depalletizing is eliminated. Likewise, the risk of the container's side walls tearing or being dented is also eliminated. The precise position of the container's handle recesses can be detected by a sensor device, allowing the gripping finger to be positioned exactly within the handle recess.

[0089] By lifting the gripping finger with the holding element resting on the upper edge of the container, the container can be clamped without exerting lateral force on the container walls and is supported from below by the base plate. Similarly, disposable containers are supported from below by the base plate, preventing damage to any centering tabs or corners on the containers. These disposable containers are lifted by the suction force applied by the suction device. The suction device, along with the container, can be lifted on one side until the support plate or base plate is inserted into the gap, thus placing the container on the support plate or base plate.By releasing the suction and moving out the support plate or undercarriage plate, the container can then be placed on the conveyor belt and a short blow pulse can remove any contaminants from the suction device.

[0090] The containers depalletized in this way, whether disposable or reusable, or even folding boxes containing fruit and vegetable products, are moved to a conveyor belt and placed on it in order to be transported to the distribution center for further distribution.

[0091] Using the suction device or gripper finger, the respective containers only need to be lifted by approximately 25 mm in the Y direction. The resulting gap is sufficient to insert the support plate or carrier plate into the space to support the container being depalletized from below. The support plate is moved beyond the container's center of gravity in the Z direction, thus supporting the container from below and preventing it from unintentionally detaching from the support plate during transport to the conveyor belt.

[0092] Although the above refers to individual packages filled with perishable goods, such as fruit and vegetable products in particular, this should not be interpreted as a limitation, since the device and method according to the invention can also be used to depalletize empty individual packages, as well as individual packages filled with other goods, such as drugstore items or personal care products or goods of any other kind. Reference symbol list

[0093] 1. Pallet 2. Reusable container 3. Longitudinal side wall 4. Transverse side wall 5. Handle recess 6. Disposable container 7. Stacking lug 8. Folding box 9. Device 10. Gantry robot system 11. Holding device 12. Suction device 13. Suction medium 14. Support plate, undercarriage plate 15. Mounting 16. Beam 17. Crossbeam 18. Engagement device 19. Holding device 20. Side wall 21. Gap 22. Underside 23. Conveyor belt 24. Gripping finger 25. Edge 26. Support device 27. Rubber lip 28. Swivel bracket 29. Actuator 30. Pneumatic cylinder 31. Swivel axis 32. Double arrow 33. Boom 34. Mounting plate 35. Spring device 36. Double arrow 37. Space

Claims

1. Apparatus (9) for depalletizing stackable general cargo containers (2, 6), wherein the apparatus (9) has a holding device (11) with suction means (12, 13) arranged thereon and configured for releasable suction engagement with a side wall (3, 4) of the container (2, 6), and a support plate (14) movable relative to the holding device (11) for supporting the container (2, 6), and possesses a receptacle (15) with at least one carrier (16) on which are arranged the holding device (11) and an engagement device (18) for releasable engagement with a recess (5) in a side wall (3, 4) of the container (2, 6), characterized in that the apparatus (9) has a sensor device which is configured to detect the recess (5).

2. Apparatus (9) according to Claim 1, characterized in that the engagement device (18) is arranged on the receptacle (15) and is configured to be movable relative to the support plate (14) in a vertical axis direction.

3. Apparatus (9) according to Claim 1 or 2, characterized in that the engagement device (18) is configured to be movable in at least one planar direction of a plane extending substantially rectangularly to the carrier (16).

4. Apparatus (9) according to one of the preceding claims, characterized in that the engagement device (18) has an engagement means (24) which is configured to engage with a handle recess (5) in a side wall (3, 4) of the container (2, 6).

5. Apparatus (9) according to Claim 4, characterized in that the engagement means (24) is configured to be movable relative to the handle recess (5) in the container (2, 6) such that the engagement means (24) is movable into the handle recess (5) and passes at least partially through it and is configured to be movable out of the handle recess (5).

6. Apparatus (9) according to one of the preceding claims, characterized by at least one holding means (19) which is configured for releasable arrangement on an upper strip-shaped or rail-shaped edge region (25) of the container (2, 6).

7. Apparatus (9) according to Claim 6, characterized in that the holding means (19) has a strip-shaped or rail-shaped configuration and is provided with an elastically configured bearing means (26, 27) in a region configured to come into contact with the upper edge region (25) of the container (2, 6).

8. Apparatus (9) according to Claim 6 or 7, characterized in that the holding means (19) is arranged on a cross-member (17) provided on the receptacle (15) and is actuable by means of an actuator (29) for releasable arrangement on a strip-shaped or rail-shaped edge region (25) of the container (2, 6).

9. Apparatus (9) according to Claim 6 or 7, characterized in that the holding means (19) is arranged along a pivot axis (31) provided largely transverse to the receptacle (15) and is actuable pivotably on the pivot axis (31) by means of an actuator (29) for releasable arrangement on the strip-shaped or rail-shaped edge region (25) of the container (2, 6).

10. Apparatus (9) according to Claim 8 or 9, characterized in that the holding means (19) has a receiving plate (34) extending away from the receptacle (15) and on which the bearing means (26, 27) is arranged.

11. Apparatus (9) according to one of Claims 8 to 10, characterized in that, the actuator (29) has a pneumatically actuable piston-cylinder unit (30) by means of which the holding means (19) can be brought to rest releasably on the strip-shaped or rail-shaped edge region (25) of the container (2, 6).

12. Method for depalletizing stackable general cargo containers (2, 6), in which a container (2, 6) having a lower support region (22) is lifted from a base by means of an engagement device (18) along at least one partial region of the support region (22) and a support plate (14) is moved under the lifted partial region, and physical contact between the partial region to support the container (2, 6) resting on the support plate (14) with the partial region and the support plate (14) is brought about by the following steps: - bringing about a releasable engagement of the engagement device (18) with a handle recess (5) in a side wall (3, 4) of the container (2, 6) - lifting the container (2, 6) by means of the engagement device (18) in order to separate the support region (22) of the container (2, 6) from the base at least along a partial region to create an intermediate space (21) between the support region (22) and the base, characterized in that the position of the handle recess (5) is detected by means of a sensor device.

13. Method according to Claim 12, characterized in that the engagement device (18) is inserted into the recess (5) passing at least partially through it such that the container (2, 6) can be lifted at least along the partial region of the base by means of the engagement device (18).

14. Method according to Claim 12 or 13, characterized in that a holding means (26, 27) is brought into releasable contact with an upper edge region (25) of the container (2, 6).

15. Method according to one of Claims 12 to 14, characterized in that the support plate (14) is moved into the intermediate space (21).

16. Method according to one of Claims 12 to 15, characterized in that the container (2, 6) resting on the support plate (14) is separated from the base.

17. Method according to one of Claims 14 to 16, characterized in that the height of the container (2, 6) is detected by means of a sensor device and a cross-member with the holding means (26, 27) arranged thereon is positioned relative to the height of the side wall and the holding means (26, 27) is lowered onto the upper edge region of the container (2, 6).

18. Method according to one of Claims 14 to 16, characterized in that the holding means (26, 27) is positioned according to a predetermined height of the container (2, 6) known by a controlling computer and the holding means (26, 27) is lowered onto the upper edge region of the container (2, 6).