Device and method for loading containers with plate-shaped objects

Description

[0001] The invention relates to a device for loading containers with flat-shaped objects, comprising a readiness station for providing the flat-shaped objects, a receiving device for picking up the flat-shaped objects from the readiness station and transferring them to an alignment station, and a depositing device for picking up the flat-shaped objects from the alignment station and for depositing the flat-shaped objects into the containers.

[0002] Furthermore, the invention relates to a method for loading containers with flat-shaped objects, wherein the delivered flat-shaped objects are held in a ready position, the flat-shaped objects are moved from the ready position to a position to be aligned, the flat-shaped objects are aligned, the aligned flat-shaped objects are picked up and placed into the containers.

[0003] From EP 1 342 666 B1, a device and a method for loading containers with flat objects are known. The device comprises a two-strand conveyor for transporting the flat objects to a storage station, where they are lifted from the storage station by means of a receiving device designed as a stacking unit, moved laterally into a central strand, and lowered onto it. An alignment station is provided in the central strand, where the flat objects are moved against a first and second stop so that they are in an aligned position. Subsequently, the flat objects are picked up sequentially by means of a placing device designed as a robot and placed into a container provided on a conveyor track. A disadvantage of the known device is that the loading throughput is relatively low.

[0004] From WO 2019 / 079309, an upright table for holding a plate-shaped object, namely a glass plate, is known. The glass plate, in its resting position on the upright table, is wrapped in protective paper. After wrapping, the glass plate is removed from the upright table without being aligned. No alignment according to the invention, in which the glass plate is moved, takes place.

[0005] From DE 195 35 791 A1, a device for loading containers with flat objects is known, which provides a readiness station for providing the flat objects, a receiving device for picking up the flat objects from the readiness station and transferring them to an alignment station, and a depositing device for picking up the flat objects from the alignment station and depositing them into the containers. The alignment station comprises a horizontal alignment table with a conveyor belt for conveying the deposited object to a stop on the alignment table. A disadvantage is that alignment can only be performed on one side of the object.

[0006] The object of the present invention is to provide a device and a method for loading containers with flat-shaped objects in such a way that the loading throughput can be increased in a manufacturing-technically simple manner.

[0007] To solve this problem, the invention has the features of claim 1.

[0008] The particular advantage of the invention lies in the fact that loading throughput can be increased in a simple manner. The basic concept of the invention is to align the flat objects in a different plane than the plane in which they are provided or are in their ready position. Thus, the alignment plane of the flat objects is not parallel to the plane of the ready position or the insertion position of the flat objects into the respective containers. This results in a spatial decoupling of the alignment process from the feeding and removal of the flat objects. Advantageously, a space above a transport track of the containers can therefore be used for aligning the flat objects.

[0009] According to the invention, the alignment station has an alignment table that is arranged inclined about a horizontal axis. Advantageously, in this way the flat objects can be brought into contact with a first stop due to their own weight. The alignment effort can thus be reduced.

[0010] According to the invention, the alignment station has a linear sliding device that moves the plate-shaped objects transversely to a transport direction of the containers on an alignment table from a support position to a removal position in which they are aligned. Advantageously, the plate-shaped objects can thereby be moved into a defined, aligned position.

[0011] In a further development of the invention, the alignment table is arranged tilted about a further horizontal axis, so that the plate-shaped objects can be moved from the support position to the removal position due to their own weight. Advantageously, this further reduces the alignment effort.

[0012] According to a further development of the invention, the receiving device and / or the storage device is designed as a robot having a gripper arm that can be moved in three-dimensional space. Advantageously, the plate-shaped objects can thus be quickly and precisely placed in and removed from the alignment station.

[0013] According to a further development of the invention, a first robot configured as a picking device and a second robot configured as a placement device are arranged to be linearly movable on a common horizontal traverse, the horizontal traverse extending transversely to the transport direction of the containers being moved. The flat objects to be aligned can be in a stacked position in the readiness station, so that the first robot picks up the next flat objects, while the second robot places the aligned flat objects into the containers. The two robots perform a periodic back-and-forth movement. The maximum alignment time, in which the flat objects must be aligned in the alignment station, must be equal to or less than half the period of the robot movement, in particular that of the first robot.The loading throughput is therefore essentially determined by the frequency of the robot movement.

[0014] According to a further development of the invention, the alignment station or a section of the alignment table is arranged above a transport track along which the containers are conveyed. Advantageously, the distance to which the aligned, plate-shaped objects are placed in the containers can thus be kept short.

[0015] To solve the method according to the invention, the invention has the features of claim 10.

[0016] The particular advantage of the method according to the invention lies in the fact that spatially decoupling the alignment of the plate-shaped objects from the plane for supplying and removing the containers filled with the plate-shaped objects allows for an accelerated alignment process. Due to their own weight, the plate-shaped objects to be aligned will automatically come into contact with a first stop. Control of the alignment is only required for contact with a second stop. Advantageously, this can significantly reduce the alignment effort.

[0017] According to a preferred embodiment of the invention, the flat objects are moved into the position to be aligned by a first robot and from the aligned position into the containers by a second robot. Advantageously, this allows the flat objects to be moved easily in three-dimensional space, with each robot performing a periodic back-and-forth movement. The picking frequency of the first robot determines the loading throughput of the flat objects. During a return movement of the first robot from the alignment station to the standby station, the flat objects can be aligned for a maximum alignment time. If the alignment time is less than half the period of the first robot, the frequency of the second robot can be lower than the frequency of the first robot. According to the invention, a separation of functions takes place.The first robot is used exclusively to transport the flat objects from the readiness station to the alignment station. The second robot is used exclusively to transport the flat objects from the alignment station to the provided containers.

[0018] Further advantages of the invention will become apparent from the further dependent claims.

[0019] Exemplary embodiments of the invention are explained in more detail below with reference to the drawings.

[0020] They show: Fig. 1 a perspective view of a loading device according to the invention for flat objects, Fig. 2 a schematic front view of an alignment station with an upright alignment table, Fig. 3 a schematic side view of the alignment station, Fig. 4 a perspective front view of an alignment station according to an alternative embodiment, Fig. 5 a time diagram of the loading process and Fig. 6 a front view of an alignment station with a foldable object.

[0021] A device for loading containers with flat-shaped objects 1 essentially comprises a receiving device 2 for receiving the flat-shaped objects 1, a storage device 3 for storing the flat-shaped objects 1, and an alignment station 4 for aligning the flat-shaped objects 1.

[0022] The alignment station 4 comprises an alignment table 5, which is arranged inclined at an acute angle φ about a first horizontal axis A1. The angle of inclination φ lies in a plane of a transport direction 6, along which the containers are continuously moved on a transport track 7. The transport track 7 can, for example, be designed as a belt conveyor.

[0023] In a lower edge region, the alignment table 5 has a first stop 8. The first stop 8 is directly adjacent to a support surface 9 of the alignment table 5 which is inclined by the angle of inclination φ.

[0024] The support surface 9 can be designed by a plurality of rollers 10 arranged side by side as a guide means, so that the plate-shaped object 1 placed on the support surface 9 is moved linearly transversely to the transport direction 6 by means of a roller drive 11 driving the rollers 10, until it comes to rest against a second stop 12, which is arranged on a lateral edge region of the alignment table 4. The roller drive 11, together with the rollers 10, forms a linear sliding device for moving the plate-shaped object 1 from a support position 39 (position of the object 1 to be aligned) while resting against the support surface 9 of the alignment table 5 linearly to a removal position 40 (alignment position of the plate-shaped object 1) on the support surface 9 of the alignment table 5.

[0025] According to an alternative embodiment of the invention, which is not shown, the linear sliding device can also be designed as a belt or conveyor belt.

[0026] The plate-shaped object 1 is transported to the support position 39 on the alignment table 5 by means of the receiving device 2, which is designed as a first robot 2 with a movable gripper arm 13 and a multi-suction line 14 at a free end of the gripper arm 13. The placement device 3 comprises a second robot 3, which also has a gripper arm 13 with a multi-suction line 14. In the present embodiment, the first robot 2 and the second robot 3 are identical.

[0027] The first robot 2 and the second robot 3 are suspended from a common horizontal traverse 15 and arranged to be slidable along the horizontal traverse 15. The horizontal traverse 15 is located above the transport track 7 and above a ready station 16, 16' which provides the plate-shaped objects 1, preferably in a stacked arrangement. For this purpose, the horizontal traverse 15 is supported by corresponding columns 17.

[0028] In the present embodiment, the flat objects 1 are fed from two opposite sides of the transport track 7, along which the containers are transported. A first storage station 16 is arranged on one side of the transport track 7 and a second storage station 16' on the opposite side. At both the first storage station 16 and the second storage station 16', the flat objects 1 are provided in a stacked arrangement. A conveying device 18 can be provided for transporting the flat objects 1 to the storage stations 16 and 16'.

[0029] In the present embodiment, the storage station 16, 16' each comprises eight stacks of flat objects 1, arranged in two rows parallel to the transport direction 6. The horizontal traverse 15 extends continuously from one outer edge of the first storage station 16, facing away from the transport track 7, to one edge of the second storage station 16', also facing away from the transport track 7, so that all stacks of flat objects 1 can be accommodated.

[0030] The plate-shaped objects 1 are designed as rigid body parts of furniture, such as cabinets or shelves. They are aligned by the device according to the invention so that they can be inserted in the correct position into the containers made of cardboard material.

[0031] According to a first embodiment of the invention, it is assumed that the first robot 2 serves exclusively as a receiving device for receiving the plate-shaped objects 1 from the readiness station 16 into the alignment station 4 and the second robot 3 serves exclusively as a depositing device for receiving the plate-shaped objects 1 from the alignment station 4 and depositing them into the container.

[0032] Figure 5Figure 2 shows the control of the two robots 2 and 3 using the switching signals S1 and S1'. The first robot, 2, receives a control signal S1 to perform a picking movement with the object 1, which is suctioned to the free end of the gripper arm 13, from the standby station 16 to the alignment station 4, and a return movement without the object 1 to the standby station 16 at a frequency f1. The picking movement is of equal length to the return movement, so that the first robot, 2, performs a recurring back-and-forth movement with a period T1. The picking time is therefore T1 / 2.

[0033] The second robot 3 performs a placement movement, grasping the aligned, plate-shaped object 1 by its suction cups, from the alignment station 4 to the container arranged on the transport track 7, and a return movement back to the alignment station 4 without the object, at a frequency f2. The periodic back-and-forth movement of the second robot 3 thus occurs in one period T2. Since the back-and-forth movement is of equal length, the placement period is T2 / 2. In the present embodiment, it is assumed that the pick-up frequency f1 of the first robot 2 is equal to the placement frequency f2 of the second robot 3. The period T1 is equal to the period T2.

[0034] The alignment of the plate-shaped objects 1 in the alignment station 4 takes place during the return movement of the first robot 2. A maximum alignment time t R is therefore T1 / 2.

[0035] If the alignment time tR is less than T1 / 2, the placement time of the second robot 3 can be longer. In this case, the second robot 3 can be driven at a lower speed than the first robot 2. The maximum possible alignment time tR is thus determined by the pickup frequency f1 of the first robot 2. The higher the pickup frequency f1, the shorter the maximum alignment time tR must be. This is because the maximum alignment time tR must not exceed half the period T1 / 2 of the first robot 2, otherwise continuous, constant-frequency pickup of the plate-shaped objects 1 is not possible.

[0036] According to a further embodiment of the invention, an alignment table 5' is provided according to Figure 4 provided which, in contrast to the first embodiment, according to the Figures 2 and 3It is not only arranged inclined about a first horizontal axis A1 by the angle of inclination φ, but is also arranged tilted about a second horizontal axis A2 by the tilt angle β. The second horizontal axis A2 is perpendicular to the first horizontal axis A1. As can be seen from Figure 4 As can be seen, the first stop 8, located in the lower edge region of the alignment table 5', is not arranged horizontally, but is tilted towards the second stop 12 with respect to a horizontal plane, so that the plate-shaped object 1 can be moved towards the second stop 12 located in the lateral edge region due to its own weight. In this embodiment, the linear sliding device 11 can be omitted. This embodiment is intended for alignment processes in which the picking frequency f1 of the first robot 2 is set to a relatively low value, so that sufficient time is provided for the alignment process.

[0037] In the present embodiment, the flat objects 1 provided in the two readiness stations 16, 16' are moved to the alignment station 4 by the same robots 2, 3, aligned, and then moved from there into the containers. In a first phase, the flat objects 1 from the first readiness station 16 are picked up by the first robot 2, moved to the alignment station 4, and the aligned objects 1 are placed into the containers by the second robot 3. In a second phase, the functions of the first robot 2 and the second robot 3 are reversed. To pick up the objects 1 arranged in the second readiness station 16', the second robot 3 is controlled such that it picks up the flat objects 1 from the second readiness station 16' and moves them to the alignment station 4, while the first robot 2 picks up the aligned objects 1 and places them into the containers.This makes it advantageous to align a large number of flat-shaped objects 1 and insert them into the containers.

[0038] According to an alternative embodiment of the invention (not shown), the transport track 7 can be configured as a two-strand conveyor with two rows of linearly conveyed open containers, so that the containers can be loaded simultaneously from the two opposing standby stations 16, 16' or by the second robot 3 if it can pick up two flat objects 1 simultaneously. The same applies to the first robot 2. If each standby station 16, 16' is assigned a picking robot, only one robot can be assigned to each of the alignment tables 5 associated with the respective strand of the transport track 7. This single robot serves to place the aligned flat objects 1 onto both the first alignment table 5 assigned to the first standby station 16 and the second alignment table 5' assigned to the second standby station 16'. Advantageously, this eliminates the need for one robot.

[0039] According to a further embodiment of the invention, an alignment device for aligning multi-part, plate-shaped objects 1' can be provided. The multi-part object 1' can, for example, be a back panel of a cabinet or a shelf, which has at least one hinge 19, such that at least two parts 20 of the plate-shaped object 1' are pivotably arranged relative to each other. It is assumed that the parts 20 are integrally connected to one another via the hinges 19.

[0040] The multi-part, plate-shaped object 1' is provided in an unfolded position at the ready station 16, 16'. The parts 20 of the object 1' thus lie in a common plane of extension.

[0041] The first robot 2 picks up the plate-shaped objects 1' and places them on the inclined alignment table 5 at the alignment station 4. In the next step, the second robot 3 holds one part 20' down, and the first robot 2 lifts the other part 20" by suctioning the surface of part 20, pivoting it about an axis 21 of the hinge 19 towards the first part 20. Once the second part 20' has been pivoted 90° by lifting, the second robot 3 releases the first part 20, allowing the first robot 2 to move the second part 20" onto the first part 20' by pivoting it further. The two parts 20' and 20" are thus positioned one above the other.By means of the linear sliding device 11, the folded object 1' is moved towards the second stop 12, resting against the first stop 8, and is then gripped by the second robot 3 and placed in the container in the correct orientation. When the object 1' is folded, the second robot 3 acts as a holding device to hold the first part 20' of the flat object 1'.

[0042] It has proven advantageous if the acute angle of inclination φ lies in a range between 10° and 30°.

[0043] Preferably, the alignment table 5 is arranged relative to the transport track 7 such that a section of the alignment table 5 having the second stop 12 is arranged vertically above the transport track 7. In this way, the paths for placing the items 1, 1' into the containers are relatively short.

[0044] The alignment table 5, 5' has an inclined support surface for positioning a flat side of the plate-shaped object 1. The first stop 8 is formed by a stop strip that adjoins the underside of the support surface.

[0045] Robots 2 and 3 can each be configured as multi-axis articulated robots.

[0046] According to an alternative embodiment of the invention not shown, the gripper arm 13 of the robots 2, 3 can have such a multi-suction line 14 that it can simultaneously pick up and place several, in particular two, flat-shaped objects 1, 1'.

Claims

1. A device for loading containers with plate-shaped objects (1, 1'), having - a standby station (16, 16') for providing the plate-shaped objects (1, 1'), - a receiving apparatus (2) for receiving the plate-shaped objects (1, 1') from the standby station (16, 16') and transporting them into an alignment station (4), - a depositing apparatus (3) for receiving the plate-shaped objects (1, 1') from the alignment station (4) and for depositing the plate-shaped objects (1, 1') into the containers, characterized in that the alignment station (4) has an upright alignment table (5, 5') which has a first stop (8) in a lower edge region and a second stop (12) perpendicular to the first stop (8) at a lateral edge region, wherein the alignment table (5, 5') is arranged inclined to a horizontal axis (A1) and wherein the alignment table (5, 5') encloses an acute angle of inclination (ϕ) with a vertical plane, so that the plate-shaped object (1, 1') comes to lie in contact with the first stop (8) due to its own weight, and that the alignment station (4) has a linear sliding apparatus (11, 10) for displacing the plate-shaped object (1, 1') from a support position (39), in which the plate-shaped object (1, 1') is deposited on the alignment table (5, 5'), along the first stop (8) into a removal position (40), in which the plate-shaped object (1, 1') lies in contact with the first stop (8) and the second stop (12), and can be received by the depositing apparatus (3).

2. The device according to Claim 1, characterized in that the alignment table (5') is arranged tilted by an acute angle (β) about a horizontal axis (A2) running perpendicularly to the horizontal axis (A1), so that the plate-shaped object (1, 1') can be automatically transported due to its own weight from a support position (39), in which the plate-shaped object (1, 1') can be deposited on the alignment table (5'), into a removal position (40), in which the plate-shaped object (1, 1') can be conveyed on the first stop (8) and second stop (12), for reception by the depositing apparatus (3).

3. The device according to Claim 1 or 2, characterized in that the alignment table (5, 5') has an inclined supporting surface for contacting a flat side of the plate-shaped object (1) and that the first stop (8) is formed by a stop strip which adjoins the supporting surface on the underside.

4. The device according to any one of Claims 1 to 3, characterized in that the linear sliding apparatus (10, 11) is configured as a band, roller or belt conveyor.

5. The device according to any one of Claims 1 to 4, characterized in that the receiving apparatus (2) and / or the depositing apparatus (3) is / are configured as a robot having a gripping arm (13) which can be moved in a three-dimensional space.

6. The device according to Claim 5, characterized in that the gripping arm (13) has a multi- suction rod for receiving multiple plate-shaped objects (1, 1').

7. The device according to any one of Claims 1 to 6, characterized in that the receiving apparatus (2) is formed by a first robot, and the depositing apparatus (3) is formed by a second robot, wherein the first robot (2) and the second robot (3) are arranged so they can be displaced via a common horizontal cross-member (15) transversely to a transport direction (6) of the containers provided via a conveyor track (7).

8. The device according to any one of Claims 1 to 7, characterized in that the alignment table (5, 5') is arranged at least partially above the conveyor track (7) of the containers, wherein a portion of the alignment table (5, 5'), in which the plate-shaped objects (1, 1') are located in the removal position (40), is arranged vertically above the conveyor track (7).

9. The device according to any one of Claims 1 to 8, characterized in that the plate-shaped objects (1') are configured in multiple parts and that a holding apparatus (3) for holding a first part (20, 20') of the object (1') is provided on the alignment table (5), and that a suction arm robot (2) is adapted such that a second part (20") of the object (1') can be lifted from the alignment table (5) and can be brought into a support position on the first part (20, 20').

10. A method for loading containers with plate-shaped objects (1, 1"), wherein the delivered plate-shaped objects (1, 1') are held in a standby position (16, 16'), the plate-shaped objects (1, 1') are transported from the standby position (16,16') into a support position (39) at an alignment station, the plate-shaped objects (1, 1') are aligned, the aligned plate-shaped objects (1, 1') are received and inserted into the containers, characterized in that the plate-shaped objects (1, 1') are aligned in an upright manner, wherein the alignment is carried out automatically at a first stop (8) by means of the own weight of the deposited plate-shaped object (1, 1') and the plate-shaped objects (1, 1') are transported along the first stop (8) from the support position (39) into the aligned position (40), with a flat side of the same lying in contact with a supporting surface (9).

11. The method according to Claim 10. characterized in that the plate-shaped objects (1, 1') are transported by means of a first robot (2) with a receiving frequency (f1) into the position (39) to be aligned and are inserted by means of a second robot (3) with a depositing frequency (f2) from the aligned position (40) into the containers.