Method and device for automatically stacking packages on a support in multiple layers

Abstract

The invention relates to a method for automatically stacking packages (W) with different dimensions on a support (P) in a specified spatial arrangement in order to form a stack, having the steps of: - determining the order and spatial position of packages (W) with different dimensions in the stack (S) to be formed on the support (P) in a computer-aided manner; - arranging the packages (W) so as to be supported on loading aids (T) and in the necessary order for this purpose using a conveyor system (2); and - transporting the packages (W) to be loaded from the conveyor system (2) to the spatial positions which are calculated in advance on the support (P) or on the stack (S) being formed on the support (P) by means of handling means of a stacking device for forming the stack (S), wherein the handling means (H) of the stacking device are designed to lift each package (W) from the loading aid such that a handling means (H) gripper (1) arranged on a robot arm grips at least one package (W) and can deposit same at the spatial position which is calculated in advance on the support (P) or on the stack (S) being formed on the support (P) in one movement. The invention also relates to a corresponding device.

Description

[0001] Method and device for automatically stacking a carrier with packages in multiple layers

[0002] The invention relates to a method and a device for automatically stacking packages on a base in a predetermined spatial arrangement to form a stack according to claim 1 or 7.

[0003] The automatic stacking of packages onto a base or carrier, especially a pallet or trolley, to form a stack for later shipping, i.e., "palletizing," is well known. However, this involves placing packages of uniform size or dimensions into mathematically determined locations by robots, grippers, etc.

[0004] The process of automatically loading a load carrier with packages of different characteristics to form a stack is known as automatic “mixed-case” palletizing.

[0005] In today's distribution logistics, picking is becoming increasingly demanding. Therefore, it is necessary to develop picking systems that process orders automatically without manual intervention.

[0006] Thousands of different products (or different packages) of varying characteristics (size, shape, weight, dimensions, surfaces, strength, compressibility, etc.) must be automatically picked using such systems.

[0007] Various aspects must be considered here, which significantly increase the complexity compared to "simple" manual stacking of simple, regular geometries. For example, a subsequent package can only be stacked or placed properly on top of a previous package if the previous package has a flat or level surface, which should also be approximately horizontal, and if the package can support the weight of the additional packages placed on top of it without damage.

[0008] Furthermore, the resulting stack should be sufficiently stable, among other things, to prevent it from tipping over during transport. Wrapping with film helps, but it alone cannot stabilize an incorrectly formed stack.

[0009] In addition, customers are increasingly requesting optimization of stacks based on the desired unloading sequence.

[0010] The stacking of different packages or goods of different sizes or dimensions is therefore still mostly done by hand, since the requirements regarding the stability of the stack, the packing density within the stack and the sequence of loading and the resulting unloading sequence and, last but not least, the stackability of the goods are extremely high and have not yet been met even partially by the known methods and devices.

[0011] The automatic stacking of packages onto a base or carrier, especially a pallet or trolley, to form a stack for later shipping, i.e., "palletizing," is well known. However, this involves placing packages of uniform size or dimensions into mathematically determined locations by robots, grippers, etc.

[0012] The process of automatically loading a load carrier with packages of different characteristics to form a stack is known as automatic “mixed-case” palletizing.

[0013] EP 1 462 394 B1 discloses a device for automatically loading a load carrier with packing units forming a loading stack, i.e. a palletizing device. In this device, the packing units are stored on trays and fed individually, from where they are placed on a packing table. There, the packing unit, lying on the table, is pushed along the broad side of the pallet to be loaded by a pusher until the loading coordinates in the X direction are reached. Then, another pusher and a loading tongue simultaneously push the packing unit over the pallet in the direction of the loading depth until the loading coordinates in the Z direction are reached. The loading tongue then retracts, with the pusher stopping and acting as a scraper, so that the packing unit is placed "free-falling" at the desired location on the pallet. The stack being formed is supported on the other three sides by a loading aid.In other words, it's essentially stacked "against the wall." The packing units are unloaded from the perforated trays before being moved onto the packing table. Each packing unit is lifted from the perforated tray. The trays, each with the packing unit resting on them, are fed via a tray conveyor. At the end of the conveyor, a multitude of lifting pins of a lifting device grip the packing unit from below through the multiple openings in the perforated tray, thus lifting it out of the tray. A rake then grasps the packing unit and pushes it onto the packing table.

[0014] From WO 2010 / 059923 A1 an automatic robot-assisted stacking device is known in which an intermediate plate is used for forming the first layer of a stack and simultaneous pallet change.

[0015] From DE 102007 046 919 A1 a gripper for automatically gripping and depositing packing units of different dimensions and properties is known, comprising a support frame to which a carrier, a hold-down device and a stripper are fastened, wherein the carrier is designed to be horizontally movable relative to the support frame, the hold-down device is vertically movable in the direction of the carrier so that the packing unit can be pressed against the carrier by mechanical clamping, and the stripper is arranged above the carrier so that the packing unit is fixed when the carrier is retracted, wherein the stripper is designed to be horizontally movable parallel to the carrier.

[0016] In contrast, the object of the present invention is to provide a more optimized method and corresponding device.

[0017] This object is achieved by the method and device according to claim 7 as set out in claim 1. Advantageous embodiments emerge from the subclaims and the description.

[0018] According to the invention, it has been recognized that if the unloading of the loading equipment is combined with the placement of the packages on the stack, it is possible to save movement steps and thus provide a more optimal process or a reduced movement sequence.

[0019] In other words, the package is handled only once, as it is removed from the loading equipment and palletized at the same time.

[0020] The handling means of the stacking device are designed to lift the packages from the loading aid, so that a gripper of the handling means arranged on a robot arm can grasp at least one package and place it in one movement at the pre-calculated spatial position on the carrier or the stack forming on the carrier.

[0021] Suction grippers, clamp grippers, or prong grippers can be used as grippers. These can be mounted as a head on a gantry robot or articulated-arm robot and controlled via the controller to remove the package.

[0022] In a particularly preferred embodiment, the handling means of the stacking device are designed to lift the packages from below through the multiple openings in the perforated tray by means of a plurality of lifting pins of a lifting device, to such an extent that a gap is created between the perforated tray and the package and a tine gripper of the handling means arranged on a robot arm can grasp at least one package (through the gap) and place it in one movement at the pre-calculated spatial position on the carrier or the stack being formed on the carrier.

[0023] It is possible for the packages to be brought individually on the loading aids or perforated trays, or for several packages to be brought on each loading aid or perforated tray.

[0024] The gripper can then grasp a predetermined number of packages simultaneously or one after the other in order to deposit the packages either individually or in groups.

[0025] In order to allow safe and quick gripping, it is intended that the packages are aligned on the loading aid or perforated tray (e.g. on a defined edge or corner) before being gripped.

[0026] For this purpose, the load support or perforated tray can be tilted or rotated several times around different axes so that the package slides to the respective edge and / or corner. Appropriately configured load support tilting devices and load support rotating devices can be provided for this purpose. It is also possible to move the package to a predetermined position on the load support using a slider. A vibrating device can also be used to position the package.

[0027] Alternatively, the gripper can be controlled via image recognition using a camera and analysis in the control system to grasp misaligned packages randomly arranged on the perforated tray. This also makes it possible to identify the products or packages by incorporating product data from a warehouse management database and to specifically select the desired package from several.

[0028] Both enable the gripper to pick up the package in a defined package orientation and thus place it precisely in the stack.

[0029] The control of the device is designed to control the handling means arranged on a robot in order to grasp the respective package on the loading aid and to place it in one movement at the pre-calculated spatial position on the carrier or the stack forming on the carrier.

[0030] In other words, the loading equipment is not unloaded upstream as usual, but rather unloading and stacking are performed in a single step. This saves time and space.

[0031] In particular, the device of the invention is designed with a control system which is configured to control the lifting device in such a way that the lifting pins are moved vertically upwards to such an extent that a gap is created between the perforated tray and the package, and a tine gripper of the handling means arranged on a robot can be controlled to grasp the respective package through the gap and to place it in one movement at the pre-calculated spatial position on the carrier or the stack forming on the carrier.

[0032] The lifting pins can be controlled and raised together as a whole. Alternatively, it is also possible to control and raise only certain lifting pins together, which, for example, correspond to the known position of the package. Within the scope of the invention, a tine gripper is preferably used, which can reach between the lifting pins with its tines to grasp the package(s) from below.

[0033] Preferably, the tine gripper is designed for automatically gripping and depositing packing units of different dimensions and different qualities, with a support frame to which a carrier, a hold-down device and a stripper are attached, wherein the carrier is designed to be horizontally movable relative to the support frame, the hold-down device is vertically movable in the direction of the carrier so that the packing unit can be pressed against the carrier by mechanical clamping, and the stripper is arranged above the carrier so that the packing unit is fixed when the carrier is retracted, wherein the stripper is designed to be horizontally movable parallel to the carrier, and the hold-down device is plate-shaped and the hold-down device has dimensions such that it extends over the entire surface of the carrier, and the carrier is designed as a support plate or support comb with several spaced-apart tines,and the wiper has a horizontal wall which is provided with a rod-like structure, and that the hold-down device is provided with recesses for the passage of the wiper.,

[0034] The hold-down device can have an elastic coating on its side facing the carrier.

[0035] It is preferred if the support frame is attached to a gantry robot or articulated arm robot.

[0036] Overall, this makes it possible to stack the carrier flexibly and with high performance. In particular, a wide range of different packages can be stacked continuously. This means that, in addition to the equally manageable, uniform, and less demanding packages, packages of various dimensions can be stacked one after the other on the carrier.

[0037] A wide variety of goods, packaged goods, goods packaged in groups such as cartons, boxes, crates, containers, goods on trays, packaging units such as multi-compartment film packaging of plastic bottles, etc., as well as individual items of all kinds can be considered as packages.

[0038] Suitable bases include intermediate plates or supports, such as pallets, trolleys, or similar supports for piece goods and their packaging.

[0039] Feed conveyors refer to conveyors in general, and in particular to roller conveyors, conveyor belts, and conveyor systems. These can be fed manually or automatically. The packages are separated and placed on the conveyor system in the correct order for the desired packing sequence. The correct sequence is calculated mathematically during order processing. Appropriate software for this is available.

[0040] It's a good idea to stabilize the stack on the carrier during and / or after stacking. This ensures that the individual layers retain their structure and the stacked carrier can be transported more safely.

[0041] To stabilize the stack (either completely or as individual layers), the stack itself and the stacked carrier can be stabilized by wrapping it in film, net, or similar. The wrapping can be done layer by layer, gradually during stacking or after a layer has been stacked. Stabilization takes place within the actual stacking device. The partially stacked carrier is lowered layer by layer to adjust the level for stacking. This is utilized because it allows previously formed layers of the stack to "slide down" and be wrapped layer by layer below the stack level, while stacking continues "above." This saves time. For this purpose, a film wrapping device is integrated directly into the device. This has the advantage that the carrier with the formed stack does not have to be moved separately.This allows stabilization to occur after each lowering of a layer or tier. This means that even with beams that are not actually completely stable, a high level of stack stability can be achieved. This also significantly expands the stacking options in terms of the goods and the selectable sequence.

[0042] Of course, all other known stabilization methods can be used as an alternative to film wrapping. These include shrink-wrapped film, nets, and other stretchable materials, as well as hook-and-loop and adhesive fasteners, etc. The stacks themselves can be stabilized by U-shaped side walls arranged around the stacking location or support, allowing stacking "against the wall." Both the side walls and the rear side wall can be adjusted or moved vertically and / or horizontally relative to the stacking location. This allows different sized supports, etc., to be loaded, and the walls can serve as scrapers in conjunction with intermediate plates.

[0043] Depending on the packages to be stacked, it may be necessary to insert layers, e.g., made of cardboard or paperboard, between, below, or above the stacked items for protection or to increase stackability, etc. For this purpose, the flat material can be stored and / or delivered in a suitable manner and applied using suction cups provided on the handling equipment.

[0044] Both the carriers (e.g., pallets) and the layers (cardboard) can be delivered and prepared via a separate conveyor system. The receiving and transfer of the carriers or layers can be handled using dedicated technology.

[0045] In one embodiment, an intermediate plate is provided at the level of the positioning conveyor above the carrier to be loaded. The intermediate plate provides a uniform, smooth surface for stacking and allows for continued stacking despite carrier changes.

[0046] The intermediate plate is preferably divided in the middle and each part is designed to be movable to the side.

[0047] In one variant, the first layer of a stack is formed on the intermediate plate, while the fully loaded carrier from the previous stacking process is replaced with a new, empty carrier below. This allows the stacking process to continue without interruption. Once the first layer is formed and the new carrier is present, the parts are moved to the side, and the first layer is transferred to the carrier below, where stacking then continues.

[0048] In a preferred alternative, the complete stacking process takes place on the

[0049] The intermediate plate is designed to be height-adjustable. This has the advantage that the transfer to the carrier only takes place after stacking, eliminating the need to replace the carrier. This increases the overall throughput of the device. Furthermore, any wrapping with stretch film is easier.

[0050] When the intermediate plate is moved apart or opened, the lateral stabilizing walls act as scrapers, i.e. the intermediate plate moves laterally below the lower edges of the walls.

[0051] The storage of stacked packages in so-called roll carts or roll containers is increasingly being promoted. These can be easily loaded onto trucks, unloaded, and moved on-site thanks to their wheels. They also have side walls that allow for stable stacking and good stabilization with stretch film, thus ensuring safe transport. However, these features pose challenges for automated stacking.

[0052] According to the invention, it has been recognized that reliable automatic stacking is possible if the side walls of the trolley are held at least vertically or even slightly bent outward by a spreading device. This is because the side walls have the property of moving inward toward each other.

[0053] Furthermore, it has been found that the stacking of trolleys can be made easier if a separate and, if necessary, height-adjustable intermediate plate is provided, which is arranged on the side of the stacking area or the carrier facing away from the positioning conveyor or can be inserted into the trolley from this side.

[0054] Thus, with the device according to the invention, pallets etc. or trolleys can be stacked alternately as required.

[0055] The rear side wall can serve as a scraper when transferring the finished stack to the trolley by retracting the additional intermediate plate. In one embodiment, the rear side wall can also be adjusted in height and / or moved in the direction of the positioning conveyor, allowing trolleys of different sizes to be used. The side wall preferably also serves as the mounting location for the spreading device.

[0056] The spreading device preferably consists of two pins arranged at the same height in the area of ​​the expected side walls of the trolley, projecting forward from the side wall into the trolley compartment, which can be displaced laterally outward for spreading. For this purpose, the pins are preferably each arranged on a vertically aligned turntable in the rear side wall.

[0057] For easy transport and handling within the system, the trolleys are moved on transport pallets that can be handled like normal pallets.

[0058] Alternatively or additionally, the device can be equipped with a unit for lowering / raising the carrier. This allows not only lowering the carrier after stacking a layer, but also leveling during stacking itself. Alternatively, the robot used can compensate for the increasing heights during stacking.

[0059] Further details of the invention emerge from the following description of embodiments with reference to the drawing, in which

[0060] Fig. 1 is a side view of an embodiment of a gripper used according to the invention;

[0061] Fig. 2 is a plan view of the gripper from Fig. 1;

[0062] Fig. 3 is a front view of the gripper from Fig. 1 and

[0063] Fig. 4 is a perspective view of the gripper from Fig. 1 , and

[0064] Fig. 5 shows a schematic view of a device for stacking a pallet with a gripper according to Fig. 1.

[0065] Figures 1 - 4 show a gripper, designated as a whole by 1, for automatically gripping and depositing packing units of different dimensions and different properties, which is used in particular to stack pallets or trolleys with a wide variety of packages.

[0066] The gripper 1 comprises a support frame 2 to which a carrier 3, a hold-down device 4 and a scraper 5 are attached.

[0067] The support frame 2 also serves to attach the gripper to a robot arm (not shown), for which a connection plate 6 (see Figure 2) is provided. The robot also supplies the gripper 1 with power.

[0068] The carrier 3 is designed here as a carrying comb 7 with several spaced-apart flat prongs 8. The carrying comb 7 is attached to the carrying frame 2 via a carrying arm 9 extending downwards approximately vertically from the carrying frame. The carrying arm 9, and thus also the carrying comb 7, can be moved horizontally relative to the carrying frame 2 via an electric motor belt drive 10 in order to release the package by retracting the carrying comb 7. In the figures, the carrier 3 is shown in a rear position.

[0069] The hold-down device 4 is also attached to a support arm 11 extending approximately vertically downwards from the support frame 2, this support arm 11 being stationary. On the support arm 11, the hold-down device 4 is movable vertically in the direction of the support comb 7 via a further electric motor belt drive 12 (see Figure 3), so that the distance between the hold-down device 4 and the support 3 or support comb 7 can be varied and the package can be pressed against the support comb 7 by mechanical clamping. In the figures, the hold-down device 4 is shown in its uppermost position.

[0070] The hold-down device 4 is designed with a plate-shaped pressure element 13, which is attached to the support arm 11 via a corresponding holding component 14 and acts on the corresponding package. The plate-shaped pressure element 13 extends with its base area over the corresponding active dimensions of the support comb 7.

[0071] The hold-down device 4 is further provided with slot-like recesses 15 (see Figure 4) in the plate-shaped pressure element 13 for the passage of the stripper 5.

[0072] The stripper 5 itself is arranged above the carrier 3 or the support comb 7 or the tines 8, so that when the carrier 3 is retracted, the packing unit rests against the stripper 5 and is thus secured. In the figures, the stripper 5 is shown in its forwardmost position.

[0073] The hold-down force is determined by measuring and monitoring the torque of the electric motor belt drive 12.

[0074] To hold back the package, the scraper 5 has a horizontal wall 16 which is provided with a rod-like structure.

[0075] The rods 17 of the horizontal wall 16 extend through the elongated holes / recesses 15 of the hold-down device 4 and terminate in an electromotive linear drive 18 on the support frame 2, which allows the stripper 5 to move approximately horizontally and parallel to the support 3. This allows the stripper to be positioned according to the package dimensions.

[0076] To stiffen the scraper 5, the rods 17 are connected to a crosspiece 19 on their side facing the support comb.

[0077] The support comb 7 is attached to the support arm 9 via a pre-tensioned joint 20, so that when the support comb 7 is brought down during stacking, it can yield to protect the gripper 1. If the gripper 1 is brought down too hard, a release rod 21, which extends approximately vertically upwards from the joint 20 and parallel to the support arm 9, strikes a corresponding sensor to trigger an emergency stop.

[0078] As shown very schematically in Figure 5, a perforated tray T is used to transport the packages W on a conveyor system, such as a roller conveyor F.

[0079] The perforated tray T is thus conveyed to a stacking device where handling means H are set up to lift the packages W from below by means of a plurality of lifting pins 22 of a lifting device 23 through the multiple openings in the perforated tray so that a gap L is created between the perforated tray T and the package W (cf. middle image) and a tine gripper 1 arranged on a robot arm R, as described above, the handling means (H) grips at least one package W by inserting the tines 8 into the gap L between the lifting pins 22 in order to pick up the package W from below and to be able to place it in one movement at the pre-calculated spatial position on the carrier P or the stack S being formed on the carrier P.

[0080] The lifting pins 22 are thus configured to be guided vertically, in a grouped or collective manner, by a drive in the direction of arrow 24 through the holes in the perforated tray T in order to lift the package W lying thereon, so that a gap L is created into which the gripper can be inserted. For this purpose, the perforated tray T is aligned along an edge (not shown) so that the holes are arranged in correspondence with the lifting pins 22 in the lifting device 23.

[0081] All steps take place under the control or management of controller C.

[0082] The robot arm R is preferably a multi-axis articulated arm robot.

[0083] In one variant, the package W is aligned on the perforated tray T by tilting the tray T around a longitudinal edge and then by tilting around a front edge into a predetermined corner in a preceding step A by means of a double tilting means so that the gripper 1 can always pick up the package W in the same way.

[0084] In an alternative variant, the gripper 1 is equipped with a camera on the front edge of the hold-down device 4 or the plate-shaped pressure element 13, which, by means of image recognition and evaluation in the control system C with access to the product database of the packages, enables the recognition of the alignment and the targeted control of the gripper 1 even without alignment.

[0085] In both cases, after being picked up, the package W is placed in one step on the stack S on the carrier P or the pallet.

[0086] In contrast to the prior art, no prior unloading of the tray or moving of the package is required; both take place in the same step or movement.

[0087] 1 gripper

[0088] 2 support frame

[0089] 3 carriers

[0090] 4 hold-down clamps

[0091] 5 scrapers

[0092] 6 Connection plate

[0093] 7 carrying comb

[0094] 8 prongs

[0095] 9 Support arm

[0096] 10 Belt drive

[0097] 11 Support arm

[0098] 12 Belt drive

[0099] 13 Pressure element

[0100] 14 Holding component

[0101] 15 recesses

[0102] 16 Horizontal wall

[0103] 17 bars

[0104] 18 Linear drive

[0105] 19 Crosspiece

[0106] 20 joint

[0107] 21 Release rod

[0108] 22 lifting pins

[0109] 23 Lifting device

[0110] 24 Arrow

[0111] F roller conveyor

[0112] A alignment agent

[0113] T perforated shelf

[0114] W package

[0115] S stack

[0116] P carrier

[0117] C Control

[0118] R articulated arm robot

[0119] L gap

[0120] H Handling equipment

Claims

Patent claims 1. Method for automatically stacking a carrier (P) in multiple layers with packages (W) of different dimensions in a predetermined spatial arrangement to form a stack, comprising the steps: - computer-aided determination of the sequence and spatial position of the packages (W) of different dimensions in the stack (S) to be formed on the carrier (P); - Procurement of the packages (W) stored on loading aids and in the required sequence using conveyor technology (F); - Transport of the packages (W) to be loaded from the conveyor system (F) to the pre-calculated spatial positions on the carrier (P) or the forming stack (S) on the carrier (P) by handling means of a stacking device for forming the stack (S); characterized in that the handling means (H) of the stacking device are arranged to lift the packages (W) from the loading aid, so that a gripper (1) of the handling means (H) arranged on a robot arm can grasp at least one package (W) and place it in one movement at the pre-calculated spatial position on the carrier (P) or the forming stack (S) on the carrier (P).

2. Method according to claim 1, characterized in that the delivery of the packages (W) takes place while they are stored on perforated trays with multiple openings and the handling means (H) of the stacking device are arranged to lift the packages (W) from below through the multiple openings in the perforated tray (T) by means of a plurality of lifting pins (22) of a lifting device (23) so that a gap (L) is created between the perforated tray (T) and the package (W) and a prong gripper (1) of the handling means (H) arranged on a robot arm can grasp at least one package (W) and place it in one movement at the pre-calculated spatial position on the carrier (P) or the stack (S) forming on the carrier (P).

3. Method according to claim 1 or 2, characterized in that the packages (W) are brought forward individually on the loading aids (T).

4. Method according to claim 1 or 2, characterized in that several packages (W) are brought onto each loading aid (T).

5. Method according to one of claims 2 to 4, characterized in that the prong gripper (1) grips a predetermined number of packages (W) simultaneously or successively.

6. Method according to one of the preceding claims, characterized in that the packages (W) are aligned on the loading aid before being grasped.

7. Device for automatically stacking a carrier (P) in multiple layers with packages (W) of different dimensions in a predetermined spatial arrangement to form a stack (S), comprising a control unit (C); at least one feed conveyor (F) which provides the packages (W) lying on loading aids (T) in a predetermined sequence; handling means (H) adjacent to a discharge end of the feed conveyor (F) which take the packages (W) from the feed conveyor (R) and transport them to the predetermined position in the stack (S); characterized in that the control unit (C) is configured to actuate a gripper (1) of the handling means (H) arranged on a robot in order to grasp the respective package (W) on the loading aid (T) and place it in a single movement at the pre-calculated spatial position on the carrier (P) or the stack (S) forming on the carrier (P).

8. Device according to claim 7, characterized in that perforated trays (T) are used as loading aids and the transfer means comprise a lifting device (23) with a plurality of vertically movable lifting pins (22) in an arrangement adapted to the multiple openings of the perforated trays (T), and the control (C) is configured to actuate the lifting device (23) such that lifting pins (22) are moved vertically upwards to such an extent that a gap (L) is created between the perforated tray (T) and the package (W), and a prong gripper (1) of the handling means (H) arranged on a robot can be actuated to grasp the respective package (W) through the gap (L) and move it to the pre-calculated spatial position on the carrier (P) or the forming stack (S) on the carrier (P) in a single movement to put down.

9. Device according to claim 8, characterized in that the fork gripper (1) is designed for automatically gripping and placing packaging units of different dimensions and different properties, with a support frame (2) to which a carrier (3), a hold-down device (4) and a scraper (5) are attached, wherein the carrier (3) is designed to be horizontally movable relative to the support frame (2), the hold-down device (4) is vertically movable in the direction of the carrier so that the packaging unit can be pressed against the carrier (3) by mechanical clamping, and the scraper (5) is arranged above the carrier (3) so that the packaging unit is secured when the carrier (3) is retracted, wherein the scraper (5) is designed to be horizontally movable parallel to the carrier (3), that the hold-down device (4) is plate-shaped and that the hold-down device (4) has dimensions such that it extends over the entire surface of the carrier (3, 7).that the support (3) is designed as a support plate or support comb (7) with several spaced-apart prongs (8), that the scraper (5) has a horizontal wall (16) which is provided with a rod-like structure, and that the hold-down device (4) is provided with recesses (15) for the passage of the scraper (5).

10. Device according to one of claims 8 or 9, characterized in that the hold-down device has an elastic coating on its side facing the support.

11. Device according to one of the preceding claims 9 or 10, characterized in that the support frame is attached to a portal robot or articulated robot.

Images