Handling device and method for handling articles or piece goods

Abstract

The invention relates to a handling device (1) for articles or piece goods (23) and to a method for handling articles or piece goods (23). The handling device (1) comprises two layer forming systems (50) and a palleting system (3), said palleting system (3) comprising a transfer station (14) and a loading station (16). The handling device (1) additionally comprises a receiving element (40) with at least one pallet layer receiving area (18), said receiving element (40) producing / forming a conveyor connection between the layer forming systems (50) and the transfer station (14) of the palleting system (3).

Description

[0001] Handling device and method for handling articles or piece goods

[0002] The present invention relates to a handling device and a method for handling articles or piece goods.

[0003] In conventional packaging and palletizing systems, articles, packages and piece goods are transported on transport tracks and moved or aligned in an appropriate manner to create the desired layer patterns, which can then be stacked into pallets.

[0004] A grouping system with one or more robots is often installed upstream of the actual palletizing system. The palletizing system loads the pallets in several layers, using the pallet layers formed by the grouping system.

[0005] In known palletizing systems and methods for palletizing, uninterrupted, gapless or gap-interrupted rows of articles, piece goods or containers are fed to at least one grouping table with at least one manipulator by means of one, two or more parallel transport tracks, which are rotated and shifted by means of the manipulator(s) in such a way that they form a stackable and / or palletizable layer, which is then subsequently transferred to a palletizing device for stacking and / or layer formation.

[0006] Such a palletizing device comprises at least one transfer station, which is normally arranged upstream of a loading station and is preferably vertically adjustable in order to be able to deposit individual complete layers of articles at a desired height on a stacking location, such as a pallet, in cooperation with the loading station. Several such transfer stations can also be arranged one behind the other, which are ultimately followed by at least one loading station. Since each vertical movement of each transfer station requires time, the limiting factor for the performance of such a machine is usually not the actual palletizing, but the creation of the layers and the transfer and vertical positioning of the layers from the grouping stations to the actual deposit location.The object of the invention is to optimize the handling of articles or piece goods, in particular to optimize the palletizing of articles or piece goods with regard to time and space requirements.

[0007] The above object is achieved by a handling device and a method for handling articles or piece goods comprising the features in the independent patent claims. Further advantageous embodiments are described in the subclaims.

[0008] The invention relates to a handling device for articles or piece goods, comprising two layer-forming systems and a palletizing system comprising a transfer station and a loading station. Furthermore, a receiving element with at least one pallet layer receiving location is provided, which receiving element establishes or forms a conveying connection between the layer-forming systems and the transfer station of the palletizing system.

[0009] In particular, it is planned that two layer formation systems each supply a transfer station of a palletizing system with layers of articles or piece goods.

[0010] Preferably, the articles or piece goods are formed by packaging units comprising a plurality of beverage containers, for example, bundles in which several beverage containers are combined by means of a packaging medium. The packaging medium can be, for example, a strapping, outer packaging using shrink film, a carton, or similar.

[0011] A layer formation system comprises, in particular, a grouping module equipped with at least one manipulator or other suitable handling device. The manipulator can be formed, for example, by a tripod with a suitable gripping element or by an articulated-arm robot with a suitable gripping element, or similar.

[0012] Articles or piece goods are fed to the grouping modules of each of the two layer formation systems via at least one conveyor in one direction. The articles or piece goods can be fed in single-lane, multi-lane, in a mass flow, or similarly.

[0013] The respective handling device removes one or more articles or piece goods from the feed according to a predetermined pattern and creates a palletizable layer arrangement from a plurality of articles or piece goods.

[0014] The layer formation systems can further comprise pre-grouping modules downstream of the grouping module, in which finished pallet layers are created from the palletizable layer arrangements. For example, each of the grouping modules can be assigned a first pre-grouping and a second pre-grouping.

[0015] The first pre-grouping, for example, is equipped with a stop element arranged transversely to the transport direction. The palletizable layer arrangement formed within one of the grouping modules is moved against the respective stop element of the first pre-grouping to accumulate the articles or piece goods in the transport direction and, in doing so, eliminate any gaps formed between the articles or piece goods in the palletizable layer arrangements in the transport direction.

[0016] The palletizable layer arrangement accumulated in the transport direction can then be fed to a second pre-grouping station. The second pre-grouping station comprises, in particular, a centering system that pushes the palletizable layer arrangement accumulated in the transport direction together transversely to the transport direction, thereby closing gaps formed between the articles or piece goods in the palletizable layer arrangements transversely to the transport direction to create the finished pallet layer.

[0017] Furthermore, the second pre-grouping device can be equipped with a sliding element to transfer the finished pallet layer to a receiving element located downstream in the transport direction. In particular, the finished pallet layer is pushed onto the downstream receiving element.

[0018] The sliding element of the second pre-grouping is particularly designed to be adjustable. Preferably, the sliding element is brought into contact with the back of the pallet layer by pivoting or lowering only after the pallet layer has been completed, in order to push the pallet layer onto the receiving element in the transport direction.

[0019] When referring to the formation of a pallet layer, this also includes embodiments in which piece goods are additionally prepared stacked in at least two layers. In particular, it can be provided that so-called tandem layers are formed within the layer formation system, in which articles are stacked in two layers in the layer system, and the tandem layer thus formed is palletized, so that a stack of layers formed in the palletizing system grows by two layers in each palletizing step.

[0020] The receiving element comprises at least one pallet layer receiving location. The receiving element is designed to receive a pallet layer from one of the layer formation systems. Furthermore, the receiving element is designed to transfer a received pallet layer to the transfer station of the palletizing system.

[0021] In particular, in a first operating mode, the receiving element is designed to transfer a pallet layer created in the first layer formation system to the transfer station of the palletizing system. Furthermore, in a second operating mode, the receiving element is designed to transfer a pallet layer created in the second layer formation system to the transfer station of the palletizing system.

[0022] In a preferred embodiment of the invention, the receiving element is configured in the first operating mode to receive a pallet layer created in the first layer formation system and, at the same time or substantially at the same time, to transfer a pallet layer created in the second layer formation system to the transfer station of the palletizing system. Furthermore, the receiving element of this embodiment is configured in the second operating mode to receive a pallet layer created in the second layer formation system and, at the same time or substantially at the same time, to transfer a pallet layer created in the first layer formation system to the transfer station of the palletizing system.

[0023] To achieve this, the receiving element is designed, for example, as a shuttle element with two pallet layer receiving positions, the operation of which is described in more detail below.

[0024] The pallet layer receiving locations can, for example, be designed as independently movable transport surfaces.

[0025] The receiving element designed as a shuttle element is preferably designed to be movable transversely to a production direction of the handling device, in particular transversely to the transport direction of the articles and piece goods or pallet layers within the handling device.

[0026] For example, the shuttle element is arranged on a rail system (19) configured transversely to the transport direction. The rail system extends, in particular, transversely to the transport direction or production direction of the handling device. The receiving element configured as a shuttle element can comprise slide guides or movement rollers, via which slide guides or movement rollers the receiving element is movably arranged on the rail system.

[0027] According to one embodiment, each of the two pallet layer receiving locations comprises a set of centering elements. These centering elements center the pallet layer arranged on the corresponding pallet layer receiving location, preferably on all sides, and thus determine and / or fix the relative positioning of the articles or piece goods within the pallet layer. In particular, this ensures that the articles or piece goods within the pallet layer do not shift relative to one another or otherwise move in an undesirable manner.

[0028] A respective set of centering elements is formed in particular by at least one stop element running ahead in the transport direction and a sliding element running behind in the transport direction, which interact to center the layers. Preferably, further transverse elements arranged parallel to the transport direction are included in the set of centering elements.

[0029] In the embodiment, it is preferably provided that in the first operating mode, the first pallet layer receiving location is arranged in alignment with the first layer formation system, while simultaneously in the first operating mode, the second pallet layer receiving location is arranged in alignment with the palletizing system. Furthermore, it is provided that in the second operating mode, the first pallet layer receiving location is arranged in alignment with the palletizing system, while simultaneously in the second layer formation system.

[0030] From the receiving element, designed as a shuttle element, a pallet layer is transferred to the transfer station of the palletizing system, with the respective pallet layer being aligned with the transfer station. The transfer station is arranged essentially centrally between a first alignment of the first layer formation system and a second alignment of the second layer formation system.

[0031] In particular, the two layer formation systems serve the transfer station alternately.

[0032] The transfer station serves, in particular, to prepare the pallet layer to a height level required for transferring the pallet layer onto a pallet. The height level depends, in particular, on how many pallet layers are already stacked on top of each other on the pallet. For this purpose, the transfer station comprises, for example, a height-adjustable loading plate, in particular a loading plate mounted on a lifting column (not shown).

[0033] The pallet layer arranged at the appropriate height is transferred to a pallet or to the top layer of a partial layer stack already arranged on the pallet in a loading station of the palletizing system.

[0034] The finished pallet with layer stack, which consists of multiple pallet layers stacked on top of each other, is then transported away in the direction of transport via a suitable transport device. For example, the finished pallet can be fed to a wrapping module or similar device, where the finished pallet is wrapped with stretch film to protect the layer stack arranged on the pallet during further transport to the end customer or similar.

[0035] The loading station can further comprise an intermediate layer inserter for placing an intermediate layer on each pallet layer after it has been placed on the pallet or the top layer of the partial layer stack already arranged on the pallet within the loading station. The intermediate layers serve in particular to protect the pallet layers and ensure the stability of the layer stack to be formed. Using the intermediate layer inserter, a bottom layer can also be placed on the pallet before the first pallet layer is placed on the pallet. In addition, a top layer can be applied to the finished layer stack. The bottom layer and / or the top layer can be made of the same material as the intermediate layers. Alternatively, these can be designed differently. In this case, different magazines with corresponding stacks of bottom layers, top layers and intermediate layers can be assigned to the intermediate layer inserter.The layer formation systems are preferably operated with a time delay so that the palletizing system is alternately supplied with pallet layers from the first layer formation system and the second layer formation system.

[0036] The pallet layers are moved transversely to the transport direction via the shuttle element, which is equipped with two layer receiving positions, into a respective position from which position they can be transferred in the transport direction into the transfer station of the palletizing system.

[0037] While a pallet layer arranged in the corresponding position on the shuttle element is transferred from the shuttle element to the transfer station, another pallet layer from the other layer formation system is already being transferred to the free pallet layer receiving location of the shuttle element.

[0038] By moving the shuttle element, it is transferred from a first working mode to a second working mode, whereby the handling device switches back and forth between the first working mode and the second working mode.

[0039] In the first operating mode, the receiving element or shuttle element picks up a pallet layer coming from a first layer-forming system. Meanwhile, a pallet layer created in the second layer-forming system is transferred to the transfer station of the palletizing system. In the second operating mode, the receiving element picks up a pallet layer coming from a second layer-forming system. Meanwhile, a pallet layer created in the first layer-forming system is transferred to the transfer station of the palletizing system.

[0040] If one of the two layer-forming systems fails, the palletizing system can continue to operate, albeit at a reduced speed. The pallet layers created in the operating layer-forming system are moved via the receiving element to the palletizing system's transfer station. This means that production does not have to be completely halted if one layer-forming system fails.

[0041] The minimizing factor in palletizing is the provision of finished pallet layers in a transfer station of the palletizing system. By alternately feeding pallet layers from two different layer formation systems to the transfer station via the receiving element, a second transfer station can be omitted while maintaining the same throughput, thus reducing the footprint of the handling device. Since a second transfer station is omitted, the number of robots and corresponding lifting mechanisms required is also reduced. This reduces system costs and also reduces maintenance requirements.

[0042] The handling device can also be advantageously used to produce mixed pallets as finished pallets. In particular, it can be provided that first pallet layers are produced from first items in the first layer-forming system, while second pallet layers are produced from second items in the second layer-forming system. A corresponding layer stack would accordingly be formed from first and second pallet layers in an alternating arrangement.

[0043] The invention further relates to a method for handling articles or piece goods, in particular a method for palletizing articles or piece goods, in a previously described handling device for articles or piece goods. The method provides that the receiving element receives a pallet layer from one of the layer formation systems and that a pallet layer is transferred from the receiving element to the transfer station of the palletizing system.

[0044] Particularly preferably, the receiving element, in a first operating mode, receives a pallet layer created in the first layer formation system and simultaneously transfers a pallet layer created in the second layer formation system to the transfer station of the palletizing system. Furthermore, the receiving element, in a second operating mode, receives a pallet layer created in the second layer formation system and transfers a pallet layer created in the first layer formation system to the transfer station of the palletizing system.

[0045] The parallel arrangement of the layer formation systems allows the operator good access to the infeed conveyors for the articles and piece goods, to the robot modules of the layer formation systems, etc.

[0046] In all described embodiments, the packaging system can be scaled to the required performance by increasing the number of feed lines and the number of robots, etc.

[0047] Since the grouping modules of the layer formation systems operate and are arranged independently of one another, there is no risk of overlapping robot workspaces and thus hindering the handling of articles or piece goods. It should be expressly mentioned at this point that all aspects and design variants explained in connection with the handling device according to the invention equally relate to or can be partial aspects of the method according to the invention. Therefore, if certain aspects and / or relationships and / or effects are mentioned at any point in the description or in the claim definitions for the device according to the invention, this applies equally to the method according to the invention.The same applies in reverse, so that all aspects and embodiments explained in connection with the method according to the invention equally relate to or can be partial aspects of the handling device according to the invention. Therefore, if certain aspects and / or relationships and / or effects are mentioned at any point in the description or in the claim definitions for the method according to the invention, this applies equally to the handling device according to the invention.

[0048] The following explanations summarize some aspects of the invention, which has already been explained in various embodiments, and specify some aspects. However, they should not be viewed as contradicting the explanations already made, but rather as a summary, and in case of doubt, possibly as more specific embodiments and / or modifications. Thus, as already mentioned several times above, the handling device according to the invention can, for example, comprise two grouping modules arranged in parallel, which supply a palletizing system.

[0049] Each of these grouping modules preferably comprises a manipulator, which can be formed, for example, by a tripod with a suitable gripping element (i.e., by a parallel kinematic robot) or by an articulated arm robot with a suitable gripping element or the like.

[0050] Articles or piece goods can each be fed to the grouping modules via at least one transport device in a defined transport direction. For example, it can be provided that articles or piece goods are fed to each grouping module via two lanes, in particular via two parallel transport devices. The respective manipulator can remove one or more articles or piece goods from one of the transport devices assigned to the grouping module alternately or according to a predetermined pattern and can form a palletizable layer arrangement from a plurality of articles or piece goods. Each of the grouping modules can preferably be assigned a first pre-grouping, which first pre-grouping can expediently be equipped with a stop element.

[0051] The palletizable layer arrangement formed within one of the grouping modules can be moved against the respective stop plate, in particular within the respective downstream first pre-grouping, in order to accumulate the articles or piece goods from which the palletizable layer arrangement is formed in the transport direction and in doing so to remove gaps formed between the articles or piece goods of the palletizable layer arrangements in the transport direction.

[0052] Subsequently, the palletizable layer arrangement accumulated in the transport direction can be fed to a second pre-grouping station. The second pre-grouping station comprises, in particular, a centering system that pushes the palletizable layer arrangement accumulated in the transport direction together transversely to the transport direction, thereby closing gaps formed between the articles or piece goods of the palletizable layer arrangements transversely to the transport direction to create the finished pallet layer.

[0053] Furthermore, each of the second pre-groupings can be equipped with a sliding element to transfer the completed pallet layer to a receiving element arranged downstream in the transport direction and designed, for example, as a shuttle element. In particular, the completed pallet layer can be pushed onto the downstream shuttle element. The sliding element can, in particular, be designed to be adjustable. Furthermore, it can be useful if the sliding element is brought into contact with the rear side of the respective pallet layer by pivoting or lowering only after the pallet layer has been completed, in order to push it onto the receiving or shuttle element in the transport direction.

[0054] The receiving element, designed, for example, as a shuttle element, can be designed to be movable, in particular, transversely to the transport direction. For example, the shuttle element can be arranged on a rail system aligned transversely to the transport direction. The receiving element, designed as a shuttle element, can comprise, for example, two layer receiving stations. The layer receiving stations can be designed, for example, as independently movable transport surfaces.

[0055] Furthermore, it can be provided that each layer location is equipped with centering elements, wherein these centering elements center the pallet layer arranged on the corresponding layer location preferably on all sides and thus can determine and / or fix the relative positioning of the articles or piece goods within the pallet layer or ensure that the articles or piece goods within the pallet layer do not shift against each other or otherwise move in an undesirable manner.

[0056] A respective set of centering elements is formed in particular by at least one stop element running ahead in the transport direction and one sliding element running behind in the transport direction, which can interact for layer centering. Preferably, additional transverse elements arranged parallel to the transport direction are also included in the set of centering elements.

[0057] From the shuttle element, the respective pallet layer is transferred to a palletizing system consisting of a transfer station and a loading station. In particular, a pallet layer can be transferred to the transfer station if it is aligned with the transfer station.

[0058] The transfer station can be arranged centrally between a first line, formed by the grouping module, the first pre-grouping unit, and the second pre-grouping unit, and a second line, formed by the grouping module, the first pre-grouping unit, and the second pre-grouping unit. It may be particularly useful for the two grouping modules to alternately serve or supply the transfer station. The transfer station serves, in particular, to prepare the pallet layer to a height level required for transferring the pallet layer onto a pallet.

[0059] The height level depends in particular on how many pallet layers are already stacked on top of each other on the pallet. For this purpose, the transfer station includes, for example, a height-adjustable loading plate, in particular a loading plate mounted on a lifting column.

[0060] The pallet layer, positioned at the appropriate height, can then be transferred to a loading station on the pallet or onto the top layer of a partial stack already arranged on the pallet. The loading station can also be equipped with a lifting column to adjust the pallet height.

[0061] The finished pallet with layer stack, which consists of multiple pallet layers stacked on top of each other, is then transported away in the direction of transport via a suitable transport device. For example, the finished pallet can be fed into a wrapping module, where the finished pallet with layer stack is wrapped in stretch film to protect the layer stack during further transport to the end customer or similar.

[0062] The loading station can further comprise an intermediate layer inserter for placing an intermediate layer on each pallet layer after it has been placed on the pallet or the top layer of the partial layer stack already arranged on the pallet within the loading station. The intermediate layers serve in particular to protect the pallet layers and ensure the stability of the layer stack to be formed. Using the intermediate layer inserter, a bottom layer can also be placed on the pallet before the first pallet layer is placed on the pallet.

[0063] In addition, a top layer can be applied to the finished layer stack. The bottom layer and / or the top layer can be made of the same material as the interlayers. Alternatively, these can be designed differently. In this case, different magazines with corresponding stacks of bottom layers, top layers, and interlayers can be assigned to the interlayer inserter.

[0064] The functionality of a handling device equipped with a shuttle element will be explained in more detail below. The grouping modules can be operated in a time-staggered manner, so that the palletizing system is supplied with pallet layers that have been prepared alternately in the first grouping module and the second grouping module. The pallet layers are moved, in particular, via the shuttle element equipped with two layer receiving stations, transversely to the transport direction into a respective position. From this position, they can be transferred in the transport direction to the transfer station of the palletizing system.

[0065] While a pallet layer arranged in the corresponding position on the shuttle element is transferred from the shuttle element to the transfer station, another pallet layer is already being transferred from the other layer formation system to the free layer receiving space of the shuttle element.

[0066] At a first point in time (tO), at which a palletizable layer arrangement prepared in the upper grouping module has already been pushed together to form a pallet layer in the associated second pre-grouping module, a palletizable layer arrangement prepared in the lower grouping module is being transferred into the associated first pre-grouping module. The shuttle element is in a first working mode in a first working position, in which the first layer receiving station is arranged in the first alignment. The second layer receiving station, in contrast, is arranged in alignment with a third alignment, which third alignment can be formed by the transfer station and loading station forming the palletizing system.

[0067] The second layer receiving station can contain a complete pallet layer centered on all sides, while an empty pallet can be located within the loading station.

[0068] The further chronological sequence will be explained below, with particular reference to times t1 to t4. During this further chronological sequence, the shuttle element remains in the first working position. This chronological sequence includes the movement of the palletizable layer arrangement as well as the finished pallet layers. The pallet layer completed within the upper second pre-grouping is transferred to the first layer receiving position of the shuttle element by a movement within the first alignment.

[0069] At the same time, the finished pallet layer located at the second layer receiving station is transferred to the transfer station of the palletizing system by a movement within the third line. The pallet layer located in the transfer station is then transferred to the pallet within the loading station.

[0070] Meanwhile, the palletizable layer arrangement prepared in the lower grouping module and accumulated in the assigned first pre-grouping in the transport direction by a movement within the second alignment is transferred to the assigned second pre-grouping and there pushed together by the centering system to form the finished pallet layer.

[0071] The shuttle element can move in a direction transverse to the transport direction, allowing the shuttle element to be transferred into a second operating mode and, in particular, into a second operating position. The second operating position is characterized in particular by the fact that the second layer receiving station is arranged in the second alignment. The first layer receiving station, in contrast, is arranged in alignment with the third alignment.

[0072] Accordingly, the pallet layer located at the first layer receiving station, which was assembled by the upper grouping system, is then palletized. Specifically, this pallet layer is then arranged within the loading station on top of the pallet layer already arranged on the pallet.

[0073] In the handling device described here, pallet layers centered on all sides are transferred to the palletizing system via the shuttle element. Typically, a pallet layer assembled in the upper grouping system is used alternately with a pallet layer assembled in the lower grouping system. The shuttle element oscillates between two working positions.

[0074] In the first working position, the shuttle element can pick up a pallet layer coming from the upper grouping system and, at the same time, transfer a pallet layer created in the lower grouping system to the transfer station of the palletizing system. In the second working position, the shuttle element can pick up a pallet layer coming from the lower grouping system and, at the same time, transfer the pallet layer created in the upper grouping system to the transfer station of the palletizing system.

[0075] If one of the two grouping systems fails, the palletizing system can continue to operate, albeit at a reduced speed. The palletizable layer arrangements created in the operating grouping system are pushed together into finished pallet layers in the assigned first and second pre-grouping stations and moved via the shuttle element to the transfer station of the palletizing system. This means that if one of several grouping systems fails, production does not have to be completely halted.

[0076] Optionally, shrink packs or other unit loads can be fed to each grouping system in three parallel rows via at least one suitable conveyor. Such shrink packs can, for example, each consist of a defined number of bottles, e.g., six bottles, whereby these six bottles can be combined into a corresponding packaging unit using shrink film.

[0077] To create the palletizable layer arrangement, the grouping systems can each comprise a suitable manipulator, or several manipulators connected in parallel or in series. Furthermore, a rail system can be provided, which can extend, in particular, transversely to the transport direction. The shuttle element can be movably arranged on this rail system and can be moved via the rail system between the aforementioned first working position and the aforementioned second working position.

[0078] The limiting factor in palletizing is usually the provision of finished pallet layers in the transfer station of the palletizing system. By alternately feeding pallet layers from two different grouping systems to the transfer station via the shuttle element, a second transfer station can be omitted while maintaining the same throughput, thus reducing the overall footprint of the handling device. Since a second transfer station is no longer required, the number of robots and corresponding lifting mechanisms is reduced.

[0079] The handling device can be used to create mixed pallets as finished pallets. In particular, it can be provided that a first pallet layer is created from first items in one grouping system, while a second pallet layer is created from second items in the other grouping system. A corresponding layer stack would accordingly be formed from first and second pallet layers in an alternating arrangement.

[0080] The parallel arrangement of the layer formation systems allows a user good access to the infeed conveyors or transport devices for the articles and piece goods, to the robot modules and, in particular, to the grouping modules and pre-grouping units.

[0081] In a further embodiment of such a handling device according to the invention, the two layer-forming systems, each consisting of a grouping module, a first pre-grouping unit, and a second pre-grouping unit, and the palletizing system, comprising a transfer station and a loading station, can form a T-shaped arrangement. A receiving element can be arranged between the two layer-forming systems, which are arranged in a line with opposing production directions. This receiving element establishes or forms a conveying connection between the layer-forming systems and the transfer station of the palletizing system.

[0082] In a first operating mode, the receiving element can be configured to receive a pallet layer created in the first layer formation system and transfer it to the transfer station of the palletizing system. Furthermore, in a second operating mode, the receiving element can be configured to receive a pallet layer created in the second layer formation system and transfer it to the transfer station of the palletizing system. As soon as a pallet layer created in the second layer formation system has been transferred to the transfer station, the receiving element is again prepared to receive a pallet layer created in the first layer formation system.

[0083] In all of the described embodiments, the packaging system can be scaled to the required capacity by increasing the number of infeed lanes and the number of robots used. Since the grouping modules operate and are arranged independently of each other, there is no risk of overlapping robot workspaces and thus no interference with the handling of articles or piece goods.

[0084] In the following, exemplary embodiments will explain the invention and its advantages in more detail with reference to the accompanying figures. The relative sizes of the individual elements in the figures do not always correspond to the actual sizes, as some shapes are simplified and others are enlarged relative to other elements for better illustration.

[0085] Fig. 1 shows a first embodiment of a handling device according to the invention.

[0086] Figures 2 to 8 show the functioning of a handling device according to Fig. 1.

[0087] Fig. 9 shows another embodiment of a handling device.

[0088] Fig. 10 shows another handling device.

[0089] Identical reference numerals are used for identical or equivalently functioning elements of the invention. Furthermore, for the sake of clarity, only those reference numerals are shown in the individual figures that are necessary for the description of the respective figures. The illustrated embodiments merely represent examples of how the device or method according to the invention can be configured and do not represent a definitive limitation.

[0090] The schematic plan view of Fig. 1 shows a first embodiment of a handling device 1 according to the invention. This comprises two grouping modules 2, 2-1, 2-2 arranged in parallel, which supply a palletizing system 3.

[0091] Each of the grouping modules 2, 2-1, 2-2 comprises a manipulator 4, 4-1, 4-2, which can be formed, for example, by a tripod 5 with a suitable gripping element or by an articulated-arm robot with a suitable gripping element or the like. Articles or piece goods are fed to the grouping modules 2, 2-1, 2-2 via at least one transport device 6 in a transport direction TR. In the illustrated embodiment, it is provided that articles or piece goods are fed to each grouping module 2, 2-1, 2-2 via two tracks, in particular via two parallel transport devices 6-1a, 6-1b, 6-2a and 6-2b.

[0092] The respective manipulator 4, 4-1, 4-2 removes one or more articles or piece goods alternately or according to a predetermined pattern from one of the transport devices 6 assigned to the grouping module 2 and in doing so creates a palletizable layer arrangement 20 from a plurality of articles or piece goods.

[0093] Each of the grouping modules 2, 2-1, 2-2 is assigned a first pre-grouping 7, 7-1, 7-2, which first pre-grouping 7, 7-1, 7-2 is each equipped with a stop element 8.

[0094] The palletizable layer arrangement 20 formed within one of the grouping modules 2 is moved, in particular within the respective downstream first pre-grouping 7, against the respective stop plate 8 in order to accumulate the articles or piece goods from which the palletizable layer arrangement 20 is formed in the transport direction TR and, in the process, to remove gaps formed between the articles or piece goods of the palletizable layer arrangements 20 in the transport direction TR.

[0095] Subsequently, the palletizable layer arrangement 20 accumulated in the transport direction TR is fed to a second pre-grouping device 9, 9-1, 9-2. The second pre-grouping device 9, 9-1, 9-2 comprises, in particular, a centering system 10, which pushes the palletizable layer arrangement 20 accumulated in the transport direction TR together transversely to the transport direction TR and, in doing so, pushes together gaps formed transversely to the transport direction TR between the articles or piece goods of the palletizable layer arrangements 20 in order to create the finished pallet layer 21.

[0096] Furthermore, each of the second pre-groupings 9 is equipped with a sliding element 11 for transferring the completed pallet layer 21 to a receiving element 40 arranged downstream in the transport direction TR and designed here as a shuttle element 12. In particular, the completed pallet layer 21 is pushed onto the downstream shuttle element 12. The sliding element 11 of the second pre-grouping 9-2 is shown with a broken line (dashed). This is intended to emphasize that the sliding element 11 is designed to be particularly deliverable. In particular, it is provided that the sliding element 11 is brought into contact with the rear side of the pallet layer 21 by pivoting or lowering only after the pallet layer 21 has been completed, in order to push it onto the shuttle element 12 in the transport direction TR.

[0097] The receiving element 40, designed as a shuttle element 12, is movable transversely to the transport direction TR; for example, the shuttle element 12 is arranged on a rail system 19 (not shown) designed transversely to the transport direction TR. The receiving element 40, designed as a shuttle element 12, comprises two layer receiving stations 18-1 and 18-2. The layer receiving stations 18-1, 18-2 can, for example, be designed as independently movable transport surfaces.

[0098] Furthermore, it is provided that each layer location 18-1, 18-2 comprises an equipment with centering elements 13, which respective equipment with centering elements center the palletizing layer 21 arranged on the corresponding layer location 18-1, 18-2 preferably on all sides and thus determine and / or fix the relative positioning of the articles or piece goods within the pallet layer 21 or ensure that the articles or piece goods within the pallet layer 21 do not shift against each other or otherwise move in an undesirable manner.

[0099] A respective set of centering elements 13 is formed in particular by at least one stop element running ahead in the transport direction TR and one sliding element running behind in the transport direction, which interact to center the layers. Preferably, further transverse elements arranged parallel to the transport direction TR are included in the set of centering elements 13.

[0100] From the shuttle element 12, the respective pallet layer 21 is transferred into a palletizing system 3 formed by a transfer station 14 and a loading station 16; in particular, a pallet layer 21 is transferred into the transfer station 14, which pallet layer 21 is arranged in alignment with the transfer station 14.

[0101] The transfer station 14 is arranged essentially centrally between a first alignment F1, formed by the grouping module 2-1, the first pre-grouping 7-1, and the second pre-grouping 9-1, and a second alignment F2, formed by the grouping module 2-2, the first pre-grouping 7-2, and the second pre-grouping 9-2. In particular, the two grouping modules 2-1, 2-2 serve the transfer station 14 alternately. The transfer station 14 serves, in particular, to prepare the pallet layer 21 with respect to a height level necessary for sliding the pallet layer 21 onto a pallet 30.

[0102] The height level depends in particular on how many pallet layers 21 are already stacked on top of each other on the pallet 30. For this purpose, the transfer station 14 comprises, for example, a height-adjustable loading plate 15, in particular a loading plate 15 arranged on a lifting column 34.

[0103] The pallet layer 21, arranged at the appropriate height, is then transferred to a loading station 16 on the pallet 30 or onto the top layer of a partial stack of layers already arranged on the pallet 30. The loading station 16 can also have a lifting column 36 to set and adjust the height of the pallet 30.

[0104] The finished pallet 31 with the layer stack 22 located thereon, which layer stack 22 consists of a plurality of pallet layers 21 stacked one above the other, is then transported away in the transport direction TR via a suitable transport device. For example, the finished pallet 31 can be fed to a wrapping module (not shown), in which the finished pallet 31 with layer stack 22 is wrapped with stretch film to protect the layer stack 22 during further transport to the end customer or similar.

[0105] The loading station 16 may further comprise an intermediate layer inserter (not shown) for arranging an intermediate layer on each pallet layer 21 after said intermediate layer has been arranged within the loading station 16 on the pallet 30 or the uppermost layer of the partial layer stack already arranged on the pallet 30. The intermediate layers serve in particular to protect the pallet layers 21 and to ensure the stability of the layer stack 22 to be formed.

[0106] Using the intermediate layer inserter, a base layer can also be placed on the pallet 30, if necessary, before the first pallet layer 21 is placed on the pallet 30. In addition, a cover layer can be applied to the finished layer stack 22.

[0107] The optional bottom layer and / or the optional top layer can be made of the same material as the intermediate layers. Alternatively, the bottom layer and / or the top layer can be designed differently. In this case, the intermediate layer inserter can be assigned different magazines with corresponding stacks of bottom layers, top layers, and intermediate layers.

[0108] The operation of a handling device 1 according to Fig. 1 equipped with a shuttle element 12 is explained in detail below with reference to Figs. 2 to 8.

[0109] The grouping modules 2-1, 2-2 are operated with a time delay, so that the palletizing system 3 is each supplied with pallet layers 21, which were prepared alternately in the first grouping module 2-1 and in the second grouping module 2-2.

[0110] The pallet layers 21 are moved via the shuttle element 12, which is equipped with two layer receiving positions 18-1, 18-2, transversely to the transport direction TR into a respective position, from which position they can be transferred in the transport direction TR into the transfer station 14 of the palletizing system 3.

[0111] While a pallet layer 21 arranged in the corresponding position on the shuttle element 12 is transferred from the shuttle element 12 to the transfer station 14, another pallet layer 21 is already being transferred from the other layer formation system to the respective free layer receiving location 18-1 or 18-2 of the shuttle element 12.

[0112] The schematic top view of Fig. 2 shows a time t0 at which a palletizable layer arrangement prepared in the upper grouping module 2-1 has already been pushed together into the pallet layer 21a in the associated second pre-grouping module 9-1. In contrast, a palletizable layer arrangement 20c prepared in the lower grouping module 2-2 is currently being transferred to the associated first pre-grouping module 7-2.

[0113] In a first operating mode, the shuttle element 12 is located in a first operating position AP1, in which the first layer receiving station 18-1 is arranged in the first alignment F1. The second layer receiving station 18-2, however, is arranged in alignment with a third alignment F3, which third alignment F3 is formed by the transfer station 14 and loading station 16 forming the palletizing system 3.

[0114] On the second layer receiving station 18-2 there is a complete pallet layer 21b centered on all sides.

[0115] An empty pallet 30 is located within the loading station 16. The schematic plan views of Figures 3 to 6 show the further temporal sequence, in particular the times t1 to t4, at which the shuttle element 12 is still in the first working position AP1.

[0116] In particular, Figures 3 to 6 show the movement of the palletizable layer arrangement 20c and the finished pallet layers 21a, 21b. The pallet layer 21a completed within the upper second pre-grouping 9-1 is transferred to the first layer receiving location 18-1 of the shuttle element 12 by a movement within the first alignment F1.

[0117] At the same time, the finished pallet layer 21b arranged on the second layer receiving station 18-2 according to Fig. 2 is transferred into the transfer station 14 of the palletizing system 3 by a movement within the third alignment F3 (see Fig. 5). Subsequently, the pallet layer 21b arranged in the transfer station 14 according to Fig. 5 is transferred onto the pallet 30 within the loading station 16 (see Fig. 6).

[0118] Meanwhile, the palletizable layer arrangement 20c prepared in the lower grouping module 2-2 and accumulated in the associated first pre-grouping 7-2 in the transport direction TR by a movement within the second alignment F2 is transferred to the associated second pre-grouping 9-2 and there pushed together by the centering system 10 to form the finished pallet layer 21c (see Figures 4 to 6).

[0119] The schematic plan view of Fig. 7 shows the movement of the shuttle element 12 transversely to the transport direction TR in the downward direction, whereby the shuttle element 12 is transferred into a second working mode and in particular into a second working position AP2, which is shown in Fig. 8.

[0120] The second working position AP2 is characterized in particular by the fact that the second layer receiving station 18-2 is arranged in the second alignment F2. The first layer receiving station 18-1, on the other hand, is arranged in alignment with the third alignment F3.

[0121] Accordingly, the pallet layer 21a arranged on the first layer receiving station 18-1, which was assembled by the upper grouping system 2-1, is subsequently palletized. In particular, this pallet layer 21a is subsequently arranged (not shown) within the loading station 16 on the pallet layer 21b already arranged on the pallet 30.

[0122] In the handling device 1 shown here, in particular, pallet layers 21 centered on all sides are transferred to the palletizing system 3 via the shuttle element 12. Typically, a pallet layer 21 that was assembled in the upper grouping system 2-1 and a pallet layer 21 that was assembled in the lower grouping system 2-2 are used alternately. The shuttle element 12 oscillates between two working positions AP1 and AP2.

[0123] In the first working position AP1, the shuttle element 12 can pick up a pallet layer 21a coming from the upper grouping system 2-1 and, at the same time, transfer a pallet layer 21b created in the lower grouping system 2-2 into the transfer station 14 of the palletizing system 3.

[0124] In the second working position AP2, the shuttle element 12 can pick up a pallet layer 21c coming from the lower grouping system 2-2 and, at the same time, transfer the pallet layer 21a created in the upper grouping system 2-1 into the transfer station 14 of the palletizing system 3.

[0125] If one of the two grouping systems 2-1 or 2-2 fails, the palletizing system 3 can continue to operate, albeit at a reduced speed. The palletizable layer arrangements 20 created in the operating grouping system 2 are pushed together in the assigned first and second pre-groupings 7, 9 to form finished pallet layers 21 and moved via the shuttle element 12 to the transfer station 14 of the palletizing system 3. Thus, production does not have to be completely stopped if one grouping system 2 fails.

[0126] Figure 9 shows a schematic plan view of another embodiment of a handling device 1. Essentially, reference can be made to the description of Figure 1 and the description of the mode of operation based on Figures 2 to 8.

[0127] In the embodiment shown in Fig. 9, shrink packs 23 or other piece goods are fed to each grouping system 2 in three parallel rows via at least one suitable transport device 6.

[0128] In the illustrated embodiment, the shrink packs 23 each consist of six bottles 24, which are combined into a corresponding packaging unit via a shrink film 25.

[0129] To create the palletizable layer arrangement 20, the grouping systems 2 can each comprise a suitable manipulator 4 or several manipulators 4 connected in parallel or in series. Furthermore, Fig. 9 shows a rail system 19 extending transversely to the transport direction TR. The shuttle element 12 is movably arranged on the rail system 19 and can be moved via the rail system 19 between the first working position (not shown) and the second working position AP2.

[0130] The minimizing factor in palletizing is the provision of finished pallet layers 21 in the transfer station 14 of the palletizing system 3. By alternately feeding pallet layers 21 from two different grouping systems 2 to the transfer station 14 via the shuttle element 12, a second transfer station 14 can be dispensed with for the same throughput, thereby reducing the footprint of the handling device 1.

[0131] Since a second transfer station 14 is not required, the number of robots and corresponding lifting mechanisms is reduced.

[0132] The handling device 1 can be used to produce mixed pallets as finished pallets 31. In particular, it can be provided that a first pallet layer 21 is produced from first items in one grouping system 2-1, while a second pallet layer 21 is produced from second items in the other grouping system 2-2. A corresponding layer stack 22 would accordingly be formed from first and second pallet layers 21 in an alternating arrangement.

[0133] The parallel arrangement of the layer formation systems allows the operator good access to the infeed conveyors or transport devices 6 for the articles and piece goods, to the robot modules, in particular the grouping modules 2 and the pre-grouping units 7, 9.

[0134] Fig. 10 shows a further embodiment of a handling device 1 according to the invention in a schematic plan view. Here, the two layer formation systems 50, each consisting of grouping modules 2, 2-1, 2-2, first pre-grouping 7, 7-1, 7-2, and second pre-grouping 9, 9-1, 9-2, and the palletizing system 3 comprising transfer station 14 and loading station 15, form a T-shaped arrangement.

[0135] A receiving element 40 is arranged between the two layer formation systems 50, which are arranged in a line with opposing production directions PR1, PR2. This receiving element establishes or forms a conveying connection between the layer formation systems 50 and the transfer station 14 of the palletizing system 3. In a first operating mode, the receiving element 40 is designed to receive a pallet layer 21 created in the first layer formation system 50-1 and transfer it to the transfer station 14 of the palletizing system 3. Furthermore, in a second operating mode AM2, the receiving element 40 is designed to receive a pallet layer 21 created in the second layer formation system 50-2 and transfer it to the transfer station 14 of the palletizing system 3.

[0136] The schematic top view of Fig. 10 shows, in particular, a point in time at which a pallet layer 21-2 created in the second layer formation system 50-2 is being transferred to the transfer station 14. Subsequently, the receiving element 40 is again prepared to receive a pallet layer 21-1 created in the first layer formation system 50-1.

[0137] In all described embodiments, the packaging system can be scaled to the required performance by increasing the number of feed lines and robots.

[0138] Since the grouping modules 2 operate and are arranged independently of each other, there is no danger of overlapping of the robot workspaces and thus no hindrance to the handling of the articles or piece goods.

[0139] The embodiments, examples, and variants of the preceding paragraphs, the claims or the following description and figures, including their various views or respective individual features, may be used independently of one another or in any combination. Features described in connection with one embodiment are applicable to all embodiments, unless the features are incompatible.

[0140] Although "schematic" representations and views are often or generally referred to in the context of the above description of the figures, this in no way means that the figures and their descriptions are of secondary importance with regard to the disclosure of the invention. A person skilled in the art will be perfectly capable of deriving sufficient information from the schematic and abstractly drawn representations to facilitate their understanding of the invention, without their understanding being in any way impaired by the drawn, possibly not exactly scaled, proportions of the articles or unit loads and / or parts of the handling device or other drawn elements.The figures thus enable the skilled reader to derive a better understanding of the inventive concept formulated in a more general and / or abstract manner in the claims and in the general part of the description on the basis of the more concretely explained implementations of the method according to the invention and the more concretely explained functioning of the device according to the invention.

[0141] The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or variations of the invention can be made without departing from the scope of the following claims.

[0142] List of reference symbols

[0143] 1 handling device

[0144] 2, 2-1 , 2-2 grouping module

[0145] 3 palletizing system

[0146] 4, 4-1 , 4-2 Manipulator

[0147] 5 Tripod

[0148] 6.6-1 a, 6-1 b, 6-2a, 6-2b Transport facility

[0149] 7, 7-1 , 7-2 first pre-grouping

[0150] 8 Stop element

[0151] 9, 9-1 , 9-2 second pre-grouping

[0152] 10 Centering system

[0153] 11 Sliding element

[0154] 12 Shuttle element

[0155] 13 Equipment centering elements

[0156] 14 Transfer station

[0157] 15 Loading plate

[0158] 16 loading stations

[0159] 18-1 , 18-2 layer recording space

[0160] 19 Rail system

[0161] 20, 20c palletizable layer arrangement

[0162] 21, 21a, 21 b, 21c pallet layer

[0163] 22 layer stacks

[0164] 23 shrink packs

[0165] 24 bottles 25 shrink film 30 pallet 31 finished pallet 34 lifting column 36 lifting column

[0166] 40 receiving element 50, 50-1 , 50-2 layer formation system

[0167] AP1 first working position Ap2 second working position F1 first alignment F2 second alignment F3 third alignment PR1, PR2 production direction TR transport direction

Claims

Claims Handling device (1) for articles or unit loads (23), comprising two layer formation systems (50) and a palletizing system (3), which palletizing system (3) comprises a transfer station (14) and a loading station (16), the handling device (1) further comprising a receiving element (40) with at least one pallet layer receiving position (18), which receiving element (40) establishes / forms a conveying connection between the layer formation systems (50) and the transfer station (14) of the palletizing system (3).Handling device (1) according to claim 1, wherein the receiving element (40) in a first operating mode (AP1) is configured to transfer a pallet layer (21) created in one of the layer formation systems (50) to the transfer station (14) of the palletizing system (3), and wherein the receiving element (40) in a second operating mode (AP2) is configured to transfer a pallet layer (21) created in the other layer formation system (50) to the transfer station (14) of the palletizing system (3).Handling device (1) according to claim 1 or 2, wherein the receiving element (40) in a first operating mode (AP1) is configured to receive a pallet layer (21) created in the first layer formation system (50) and transfer it to the transfer station (14) of the palletizing system (3), and wherein the receiving element (40) in a second operating mode (AP2) is configured to receive a pallet layer (21) created in the second layer formation system (50) and transfer it to the transfer station (14) of the palletizing system (3).Handling device (1) according to claim 1 or 2, wherein the receiving element (40) in a first operating mode (AP1) is configured to receive a pallet layer (21) created in the first layer formation system (50) and to transfer a pallet layer (21) created in the second layer formation system (50) to the transfer station (14) of the palletizing system (3), and wherein the receiving element (40) in a second operating mode (AP2) is configured to receive a pallet layer (21) created in the second layer formation system (50). to pick up and transfer a pallet layer (21) created in the first layer formation system (50) to the transfer station (14) of the palletizing system (3).

5. Handling device (1) according to one of claims 1, 2 or 4, wherein the receiving element (40) comprises two pallet layer receiving positions (18) and wherein the receiving element (40) is movably designed.

6. Handling device (1) according to claim 5, in which the receiving element (40) is designed to be transversely movable to a production direction (TR) of the handling device (1).

7. Handling device (1) according to claim 5 or 6, wherein the handling device (1) comprises a rail system (19) which rail system (19) extends transversely to the production direction (TR), and wherein the receiving element (40) is arranged on the rail system (19).

8. Handling device (1) according to claim 7, in which the receiving element (40) comprises slide guides or motion rollers, via which slide guides or motion rollers the receiving element (40) is movably arranged on the rail system (19).

9. Handling device (1) according to one of claims 5 to 8, wherein in the first working mode (AP1) the first pallet layer receiving position (18) is arranged in a first alignment (F1) to the first layer formation system (50), and wherein in the first working mode (AP1) the second pallet layer receiving position (18) is arranged in alignment with the palletizing system (3), and wherein in the second working mode (AP2) the first pallet layer receiving position (18) is arranged in alignment with the palletizing system (3), and wherein in the second working mode (AP2) the second pallet layer receiving position (18) is arranged in a second alignment (F2) to the second layer formation system (50).

10. Method for handling articles or unit loads (23), in particular method for palletizing articles or unit loads (23), in a handling device (1) for articles or unit loads (23), the handling device (1) comprising two layer formation systems (50) and a palletizing system (3), which palletizing system (3) comprises a transfer station (14) and a loading station (16), wherein a receiving element (40) with at least one pallet layer receiving position (18) is arranged between the layer formation systems (50) and the transfer station (14) of the palletizing system (3), which receiving element (40) establishes / forms a conveying connection between the layer formation systems (50) and the transfer station (14) of the palletizing system (3), wherein the receiving element (40) receives a pallet layer (21) from one of the layer formation systems (50) and from which receiving element (40) a pallet layer (21) is transferred to the transfer station (14) of the palletizing system (3).Method according to claim 10, wherein the receiving element (40) in a first operating mode (AP1) transfers a pallet layer (21) created in one of the layer formation systems (50) into the transfer station (14) of the palletizing system (3) and wherein the receiving element (40) in a second operating mode (AP2) transfers a pallet layer (21) created in the other layer formation system (50) into the transfer station (14) of the palletizing system (3). Method according to claim 10 or 11, wherein the receiving element (40) in a first working mode (AP1) receives a pallet layer (21) created in the first layer formation system (50) and transfers it to the transfer station (14) of the palletizing system (3) and wherein the receiving element (40) in a second working mode (AP2) receives a pallet layer (21) created in the second layer formation system (50) and transfers it to the transfer station (14) of the palletizing system (3).A method according to claim 10 or 11, wherein the receiving element (40) in the first operating mode (AP1) receives a pallet layer (21) created in the first layer formation system (50) and transfers a pallet layer (21) created in the second layer formation system (50) to the transfer station (14) of the palletizing system (3). A method according to claim 13, wherein the receiving element (40) in the second operating mode (AP2) receives a pallet layer (21) created in the second layer formation system (50) and transfers a pallet layer (21) created in the first layer formation system (50) to the transfer station (14) of the palletizing system (3). Method according to one of claims 10 to 14, wherein the receiving element (40) is transferred from the first working mode (AP1) to the second working mode (AP2) by a movement transverse to a production direction (TR) of the handling device (1).

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