Transfer device and method for handling packing units

Abstract

The invention relates to a transfer device (1) for handling packing units (P), comprising a gripper head (2) with a main frame (3), on which a gripper module (4) and a loading arm module (5) are movably mounted. The gripper module (4) is movable relative to the loading arm module (5) in a stroke movement direction (Y) in order to lift the packing unit (P) so that the loading arm module (5) can be driven under it and support it.

Description

[0001] TRANSFER DEVICE AND METHOD FOR HANDLING PACKING UNITS

[0002] The invention relates to a transfer device for handling packing units, comprising a gripping head which has a base frame, a gripping module for lifting a packing unit and a loading tongue module for supporting the packing unit, wherein the base frame defines a front plane and a rear plane and forms two side walls which extend between the front plane and the rear plane, the gripping module is mounted on the base frame so as to be movable along a lifting direction relative to the loading tongue and relative to the base frame, in particular by means of a drive device, and the loading tongue is mounted on the base frame so as to be movable along an extension direction between a retracted starting position and an extended receiving position relative to the base frame and relative to the gripping module.

[0003] Furthermore, the invention relates to a method for handling a packing unit by means of a transfer device, wherein the transfer device comprises a gripping head having a base frame, a gripping module for lifting a packing unit, and a loading tongue module for supporting the packing unit, comprising the steps of: i) positioning the gripping head in front of the packing unit; ii) gripping the packing unit by the gripping module; iii) lifting the packing unit by moving the gripping module relative to the base frame in a lifting direction so that a gap is formed between the packing unit and a base on which the packing unit lies; iv) supporting the packing unit by the loading tongue module, in which the loading tongue module is extended in an extension direction from a retracted starting position into an extended receiving position and is inserted into the gap so that the loading tongue module travels underneath the packing unit;v) Lowering the packing unit onto the loading tongue module by moving the gripping module relative to the base frame in the opposite direction to the lifting direction towards the loading tongue module; vi) Positioning the packing unit onto the loading tongue module.

[0004] The transfer device and the method can be designed in particular for unloading and / or loading a load carrier, for example a pallet, with packing units.

[0005] Transfer devices are known from the prior art which have a gripping head with a gripping module, wherein the gripping module usually has one or more gripping units.

[0006] EP 2 794 439 A1 discloses a transfer device designed for unloading layers of packing units. The gripping module of this transfer device comprises a first gripping unit with a plurality of suction grippers for lifting so-called intermediate layers. Furthermore, the gripping module comprises a second gripping unit designed for lifting packing units layer by layer by clamping.

[0007] Another transfer device is known from EP 2 441 709 A1, which is designed for the joint handling of adjacently arranged plastic crates or banana boxes. The gripping module of this transfer device comprises a first and a second gripping unit. On the one hand, the first gripping unit is designed for lifting plastic crates and comprises jointly acting positive and non-positive gripping means, namely hooks and clamping means. A disadvantage here is that the plastic crates must be accessible from at least three sides so that they can be clamped laterally and hooked in at the front. On the other hand, the second gripping unit is designed for lifting banana boxes and likewise comprises jointly acting positive and non-positive gripping means, namely pins and suction cups.Since the gripping units cannot be moved relative to the loading tongue, it is necessary that the packing units are completely lifted so that the loading tongue can pass underneath them.

[0008] Furthermore, WO 2020 014725 A2 discloses a transfer device designed for unloading a transport loading aid by clamping. The gripping module comprises two interacting clamping means that can be positioned on a packing unit to clamp it in place. A disadvantage of this is that opposite side walls of the packing unit must be accessible so that the packing unit can be clamped in place. The object of the invention is therefore to provide an improved transfer device and a corresponding method for handling packing units. In particular, the reliable lifting of individual packing units should be enabled.

[0009] The object is achieved in a transfer device of the type mentioned at the outset in that the gripping module has a plurality of gripping units of different gripping types, which are designed to contact a contact side of the packing unit and can be activated alternately, and the transfer device has a control system which is set up to detect a grippability of the packing unit, to determine a gripping type that is suitable for lifting the packing unit based on the grippability, to select a gripping unit corresponding to the determined gripping type (automatically) and to trigger activation of the selected gripping unit.

[0010] An advantage achieved with the invention is in particular that the transfer device can be adapted to a packing unit to be lifted by selecting different gripping means suitable for the respective packing unit.

[0011] The gripping ability indicates which gripping unit or gripping type can be used to grasp or lift the package unit. Gripping ability can be based on the surface finish, lateral accessibility, weight, weight distribution of the package unit, and / or similar factors.

[0012] The graspability can be determined by identifying the packaging unit and retrieving master data stored in an electronic memory, including the graspability, via the control system. Alternatively, the graspability can also be determined by evaluating the contact side, in particular a surface quality of the contact side.

[0013] The contact side of the packing unit can be understood as the side facing the (selected) gripping unit, in particular the front plane. Preferably, the contact side is vertically oriented. Particularly preferably, the contact side is formed by an end wall of the packing unit.

[0014] Different gripping types can each comprise gripping elements that operate according to different principles, for example, a frictional or positive locking principle. It is advantageous if the gripping elements are selected from a group comprising one or more frictional and / or positive locking gripping elements. It is advantageous if the gripping unit comprises one or more gripping elements of the corresponding gripping type.

[0015] The frictional gripping types can be selected from a group comprising vacuum gripping types, clamping gripping types, and magnetic gripping types. Corresponding gripping means can be designed, for example, as vacuum gripping means, as clamping means, as magnetic gripping means, or the like.

[0016] Furthermore, the positive-locking gripping types can be selected from a group comprising hook gripping types, pin gripping types, screw gripping types, bayonet gripping types, or the like. Corresponding gripping means can, for example, be hooks, (spring-loaded) pins, screws, part of a bayonet lock, or the like.

[0017] It is advantageous if the gripping units each comprise one or more gripping devices.

[0018] In order to secure heavy packing units or packing units during dynamic or rapid movements of the gripping head, it can be provided that several gripping devices of different gripping types are activated and / or effective simultaneously.

[0019] Particularly preferably, a (first) gripping unit of a first gripping type and optionally a further (first) gripping unit of the first gripping type, in particular a force-locking gripping type, comprises one or more vacuum gripping means.

[0020] Furthermore, it may be advantageous if a (second) gripping unit of a second gripping type and optionally a further (second) gripping unit of the second gripping type, in particular a form-locking gripping type, comprises one or more form-locking gripping means, preferably spring-mounted pins.

[0021] It is advantageous if the control system is configured to retrieve master data of the packaging unit stored in an electronic memory and / or to store master data of the packaging unit in the electronic memory. This eliminates the need to re-determine known master data. On the other hand, newly acquired information about the packaging unit can be stored as master data. The master data can include data relating to the tangibility of the packaging unit, a weight of the packaging unit, a weight distribution or center of gravity of the packaging unit, a material of the packaging unit, a material enclosing the packaging unit, a dimension of the packaging unit, and / or the like.

[0022] It is advantageous if the control system comprises a reader for detecting an identification mark of the packaging unit, for example a barcode, QR code or RFID tag.

[0023] The control system can be configured to identify the packaging unit using the identification mark and to retrieve master data associated with the identified packaging unit from the electronic memory or to store it in the electronic memory. In this case, an identification mark can be arranged on each packaging unit. Alternatively, a packaging unit bundle consisting of several packaging units can have an identification mark. This is particularly useful when the positions of the packaging units within the packaging unit bundle are known or when the packaging unit bundle consists of a plurality of identical packaging units.

[0024] Furthermore, it can be provided that the control system has an image acquisition system for recording an image of the contact side of the packing unit, for example a camera, and an evaluation unit, wherein the evaluation unit is configured to determine a surface quality of the contact side based on an image recorded by the image acquisition system and to determine the grippability based on the surface quality. This makes it possible, for example, to record or generate new master data or to determine the gripping type without the grippability of the packing unit having to be known in advance. For this purpose, it is expedient if the image acquisition system is connected to the evaluation unit for data purposes. It is advantageous if an optical axis of the image acquisition system runs parallel to the extension direction or orthogonal to the front plane.

[0025] The evaluation unit can comprise an algorithm by means of which the surface quality of the contact side is evaluated, in particular an image recognition algorithm. It is advantageous if the control system has a monitoring unit configured to record gripping parameters during the lifting of the packing unit and to store training data in an electronic memory. The training data includes the determined gripability and recorded gripping parameters, and the evaluation unit for determining the gripability comprises a machine learning model that can be trained using the training data.

[0026] The machine learning model may include the image recognition algorithm. Training the machine learning model is preferably carried out using unsupervised, (semi-)supervised, and / or reinforcement learning. The training data may, in particular, include the master data described above.

[0027] Preferably, the gripping head has a clamping unit for securing the packing unit. This clamping unit comprises two cooperating clamping means mounted on the base frame so as to be movable relative to one another in order to generate a clamping force, particularly acting on the packing unit. Thus, the packing unit can be easily secured and / or aligned to the gripping head. Particularly preferably, the clamping unit comprises one of the gripping units.

[0028] In order to position clamping means against the side walls of the packing unit and thereby generate a clamping force acting on the packing unit, the clamping means can be movable toward each other. For this purpose, the clamping means can be moved relative to each other from an opening s position to a clamping position. In the clamping position, the distance between the clamping means is smaller than in the opening s position. In the clamping position, the distance essentially corresponds to the width of the packing unit, so that the packing unit is clamped to opposite side walls.

[0029] In this case, it can be advantageous if one of the clamping means, in particular a first clamping means, can be provided in a stop position. Furthermore, it can be provided that another of the clamping means, in particular a second clamping means, can be provided in the open position. According to a first embodiment of the clamping unit, the second clamping means can be moved in the direction of the first clamping means from the open position into the clamping position. According to a second embodiment of the clamping unit, the first and second clamping means can be moved towards one another, such that they can be moved from the (moved apart) open position into the (moved towards one another) clamping position.It is advantageous if at least one of the clamping means is movable between a stowed position and an operating position, wherein the front plane and mutually opposite outer surfaces of the side walls delimit an interior space and the at least one clamping means is arranged completely in the interior space in the stowed position and at least partially outside the interior space in the operating position. A further advantage achieved in this way can be seen in particular in the fact that no interfering contour protrudes on the side walls or on at least one side wall, so that the gripping module can be positioned as close to a wall as possible, for example. This makes it possible for packing units that are arranged on a wall or next to another packing unit to be reliably lifted or released as close to a wall as possible and thus very reliably.

[0030] The stop position can correspond to the operating position of the first clamping means. The opening position can correspond to the operating position of the second clamping means.

[0031] Furthermore, the clamping unit can be provided with a drive device for moving the clamping means. In this case, the drive device can be provided with a separate drive for each clamping means, so that they can be moved individually.

[0032] It is advantageous if the loading tongue module comprises two loading tongues arranged next to one another, which have a lateral connecting contour along a side facing the other loading tongue, which has alternating projections and depressions, and the gripping head can be brought into a first configuration in which the loading tongues are arranged at a minimum distance from one another and the connecting contours of the loading tongues engage with one another, and a second configuration in which the loading tongues are arranged at a maximum distance from one another, wherein the maximum distance is greater than the minimum distance. One advantage achieved in this way can be seen in particular in the fact that the lateral connecting contour enlarges a support surface when the loading tongues are moved apart, and the support surface can be adapted to a width of the packing unit by adjusting the width or the distance between the loading tongues and can thus be maximized.This ensures reliable handling of packaging units, especially those that are not dimensionally stable or particularly heavy.

[0033] To change the distance between the loading tongues, it is advantageous if the loading tongues are movable relative to one another along a width direction. The minimum distance between the loading tongues is preferably essentially zero, so that they adjoin one another. Particularly preferably, the distance between the loading tongues is continuously adjustable from the minimum distance to the maximum distance. This allows the loading tongue module to be configured in further ways and thus individually adapted to the width of the packing unit.

[0034] In the extended receiving position, the loading tongue module preferably protrudes above the front plane so that the packing unit can be placed on the loading tongue module.

[0035] It is advantageous if the loading tongue module is flush with the front plane in the retracted starting position or is offset from the front plane towards the rear plane. This way, the loading tongue module does not create an interfering contour when positioning the gripper head.

[0036] It is particularly preferred that the loading tongue(s) is / are each plate-shaped.

[0037] Furthermore, the loading tongue module can be provided with a drive device for moving the loading tongue module, in particular the loading tongue(s). If multiple loading tongues are present, the drive device can be provided with a separate drive for each loading tongue, so that they can be moved individually.

[0038] Preferably, the gripping module is movable parallel to the extension direction between a retracted inactive position and an active position located upstream of the inactive position in the extension direction. Particularly preferably, gripping units of the gripping module, in particular gripping units of different gripping types, are movable independently of one another parallel to the extension direction between the inactive position and the active position. The gripping units can be selectively movable into the active position in order to activate the respective gripping unit.

[0039] Particularly preferably, the gripping module comprises a first and a second gripping unit, in particular of different gripping types, which are movable independently of one another, so that either the first or the second gripping unit can be moved into the active position. It may be advantageous if, in a first gripping setting, the first gripping unit is in the use position and the second gripping unit is in the starting position, and / or if, in a second gripping setting, the first gripping unit is in the starting position and the second gripping unit is in the use position.

[0040] It is advantageous if the gripping head comprises a clamping element that protrudes beyond the front plane, in particular beyond the gripping module or gripping unit(s), and is mounted on the base frame so that it can move relative to the loading tongue parallel to the stroke direction. This creates a clamping force between the clamping element and the loading tongue. This allows the packing unit to be secured. Furthermore, it can prevent the packing unit from tipping forward off the loading tongue.

[0041] For example, in order to detect or locate a stack height of a packing unit stack and / or a top edge of a packing unit to be picked up, the gripping head can comprise a probing element projecting beyond the front plane, in particular beyond the gripping module or gripping unit(s), and a probing sensor system. The probing element is movable between a probing position and an actuating position, and the probing sensor system is designed to detect a movement of the probing element from the probing position into the actuating position. The probing element is preferably formed by the clamping element. Alternatively, the probing element can be designed as a probing finger.

[0042] In order to detect or monitor a horizontal positioning of the gripping head relative to the packing unit, it can be provided that the gripping head comprises a camera unit which is mounted on the base frame in the extension direction above the front plane, wherein an optical axis of the camera unit runs parallel to the lifting direction.

[0043] Furthermore, it is advantageous if the gripping module comprises at least two gripping units of the same gripping type, which are movable relative to each other in the width direction to change the distance between them. This allows the receiving width to be adjusted to accommodate packing units of different widths.

[0044] Furthermore, it is advantageous if the side walls of the base frame are movable relative to each other in the width direction in order to change the distance between them. It is advantageous if the base frame forms a support structure for the gripping module and the loading tongue, as well as, if applicable, for the clamping unit. The front plane and the rear plane defined by the base frame preferably run parallel to each other. Similarly, the side walls also preferably run parallel to each other.

[0045] In order to position the gripping head relative to the packing unit and / or to transfer the packing unit from a source location to a destination location, it is preferably provided that the gripping head is (automatically) movable in space.

[0046] It is advantageous if the transfer device comprises a manipulation unit by means of which the gripping head can be moved (automatically) in space. The manipulation unit is preferably designed as a gantry robot or an articulated-arm robot.

[0047] The lifting direction is preferably aligned parallel to the front plane and parallel to the side walls. Furthermore, the extension direction is preferably aligned orthogonal to the front plane and parallel to the side walls. Furthermore, the width direction is preferably aligned parallel to the front plane and orthogonal to the side walls. Particularly preferably, the lifting direction, the extension direction, and the width direction each enclose an angle of 90° in pairs.

[0048] It is advantageous if the gripper head can be moved to a neutral position, in which the stroke direction is vertical. In this case, the extension and width directions are horizontal.

[0049] By utilizing the advantages and effects described above, the object is further achieved by an order picking system which has one or more transfer devices for handling packing units, wherein the transfer devices are designed according to one of the aspects described above.

[0050] The order picking system can in particular comprise a source location and a destination location, wherein the transfer device is designed to transfer packing units from the source location to the destination location.

[0051] Furthermore, the picking system can have a provisioning device for providing packing units, in particular on source load carriers, at the source location. The provisioning device can comprise a conveyor system for transporting the packing units to the source location, in particular on the source load carriers. Likewise, the picking system can comprise a conveyor system for transporting the packing units, in particular on target load carriers, from the target location and / or a provisioning device for providing target load carriers at the source location.

[0052] Particularly preferably, the transfer device is designed to remove packing units from source load carriers and / or to place them on target load carriers or the conveyor system.

[0053] The transfer device of the picking system is designed specifically for processing a picking order and can thus be part of a picking station or provide such a station. Here, packing units can be transferred from a source load carrier provided at the source location to a target load carrier provided at the destination location, according to the picking order.

[0054] By utilising the advantages and effects described above, the procedural task is achieved in a method of the type mentioned at the outset in that the gripping module has several gripping units of different gripping types and step ii) comprises the following steps:

[0055] Detecting a grippability of the packing unit by a control system, wherein the grippability indicates a gripping type suitable for lifting the packing unit;

[0056] Selecting a gripping unit from the gripping units of different gripping types depending on the detected gripability by the control system;

[0057] Activation of the selected gripping unit by the control system;

[0058] Establish a detachable connection between the selected gripping unit and a contact side of the packing unit.

[0059] Detecting the grippability can comprise retrieving the grippability from an electronic memory and / or evaluating the surface quality of the contact side. Based on the detected grippability, a gripping unit suitable for lifting is selected and subsequently activated. It is advantageous if packing units with a smooth surface are assigned a first grippability, which indicates that the frictional gripping type, in particular a gripping unit comprising vacuum gripping means, is suitable for lifting the packing unit. Furthermore, it is advantageous if packing units with a structured surface are assigned a second grippability, which indicates that the positive gripping type, in particular a gripping unit comprising spring-loaded pins, is suitable for lifting the packing unit.

[0060] It is advantageous if, upon activation, a relative movement is performed between the selected gripping unit and the at least one other gripping unit of the plurality of gripping units, wherein the selected gripping unit is positioned upstream of the at least one other gripping unit in the extension direction. The relative movement can be achieved by moving the selected gripping means in the extension direction and / or by moving the at least one non-selected gripping means counter to the extension direction.

[0061] It is advantageously provided that detecting the graspability includes a step of identifying the packaging unit. This can be done, for example, as described above, by detecting and evaluating an identification mark arranged on the packaging unit. Alternatively, the packaging unit can be identified from a gripping order, wherein the gripping order includes the position of the packaging unit and, if applicable, associated master data.

[0062] Furthermore, it is advantageous if the detection of the tangibility includes a step of transmitting the tangibility of the identified packaging unit from an electronic memory to the control system. This may, for example, involve the control system receiving data relating to the tangibility, which is transmitted, for example, from a higher-level control computer to the control system. Alternatively or additionally, the transmission may include the control system retrieving such data from the electronic memory.

[0063] Furthermore, it is advantageous if the detection of the gripability comprises a step of capturing an image of the contact side using an image capture system and a step of evaluating the (captured) image using an evaluation unit in order to determine a surface texture. The evaluation of the image can be carried out, for example, as described above, using an image recognition algorithm. Furthermore, it is advantageous if the detection of the gripability subsequently comprises a step of determining a gripability of the packaging unit based on the surface texture. In general, the surface texture can indicate whether, for example, materials or structures are present which impair a suction force effect of the gripping means or enable a positive connection and the gripping means if the gripping means is designed accordingly.For example, the surface quality can indicate a surface roughness and / or a surface structure and / or the like. In particular, the surface quality can indicate whether protrusions, depressions, a plastic film, dirt, water droplets, or the like are present on the contact side.

[0064] It is particularly preferred that when detecting the graspability, the graspability is either transferred from an electronic memory to the control system or a recorded image of the contact side is evaluated and the graspability of the packaging unit is determined based on the surface condition, depending on whether the graspability is stored in the electronic memory.

[0065] It is advantageous if the image is evaluated using a machine learning model.

[0066] Furthermore, it is advantageous if the method comprises a step vii) of recording gripping parameters. The gripping parameters relate to or indicate the quality of the connection between the selected gripping unit and the contact side. The recording of the gripping parameters preferably takes place during steps ii), iii), iv) and / or v). The gripping parameters can be assigned to the gripping type and the determined surface texture in order to provide training data. It is expedient if the method comprises a step viii) of training the machine learning model using the training data. The model can be trained as described above.

[0067] It is advantageous if the positioning of the packing unit according to step vi) comprises a step of providing two cooperating clamping means of a clamping unit mounted on the base frame to opposite sides of the packing unit.

[0068] In addition, the fixing of the packing unit can comprise a step of aligning and / or clamping the packing unit between the clamping means by reducing a distance between the clamping means. In this way, the packing unit can be brought into a well-defined position and / or reliably fixed by clamping during a movement of the gripping head. During the alignment, the packing unit can, for example, be positioned centrally on the loading tongue module by moving the two clamping means towards one another. Alternatively, the packing unit can be positioned against a fixed stop provided by a first clamping means of the clamping means by displacing the packing unit on the loading tongue module by moving a second clamping means of the clamping means towards the first clamping means. For clamping, the two clamping means are moved towards one another or away from one another as far as necessary.the second clamping means is moved in the direction of the second clamping means until the packing unit is fixed between the cooperating clamping means.

[0069] For alignment and / or clamping, the clamping means are first provided in the previously described opening position and then moved relative to each other into the clamping position, whereby the distance between the clamping means is reduced.

[0070] It is furthermore advantageous if the positioning according to step vi) comprises a step of releasing the connection between the gripping unit and the contact side after the lowering of the packing unit according to step v), wherein the alignment and / or clamping of the packing unit is carried out after the release of the connection.

[0071] Taking advantage of the advantages and effects described above, the object is further achieved in a method of the type mentioned at the outset in that the positioning according to step vi) comprises the following steps:

[0072] Providing two cooperating clamping means of a clamping unit mounted on the base frame to opposite sides of the packing unit;

[0073] Disconnecting the connection between the gripping unit and the contact side after lowering the packing unit according to step v);

[0074] Aligning and / or clamping the packing unit between the clamping means by reducing a distance between the clamping means.

[0075] It is advantageous if the alignment and / or clamping of the packing unit includes the following steps:

[0076] Providing a first clamping means of the clamping means in a stop position, in particular as previously described; moving a second clamping means of the clamping means toward the first clamping means;

[0077] Pushing the packing unit towards the first clamping means by means of the second clamping means until the packing unit is positioned against the first clamping means.

[0078] When moving the second clamping means, it is preferably provided in the previously described operating position of the second clamping means or in the open position and then moved into the clamping position.

[0079] The packing unit is preferably pushed by moving or during the movement of the second clamping means.

[0080] In order to prevent the packing unit from tipping forward, it is advantageous that the positioning in step vi) comprises the following steps:

[0081] Providing a clamping element which projects beyond the gripping module and is mounted on the base frame so that it can move relative to the loading tongue module,

[0082] Positioning the clamping element in a basic position in which the clamping element is positioned above the packing unit and protrudes over the packing unit in the extension direction,

[0083] Moving the clamping element from the basic position into a fixing position, whereby the clamping element is placed against an upper edge of the packing unit and the packing unit is fixed by clamping between the clamping element and a loading tongue of the loading tongue module.

[0084] Furthermore, it can be provided that the positioning of the gripping head according to step i) comprises the following steps:

[0085] Providing a probing element mounted on the base frame so as to be movable relative to the loading tongue module in a probing position in which the probing element protrudes beyond the gripping module; horizontally positioning the gripping head, wherein the gripping head is moved into a first position in which the probing element protrudes beyond the packing unit and the gripping module is arranged parallel to the extension direction at a distance from the contact side; vertically positioning the gripping head, wherein the probing element is provided in a probing position in which the probing element is positioned at a lower end of the gripping module, and the gripping head is lowered until the probing element is moved from the probing position into an actuating position by touching an upper edge of the packing unit, after which the gripping head is lowered further so that the loading tongue module is aligned with a lower edge of the packing unit.

[0086] During vertical positioning, the movement of the contact element from the contact position to the actuating position can be detected by the contact sensor. By touching the top edge and the resulting movement of the contact element, the position of the top edge and thus the stack height can be determined. Based on the stack height, a pick-up level can be determined, at which, for example, the loading tongue should be positioned and / or extended to pick up the pack unit.

[0087] The packaging unit can comprise a single package or several packages, in particular stacked packages. A package can be, for example, a container, a carton, a box, a crate, or the like.

[0088] A packaging unit to be handled can be provided on the transfer device individually or as part of a packaging unit bundle. The packaging unit bundle can comprise several packaging units, in particular stacked one above the other.

[0089] Preferably, packing units and / or the packing unit containers are provided on load carriers, in particular source load carriers, from which the packing unit is to be lifted. It can also be provided that the packing units are to be delivered onto load carriers, in particular target load carriers.

[0090] Such a load carrier, in particular a source or destination load carrier, can be designed, for example, as a tray, pallet, roll container, transport frame, or the like. For a better understanding of the invention, it is explained in more detail with reference to the following figures.

[0091] They show in a highly simplified, schematic representation:

[0092] Fig. 1a to 2b show a gripping head of a transfer device;

[0093] Fig. 3a the transfer device with a packing unit with a smooth surface;

[0094] Fig. 3b the transfer device with a packing unit with a structured surface;

[0095] Fig. 4a to 4d show a side view of the packing unit being picked up by the transfer device;

[0096] Fig. 5a to 5c an alignment of the packing unit on the loading tongues;

[0097] Fig. 6a shows a first transfer of a packing unit by the transfer device in a picking system;

[0098] Fig. 6b a second transfer of a packing unit by the transfer device in the order picking system;

[0099] Fig. 7 shows a method for handling a packing unit;

[0100] Fig. 8 shows the positioning of a gripping head of the transfer device;

[0101] Fig. 9 gripping the packing unit;

[0102] Fig. 10 a detection of the packing unit;

[0103] Fig. 11 a further detection of the packing unit;

[0104] Fig. 12 an alignment or fixing of the packing unit;

[0105] Fig. 13 a vertical clamping of the packing unit;

[0106] Fig. 14 a horizontal clamping of the packing unit.

[0107] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations, whereby the disclosures contained in the entire description can be applied mutatis mutandis to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure and, in the event of a change in position, is to be applied mutatis mutandis to the new position.

[0108] Fig. 1a to Fig. 2b show a perspective view of a transfer device 1 for handling packing units P. The transfer device 1 comprises a gripping head 2, which includes a base frame 3, a gripping module 4, and a loading tongue module 5. In Fig. 2a and Fig. 2b, the transfer device 1 is shown in a highly simplified manner.

[0109] The base frame 3 defines a front plane FE and a rear plane RE, which are shown in dash-dotted lines in Fig. 1a. Furthermore, the base frame 3 forms two side walls 31 that extend between the front and rear planes RE.

[0110] Optionally, the gripping head 2 can be configured in a first configuration with a first width, as shown in Fig. 1a, and / or in a second configuration with a second width, as shown in Fig. 1b. Particularly preferably, the gripping head 2 is (continuously) adjustable between these configurations.

[0111] For this purpose, it can be provided that the side walls 31 are movable relative to one another along a width direction Z in order to change a distance between the side walls 31. As can be seen in Fig. 1a and Fig. 1b, the distance in the first configuration can be smaller than in the second configuration. This adjustability makes it possible to reliably accommodate packing units P of different sizes. The first configuration can correspond to a minimum adjustable distance between the side walls 31. The second configuration can correspond to any further distance between the side walls 31, which is in particular greater than the minimum adjustable distance. Expediently, the further distance is smaller than or equal to a maximum adjustable distance between the side walls 31.

[0112] The gripping module 4 and the loading tongue module 5 are movably mounted on the base frame 3.

[0113] Thus, the base frame 3 essentially forms a support structure for the latter. Furthermore, the gripping module 4 is mounted on the base frame 3 so as to be movable along a stroke direction Y and comprises at least one gripping unit 41. The gripping module 4 preferably comprises several, in particular two, gripping units 41, as illustrated by way of example in Fig. 1a and Fig. 1b. The illustrated gripping units 41 are designed according to the same gripping type.

[0114] As shown by way of example, the gripping units 41 can be designed according to a force-lock gripping type, in particular according to a vacuum gripping type, and can comprise a plurality of vacuum grippers. Of course, gripping units 41 of a different gripping type can also be provided instead of the gripping units 41 shown.

[0115] In addition or alternatively to the gripping units 41 of the frictional gripping type shown in Fig. 1a and Fig. 1b, the gripping module 4 can also comprise gripping units 41 of the positive-locking gripping type, each of which has a plurality of positive-locking gripping means 43. The positive-locking gripping means 43 can, for example, be designed as spring-mounted pins.

[0116] Thus, the gripping module 4 can comprise several, in particular two or four, gripping units 41 of the same gripping type and / or several, in particular two or four, gripping units 41 of different gripping types.

[0117] If the gripping head 2 is adjustable between the first and second configurations, it can also be provided that the gripping units 41 of the same gripping type are movable relative to one another in the width direction Z in order to change a distance between them, as can be seen from a combination of Fig. 1a and Fig. 1b.

[0118] Furthermore, it is advantageous if the gripping module 4, in particular the gripping units 41 individually, is movable in the extension direction X between a retracted inactive position and a forward active position.

[0119] In order to lift the packing unit P relative to the loading tongue module 5, the gripping unit 41 is mounted on the base frame 3 so as to be movable along a lifting direction Y. The lifting direction Y is indicated in Fig. 1a by way of example as a double arrow.

[0120] The loading tongue module 5 is mounted on the base frame 3 so as to be movable along an extension direction X between a retracted starting position and an extended receiving position. The retracted starting position is shown in Fig. 2a. Furthermore, the extended starting position is shown in Fig. 1a, Fig. 1b, and Fig. 2b. In Fig. 1a, the extension direction X is indicated by a double arrow.

[0121] The packing unit P can be accommodated on the loading tongue module 5, as shown in Fig. 2b.

[0122] The loading tongue module 5 preferably comprises several, in particular two, loading tongues 51. Alternatively, the loading tongue module 5 can comprise a single loading tongue 51, as not explicitly shown. Particularly preferably, the loading tongues 51 or the single loading tongue 51 are plate-shaped.

[0123] It is advantageous if the loading tongues 51, analogous to the side walls 31 or the gripping units 41, are movable in the width direction Z in order to change a distance between them.

[0124] The gripping head 2 in Fig. 1a is shown in a first configuration in which the loading tongues 51 are arranged at a minimum distance from one another. As can be seen in Fig. 1a, the minimum distance between the loading tongues 51 can be essentially zero, so that they adjoin one another. Furthermore, the gripping head 2 in Fig. 1b is shown in a second configuration in which the loading tongues 51 are arranged at a further distance from one another, which is greater than the minimum distance.

[0125] In order to widen a support surface for the packing unit P, in particular in the second configuration, it can be provided that the loading tongues 51 have a lateral connecting contour 52, which each comprises projections and recesses. In the first configuration, the projections and recesses of the loading tongues 51 arranged next to one another engage with one another, as can be seen in Fig. 1a. The second configuration can, for example, be selected such that the projections and recesses only partially engage with one another or no longer engage with one another, as shown in Fig. 1b. In the example shown, the connecting contour 52 is essentially wave- or jagged-shaped.

[0126] In order to align and / or fix the packing unit P on the loading tongue module 5, the gripping head 2 can have a clamping unit with two cooperating clamping means 6, as in the example shown. The clamping means 6 are arranged essentially on both sides of the base frame and mounted thereon. As shown in Fig. 1a to Fig. 2b, it is preferably provided that the clamping means 6 are arranged laterally or in the width direction Z flush with the respective side wall 31.

[0127] Furthermore, it is provided that the clamping means 6 are movable relative to one another in the width direction Z, as indicated in Fig. 1a by a double arrow, in particular movable towards one another, in order to generate a clamping force or to displace the packing unit P on the loading tongue module 5.

[0128] Furthermore, the clamping means 6 can be movable in the extension direction X between a (retracted) stowed position and a (forwarded) operating position. On the one hand, the respective clamping means 6 is flush with the front plane FE in the stowed position or does not protrude beyond it. On the other hand, the respective clamping means 6 protrudes beyond the front plane FE in the operating position. In Fig. 1a and Fig. 1b, one of the clamping means 6 (left) is arranged in the operating position and the other clamping means 6 (right) is arranged in the stowed position. The clamping means 6 shown in Fig. 2a and Fig. 2b are each shown positioned in the operating position.

[0129] It is advantageous if the transfer device 1 comprises a schematically illustrated control system 7. The control system 7 is designed to control the transfer device 1, in particular the gripping module 4, the loading tongue module 5 and / or the clamping unit, to detect the grippability of the packing unit P, to select a gripping unit 41 and / or to trigger an activation of the selected gripping unit 41. Preferably, the control system 7 is connected for data purposes to an optional electronic memory 71 or comprises such a memory. The optional electronic memory 71 is shown in dashed lines.

[0130] Furthermore, the gripping head 2 can comprise an optional camera unit 8, which protrudes beyond the gripping module 4 in the extension direction X and whose optical axis runs parallel to the stroke direction Y, as shown by way of example in Fig. 1a to Fig. 2b. This camera unit 8 can be used to monitor a horizontal positioning process.

[0131] To capture an image of a contact side of the packing unit P, the control system 7 may comprise an image capture system 9. The image capture system 9 is preferably arranged on the gripping head 2. It is advantageous if the control system 7 comprises an evaluation unit for evaluating the captured image, to which the image capture system 9 is connected for data purposes. An optical axis of the image capture system 9 preferably runs parallel to the extension direction X. The image capture system 9 typically comprises a camera.

[0132] For vertical positioning, the gripping head 2 can have a contact element 10 projecting beyond the front plane FE. The contact element 10 is movable along the stroke direction Y.

[0133] In order to fix the packing unit P on the loading tongue 51, it can also be provided that the contact element 10 is used as a clamping element. Such a contact element 10 or clamping element can be optionally provided in all described embodiments and is not shown in Fig. 1a and Fig. 1b for reasons of clarity.

[0134] In order to automatically move and / or align the transfer device 1 or the gripping head 2, the transfer device 1 or the gripping head 2 may comprise a manipulation unit 12 on which the gripping head 2 is mounted. Such a manipulation unit 12 may be provided in all described embodiments and, for reasons of clarity, is only shown in dashed lines in Fig. 2a and Fig. 2b.

[0135] In Fig. 3a, the transfer device 1 is shown in a simplified sectional view along line I of Fig. 2a. It can be seen that the previously described camera unit 8 and the sensing element 10 protrude beyond the front plane FE, in particular beyond the gripping module 4 in the extension direction X.

[0136] In Fig. 3a, a packing unit P is picked up by the transfer device 1, wherein the gripping unit 41 of the frictional gripping type is activated and a detachable connection is established between vacuum gripping means 42 of this gripping unit 41 and a contact side of the packing unit P. For this purpose, the gripping unit 41 of the frictional gripping type is activated by positioning the vacuum gripping means 42 upstream of the form-fitting gripping means 43. In this example, the packing unit P comprises a contact side with a smooth surface, so that the vacuum gripping means 42 are tightly sealed against it, and a detachable connection is thus established by applying a negative pressure.

[0137] Furthermore, in Fig. 3b, a packing unit P is picked up by the transfer device 1, wherein the gripping unit 41 of the form-locking gripping type is activated and a detachable connection is established between the form-locking gripping means 43 of this gripping unit 41 and the contact side of the packing unit P. For this purpose, the gripping unit 41 of the form-locking gripping type is activated by positioning the form-locking gripping means 43 upstream of the vacuum gripping means 42. In this example, the packing unit P comprises a contact side with a structured surface on which a plurality of webs 14 are arranged. The form-locking gripping means 43 engage with these webs 14 to establish the detachable connection.

[0138] The sensing element 10 can be positioned against the upper edge or an upper side of the packing unit P, as shown in Fig. 3a and Fig. 3b. This allows the upper edge to be detected and / or the packing unit P to be fixed on the loading tongue module 5.

[0139] Figs. 4a to 4d illustrate a process for handling a packing unit P, in particular for removing the packing unit P from a stack of packing units or a packing unit bundle. The individual steps of the method are described in detail below with reference to Figs. 7 to 12.

[0140] The packing units P can be stacked on a load carrier 15, for example, on a pallet. Alternatively, the packing units P can also be provided or stacked on a conveyor system or a floor.

[0141] When handling the packing unit P, the gripping head 2 is first positioned 100 in front of the packing unit P. If a contact element 10 is present, the gripping head 2 can first be moved downwards until the contact element 10 touches an upper edge of the packing unit P. This is shown in Fig. 4a. If necessary, contact with the upper edge is detected by the contact element 10 being moved from a contact position to an actuating position. To monitor this, the gripping head 2 can comprise a contact sensor 11, shown in dashed lines in Fig. 4a. For reasons of clarity, the contact sensor 11 is not shown in Fig. 4b to Fig. 4d.

[0142] The gripping head 2 can then be lowered until the loading tongue module 5 is aligned with a lower edge of the packing unit P. This is shown in Fig. 4b. For this purpose, the contact element 10 can be pivoted away or moved upwards, as in Fig. 4b, so that it does not hinder the movement of the gripping head 2. Once the gripping head 2 is positioned, the packing unit P can be gripped 200 by establishing a connection between the gripping module 4 and the packing unit P, as also shown in Fig. 4b. One or more of the existing gripping units 41 can be used as desired.

[0143] Fig. 4c shows a lifting 300 of the packing unit P, wherein the gripping module 4 is moved relative to the loading tongue module 5 in the lifting direction Y. As a result, the packing unit P is lifted. In the example shown, the lifting 300 comprises, in particular, a tilting of the packing unit P. As a result, a gap is formed below the packing unit P, into which gap the loading tongue module 5, in particular the loading tongue(s), can be inserted, whereby a support 400 of the packing unit P takes place from below.

[0144] By moving the gripping module 4 downwards in the direction of the loading tongue module 5, the packing unit P is lowered 500 onto the loading tongue 51.

[0145] After lowering 500 the packing unit P, the connection between the gripping module 4 and the packing unit P is released, as can be seen in Fig. 4d. Positioning 600 of the packing unit P on the loading tongue module 5 is preferably carried out by means of the clamping unit, as described in more detail below.

[0146] If the contact element 10 can be used as a clamping element, it can also be used to secure the packing unit P by moving it toward the loading tongue module 5, so that the packing unit P is clamped between the loading tongue module 5 or the loading tongue 51 and the contact element 10. This is also shown in Fig. 4d. Alternatively, a separate clamping element can be provided for this purpose.

[0147] In Fig. 5a to Fig. 5c, a positioning 600 of the packing unit P on the loading tongue module

[0148] 5, particularly on the loading tongues 51, shown in plan view.

[0149] First, the clamping means 6 of the clamping unit can be provided in the previously described operating position, as shown in Fig. 5a. A first clamping means 6, in the example shown, the right clamping means 6, is provided in a stop position. The other or second clamping means 6, in the example shown, the left clamping means

[0150] 6, is provided in an open position such that a distance between the clamping means 6 is greater than a width of the packing unit P. Subsequently, the second clamping means 6, which is in the open position, is moved toward the first clamping means 6, which is in the stop position. This is shown in Fig. 5b.

[0151] By this movement of the second clamping means 6 parallel to the width direction Z, the packing unit P is displaced in the direction of the first clamping means 6 and thereby positioned or aligned on the loading tongue module 5, as shown in Fig. 5c.

[0152] As an alternative to the example shown in Fig. 5a to Fig. 5c, the clamping means 6 can also be moved towards each other so that the packing unit P is centered on the loading tongue module 5 if necessary.

[0153] In Fig. 6a and Fig. 6b a section of a picking system 16 is shown in plan view, which comprises a transfer device 1.

[0154] Preferably, the transfer device 1 of such a picking system 16 may comprise a gripping head 2, which is configured as described above and arranged on the manipulation unit 12. The manipulation unit 12 may be configured as a gantry robot or an articulated-arm robot, as shown.

[0155] The transfer device 1 of the order-picking system 16 is designed to remove packing units P from a source location 17a, at which, for example, a source load carrier 15 is provided, and to deliver them to a destination location 17b, at which, for example, a target load carrier 15 is provided. In this case, packing units P can be removed, for example, from the source load carrier 15 and transferred onto or into the target load carrier 15, as shown in Fig. 6a. Thus, the transfer device 1 essentially provides a picking station.

[0156] It is advantageous if the order-picking system 16 has a first provision device 18a for the automated transport of the packing units P to the source location 17a and / or for the automated transport of the packing units P or the (source) load carriers 15 from the source location 17a. The first provision device 18a can, in particular, comprise a conveyor system for transporting the packing units P and / or load carriers 15.

[0157] Furthermore, it is advantageous if the order-picking system 16 includes a second provision device 18b for the automated transport of (target) load carriers 15 to the destination 17b and / or transport of the packing units P from the destination 17b. The provision devices are shown in dashed lines in Fig. 6a and Fig. 6b.

[0158] In the example shown in Fig. 6a, packing units P are provided automatically at the source location 17a by means of the first provision device 18a, for example on a (source) load carrier 15. At the destination location 17b, a (destination) load carrier 15 is provided by means of the second provision device 18b, onto which packing units P are to be transferred, in particular according to a picking order.

[0159] Another example is shown in Fig. 6b, wherein packing units P are automatically provided at the source location 17a by means of the first provision device 18a, for example on a (source) load carrier 15. At the destination location 17b, the packing units P are placed directly on a conveying surface of the provision device. For this purpose, the provision device comprises a conveyor system that provides the conveying surface. The conveyor system can comprise a stationary conveyor system, for example a roller or belt conveyor, that provides the conveying surface. Alternatively, the conveyor system can comprise a mobile conveyor system that comprises several driverless transport vehicles, whose deposit surfaces each provide a conveying surface.

[0160] In Fig. 7, a method for handling the packing unit P is shown schematically, wherein first the positioning 100 of the gripping head 2 takes place in front of the packing unit P. This can be carried out as described in connection with Fig. 4a and Fig. 4b.

[0161] Advantageously, the positioning 100 of the gripping head 2 comprises the steps schematically shown in Fig. 8, wherein a first step preferably comprises a provision 110 of the previously described probing element 10 in the probing position.

[0162] Furthermore, in a next step, a horizontal positioning 120 of the gripping head 2 takes place, wherein the gripping head 2 is moved into a first position in which the contact element 10 projects beyond the packing unit P and the gripping module 4 is arranged parallel to the extension direction X and at a distance from the contact side. The horizontal position can be monitored, for example, using the previously described camera unit 8. Such a position of the gripping head 2 is shown, for example, in Fig. 4a. Furthermore, in a further step, a vertical positioning 130 of the gripping head 2 takes place, wherein the gripping head 2 is moved (vertically) downwards until the contact element 10 touches the upper edge of the packing unit P and is thus moved from the contact position into the actuating position. This can be monitored, for example, by means of the contact sensor system 11. A stack height is determined by this so-called contact.The gripping head 2 is then moved or lowered further downwards by a specific adjustment path until the loading tongue module 5 is aligned with a lower edge of the packing unit P. The adjustment path can result, for example, from the specific stack height and a known height of the packing unit P.

[0163] After positioning 100 of the gripping head 2, gripping 200 of the packing unit P can take place by the gripping module 4, in particular by one or more of the gripping units 41 of the gripping module 4. In this case, a detachable connection is established between the gripping unit 41 and the contact side of the packing unit P. The detachable connection can be established in particular by applying a negative pressure if a gripping unit 41 of the vacuum gripping type is used, or by a positive engagement of the gripping unit 41 and a structured surface of the packing unit P, in particular webs 14, if a gripping unit 41 of the form-locking gripping type is used, as shown by way of example in Fig. 3a or Fig. 3b.

[0164] If the gripping module 4 has several gripping units 41 of different gripping types, the gripping 200 can be performed as shown in Fig. 9. First, the grippability of the packing unit P is detected 210 by the control system 7.

[0165] If the accessibility of the packaging unit P is known or stored in the electronic memory 71, the accessibility can be detected 210, for example, as shown in Fig. 10. First, the packaging unit P is identified 211. This can be done by detecting an identification marker of the packaging unit P by the control system 7. Subsequently, the accessibility relating to the identified packaging unit P can be transmitted 212 from the electronic memory 71 to the control system 7.

[0166] Alternatively, especially if the tangibility is not known, capturing 210 of the

[0167] Tangibility can be achieved, for example, as shown in Fig. 11. Using the previously described image acquisition system 9, an image of the contact side can be captured 313, which can then be evaluated with regard to surface quality.

[0168] For this purpose, the control system 7 can comprise an evaluation unit. The image can thus be evaluated 314 by means of the evaluation unit of the control system 7. Particularly preferably, the evaluation unit comprises an image recognition algorithm, in particular a machine learning model.

[0169] Based on the determined surface texture, the gripability can be determined 215. This can also be performed automatically by the control system 7, in particular by the evaluation unit, preferably by the machine learning model.

[0170] Based on the detected gripability, the control system 7 selects 220 the gripping unit(s) which is / are suitable for lifting the packing unit P.

[0171] The selected gripping unit(s) are then activated 230 by the control system 7. This can be done in particular by moving the selected gripping unit(s) from the previously described inactive position into the active position.

[0172] Now, the detachable connection between the selected and activated gripping unit 41 and the contact side of the packing unit P can be established.

[0173] Once the detachable connection has been established, the packing unit P can be lifted 300 by moving the gripping module 4 away from the loading tongue module 5 in the lifting direction Y. In doing so, the packing unit P is lifted or tilted, as shown by way of example in Fig. 4c. This creates a gap beneath the packing unit P. The loading tongue module 5, in particular the loading tongue(s), can now be inserted into this gap by moving it from the retracted starting position into the extended receiving position. This results in the packing unit P being supported 400 by the loading tongue module 5. This is shown by way of example in Fig. 4c.

[0174] If the loading tongue module 5 is positioned below the packing unit P, the packing unit P can be lowered 500 by moving the gripping module 4 counter to the lifting direction Y in the direction of the loading tongue module 5. Thus, the packing unit P is essentially placed on the loading tongue module 5, in particular on the loading tongue(s) 51.

[0175] In a next step, positioning 600 of the packing unit P on the loading tongue module 5 can take place, wherein the packing unit P is preferably displaced by the clamping means 6 of the clamping unit on the loading tongue module 5 and thus moved into a defined position.

[0176] Positioning 600 is preferably carried out as schematically illustrated in Fig. 12 and described in connection with Fig. 5a to Fig. 5c. First, the clamping means 6 are provided 610 in the operating position, and the detachable connection between the gripping unit 41 and the packing unit P is released 710. Thus, the packing unit P is freely movable on the loading tongue module 5.

[0177] Subsequently, the distance between the clamping means 6 can be reduced as described above in order to displace the packing unit P on the loading tongue module 5 and / or to fix it by clamping. Thus, the alignment and / or clamping 630 of the packing unit P can be performed.

[0178] The alignment and / or clamping 630 of the packing unit P can in particular comprise providing 631 a (first) clamping means 6 of the clamping unit in the stop position and subsequently moving 632 the other clamping means 6 of the clamping unit in the direction of the clamping means 6 provided in the stop position, as described in connection with Fig. 5a to Fig. 5c. During the movement 632, the moved clamping means 6 is placed against the packing unit P, whereby a pushing 633 of the packing unit P occurs. This is illustrated schematically in Fig. 13.

[0179] Furthermore, the positioning 600 can comprise the steps shown in Fig. 12 of providing 640 a clamping element, positioning 650 the clamping element and clamping 660 the packing unit P. In the providing step 640, the clamping element, which projects beyond the gripping module 4 in the extension direction X, can be provided and, in the positioning step 650, positioned in a basic position in which the clamping element is positioned above the packing unit P and projects beyond the packing unit P in the extension direction X. The clamping element can be provided by the contact element 10 as previously described. Subsequently, in the clamping step 660, the clamping element can be moved parallel to the stroke direction Y in the direction of the loading tongue module 5 and placed against the packing unit P from above, so that the packing unit P is fixed between the loading tongue module 5 and the clamping element by clamping.

[0180] As shown in dashed lines in Fig. 7, the method may comprise an optional step of detecting 700 gripping parameters and optionally a step of training 800 the evaluation unit, in particular the machine learning model.

[0181] During the recording 700 of the gripping parameters, data relating to the quality of the detachable connection can be recorded. Thus, for example, it can be determined whether the connection holds throughout the entire lifting 300, how strong a vacuum is applied by the vacuum gripper, or the like. This can be considered a measure of whether the selected gripping unit 41 is suitable for lifting the packing unit P. The gripping parameters can be assigned to the gripping type and the determined surface condition to provide training data.

[0182] The evaluation unit can be trained using such training data.

[0183] Finally, it should be noted that the scope of protection is determined by the patent claims. However, the description and drawings should be considered for the interpretation of the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions in their own right.

[0184] In particular, it is also noted that the devices depicted may in reality comprise more or fewer components than shown. In some cases, the depicted devices or their components may also be shown not to scale and / or enlarged and / or reduced in size. Reference numerals

[0185] Transfer device

[0186] gripping head

[0187] Base frame

[0188] side walls

[0189] gripping module

[0190] gripping unit

[0191] V acuum gripping device

[0192] Form-lock gripping device

[0193] Loading tongue module

[0194] Loading tongue

[0195] Connection contour

[0196] clamping devices

[0197] tax system

[0198] memory

[0199] Camera unit

[0200] Image capture system

[0201] Probing element

[0202] Probing sensors

[0203] Manipulation unit

[0204] web

[0205] load carrier

[0206] Order picking system a, 17b Source location, destination location a, 18b First, second provision device 0 Positioning the gripping head 0 Providing the probing element 0 Horizontal positioning 0 Vertical positioning 0 Gripping the packing unit 0 Detecting the graspability 1 Identifying the packing unit 2 Transferring the graspability 3 Capturing the image 4 Evaluating the image 5 Determining the graspability 0 Selecting the gripping unit 0 Activating the gripping unit 0 Establishing the detachable connection 0 Lifting the packing unit 0 Supporting the packing unit 0 Lowering the packing unit 0 Positioning the packing unit 0 Providing clamping means 0 Releasing the connection 0 Aligning and / or clamping the packing unit 631 Providing the first clamping means

[0207] 632 Moving the second clamping means

[0208] 633 Pushing the packing unit

[0209] 640 Providing the clamping element

[0210] 650 Positioning the clamping element

[0211] 660 terminals of the packing unit

[0212] 700 Recording gripping parameters

[0213] 800 Training P Packing unit X Extension direction

[0214] Y stroke direction Z width direction FE front plane

[0215] RE rear level

Claims

P a t e n t a n s p r ü c h e 1. Transfer device (1) for handling packaging units (P), comprising a gripping head (2) which has a base frame (3), a gripping module (4) for lifting a packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), wherein the base frame (3) defines a front plane (FE) and a rear plane (RE) and forms two side walls (31) which extend between the front plane (FE) and the rear plane (RE), the gripping module (4) is movably mounted on the base frame (3) along a lifting direction (Y) relative to the loading tongue (51) and relative to the base frame (3), and the loading tongue (51) is movably mounted on the base frame (3) along an extension direction (X) between a retracted starting position and an extended receiving position relative to the base frame (3) and relative to the gripping module (4), characterized in that the gripping module (4) comprises several gripping units (41) of different gripping types exhibitswhich are designed to contact a contact side of the packaging unit (P) and can be activated alternately, and the transfer device (1) has a control system (7) which is configured to detect the gripping capability of the packaging unit (P), to determine a gripping type suitable for lifting the packaging unit (P) based on the gripping capability, to select a gripping unit (41) corresponding to the determined gripping type and to trigger the activation of the selected gripping unit (41).

2. Transfer device (1) according to claim 1, characterized in that the gripping types are selected from a group comprising one or more friction-fit gripping types and / or one or more positive-fit gripping types.

3. Transfer device (1) according to claim 1 or 2, characterized in that the control system (7) is designed to retrieve master data of the packaging unit (P) stored in an electronic memory (71) and / or to store (71) master data of the packaging unit (P) in the electronic memory (71).

4. Transfer device (1) according to one of claims 1 to 3, characterized in that the control system (7) comprises an image acquisition system (9) for capturing an image of the contact side of the packaging unit (P) and an evaluation unit, wherein the evaluation unit is set up to determine the surface texture of the contact side based on an image taken by the image acquisition system (9) and to determine the tactility based on the surface texture.

5. Transfer device (1) according to claim 4, characterized in that the control system (7) has a monitoring unit which is configured to detect gripping parameters during the lifting of the packaging unit (P) and to store training data in an electronic memory (71), wherein the training data includes the determined gripping ability and detected gripping parameters and wherein the evaluation unit for determining gripping ability includes a machine learning model which can be trained on the basis of the training data.

6. Transfer device (1) according to one of claims 1 to 5, characterized in that the gripping head (2) has a clamping unit for fixing the packaging unit (P), which comprises two cooperating clamping means (6) which are mounted on the base frame (3) so as to be movable relative to each other in order to generate a clamping force.

7. Transfer device (1) according to claim 6, characterized in that at least one of the clamping means (6) is movable between a stow position and an operating position, wherein the front plane (FE) and the outer surfaces of the side walls (31) facing away from each other define an interior space and the at least one clamping means (6) is arranged completely inside the interior space in the stow position and at least partially outside the interior space in the operating position.

8. Transfer device (1) for handling packaging units (P), comprising a gripping head (2) which has a base frame (3), a gripping module (4) for lifting a packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), wherein the base frame (3) defines a front plane (FE) and a rear plane (RE) and forms two side walls (31) which extend between the front plane (FE) and the rear plane (RE), the gripping module (4) is movably mounted on the base frame (3) along a lifting direction (Y) relative to the loading tongue (51) and relative to the base frame (3), and the loading tongue (51) is movably mounted on the base frame (3) along an extension direction (X) between a retracted starting position and an extended receiving position relative to the base frame (3) and relative to the gripping module (4). characterized in that the gripping head (2) has a clamping unit for fixing the packing unit (P), which comprises two cooperating clamping means (6) which are movably mounted relative to each other on the base frame (3) in order to generate a clamping force, wherein at least one of the clamping means (6) is movable between a stow position and an operating position, wherein the front plane (FE) and the outer surfaces of the side walls (31) facing away from each other define an interior space and the at least one clamping means (6) is arranged completely inside the interior space in the stow position and at least partially outside the interior space in the operating position.

9. Transfer device (1) according to one of claims 1 to 8, characterized in that the loading tongue module (5) comprises two loading tongues (51) arranged side by side, which have a lateral connecting contour (52) along a side directed towards the other loading tongue (51), which has alternating projections and recesses, and the gripping head (2) can be brought into a first configuration in which the loading tongues (51) are arranged at a minimum distance from each other and the connecting contours (52) of the loading tongues (51) engage in each other, and a second configuration in which the loading tongues (51) are arranged at a maximum distance from each other, wherein the maximum distance is greater than the minimum distance.

10. Transfer device (1) for handling packaging units (P), comprising a gripping head (2) which has a base frame (3), a gripping module (4) for lifting a packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), wherein the base frame (3) defines a front plane (FE) and a rear plane (RE) and forms two side walls (31) which extend between the front plane (FE) and the rear plane (RE), the gripping module (4) is movably mounted on the base frame (3) along a lifting direction (Y) relative to the loading tongue (51) and relative to the base frame (3), and the loading tongue (51) is movably mounted on the base frame (3) along an extension direction (X) between a retracted starting position and an extended receiving position relative to the base frame (3) and relative to the gripping module (4), characterized in that the loading tongue module (5) comprises two loading tongues (51) arranged side by side, which have a lateral connecting contour (52) along a side facing the other loading tongue (51), which has alternating projections and recesses, and the gripper head (2) can be brought into a first configuration in which the loading tongues (51) are arranged at a first distance from each other and the connecting contours (52) of the loading tongues (51) engage in each other, and a second configuration in which the loading tongues (51) are arranged at a second distance from each other, the second distance being greater than the first distance.

11. Transfer device (1) according to one of claims 1 to 10, characterized in that the gripping module (4) is movable parallel to the extension direction (X) between a retracted inactive position and an active position upstream of the inactive position in the extension direction (X).

12. Transfer device (1) according to claim 11, characterized in that gripping units (41) of the gripping module (4), in particular the gripping units (41) of different gripping types, are movable independently of one another parallel to the extension direction (X) between the inactive position and the active position.

13. Transfer device (1) according to one of claims 1 to 12, characterized in that the gripping head (2) comprises a clamping element projecting beyond the front plane (FE), which is mounted on the base frame (3) in a manner movable parallel to the stroke direction (Y) relative to the loading tongue (51) in order to generate a clamping force between the clamping element and the loading tongue (51).

14. Transfer device (1) according to one of claims 1 to 13, characterized in that the gripping head (2) comprises a probing element (10) projecting beyond the front plane (FE) and a probing sensor system (11), wherein the probing element (10) is movable between a probing position and an actuating position and the probing sensor system (11) is configured to detect a movement of the probing element (10) from the probing position to the actuating position.

15. Transfer device (1) according to one of claims 1 to 14, characterized in that the gripping head (2) comprises a camera unit (8) which is mounted on the base frame (3) projecting in the extension direction (X) beyond the front plane (FE), wherein an optical axis of the camera unit (8) runs parallel to the lifting direction (Y).

16. Transfer device (1) according to one of claims 1 to 15, characterized in that the gripping module (4) comprises at least two gripping units (41) of the same gripping type, which are movable relative to each other in the width direction (Z) in order to change a distance between them.

17. Transfer device (1) according to one of claims 1 to 16, characterized in that the side walls (31) of the base frame (3) are movable relative to each other in the width direction (Z) in order to change a distance between them.

18. Picking system (16) comprising a transfer device (1) for handling packaging units (P), characterized in that the transfer device (1) is designed according to one of claims 1 to 17.

19. Method for handling a packaging unit (P) by means of a transfer device (1), in particular a transfer device (1) according to any one of claims 1 to 17, wherein the transfer device (1) comprises a gripping head (2) which has a base frame (3), a gripping module (4) for lifting a packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), comprising the steps: i) positioning (100) the gripping head (2) in front of the packaging unit (P); ii) gripping (200) the packaging unit (P) by the gripping module (4); iii) lifting (300) the packaging unit (P) by moving the gripping module (4) relative to the base frame (3) in a lifting direction (Y) such that a gap is formed between the packaging unit (P) and a surface on which the packaging unit (P) lies;iv) Supports (400) of the packing unit (P) by the loading tongue module (5), in which the loading tongue module (5) is extended in an extension direction (X) from a retracted starting position to an extended receiving position and is inserted into the gap, so that the packing unit (P) is passed under by the loading tongue module (5); v) Lowering (500) the packing unit (P) onto the loading tongue module (5) by moving the gripping module (4) relative to the base frame (3) against the lifting direction (Y) in the direction of the loading tongue module (5); vi) Positioning (600) the packing unit (P) on the loading tongue module (5); characterized in that the gripping module (4) has several gripping units (41) of different gripping types and step ii) comprises the following steps: Detection (210) of a gripping capability of the packaging unit (P) by a control system (7), wherein the gripping capability specifies a gripping type suitable for lifting the packaging unit (P); Selections (220) of a gripping unit (41) from the gripping units (41) of different gripping types depending on the graspability detected by the control system (7); Activation (230) of the selected gripping unit (41) by the control system (7); Establishing (240) a detachable connection between the selected gripping unit (41) and a contact side of the packing unit (P).

20. Method according to claim 19, characterized in that during activation (230) a relative movement is carried out between the selected gripping unit (41) and the at least one other gripping unit (41) of the several gripping units (41), wherein the selected gripping unit (41) is positioned upstream of the at least one other gripping unit (41) in the extension direction (X).

21. Method according to claim 19 or 20, characterized in that the detection (210) of the graspability comprises the following steps: Identifying (211) the packaging unit (P); Transfer (212) of the availability of the identified package unit (P) from an electronic storage device (71) to the control system (7).

22. Method according to one of claims 19 to 21, characterized in that the detection (210) of the graspability comprises the following steps: Capturing (213) an image of the contact page using an image capture system (9); Evaluating (214) the image using an evaluation unit to determine a surface texture; Determining (215) the gripability of the packaging unit (P) based on the surface texture.

23. Method according to claim 21 or 22, characterized in that, when detecting the grippability, either the grippability is transferred from an electronic memory (71) to the control system (7) (212) or a recorded image of the contact side is evaluated (214) and the grippability of the packaging unit (P) is determined based on the surface texture (215), depending on whether the grippability is stored in the electronic memory.

24. Method according to claim 22 or 23, characterized in that the evaluation (214) of the image is carried out using a machine learning model.

25. The method of claim 24, characterized in that the method further comprises the following steps: vii) acquiring (700) gripping parameters relating to the quality of the connection between the selected gripping unit (41) and the contact side during steps ii), iii), iv) and / or v), wherein the gripping parameters are assigned to the gripping type and the determined surface texture to provide training data; viii) training (800) the machine learning model using the training data.

26. Method according to any one of claims 19 to 25, characterized in that the positioning (600) according to step vi) comprises the following steps: Providing (610) two cooperating clamping means (6) mounted on the base frame (3) of a clamping unit to opposite sides of the packing unit (P); Aligning and / or clamping (630) the packing unit (P) between the clamping means (6) by reducing the distance between the clamping means (6).

27. Method according to claim 26, characterized in that the positioning (600) according to step vi) comprises the following step: Releasing (620) the connection between the gripping unit (41) and the contact side after lowering (500) the packing unit (P) according to step v); wherein aligning and / or clamping (630) the packing unit (P) is carried out after releasing (620) the connection.

28. Method for handling a packaging unit (P) by means of a transfer device (1), in particular a transfer device (1) according to any one of claims 1 to 17, wherein the transfer device (1) comprises a gripping head (2) which has a base frame (3), a gripping module (4) for lifting a packaging unit (P) and a loading tongue module (5) for supporting the packaging unit (P), comprising the steps: i) positioning (100) the gripping head (2) in front of the packaging unit (P); ii) gripping (200) the packaging unit (P) by the gripping module (4); iii) lifting (300) the packaging unit (P) by moving the gripping module (4) relative to the base frame (3) in a lifting direction (Y) such that a gap is formed between the packaging unit (P) and a surface on which the packaging unit (P) lies;iv) Supporting (400) the packaging unit (P) by the loading tongue (51), in which the loading tongue (51) is extended in an extension direction (X) from a retracted starting position to an extended receiving position and inserted into the gap, so that the packaging unit (P) is underridden by the loading tongue (51); v) Lowering (500) the packaging unit (P) onto the loading tongue (51) by moving the gripping module (4) relative to the base frame (3) against the lifting direction (Y) in the direction of the loading tongue (51); vi) Positioning (600) the packaging unit (P) on the loading tongue (51); characterized in that the positioning (600) according to step vi) comprises the following steps:; Providing (610) two cooperating clamping means (6) mounted on the base frame (3) of a clamping unit to opposite sides of the packing unit (P); Disconnecting (620) the connection between the gripping unit (41) and the contact side after lowering (500) the packing unit (P) according to step v); Aligning and / or clamping (630) the packing unit (P) between the clamping means (6) by reducing the distance between the clamping means (6).

29. Method according to one of claims 26 to 28, characterized in that the alignment and / or clamping (630) of the packing unit (P) comprises the following steps: Providing (631) a first clamping means of the clamping means (6) in a stop position; Moving (632) a second clamping means of the clamping means (6) in the direction of the first clamping means; Push (733) the packing unit (P) in the direction of the first clamping means of the second clamping means until the packing unit (P) is positioned against the first clamping means.

30. Method according to any one of claims 19 to 29, characterized in that the positioning (600) in step vi) comprises the following steps: Providing (640) a clamping element which projects beyond the gripping module (4) and is mounted on the base frame (3) so as to be movable relative to the loading tongue module (5), Positioning (650) the clamping element in a home position in which the clamping element is positioned above the packing unit (P) and extends beyond the packing unit (P) in the extension direction (X), Clamping (660) of the packing unit (P) by moving the clamping element from the home position into a fixing position, whereby the clamping element is positioned against an upper edge of the packing unit (P) and the packing unit (P) is fixed by clamping between the clamping element and a loading tongue (51) of the loading tongue module (5).

31. Method according to one of claims 19 to 30, characterized in that the positioning (100) of the gripping head (2) according to step i) comprises the following steps: Providing (110) a probing element (10) mounted on the base frame (3) movably relative to the loading tongue module (5) in a probing position in which the probing element (10) projects beyond the gripping module (4); horizontally positioning (120) the gripping head (2), wherein the gripping head (2) is moved into a first position in which the probing element (10) projects beyond the packing unit (P) and the gripping module (4) is arranged parallel to the extension direction (X) and spaced apart from the contact side;vertical positioning (130) of the gripper head (2), wherein the sensing element (10) is provided in a sensing position in which the sensing element (10) is positioned at a lower end of the gripper module (4) and the gripper head (2) is lowered until the sensing element (10) is moved from the sensing position to an actuation position by touching an upper edge of the packaging unit (P), after which the gripper head (2) is lowered further so that the loading tongue module (5) is aligned with a lower edge of the packaging unit (P).

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