Method for gripping and transferring at least one individual unit, and use of a system

Abstract

The invention relates to a method for gripping and transferring an individual unit (200) out of a stock of individual units (200), which are stacked in an offset manner, using a system (100) comprising a handling device (50) with a gripping device (1) and comprising a controller (80), wherein the stock of individual units, which are stacked in an offset manner, is provided on a storage surface (500). The position and / or orientation of an exposed individual unit (200) on the storage surface (500) is detected by the controller (80), the handling device (50) and the gripping device (1) are actuated by means of the controller (80) on the basis of the ascertained position and / or orientation in order to grip the individual unit (200), and the gripped individual unit (200) is transferred to a specified location (400) and / or unit (400). A system (100) comprising a handling device (50) with at least one gripping device (1) and comprising a controller (80) is used to grip and transfer an individual unit (200), the position and / or the orientation of an exposed individual unit (200) on a storage surface (500) being detected by means of the controller (80).

Description

[0001] Method for gripping and transferring at least one individual unit and use of a system

[0002] Description

[0003] The present invention relates to a method for gripping and transferring at least one individual unit from a supply of offset stacked or layered individual units, using a system comprising at least one handling device with at least one gripper device and at least one control device. At least the supply of offset stacked or layered individual units is provided on at least one storage surface. The present invention also relates to the use of a system comprising at least one handling device with at least one such gripper device and at least one control device for gripping and transferring at least one individual unit.

[0004] Various devices are known in the art for gripping, transferring or transporting individual and stacked objects.

[0005] In a stock of objects or stacks of objects, for example stacks of bags layered on a pallet, e.g. in the area of ​​packing systems for filling bulk goods into bags, the stacks are present in a multitude of overlapping layers.

[0006] The problem with automatically gripping a stack of bags is that only the topmost, and thus exposed, stack of bags can be gripped, so that the other stacks of bags do not slip uncontrollably or even fall off the pallet. Therefore, the object of the present invention is to improve the automatic gripping of individual objects and / or stacks or bundles of objects.

[0007] This object is achieved by a method having the features of claim 1 and by a use having the features of claim 10. Preferred developments of the invention are the subject of the subclaims. Further advantages and features of the present invention will become apparent from the general description and the description of the exemplary embodiment.

[0008] The method according to the invention serves to grip and transfer at least one individual unit from a supply of stacked or layered individual units which are stacked or layered in an offset manner. A system is used for the gripping and transfer which comprises at least one handling device with at least one gripper device and at least one control device, wherein the supply of offset stacked or layered individual units is provided on at least one storage surface. The position and / or orientation of an exposed individual unit on the storage surface is detected by means of the control device. Furthermore, the handling device and the gripper device are controlled by means of the control device on the basis of the determined position and / or orientation in order to grip the individual unit. The gripped individual unit is then transferred to a predetermined location and / or system.

[0009] The fact that the individual units are stacked offset means, in particular, that at least two, and in particular more than two, individual units are always arranged at least partially at the very top of a storage surface. In the case of individual units stacked offset, certain areas are generally always covered by another individual unit.

[0010] According to the invention, the position of the topmost individual unit is detected, which is exposed, i.e., the one at the very top and not partially covered by other individual units. This detects when an individual unit is the topmost individual unit in the supply and can be freely removed or removed. If several individual units are exposed at the same time, one is selected, and it is taken into account that the storage area is processed as horizontally as possible and not inclined, or that a hollow or a mountain is created.

[0011] Preferably, the individual units are or can be gripped by a non-rigid base. A non-rigid base is, in particular, a base, surface, or support surface that is at least slightly elastic or yields under pressure and, in particular, is not rigid, hard, or inelastic. However, individual units can also preferably be gripped by a rigid or hard base, e.g., the last layer of individual units on a pallet or the like.

[0012] The detection of the position and / or orientation of the individual unit on the storage surface by means of the control device can in particular be detected automatically on the basis of the existing situation, for example on the basis of sensor data or the like, and / or the position and / or orientation can also be stored in the control device.

[0013] However, detection by means of the control device can also be carried out manually by an operator, for example if a user enters a specific position into the control device or controls the gripper device accordingly.

[0014] Depending on the design, the position and / or orientation of individual units on the storage surface can be stored in the control device, for example when objects or individual units are located at predetermined positions in a predetermined orientation. Automatic detection of the position and / or orientation of the individual units on the storage surface, for example using imaging and / or sensor-based methods, is less prone to errors. This makes it possible to take into account, in particular, when a predetermined position or orientation is not present, for example when an operator subsequently places an individual unit on the storage surface and / or when individual units have slipped during transport or have otherwise been brought into a non-predetermined position or orientation.

[0015] The correction or control of unknown positions can also be carried out if a user manually informs the control device in which orientation and / or in which position an individual unit is located.

[0016] . In particular, if an individual unit has a specific orientation or is to be transferred to the predetermined location and / or system with a specific side or orientation, the orientation of the individual unit on the storage surface can also be detected additionally or exclusively.

[0017] The individual units can in particular be piece goods or objects which can preferably be held in stacks or bundles on a storage surface. In this case, these individual units or bundles of individual units are stacked or layered, in particular with an offset. For example, an individual unit can be an empty sack, e.g. of the type used for filling bulk goods. In this case, it is particularly provided that the individual units are essentially flexible, at least in sections. For example, any empty sacks or bags, for example valve sacks, FFS sacks, open-mouth sacks or bundles of paper bags or the like can also be picked up by means of the gripper device. Bundles of individual units also preferably have a certain degree of flexibility.For example, bundles of newspapers or stacks of thin cardboard or even stacks of sheets of paper or the like can be grasped by means of the method and transferred to another predetermined location and / or facility.

[0018] A gripper device can, in particular, be designed as described in the exemplary embodiment. The applicant reserves the right to further define the invention based on individual features of the gripper device or a combination of features.

[0019] The method according to the invention is particularly suitable for gripping and transferring stacks of empty bags from a bag supply or bag stack supply, for example, from layered stacks of bags on a pallet. Thus, a stack of bags can be gripped by the gripper device from a specific—namely, the topmost—position and transferred in a specific orientation to a conveyor belt or an automatic bag loading device. This is particularly advantageous for transferring the upper open end or the valve of a valve bag in the correct orientation.

[0020] In order to check that an individual unit is being handed over correctly to a specific location and / or to further system, depending on the design, at least one camera can preferably be provided to monitor and / or document the handover. The images or data from this camera can be used to check, for example, whether the orientation of the individual unit is actually correct during the handover and / or whether, for example, individual objects of an individual unit consisting of several objects, e.g. a stack of empty bags, have slipped during the transfer. If an incorrectly gripped individual unit and / or a faulty individual unit is detected, it can then preferably be handed over to an outfeed point, for example. In this way, it can be ensured, among other things, that only individual units are handed over that can be further processed.

[0021] Depending on the design, it can then also be checked, for example, whether the storage space for the seized individual unit is free or still occupied.

[0022] Depending on the design, the transfer point can preferably also be monitored by at least one other camera or camera device located at another location.

[0023] The method according to the invention offers many advantages. A significant advantage is that the detection of the position and orientation of the individual unit(s) on a storage surface enables the targeted picking up of individual units.

[0024] According to the invention, in a stacked or layered supply of individual units, the topmost or the exposed individual unit can be detected and then gripped in a defined manner, so that the individual unit can be transferred with a defined orientation for further processing.

[0025] By transferring individual units in a specific orientation and / or from a specific position, automation can be achieved in many applications.

[0026] In advantageous embodiments, the gripper device moves next to the piece goods to be gripped and, before gripping, rests at least partially on the support surface and / or on an individual unit that is located at least partially below the individual unit to be gripped.

[0027] Particularly preferably, the individual unit is a single object or a bundle and / or a stack of objects. Such an object is, in particular, at least one empty bag, with a bundle of such an object then being a stack of bags, which is also defined as an individual unit. Thus, a stack of bags can comprise, for example, 5, 10, or 15, or any other number of bags.

[0028] Particularly preferably, the handling device comprises at least one robot device with at least one robot arm and / or is provided by at least one robot device with at least one robot arm. By providing a robot arm or a robot device as the handling device, a movement of the gripper device can be controlled particularly precisely and effectively in order to grasp an individual unit whose position and / or orientation has been detected.

[0029] In expedient further developments, the system comprises at least one camera device operatively connected to the control device, the position and / or orientation of the individual unit to be gripped on the deposit surface being determined by means of the data from the camera device. The control device determines the location or position and / or orientation of the individual unit from the data or images of the deposit surface recorded by the camera and the handling device controls the gripper device accordingly. In order to be able to determine the orientation and / or position of an individual unit precisely, the camera device is preferably mounted above the deposit surface, in particular in such a way that the deposit surface is in the detection range of the camera.By detecting the position and / or orientation by means of a camera device, automatic detection of individual units can take place, so that preferably also subsequently added individual units and / or individual units not located at the predetermined position can be reliably detected and recognized by means of the gripper device.

[0030] The system preferably includes at least one height detection device. Height detection allows the handling device to move and grasp objects with particular precision, not only along the storage surface, but also vertically. This determines the approach height for the handling device, the robot arm, or the gripper device, so that, in particular, the uppermost individual unit or, in the case of bundles of bags, the uppermost bundle of bags can always be grasped. Such a height detection device can determine the height to which the gripper device must move, for example, using at least one laser, radar, ultrasound, and / or the like.

[0031] In preferred embodiments, the height detection is integrated into the camera device. If the height detection is integrated into the camera device, no separate component is required, and only the data set of one device needs to be read out.

[0032] Particularly preferably, the camera device is designed as a 3D camera or comprises at least one 3D camera. Using a 3D camera, not only can the position on the storage surface be determined and moved to, but the correct height is also automatically detected by the 3D camera and transferred to the control device, allowing optimal control in three-dimensional space.

[0033] Preferably, the approach accuracy of the gripper device can be trained or improved in all and / or individual planes using at least one automated application and / or at least one AI (artificial intelligence) application. In particular, neural networks and / or machine learning and / or deep learning methods can be used. After training, the gripper device can preferably also operate accurately offline.

[0034] In general, the position and / or orientation of an uppermost or exposed detail can be recognized by at least one automated application and in particular at least one AI-based application, or the recognition can be supported thereby. The automated application preferably comprises at least one AI application and / or at least one machine learning application and / or at least one computer vision application. By using artificial intelligence or machine learning or computer vision applications, a detail can advantageously be either actively learned or recognized from the previously learned “experience” of the AI ​​application or the like. In a stock of individual units stacked in an offset manner, the uppermost or exposed detail can then be reliably identified by the automated application or by the AI ​​application and / or at least one machine learning application and / or at least one computer vision application.An exposed individual unit or its position and / or orientation can be detected. At the same time, the automated application can decide and determine from which of the four possible directions the individual unit can be grasped most safely.

[0035] This information is then transferred to the gripper device in order to ensure optimal approach of the gripper device to the exposed individual unit, particularly from a specific side.

[0036] After an individual unit has been grasped and transferred, the position or orientation of an exposed individual unit is determined again and the data is passed on to the gripper device.

[0037] Computer vision refers, in particular, to the analysis of images and videos using computer programs. The goal of these analyses is, in particular, to extract information contained in the image. Depending on the design, probabilistic methods, methods of image processing, projective geometry, deep learning, and computer graphics are preferably used.

[0038] In the field of AI application, any application in the field of artificial intelligence can be used which can be used advantageously with regard to the intended evaluation of images, image data, data and / or data sets.

[0039] The use of machine learning (ML) is particularly advantageous here, with such machine learning being a subfield of artificial intelligence (AI). A central component of machine learning are algorithms and methods that enable programs to learn from data without being explicitly programmed. This allows these programs to make decisions, preferably independently.

[0040] A distinction is made between supervised, unsupervised, and semi-supervised learning. Supervised learning methods include convolutional neural networks (also known as space-invariant artificial neural networks) and further developments of convolutional neural networks, such as region-based convolutional neural networks. These modifications of conventional neural networks are particularly, but not exclusively, suitable for image processing applications, as one or more preprocessing steps are performed before the neural network, depending on the design, including, for example, convolution operations depending on the application.

[0041] In particular, sensors (e.g. optical sensors such as a color or black / white camera, thermal image, temperature sensors, vibration sensors, etc.) are used to record data from certain conditions and store them in the respective control device.

[0042] The received, processed, and declared information is then transferred / trained into a CNN (convolutional neural network), preferably using machine learning, AI methods, or AI applications. When detecting individual units, and in particular when detecting empty bags and / or stacks of empty bags, or during the training process, available image data of individual bags, stacks of bags, and / or pallets, if not available, is preferably first generated, and a pattern recognition concept is preferably developed. In this case, images of individual bags, preferably taken individually with different deformations against a monochrome background, can be particularly important.

[0043] Preferably, interfaces are defined which are to be used for inputting the current camera image into the AI ​​for classification, as well as for outputting the position and orientation of the determined bag.

[0044] After reviewing the data and specifying the interfaces, various AI approaches are preferably tested for their performance for the given problem. After selecting suitable methods, the data is preferably prepared for AI training. This is followed, preferably, by AI training and the necessary iterations to stabilize the overall system, making it usable for productive use.

[0045] An AI application and / or other automated application trained in this way is now preferably ready for use and is then preferably integrated into the required program flow. For this purpose, a software-based runtime environment is preferably developed that can serve the developed or defined interfaces. The runtime is preferably optimized for the desired hardware and, in particular, equipped with simple diagnostic tools.

[0046] After AI training and optimization of the overall system, a test phase is preferably conducted to test the system under real-world conditions. The data collected during the tests are then evaluated, and adjustments to the system are made.

[0047] Preferably, the training of a KL application or an automated application, particularly with regard to individual units, is only initial. In particular, the training involves learning what an individual unit looks like. As previously described, it may be necessary to initially train different types of individual units. This can involve different orientations and / or deformations of a bag type. However, different types of bags can also be shown and taught to the KL application.

[0048] Preferably, after the learning process, for example of empty bags or stacks of empty bags, the AI ​​recognizes whether the individual unit is a bag or comprises bags and, in particular, what type of bag is currently being used. This can include properties such as the size or dimensions, the material, whether it is a valve bag or an open-mouth bag, and / or similar. From this, it can then be deduced, preferably automatically, from which side a bag or stack of bags must be approached in order to transfer it in the correct orientation. Likewise, information can be passed on to the downstream machine control system, e.g. a packaging system for bulk goods, as to which type of bag was transferred for which product. This ensures that the product to be filled and the packaging material are compatible, in order to avoid incorrect filling.This is particularly relevant if the system transfers different bag types from two or more different storage areas to several, partly different, packaging lines.

[0049] The invention also provides for the use of a system comprising at least one handling device with at least one gripper device and at least one control device for gripping and transferring at least one individual unit, wherein the position and / or orientation of an exposed individual unit in a supply of offset stacked individual units on a storage surface is detected by the control device, and wherein the detected individual unit is grasped by the gripper device. The use of such a system offers the same advantages as previously described for the method according to the invention.

[0050] Here too, the applicant reserves the right to further develop the gripper device with features individually or in combination, which are described in more detail in the exemplary embodiment.

[0051] The handling device is preferably provided by at least one robot device with at least one robot arm. Using a robot device or a robot arm, the gripper device can be moved particularly advantageously, effectively, and precisely to approach and grasp an individual unit.

[0052] Particularly preferably, the system comprises at least one camera device by means of which the position and / or orientation of the individual unit to be grasped can be determined. A 3D camera is preferably used.

[0053] When using imaging techniques, the uppermost or exposed individual unit is re-determined, in particular using the acquired data, after each individual unit has been transferred, so that the gripper device can grasp the currently uppermost or exposed individual unit.

[0054] Depending on the design, the positions and / or orientations can also be stored in the control device or entered manually by a user.

[0055] In expedient developments, the handling device is suitable and designed to pick up individual units from at least two storage areas. Depending on the design of the system, performance can be increased if, for example, when adding individual units to the storage area or when replenishing the supply, another still filled storage area can be controlled. Then, depending on the design, the handling device can transfer individual units from two storage areas to another system, or from one storage area to one system and the other storage area to another system. The parallel feeding of one storage area to at least two systems and / or the feeding of at least two storage areas to at least two systems can also be expediently provided depending on the design.

[0056] In expedient further developments, the camera device is provided so that it can be moved between the storage areas. "Movable" is understood in particular to mean that the camera device or the detection area of ​​the camera device, if it cannot cover both storage areas simultaneously, can be moved back and forth between the storage areas, so that depending on the storage area used, this is also covered by the camera device.

[0057] Alternatively, if a camera device cannot capture both or more storage areas, at least one camera device can be provided above each storage area. Depending on the design, it is preferred that at least two camera devices are provided, with at least one camera device being arranged above each storage area.

[0058] Further advantages and features of the present invention will become apparent from the embodiment which will be explained below with reference to the accompanying figures.

[0059] The figures show:

[0060] Fig. 1 is a purely schematic representation of an embodiment of a system according to the invention in a perspective view;

[0061] Fig. 2 is a purely schematic enlarged view according to Figure 1; Fig. 3 is a purely schematic view of a

[0062] Embodiment of a gripper device according to the invention in a side view;

[0063] Fig. . a purely schematic representation of an embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0064] Fig. 5 is a purely schematic representation of a

[0065] Embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0066] Fig. . a purely schematic representation of an embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0067] Fig. 7 is a purely schematic representation of an embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0068] Fig. . a purely schematic representation of an embodiment of a gripper device according to the invention in a side view when gripping a detail;

[0069] Fig. 9 is a purely schematic representation of a

[0070] Embodiment of an inventive

[0071] Gripper device in a sectional view from the side;

[0072] Fig . 10 a purely schematic representation of a

[0073] Embodiment of an inventive

[0074] Gripper device in a perspective view; Fig. 11 is a purely schematic representation of an embodiment of a gripper device according to the invention in a further perspective view;

[0075] Fig. 12 is a purely schematic representation of an embodiment of a gripper device according to the invention in a sectional view from the side;

[0076] Fig. 13 is a purely schematic representation of a further embodiment of a gripper device according to the invention with a hood device in a side view;

[0077] Fig. 14 is a purely schematic representation of the embodiment according to Fig. 13 in a frontal view;

[0078] Fig. 15 is a purely schematic representation of a next embodiment of a gripper device according to the invention in a side view;

[0079] Fig. 16 is a purely schematic representation of the embodiment according to Fig. 13 in a frontal view;

[0080] Fig. 17 the view according to Figure 15 without fastening device for a hood device;

[0081] Fig. 18 the view according to Figure 16 without fastening devices for a hood device;

[0082] Fig. 19 is a purely schematic sectional view of the embodiment according to Fig. 17; and Fig. 20 is a purely schematic sectional view of an embodiment of a receiving unit with a cutting device.

[0083] Figure 1 shows a purely schematic representation of a system 100 according to the invention, which in the exemplary embodiment shown here comprises a handling device 50 and a control device 80. In the exemplary embodiment shown, the system according to the invention serves to grip and transfer at least one individual unit 200 from a supply of stacked individual units 200 from a storage area 500 to another system 400. In the exemplary embodiment shown, the individual units are stacked in layers on a pallet and thus provide a supply of individual units 200.

[0084] In this case, an individual unit 200 is, for example, a particularly flat object that is stacked as a supply on the storage surface 500. However, an individual unit 200 can also be a stack or bundle 600 of objects, as in the example shown here, in which case the bundle or stack 600 is grasped and transferred as an individual unit 200.

[0085] What is meant by an individual unit according to the application is further defined by way of example in the general description.

[0086] In the exemplary embodiment shown, the stacked objects are empty bags 300, with an individual unit 200 here being provided by a bag stack 350. In particular, stacks or empty bag stacks 350 of valve bags are transferred from a pallet on the storage area 500 to a further system 400 by means of the handling device 50. In the exemplary embodiment shown, the further system 400 is a conveyor belt 402, onto which the individual units 200 or the empty bag stacks 350 are transferred in a predetermined orientation, namely with the valve in a specific alignment with the conveyor belt 402. In the exemplary embodiment shown, this conveyor belt 402 serves to feed empty bags 300 or individual empty bag stacks 350 to an automatic bag feeder that is connected upstream of a rotating packing system. The bag feeder and the packing system are not shown in the embodiment shown here.

[0087] In order to facilitate the placement of the gripped individual units 200 onto the conveyor belt 402 and to make it as accurate as possible, a deposit support 401 is provided, which is designed here as an obliquely mounted sheet metal.

[0088] Depending on the design, at least one further camera (not shown here) can be provided on the handling device 50 to check that the individual unit 200 is being transferred correctly to the further system 400 or, in this case, to the conveyor belt 402. The images or data from this camera can be used to check, for example, whether the orientation of the individual unit is actually correct during transfer and / or whether individual empty bags 300 have slipped during the transfer of, for example, a stack of empty bags 350. If an incorrectly gripped individual unit 200 and / or a faulty individual unit 200 is detected, this can then be transferred, for example, to an outlet point. In this way, it can preferably be ensured that, among other things, only individual units are transferred that can also be further processed.

[0089] Depending on the configuration, it can then also be checked, for example, whether the storage location for the seized individual unit 200 is free or still occupied. Depending on the detection range of the camera device 70, however, the control of the transfer of the individual units 200 to the further system 400 can also be carried out via this camera 70.

[0090] In the exemplary embodiment shown here, 50 comprises a robot 60 with a robot arm 61, wherein a gripper device 1 according to the invention is attached to the free end of the robot arm 61. In order to be able to transfer a gripped individual unit 200 in a defined orientation to the further system 400 or to a further location 400 by means of the handling device 50, the uppermost and thus exposed individual unit must first be known or recognized in order to avoid gripping individual units that are partially covered by other individual units 200. The gripper device 1 must then grip the uppermost or an exposed individual unit 200 in a defined manner at a specific edge 201, for which purpose the control device 80 must recognize the position and / or orientation of the individual unit 200 on or in the bag supply or the supply of individual units 200 in order to control the gripper device 1 accordingly.

[0091] For this purpose, in the exemplary embodiment shown, a camera device 70 is provided above the storage surface 500, wherein the control device 80 uses the evaluated data of the camera device 70 to detect the position and / or orientation of the individual unit 200 to be grasped on the storage surface 500. In the exemplary embodiment shown, the orientation is the orientation with respect to the position of the valve of the valve bag.

[0092] In order for the gripper device 1 to be able to approach the corresponding individual unit 200 at the correct height, a height detection device 75 is provided so that the robot arm 61 can move the gripper device 1 precisely to the correct individual unit 200 from a predetermined side or the correct edge 201 of the correct individual unit 200.

[0093] Depending on the design, the height detection device 75 can be provided as a separate component, particularly if the camera device 70 itself cannot detect the height or distance to an individual unit 200. In the exemplary embodiment shown here, the camera device 70 is provided by a 3D camera 71, into which a height detection device 75 is accordingly integrated. The exemplary embodiment shown further shows that two storage surfaces 500 are arranged in operative connection to the handling device 50, with one storage surface 500 being provided to the left and one to the right of the robot 60.

[0094] The handling device 50 can here pick up individual units 200 from both storage areas 500, for example alternately or one after the other, and feed them to a system and / or supply two separate systems with individual units 200 in parallel.

[0095] In order for the control of the gripper device 1 to be able to grasp the respective individual unit 200 with precision, a camera device 70 is provided above each storage surface 500 in the embodiment shown here, both of which are designed here as 3D cameras 71.

[0096] Depending on the detection range of the camera device 70 used, only one camera device 70 may be provided. It is also conceivable in other embodiments to use only one camera device 70, which is provided so as to be movable above the storage surfaces 500.

[0097] By means of the method according to the invention, the position and / or orientation of the individual unit 200 to be grasped is determined by means of the control device. As already explained above, this is to be understood in particular as meaning that the control device 80 determines the position and / or orientation of the individual units 200 on the storage surface, for example, using acquired sensor data or, in the exemplary embodiment shown here, using data from a camera device 70.

[0098] However, depending on the design, a determination by means of the control device is also provided in such a way that, for example, a predetermined layer pattern of individual units 200 stacked offset on pallets is input into the control device 200, wherein the individual predetermined positions are traversed by means of the control device 80.

[0099] The advantage of automatic detection of the bag position or the position or orientation of an uppermost exposed individual unit 200 is that, for example, individual units 200 that have been moved during transport or details 200 subsequently placed by an operator are recorded during automatic detection, so that errors cannot occur.

[0100] Determination by means of the control device can also be achieved by an operator manually or manually communicating a specific starting position to the control device.

[0101] Figure 2 shows a purely schematic enlargement of the free end of the robot arm 61 with the gripper device 1 according to the invention mounted thereon.

[0102] It is shown here that the gripper device 1 is received with a receiving unit 10 on the robot arm 61, wherein the robot arm 61 can displace the gripper device 1 in any three-dimensional manner and can also rotate the gripper device 1 so that the gripping unit 2 of the gripper device 1 can be moved to a predetermined side or to a detected edge 201 of the individual unit 200 to be gripped.

[0103] In the illustrated embodiment, the individual units 200 are stacks of empty bags 350, specifically valve bags, which are stacked in bundles 600 on a pallet. Thus, the individual unit 200 here consists of a bundle or stack 600 of empty bags 300.

[0104] In the exemplary embodiment shown here, the gripper device 1 comprises a gripping unit 2 and a holding unit 3, wherein the gripping unit 2 and the holding unit 3 are connected to one another via a receiving unit 10 in an articulated manner by means of the receiving unit 10 in the exemplary embodiment shown here.

[0105] As previously described, the gripper device 1 is mounted on a robot arm 61 or on a handling device 50. In the illustrated embodiment, the gripper unit 2 comprises a support section 4, on which an individual unit 200 to be gripped and then transferred rests and is clamped by a fixing device 14. In the illustrated embodiment, the fixing device 14 comprises a fixing stamp 15.

[0106] At the free end 6 of the support section 4, a lifting device 7 is provided, which in the embodiment shown here comprises a roller 8 or two rollers 8 arranged parallel to one another, which can be driven or rotated by a motor 21. A pneumatic motor 22 is provided here, which can drive the roller 8 in a predetermined direction 24 or, depending on the design, can also rotate the roller in both directions.

[0107] The motor is operatively connected to the roller 8. Any suitable power transmission can be used. Here, the roller 8 or the rollers are connected to the motor 21 via a toothed belt 25 to effect a power or rotation transmission to the roller 8. Depending on the design, multiple toothed belts and / or other power transmission means can also be provided. Thus, it is also possible to arrange the motor 21 at almost any location using multiple toothed belts or the like, for example, to achieve better weight distribution and / or to have fewer interfering contours when approaching an individual unit 200.

[0108] In the illustrated embodiment, the roller 8 comprises a contact-promoting structure 9, which is designed here as a type of external toothing, nubs, or grooves. Furthermore, the roller 8 in the illustrated embodiment comprises a friction- or adhesion-enhancing surface 20. In the illustrated embodiment, this is provided by a rubber coating.

[0109] Depending on the design, it may also be sufficient to provide only one contact-promoting structure 9 or only one adhesion-enhancing surface 20.

[0110] How the lifting device 7 lifts an individual unit 200 to be gripped so that the support section 4 can be moved under the individual unit 200 to be gripped is explained in more detail in the following figures.

[0111] In the embodiment shown here, the holding unit 3 comprises a holding element 5, with a holding roller 13 provided at the free end of the holding element 5. The function of the holding element 5 and the holding roller 13 is explained in more detail in the following figures.

[0112] In addition, the individual elements or units of the gripper device 1 in the exemplary embodiment shown are partially equipped or connected with actuators 11, wherein the actuators 11 are provided here by pneumatic cylinders 12. This makes it possible for the gripper device 1 or the arrangement of gripping unit 2 and holding unit 3 in the exemplary embodiment shown to be in a first end position 17 in the freely suspended state and for the gripper device 1 or the gripping unit 2 and the holding unit 3 to be in a second end position 18 during the picking up or gripping of an individual unit 200. In the exemplary embodiment shown, the corresponding positions 17, 18 can be detected via a limit switch 16. The limit switch 16 can, as indicated in the figure, be provided, for example, on the holding unit 10 and / or on at least one actuator 11, such as a pneumatic cylinder 12.When arranged on a pneumatic cylinder 12, for example, the retraction of the pneumatic cylinder 12 or a specific end position 17, 18 can be detected by the piston rod of the cylinder 12 passing over sensors and thereby triggering the end position switch 16.

[0113] Figure 3 shows the freely suspended configuration of a gripper device 1 according to the invention, wherein the gripper device 1 is moved in this state towards an individual unit 200 to be gripped.

[0114] The gripper device 1 can approach the individual unit from any side of the individual unit. This can be particularly advantageous when layered images of individual units 200 are provided in which, at least for some individual units 200, certain sides are not freely accessible.

[0115] Depending on the format of the individual units 200 to be gripped, the distance between gripping unit 2 or support section 4 or lifting device 7 and holding section 3 or holding element 5 can then be changed and / or adjusted.

[0116] First, according to the invention, the position and / or orientation of an individual unit 200 to be grasped in a supply of individual units 200 on a storage surface 500 is determined or recognized in the manner described above. Thus, the support section 4 can be moved next to a predetermined side or next to a predetermined edge 201 of the individual unit 200 to be grasped.

[0117] Since the individual unit 200 is gripped from a defined side or from a defined edge 201, it can also be transferred in a defined manner to another system 400, so that, for example, in the exemplary embodiment shown, valve bags with a specific orientation can be placed on a conveyor belt 402, so that the individual bags 300 with the valve in a defined position can be transferred to a bag dispenser. Once a position and / or the orientation of an individual unit 200 to be gripped has been detected, the gripper device 100 is moved by means of the robot arm 100 in the correctly rotated orientation towards an individual unit 200 to be gripped until the gripping unit 2 or the support section 4 is located next to the individual unit 200 to be gripped on the corresponding predetermined side or next to the predetermined edge 201. In this state, the holding unit 3 orthe holding element 5 is positioned above the individual unit 200 to be gripped and the gripper device 1 is still in the first end position 17 in the exemplary embodiment shown here. This position is determined in this exemplary embodiment via the evaluation of the camera images and / or the height detection 75.

[0118] In all embodiments, depending on the design, the approach accuracy of the gripper device can be trained or improved in all and / or individual planes, preferably using at least one AI (artificial intelligence) application. In particular, neural networks and / or machine learning and / or deep learning methods can be used. After training, the gripper device (1) can then operate precisely, preferably offline, i.e., without AI in the background.

[0119] Figure 4 shows that the gripper device 1 is subsequently lowered further until the support section 4 rests on the same plane, in particular with a predetermined force, as the individual unit 200 to be gripped, wherein, depending on the design, the support section 4 may not be completely and / or slightly spaced from the support plane of the individual unit 200. In this position, the gripper device 1 is in the second end position 18, which is detected here by the limit switch 16. Depending on the design, however, the second end position 18 can also be detected by the height detection 75. As the gripper device 1 is lowered further, the holding element 5, or in the embodiment shown, the holding roller 13, comes into contact with the individual unit 200 to be gripped, whereby the position of the gripping unit 2 and holding unit 3 is shifted to the second end position 18.

[0120] Depending on the design, the second end position 18 can be detected by means of the control device 80 or by means of a limit switch 16 that the gripper device 1 cannot or must not be lowered any further.

[0121] Figure 5 shows the free end 6 of the support section 4 with the roller 8 in both the overall view and the enlarged view. It shows how the lifting device 7 lifts the individual unit 200 to be gripped, so that the support section 4 can be moved beneath the individual unit 200 to be gripped.

[0122] For this purpose, in the exemplary embodiment shown, the roller 8 is rotated counterclockwise in the predetermined direction of rotation 24 by means of the motor device 21 in the exemplary embodiment shown here or in the view shown here, so that the contact-promoting structure 9 or the adhesion-enhancing surface 20, so to speak, leafs through the individual objects or, in this case, empty bags 300 of the empty bag stack 350 or the individual unit 200 and thereby lifts them. The preferred direction of rotation 24 is provided such that an upward direction of action occurs, such that the individual unit 200 is moved upward and the support section 4 can be displaced beneath the individual unit 200.

[0123] Figure 6 shows that after lifting, and depending on the configuration, also during lifting, the robot arm 61 moves the gripper device 1 to the right in the illustrated embodiment, whereby the support section 4 is displaced beneath the individual unit 200 to be gripped. The displacement is supported or simplified here by the fact that the holding element 5 comprises a holding roller 13, which rolls over the individual unit to be gripped by means of the robot arm 61 in accordance with the displacement of the gripper device 1.

[0124] As can be seen, the individual unit 200, here the empty bag stack 350, is preferably at least slightly flexible, so that it bends slightly when pressed down by means of the holding element 5 or the holding roller 13 and lifted by means of the lifting device.

[0125] Depending on the design, the lifting device 7 or the roller 8 can be further rotated or driven to the 100 even during the displacement of the support section 4 under the individual unit to be gripped, should this be necessary. This supports the placement of the individual unit 200 onto the support section 4.

[0126] In Figure 7, as already shown in Figure 6, the support section 4 has been displaced under the individual unit 200 to be gripped, so that the individual units 200 or the edge section thereof rests on the support section 4 of the gripping unit 2.

[0127] In order for the gripper device 1 to also be able to lift the individual unit 200 or, in this case, the empty bag stack 350, a fixing device 14 with a fixing stamp 15 is provided in the embodiment shown, which here clamps the individual unit 200 onto the support section 4.

[0128] Figure 8 shows that the robot arm 61 lifts the gripper device 1 with the gripped individual unit 200, whereby the individual unit 200 now hangs on the support section 4. The individual unit 200 can thus be transferred.

[0129] By raising the gripper device 1, the first end position 17 of the gripping unit 2 and the holding unit 3 is again assumed in the illustrated embodiment. Now, the robot arm 61 or the gripper device 1 can move and / or rotate such that the gripped individual unit 200 is transferred to another system 400 in a predetermined orientation.

[0130] Figures 9 to 11 show a side sectional view and two perspective views of embodiments of gripper devices 1 according to the invention purely schematically in order to illustrate a possible embodiment of gripper devices 1 according to the invention in even more detail.

[0131] Figure 12 shows purely schematically that the gripper device 1 can comprise a referencing device 19, which in the embodiment shown here is designed as a rod 23.

[0132] This referencing device 19 serves here for the initial installation of the system 100, wherein by means of the referencing device 19 an initial adjustment can be made, in particular between the height detection device 75 or 3D camera 71 and the handling device 50. Thus, in particular by means of the

[0133] Referencing device 19 can detect by means of control device 80 which height the gripper device 1 has assumed when height detection 75 detects a certain height.

[0134] In addition, a movement adjustment or an interference contour during the rotation of the gripper device 1 can be adjusted by means of a referencing device 19, so that the control device 80 can prevent a collision with other components, individual units and / or objects during movement and also during rotation, in particular during simultaneous movement and rotation.

[0135] Figures 13 and 14 show purely schematic side and front views of another embodiment of a gripper device 1 with a hood device 26, which in this case provides a protective hood. This hood device 26 protects the mechanics of the gripper device, in particular, from dust, dirt, and collisions. As a result, maintenance intervals can be extended in the illustrated embodiment, and in the event of a collision, generally only the hood device 26 and not the partially sensitive mechanics of the gripper device 1 are damaged.

[0136] In the exemplary embodiment shown here, a display device 28 with a lighting device 29 is assigned to the hood device 26, or these components are encompassed by the hood device 26. In this case, a display device 28 in the form of a lighting device 29 is arranged behind the hood device 26, which provides a status display through the transparent logo on the sides of the gripper device 1. Depending on the status, the logo can then be illuminated in different colors.

[0137] The display device 28 or the lighting device 29 can, for example, be integrated into a fastening device 27 of the hood device 26, which is here concealed by the hood device 26, or be assigned to this.

[0138] The receiving unit 10, by means of which the gripper device 1 can be fastened, for example, to a robot arm, comprises in the embodiment shown here a quick-change device 31, so that the entire gripper device can be installed and uninstalled quickly and easily by actuating the bolt(s) 32.

[0139] In the illustrated embodiment, the hood device 26 does not cover the quick-change device, so that the gripper device can be changed and installed even with the hood device installed. Figures 15 and 16 show a purely schematic side and front views of a further embodiment of a gripper device 1.

[0140] In this embodiment, a hood device 26 can also be installed. For this purpose, the gripper device 1 comprises a fastening device 27, or fastening devices 27 are provided on the left and right sides of the gripper device 1.

[0141] In the embodiment shown, the fastening device 27 comprises a display device 28 or a lighting device 29. With a correspondingly designed hood device 26, for example, a status display as in Figures 13 and 14 can be achieved.

[0142] The basic structure of the gripper device 1 or the gripping unit 2 and the holding unit 3 is very similar to the exemplary embodiments according to Figures 3 to 13. However, in the exemplary embodiment shown here, the motor 21 or the compressed air motor 22 is not provided directly on the support section 4, but rather relatively behind and below the receiving unit 10. In order to drive the rollers 8 of the lifting device 7, a deflection device 30 is provided which here transmits the rotation of the motor 21 to the rollers 8 by means of several belts 25 or toothed belts and drive shafts 33 and deflection rollers 34.

[0143] In Figure 15, the dashed double arrow further indicates that in all embodiments, the support section 4 can be telescopic and / or that a certain length compensation can be achieved in another way. Thus, the support section 4 can be optimally adapted to the dimensions of an individual unit 200 to be gripped, for example, an empty bag 300 or a stack of empty bags 350. Figures 17 and 18 again show the embodiment according to Figures 14 and 15 in a purely schematic side view and a front view.

[0144] In these illustrations, the fastening device 27 for the hood device 26 is not shown in order to show the components behind it.

[0145] In Figure 19, the view according to Figure 17 is shown again in a sectional view in which the deflection device 30 can be seen better.

[0146] Figure 20 shows a sectional view through the receiving unit 10 of an embodiment of a gripper device 1 with a quick-change device 31.

[0147] Here you can see the spring-loaded bolts 32, which are pulled out to the left and right to change the gripper device 1, whereby the gripper device 1 is released, for example, from a robot arm 61.

[0148] List of reference symbols

[0149] 1 gripper device 29 lighting device

[0150] 2 gripping unit 30 deflection device

[0151] 3 Holding unit 31 quick change

[0152] 4 Support section setup

[0153] 5 Holding element 32 bolts

[0154] 6 free end 33 drive shaft

[0155] 7 Lifting device 34 Deflection pulley

[0156] 8 roll 50 handling device

[0157] 9 contact-mediating 60 robots

[0158] Structure 61 Robot arm

[0159] 10 Recording unit 70 Camera setup

[0160] 11 Actuator 71 3D camera

[0161] 12 pneumatic cylinders 75 height detection

[0162] 13 Holding roller 80 Control device

[0163] 14 Fixing device 100 system

[0164] 15 Fixing stamps 200 single unit

[0165] 16 limit switches 201 edge

[0166] 17 first end position 300 empty bag

[0167] 18 second end position 350 empty bag stacks

[0168] 19 Referencing 400 System device 401 Deposit support

[0169] 20 adhesion-enhancing 402 conveyor belt surface 500 storage area

[0170] 21 Motor 600 bundles / stack

[0171] 22 pneumatic motor

[0172] 23 staff

[0173] 24 Direction of rotation

[0174] 25 timing belts

[0175] 26 Hood device

[0176] 27 Fastening device

[0177] 28 Display device

Claims

Claims:

1. Method for gripping and transferring at least one individual unit (200) from a supply of offset stacked individual units (200) with a system (100) comprising at least one handling device (50) with at least one gripper device (1) and at least one control device (80), wherein at least the supply of offset stacked individual units is provided on at least one storage surface (500), characterized by the following steps, Detecting the position and / or orientation of an exposed individual unit (200) on the storage surface (500) by means of the control device (80); Controlling the handling device (50) and the gripper device (1) by means of the control device (80) on the basis of the determined position and / or the orientation for gripping the individual unit (200); Transferring the seized individual unit (200) to a predetermined location (400) and / or facility (400).

2. The method according to claim 1, wherein the individual unit (200) is a bundle (600) and / or a stack (600) of objects.

3. Method according to one of the preceding claims, wherein the handling device (50) is provided by at least one robot device (60) with at least one robot arm (61).

4. Method according to one of the preceding claims, wherein the system (100) comprises at least one camera device (70) in operative connection to the control device (80) and wherein the position and / or the orientation of the individual unit (200) to be grasped on the storage surface (500) is determined by means of the data of the camera device (70). Method according to one of the preceding claims, wherein at least one height detection device (75) is included. Method according to the preceding claim, wherein the height detection device (75) is integrated into the camera device (70). Method according to one of the three preceding claims, wherein the camera device (70) comprises at least one 3D camera (71). Method according to one of the preceding claims, wherein at least one automated application and / or at least one AI application recognizes an exposed individual unit (200) and its position and / or its orientation or assists in the recognition. Method according to one of the preceding claims, wherein at least one automated application and / or at least one AI application improves the approach accuracy of the gripper device (1) to an individual unit (200) to be gripped.Use of a system (100) comprising at least one handling device (50) with at least one gripper device (1) and at least one control device (80) for gripping and transferring at least one individual unit (200), wherein the position and / or the orientation of an exposed individual unit (200) in a supply of offset-stacked individual units (200) on a storage surface (500) is detected by means of the control device (80), and wherein the detected individual unit (200) is grasped by means of the gripper device (1). Use according to the preceding claim, wherein the handling device (50) is provided by at least one robot device (60) with at least one robot arm (61). Use according to one of the two preceding claims, wherein the system (100) comprises at least one camera device (70) by means of which the position and / or the orientation of the individual unit (200) to be grasped can be determined. Use according to one of the two preceding claims, wherein the handling device (50) is suitable and designed to grasp individual units (200) from at least two storage surfaces (500). Use according to the preceding claim, wherein the camera device (70) is provided so as to be movable between the storage surfaces (500). Use according to one of the two preceding claims, wherein at least two camera devices (70) are provided, wherein in each case at least one camera device (70) is arranged above a storage surface (500).

Images