Handling device for products or product stacks and method for transferring products or product stacks

Abstract

The handling device (2) for moving products or product stacks (10) comprises a robot having a robotic arm (18) with a free end (20), wherein a gripper unit (16) is arranged at the free end (20) of the robotic arm (18). The gripper unit (16) can be moved in three dimensions by the robotic arm (18) and is designed such that a product arranged in a receiving region (12) or a product stack (10) arranged in a receiving region (12) can be received, lifted and set down in a set-down region (14). The gripper unit (16) comprises at least two lower holing elements (24, 32) for supporting an underside (10d) of the received product or product stack (10). The handling device (2) also comprises a control unit (82) which is designed to control the gripper unit (16), and height measurement device (80) for measuring the height of the product or product stack (10), which is arranged in the gripper unit (16) and is communicatively connected to the control unit (82).

Description

[0001] Handling device for products or product stacks and method for transferring products or product stacks

[0002] The present invention relates to a handling device for products or product stacks, in particular stacks of folded, stapled or bound products, as well as a method for transferring products or product stacks.

[0003] In many machines for manufacturing or packaging products, the products are provided at a machine exit in the form of a stack in a delivery area of ​​the machine, in which a majority of the products lie on top of one another to simplify subsequent handling, storage, and transport of the products. For example, in a folding machine, flat media such as sheets of paper are folded into folded products using one or more folding units. These folded products are then usually stacked into stacks of folded products using a stacking device. These stacks must then be placed next to one another and, if necessary, on top of one another on a transport medium such as a pallet.

[0004] An example of a handling device suitable for transferring product stacks is disclosed in EP 3 736 235 A1. The robot described therein follows a predefined sequence plan and can thus quickly and efficiently place product stacks of predefined sizes on a pallet, even in close proximity, and is therefore suitable for most applications.

[0005] It is an object of the present invention to provide a handling device and a method for transferring products or product stacks, by means of which a uniform loading of the transport medium in the storage area is possible efficiently and reliably even with products or product stacks of different heights.

[0006] This object is solved by the subject matter of independent claims 1 and 15. Preferred embodiments are the subject matter of the subclaims.

[0007] The handling device according to the invention for moving products or product stacks comprises a robot, in particular a gantry robot or articulated-arm robot, wherein the robot comprises a robot arm with a free end, wherein a gripping device is arranged at the free end of the robot arm. The gripping device is movable in three dimensions by means of the robot arm and is designed to pick up a product or a product stack arranged in a receiving area, lift it, and place it in a storage area. The gripping device comprises at least two lower holding elements for supporting an underside of the picked-up product or product stack.The handling device also comprises a control device configured to control the gripping device, and a height measuring device for measuring the height of the product or product stack, which is arranged in the gripping device and is in communication with the control device.

[0008] In this way, the height of the product or product stack can be checked during operation and, based on the measurement result, the selection of the storage position of the product or product stack can be adjusted in order to ensure that all stacks of products or product stacks in the storage area are as uniform as possible in height.

[0009] It is preferred if the height measuring device has a distance sensor.

[0010] Preferably, the height measuring device is arranged above the receiving space provided in the gripping device for the product or product stack and is designed to measure a distance to a top side of the product or product stack. The height measuring device can then determine the height of the product or product stack by calculating the difference based on the known vertical distance between the distance sensor and the lower holding elements.

[0011] In a preferred embodiment, the height measuring device comprises an ultrasonic sensor, laser sensor, radar sensor, or a mechanical touch wheel. Ultrasonic sensors have proven particularly robust against external influences.

[0012] In a preferred embodiment, height values ​​or output signals from the height measuring device are transmitted to the control device, and the control device is configured to determine a storage position for the respective product or product stack based on the output signals. It is also conceivable for additional measuring devices for determining the length and / or width of the product or product stack to be integrated into the gripping device. This broadens the range of possible arrangements for the products or product stacks in the storage area, and products or product stacks with different dimensions in length and width can then also be effectively stacked by the handling device.

[0013] Although a plurality of lower holding elements is preferred, the gripping device can also comprise only a single lower holding element for certain applications. All statements in this application therefore apply analogously to embodiments in which the gripping device comprises only one lower holding element or a plurality of lower holding elements.

[0014] To ensure reliable picking up of the product or product stack by the gripping device, the lower holding elements, in a carrying position, define a support plane for supporting the stack. A product or product stack to be moved is arranged with its underside on this support plane of the gripping device, so that the product or products of the stack are arranged essentially parallel to this support plane and aligned level. During the picking up, transferring, and depositing of the respective product or product stack, the handling device is preferably controlled and driven in such a way that the support plane is aligned essentially horizontally. This prevents the stack from tipping or the products from slipping.

[0015] If only a single lower holding element is provided, it comprises a flat support surface. This support surface comes into contact with the underside of the stack to be moved. However, the lower holding element can also have a plurality of contact points located in one plane.

[0016] If a plurality of lower holding elements is provided, the lower holding elements preferably each comprise a support surface arranged in a common plane to define the support plane. However, the lower holding elements can also each have a different shape suitable for defining the support plane. For example, the lower holding elements can be substantially cylindrical and each have a line contact to the underside of the stack, wherein the contact points lie in one plane. The lower holding elements can all have the same shape or be designed differently.

[0017] When designing the lower holding elements, the rigidity of the products or the stack of products must be taken into account so that they are reliably held and do not fall between the lower holding elements, for example, due to deflection. Overall, it is therefore preferred to provide at least two or four lower holding elements, which are preferably arranged at least in the region of two opposite side edges of the underside of the product or stack of products to be moved.

[0018] The handling device preferably also comprises at least one upper holding element that is movable relative to the lower holding elements. The gripping device can comprise a single upper holding element in order to enable a simple and thus cost-effective construction of the gripping device. However, the gripping device can also comprise a plurality of upper holding elements. All embodiments in this application therefore apply analogously to embodiments in which the gripping device comprises only one upper holding element or a plurality of upper holding elements. In a preferred embodiment, the at least one upper holding element is movable relative to the lower holding elements. In this way, the product or the product stack can also be secured from above.

[0019] In order to hold down the top side of the picked-up product or product stack as reliably as possible, it is preferred that the upper holding element or the upper holding elements define a contact plane for contacting the top side of the product or product stack.

[0020] If only a single upper holding element is provided, this correspondingly has a contact surface to define the contact plane. Alternatively, the upper holding elements can also each have different contact geometries, such as a linear contact or point contact, with the top side of the stack to define the contact plane. The contact plane is preferably aligned parallel to the support plane. Overall, it is preferred if two or four upper holding elements are arranged in the region of at least two opposing side edges of the top side of the product or product stack to ensure reliable holding down of the top side.

[0021] In a preferred embodiment, the upper and lower holding elements are movable relative to one another. As a result, the upper and lower holding elements are simultaneously movable relative to the product or product stack to be picked up and moved. This offers the advantage that the upper and lower holding elements can initially be arranged at a distance from the product or product stack and are only moved toward the product or product stack once it is positioned between the upper and lower holding elements. This facilitates picking up the product or product stack. Furthermore, the distance between the upper and lower holding elements can be easily adjusted to suit different stack heights.

[0022] The relative movement between the upper and lower holding elements preferably includes a movement component in the direction of the product or product stack, or perpendicular to the support plane and thus perpendicular to the top or bottom of the product or product stack to be picked up. A relative movement between the upper and lower holding elements can also ensure that air is pressed out of the product stack and thus arrange the products in the stack in a substantially flat shape, provided the products are sufficiently flexible, such as folded, stapled, or bound products.

[0023] Both the upper and lower holding elements can be movable toward the other holding elements and back again. However, only the upper or only the lower holding elements can be movable.

[0024] Each movable holding element can be moved directly by means of a drive or indirectly by means of a common drive via a corresponding mechanism.

[0025] Each movable holding element can also be preloaded into a predetermined position by suitable preloading elements (e.g., springs) or can be mounted so that it can move freely in a guide of the gripping device. For example, the weight of the upper holding elements alone can cause the holding elements to move toward the product or product stack. The upper holding elements can also be preloaded toward the top of the stack by means of a tension or compression spring.

[0026] In a preferred embodiment, the gripping device comprises a first lateral limiting element and a second lateral limiting element, each of which can be assigned to one of two opposing side surfaces of the product or product stack. The first and second limiting elements preferably extend substantially perpendicular to the support plane defined by the lower holding elements.

[0027] The first and second limiting elements serve to laterally define a receiving area for the product or product stack in the gripping device. The first and second limiting elements are particularly suitable for receiving and storing the upper and lower holding elements. Alternatively or additionally, the first and second lateral limiting elements can also support the respective side surface of the product or product stack to which they are assigned. This ensures an even safer and more dimensionally stable transfer of the product or product stack.

[0028] A first and a second lateral limiting element can be provided. Optionally, a plurality of first and / or a plurality of second limiting elements can be provided. The following explanations are therefore analogously applicable to embodiments with any number of first and second limiting elements.

[0029] To achieve optimal alignment of the product or product stack, the first limiting element preferably defines a first limiting plane, and the second limiting element preferably defines a second limiting plane for contact with one of two opposing side surfaces of the product or product stack to be picked up. The first and second limiting planes are aligned parallel to each other and perpendicular to the support plane.

[0030] If the gripping device comprises only a first and a second limiting element, these preferably each comprise a limiting surface or a plurality of contact parts for defining the limiting planes. With a plurality of first and second limiting elements, a different contact geometry (e.g., linear contact or contact points) can also be present with the side surfaces of the product or product stack to be picked up in order to define a limiting plane.

[0031] Easy picking up of a product or product stack by means of the gripping device is achieved if, according to a particularly preferred embodiment, the first and second limiting elements are movable relative to one another. In particular, the first and second limiting elements can be moved toward one another. The relative movement of the first and second limiting elements therefore comprises a movement component that is oriented parallel to the support plane or perpendicular to the limiting planes and the opposing side surfaces of the product or product stack to which the limiting elements can be assigned.

[0032] Preferably, the first and second limiting elements are each driven directly by means of their own drive or indirectly by means of a common drive and a suitable mechanism.

[0033] The relative movement between the first and second limiting elements can be implemented particularly easily if, according to a preferred embodiment, the gripping device comprises a carrier and at least one of the first and second limiting elements is mounted on the carrier in a linearly displaceable manner. It is understood that one of the two limiting elements can be stationary, and only the other limiting element can be linearly displaceable. Alternatively, the first and second limiting elements can be mounted on the carrier in a linearly displaceable manner, with the movement of the limiting elements preferably occurring synchronously.

[0034] For example, the carrier can have at least one corresponding linear guide, with which a corresponding counterpart on the at least one linearly displaceable limiting element engages. The linear movement of the linearly displaceable limiting element can be achieved by suitable drives, such as a linear drive, a spindle drive, or a hydraulic or pneumatic drive. However, a corresponding mechanism for moving the first and second limiting elements relative to one another can also be provided, as will become apparent in particular from the following description of the figures.

[0035] It is particularly preferred if the upper and lower holding elements are mounted or attached to the first and / or second limiting element. This results in a simple design of the gripping device with a small number of components. If a plurality of upper or lower holding elements is provided, it is preferred that some of the plurality of upper or lower holding elements are mounted on the first limiting element and the other part of the plurality of upper or lower holding elements is mounted on the second limiting element. The holding elements of the plurality of upper or lower holding elements can then be arranged symmetrically to a center plane that is defined between the first and second limiting elements perpendicular to the support plane. Alternatively, the respective holding elements can also be arranged asymmetrically to this center plane.

[0036] In a preferred embodiment, the at least one upper holding element is mounted so as to be linearly displaceable along at least one of the first and second limiting elements.

[0037] It is preferred that each lower holding element is mounted so as to be linearly displaceable along one of the first and second limiting elements.

[0038] For this purpose, at least one of the first and second limiting elements can comprise a guide that interacts with a corresponding counterpart on the respective holding element, so that the holding element can be displaced along the guide. A longitudinal direction of the guide is preferably perpendicular to the support plane to enable linear displaceability of the holding element in the direction of the stack.

[0039] The guides for the upper and lower holding elements can be designed as a single guide if both the upper and lower holding elements are mounted on the first and / or second limiting element for linear displacement. However, the guide for the lower holding elements can also be different from the guide for the upper holding elements. Alternatively or in addition to linear displacement, each lower holding element can be pivotally mounted relative to one of the first and second limiting elements. This reduces the lateral space required for picking up and placing down.

[0040] In a preferred embodiment, each lower holding element is constructed in several parts and comprises at least a first section and a second section, the first section being pivotably mounted on the first or second limiting element by means of a first axis of rotation, and the second section being pivotably mounted on the first or second limiting element by means of a second axis of rotation, the first and second sections of each lower holding element further being pivotally connected to one another at a respective free end by means of a third axis of rotation, the first axis of rotation being mounted so as to be linearly displaceable along the first or second limiting element. In this way, a stack of products can be deposited in the deposit area without the need for lateral displacement of the limiting elements.

[0041] It is preferred that a further height measuring device for measuring the height of the product or product stack be arranged in the region of a conveyor device that conveys the product or product stack to the receiving area, wherein the further height measuring device is also in communication with the control device. In this way, suitable storage positions for the products or product stacks can be calculated before the transfer of the products or product stacks, or products or product stacks can be stacked on top of one another in the receiving area using the gripping device if the height measurement results in a low height.

[0042] The same specifications apply to the additional height measuring device as to the first height measuring device, apart from the arrangement in the gripping device.

[0043] Likewise, additional measuring devices for measuring the length and / or width of the product or product stack transported by the conveyor device can be provided in the area of ​​the conveyor device. This data can also be used by the control device to ensure sensible stacking of the products or product stacks in the storage area. The handling device is generally suitable for all products that can be stacked, but also for certain non-stacked products, such as packaging boxes. The handling device is particularly suitable for stacks of products that have a low dead weight. Even products that are flexible and therefore easily deformed under pressure can be transferred easily and reliably. The products are, for example, folded, stapled or bound products, such as saddle-stitched products or perfect-bound products.

[0044] The receiving area is preferably the delivery area of ​​a machine, such as a folding machine or a printing press, or a stacking device that forms stacks of products. However, the receiving area can also be formed by a transport medium on which the products or product stacks are stored, or the end of a conveyor line on which the products or product stacks are transported.

[0045] The storage area into which the products or product stacks are to be moved is preferably formed by a transport medium, such as a pallet, on which the products or product stacks are deposited. However, the storage area can also be formed at the entrance of a conveyor device or be an area in which the products or product stacks are fed for further processing, either manually or mechanically.

[0046] The gripping device is movable in three dimensions. This allows the gripping device to arrange a product stack picked up in the receiving area into different, offset storage positions within the storage area, as well as to overcome obstacles or height differences between the receiving area and the storage area. The gripping device can move linearly or by superimposing movements on any curved path. For this purpose, the gripping device is mounted on a robot arm, which in turn is controlled and driven accordingly.

[0047] The gripping device is preferably movable both translationally and rotationally. The gripping device can be fixed to the robot arm, so that no relative movement between the gripping device and the robot arm is possible. However, the gripping device can also be movable translationally and / or rotationally relative to the robot arm. In particular, the gripping device can be mounted on the robot arm so that it can rotate about at least one axis.

[0048] The robot is preferably designed as a collaborative robot, enabling optimal cooperation between the operator and the robot. Additional protective devices, such as fences around the robot, that would restrict the operator's work area are not required. At the same time, the safety of the operator in the robot's vicinity is ensured.

[0049] The control device for controlling the robot can have a user interface for the operator to input control commands. The robot's control device can also be coupled to the machine's control device or integrated into it to enable optimal coordination between the robot and the machine. However, the control device can also be responsible solely for the operation of the handling device.

[0050] Furthermore, the robot can transfer a product or a stack of products semi-automatically or fully automatically (autonomously).

[0051] The handling device can be used particularly advantageously together with a folding machine, whereby the stacked products are folded products.

[0052] The method according to the invention for transferring products or product stacks comprises:

[0053] Arranging a product or stack of products in a receiving area;

[0054] Picking up the product or product stack arranged in the picking area by means of a gripping device;

[0055] Lifting the product or product stack and moving the product or product stack from the receiving area to the storage area using the gripping device;

[0056] Measuring the height of the product or product stack;

[0057] Selecting one of a plurality of storage positions in the storage area based on the measured height of the product or product stack and depositing the product or product stack at the selected storage position; repeating all preceding steps for additional products or product stacks, wherein different storage positions are selected for at least some of the additional products or product stacks and a plurality of the products or product stacks are stacked on top of one another.

[0058] In this way, by adjusting the selection of the storage position of the respective product or product stack during operation, the most uniform height possible of all stacks of products or all stacks of product stacks in the storage area can be ensured.

[0059] Stacking is particularly effective when the products or product stacks are placed in such a way that the stacked products or product stacks are as uniform as possible across the entire stacking area. To achieve a good end result, it is advantageous to predefine an absolute target height for the finished stack. Typically, such maximum target heights are in the range of 1 m to 1.5 m.

[0060] Particularly preferably, the products or product stacks are stored in such a way that several levels of stacked products or product stacks are formed, with the stacked products or product stacks on a particular level each having as uniform a height as possible. The height of the different levels can be identical or different. It is also conceivable to insert intermediate layers, for example in the form of robust foil or the like, between the different levels.

[0061] It may be preferable for the products or product stacks to be placed in such a way that the products or product stacks on different levels have different orientations. This increases the stability of the resulting stack of products or product stacks.

[0062] It can be advantageous if the operator specifies a target height for each level. The target height for a level is typically between 20 cm and 50 cm. In this way, each level in the storage area is initially filled to the target height, reducing the variation options for the control device and allowing the overall process to be designed more effectively. In a preferred embodiment, the height of the product or product stack is measured while the product or product stack is in the gripping device. This ensures an efficient process flow.

[0063] Particularly preferably, the height of the product or product stack is measured while the product or product stack is being moved by means of the gripping device from the receiving area to the depositing area.

[0064] Alternatively or additionally, the height of the product or product stack can also be measured while the product or product stack is being conveyed to the receiving area by means of a conveying device.

[0065] In this case, an additional function can be provided that, depending on the measured height of the product or product stack, at least two products or product stacks are stacked on top of each other in the receiving area using the gripping device. The stacked at least two products or product stacks are then moved by the gripping device to the storage area. This is particularly useful when the two products or product stacks are low in height. If the transport medium is filled tier by tier in the storage area, the combined height of the two products or product stacks should not exceed the predefined target height of the respective tier.

[0066] In general, the step of picking up the product or product stack arranged in the picking area by means of the gripping device is preferably carried out in such a way that an underside of the product or product stack is supported on at least two lower holding elements of the gripping device.

[0067] The step of picking up the product or product stack arranged in the picking area by means of the gripping device is preferably carried out in such a way that the lower holding elements are in a first retracted position before picking up the product or product stack, and that picking up the product or product stack comprises moving each of the lower holding elements from the first position to a second position in which the lower holding elements form a support surface for the underside of the product or product stack.

[0068] The movement of the lower holding elements into the second position can take place as soon as the lower holding elements are arranged below the level defined by the underside of the product or product stack.

[0069] It goes without saying that the lower holding elements can also be arranged permanently in the second position during picking up, in which case appropriate care must be taken when positioning the gripping device relative to the stack. The gripping device is then arranged relative to the product or product stack in such a way, for example, that the first and second limiting elements are at a greater distance from the respective side surface of the product or product stack, which is sufficient to prevent the lower holding elements from colliding with the product or product stack, and only then does the gripping device close. A horizontal movement of the limiting elements can then be followed by a vertical movement of the entire gripping device upwards. It is also conceivable for the horizontal movement of the limiting elements to first be followed by a vertical movement of the lower holding elements before the gripping device as a whole is moved.

[0070] In a preferred embodiment, moving the lower holding elements from the first position to the second position comprises pivoting the lower holding elements.

[0071] The step of picking up the product or product stack preferably includes the step of moving at least one upper holding element toward the top of the product or product stack. This better secures the product or product stack for transport.

[0072] The step of picking up the product or product stack arranged in the receiving area by means of the gripping device preferably takes place such that two opposing side surfaces of the product or product stack are arranged between a first and a second lateral limiting element of the gripping device. This serves to further fix the product or product stack to be transported. This effect is enhanced if the step of picking up the product or product stack further comprises moving at least one of the first and second limiting elements toward a side surface of the product or product stack facing this limiting element.

[0073] In a preferred embodiment, the step of depositing the moved product or product stack comprises the step of moving the lower holding elements from a second position, in which the lower holding elements form a support surface for the underside of the product or product stack, to a first retracted position in which they release the product or product stack downwards. This enables spontaneous release of the product or product stack without requiring an extensive lateral movement of the limiting elements.

[0074] In this context, it is particularly preferred that the movement of the lower holding elements from the second position to the first position comprises a pivoting of the lower holding elements.

[0075] In a preferred variant, the step of depositing the moving product or product stack comprises the step of guiding at least one upper holding element along with the top side of the product or product stack during depositing until the bottom side of the product or product stack rests in the deposit area. This serves to better guide, in particular, a product stack during depositing.

[0076] It will often not be possible to deposit products or product stacks in the deposit area using the gripping device in such a way that the underside of the product or product stack is already resting in the deposit area while the lower holding elements are still arranged under the underside of the product or product stack. It is therefore preferred that the lower holding elements move from the second to the first position, thereby releasing the product or product stack and the product or product stack slides down the remaining distance to the support surface in the deposit area. The stack is preferably guided by the first and second lateral limiting elements and the at least one upper holding element is preferably carried along to ensure that the stack is held together. During depositing, however, the lateral limiting elements can also be moved apart, alternatively or in addition to the movement of the lower holding elements.

[0077] It should be noted that the method according to the invention is preferably carried out using the handling device according to the invention described above. All relevant explanations regarding the structure and functioning of the handling device are therefore also intended to be disclosed in connection with the method according to the invention.

[0078] If the products are folded, stapled, or bound, it is preferable during stacking that two product stacks are positioned opposite each other in the stacking area according to a predetermined pattern, such that the side surfaces of both product stacks, formed by the spines of the products, face away from each other. This arrangement ensures that no products can fall out of the stacking area, even if a stack of products arranged there tips over or the products slip.

[0079] Further features and advantages of the present invention will become apparent from the following description with reference to the drawings.

[0080] Fig. 1 shows an embodiment of a folding machine with a handling device according to the invention schematically in a perspective view.

[0081] Fig. 2a shows an embodiment of a gripping device of the handling device according to the invention in a perspective view, wherein the height measuring device is omitted for better clarity.

[0082] Fig. 2b shows an embodiment of a gripping device of the handling device according to the invention in a perspective view with integrated height measuring device.

[0083] Fig. 3 shows the gripping device according to Fig. 2b in a front view.

[0084] Fig. 4 shows the gripping device according to Fig. 2b in a side view. Fig. 5 shows the gripping device according to Fig. 2b in a bottom view.

[0085] Fig. 6a-6g show the gripping device according to Fig. 2a in a front view in different states during the method according to the invention.

[0086] Fig. 7a, b each show schematically a pattern for depositing stacks according to the method according to the invention in a plan view.

[0087] Fig. 8 shows a partial load of a transport medium with product stacks of different heights.

[0088] Fig. 9 shows a full load of a transport medium with several product stacks stacked on top of each other.

[0089] Due to the particular suitability of the handling device according to the invention for stacks of folded, stapled, or bound products, the invention will be described below using a folding machine and a stack of folded products. It is understood that the features and advantages described in this context are essentially also transferable to all other machines and products, as well as to the transfer of a product or product stack from another receiving area to another storage area within the scope of the invention.

[0090] Fig. 1 schematically shows a folding machine 1 with a handling device 2 according to the invention. Flat media, e.g., paper sheets, are fed to the folding machine 1 at a feeder 4. The feeder 4 can comprise a feeder, e.g., a pallet feeder, or can be directly connected to a preceding processing machine, e.g., a printing press, by means of suitable conveying means.

[0091] The folding machine 1 further comprises, arranged one behind the other along a throughput direction D, at least one folding unit 6 for folding the flat media into folded products, a stacking device 8 for forming a stack 10 of folded products (see Fig. 3 and Fig.

[0092] 6) from the folded products, and a delivery area for delivering the stack of folded products, which is referred to below as the receiving area 12 for the handling device 2. A stack 10 of folded products arranged in the receiving area 12 is then arranged in a deposit area 14. The handling device 2 is provided for this purpose. A transport medium, such as a pallet, on which the stacks 10 are deposited is preferably arranged in the deposit area 14. Reference numeral 11 denotes a conveyor device on which products or product stacks 10 are transported.

[0093] The handling device 2 for transferring the stack 10 of folded products from the delivery area 12 of the folding machine 1 to the storage area 14 assigned to the folding machine 1 comprises a gripping device 16. The gripping device 16 is movable in three dimensions and is designed to pick up a stack 10 of folded products arranged in the receiving area 12 and to deposit it in the storage area 14. Details of the gripping device 16 can be found in the following description with reference to Figs. 2 to 6. It is understood that the handling device 2 is designed essentially independently of the folding machine 1, as long as the delivery area 12 and the storage area 14 are within reach of the handling device 2. The conveying device 11 can form a unit together with the handling device 2 and can be present separately from other components.

[0094] The handling device 2 is designed as a robot, in particular as a gantry robot or, as shown, as an articulated-arm robot. The robot comprises a robot arm 18 with a free end 20, on which the gripping device 16 is arranged. The gripping device 16 is connected to the robot arm 18 by means of a connecting device, wherein the connecting device can establish a rigid connection between the gripping device 16 and the robot arm, or can enable any degree of freedom of the gripping device 16 relative to the robot arm 18.

[0095] Figs. 2a, 2b and 3 show an embodiment of the gripping device 16 for picking up, moving and depositing a stack 10 of folded products, which is indicated by dashed lines in Fig. 3.

[0096] The stack 10 is essentially cuboid-shaped and comprises two opposing side surfaces, namely a left side surface 10a and a right side surface 10b, as well as a top surface 10c and a bottom surface 10d opposite the top surface 10c. The two further side surfaces, which are aligned perpendicular to the left and right side surfaces 10a, 10b and to the top and bottom surfaces 10c, 10d, run parallel to the plane of the drawing in the front views according to Fig. 3 and Fig. 6. Due to the restoring forces inherent in the folded products, the stack 10 can reset in the region of the respective fold in such a way that, in an uncompressed state, one of the side surfaces, which is formed by the spines of the folded products, has a greater height than the opposite side surface.The cuboid shape of the stack referred to here is achieved when the stack is compressed and the air is expelled, when the folded products of stack 10 lie flat against one another. The gripping device 16 can, of course, also be used for stacks with curved side surfaces (including the top and bottom).

[0097] In the illustrated embodiment, the gripping device 16 comprises a plurality of upper holding elements 22, 26, 28, 30 for holding down the upper side 10c of the stack 10 and a plurality of lower holding elements 24, 32 for supporting the lower side 10d of the stack 10.

[0098] The gripping device 16 further comprises a first lateral limiting element 34 and a second lateral limiting element 36, each of which can be assigned to one of the two opposing side surfaces 10a, 10b of the stack 10. The first and second limiting elements 34, 36 are arranged opposite one another in such a way that they can accommodate the stack 10 between them. Once the gripping device 16 has picked up a stack 10, the first and second limiting elements 34, 36 extend substantially parallel to the two opposing side surfaces 10a, 10b of the stack 10.

[0099] In the position shown in Figs. 2a, 2b and 3, in which they are configured to receive a stack 10, the lower holding elements 24, 32 define a support plane S for supporting the stack 10. The support plane S is preferably aligned horizontally to ensure stable reception of the stack 10.

[0100] The upper holding elements 22, 26, 28, 30 can define a contact plane K that is aligned parallel to the support plane S. It is preferred that the upper holding elements 22, 26, 28, 30 further compress the stack 10 of folded products such that the top side 10c of the stack 10 is aligned in the contact plane K and any air present in the stack 10 is pressed out of it. However, this is not absolutely necessary for safe handling of the stack 10.

[0101] The plurality of upper holding elements 22, 26, 28, 30 can be movable relative to the plurality of lower holding elements 24, 32. The upper holding elements 22, 26, 28, 30 and the lower holding elements 24, 32 are movable relative to one another in a direction perpendicular to the support plane S or perpendicular to the underside 10d of a received stack 10. In this case, only the upper holding elements 22, 26, 28, 30 or only the lower holding elements 24, 32 can be designed to be movable, or both the upper and lower holding elements 22, 24, 26, 28, 30, 32 can be movably mounted.

[0102] In the illustrated embodiment, the first and second upper holding elements 22, 26 are mounted to be linearly displaceable along the first limiting element 34 and the second and third upper holding elements 28, 30 are mounted to be displaceable along the second limiting element 36.

[0103] For this purpose, the first and second limiting elements each have a guide 38 for each upper holding element 22, 26, 28, 30 movable along the respective limiting element 34, 36. The guide 38 extends parallel to the desired direction of movement of the upper holding elements 22, 26, 28, 30. Suitable linear guides are known to those skilled in the art and can be used here. For example, a guide 38 in the limiting elements 34, 36 can be formed as a groove that receives a guide section 40 of the respective upper holding element 22, 26, 28, 30 and guides it along the longitudinal direction of the groove, as shown in Fig. 2a.

[0104] In the illustrated embodiment, the upper holding elements 22, 26, 28, 30 are freely movable along the respective limiting element 34, 36. This means that no drive and no preloading means are provided to move the upper holding elements 22, 26, 28, 30 into a predefined position or to hold them in such a position. The range of motion of the upper holding elements 22, 26, 28, 30 is limited here only by an upper end and a lower end of the respective guide 38, against which the upper holding elements 22, 26, 28, 30 abut during maximum displacement. Alternative bearings or guides for the upper holding elements 22, 26, 28, 30 are also conceivable, as is the use of a drive or a pre-tensioning means for the upper holding elements 22, 26, 28, 30. Alternatively or additionally, the plurality of lower holding elements 24, 32 can be mounted so as to be linearly displaceable along at least one of the first and second limiting elements 34, 36.The lower holding elements 24, 32 can be mounted in the corresponding limiting element 34, 36 in a manner analogous to the linearly displaceable mounting of the upper holding elements 22, 26, 28, 30. In general, the design and mounting of the lower holding elements 24, 32 are independent of the design and mounting of the upper holding elements 22, 26, 28, 30.

[0105] The plurality of lower holding elements 24, 32 can also be pivotally mounted relative to at least one of the first and second limiting elements 34, 36. For this purpose, the respective limiting element 34, 36 is pivotally connected to the respective lower holding element 24, 32, e.g., by means of a suitable pivot joint.

[0106] The lower holding elements 24, 32 can also be mounted both linearly displaceably and pivotably with respect to the respective limiting element 34, 36. The illustrated embodiment illustrates such a combined mounting of the lower holding elements 24, which is described in more detail with reference to the first lower holding element 24. The second lower holding element 32 can be designed analogously to the first lower holding element 24 and can be mounted accordingly on the second limiting element 36.

[0107] The lower holding element 24 is constructed in several parts and comprises at least a first section 42 and a second section 44. The first section 42 is pivotally mounted on the first limiting element 34 by means of a rotation axis 42a. The second section 44 is pivotally mounted on the first limiting element 34 by means of a rotation axis 44a. The first and second sections 42, 44 of the lower holding element 24 are further pivotally connected to one another at a respective free end by means of a third rotation axis 46. The first, second and third rotation axes 42a, 44a, 46, like the first section 42 and the second section 44, can be constructed in one part or in several parts, as is the case for the first section 42, the second section 44 and the second rotation axis 44a according to Fig. 2a.

[0108] The first rotation axis 42a of the first section 42 of the lower holding element 24 is mounted for linear displacement along the first limiting element 34. For this purpose, the first limiting element 34 has suitable means, such as a guide or a groove for receiving the first rotation axis 42a. According to Fig. 2a, the first rotation axis 42a is received at one end in each of two opposing guide grooves 48 of the first limiting element 34.

[0109] If the first section 42 or its rotational axis 42a is displaced linearly along the first limiting element 34, the first section 42 of the lower holding element 24 pivots about the first rotational axis 42a. At the same time, the first and second sections 42, 44 pivot relative to one another about the third rotational axis 46, which in turn causes the second section 44 to pivot about the second rotational axis 44a. As a result, the lower holding element 24 is folded toward the first limiting element 34. In this position, the lower holding element 24 does not protrude into the space between the first and second limiting elements 34, 36.

[0110] To generate the movement of the lower holding element 24, the latter may further comprise suitable drive means 50, which are described in more detail with reference to Fig. 4.

[0111] It is preferred that the lower holding elements 24, 32 are movable between a first position in which they substantially do not protrude into a space between the first and second limiting elements 34, 36 (cf. Fig. 6a, 6b) and a second position in which the lower holding elements 24, 32 protrude into the space between the first and second limiting elements 34, 36 and delimit the space downwards to form a receptacle for the stack 10 (cf. Fig. 2a, 3). In the second position, the lower holding elements 24, 32 are configured to receive a stack 10 and define the support plane S.

[0112] This mobility between the first and second positions is preferably implemented by the previously described mechanism of the lower holding elements, while simultaneously achieving a gentle deposit of the stack in the deposit area. Other mechanisms, such as a simpler linear displacement or a simple folding of a one-piece holding element 24, are also conceivable.

[0113] Regardless of the design and mounting of the upper and lower holding elements 22 to 32, the first and second limiting elements 34, 36 can be movable relative to one another. Only one of the two limiting elements 34, 36 can be movable, but both limiting elements 34, 36 can also be movable.

[0114] The first and second limiting elements 34, 36 are preferably movable linearly in the direction of the respective side surface 10a, 10b of the received stack 10, which faces the respective limiting element 34, 36. The direction of movement of the first and second limiting elements 34, 36 is thus parallel to the support plane S and perpendicular to the two opposing side surfaces 10a, 10b of the stack 10. It is preferred that the first and second limiting elements 34, 36 be movable relative to one another to such an extent that they rest against the respective side surface 10a, 10b of the stack 10. As a result, the stack 10 is further secured during movement by the gripping device 16 and reliably retains its shape.

[0115] For this purpose, the first boundary element 34 defines a first boundary plane B1, and the second boundary element 36 defines a second boundary plane B2. The boundary planes B1 and B2 are arranged perpendicular to the support plane S and parallel to the side surfaces 10a, 10b of a received stack 10.

[0116] In order to mount the first and second limiting elements 34, 36 so that they can be moved relative to one another, the gripping device 16 preferably comprises a carrier 52 on which at least one of the first and second limiting elements 34, 36 is mounted so that it can be linearly displaced. In the illustrated embodiment, the carrier 52 comprises two guide rods 54, and the first and second limiting elements 34, 36 comprise corresponding openings 56 through which the guide rods 54 extend. The limiting elements 34, 36 are displaceable along the guide rods 54.

[0117] The first and second limiting elements 34, 36 may each be moved by their own drive or they may be coupled to a common drive by means of a suitable mechanism, as described with reference to Fig. 5.

[0118] 2a to 7 further show a Cartesian coordinate system. It is preferred that the xy-plane of this coordinate system is oriented horizontally and the z-axis is oriented vertically. The support plane S is preferably parallel to the xy-plane. The first and second holding elements 22, 24, 26, 28, 30, 32 are preferably movable relative to one another in the direction of the z-axis, while the first and second limiting elements 34, 36 are preferably movable relative to one another in the direction of the x-axis. The two opposing side surfaces 10a, 10b of the stack 10 are then oriented parallel to the yz-plane. The axes of rotation 42a, 44a, 46 preferably extend parallel to the y-axis. Finally, the gripping device 16 is preferably mounted on the handling device 2 so as to be rotatable about the z-axis.

[0119] Fig. 4 shows the gripping device 16 in a side view to explain the drive means 50 for the first lower holding element 24. Corresponding drive means can also be provided for the second lower holding element 32. The drive means 50 are designed in this embodiment to move the first axis of rotation 42a of the first holding element 24 perpendicular to the support plane S. The drive means 50 comprise a rotary drive 58 with an output shaft 60 rotatable by it. A connecting rod 62 is eccentrically mounted on the output shaft 60, wherein the end of the connecting rod 62 opposite the output shaft 60 is connected to the lower holding element 24, preferably to the first axis of rotation 42a of the lower holding element 24. The connecting rod 62 is pivotable with respect to the lower holding element 24. Through this arrangement, a rotary movement of the output shaft 60 is converted into a linear lifting movement of the lower holding element 24.The lower holding element 24 is guided linearly within the first limiting element 34 by means of the rotational axis 42a of the first section 42 of the lower holding element 24. Alternative drives or drive mechanisms are certainly conceivable.

[0120] The drive mechanism 64 for moving the first and second limiting elements 34, 36 is described with reference to Fig. 5. The drive mechanism 64 comprises a rotary drive 66 (Fig. 2a) with an output shaft 68 driven by it, on which a driver 68 is mounted in a rotationally fixed manner. A first connecting rod 70 and a second connecting rod 72 are rotatably mounted on the driver 68 eccentrically with respect to the output shaft 68 of the rotary drive 66. The first connecting rod 70 is pivotally connected to the first limiting element 34 at an end opposite the driver 68, and the second connecting rod 72 is pivotally connected to the second limiting element 36 at an end opposite the driver 68. A rotation of the driver 68 by the rotary drive 66 causes this rotary movement to be converted into a linear movement of the first and second limiting elements 34, 36 by means of the first and second connecting rods 70, 72.The first and second limiting elements 34, 36 are preferably guided along the guide rods 54. Depending on the direction of rotation of the rotary drive 66 and the driver 68, the first and second limiting elements 34, 36 are pushed apart or pulled together. Other drive mechanisms can also be readily used here.

[0121] Fig. 2b also shows a height measuring device 80 for measuring the height of the stack 10. In the example shown, this is arranged above the receiving space 88 for the stack 10 in the gripping device 16 and is designed as a distance sensor with which a distance to the top side 10c of the stack 10 is measured. The height measuring device 80 is in communication with the control device 82 (Fig. 1). The output signals of the height measuring device 80 are processed in the control device 82 and serve to select a suitable deposit position for the stack 10 in the deposit area 12. Further explanations can be found below with reference to Figures 7 to 9.

[0122] In Figs. 6a to 6g, the gripping device 16 is shown in various states during the transfer. It is understood that the method steps performed by the gripping device 16 are more important than the device features of the gripping device 16 provided for this purpose. The method explained below can therefore also be carried out with alternative embodiments of the gripping device 16 and is not limited to the embodiment shown and described with reference to Figs. 1 to 5.

[0123] According to Fig. 6a, the stack 10 is arranged in the receiving area 12. According to Figs. 6a and 6b, the gripping device 16 is also arranged in the receiving area 12. It is preferred that the gripping device 16 is arranged such that two opposing side surfaces 10a, 10b of the stack 10 of folded products are arranged between the first and the second limiting element 34, 36 of the gripping device 16. The upper side 10c of the stack 10 is arranged below or in the contact plane K of the upper holding elements 22, 26, 28, 30 and the underside 10d of the stack is arranged above the support plane S defined by the lower holding elements 24, 32, so that the upper side 10c and the underside 10d of the stack 10 are arranged between the upper holding elements 22, 26, 28, 30 and the lower holding elements 24, 32. In Fig.Fig. 6a shows that the gripping device 16 is first arranged above the stack 10 and then moved vertically downwards in a substantially linear manner. The lower holding elements 24, 32 are in the first position, in which they do not protrude into the space between the first and second limiting elements 34, 36. The upper holding elements 22, 26, 28, 30 are in a lower position, in which their guide section 40 abuts the lower end of the guide 38 designed as a groove (cf. Fig. 2a). The first and second limiting elements 32, 34 are arranged spaced apart from one another in the horizontal direction, such that the distance defined between them is greater than the distance between the two opposite side surfaces 10a, 10b of the stack 10. As a result, the first and second limiting elements 34, 36 do not collide with the stack 10 when they are moved downwards.

[0124] As can be seen in Fig. 6b, the upper holding elements 22, 26, 28, 30 come into contact with the upper side 10c of the stack 10 when the gripping device 16 is moved further downward. If the gripping device then moves further downward, the upper holding elements 22, 26, 28, 30 move upward relative to the limiting element 34 along the guide 38. The upper side 10c is thus reliably held down by the upper holding elements 22, 26, 28, 30 during the further movement.

[0125] The gripping device 16 is moved downward until the lower holding elements 24, 32 are arranged below the underside 10d of the stack 10 or the plane defined by the latter. For this purpose, it is preferred that the receiving area 12 be designed such that it has recesses for the limiting elements 34, 36 and the lower holding element 24 in the area of ​​these, while forming a sufficient support surface for the stack 10 in the area of ​​the underside 10c of the stack 10.

[0126] If the gripping device 16 is arranged in the receiving area 12 as desired, the stack 10 of folded products arranged in the receiving area 12 is picked up by means of the gripping device 16.

[0127] Fig. 6c shows that the lower holding elements 24, 32 are moved from the first position to the second position, in which the lower holding elements 24, 32 protrude into the space between the first and second limiting elements 34, 36 and delimit this space downwards in order to form a receptacle for the stack 10 and to define the support plane S. During the movement of the lower holding elements 24, 32 from the first position to the second position, the lower holding elements 24, 32 can be arranged at a distance from the underside 10c of the stack 10 and only after moving into the second position are they moved upwards together with the gripping device 16 until they come into contact with the underside 10c of the stack 10. The gripping device 16 can also be arranged such that the lower holding elements 24, 32 touch the underside 10c of the stack 10 as soon as they are moved into the second position.Due to the free mounting of the upper holding elements 22, 26, 28, 30, they always follow the upper side 10c of the stack 10.

[0128] As can also be seen in Fig. 6c, both limiting elements 34, 36 are moved toward the side surface 10a, 10b of the stack 10 facing the respective limiting element 34, 36. Preferably, the limiting elements 34, 36 are moved toward the side surfaces 10a, 10b of the stack 10 until they touch these side surfaces 10a, 10b in order to laterally support the stack 10. The movement of the limiting elements 34, 36 can occur before, after, or simultaneously with the movement of the lower holding element 24, 32 into the second position.

[0129] In the state illustrated in Fig. 6c, the stack 10 is completely received by the gripping device 16. Preferably, the gripping device 16 rests against at least four sides of the stack 10 in order to secure the folded products of the stack 10 in their position relative to one another and thus enable safe and dimensionally stable transport of the stack 10. The upper holding elements 22, 26, 28, 30 rest on the upper side 10c of the stack 10 and are preferably designed such that their weight forces air out of the stack 10, so that the folded products assume a substantially flat shape.

[0130] The picked-up stack 10 of folded products 10 is then lifted and moved from the receiving area 12 into the storage area 14 by means of the gripping device 16.

[0131] As can be seen from a combination of Figs. 6d and 6e, the gripping device 16 is first arranged above the storage area 14 and then moved into the corresponding storage position provided for the respective stack 10. The gripping device 16 is moved downward as far as possible in order to achieve a minimal distance between the underside 10d of the stack 10 and the storage surface of the storage area 14.

[0132] Since a standardized transport medium for the stacks 10 of folded products is generally provided in the storage area 14, it may not be possible to move the limiting elements 34, 36 through corresponding recesses in the transport medium or the storage surface. The underside 10c of the stack 10 cannot then be brought into direct contact with the storage surface using the gripping device 16 according to the illustrated embodiment. Rather, a distance remains between the underside 10c of the stack 10 and the storage surface, the size of which is determined by the design of the lower holding elements 24, 32. It is understood that the transport medium or the storage area 14 can also be adapted to the gripping device 16, so that direct storage of the stack 10 on the storage surface of the storage area 14 is possible.

[0133] If the gripping device 16 is arranged in the storage area 14, the moved stack 10 of folded products is deposited in the storage area 14. In the illustrated embodiment, the lower holding elements 24, 32 are moved from the second position to the first position, thereby releasing the stack 10 downwards.

[0134] As can be seen in Fig. 6f, the stack 10 then slides downwards until the underside 10d of the stack 10 rests flat in the depositing area 14. The upper holding elements 22, 26, 28, 30 are guided along with the upper side 10c of the stack 10 until the underside 10d of the stack 10 rests in the depositing area 14. This secures the folded products of the stack 10 until they are finally deposited in the depositing area 14. It is further preferred that the stack 10 is also guided by the first and second limiting elements 34, 36 while sliding downwards. Accordingly, the first and second limiting elements 34, 36 are preferably only moved laterally away from the stack 10 when the stack is completely resting in the depositing area 14.

[0135] According to Fig. 6g, the gripping device 16 can then be moved out of the storage area 14. If the gripping device 16 is lifted out of the storage area 14, the upper holding elements 22, 26, 28, 30 slide downward relative to the limiting elements 34, 36. Once the gripping device 16 can no longer collide with the stack 10, it is moved back into the receiving area 12 to repeat the process for at least one further stack 10 of folded products.

[0136] One or more subsequent stacks of folded products are then moved in a similar manner from the receiving area 12 to the depositing area 14. The depositing of the stacks 10 in the depositing area 14 then preferably takes place in a predetermined pattern in which the stacks 10 are arranged offset from one another.

[0137] Figs. 7a and 7b show possible predetermined patterns for depositing the stacks 10. In each case, ten stacks 10 numbered with the numbers 1 to 10 are arranged in the deposit area 14, preferably on a transport medium.

[0138] Here, the stacks 10 are always arranged in pairs in the storage area 14. To achieve optimal utilization of the space available in the storage area 14 or on the transport medium, the pairs of stacks 10 can also be aligned differently relative to each other. In the pattern shown in Fig. 7a, pairs 1-2 and 3-4 of stacks 10 are therefore rotated by 90° relative to pairs 9-10, 7-8, and 5-6 of stacks 10.

[0139] The pattern according to Fig. 7b is a mirror image of the pattern according to Fig. 7a. For example, the pattern according to Fig. 7a can represent a first tier 86 (Fig. 9) of stacks 10 on a transport medium. A separating element, such as a cardboard or film, can be arranged on this first tier 86 of stacks 10, covering all stacks 10 of the first tier 86. A second tier 86 of stacks 10 can then be arranged on the separating element according to the pattern according to Fig. 7b. In this way, an even weight distribution on the transport medium is achieved and an inclination of the stacks 10 relative to one another is avoided.

[0140] It is understood that the predetermined patterns can be adapted as desired to the size of the storage area 14 or the transport medium as well as to the dimensions of the stacks 10.

[0141] 7a and 7b further show that the handling device 2 must provide the gripping device 16 with sufficient movement options. In order to arrange the stacks offset from one another in the storage area 14, the gripping device 16 must be movable in at least two directions in one plane, preferably the xy plane. In order to arrange the stacks 10 rotated relative to one another in the storage area 14, the gripping device 16 must be rotatable about an axis, preferably the z axis. Furthermore, in order to arrange several layers of stacks on top of one another and / or to overcome a height difference between the receiving area 12 and the storage area 14, the gripping device 16 must also be designed to be movable perpendicular to the plane of the storage area 14, i.e., generally in the z direction. Any lateral offset in the xy direction between the delivery area 12 and the storage area 14 must also be taken into account.The design of the handling device 2 as an articulated arm robot has therefore proven to be particularly advantageous in order to allow the gripping device 16 sufficient freedom of movement.

[0142] According to the method according to the invention, it is now also possible to stack stacks 10 of different heights in the storage area 12 in the most economical manner possible. The goal is to achieve the most uniform height possible in all areas of the final stack. For this purpose, as shown in Fig. 8, stacks 10 of different heights are measured with regard to their height and deposited by the gripping device 16 by means of control by the control device 82 into the correspondingly appropriate storage positions. In the example shown, the floor plans of the stacks 10 are identical, but it is also conceivable to expand this to include different lengths and widths of the individual stacks 10 by using additional sensors.

[0143] For this purpose, the control device 82 stores the heights of the previously deposited stacks 10 in its memory. This ensures identical or nearly identical stack heights in the area of ​​each deposit position 1-12.

[0144] As shown in Fig. 9, the final stack can also consist of several levels 86, wherein in successive levels 86 a different orientation of the respective partial stacks 10 can also be present.

[0145] For example, at each storage position 1-12 on each level 86, a single stack 10 can be present, provided it already has the desired height of that level 86. More frequently, however, at each storage position 1-12 on each level 86, several partial stacks 10 of products will be placed on top of each other, so that the total height of all partial stacks 10 placed on top of each other corresponds to the desired height of that level 86.

[0146] In a preferred embodiment, it is possible for the operator to preset a desired target height of each floor 86.

[0147] The control device 82 controls the handling device 2 as far as possible in such a way that one level 86 is always completely filled first before the formation of the next level 86 begins.

[0148] If no separating elements are to be inserted between the individual levels 86, it is also conceivable to begin the formation of the subsequent level 86 even if the formation of the previous level 86 has not yet been completed. This may be the case, for example, if the height of the next delivered partial stack 10 does not match the height of the last remaining gap in the previous level 86.

[0149] Overall, the height measurement is preferably carried out during the residence time of a stack 10 in the gripping device 16. However, it is also possible, additionally or alternatively, to provide the height measurement by means of a height measuring device 84 (Fig. 1) in the area of ​​the conveying device 11 in front of the receiving area 12 or in the receiving area 12 itself.

[0150] In the case of the height measuring device 84, it is possible to stack two or more partial stacks into a larger stack 10 by means of the gripping device 16 already in the receiving area 12 and only then to feed this larger stack 10 thus formed to a storage position in the storage area 12.

Claims

Claims Handling device (2) for moving products or product stacks (10), with a robot, in particular a gantry robot or articulated-arm robot, wherein the robot comprises a robot arm (18) with a free end (20), wherein a gripping device (16) is arranged at the free end (20) of the robot arm (18), wherein the gripping device (16) is movable in three dimensions by means of the robot arm (18) and is designed to pick up a product arranged in a receiving area (12) or a product stack (10) arranged in the receiving area (12), lift it and place it in a deposit area (14), wherein the gripping device (16) comprises at least two lower holding elements (24, 32) for supporting an underside (10d) of the picked-up product or product stack (10), a control device (82) which is designed to control the gripping device (16),and a height measuring device (80) for measuring the height of the product or product stack (10), which is arranged in the gripping device (16) and is in communication with the control device (82). Handling device (2) according to claim 1, characterized in that the height measuring device (80) comprises a distance sensor. Handling device (2) according to claim 1 or 2, characterized in that the height measuring device (80) is arranged above the receiving space (88) provided in the gripping device (16) for the product or product stack (10) and is intended to measure a distance to a top side (10c) of the product or product stack (10).

4. Handling device (2) according to one of the preceding claims, characterized in that the height measuring device (80) comprises an ultrasonic sensor, laser sensor, radar sensor or a mechanical feeler wheel.

5. Handling device (2) according to one of the preceding claims, characterized in that output signals of the height measuring device (80) are transmitted to the control device (82) and the control device (82) is designed to determine a storage position for the respective product or the respective product stack (10) on the basis of the output signals.

6. Handling device (2) according to one of the preceding claims, characterized in that it has at least one upper holding element (22, 26, 28, 30) which is movable relative to the lower holding elements (24, 32).

7. Handling device (2) according to one of the preceding claims, characterized in that the gripping device (16) further comprises a first lateral limiting element (34) and a second lateral limiting element (36), which can each be assigned to one of two opposite side surfaces (10a, 10b) of the product or product stack (10).

8. Handling device (2) according to claim 7, characterized in that the lower holding elements (24, 32) define a support plane (S) for supporting the product or product stack (10) and the first and second limiting elements (34, 36) extend substantially perpendicular to the support plane (S).

9. Handling device (2) according to claim 7 or 8, characterized in that the first and the second limiting element (34, 36) are movable relative to each other.

10. Handling device (2) according to one of claims 7 to 9, characterized in that it has at least one upper holding element (22, 26, 28, 30) which is movable relative to the lower holding elements (24, 32), wherein the upper holding element (22, 26, 28, 30) is mounted so as to be linearly displaceable along at least one of the first and second limiting elements (34, 36). Handling device (2) according to one of claims 7 to 10, characterized in that each lower holding element (24, 32) is mounted so as to be linearly displaceable along one of the first and second limiting elements (34, 36). Handling device (2) according to one of claims 7 to 11, characterized in that each lower holding element (24, 32) is mounted so as to be pivotable with respect to one of the first and second limiting elements (34, 36).Handling device (2) according to one of claims 7 to 12, characterized in that each lower holding element (24, 32) is designed in several parts and comprises at least a first section (42) and a second section (44), wherein the first section (42) is pivotally mounted on the first or second limiting element (34, 36) by means of a first axis of rotation (42a) and the second section (44) is pivotally mounted on the first or second limiting element (34, 36) by means of a second axis of rotation (44a), wherein the first and the second section (42, 44) of each lower holding element (24, 32) are further connected to one another in an articulated manner at a respective free end by means of a third axis of rotation (46), wherein the first axis of rotation (42a) is mounted so as to be linearly displaceable along the first or second limiting element (34, 36).Handling device (2) according to one of the preceding claims, characterized in that a further height measuring device (84) for measuring the height of the product or product stack (10) is arranged in the region of a conveying device (11) which conveys the product or product stack (10) to the receiving area (12), wherein the further height measuring device (84) is also in communication with the control device (82). A method for transferring products or product stacks (10), comprising: Arranging a product or product stack (10) in a receiving area Picking up the product or product stack arranged in the receiving area (12) by means of a gripping device (16); Lifting the product or product stack (10) and moving the product or product stack (10) from the receiving area (12) into the storage area (14) by means of the gripping device (16); Measuring the height of the product or product stack (10); Selecting one of a plurality of storage positions in the storage area (14) based on the measured height of the product or product stack (10) and depositing the product or product stack (10) at the selected storage position; Repeating all preceding steps for further products or product stacks (10), wherein for at least some of the further products or product stacks (10) other storage positions are selected and a plurality of the products or product stacks (10) are stacked on top of one another.

16. Method according to claim 15, characterized in that the products or product stacks (10) are deposited in such a way that the height of the stacked products or product stacks (10) is as uniform as possible over the entire deposit area (14).

17. Method according to claim 15 or 16, characterized in that the products or product stacks (10) are deposited in such a way that several levels (86) of stacked products or product stacks (10) are formed, wherein the stacked products or product stacks (10) in a certain level (86) each have a height that is as uniform as possible.

18. Method according to claim 17, characterized in that the products or product stacks (10) are deposited in such a way that the products or product stacks (10) in different levels (86) show a different orientation. Method according to claim 17 or 18, characterized in that a target height of each level (86) is specified by the operator. Method according to one of claims 15 to 19, characterized in that the height of the product or product stack (10) is measured while the product or product stack (10) is in the gripping device (16). Method according to one of claims 15 to 20, characterized in that the height of the product or product stack (10) is measured while the product or product stack (10) is being moved by means of the gripping device (16) from the receiving area (12) to the deposit area (14). Method according to one of claims 15 to 21, characterized in that the height of the product or product stack (10) is measured while the product or product stack (10) is being conveyed to the receiving area (12) by means of a conveying device (11).Method according to claim 22, characterized in that, depending on the measured height of the product or product stack (10), at least two products or product stacks (10) are stacked one on top of the other in the receiving area (12) by means of the gripping device (16), wherein the at least two products or product stacks (10) thus stacked are subsequently moved by the gripping device (16) into the deposit area (14). Method according to one of claims 15 to 23, characterized in that the step of picking up the product or product stack (10) arranged in the receiving area (12) by means of the gripping device (16) takes place in such a way that an underside (10d) of the product or product stack (10) is supported on at least two lower holding elements (24, 32) of the gripping device (16).Method according to claim 24, characterized in that the step of picking up the product or product stack (10) arranged in the picking area (12) by means of the gripping device (16) is carried out in such a way that the lower holding elements (24, 32) are in a position before picking up the product or product stack (10). first retracted position, and that picking up the product or product stack (10) comprises moving each of the lower holding elements (24, 32) from the first position to a second position in which the lower holding elements (24, 32) form a support surface for the underside (10d) of the product or product stack (10). Method according to claim 25, characterized in that moving the lower holding elements (24, 32) from the first position to the second position comprises pivoting the lower holding elements (24, 32). Method according to one of claims 24 to 26, characterized in that the step of picking up the product or product stack (10) comprises moving at least one upper holding element (22, 26, 28, 30) towards the top side (10c) of the product or product stack (10).Method according to one of claims 24 to 27, characterized in that the step of picking up the product or product stack (10) arranged in the receiving area (12) by means of the gripping device (16) takes place in such a way that two opposing side surfaces (10a, 10b) of the product or product stack (10) are arranged between a first and a second lateral boundary element (34, 36) of the gripping device (16). Method according to claim 28, characterized in that the step of picking up the product or product stack (10) further comprises moving at least one of the first and second boundary elements (34, 36) in the direction of a side surface (10a, 10b) of the product or product stack (10) facing this boundary element (34, 36).Method according to one of claims 24 to 29, characterized in that the step of depositing the moved product or product stack (10) comprises the step of moving the lower holding elements (24, 32) from a second position in which the lower holding elements (24, 32) form a support surface for the underside of the product or product stack (10) into a first retracted position in which they release the product or product stack (10) downwards. Method according to claim 30, characterized in that moving the lower holding elements (24, 32) from the second position to the first position comprises pivoting the lower holding elements (24, 32). Method according to one of claims 24 to 31, characterized in that the step of depositing the moved product or product stack (10) comprises carrying at least one upper holding element (22, 26, 28, 30) with the upper side (10c) of the product or product stack (10) during depositing until the underside (10d) of the product or product stack (10) rests in the deposit area (14). Method according to one of claims 15 to 32, characterized in that it is carried out with a handling device (2) according to one of claims 1 to 14.

Images