Palletising-robot head, palletising robot, and method for palletising at least one layer to be palletised

Abstract

The invention relates to a palletising-robot head (1) for a palletising robot (100) for palletising packages or containers, comprising a first assembly (7) and a second assembly (3), wherein the first assembly (7) and the second assembly (3) are movable, counter to one another, between an extended position and a retracted position, wherein the first assembly (7), in the extended position, is extended out of the palletising robot head (1) and is designed for picking up at least one layer (102) to be palletised and, in the retracted position, is retracted into the palletising robot head (1), wherein the second assembly (3) is designed as a counterweight to the first assembly (7) at least in the extended position and between the extended position and the retracted position. The invention can be used to avoid damage to the layer to be palletised when it is picked up and / or deposited, with minimal effort. In addition, the layer to be palletised can be picked up and deposited quicker than in the prior art.

Description

[0001] Palletizing robot head, palletizing robot and method for palletizing at least one layer to be palletized

[0002] The invention relates to a palletizing robot head, a palletizing robot and a method for palletizing at least one layer to be palletized.

[0003] Palletizers are used, for example, in beverage bottling to palletize layers of filled containers and / or packs. For this purpose, layers of containers, such as bottles or cans, or packs, are formed. The resulting layers can be stacked or palletized with the palletizer to form a pallet stack.

[0004] A palletizing robot head, a palletizing robot, and a corresponding method are known from US 2020 / 0062518 A1. The palletizing robot head comprises a gripping device, an upper cushion, and support layers. To pick up a layer, the layer is first contacted on an upper side by the upper cushion, then gripped and lifted by the gripping device. The support layers are then moved beneath the lifted layer to support the layer.

[0005] Another palletizing robot head is known, for example, from DE 102008 035 330 A1. This palletizing robot head has drivable rollers that can support a picked-up layer, as well as a roll-on roller arranged laterally on a feed side of the palletizing robot head. To pick up the layer, the roll-on roller can contact containers and / or packages of the layer to be palletized and, as the roll-on roller rotates, lift them over the roll-on roller. By moving the palletizing robot head, the containers or packages can be conveyed onto the rollers or the support formed by them, whereby the rollers can transport the containers or packages further away from the roll-on roller so that additional containers and / or packages forming the layer can be picked up.

[0006] These known solutions require a relatively high level of effort to ensure that the containers and / or packages forming the layer are not damaged during picking and / or placing. Furthermore, picking and placing the layer takes a relatively long time.

[0007] The object of the present invention is to provide a palletizing robot head, a palletizing robot and a method that overcome these disadvantages.

[0008] The problem is solved by the features of the independent claims. Advantageous further developments are the subject of the dependent claims and the following description.

[0009] In a palletizing robot head for a palletizing robot for palletizing bundles or containers, comprising a first assembly and a second assembly, wherein the first assembly and the second assembly are movable in opposite directions to one another between an extended position and a retracted position, it is provided according to the invention that the first assembly is extended out of the palletizing robot head in the extended position and is designed to receive at least one layer to be palletized and is retracted into the palletizing robot head in the retracted position, wherein the second assembly is designed as a counterweight to the first assembly at least in the extended position and between the extended position and the retracted position.

[0010] The invention thus provides a palletizing robot head in which a weight shift caused by the extension of the first assembly is compensated by the second assembly. The second assembly acts as a counterweight to the first assembly during and after the extension. The common center of gravity of the first and second assemblies therefore remains close to the palletizing robot head during and after the extension of the first assembly. A first torque, which the first assembly exerts on the palletizing robot head as it extends out of the palletizing robot head, is canceled out or compensated for by a second torque, which acts on the palletizing robot head as the second assembly extends out of the palletizing robot head.Therefore, compared to the prior art, a smaller palletizing robot can be used to move the palletizing robot head, since when selecting a robot, not only the payload but also the position of the center of gravity and the inertia of the tool, in this case the palletizing robot head, can be taken into account. For example, the payload of a palletizing robot may be sufficient for an application, although the position of the center of gravity and the inertial forces arising from the dynamics can overload it. This overload can be avoided by the second assembly acting as a counterweight to the first assembly. For this purpose, the first assembly can be extended in the extended position against the loading direction. Furthermore, the second assembly can then be extended in the loading direction. The first assembly and the second assembly are arranged at a distance from one another in the extended position.The distance is such that the first assembly can accommodate the at least one layer to be palletized independently of the second assembly. The first assembly can, for example, clamp, grip, or merely at least partially enclose the at least one layer to be palletized. In particular, if the first assembly only at least partially encloses the at least one layer to be palletized without clamping or gripping it, the first assembly can, for example, be designed to push the at least one layer to be palletized towards the second assembly as it moves into the palletizing robot head. At the same time, the at least one layer to be palletized can be at least partially pushed onto the second assembly while the second assembly is moved into the palletizing robot head, wherein the second assembly can be held stationary by a corresponding movement of the palletizing robot head.This can result in the second assembly supporting the at least one layer to be palletized in the retracted position. The retracted position can also be a retracted position, wherein the palletizing robot head is moved in its entirety with at least one picked-up layer to be palletized. Since the second assembly is designed as a counterweight to the first assembly, the first assembly can also be considered a counterweight to the second assembly. To deposit the at least one layer to be palletized, the first assembly can be extended from the palletizing robot head.In this case, the second assembly can be moved away from under the at least one layer to be palletized, particularly when the second assembly supports the at least one layer to be palletized in the retracted position, wherein the first assembly can be held stationary by a corresponding movement of the palletizing robot head as it extends out of the palletizing robot head. In this case, the first assembly can push the at least one layer to be palletized, for example, away from the second assembly as it extends out of the palletizing robot head. This makes it possible to avoid damage to the at least one layer to be palletized during picking up and / or placing down with little effort. Furthermore, the picking up and placing down of the at least one layer to be palletized can be carried out more quickly than in the prior art.

[0011] For example, the assemblies can each be movably mounted on linear guides extending along the loading direction. The linear guides can be attached to the palletizing robot head. Furthermore, the linear guides of both assemblies can be aligned parallel to each other.

[0012] According to one example, the first assembly and the second assembly can be simultaneously movable in opposite directions between the extended position and the retracted position. For this purpose, the first and second assemblies can have a common drive or two synchronized drives. The movement of the assemblies during extension and retraction can therefore occur synchronously, whereby the distances traveled by the two assemblies relative to the palletizing robot head do not necessarily have to be the same, but can also be different.

[0013] In some examples, the common drive may drive the first assembly and be coupled to the second assembly via a gearbox, or vice versa.

[0014] In some examples with a common drive, the transmission can, for example, have a transmission ratio that can be selected such that the first and second assemblies are moved synchronously. In some embodiments, the transmission can have a transmission ratio that can be selected such that the first and second assemblies are moved by substantially the same path or distance relative to the palletizing robot head, e.g., relative to a reference point of the palletizing robot head. According to some other examples, the common drive can be coupled to the first assembly via a first transmission and to the second assembly via a second transmission. The transmission ratios of the first and second transmissions can be selected such that the first and second assemblies are moved by substantially the same path or distance relative to the palletizing robot head, e.g.,relative to a reference point of the palletizing robot head, essentially the same path or distance.

[0015] According to another example, in the extended position and between the extended position and the retracted position, a first torque acting from the first assembly on the palletizing robot head may be substantially equal to a second torque acting from the second assembly on the palletizing robot head.

[0016] Furthermore, the first and second assemblies can be designed such that the weight of the at least one layer to be palletized only insignificantly changes the balance between the first and second torques. Alternatively or additionally, the second assembly can be moved independently of the first assembly in order to adapt the distance traveled by the second assembly during extension and thus the second torque to the first torque. Thus, the additional torque acting on the palletizing robot head from the at least one layer to be palletized in the extended position and between the extended position and the retracted position can be compensated by the second torque acting on the palletizing robot head from the second assembly.

[0017] Furthermore, it is conceivable, for example, that the first assembly can have at least one centering frame for receiving the at least one layer to be palletized, wherein the centering frame is preferably designed to move at least one of the layers to be palletized.

[0018] The centring frame can be designed such that at least one layer to be palletized can be laterally framed by it. In particular, the centring frame can have frame elements in front of and behind the at least one layer to be palletized with respect to the loading direction. The frame elements have a stability sufficient to push the at least one layer to be palletized during picking up and setting down, or to prevent any movement of the at least one layer to be palletized.

[0019] In a further example, the second assembly may comprise a support device for the at least one layer to be palletized, wherein the support device is designed in particular as a support plate for arranging under the at least one layer to be palletized.

[0020] The support device can be used to provide additional support for at least one layer to be palletized in the retracted position and at least partially between the extended position and the retracted position. Particularly in the case of a multi-part layer, e.g., a plurality of containers or bundles, a support plate can be arranged as a support device beneath the at least one layer to be palletized in order to support all parts of the layer from below. Alternatively or additionally, the support device can have two rails that can be pushed under at least one layer to be palletized on opposite sides. Particularly in the case of a single-piece layer, the rails can be sufficient to provide support from below.

[0021] The at least one layer to be palletized can, for example, comprise one or more containers and / or packages, or consist of or be formed from these. The container can be or comprise a can, a bottle, e.g. a glass bottle or a plastic bottle, e.g. a PET bottle. The container can be or comprise a bag, pouch, packaging, cardboard or the like. The package can comprise bottles and / or containers or consist of these, wherein the bottles and / or containers can be joined together to form the package, e.g. glued together, packaged and / or connected. In some embodiments, the layer can be formed from an arrangement of several rows of containers and / or packages, for example from 2x2 containers and / or packages, i.e. two rows arranged next to one another, each consisting of two containers and / or packages.In some embodiments, the layer may be formed from an array of 2x2 to 24x24 containers and / or bundles, for example 2x4, 8x6, 6x8, 10x12, 12x12, 16x14, or the like.

[0022] According to another example, the palletizing robot head may comprise a support frame, wherein the first assembly and the second assembly are movably mounted along the support frame between the extended position and the retracted position.

[0023] For this purpose, linear guides for the first assembly and the second assembly can be attached to the support frame. Furthermore, a drive for both assemblies or separate drives for each assembly can be attached to the support frame.

[0024] It is further conceivable that the first assembly in the extended position can be offset from the retracted position, for example, by a first distance and the second assembly can be offset from the retracted position by a second distance, wherein the second distance has a length which corresponds to at least one third, preferably at least 50%, of the sum of the first and second distances.

[0025] If the length of the second path corresponds to half the length of the first path, the second assembly can be moved relative to the palletizing robot head by the same distance or distance that the first assembly is moved relative to the palletizing robot head. This allows the first and second assemblies to be moved essentially synchronously with the palletizing robot head. In some embodiments, however, the length of the first path can also be less than half the length of the second path.

[0026] The invention further relates to a palletizing robot comprising a robot arm and a palletizing robot head connected to the robot arm, as described above. The palletizing robot can have a control unit and / or be controlled by a control unit. The control unit can, for example, control motors of the palletizing robot and / or the palletizing robot head.

[0027] Further advantages and effects, as well as further developments of the palletizing robot, arise from the advantages and effects, as well as further developments of the palletizing robot head described above. To avoid repetition, reference is made to the previous description in this regard.

[0028] According to one example, the palletizing robot can be designed to superimpose a movement of the robot arm with a movement of the second assembly and the first assembly when picking up at least one layer to be palletized, wherein the second assembly preferably remains stationary during the movement.

[0029] When moving the first and second assemblies from the extended position to the retracted position, the palletizing robot head can, for example, move towards the second assembly at the same speed with which the second assembly is retracted into the palletizing robot head. This allows the second assembly to hold its position for an observer. At the same time, during this movement of the palletizing robot head, the first assembly can have a speed when retracting into the palletizing robot head for an observer that corresponds to the sum of the retraction speed of the first assembly and the speed of the palletizing robot head. This allows the palletizing robot head to be set in motion as soon as the first assembly with the at least one layer to be palletized is retracted, preferably in the direction of the deposit location of the at least one layer to be palletized.This allows the transport of at least one layer to be palletized to be accelerated.

[0030] Furthermore, the palletizing robot can be configured, for example, to superimpose a movement of the robot arm with a movement of the second assembly and the first assembly when depositing at least one layer to be palletized, wherein the first assembly preferably remains stationary during the movement. When moving the first and second assemblies from the retracted position to the extended position, the palletizing robot head can move away from the first assembly, e.g., opposite to the extension direction of the first assembly, at the same speed at which the first assembly is extended from the palletizing robot head. This allows the first assembly to maintain its position for an observer.At the same time, during this movement of the palletizing robot head, the second assembly can exhibit a speed during its extension into the palletizing robot head that corresponds to the sum of the extension speed of the second assembly and the speed of the palletizing robot head. Furthermore, the palletizing robot head can be set in motion as the first assembly is extended during the placement of the at least one layer to be palletized, preferably in the direction of the pick-up location of the at least one layer to be palletized. This allows the movement to the pick-up location to be accelerated.

[0031] For this purpose, it can be provided, for example, that the palletizing robot head is mounted so as to be rotatable about an axis which is perpendicular to the direction of movement of the first and second assemblies during retraction and extension and can preferably be arranged vertically. During the movement between the pick-up location of the at least one layer to be palletized and its deposit location, the palletizing robot head can then be rotated, preferably by 180°, about this vertical axis, so that the palletizing robot head is not only moved in the direction of the deposit location when picking up the at least one layer to be palletized or when retracting the first assembly, but is also moved in the direction of the pick-up location when depositing the at least one layer to be palletized or when extending the first assembly.

[0032] The invention further relates to a method for palletizing at least one layer to be palletized using a palletizing robot according to the preceding description, comprising the following steps: moving the palletizing robot head of the palletizing robot into a receiving position, wherein in the receiving position the first assembly of the palletizing robot head is extended from the palletizing robot head counter to a loading direction and the second assembly is extended from the palletizing robot head in the loading direction; picking up at least one layer to be palletized with the first assembly in the receiving position and moving the first assembly into the palletizing robot head in the loading direction, wherein when the first assembly is moved in, the palletizing robot head is moved in the loading direction and the second assembly is moved into the palletizing robot head such that the second assembly is held stationary;Moving the palletizing robot head into a palletizing position; and extending the second assembly in the palletizing position from the palletizing robot head in the loading direction, wherein, upon extending the second assembly, the palletizing robot head is moved in the loading direction and the first assembly is extended from the palletizing robot head to deposit the at least one layer to be palletized, such that the first assembly is held stationary.

[0033] The method can be carried out using a palletizing robot head and / or palletizing robot as described above. A palletizing robot head and / or palletizing robot as described above can be configured to carry out the method. The method can also be carried out, for example, using a two-column machine.

[0034] When the palletizing robot head is moved into the pick-up position, the first and second assemblies can either already be in the extended position or can be moved from the retracted position to the extended position. At the latest at the end of the step of moving the palletizing robot head into the pick-up position, the first assembly can be extended from the palletizing robot head and the first assembly can be arranged at least on one layer to be palletized. The first assembly can then pick up the at least one layer to be palletized, e.g. by arranging a centering frame of the first assembly horizontally adjacent to the at least one layer to be palletized. Several layers to be palletized can already be stacked at the pick-up position. These can then be picked up simultaneously by the first assembly.The first assembly can then be moved into the palletizing robot head in the loading direction, with the first assembly taking with it the at least one layer to be palletized. At the same time, the second assembly can be moved into the palletizing robot head at an entry speed opposite to the loading direction, with the palletizing robot head being moved at the same speed in the loading direction and thus in the direction of the second assembly, so that the second assembly is held stationary for an observer. Furthermore, the second assembly forms a counterweight to the first assembly in the extended position and when the first assembly is moved into the palletizing robot head. The second assembly can therefore be moved into the palletizing robot head at the same time as the first assembly. The palletizing robot head can then be moved from the pick-up position into the palletizing position.This movement can begin as soon as the first and second assemblies enter the palletizing robot head. In the palletizing position, the first and second assemblies are extended from the palletizing robot head. The first assembly can be extended from the palletizing robot head at an extension speed in the opposite direction to the loading direction. Meanwhile, the palletizing robot head can move in the loading direction at the same speed. This holds the first assembly stationary in the palletizing position.

[0035] The method can be repeated at least once or several times to form a pallet stack from layers to be palletized. In some embodiments, some, several, or all steps of the method can be performed in reverse order to remove one or more layers from a pallet stack.

[0036] Further advantages and effects, as well as further developments of the method, arise from the advantages and effects, as well as further developments of the palletizing robot head and the palletizing robot described above. To avoid repetition, reference is made to the previous description in this regard.

[0037] In the method, after the step of picking up at least one layer to be palletized, the first assembly and the second assembly can be arranged one above the other in the retracted position. The centers of gravity of the two assemblies can be located horizontally above or on top of each other, for example. It is also conceivable that, before the step of picking up at least one layer to be palletized, the first assembly can be adapted to the dimensions of the at least one layer to be palletized, for example, its footprint.

[0038] For example, the first assembly may comprise a centring frame which can be adapted to the dimension of the at least one layer to be palletized using a centring frame drive.

[0039] According to a further example, the first assembly can at least partially enclose the at least one layer to be palletized after moving into the receiving position.

[0040] Furthermore, in another example, the palletizing robot head can be rotated about a vertical axis when moving into the palletizing position, preferably by 180°.

[0041] Furthermore, in step, picking up at least one layer to be palletized, and / or step, extending the second assembly, for example, the first assembly can be extended by a first distance and the second assembly can be extended by a second distance, wherein the second distance has a length which corresponds to at least one third, preferably at least 50%, of the sum of the first and second distances.

[0042] If the length of the second path corresponds to half the length of the first path, the second assembly can be moved relative to the palletizing robot head by the same distance or distance that the first assembly is moved relative to the palletizing robot head. This allows the first and second assemblies to be moved essentially synchronously with the palletizing robot head. In some embodiments, however, the length of the first path can also be less than half the length of the second path.

[0043] The invention is described below using an exemplary embodiment with the aid of the accompanying drawings. These show: Fig. 1 a, b an exemplary embodiment of a schematically illustrated palletizing robot head in a retracted position (a) and an extended position (b), each in a side view;

[0044] Fig. 2 is a schematic front view of the embodiment of the invention shown in Fig. 1;

[0045] Fig. 3 is a schematic plan view of the embodiment of the invention shown in Figs. 1 and 2 in the extended position, the first assembly not being shown;

[0046] Fig. 4 is a schematic plan view of the embodiment of the invention shown in Figs. 1 to 3 in the extended position;

[0047] Fig. 5a-i an embodiment of a palletizing robot according to the invention, in a schematic view at different times of a method according to the invention; and

[0048] Fig. 6 is a flow chart of the method according to the invention.

[0049] Figures 1 a to 4 show an embodiment of a palletizing robot head 1 according to the invention.

[0050] Figure 1a shows the palletizing robot head 1 in an extended position, and Figure 1b shows it in a retracted position. Figure 2 shows a front view of the palletizing robot head 1. Figures 3 and 4 each show a top view of the palletizing robot head 1; for clarity, some elements in Figure 3 are omitted.

[0051] According to Figure 1a, the palletizing robot head 1 has a first assembly 7 and a second assembly 3. The first and second assemblies 3, 7 are each movably mounted on the palletizing robot head 1. This means that the two assemblies 3, 7 can be extended out of the palletizing robot head 1 or retracted into the palletizing robot head 1. The palletizing robot head 1 can remain stationary during the extension and retraction of one or both assemblies 3, 7. Figure 1a shows the first and second assemblies 3, 7 in the retracted position, in which they are retracted into the palletizing robot head 1.

[0052] In the illustrated example, the second assembly 3 has a support plate onto which the at least one layer 102 to be palletized can be pushed. The support plate is designed to support at least one layer to be palletized, in which a plurality of objects, e.g., containers or bundles, are combined.

[0053] Figure 1b shows the first and second assemblies 3, 7 in the extended position. In the extended position, the first and second assemblies 3, 7 are extended from the palletizing robot head 1. In the extended position, the first assembly 7 can receive at least one layer 102 to be palletized, as shown by way of example in Figures 5a to 5i. The receiving of the at least one layer 102 to be palletized by the first assembly 7 can occur independently of the second assembly 3. In the extended position and between the extended position and the retracted position, the second assembly 3 acts as a counterweight to the first assembly 3, so that a center of gravity of the palletizing robot head 1 can remain close to the palletizing robot head 1. The palletizing robot head 1 is therefore more stable and can be moved in a controlled manner while the two assemblies 3, 7 are extended and retracted.

[0054] Furthermore, the palletizing robot head 1 can also be moved during the extension and retraction of the two assemblies 3, 7. Thus, a movement of the palletizing robot head 1 can compensate for the extension or retraction movement of one of the two assemblies 3, 7, so that the corresponding assembly 3, 7 appears stationary.

[0055] Furthermore, the palletizing robot head 1 can have a support frame 6 to which the first and / or the second assembly 3, 7 can be connected, as shown, for example, in Figure 2. The support frame 6 and the second assembly 3 can be connected to one another and movable relative to one another. Furthermore, the support frame 6 and the first assembly 7 can also be connected to one another and movable relative to one another. The palletizing robot head 1 or the support frame 6 can have a first linear guide 8 along which the first assembly 7 can be guided. Furthermore, the palletizing robot head 1 or the support frame 6 can have a second linear guide 9 along which the second assembly 3 can be guided. The first linear guide 8 and / or the second linear guide 9 can have, for example, a guide groove and / or a guide rail.

[0056] According to Figures 2 and 3, the palletizing robot head 1 can further comprise a drive 12. The drive 12 can be configured to move the second assembly 3 relative to the palletizing robot head 1 or the support frame 6 and / or vice versa. In some embodiments, the drive 12 can comprise an electric motor. Alternatively or additionally, the drive 12 can be configured to be or become connected to an electric motor, for example, if the palletizing robot head 1 is attached to a palletizing robot 100 and the palletizing robot 100 has a corresponding electric motor. The drive 12 can comprise one or more of the elements from the following group: a belt 13, belt drives, gears, racks, gears, and / or drive elements. The belt 13 can comprise a toothed belt.

[0057] The drive 12 can further be configured to move the first assembly 7 and / or the second assembly 3 relative to the palletizing robot head 1 or the support frame 6.

[0058] The drive 12 and / or the first linear guide 8 can be set up and / or controlled in such a way that the first assembly 7 can be moved relative to the palletizing robot head 1 or the support frame 6 by a first distance S1. The first distance S1 can be a maximum distance, i.e. a maximum distance between two approachable points that are as far apart as possible along the first linear guide 8. Furthermore, the first distance S1 can correspond to the distance that the first assembly 7 is moved relative to the palletizing robot head 1 or the support frame 6 when the first assembly 7 is transferred from the extended position to the retracted position and / or vice versa. The first distance S1 can also mean the distance by which the first assembly 7 and / or the palletizing robot head 1 or the support frame 6 is actually moved, i.e. the first distance S1 can be less than a maximum distance along the first linear guide 8.

[0059] Furthermore, the drive 12 and / or the second linear guide 9 can be configured and / or controlled such that the second assembly 3 can be moved relative to the palletizing robot head 1 by a second distance S2. The second distance S2 can be a maximum distance, i.e. a maximum distance between two points along the second linear guide 9 that are as far apart as possible and can be approached. In some embodiments, the second distance S2 can correspond to the distance that the second assembly 3 is moved relative to the palletizing robot head 1 or the support frame 6 and / or vice versa when the second assembly 3 is transferred from the extended position to the retracted position and / or vice versa. The second distance S2 can also mean the distance by which the second assembly 3 and / or the palletizing robot head 1 or the support frame 6 is actually moved, i.e.that the second distance S2 can be smaller than a maximum distance along the second linear guide 9.

[0060] If the first and / or the second assembly 3, 7 are transferred between the extended position and the retracted position, the first assembly 7 can be moved relative to the second assembly 3, or vice versa, by a third distance S3. The third distance S3 can correspond to the sum of the first distance S1 and the second distance S2. In some embodiments, the ratio of S2 / S3 can be, for example, between 1 / 3 and 2 / 3, e.g. 1 / 2. In some embodiments, the ratio of S2 / S3 can be substantially 1, and / or the length of the distance S2 can substantially correspond to the length of the distance S1.

[0061] In some embodiments, it can be provided that the drive 12 can be coupled to the second assembly 3 and / or the first assembly 7 via a gear. The gear can have a gear ratio that can be selected such that, for example, the ratio of the second distance S2 covered by the second assembly 3 relative to the palletizing robot head 1 or the support frame 6 along the second linear guide 9 to the first distance S1 covered by the first assembly 7 relative to the palletizing robot head 1 or the support frame 6 along the first linear guide 8 can be fixed.

[0062] In some embodiments, the ratio of the first distance to the second distance S1 / S2 can be selected such that it can essentially correspond to the ratio of two weight forces G1 / G2, wherein the weight force G1 can correspond to a weight force of the first assembly 7 acting on the center of gravity of the first assembly 7, optionally with a layer 102 to be transported, and the weight force G2 can correspond to a weight force acting on the center of gravity of the second assembly 3. The second assembly 3 therefore acts as a counterweight to the first assembly 7, optionally including at least one layer to be palletized picked up by the first assembly 7. It can be provided that the second assembly 3 and the first assembly 7 are each moved accordingly relative to the palletizing robot head 1 or the support frame 6.

[0063] The palletizing robot head 1 can have a centering frame 2 according to Figure 4.

[0064] The centering frame 2 can be connected to the first assembly 7. The centering frame 2 can be configured to contact and / or push at least one layer 102 to be palletized. It can be provided that the centering frame 2 can push at least one layer 102 to be palletized onto the second assembly 3 when the first assembly 7 is moved relative to the second assembly 3 and / or the palletizing robot head 1 or the support frame 6. The at least one layer 102 to be palletized can be provided such that, in the extended position and / or the receiving position, the centering frame 2 and / or a centering frame element 5 of the centering frame 2 can contact and / or at least partially encompass the layer 102 to be palletized, or at least in the loading direction B is or will be brought into a position of the at least one layer 102 to be palletized.If the first assembly 7 is moved in the loading direction B, the centering frame 2 can push the at least one layer 102 to be palletized accordingly in the loading direction B. The centering frame element 5 can, for example, have a sliding material or different materials that can be selected according to the requirements of the centering frame element 5. The centering frame 2 can have a substantially rectangular and / or square shape and be designed to support and / or hold a layer 102. In some embodiments, each side of the centering frame 2 can be formed by at least one centering frame element 5. If multiple centering frame elements 5 are provided on one side, they can be arranged parallel to one another and / or one above the other. In some embodiments, the centering frame 2 can be formed from four, eight or more centering frame elements 5.

[0065] The centering frame 2 can consist of and / or comprise one or more centering frame elements 5. In some embodiments, the palletizing robot head 1 can have at least one centering frame drive 4, which can be operated, for example, independently of the drive 12. It can be provided that a centering frame drive 4 can be arranged on each side of the centering frame 2 and / or the first assembly 7. The centering frame element 5 can be connected to the first assembly 7 and / or the centering frame drive 4 via one or more centering frame connectors 15. In some embodiments, two of the centering frame elements 5 can each be connected to the first assembly 7 and / or the centering frame drive 4 via one or more centering frame connectors 15. The centering frame drive 4 can be or comprise an electric motor and / or be or be driven by such a motor.Alternatively or additionally, the centering frame drive 4 can be or have a pneumatic cylinder and / or can be or be driven by such a cylinder.

[0066] The centering frame drive 4 can be configured to adjust at least one centering frame element 5 relative to the first assembly 7 in order to grip or clamp at least one layer to be palletized. In some embodiments, a centering frame drive 4 can adjust a centering frame element 5 relative to the first assembly 7 in a longitudinal direction L of the palletizing robot head 1. Alternatively or additionally, it can be provided that a further centering frame drive or the centering frame drive 4 can adjust a centering frame element 5 relative to the first assembly 7 in a transverse direction Q of the palletizing robot head 1. The centering frame drive 4 and / or the first assembly 7 can have one or more centering frame guide rails 10 along which the centering frame 2 and / or centering frame element 5 and / or centering frame drive 4 can be moved.

[0067] It can be provided to adapt and / or adjust the centering frame 2 and / or the centering frame elements 5, in particular the area encompassed by the centering frame 2 and / or the centering frame elements 5. It can be provided to adapt the centering frame 3 and / or the centering frame elements 5 to the at least one layer 102 to be palletized. In particular, the area encompassed by the centering frame 3 can be adapted to a dimension of the at least one layer 102 to be palletized, for example its footprint, outer contour or circumference, or the like. This ensures that the centering frame 3, in the receiving position, can completely or at least partially enclose the at least one layer 102 to be palletized.It can be provided that the centering frame 3, in the receiving position, can at least partially enclose the at least one layer 102 to be palletized in such a way that there is only a small distance and / or essentially no distance between the at least one layer 102 to be palletized and the centering frame 3 and / or the centering frame elements 5 when the centering frame 3 at least partially encloses the at least one layer 102 to be palletized. It can thus be provided that when the first assembly 7 and / or the centering frame 2 are moved in the loading direction B, the centering frame 2 can essentially directly contact the at least one layer 102 to be palletized. It can be provided that the centering frame 3 can laterally contact and / or support or guide the at least one layer 102 to be palletized as it is pushed.Alternatively or additionally, the centering frame 3 and / or the centering frame elements 5 can grip the at least one layer to be palletized.

[0068] The first assembly 7 may include a support frame to which the centering frame 2 may be attached. The palletizing robot head 1 may include a robot arm connection element 11. The robot arm connection element 11 may be configured to releasably connect the palletizing robot head 1 to a robot arm 102 of a palletizing robot 100.

[0069] Figures 5a to 5i show an embodiment of a palletizing robot 100 according to the invention, which has a robot arm 101 connected to a palletizing robot head 100. The palletizing robot head 100 can have one, several, or all of the features and / or advantages described above. The palletizing robot 100 can be rotatable about a rotation axis X. The palletizing robot 100 can be configured to move the palletizing robot head 100 between a pick-up position and a palletizing position and / or vice versa. The palletizing robot can have a control unit and / or be controlled by a control unit.

[0070] The palletizing robot 100 and / or the palletizing robot head 1 can have sensors (not shown). For example, the palletizing robot 100 and / or the palletizing robot head 1 can have a distance sensor for detecting a distance of the palletizing robot head 1 and / or the palletizing robot 100 from a layer 102. The layer 102 can, for example, be arranged at the palletizing position and / or be a deposited layer of a pallet stack. Furthermore, the distance to a pallet stack and / or a provided layer 102 to be picked up at the pick-up position can be measured. For example, the palletizing robot 100 and / or the palletizing robot head 1 can have a height sensor for detecting a height of the palletizing robot head 1 above a reference plane.

[0071] The pick-up position can be a position in which at least one provided layer 102 to be palletized can be picked up by the palletizing robot 100 and / or the palletizing robot head 1. The palletizing position can be a position in which the at least one layer 102 to be palletized picked up by the palletizing robot 100 and / or the palletizing robot head 1 can be palletized and / or deposited. Figures 5a to 5i show nine different points in time of a method 500 according to the invention for palletizing at least one layer 102 to be palletized, wherein the steps of the method 500 follow the flowchart of Figure 6.

[0072] Figure 5a shows a point in time at which the palletizing robot head 1 is located between the pick-up position and the palletizing position. The palletizing robot head 1 can be in the extended position, in which the first and second assemblies 3, 7 are extended from the palletizing robot head 1. The first assembly 7 can be extended relative to the palletizing robot head 1 or the support frame 6 opposite to the loading direction B. The second assembly 3 can be extended relative to the palletizing robot head 1 or the support frame 6 in the loading direction B. The point in time illustrated in Figure 5a can be after a point in time at which the palletizing robot 100 and / or the palletizing robot head 1 has deposited and / or palletized at least one layer 102 to be palletized. It can be provided that at the time shown in Figure 5a no layer 102 to be palletized is held and / or transported by the palletizing robot 100 and / or the palletizing robot head 1.It can further be provided that at the time shown in Figure 5a, at least one layer 102 to be palletized can be provided, e.g., at or near the receiving position. Several layers 102 stacked one above the other can already be provided at the receiving position.

[0073] Figure 5b shows a point in time at which the palletizing robot 100 and / or the palletizing robot head 1 may have been moved into the receiving position according to step 501, so that the centering frame 2 or the first assembly 7 can at least partially receive or enclose at least one layer 102 to be palletized according to step 502.

[0074] If the at least one layer 102 to be palletized is or will be received by the first assembly 7 or at least partially enclosed and / or contacted by the centering frame 2, the at least one layer 102 to be palletized can be pushed onto the support plate 3 of the second assembly 3 while moving the first assembly 7 in the loading direction B, ie by moving the first assembly 7 and the second assembly 3 into the palletizing robot head 1 in this example.

[0075] Figure 5c shows a point in time at which the at least one layer 102 to be palletized has been at least partially pushed onto the support plate 3. When pushing the at least one layer 102 to be palletized, the first assembly 7 is moved relative to the palletizing robot head 1 or the support frame 6 and the second assembly 3 or the support plate in the loading direction B. In the process, the palletizing robot head 1 or the support frame 6 is also moved relative to the second assembly 3 in the loading direction B. In the process, the second assembly 3 can be moved relative to the palletizing robot head 1 or the support frame 6 opposite to the loading direction B. It can be provided that when the first assembly 7 is moved relative to the palletizing robot head 1 orthe support frame 6, a movement of the robot arm 101 in the loading direction B is superimposed on the movement of the second assembly 3 relative to the support frame 6, so that the second assembly 3 remains in a fixed position for an observer. Because both the first assembly 7 and the palletizing robot head 1 or the support frame 6 are moved when pushing the at least one layer 102 to be palletized, while the second assembly 3 is retracted towards the first assembly 7, an at least partial torque compensation of the torques acting from the first and second assemblies 3, 7 on the palletizing robot head 1 or the robot arm 101 can result with regard to the palletizing robot head 1 or the robot arm 101. By retracting the second assembly 3, the time required to push the at least one layer 102 to be palletized onto the support plate can also be reduced.The movement of the palletizing robot head 1 in the loading direction can occur at the same speed with which the second assembly 3 or the support plate is retracted into the palletizing robot head 1. The movement of the palletizing robot head 1 is thus superimposed on the retraction movement of the second assembly 3.

[0076] After pushing the at least one layer 102 to be palletized, the robot 100 and / or the robot arm 101 can be moved into a palletizing position according to step 503, as shown in the sequence of Figures 5d and 5e. During the movement, the first and second assemblies 3, 7 can be in the retracted position. The support frame 6, the first assembly 7, and the second assembly 3 can be arranged one above the other and form a compact group. For example, the respective centers of gravity and / or center points can be located one above the other or horizontally above one another.

[0077] At the time shown in Figure 5f, the palletizing robot 100 and / or the palletizing robot head 1 is in the palletizing position. In the palletizing position, the second assembly 3 or the support plate can be moved relative to the first assembly 7 and / or the centering frame 2 and extended from the palletizing robot head 1 or the support frame 6 in loading direction B according to step 504, as shown in Figure 5g. At the same time, the palletizing robot head 1 or the support frame 6 can be moved relative to the first assembly 7 and / or the centering frame 2, whereby the first assembly 7 is extended from the palletizing robot head 1. When moving the second assembly 3, the first assembly 7 or the centering frame 2 can contact and / or hold the at least one layer 102 to be palletized, so that the second assembly 3 or the support plate can be pulled out from under the at least one layer 102 to be palletized.If the second assembly 3 is fully extended and / or pulled out from under the at least one layer 102 to be palletized, the at least one layer 102 to be palletized can be or will be palletized.

[0078] It can be provided that the movement of the palletizing robot head 1 in the loading direction takes place at the same speed with which the first assembly 7 or the centering frame 2 is extended from the palletizing robot head 1. The movement of the palletizing robot head 1 is thus superimposed on the extension movement of the first assembly 7, so that the first assembly 7 or the centering frame 2 remains stationary. Because both the second assembly 3 and the support frame 6 are moved when the support plate is pulled out from under the at least one layer 102 to be palletized, an at least partial torque compensation of the torques acting on the palletizing robot head 1 or the robot arm 101 from the first and second assemblies 3, 7 can result. By moving the robot arm 101, the torque required for depositing orThe time required for palletizing the at least one layer 102 to be palletized by the second assembly 3 can be reduced.

[0079] At the time shown in Figure 5h, support plate 3 can be fully moved. At this time, the first assembly 7 can be fully extended from the palletizing robot head 1. Furthermore, the first assembly 3 and the second assembly 7 can then be in the extended position. Subsequently, the palletizing robot head 1 and / or the palletizing robot 100 can be moved into the pick-up position, as shown in Figure 5i, in order to palletize another layer 102.

[0080] In some embodiments, it may be provided that the steps, control and / or times according to Figures 5a to 5i are carried out in reverse order, so that the layers 102 of a pallet stack can be successively removed by the palletizing robot 100 and / or the palletizing robot head 1.

[0081] The example described above does not limit the invention in any way. Rather, the invention can be modified in many ways. All of the features of the invention described above can be essential to the invention alone or in combination with one another.

[0082] List of reference symbols

[0083] Palletizing robot head 1

[0084] Centering frame 2 second assembly 3

[0085] Centering frame drive 4

[0086] Centner frame element 5

[0087] Support frame 6 first assembly 7 first linear guide 8 second linear guide 9

[0088] Centering frame guide rail 10

[0089] Robot arm connecting element 11 Drive 12

[0090] Belt 13

[0091] Centering frame connector 15

[0092] Palletizing robot 100

[0093] Robot Arm 101

[0094] Location 102

[0095] Rotation axis X

[0096] Loading direction B

[0097] Longitudinal direction

[0098] Transverse direction Q

Claims

Claims 1. Palletizing robot head (1) for a palletizing robot (100) for palletizing bundles or containers, comprising a first assembly (7) and a second assembly (3), wherein the first assembly (7) and the second assembly (3) are movable in opposite directions to one another between an extended position and a retracted position, characterized in that the first assembly (7) is extended out of the palletizing robot head (1) in the extended position and is designed to receive at least one layer (102) to be palletized, and is retracted into the palletizing robot head (1) in the retracted position, wherein the second assembly (3) is designed as a counterweight to the first assembly (7) at least in the extended position and between the extended position and the retracted position.

2. Palletizing robot head (1) according to claim 1, characterized in that the first assembly (7) and the second assembly (3) can be moved simultaneously in opposite directions to one another between the extended position and the retracted position.

3. Palletizing robot head (1) according to claim 1 or 2, characterized in that in the extended position and between the extended position and the retracted position, a first torque acting from the first assembly (7) on the palletizing robot head (1) is substantially equal to a second torque acting from the second assembly (3) on the palletizing robot head (1).

4. Palletizing robot head (1) according to one of claims 1 to 3, characterized in that the first assembly (7) has at least one centering frame (2) for receiving the layer (102) to be palletized, wherein the centering frame (2) is preferably designed to move the layer (102) to be palletized. Palletizing robot head (1) according to one of claims 1 to 4, characterized in that the second assembly (3) has a support device for the layer (102) to be palletized, wherein the support device is designed in particular as a support plate for arrangement under the layer (102) to be palletized. Palletizing robot head (1) according to one of claims 1 to 5, characterized in that the palletizing robot head (1) has a support frame (6), wherein the first assembly (7) and the second assembly (3) are movably mounted along the support frame (6) between the extended position and the retracted position.Palletizing robot head (1) according to one of claims 1 to 6, characterized in that the first assembly (2) is offset from the retracted position by a first distance (S1) in the extended position, and the second assembly (3) is offset from the retracted position by a second distance (S2), wherein the second distance (S2) has a length that corresponds to at least one third, preferably at least 50%, of the sum of the first and second distances (S1, S2). Palletizing robot (100) comprising a robot arm (101) and a palletizing robot head (1) connected to the robot arm (101) according to one of the preceding claims. Palletizing robot (100) according to claim 8, which is designed to superimpose a movement of the robot arm (101) with a movement of the second assembly (3) and the first assembly (7) when picking up a layer (102) to be palletized, wherein preferably the second assembly (3) remains stationary during the movement.Palletizing robot (100) according to claim 8 or 9, which is designed to synchronize a movement of the robot arm (101) with a movement of the second assembly (3) and the first assembly when depositing a layer (102) to be palletized. group (7), wherein preferably the first assembly (7) remains stationary during the movement. Method (500) for palletizing at least one layer (102) to be palletized with a palletizing robot (100) according to one of claims 8 to 10, comprising the following steps: - moving (501) the palletizing robot head (1) of the palletizing robot (100) into a receiving position, wherein in the receiving position the first assembly (7) of the palletizing robot head (1) is extended from the palletizing robot head (1) counter to a loading direction (B) and the second assembly (3) is extended from the palletizing robot head (1) in the loading direction (B); - Picking up (502) at least one layer (102) to be palletized with the first assembly (7) in the picking position and moving the first assembly (7) into the palletizing robot head (1) in the loading direction (B), wherein when the first assembly (7) is moved in the loading direction (B) and the second assembly (2) is moved into the palletizing robot head (1) in such a way that the second assembly (3) is held stationary; - moving (503) the palletizing robot head (1) into a palletizing position; and - extending (504) the second assembly (3) in the palletizing position from the palletizing robot head (1) in the loading direction (B), wherein, during the extension of the second assembly (3), the palletizing robot head (1) is moved in the loading direction (B) and the first assembly (7) is extended from the palletizing robot head (1) to deposit the at least one layer (102) to be palletized, such that the first assembly (7) is held stationary. The method (500) according to claim 11, wherein, after step (502) of picking up at least one layer (102) to be palletized, the first assembly (7) and the second assembly (3) are arranged one above the other. Method (500) according to claim 11 or 12, wherein, prior to step (502) of picking up at least one layer (102) to be palletized, the first assembly (7) is adapted to the dimensions of the layer (102) to be palletized, for example, its base area. Method (500) according to one of the preceding claims 11 to 13, wherein the first assembly (7) at least partially encloses the at least one layer (102) to be palletized after moving into the picking position.Method (500) according to one of the preceding claims 11 to 14, wherein in the step (502) of picking up at least one layer (102) to be palletized and / or step (504) of extending the second assembly (3), the first assembly (7) is extended by a first distance (S1) and the second assembly (3) is extended by a second distance (S2), wherein the second distance (S2) has a length which corresponds to at least one third, preferably at least 50%, of the sum of the first and second distances (S1, S2).

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