Bale handling device, method and bale warehouse

Abstract

The invention relates to a method and an apparatus for the automatic handling of compressed bales (7, 7') with an automatic bale handling device (2) in a stationary bale warehouse (1) for bale stacks (5, 5'), wherein the preferably cuboid-shaped compressed bales (7, 7') are formed from recycling material, in particular plastic waste. A plurality of compressed bales (7, 7') are placed on one another, thereby forming columnar bale stacks (5, 5'), and the bale stacks (5, 5') are placed, by means of an automatic bale stacking device (6), into storage places (49) in a storage area (52) of the bale warehouse (1), wherein the compressed bales (7, 7') and / or bale stacks (5, 5') which are to be put into storage undergo an automatic quality inspection.

Description

[0001] DESCRIPTION

[0002] Bale handling equipment, processes and bale storage

[0003] The invention relates to an automatic bale handling device, an automatic handling method and an automated bale storage system for pressed bales made of recycled material having the features in the preamble of the independent claims.

[0004] In practice, it is known that stability-critical pressed bales made from recycled plastic waste are manually stacked with forklifts in a bale storage area, with a stack height of two or three pressed bales. A worker operates the forklift and picks up the pressed bales individually from a baler, transports them to the bale storage area, and stacks them one on top of the other. The worker forms column-like bale stacks in the bale storage area. The recycled material, particularly plastic waste, can lead to irregularities in the pressed bale shape, and the pressed bale density can also vary locally. The pressed bales can deform under pressure in the bale stack, which can endanger the stability of the bale stack. The stack height is therefore limited. In addition, the pressed bales made from recycled plastic waste are often arranged on a pallet and stacked with it for stability reasons.In the bale stack, pallets are then arranged between the pressed bales.

[0005] EP 0796 212 B1 and EP 2 418 151 A1 show automatic bale storage systems for highly compressed pressed bales made of textile fibers. These textile pressed bales have a uniform shape and density. Their stability and stackability are uncritical, so they can be handled and stacked automatically. DE 102018 117 401 A1 teaches a baler for compressing and strapping a pressed product. A control device attached to the baler subsequently checks the presence of the strapping on each pressed bale without contact using inductive, magnetic, or optical measurement.

[0006] The object of the present invention is to provide a better and automatable bale handling technology for such pressed bales made of recycled material.

[0007] The invention solves this problem with the features in the independent claims.

[0008] The claimed bale handling technology, ie the automatic bale handling device, the automatic handling method and the bale storage equipped therewith, including the storage method, have various advantages.

[0009] The claimed automatic bale handling technology comprises a method for automatically handling pressed bales using an automatic bale handling device in a stationary bale storage facility for bale stacks, wherein the preferably cuboid-shaped pressed bales are formed from recycled material, in particular plastic waste. Several pressed bales are stacked on top of one another to form columnar, upright bale stacks. The bale stacks are stored by an automatic bale stacking device at storage locations in a storage area of ​​the bale storage facility. The pressed bales to be stored and / or the bale stacks are also subjected to an automatic quality inspection. This inspection can be carried out by means of an automatic bale inspection device. According to one aspect of the invention, two or more laterally adjacent bale stacks can be arranged closely adjacent to one another and with mutual, supporting contact in the storage area.The laterally closely adjacent bale stacks can preferably be arranged horizontally in alignment next to each other.

[0010] This increases the stability of bale stacks made from this problematic recycling material. This allows for high stack heights and the storage of a correspondingly high number of bales, as well as optimal use and filling of the storage space in the bale storage facility. This also optimizes the floor space requirements and the cost-effectiveness of the bale storage facility. The arrangement is also suitable for an automatic bale handling device, which can grip and compress the adjacent bale stacks or parts of them from both sides, both laterally and externally.

[0011] The mutual supporting contact between laterally closely adjacent bale stacks can exist across the entire stack height. It can be present, for example, on all pressed bales that are closely adjacent at the same height. It can exist across the entire side surface or across the majority of the side surfaces of these pressed bales. The mutual supporting contact can also only be present in places across the stack height, particularly in the upper stack area. The supporting lateral contact can also exist in places along the bale height, e.g. on the upper sides of pressed bales that are laterally closely adjacent and at the same height, with a lateral distance or gap on the undersides. An oblique position and mutual inclination of the said pressed bales can be useful for this. In the bale stacks, e.g. in the lower stack area, pressed bales that are laterally adjacent at the same height can also have a lateral distance without touching each other.Bale stacks that are adjacent to each other laterally may have a mutual inclination or slope, at least in some areas, across the stack height. These are directed upwards toward each other.

[0012] Several laterally closely adjacent bale stacks can be arranged one behind the other to form a respective stack row in the storage area. The stack rows are arranged closely next to each other and with mutual, supporting contact in the storage area. Within their stack row, the bale stacks can also have contact and support. The stack rows preferably extend straight. This proximity can exist in a direction transverse to the longitudinal direction of the stack rows. The preferably multi-lateral contact and support contact can further enhance the stability of the bale stacks and stack rows.

[0013] Alternatively or additionally, it is possible to arrange individual, stand-alone bale stacks in the storage area. The individual, stand-alone bale stacks can also be arranged one behind the other in a preferably straight stacking row. The bale stacks can have contact and support within their stacking row, or they can be spaced apart.

[0014] The formation of columnar bale stacks, especially two or more bale stacks that are laterally closely spaced, can preferably take place in the storage area and at the storage locations. Bale stack formation can be carried out using an automatic bale stacking device. The bale stacks can be built up gradually. This can be achieved, in particular, using an automatic stacking manipulator of the automatic bale stacking device.

[0015] The bale stacks, especially two or more bale stacks that are laterally closely adjacent, can also be formed at a bale feeder of the bale storage area. They can then be transported to the storage locations by the automatic bale stacking device, especially its automatic stacking manipulator. They can be picked up at the bale feeder and placed at the storage locations.

[0016] The bale stacks, in particular the two or more laterally closely adjacent bale stacks, can each comprise one or more, in particular two, partial stacks each consisting of several vertically aligned pressed bales. Said bale stacks can alternatively or additionally comprise several individual pressed bales.

[0017] In a preferred embodiment, the respective bale stack has a stack height of, for example, five pressed bales and is formed by a first partial stack and a second partial stack, wherein the first partial stack has a stack height of, for example, three pressed bales and the second partial stack has a stack height of, for example, two pressed bales. Other stack shapes can, for example, comprise a partial stack of two or three pressed bales and one or more individual pressed bales on top.

[0018] In a further aspect of the invention, in each of the two or more adjacent bale stacks within the bale stack, one or more pressed bales can be arranged with a rearward axial offset in the longitudinal direction of their stack row and / or with a lateral offset transverse to the longitudinal direction of their stack row, wherein the offset forms an overhang. Preferably, an axial offset or a lateral offset is alternatively present. The adjacent bale stacks can in all cases be spaced apart or closely adjacent. The formation of an offset and overhang has advantages for stabilizing the position of the stored bale stacks.

[0019] For two or more adjacent bale stacks, the axial or lateral offset can be designed such that the adjacent bale stacks overlap and support each other, with the upper bale of one bale stack resting on the lower bale of its own bale stack and the adjacent bale stack. This is particularly beneficial for positional stability and prevents the stored bale stacks from tipping over.

[0020] Preferably, in the case of the two or more adjacent bale stacks, one or more, in particular two, partial stacks and / or optionally one or more individual pressed bales can be arranged one above the other within the bale stack and with a mutual axial or lateral offset.

[0021] In the case of two or more adjacent bale stacks at a distance, the width of a free space can be dimensioned in such a way that an upper pressed bale of one bale stack rests on the lower pressed bale of its own bale stack and the adjacent bale stack (5',5).

[0022] When storing and lining up the bale stacks at the respective storage location in the storage area, the axial spacing of the bale stacks in the longitudinal direction of the rows can be selected to be large enough to ensure that the previously described conditions are achieved for the resulting free spaces (50) in the longitudinal direction of the rows. The said spacing and the width of the free spaces can be adjusted accordingly to the tolerance range in the dimensions of the pressed bales, in particular their bale depth (t). It can be related to defined alignment axes of the bale stacks. For example, it can correspond to half the maximum bale depth.

[0023] In the respective stacking rows, in particular from the respective bale stacks, the partial stacks and / or the individual pressed bales of the bale stacks can be arranged one above the other and with a rearward axial offset, e.g., a step-like offset, preferably by half a bale depth (t) in the longitudinal direction of their stacking row. The offset can also have a different dimension.

[0024] Offsets within a stack row can also occur multiple times and at different heights. The offset arrangement further optimizes the stability of the bale stacks and the stack rows. This is also advantageous for individual stack rows and those arranged with lateral spacing or free space. The offsetting within individual stack rows or within two or more closely adjacent stack rows represents a unique invention.

[0025] Within each stacking row, the offset allows the last upper individual bale or the last upper partial stack to extend axially backward with an overhang over the individual bale or lower partial stack directly below it. This overhang is supported from below and, if necessary, from behind by a preferably stationary overhang support. The stacking row can be supported at the rear, for example, by leaning against a wall for stability.

[0026] At the storage location, the two or more laterally closely spaced bale stacks, or the two or more laterally closely spaced lower partial stacks, or the two or more laterally closely spaced individual pressed bales can be tilted against each other by a floor adapter with a stack aligner. This is beneficial for stability and prevents the two or more laterally closely spaced bale stacks from moving apart. The floor adapter can provide a defined standing surface. It can compensate for unevenness, gradients, or other irregularities at the storage location and on the floor of the storage area. The stack aligner can, for example, be formed by a stationary support hopper on top of the floor adapter. The floor adapter and the stack aligner can be present over the intended maximum length of a stack row or just at its front end area. They can increase the stability of the bale stacks and stack rows.The floor adapter and stack aligner can also be omitted.

[0027] When storing and retrieving pressed bales, two or more individually spaced, laterally adjacent pressed bales can form a so-called bale set. The bale set can be the height of one pressed bale. The pressed bales in the bale set can be gripped together on the outside by an automatic stacking manipulator of the automatic bale stacking device, pressed against each other, and transported and handled.

[0028] When storing and, if necessary, retrieving pressed bales, two or more laterally closely adjacent partial stacks or two or more laterally closely adjacent bale stacks, each consisting of several stacked pressed bales, can form a so-called stacking group. The partial stacks or bale stacks of the stacking group can be gripped together on the outside by an automatic stacking manipulator of the automatic bale stacking device, pressed against each other, and then transported and handled. Preferably, several or all of the laterally closely adjacent pressed bales are gripped on the outside and pressed against each other. For both cases, the stacking manipulator can comprise a stack gripper that can grip either a set of bales or a stacking group.

[0029] At a bale infeed, a bale set or stack group can be formed from pressed bales to be stored and placed at a location for collection by an automatic stacking manipulator of the automatic bale stacking device. The automatic stacking manipulator can then effect the storage and the construction or formation of the bale stacks at the storage locations.

[0030] When forming bale stacks at the bale infeed, the pressed bales can be stacked on top of each other with a defined reference, particularly centered, to a predefined upright alignment axis, taking into account a recorded actual value of their bale dimensions, in particular their bale depth (t). This is advantageous for preparing bale stacks of pressed bales with different dimensions, especially different bale depths, for safe storage.

[0031] For example, two or more individual pressed bales can be placed at a laterally adjacent distance apart. Two or more laterally adjacent bale stacks or two or more laterally adjacent partial stacks can also be built up at the storage location, each individually and laterally spaced apart. The provision of the individual pressed bales and the construction of the bale stacks or partial stacks can be carried out by a bale manipulator. By means of a shifting device, the individual pressed bales or the two or more bale stacks formed or the two or more partial stacks formed can be pushed together laterally, in particular horizontally, before or during collection. In this way, the said set of bales or the said stack group can be formed.

[0032] The shifting device can actively or passively effect the lateral pushing together. In a passive action, the automatic bale stacking device, in particular its automatic stacking manipulator, preferably the stack gripper, can perform the pushing together with, for example, a clamping movement, with the shifting device providing, for example, a suitable sliding surface. In an active action, the shifting device itself can perform the pushing together, comprising, for example, one or more laterally adjustable and controlled-driven tables or the like for the respective reception of an individual pressed bale, a partial stack, or a bale stack.

[0033] The shifting device can also be used to deliberately slant at least one individual bale toward the adjacent individual bale, or at least one partial stack toward the adjacent partial stack. This can support the mutual contact of the individual bales or partial stacks when pushed together, which can already be achieved at the storage location. This can also have a beneficial effect on the bale stacks built up at the storage locations.

[0034] With automatic quality inspection, the quality of the pressed bales to be stored, especially their stacking quality, can be checked before storage. Alternatively or additionally, the stacking quality of the bale stacks can be checked. The automatic quality inspection can be carried out using an automatic bale inspection device. The automatic quality inspection can comprise one or more process steps.

[0035] Before stacking pressed bales, the outer contour and / or compressibility of the pressed bales and / or any bale fixations can be checked, whereby inferior pressed bales can be sorted out. The pressed bales can also be trimmed before stacking, whereby any excess material protruding beyond the outer side of a pressed bale is detected and removed. Before stacking pressed bales, their dimensions, in particular their bale depth (t) and / or bale width (b), can be recorded. During stacking and / or destacking from a bale stack, the position and outer shape of the bale stack can be detected. An automatic bale stacking device, in particular an automatic stack manipulator, can be controlled and positioned according to the detection result. These process steps can be carried out during the automatic quality inspection and by means of an automatic bale inspection device.

[0036] The claimed automatic bale handling technology comprises, in a further aspect of the invention, an automatic bale handling device.

[0037] This comprises, for example, an automatic bale stacking device adapted to the shape and size of the pressed bales. The automatic bale stacking device can be designed to jointly grip the outside of a bale set of two or more laterally closely adjacent individual pressed bales or a stack group of two or more laterally closely adjacent bale stacks of pressed bales or of two or more laterally closely adjacent partial stacks of pressed bales, pressing them against one another and transporting them, as well as picking them up and delivering them. The automatic bale handling device, in particular the automatic bale stacking device, can be designed to carry out the aforementioned automatic handling method for pressed bales.

[0038] The method and device features mentioned in the claims are equivalent. They can be combined or interchanged.

[0039] In a separate aspect of the invention, the automatic bale handling device can comprise an automatic bale inspection device. This device can be used to automatically test the quality of the pressed bales to be stored. This checks, in particular, their stackability. Alternatively or additionally, the automatic bale inspection device can also be used to check the quality of bale stacks, particularly their position and external shape.

[0040] Poor-quality pressed bales can be sorted out by the bale inspection system. Poor-quality bale stacks can be handled in an appropriate manner by shifting and / or stacking and / or destacking the bale stacks. The same applies to the automatic bale handling process and the automatic bale inspection process or the automatic quality inspection. The claimed automatic bale handling technology can also be used advantageously with other recycling materials, e.g., waste paper, tin cans, or the like.

[0041] The aforementioned stackability quality refers to the suitability of the preferably cuboid-shaped pressed bales for forming stable bale stacks. This is particularly advantageous for pressed bales made from an inhomogeneous recycled material such as plastic waste. In the bale stacks, several pressed bales are stacked individually and vertically aligned on top of each other. The bale stacks can each have the base area of ​​a single pressed bale. Slender, tall, and columnar bale stacks can be correspondingly unstable.

[0042] The bale stacks can be arranged in a bale storage facility in the form of the aforementioned individual stack rows, one behind the other and standing on stationary or movable storage points. Between adjacent, preferably parallel, stack rows, there can be a mutual spacing or a slot-like or aisle-like clearance, which allows, for example, lateral gripping of the bale stacks and, if necessary, individual pressed bales within the bale stack. Within a preferably straight stack row, the bale stacks can be closely adjacent to one another in the row direction or can also be spaced apart.

[0043] The bale stacks can also be arranged in the bale storage area in the form of the said two or more laterally closely adjacent stack rows with the preferably multi-sided mutual, supporting contact in the storage area.

[0044] The quality inspection of individual bales has the advantage that, if they meet sufficient quality standards, especially stackability, the bales made from recycled material can be automatically handled, stacked, and stored. Furthermore, stack heights of four or more bales, especially five, six, or more, can be achieved.

[0045] This improves the capacity and efficiency of the bale storage facility. Increasing the stack height is possible despite fully automated handling technology. Automatic quality control, preferably performed before stacking and storing the pressed bales, can be sufficient for this. Additional monitoring and safety measures for the bale stacks are not mandatory, but can be implemented in addition.

[0046] The alternative or additional quality inspection of the bale stacks has the advantage that the bale stacks and their pressed bales can be handled particularly reliably and without damage. The preferably lined-up, upright, column-like bale stacks made of inhomogeneous pressed bale material could become crooked or show signs of settlement over time, which could cause the position of one or more of the contained pressed bales to change. This change in position also includes changes in the shape of the pressed bale, e.g., lateral bulging. The change in position can particularly affect the bale sides that are gripped during bale handling, which could then exhibit an inclination, lateral offset, etc. This cannot be ruled out with absolute certainty, even with the aforementioned quality inspection of the individual pressed bales and despite the sorting out of inferior quality pressed bales.With the claimed bale handling technology, the pressed bales in the bale stack can be gripped reliably and without damage, despite their possible change in position.

[0047] Overall, bale handling technology significantly increases efficiency and profitability. This applies to both the bale handling equipment and the bale storage system, including the associated processes.

[0048] The automatic bale handling device can comprise an automatic bale inspection device. The bale handling device can also comprise other components, in particular an automatic bale stacking device and / or an automatic bale manipulator. The automatic bale handling device is a stand-alone device that can be manufactured and traded independently of the bale storage facility. It can be assigned to a bale storage facility. It can also be a component of an automatic bale storage facility. The automatic bale handling device can be installed as original equipment in a new bale storage facility. However, it can also be retrofitted or converted to an existing bale storage facility. The same applies to the method.

[0049] The automatic bale inspection device can also be retrofitted or converted to existing bale stacking devices and / or bale manipulators. The bale stacking device and the bale manipulator are preferably designed to be automatic. They can also be operated manually, especially in existing bale storage facilities. The automatic bale handling device and its components can be controlled via a common control system, preferably a shared one.

[0050] An automatic bale manipulator can also be a component of the automatic bale inspection system. It can be used for quality inspection and / or for sorting out, for example, inferior pressed bales. An automatic bale stacking device, in particular its automatic stacking manipulator, can also be a component of the automatic bale inspection system. The bale inspection system can be used to securely and accurately grip a bale stack and / or at least one individual pressed bale within the bale stack.

[0051] The above advantages also apply to the automatic bale handling process, including the bale testing process for pressed bale quality and / or bale stack quality. The device-related features also apply to these processes. Conversely, the process features also apply to the associated devices.

[0052] The automatic bale handling device is designed and constructed for a stationary installation in a stationary bale storage area. At the site of use, the bale handling device is mounted in a stationary manner. For example, it is mounted on the floor of a storage area. The stationary automatic bale handling device may include movable components.

[0053] The automatic bale handling device may comprise an automatic bale gripper with which the pressed bales can be handled preferably individually.

[0054] The bale gripper is preferably fork-shaped. It can, in particular, have a clamp-like design and function and can clamp a pressed bale on two or more different sides. Gripping and clamping on two opposite sides of the pressed bale is advantageous. The bale gripper can also grip and press together several pressed bales that are closely adjacent to each other.

[0055] The automatic bale gripper can, for example, have gripping elements in the form of linearly adjustable, parallel, and plate-like gripping arms with a controllable drive. Alternatively, other structural designs and different kinematics of the automatic bale gripper are possible.

[0056] The automatic bale gripper can be used for transporting, stacking and unstacking, and turning pressed bales as required. The bale gripper can be used on an automatic bale manipulator and / or on an automatic bale stacking device, in particular on its automatic stacking manipulator. The automatic bale gripper can also be used to check the quality of the pressed bale and / or the bale stack. The controllably driven bale gripper can be used as a tool on any movement device, e.g., a multi-axis gripper robot. The gripper robot can be designed, for example, as a gantry robot with translatory and, if necessary, rotary axes, or as an articulated-arm robot, or in another way. The automatic bale gripper can be used, in particular, on an automatic bale manipulator.

[0057] The controllably driven bale gripper can also be used as a tool on a crane robot of an automatic stack manipulator. The crane robot can comprise a movable crane bridge and a carriage movable thereon, on which a support with an automatic stack gripper is arranged, preferably rotatably and optionally height-adjustably. These components of the crane robot can each comprise controllable drives. In addition, the crane robot can comprise a positioning device which, for example, contains position and / or displacement sensors and enables precise positioning of the stack gripper on the bale stack and at the intended storage location of the bale stack. Conversely, position and displacement data can be recorded, stored and, if necessary, reported to a control system. The automatic stack gripper can also be arranged on the automatic stack manipulator in another way.

[0058] The automatic bale inspection device can be designed and configured to sort out pressed bales of insufficient quality. It can incorporate a sorting device, e.g., a sorting station and / or a discharge system, for this purpose. Poor-quality pressed bales can be handled in a special way. They can be stored separately and individually, or only in small bale stacks of, e.g., two or three pressed bales. They can also be removed and / or opened, whereby the opened pressed bale material can be fed back into the baling cycle at the input.

[0059] Quality testing is particularly important and beneficial for pressed bales and / or bale stacks formed from them made from inhomogeneous recycled material in the form of plastic waste. Such plastic waste can include, for example, empty and possibly hollow packaging, especially containers, but also flexible films, rigid sheets, or other plastic waste. The plastic waste can have different shapes and sizes and varying degrees of deformability during pressing. By automatically testing the pressed bale quality, in particular the aforementioned stackability quality, the suitability of such material-critical pressed bales for automatic stacking can be determined in advance. By automatically testing the bale stack quality, material-related handling problems during the moving and / or stacking and / or destacking of the bale stacks can be eliminated.

[0060] Such quality criteria may concern one or more different quality and invention aspects.

[0061] One such aspect can be the outer contour of the preferably essentially cuboidal, possibly also cube-shaped, pressed bales. A mutual perpendicular or parallel alignment of its preferably largely flat outer surfaces is advantageous. A certain leveling quality with limited waviness of the outer surfaces is also advantageous. A tolerance or threshold value can be specified for the size of projections and / or depressions relative to the main plane of the respective outer surface.

[0062] Cuboid-shaped, elongated pressed bales are produced and stacked in a horizontal orientation. They have a bale width (b), a bale height (h) and a bale depth (t). The bale width (b) is greater than the bale height (h) and the bale depth (t). The bale width (b) extends, for example, across the

[0063] Transport direction of the pressed bales from the baler and the bale depth (t) along the transport direction.

[0064] Another quality and invention aspect can concern the compressibility or deformation resistance of the pressed bale. Compressibility and the associated bale deformation should be minimal to ensure stability and stackability in the bale stack. Also important are the maintenance and reproducibility of the respective pressed bale position within the bale stack and the dimensional stability of the bale stack.

[0065] If, for example, a lower bale were to deform excessively under the weight of the next bale(s) stacked on top of it, the bale stack could become tilted and even tip over. This would be detrimental to automated stacking, as well as to automatic destacking and removal of bales. Quality control testing for the compressibility of a bale can prevent this.

[0066] Another quality and inventive aspect concerns any bale fixation. The pressed bales made from the aforementioned recycled material are often provided with an external bale fixation during the pressing process. This can, for example, be a strapping system formed by several parallel, ring-shaped strapping bands distributed across the bale body. The strapping bands can be recessed into constriction grooves in the pressed bale. The existence and correct position, as well as the integrity of such a bale fixation system, particularly the strapping system, can also be important for the stability and dimensional stability of the bale stack and can be subjected to a quality inspection. A bale fixation system, particularly the strapping system, that is present but damaged or broken can be equally disadvantageous.

[0067] The presence and integrity of bale restraints, especially strapping, made of metal or other electrically conductive materials can be tested non-contact, for example, inductively using electromagnetic fields. Non-contact testing is also possible using other methods, such as optically, particularly with an electronic camera. This method can also be used for non-metallic bale restraints.

[0068] According to an independent aspect of the invention, the existence and integrity of a bale fixation, in particular strapping, made of metal or another electrically conductive material can be tested conductively and preferably by physical contact. This allows the closed ring shape of a bale fixation to be tested. An electrical voltage can be applied to the bale fixation, and the existence of a current flow in the bale fixation can be detected.

[0069] The bale fixation test can detect missing, broken, or non-conductive bale fixations. The affected bale can be sorted out and repaired if necessary, e.g., by replacing the missing or defective bale fixation and / or by installing an additional bale fixation in the same location.

[0070] The fixation test can also be combined with a contour test of the fixed pressed bale and, if necessary, with a dimensional test.

[0071] Another quality aspect can concern any local material protrusions on one or more outer sides of the pressed bale. Such material protrusions, e.g., film strips, rigid container parts, etc., protrude excessively far beyond the normal outer contour of the pressed bale. During handling, and particularly during stacking and unstacking of a pressed bale, they can become snagged or otherwise connected to the surrounding material, e.g., another pressed bale. The pressed bale in question can then no longer be handled freely and unhindered. During unstacking, the removed pressed bale could pull another pressed bale with it due to such a connection, thereby deforming the bale stack or even knocking it over.

[0072] The pressed bales are preferably stacked on top of each other without outer packaging and with direct contact. Pallets or other intermediate layers can be eliminated. The removal of excess material is particularly advantageous in this case.

[0073] For this quality and innovation aspect, a trim check of the pressed bale can be performed. This detects any excess material and removes it if necessary. This check checks, for example, whether the excess material exceeds a specified distance from the main plane of the respective pressed bale side.

[0074] Another quality and inventive aspect concerns the position and external shape of the stacked bales. For this purpose, a stack check can be performed, which can detect the actual position of the bale sides to be gripped, allowing an automatic stack manipulator to be controlled, and in particular, positioned, accordingly.

[0075] The aforementioned quality and innovation aspects can be checked individually or in any combination, and in any order, during bale testing. The bale testing of individual pressed bales and bale stacks can be performed in combination or alternatively.

[0076] For the aforementioned quality and invention aspects, the automatic bale testing device can have one or more testing components.

[0077] The inspection component can be, for example, an automatic contour checker and / or an automatic compression checker and / or an automatic fixation checker and / or an automatic trim checker and / or an automatic dimension checker and / or an automatic stack checker. There may also be other inspection components.

[0078] There are various options for the design of these test components. The test is preferably performed mechanically on each individual bale. It can be performed during a relative movement between the respective test component and the bale.

[0079] The bale testing device can comprise a conveyor that generates such a relative movement. Preferably, the pressed bales are moved by a conveyor relative to a stationary testing component. The kinematics can also be modified, with the pressed bale at rest and the testing component being moved relative to the pressed bale. In a further modification, the pressed bale and testing component can be moved relative to each other.

[0080] In an advantageous embodiment, the automatic bale inspection device comprises an automatic contour checker, which detects the outer bale contour, preferably by contact, and compares it with a specified value. The contour checker can, for example, comprise a mechanical contour checking device, which, during a relative movement of the pressed bale and the bale inspection device, contacts the outside of the pressed bale, preferably with spring force, and carries out a measurable evasive movement in the event of deviations in the position and shape of the contacted outer side from a specified value. In this way, any misalignments and unevenness of the outer side can be detected. In the interaction of several contour checking devices on different bale sides, the outer contour of the pressed bale can be detected and compared with a specified value. The checking device can be present individually or in multiple units. Such a contour checking device can, for example,Preferably, the roller can be freely rotatable, which can be positioned evasively against the bale, and whose evasive path is detected by a path sensor. Alternatively, other designs of the preferably mechanical contour inspection device(s) are possible, e.g., as movable guide vanes.

[0081] The automatic bale inspection device can comprise an automatic fixation checker that detects an external bale fixation, in particular a strapping, of the pressed bale and compares it with a specified value. This can be done using a fixation detector. This can be designed, for example, as a metal detector to detect the generally metallic bale fixations, in particular strapping bands. The metal detector can operate, for example, contactlessly and inductively with the emission of electromagnetic fields. Alternatively, the automatic fixation checker can be designed and function in another way, e.g., as a camera.

[0082] In an independent aspect of the invention, the fixation tester can have a conductive detection device which applies an electrical voltage with contact to an electrically conductive, in particular metallic, bale fixation and detects the existence of a current flow in the bale fixation, in particular in the strapping bands.

[0083] The conductive detection device can comprise electrically conductive sensors, in particular electrodes and counter electrodes, with a feed device, an electrical voltage source, and a current flow measuring device. The sensors can be arranged in pairs. They can each have a sensor head with a front-facing cutting edge, which is arranged transversely to the strapping band and can penetrate the pressed bale material at the constriction groove. The sensor head and its front-facing cutting edge can be wider than the constriction groove. The automatic fixation tester can be combined with an automatic contour tester.

[0084] The presence and integrity of bale restraints, especially strapping, can be checked while the bale is stationary or during transit with relative movement between the bale and the restraint tester. The restraint tester can be appropriately trained for this purpose.

[0085] The automatic bale inspection device can comprise an automatic trimming inspector, which detects and removes any excess material on the pressed bale that may protrude beyond the outer side of the pressed bale, which is also preferably done mechanically. The automatic trimming inspector can comprise a trimming means for this purpose, which cuts off any excess material during the said relative movement. Such a trimming means can be designed, for example, as a heated cutting wire and / or a band saw. The trimming means can be adapted to a pressed bale in such a way that it is assigned to at least one side of the pressed bale with a predetermined lateral distance. The distance defines the tolerance range for the protrusion of excess material, beyond which a cutting off takes place. Alternatively, other designs of the automatic trimming inspector are possible. The trimming means can, for example,as a knife bar with linearly oscillating knives or as a linearly oscillating rotary bar with rotating knife discs.

[0086] The automatic bale inspection device can also include an automatic dimension checker for recording a respective actual value of at least one bale dimension of the pressed bales, in particular the bale depth (t). The measured value can be advantageous for the aforementioned safe storage of the bale stacks in the storage area and for the aforementioned position-securing offset and overhang formation. The automatic dimension checker can be arranged, for example, on the contour checker or at another location. The automatic dimension checker can be implemented as a physical component and / or as a function of the contour checker.

[0087] The automatic bale testing device can comprise an automatic compression tester that detects bale compressibility, preferably by physical contact, and compares it with a specified value. The automatic compression tester comprises an automatic compression testing device that can, for example, clamp the pressed bale with a specified force and thereby detect its bale deformation. The compression testing device can comprise an automatic bale clamping device with a displacement sensor and a force sensor that detects the deformation path and the applied deformation force during clamping of the pressed bale and during the compression test.

[0088] In a preferred embodiment, the bale clamping device can be designed, for example, as a fork-like bale gripper. The normal gripping function can be combined with a testing function in a cost-effective and efficient manner. Alternatively, a bale clamping device can be designed in a different way, e.g., as an automatic pressure measuring ram with displacement detection, which clamps the pressed bale resting on a stable base, for example, from above. Alternatively, other structural and functional designs of the automatic compression tester are possible.

[0089] It is advantageous to arrange the compression testing device on an automatic bale manipulator and / or on an automatic stacking manipulator. With the automatic bale manipulator, for example, the fed pressed bales can be tested for compressibility. This can take place before and / or during storage and before stacking. With the bale manipulator, the tested pressed bale can then be sorted out immediately depending on the test result or placed in a storage area for pressed bales of sufficient quality. Stacking of pressed bales can also take place at this time. Alternatively or additionally, a compression test can also be carried out when the pressed bales are being picked up using an automatic stacking manipulator. The automatic bale testing device can comprise an automatic stacking tester designed to detect the position and external shape of the deposited bale stack.This can be done directly by detecting the bale stack and / or indirectly by detecting the lateral free space(s) on the relevant bale stack or the lateral free space(s) on the stack row(s). Clearance detection makes it possible, for example, to allow the gripper arms of a bale gripper to dip into the free space centrally, thus without contact with the bale, and then close the bale gripper.

[0090] The stack tester can comprise a stack inspection device, in particular a tactile or non-contact sensor, preferably an electronic measuring camera. The stack inspection device can be mounted on a bale gripper and / or on a dedicated inspection frame. It can be moved during a travel movement and, if necessary, a rotation of the stack gripper. The stack inspection device can be present individually or in multiple units.

[0091] The stack checker can be configured to control an automatic bale stacking device, in particular an automatic stack manipulator, based on the detection result. In particular, a bale gripper of the automatic stack manipulator can be positioned on the bale stack based on the detection result and can grip a pressed bale in the correct position, preferably laterally. It can specifically grip a single pressed bale in the bale stack or multiple pressed bales in the bale stack. The entire bale stack can also be gripped.

[0092] The aforementioned quality tests of individual bales can be performed before or during bale feeding to a bale storage facility, or even within the bale storage facility. The test location can be selected. The sequence of tests and

[0093] Test components along the feed path of a pressed bale can also be selected.

[0094] The sorting device can be designed in different ways. It can be a sorting station and / or an automatic ejection station. The sorting occurs based on a negative result from at least one quality inspection. An ejection station can, for example, be connected to the aforementioned conveyor. A sorting station can, for example, be located in the working area of ​​a bale manipulator, which performs the sorting and transfers the lower-quality pressed bales to the sorting station.

[0095] The claimed stationary bale storage facility can be equipped with the aforementioned automatic bale handling technology. The stationary bale storage facility can comprise a preferably enclosed storage area for bale stacks, which can also include a bale infeed and bale removal system. The latter components can be present individually or in multiple locations.

[0096] A bale removal system can, for example, have a discharge conveyor. Pressed bales can be arranged at the bale removal or discharge conveyor in a manner suitable for loading and transport by the automatic bale stacking device, in particular the automatic stacking manipulator. They can be arranged, for example, in two or more adjacent stack rows, closely spaced and in contact, with a suitable stack height of, for example, two press bales.

[0097] The row format can correspond to the loading format of a means of transport, e.g., a semi-trailer. Further advantageous embodiments of the invention are specified in the subclaims.

[0098] The claimed automatic handling method, the claimed automatic bale handling device and the claimed bale storage device can have the following further embodiments, which can be used individually or in combination with one another.

[0099] The automatic bale handling device can comprise an automatic, preferably fork-type bale gripper. This can also be present in multiple configurations and, if necessary, in a combination of grippers in terms of both device and function. An automatic bale stacking device and / or an automatic stacking manipulator of the automatic bale handling device can comprise at least one automatic bale gripper.

[0100] The automatic bale handling device can be arranged stationary in a property, in particular in a bale storage facility.

[0101] The automatic bale handling device may include an automatic bale inspection device for preferentially inspecting individual pressed bales. The automatic bale inspection device may include a conveyor that creates relative movement between the pressed bales and the bale inspection device.

[0102] The automatic bale inspection device can comprise an automatic contour checker configured to detect the outer bale contour, preferably by contact, and compare it with a specified value. The automatic contour checker can comprise at least one mechanical contour checking device configured to contact the outside of the pressed bale during a relative movement of the pressed bale and the bale inspection device and to detect positional deviations and, if applicable, unevenness of the contacted outer surface and the outer contour. The contour checking device can be configured as a rotatable inspection roller that can be positioned on the pressed bale and has a path detection function for an avoidance path.

[0103] The automatic bale testing device can comprise an automatic compression tester designed to detect bale compressibility, preferably by physical contact, and compare it with a specified value. The automatic compression tester can comprise an automatic compression testing device designed to clamp the pressed bale with a predetermined force and thereby detect its bale deformation. The compression testing device can comprise an automatic bale clamping device with a displacement sensor and a force sensor, which detect the deformation path and the applied deformation force during clamping. The bale clamping device can be designed as a preferably fork-like bale gripper. The compression testing device can be arranged on an automatic bale manipulator and / or on an automatic stacking manipulator.

[0104] The automatic bale inspection device may comprise an automatic bale fixation checker configured to detect an external bale fixation, in particular a strapping, of the pressed bales and compare it with a specified value. The automatic fixation checker may comprise a fixation detector, in particular a metal detector.

[0105] The automatic bale inspection device can comprise an automatic trimming inspector designed to detect and remove any excess material on the pressed bale that protrudes beyond an outer side of the pressed bale. The automatic trimming inspector can comprise at least one trimming means designed to cut off any excess material during a relative movement of the pressed bale and the bale inspection device. The automatic trimming inspector can comprise a trimming frame with at least one trimming means, in particular a heated cutting wire and / or a band saw, wherein the at least one trimming means is adapted to a pressed bale such that it is assigned to at least one side of the pressed bale at a lateral distance.

[0106] The automatic bale inspection device can comprise an automatic stack inspector designed to detect the position and external shape of a deposited bale stack. The stack inspector can be designed to control an automatic bale stacking device, in particular an automatic stack manipulator, based on the detection result. The stack inspector can be designed to position a bale gripper of the automatic stack manipulator on the bale stack based on the detection result and to grip a pressed bale or two or more laterally closely adjacent pressed bales in the correct position and preferably laterally. The stack inspector can comprise a stack inspection device, in particular a tactile or non-contact sensor, preferably a measuring camera, wherein the stack inspection device determines the position of the sides to be gripped of a pressed bale or of two or more laterally closely adjacent pressed bales.

[0107] The automatic bale inspection device can comprise a sorting device. The sorting device can be configured as a sorting station and / or as an automatic discharge device. The automatic bale handling device can have an automatic bale manipulator. The automatic bale manipulator can be configured as a gripping robot, in particular as a gantry robot, with an automatic bale gripper. The automatic bale manipulator can be assigned, within its working area, a feed station for a pressed bale, a sorting station for a low-quality pressed bale, and a storage station for at least one high-quality pressed bale in a single-bale arrangement, a bale stack arrangement, or a partial stack arrangement.

[0108] An automatic stack manipulator can be designed as a crane robot with a stack gripper and preferably a positioning device.

[0109] The bale handling device can have a controller for the automatic bale inspection device, the automatic bale stacking device, and the automatic bale manipulator. The controller can include a warehouse management program. The controller can be assigned to each of the said devices and / or can be configured as a system controller.

[0110] The bale storage facility can comprise a preferably enclosed storage area for bale stacks. The bale stacks can be arranged or can be arranged in individual rows with lateral free space in the bale storage facility. In the bale storage facility, in particular in the storage area, two or more laterally adjacent bale stacks can be arranged close together and with mutual, supporting contact. In the bale storage facility, in particular in the storage area, several laterally closely adjacent bale stacks can be arranged one behind the other to form a respective stack row, wherein the stack rows are arranged close together and with mutual, supporting contact, wherein the bale stacks within their stack row preferably also have touching and supporting contact in the longitudinal direction of the row.

[0111] The invention is illustrated schematically and by way of example in the drawings. In detail:

[0112] Figure 1: an automatic, stationary

[0113] Bale handling device on a stationary and automatic bale storage in a broken top view,

[0114] Figure 2: an enlarged detailed view of the automatic bale handling device of Figure 1,

[0115] Figure 3: a fragmentary side view of the automatic bale handling device and the bale storage according to arrow III of Figure 1,

[0116] Figure 4: a bale testing device with a

[0117] Contour checker, a fixation checker and a trim checker on a conveyor in perspective view,

[0118] Figure 5: a variant of the bale testing device from

[0119] Figure 4,

[0120] Figure 5a-h: a variant of the fixation tester and the contour tester in different views,

[0121] Figure 6: a perspective front view of a

[0122] Trim tester according to arrow VI of Figure 4,

[0123] Figure 7: a perspective view of a

[0124] Compression testing device trained automatic bale gripper,

[0125] Figure 8: a side view of the compression testing device of Figure 7, Figure 9: a modification of the bale testing device of

[0126] Figure 2 in plan view,

[0127] Figure 10: a bale storage with an automatic

[0128] Stack manipulator and a stack checker in top view,

[0129] Figure 11: a stack manipulator with a stack checker in an enlarged plan view,

[0130] Figures 12 and 13: a variant of the automatic bale storage and bale handling device in different views,

[0131] Figures 14 to 17: a third variant of the automatic bale storage and bale handling device in different views,

[0132] Figures 18 to 20: a stack gripper with a set of bales or different stack groups,

[0133] Figures 21 and 22: a shifting device in different operating positions,

[0134] Figures 23 to 25: Bale stack and stack manipulator at storage locations in different views,

[0135] Figure 26: a stack gripper in perspective

[0136] Opinion,

[0137] Figures 27 and 28: Bale stack and another stack gripper in different views, Figures 29 and 30: Variants of a stack and

[0138] Offset formation and

[0139] Figures 31 to 35: further variants of stacking and offsetting.

[0140] The invention relates to an automatic bale handling device (2) and an automatic bale handling method for use in a stationary and preferably automatic bale storage facility (1). The invention also relates to the bale storage facility (1) equipped with the automatic bale handling device (2).

[0141] Figures 1 to 3 show, in a first variant, an automatic and stationary bale storage system (1) and an associated automatic and also stationary bale handling device (2) in top and side views. The stationary bale storage system (1) is arranged, for example, on the ground or in a building.

[0142] The bale storage (1) serves to store pressed bales (7, 7'), which preferably have a cuboid shape and are made of a recycling material, preferably

[0143] plastic waste. The pressed bales (7,7') have a bale height (f), a bale width (b) and a bale depth (t) as shown in Figures 24 and 25.

[0144] The pressed bales (7, 7') each have surfaces on their upper, lower, and lateral sides which, due to the inhomogeneous recycled material, are undulating with depressions and projections relative to their main plane. Larger material overhangs (10) may also occur. The recycled material may also consist of waste paper, compressed tin cans, or the like. The pressed bales (7, 7') are placed and stacked on top of one another with direct contact to form bale stacks (5). The column-like container stacks (5) may be formed, for example, from five, six, or more pressed bales (7, 7'). In the bale stacks (5), individual pressed bales (7, 7') are stacked directly vertically one above the other. The bale stacks (5) are arranged one behind the other in the bale storage area (1), for example, in preferably parallel stack rows (55). Within the stack row (55), the bale stacks (5) may be close together or, alternatively, spaced apart.Slot-like or lane-like spaces (50) may exist between the stacking rows (55) and on both sides of the bale stacks (5) and the pressed bales (7, 7'). Opposite stacking rows (55) may be axially spaced to form lanes (53) for bale stack transport.

[0145] The bale storage facility (1) comprises a storage area (52) in which the bale stacks (5) are stored on a stationary or movable storage location (49). They stand, for example, on the floor of the facility or on a conveyor or a floor adapter (64). The storage area (52) can be divided into several sections. It can be protectively surrounded by an enclosure (24), e.g. with upright walls (68). The bale storage facility (1) is arranged in a stationary manner, whereby the floor of the facility can be formed by a hall floor. The preferably automatic bale storage facility also has at least one bale feed (22) for pressed bales (7, 7') to be stored and at least one bale removal (23) for pressed bales (7, 7') to be retrieved. The pressed bales (7, 7') can be stored and retrieved individually or in stacks.

[0146] In the illustrated embodiments, a baler (28), e.g., a horizontal channel press, is located upstream of the bale storage (1) and the bale feed (22), which produces and discharges the pressed bales (7, 7') from the recycled material. A fixing device (28') can be used to attach an external bale fixing device (9) to the respective, preferably cuboid-shaped, bale body (8), which holds the compressed recycled material in the desired bale shape.

[0147] The bale fixation (9) is designed, for example, as a strapping arrangement comprising several parallel and ring-shaped strapping bands (9') placed around the bale body (8). The bale fixation (9) can also be designed as a cross fixation arrangement, as shown in Figure 5a. In this case, the strapping bands (9') can also be arranged crosswise. The strapping bands (9') can have a flat or a rounded, e.g., wire-like, shape. They are preferably made of metal. Alternatively, other materials and other designs of the bale fixation (9) are possible.

[0148] The bale fixation (9) can be attached by the fixation device (28') to the compressed bale body (8) held under pressure. It can cut into the bale body (8) expanding after pressure release and form constriction grooves (9"). The strapping bands (9') can each be located at the bottom of the constriction grooves (9"). Figures 5a, 5g, 5h, and 6 illustrate this arrangement.

[0149] The automatic bale handling device (2) comprises an automatic bale testing device (3). This is designed to test the quality of the individual pressed bales (7, 7'), in particular their stackability, and / or to test the quality of the bale stacks (5). The automatic bale handling device (2) can further comprise an automatic bale stacking device (6) which is arranged in the storage area (52) and which has, for example, an automatic stack manipulator (18) and, if necessary, further components. The stack manipulator (18) can handle the bale stacks (5) completely or in parts, whereby the pressed bales (7, 7') from a bale stack (5) can also be handled individually, for example when storing and retrieving individual pressed bales (7, 7'). The stack manipulator (18) can transport the bale stacks (5) through the driving aisles (53).

[0150] As Figure 3 illustrates by way of example, the automatic stack manipulator (18) can be designed as a crane robot (19). The automatic stack manipulator (18) can also include a stack gripper (20). The crane robot (19) can, for example, serve a section of the storage area (52) and, if necessary, the bale removal (23). Figures 1 and 10 show arrangements of several automatic stack manipulators (18) in the bale storage area (1).

[0151] The crane robot (19) has a raised, movable crane bridge (19') with a carriage (19") that can be moved thereon, each with controllable drives. The stack gripper (20) can be arranged on the carriage (19"), for example, suspended and preferably pivotable about the vertical axis by means of a pivot bearing (47) and a controllable rotary drive. The stack gripper (20) can comprise one or more individually or jointly controllable automatic bale grippers (11) that are arranged one above the other on a support (46). The crane robot (19) also comprises a positioning device (48) with position and displacement sensors for the precise positioning of the stack gripper (20) on a deposited bale stack (5). The number and arrangement of the bale grippers (11) can depend on the size of the pressed bales (7, 7') and, if applicable, on the intended stack height or the number of pressed bales (7, 7') in the bale stack (5).For clarity, Figure 3 shows small bale stacks (5) with only four bales (7.7') each. Stack heights with five, six, or more bales (7.7') are preferred.

[0152] The bale grippers (11) can be arranged together on the beam-like, upright support (46) of the stack gripper (20) and can be arranged thereon in a height-adjustable manner by means of a controlled, drivable carriage or in another manner. The support (46) can be arranged so as to be rotatable about the vertical axis on the said pivot bearing (47) and carriage (19"). Alternatively, a different design of the stack manipulator (18) is possible. The optionally rotatable stack gripper (20) can be arranged on another, possibly ground-side, transport device or transport robot.

[0153] The automatic bale handling device (2) can also comprise an automatic bale manipulator (15). This is designed and configured to handle the pressed bales (7, 7') individually. The pressed bales (7, 7') can be transported, set down, and, if necessary, stacked on top of one another.

[0154] The automatic bale manipulator (15) can be arranged in or on the storage area (52) in the area of ​​the bale feed (22). In the working area of ​​the bale manipulator (15), for example, there is a feed station (25) for pressed bales (7, 7') fed in from outside, a sorting station (27) for lower-quality bales, and a storage station (26) for pressed bales (7, 7') of sufficient quality to be stored. Multiple locations (25, 26, 27) in question can each be present. They can each be designed as a stationary station arranged on the floor of the area for receiving an individual pressed bale (7, 7') and / or a bale stack (5) and / or a partial stack (56, 56', 57, 57').

[0155] One or more of the positions (25, 26, 27) can also be designed to be movable, e.g. as a conveyor, as is shown for example in the case of the positions (26) in Figure 1. The said positions (25, 26, 27) can also be located in the working area of ​​the stack manipulator described above.

[0156] (18).

[0157] The automatic bale manipulator (15) is designed, for example, as a gripper robot (16). In the illustrated embodiments, the gripper robot (16) is designed as a portal robot with a preferably stationary portal (17) and translatory axes. A robot head is movably mounted on the portal (17), which carries and moves an automatic bale gripper (11).

[0158] In the illustrated embodiment, the automatic bale manipulator (15) is located in the storage area (52). Multiple units can be provided. A corresponding automatic bale manipulator (15) can be located individually or in multiple units at the bale discharge (23). A discharge conveyor (70) can also be located at the bale discharge (23).

[0159] The individual or multiple automatic bale manipulators (15) can also be part of the automatic bale testing device (3) explained below. The automatic bale stacking device (6) can also be part of the automatic bale testing device (3). In the illustrated embodiments, the automatic bale testing device (3) comprises several testing components, which are designed, for example, as contour testers (29), fixation testers (30), trim testers (31), dimension testers (73), compression testers (32), and stack testers (33). The automatic bale testing device (3) also comprises at least one sorting means (4) designed to sort out pressed bales (7, 7') of insufficient quality.

[0160] The automatic bale testing device (3) may further comprise, for example, a conveyor (21) that generates a relative movement between the pressed bales (7, 7') and the bale testing device (3), in particular its aforementioned testing components (29, 30, 31). The conveyor (21) may be designed as a stationary, floor-side conveyor, e.g., a belt conveyor, roller conveyor, rail conveyor, or the like. It may also be divided into several conveyor sections.

[0161] In the illustrated embodiment, the conveyor (21) transports the pressed bales (7, 7') relative to the stationary inspection components. In the illustrated embodiments of Figures 1, 2, and 8, these are the contour checker (29), the fixation checker (30), and the trim checker (31). The kinematics of said relative movement can also be configured differently.

[0162] In the exemplary embodiments shown, the aforementioned sorting means (4) comprises the aforementioned sorting station (27) and an ejection device (54) for inferior quality pressed bales (7, 7'). The ejection device (54) is connected to the conveyor (21), for example, by a transport means. Inferior quality pressed bales (7, 7') can be picked up from the sorting means (4) in any suitable manner and treated in another way. As Figure 2 illustrates in an enlarged detail of Figure 1, a trim checker (31), a contour checker (29), and a fixation checker (30) are arranged one after the other on the conveyor (21) downstream of the baler (28) in the conveying direction. The sequence shown can also be different. In the variant shown in Figures 1 and 2, the compression tester (32) is mounted on the automatic bale manipulator (15), and in the variant shown in Figure 8, it is mounted independently on the feed station (25). There are also possible variations in this respect.

[0163] Figures 4, 5 and 5a-h illustrate exemplary designs of the test components mentioned (29,30,31,73).

[0164] The automatic contour checker (29) is designed and configured to detect the outer contour of the pressed bales (7, 7'), preferably by contact, and to compare it with a specified value. Any contour deviations could impair the stacking quality of the pressed bale (7, 7') in question, so that such a low-quality pressed bale (7, 7') is sorted out via the sorting means (4), e.g., the discharge device (54).

[0165] The automatic contour checker (29) shown in Figures 4 and 5 comprises at least one mechanical contour checking device (34) designed to contact the outside of the pressed bale (7, 7') during a relative movement of the pressed bale (7, 7') and the contour checker (29). Positional deviations and any unevenness of the contacted outer surface can be detected in the process. From this, the actual outer contour of the checked pressed bale (7, 7') can also be determined and compared with a specified value. In the embodiment shown in Figures 4 and 5, the respective contour checking device (34) is preferably designed as a freely rotatable check roller that can be deflected and preferably applied to the pressed bale (7, 7') with a resilient contact force. The check roller can be moved away from its desired position in the event of positional deviations or any unevenness of the contacted outer surface, thereby executing an deflection path.The deflection path can be detected using a position sensor. The test rollers can be arranged, for example, on a swivel arm, which is adjusted in the direction of the pressed bale (7, 7') using a predetermined actuating force, particularly a spring force. The position detection can be implemented, for example, via a rotary encoder on the swivel arm or by other means.

[0166] In the embodiment of Figures 4 and 5, two portal-like frames (35) are provided that span the conveyor (21). Several inspection rollers are arranged side by side on each of the two upright side legs and the upper, connecting transverse leg of the frames (35). They contact the top side as well as the left and right outer sides of the pressed bale (7, 7'). The contour checker (29) can also have a tunnel-like, transparent housing that encloses the frames (35) and the inspection rollers on the outside. Figures 4 and 5 also show the pressed bale (7, 7') located in the contour checker (29).

[0167] In another embodiment, the number of frames (35) can vary. Furthermore, the number and design of the contour checking means (34) can vary. The checking rollers can, for example, be placed directly by fluidic press rams against the contacted outer side of the pressed bale (7, 7'). Instead of freely rotatable rollers, other contact elements, e.g., flag-like sensors or the like, are possible. The contour checker (29) can also be moved relative to the conveyor (21). Furthermore, contactless contour detection is possible, e.g., by one or more cameras and image analysis or by light barriers or the like. This embodiment is less preferred due to the inhomogeneity of the recycled material consisting of plastic waste.

[0168] The detection signals of the one or more contour checking devices (34) are evaluated by means of a suitable control system. This can be a separate control system for the contour checker (29) and / or a common control system (51) of the bale checking device (3) or the automatic bale handling device (2), shown schematically in Figure 1.

[0169] From the detected deflection paths of one or more mechanical testing devices, it can be determined whether the tested bale outer surface deviates from a target specification in terms of its position and, if applicable, in its flatness.

[0170] A guide device (36) can be arranged upstream of the contour checker (29) in the feed direction of the pressed bale (7, 7'), which ensures precise axial alignment and central positioning of the fed pressed bale (7, 7') on the conveyor (21) for bale inspection. For the preferably cuboid-shaped pressed bales (7, 7'), the top side and the left and right outer sides of the bale are aligned parallel to the conveying direction.

[0171] If the pressed bale (7, 7') has a predetermined outer contour, the one or more contour checking devices (34) essentially maintain their predetermined target position during the contour check upon contact with the relevant bale side or bale surface. However, if one bale side is oriented obliquely to the conveying direction, a positive or negative deflection path of the one or more contour checking devices (34) results, depending on the direction of inclination, the magnitude of which is detected by means of the path detection. By feedback with time and / or path of the conveying movement, the relevant deflection path can also be localized with regard to its position on the pressed bale (7, 7') in the conveying direction.

[0172] By reviewing and evaluating the measurement data from one or more contour inspection devices (34), the actual outer contour of the inspected pressed bale (7, 7') can be determined. Furthermore, it can be determined whether the actual outer contour deviates from a target outer contour of the preferably cuboid-shaped pressed bale (7, 7') beyond a tolerance threshold. Depending on the inspection result, the respective pressed bale (7, 7') can be sorted out or transported by the conveyor (21) to the feed station (25).

[0173] The automatic bale inspection device (3), in particular the contour checker (29), can also comprise an automatic dimension checker (73) for detecting a respective actual value of the bale depth (t). The bale depth (t) is the dimension of the pressed bale (7, 7') in the conveying direction through the baler (28). The measured value can be used for the defined, in particular centered, positioning of the pressed bale (7, 7') at the storage location (26) in the dimensional direction, in particular the depth direction.

[0174] The pressed bale (7, 7') can be provided, for example, at an upstream feed station (25), e.g. at the end of a conveyor, in a defined, in particular centered, position. It can be picked up here by the automatic bale manipulator (15) and deposited in the said defined, in particular centered, position at the storage location (26). It can be stacked here, if necessary, on one or more existing pressed bales (7, 7'). The depositing and, if necessary, stacking of the pressed bale (7, 7') takes place with a defined reference, in particular centered, to a predetermined upright alignment axis (72). The bale depths (t) can be subject to tolerances and can possibly differ considerably. Accordingly, the front and rear edges of the pressed bales (7, 7') may not be aligned one above the other.

[0175] Figures 4 and 5a-h also illustrate the exemplary design and arrangement of an automatic fixation checker (30) in various variants. The automatic fixation checker (30) can also be combined with an automatic contour checker (29). This can have a different design than that shown in Figures 4 and 5.

[0176] The automatic fixation checker (30) is arranged independently, for example, according to Figures 1, 2, and 3, behind the contour checker (29) in the conveying or transport direction (89) marked by an arrow. Figure 2 also shows, in dashed lines, another possible arrangement of the fixation checker (30), which can be located, for example, on or in the baler (28) or directly behind the baler (28). Figures 1 and 2 also schematically illustrate the arrangement of the fixation device (28') in the baler (28).

[0177] The fixation checker (30) can, for example, have its own portal-like frame (35) on which a fixation detector (37) is arranged, which checks the correct design and arrangement of a bale fixation (9). The fixation checker (30) can also be mounted on the contour checker (29) as shown in the dashed line in Figure 3.

[0178] In the case of a metallic bale fixation (9), in particular metallic strapping bands (9'), the fixation detector (37) is designed, for example, as a metal detector. This can be used, for example, to electromagnetically determine whether or not a metallic strapping band (9') is present at the intended location on the pressed bale (7, 7').

[0179] Figure 4 shows a first variant of the fixation tester, in which the fixation detector (37) detects the existence and correct position of an electrically conductive, particularly metallic, bale fixation (9) and its strapping bands (9') in a contactless manner, e.g., inductively using electromagnetic fields. Other contactless testing methods include, for example, optical detection, with the fixation detector (37) being designed, e.g., as a camera system. They can also be suitable for other embodiments of a bale fixation (9).

[0180] Figures 5a-h show a variant of the fixation tester (30). The fixation detector (37) can again be designed as a metal detector or in another suitable manner, whereby the fixation test can be carried out with contact with the bale fixation (9). The bale fixation (9) is designed here, for example, as a cross fixation and has several preferably electrically conductive, in particular metallic, strapping bands (9') located at the bottom of the constriction grooves (9") and which are placed, for example, crosswise and in a ring shape around the outer sides of the bale body (8).

[0181] Figure 5a shows the fixation tester (30) in a perspective front view with the ball body (8). Figure 5b shows the fixation tester (30) without the ball body (8). Figures 5c and 5d show perspective views from behind and from below. Figures 5e and 5f show a side view and a top view of the fixation tester (30) from Figure 5a. Figure 5g shows a front view of the pressed bale (7, 7') in the fixation tester (30). Figure 5h shows a longitudinal section through the fixation tester (30) and the pressed bale (7, 7').

[0182] The fixation detector (37) comprises a conductive detection device (37') comprising electrically conductive sensors (74, 75), in particular electrodes and counterelectrodes, an electrical voltage source (80), and a measuring device (81) for detecting a current flow. For each strapping band (9') of the bale fixation (9), at least one pair of sensors (74, 75), in particular an electrode and counterelectrode, can be present. These sensors are arranged at a distance from one another in the longitudinal direction of the strapping band (9') and are connected to the voltage source (80).

[0183] In the embodiment shown, several sensors (74, 75) are arranged in pairs on both sides of the bale (7, 7'), opposite each other, and in a horizontal, particularly horizontal, orientation. Furthermore, several sensors (74, 75) are arranged in pairs, one behind the other, in the transport direction (89) on the upper side of the bale (7, 7'), in an upright, particularly vertical, orientation.

[0184] The sensors (74, 75) can be immersed into the constriction grooves (9") by means of an adjustment device (78) and brought into electrical and contact with the strapping band (9') there, and then moved back to their starting position. The sensors (74, 75) are arranged on the frame (35) and are positioned according to the expected position of the bale fixation (9) and its strapping bands (9'). The number of pairs of sensors (74, 75) can correspond to the number of strapping bands (9'). It can also be smaller, with sensor pairs acting on several strapping bands (9') and being transported to their intended position and positioned there. The sensors (74, 75) are connected to the voltage source (80) and the measuring device (81).

[0185] The fixed pressed bale (7, 7') fed by the conveyor (21) can be brought into the desired position on the fixation tester (30) via the guide device (36). The fixation test preferably takes place with the pressed bale (7, 7') in the rest position, with the conveyor (21) providing, for example, intermittent pressed bale transport and remaining stationary for the fixation test.

[0186] The feelers (74, 75) have, for example, an elongated feeler head (76) adapted to the shape of the constriction grooves (9") and optionally provided with one or more front-facing cutting edges. The feeler heads (76) and their cutting edges are aligned, as shown in Figures 5g and 5h, transversely to the direction of extension of the associated constriction groove (9") and the strapping band (9') therein.

[0187] The sensors (74, 75) can be advanced by the preferably controllable adjusting device (78) to the pressed bale (7, 7') and the bale body (8) for checking its fixation and can be retracted again to release the pressed bale transport. For this purpose, the sensors (74, 75) can be located on adjusting means (79) of the adjusting device (78), which can be designed, for example, as cylinders with adjusting rods or piston rods. The adjusting device (78) can also have beam-like support means (77) on which the adjusting means (79) of the sensors (74, 75) are arranged. The support means (77) can be rigid and stationary or adjustable on the frame (35).

[0188] If the bale fixation (9) is correctly attached to the bale body (8) and the constriction grooves (9") are located in the designated body areas, the feelers (74,75) can dip with their feeler heads (76) into the respective constriction grooves (9") and make electrical contact with the strapping band (9') located at the bottom of the groove.

[0189] The sensor heads (76) directed transversely to the groove extension can be wider than the corresponding constriction groove (9"). They can accommodate tolerances in the positioning of the strapping bands (9'). Their front-facing cutting edges allow the sensor heads (76) to penetrate into the pressed bale material during the feed and to contact the strapping band (9') even if the strapping band (9') is offset laterally.

[0190] The lateral sensors (74, 75) can be positioned on opposite side surfaces of the pressed bale (7, 7'), particularly horizontally. The other sensors (74, 75) can be advanced and retracted in an upright, particularly vertical, direction.

[0191] When the bale fixation device (9) is attached to the designated locations on the bale body (8) and is intact, an electric current flows between the paired sensors (74, 75) that jointly contact a strapping band (9'). This can be detected by the measuring device (81). If a strapping band (9') is missing or not attached at the designated location, or is damaged, in particular broken, no electric current flows when voltage is applied to the paired sensors (74, 75), which is also detected by the measuring device (81). The fixation tester (30), in particular the measuring device (81), can be connected to a dedicated control unit of the fixation tester (30) and / or to a control unit (51) of the bale testing device (3), shown schematically in Figure 1.

[0192] The automatic fixation checker (30) can be combined with an automatic contour checker (29), whose contour checking means (83, 84) are also arranged on the frame (35). In the embodiment of Figures 5a-h, the contour checking means (83, 84) are designed as guide vanes and are arranged on movable, in particular pivotable, positioning arms (87, 88) that are positioned against the pressed bale (7, 7') and its bale body (8) by an positioning device (85). Otherwise, the automatic contour checker (29) can be designed analogously to the previously described embodiment and can optionally also include an automatic dimension checker (73).

[0193] The contour checking devices (83, 84) are designed, for example, as angled guide vanes aligned at an angle to the pressed bale (7, 7'). The bilateral, lateral contour checking devices (83) or guide vanes are aligned and arranged upright. They are positioned against the two lateral bale or body surfaces in a deflectable manner. The upper contour checking device (84) or guide vane is arranged horizontally and is positioned against the upper side of the pressed bale (7, 7') or bale body (8) in a deflectable manner.

[0194] The adjusting device (85) comprises, for example, pivotable adjusting arms (87, 88) with adjusting means (86), which are designed, for example, as flexible cylinders, springs, or the like. The lateral, upright contour checking means (83) are arranged, for example, on angled adjusting arms (87) that can pivot about an upright axis. The upper, horizontal contour checking means (84) is arranged, for example, on straight adjusting arms (87) that can pivot about a horizontal axis. Figures 5c to 5f illustrate this arrangement and kinematics.

[0195] The adjustment device (85) also includes a sensor system (not shown), which detects, for example, the position and / or any evasive movements of the contour checking devices (83, 84) in the event of irregularities in the pressed bale contour. The bale width (b) of the pressed bale (7, 7') or bale body (8) transverse to the transport direction (89) can also be detected via a position measurement and / or rotation angle measurement. The detection values ​​can be reported to the aforementioned control system (51) if necessary.

[0196] The evasive lateral contour checking devices (83) and / or the upper contour checking device (84) can also be used to detect the dimensions of the pressed bale (7, 7') or bale body (8) in the transport direction (89) or the bale depth (t). The automatic contour checker (29) can have the additional function of an automatic dimension checker (73).

[0197] For example, the first and last movements of the contour checking devices (83,84) and their times at the front and rear ends of the pressed bale (7,7') or

[0198] bale body (8) are detected, whereby the dimension in the transport direction (89) or the bale depth (t) can be determined via the time period between the test equipment movements and the known transport speed of the conveyor (21).

[0199] In the embodiments of Figures 4 and 5, the trim checker (31) is arranged upstream of the contour checker (29) in the conveying direction. The trim checker (31) has, for example, a trimming frame (39) and a trimming means (38) arranged thereon. The trim checker (31) can be arranged in a gap between two aligned conveying sections of the conveyor (21). The trimming frame (39) can also be designed as a frame and can encompass the conveyor (21) and the pressed bale (7, 7') on top and on both sides. The trimming means (38) can encompass the fed pressed bale (7, 7') on the top and bottom as well as on the left and right bale sides. As Figure 6 illustrates in an end view according to arrow VI in Figure 4, the trimming means (38) can be arranged on one or more bale sides at a lateral distance from the relevant bale side.

[0200] The trimming device (31) detects any local material overhangs (10) on the relevant outer sides of the pressed bale (7, 7') and removes them if a tolerance value is exceeded. The tolerance value is defined by the lateral distance of the trimming device (38) from the relevant bale side.

[0201] In the embodiment of Figures 4 and 6, the trimming means (38) is formed by several electrically heated cutting wires that are aligned crosswise in a frame-like manner, each extending along and parallel to the associated outer side of the bale. The excess material (10), preferably made of plastic, is melted off by the heating wire during said relative movement if the tolerance is exceeded.

[0202] Figure 5 shows a variant of the trimming means (38), which consists of several band saws and their rotating saw blades. The saw blades are also arranged and aligned at a predetermined distance, preferably parallel to the associated outer side of the preferably cuboid-shaped pressed bale (7, 7'). They trim off the excessive material overhangs (10).

[0203] The automatic compression tester (32) is designed to detect bale compressibility, preferably by physical contact, and to compare it with a specified value. Bale compressibility can be detected, for example, by applying a clamping compression force to the pressed bale (7, 7') by recording the force and displacement. The automatic compression tester (32) has an automatic compression means (40) for this purpose. This means is designed to clamp the pressed bale (7, 7') with a specified force and, in the process, to detect its bale deformation.

[0204] For this purpose, the compression testing device (40) comprises an automatic, e.g., clamp-like, bale clamping device (41) with a displacement sensor (42) and a force sensor (43), which detect the deformation path and the applied deformation force when clamping the pressed bale (7, 7'). Clamping preferably occurs on two opposite outer sides of the pressed bale (7, 7'). These are preferably a left and right outer side of the pressed bale (7, 7').

[0205] The bale clamping device (41) is designed, for example, as a preferably fork-like bale gripper (11). Such a bale gripper (11) can also be used in the manner described above for handling and transporting, as well as stacking and unstacking, the pressed bales (7, 7'). In the embodiment shown in Figures 1 and 2, the compression testing device (40) and its bale gripper (11) are arranged on the automatic bale manipulator (15).

[0206] Alternatively or additionally, an arrangement on the automatic stack manipulator (18) is also possible.

[0207] Figures 7 and 8 illustrate, by way of example, the design of such a bale gripper (11). It comprises two parallel, plate-like or knife-like gripping arms (12). The gripping arms (12) are aligned horizontally and arranged horizontally next to one another. They can grip and clamp a pressed bale (7, 7') laterally. The gripping arms (12) are aligned parallel to one another and arranged together on a frame (13). They are connected to a controllable drive (14) with which the gripping arms (12) can be brought closer together or moved further apart. For this purpose, the gripping arms (12) are arranged and mounted on the frame (13) in a suitable movable manner, in particular linearly displaceable. The drive (14) is formed, for example, by one or more fluidic, in particular hydraulic, cylinders or other drive elements.

[0208] The gripping arms (12) are pressed with a predetermined force to grip, clamp, and compress a pressed bale (7, 7') in parallel alignment against its left and right outer sides and also follow any possible deformation of the yielding pressed bale (7, 7'). Alternatively, other designs and different kinematics of the gripping arms (12) are possible.

[0209] The displacement sensor (42) is designed, for example, as a distance sensor and is arranged at the frame-side ends of the movable gripper arms (12). The displacement sensor (42) is designed, for example, as a laser measuring device, but can also have a different design.

[0210] The force gauge (43) can be arranged on the drive (14) or elsewhere on the frame (13). When arranged on the drive (14), a force gauge (43) can be designed and arranged, for example, as force sensors on the supports of the cylinders or other drive elements. In another variant, a design and arrangement as a fluid pressure sensor in the fluid circuit, in particular the hydraulic circuit, of the cylinder-like drive elements is possible. Furthermore, an arrangement of one or more force gauges (43), e.g. strain gauges, on the gripper arms (12) is possible.

[0211] Figure 9 illustrates a variant of the compression tester (32), which is arranged and designed as a stand-alone unit at a suitable location, e.g. at the feed station (25). The compression testing means (40) comprises, for example, a movable frame that can be delivered to the feed station (25) for testing purposes and which engages over the pressed bale (7, 7') located at the feed station (25). The bale clamping means (41) can be formed by a controllable pressure stamp supported on the frame, which, for example, presses with vertical force onto the top of the bale and interacts with a fixed bale base at the feed station (25). A displacement sensor (42) and a force sensor (43) of suitable design and in a suitable manner can be arranged on the bale clamping means (41). In this variant of Figure 9, the pressed bale (7, 7') to be tested is clamped and compressed on the top and bottom.

[0212] Figure 9 also shows further exemplary modifications. At the sorting station (27), for example, a forklift or other conveyor device is shown, with which a sorted pressed bale (7, 7') can be transported away. Such a conveyor device can also be used for transport at the discharge point (32).

[0213] Figure 9 also shows a single and stationary parking space (26) for a quality-appropriate pressed bale (7,7').

[0214] Other possible modifications include the contour checker (29), which is located directly on the bale feeder (22) and on the housing (24). A trim checker

[0215] (31) is arranged on the inside of the housing (24). A fixation tester (30) is omitted in this embodiment. Likewise, the discharge device (54) of Figure 1 is also missing. In this embodiment, inferior pressed bales (7, 7') are moved to the feed station (25), where they are picked up by the automatic bale manipulator (15) and transferred to the sorting station (27). The compression tester

[0216] (32) has been removed from the feed station (25) for this purpose and moved into a retracted position (not shown). The automatic bale handling device (2), the automatic bale testing device (3), the automatic stacking manipulator (18) and the automatic bale manipulator (15) each have suitable drives and associated sensors for their automatic function and can be controlled and, if necessary, regulated by a suitable controller. These can each be proprietary and independent controllers. Alternatively or additionally, a control connection to the common controller (51) shown in Figure 1 is also possible. Other components of the preferably automatic bale storage system (1), e.g. automatic conveyors at the one or more storage locations (26), can also be connected to the controller (51).

[0217] The bale inspection device (3) may, alternatively or in addition to the aforementioned inspection components (29, 30, 31, 32), comprise a stack checker (33). This is arranged on at least one automatic bale stacking device (6), in particular on its automatic stack manipulator (18). Figures 3, 10, and 11 illustrate this design.

[0218] The automatic stack checker (33) is designed to detect the position and external shape of a deposited bale stack (5) or of an individual pressed bale (7, 7') in the bale storage area (1). The bale stack (5) can be located, for example, at the front end of a single row of multiple bale stacks (5). It can also be arranged at a storage location (26). The automatic stack check can be performed during the relocation and transport of a complete bale stack (5) or a partial stack and / or during the stacking and / or destacking of a bale stack (5). The automatic stack checker (33) makes it possible to control the automatic bale stacking device (6), in particular its automatic stack manipulator (18), based on the detection result. In particular, the stack gripper as a whole and preferably the one or more automatic bale grippers (11) can each be individually positioned on the bale stack based on the detection result.The opening width of one or more bale grippers (11) can also be adjusted according to detection. The respective bale gripper (11) can then grasp a pressed bale (7, 7') from the deposited bale stack (5) in the correct position and preferably laterally.

[0219] When stacking or dismantling the deposited bale stack (5), the top pressed bale (7, 7') and, if applicable, one or more further lower pressed bales can each be individually and correctly gripped and removed from the side using the gripper arms (12). When stacking or building up a bale stack (5), the pressed bales (7, 7') held by one or more bale grippers (11) can be placed in a precisely positioned and vertically aligned manner on an individual pressed bale (7, 7') already deposited at the storage location (49) or on a partial stack.

[0220] As shown in Figures 10 and 11 in the top views and in Figure 3 in a side view, the stack checker (33) comprises at least one stack checking means (44) which determines the position of at least one of the sides to be gripped of at least one pressed bale (7, 7') in the deposited bale stack (5). During destacking, these are the sides of a pressed bale (7, 7') to be removed from the bale stack (5). During stacking, these are the sides of a pressed bale (7, 7') already deposited at a storage location (49), onto which the one or more pressed bales (7, 7') are placed by the stack gripper (20) in a storage-appropriate manner and in vertical alignment with the respective sides to be gripped.

[0221] The stack checking device (44) can be present individually or in multiple units. It is preferably located on the stack gripper (20). Alternatively or additionally, it can be arranged at another location on the automatic bale stacking device (6). The stack checking device (44) can determine the position of said side of a pressed bale (7, 7') to be gripped with contact or without contact. For this purpose, it can comprise, for example, a tactile or non-contact sensor. In the illustrated embodiments, a non-contact sensor is designed as an electronic measuring camera. It can also be designed as an oscillating laser detector or in another manner.

[0222] The position and external shape of a deposited bale stack (5) as well as the position of the sides of a pressed bale (7, 7') to be gripped can be detected directly or indirectly. In the illustrated embodiments, indirect detection occurs via the aforementioned lateral free spaces (50) of the bale stack (5).

[0223] For the correct gripping of one or more deposited pressed bales (7, 7'), it may be sufficient for indirect detection to determine the position and width of the gap-like free spaces (50). This allows the gripper arms (12) of the open bale gripper (11) to be moved into the free spaces (50) and past the bale sides to be gripped without damaging the bale, in particular without collision. The open bale gripper (11) can thus be correctly positioned on the pressed bale (7, 7') to be gripped and then closed to receive it while the gripper arms (12) apply lateral pressure. If the position of the pressed bale (7, 7') to be gripped changes, the position and dimensions of the adjacent free space (50) also change. If the bale stack (5) is tilted or if the pressed bale is deformed due to settlement or the like.the actual position of the side of the bale to be gripped (7,7') and thus the actual position of the free space (50) in this area deviate from the desired position.

[0224] The stack gripper (20) can be positioned in the predetermined position on the deposited bale stack (5) or at the storage location (49) by means of the positioning device (48). The stack checking device (44) then detects the aforementioned actual position of the sides of one or more pressed bales (7, 7') to be gripped, and the position of the stack gripper (20) or its one or more bale grippers (11), in particular gripper arms (12), is readjusted according to the detection result.

[0225] In the embodiments shown in Figures 1 to 11, two or more stack inspection devices (44) in the form of electronic measuring cameras are present, which are located, for example, at the upper end of the stack gripper (20) as shown in Figure 3. The measuring cameras are arranged above the bale grippers (11) and, in vertical projection, above the free end region of their gripper arms (12). The measuring cameras are arranged, for example, on a separate inspection frame (45). They look diagonally downwards in front of the bale grippers (11). At a lateral distance, the measuring cameras are also matched to the bale width and look laterally past the bale stack (5) into the adjacent free space (50).

[0226] Alternatively or additionally, a stack checking device (44) can be arranged on at least one gripper arm (12). It can be designed, for example, as a tactile sensor that detects any contact of the gripper arm (12) with the pressed bale (7, 7') to be gripped and then causes the respective gripper arm (12) to deflect and the bale gripper (11) to open further.

[0227] A stack inspection device (44) on a gripper arm (12) can also be designed as a non-contact, e.g., optical, sensor. This can, for example, detect at specific points with a horizontal operating or viewing direction. The stack gripper (20) with these one or more sensors can be moved up and down in front of the deposited bale stack (5) or the pressed bale (7, 7') to be gripped in order to detect the position of the entire side of the pressed bale(s) (7, 7') to be gripped.

[0228] The one or more stack inspection devices (44) emit detection signals, which are processed and evaluated in a suitable evaluation device, e.g., an image evaluation system. The evaluation unit can be arranged in a proprietary control system of the stack inspection device (33) and / or the aforementioned higher-level control system (51). If necessary, the one or more respective controls also adjust the position of the stack inspection device (20) or its one or more bale grippers (11) required for gripping according to the detection result.

[0229] Figures 12 and 13 show a second variant of the stationary bale storage (1) and the also stationary automatic bale handling device (2).

[0230] In the second variant, the automatic bale testing device (3) is arranged in the bale storage (1) and within the housing (24). The one or more balers (28) can be arranged outside. A further difference in the second variant shown is the arrangement of the bale stacks (5) in their respective stacking rows (55). As is particularly clear from the top view of Figure 12, the bale stacks (5) can be arranged in their stacking rows (55) with mutual contact one behind the other in the longitudinal direction of the rows. They can therefore support one another in the longitudinal direction of the rows. As in the first variant, a free space (50) is arranged on both sides between the stacking rows (55).

[0231] The bale stacks (5) can also have a straight and upright column shape in the second variant. In a variant not shown, the stack rows can be offset in the longitudinal direction. This is explained below in the third variant.

[0232] Figure 12 in plan view and Figure 13 in a broken-off perspective view also illustrate that a discharge conveyor (70) can be arranged on a bale discharge (23). On this, for example, two rows of stacks (55) can be arranged next to one another and with specific row lengths. This arrangement can, for example, correspond to a transport format of a means of transport not shown, e.g. a semi-trailer. The stack height in the rows of stacks (55) can also be adjusted, e.g. with two pressed bales on top of one another. The loading volume and the load-bearing capacity of the means of transport can thus be optimally utilized. The discharge conveyor (70) can transfer the rows of stacks (55) to the means of transport.

[0233] Otherwise, one or more pressed bales (7, 7') can also be stationary at a bale discharge (23) in an individual arrangement, a stack arrangement, or a stack row arrangement for collection. The automatic bale handling device (2) and the bale inspection device (3) in the second variant can otherwise be designed as in the first variant. The bale inspection device (3) can in particular comprise the same bale inspection means, in particular contour checkers (29), fixation checkers (30), trim checkers (31), and compression checkers (32), as well as stack checkers (33), and sorting means, as in the first variant. The design of the automatic bale stacking device (6) and its automatic stack manipulator (18), as well as the design of the bale manipulator (15), can also be the same as in the first variant. The crane bridge (19') is only partially shown.

[0234] Figures 14 to 15 illustrate a third variant of the stationary bale storage (1) and the automatic bale handling device (2) in different views.

[0235] In the third variant, as in the second variant, the bale inspection device (3) is arranged within the bale storage (1) and the housing (24). The automatic bale inspection device (3) also comprises the same previously described inspection components (29, 30, 31, 32, 33) as well as sorting means. Furthermore, the previously described locations (25, 26, 27) are present. The automatic bale manipulation device (15), in particular the gripping robot (16), can also be designed in the same way as described above. Similarity to the first two variants can also be found in the design of the automatic stacking manipulator (18) as a crane robot (19).

[0236] The third variant differs from the first two variants in the mutual arrangement of the bale stacks (5,5') and the stack rows (55,55') as well as the design of the stack gripper (20) and the storage location (26). In the third variant, two or more laterally adjacent bale stacks (5,5') are arranged in the storage area (52) close to one another and with mutually supporting lateral contact at the storage locations (49). The bale stacks (5,5') can each have the same shape and can each be formed from the same pressed bales (7,7'). Preferably, two bale stacks (5,5') are laterally close to one another. The bale stacks (5,5') can have the same stack height, e.g., five, six or more pressed bales (7,7').

[0237] The laterally closely adjacent bale stacks (5, 5') are arranged one behind the other, preferably with mutual contact and support. Stack rows (55, 55') are formed, which are arranged closely next to one another and with mutual supporting lateral contact in the storage area (52). The bale stacks (5, 5') are in contact and support with one another in the longitudinal direction of the row and in the transverse direction. The transverse direction is also the direction in which the two or more bale stacks (5, 5') are laterally adjacent.

[0238] In the third variant, the finished bale stacks (5,5') can already be formed at the bale feed (22), in particular at a storage location (26) and then picked up by the automatic stack manipulator (18), transported through the driving lane (53) to the intended storage locations (49) and deposited there.

[0239] The third variant also illustrates another embodiment in which the laterally closely spaced bale stacks (5,5') are gradually built up and formed by the automatic stacking manipulator (18) only at the storage locations (49). The bale stacks (5,5') here refer to the finished bale stacks with the intended stacking height of, for example, five, six or more pressed bales (7,7'). The formed and built-up bale stacks (5,5') can each comprise one or more partial stacks (56,56') and (57,57'), each consisting of several vertically aligned pressed bales (7,7'). Preferably, two such partial stacks (56,56'), (57,57') are present, which can have the same or different stacking heights. The bale stacks (5,5') can alternatively or additionally comprise several individual pressed bales (7,7').

[0240] Figure 17 shows, for example, in a broken longitudinal section according to section line XVII - XVII of Figure 16, such partial stacks (56,56') which are arranged, for example, at the bottom of the finished bale stack (5,5') and which each have a stack height of three pressed bales (7,7').

[0241] Figure 15 and Figures 23 to 30 illustrate that in the respective stacking rows (55, 55'), the partial stacks (56, 56'), (57, 57') and / or the individual pressed bales (7, 7') are arranged one above the other and with a rearward axial offset (60). The axial offset (60) has, for example, the size of half the bale depth (t) in the longitudinal direction of the respective stacking row (55, 55'), as illustrated in Figure 25.

[0242] Figures 23, 25 and 29 to 30 illustrate that within each stacking row (55, 55'), the offset (60) causes the adjacent bale stacks (5, 5') and the pressed bales (7, 7') standing directly on top of one another to overlap in the offset direction and the row lengthwise direction, supporting one another with an overhang (61). An upper pressed bale (7, 7') of one bale stack (5) rests on and is supported by two lower pressed bales (7, 7') of its own bale stack (5, 5') and of the adjacent bale stack (5', 5') in the same stacking row (55, 55'). This improves stability. In addition, due to the axial offset (60), the last upper partial stack (57, 57') projects axially beyond the lower partial stack (56, 56') with the overhang (61). The overhang (61) is supported from below and, if necessary, from behind by a preferably stationary overhang support (67).

[0243] In the embodiment of Figures 23 to 30 with the two partial stacks (56, 56' and 57, 57') there is only one offset (60) between the partial stacks and only one rear overhang (61) and one overhang support (67).

[0244] Figures 29 and 30 illustrate modifications to this, whereby an offset (60) can be present multiple times, with the number of overhangs (61) and overhang supports (67) increasing accordingly. In Figure 29, for example, in a stack row (55) there is a lower partial stack (56) with a stack height of three pressed bales (7, 7'), on which individual pressed bales (7, 7') with a first offset (60) and on top of this, individual pressed bales (7, 7') with a second offset (60) are arranged.

[0245] In the variant of Figure 30, for example, two smaller partial stacks (57), each with a stack height of two pressed stacks (7, 7'), are arranged one above the other with a first offset (60), with individual pressed bales (7, 7') being arranged on the upper partial stack (57) with a second offset (60). The modifications shown can be further varied.

[0246] For the two or more laterally closely adjacent stack rows (55, 55') and their respective laterally closely adjacent bale stacks (5, 5'), the e.g., step-like offset (60) can be similar. Such a single or multiple axial offset (60) of partial stacks or individual pressed bales within a stack row (55) can also be present in the first and second variants. In the longitudinal direction of the row, the bale stacks (5) and their axially offset partial stacks and / or individual pressed bales can be spaced apart from one another or be in contact with one another.

[0247] When storing and, if necessary, retrieving pressed bales (7, 7'), two or more laterally closely adjacent individual pressed bales (7, 7') can form a so-called bale set (58). They can be gripped together on the outside by the automatic stack manipulator (18) and its stack gripper (20), pressed against each other, and then transported and handled. Likewise, when storing and, if necessary, retrieving pressed bales (7, 7'), two or more laterally closely adjacent partial stacks (56, 56', 57, 57') or two or more laterally closely adjacent bale stacks (5, 5') can form a so-called stack group (59). They can be gripped together on the outside by the automatic stack manipulator (18) and its stack gripper (20), pressed against each other, and then transported and handled.

[0248] Figures 18, 19 and 20 show this configuration of the bale set (58) and the stacking groups (59). The two lower, laterally closely adjacent partial stacks (56, 56'), for example, each have a stack height of three pressed bales (7, 7'). The other two closely adjacent and preferably upper partial stacks (57, 57'), for example, each have a stack height of two pressed bales (7, 7'). These stacking heights can vary. The bale set (58) has the height of one pressed bale (7, 7'). It is not yet considered a stack. The said pressed bale arrangements in a bale set (58) or in the stacking group(s) (59) are formed and made available at the said storage location (26) for the high-quality pressed bales (7, 7'). The formation preferably takes place by the bale manipulation

[0249] (15), especially in its training as a gripping robot

[0250] (16).

[0251] As Figures 21 and 22 illustrate, the storage location (26) can be correspondingly enlarged for two or more laterally adjacent individual pressed bales (7, 7') or the partial stacks (56, 56', 57, 57'). In this case, the storage location (26) can have two spaced-apart receptacles, each for a single pressed bale (7, 7') or a partial stack (56, 56', 57, 57'). The partial stacks (56, 56', 57, 57') can be gradually built up at the storage location (26) by the bale manipulator (15) from individually fed pressed bales (7, 7').

[0252] In order to establish the close lateral proximity and lateral contact of the individual pressed bales (7, 7') or the partial stacks (56, 56', 57, 57') present at the storage locations (49), a shifting device (69) can be provided, for example, at the storage location (26). By means of the shifting device (69), the lateral spacing initially created between the individual pressed bales (7, 7') or the partial stacks (56, 56', 57, 57') for handling purposes by the bale manipulator (15) can be eliminated, and mutual lateral contact can be established.

[0253] Figures 21 and 22 illustrate a variant of the displacement device (69), in which a controlled, driven displacement unit (69') with a table element or the like is arranged at least on one receptacle of the storage location (26), which displacement unit entrains the respective individual pressed bale (7, 7') or the partial stack (56, 57) and pushes it against the other individual pressed bales (7') or partial stacks (57, 57'). In this position, the pressed bales (7, 7') or partial stacks (56, 56', 57, 57') that are laterally closely adjacent and laterally contacting one another, or the bale set (58) or the bale groups (59), can be gripped and clamped on the outside by the stack gripper (20) with its bale grippers (11) and their gripping arms (12), and pressed against one another.

[0254] A displacement unit can also be present on several, in particular both, receptacles. Furthermore, at least one of the respective individual pressed bales (7, 7') or one of the partial stacks (56, 57) can be inclined and tilted towards the adjacent individual pressed bale (7') or partial stack (56', 57'). For this purpose, a correspondingly inclined surface for inclining the first pressed bale (7, 7') can be provided on a table element, for example. The pressed bales (7, 7') following in the partial stack height, for example of the left partial stack (56), can be stacked with a center reference to a vertical central axis (71) of the first pressed bale (7, 7') shown in Figure 21. As a result, the right-hand, inner side surfaces of the stacked pressed bales (7, 7') in the partial stack (56) each have the shown mutual lateral offset to the left.When the partial stacks (56, 56') are pushed together, the upper contact points and lower small gaps (62) shown in Figure 22 are created between the pressed bales (7, 7') arranged at the same height.

[0255] The inclination and contact and gap formation can also occur with a single set of bales (58). With a stack group (59), a larger gap formation can occur without the aforementioned offset, as in Figure 24. Mutual lateral contact can occur, for example, only with the topmost pressed bales (7, 7') in the partial stacks (56, 56') and, if necessary, only on their bale tops.

[0256] In another embodiment not shown, the displacement device (69) can be formed by a sliding surface of the storage location (26) and its receptacles, which is present at least in some areas. The bale set (58) initially formed with a lateral spacing or the laterally spaced stack groups (59) can then be grasped externally by the stack gripper (20), pushed together, and brought into mutual contact. The aforementioned inclined position and gap formation can also be realized here.

[0257] Figures 25, 26 and 27 illustrate different embodiments of a stack gripper (20).

[0258] The stack gripper (20) can be designed as in the first two variants. It can have an upright support (46) and several, e.g. three, bale grippers (11) of the aforementioned type arranged one above the other on it. In the third variant, the stack grippers (11) with their gripping arms (12) have a greater width in order to be able to grip and clamp two or more laterally adjacent pressed bales (7, 7') together on the outside. The grippers (11) are adapted to the bale size. The grippers (11) are arranged at the height of the respective pressed bales (7, 7') in the partial stacks (56, 56', 57, 57').

[0259] In the embodiment of Figure 27, the bale grippers (11) and their gripping arms (12) can bring the two or more pressed bales (7, 7') gripped on the outside into direct contact and clamp them when pressed together. In the variant of Figures 25 and 26, one or more bale grippers (11) can each have a centrally arranged and transversely projecting support plate (63) which is designed to protrude between jointly gripped pressed bales (7, 7') of a bale set (58) or a stack group (59). The support plate (63) has, for example, a cross-sectional shape which widens in a wedge shape from top to bottom. During external gripping and clamping, the respective pressed bales (7, 7') are pressed against the support plate (63).

[0260] This allows a gap (62) shown in Figure 24 to be formed between the gripped pressed bales (7, 7'). The support plates (63) can be arranged on one or more of the bale grippers (11) arranged one above the other. The support plates (63) can also be designed to be automatically removable, e.g., slidable or pivotable, as needed. The pressed bales (7, 7'), each clamped on the outside and arranged next to one another, can then be brought into direct contact with one another.

[0261] As Figures 23 and 24 illustrate, the automatic bale handling device (2) can comprise one or more floor adapters (64), each of which can be arranged at a storage location (49) in the storage area (52). The one or more floor adapters (64) can each comprise a stack aligner (65) for two or more laterally closely adjacent bale stacks (5, 5') placed thereon. Such a stack aligner (65) is designed, for example, as a support funnel on the top side of the adapter and has support surfaces (66) for the respective bale stacks (5, 5') that are inclined towards one another in a funnel-like manner. The bale stacks (5, 5'), in particular their lower partial stacks (56, 56'), are thereby aligned laterally at an angle to one another and tilted against one another, wherein they come into mutual contact at least in the upper region. The aforementioned support plates (63) can assist such gap formation (62).

[0262] In a stack gripper (20) without support plates (63), the gap formation can be smaller according to Figure 28. In this case, the pressed bales (7, 7') arranged next to one another within the partial stack (56, 56') are inclined towards one another, with a small gap (62) on the underside and the pressed bales (7, 7') touching one another on their upper sides. The pressed bales (7, 7') in the upper partial stacks (57, 57') or in the individual bale arrangement can be brought into direct and large-area lateral contact largely without gap formation. The gap formation and the support plates (63) can be useful for the stability of the bale stacks (5, 5'). However, they can also be omitted.

[0263] Figures 31 to 35 illustrate further variations of stacking and offset formation. Figures 31 to 34 each show a side view of a stack row (55, 55').

[0264] In the embodiment of Figure 31, lower partial stacks (56, 56') are arranged one behind the other in the stack row (55, 55') with an axial spacing and the formation of a free space (50) in the longitudinal direction of the respective stack row (55, 55'). Upper partial stacks (57, 57') are arranged on the lower partial stacks (56, 56') with an axial overlap (60). The bale stacks (55, 55') arranged one behind the other overlap one another in the longitudinal direction of the row due to the axial offset (60). The upper partial stacks (57, 57') bridge the respective free space (50) and are supported on two lower partial stacks (56, 56') of the adjacent bale stacks (55, 55'). The offset (60) and the resulting overhang (61) are dimensioned accordingly large for this purpose.

[0265] In Figure 31, for example, the pressed bales (7, 7') in the bale stacks (5, 5') each have essentially the same dimensions, in particular the same bale depth (t). Figure 31 shows pressed bales (7, 7') with a minimum bale depth (tmin) within the tolerance range. Within the partial stacks (56, 56', 57, 57'), the pressed bales (7, 7') are arranged centered and aligned one above the other.

[0266] Figure 32 shows a variant of Figure 31, in which the pressed bales (7, 7') again have essentially identical dimensions, in particular identical bale depths (t). However, the bale depth (t) is greater in Figure 32 than in Figure 31. The width of the free spaces (50) between the adjacent bale stacks (5, 5') in the longitudinal direction of the row is correspondingly smaller than in the embodiment of Figure 31.

[0267] Figure 33 shows a third variant with pressed bales (7, 7') that have essentially the same dimensions, in particular bale depths (t). However, here, pressed bales (7, 7') are shown with a maximum bale depth (tmax) within the tolerance range. In this embodiment, the free spaces (50) between the adjacent bale stacks (5, 5') in the longitudinal direction of the row can be minimized. They can also disappear, in which case the adjacent bale stacks (5, 5') in the longitudinal direction of the row are in mutual contact.

[0268] Figures 32 and 33 also show bale stacks (5, 5') consisting of lower and upper partial stacks (56, 56', 57, 57') along with offset (60) and overhang (61). In a modification not shown, other stack formations with a different number of partial stacks or, if necessary, a combination of partial stacks with one or more individual bale stacks may be present.

[0269] Figure 34 shows a fourth variant in which the pressed bales (7, 7') in the bale stacks (5, 5') of the stack rows (55, 55') have different dimensions, in particular different bale depths (t). Here, too, the lined-up bale stacks (5, 5') are each formed from lower and upper partial stacks (56, 56', 57, 57').

[0270] As in the aforementioned variants, two partial stacks are present in each case, wherein the respective lower partial stack (56, 56') comprises four stacked pressed bales (7, 7') and the respective upper partial stack (57, 57') comprises three stacked pressed bales (7, 7').

[0271] In the four variants shown, the pressed bales (7, 7') are each arranged within the partial stacks with a defined reference relative to a preferably central and upright, in particular vertical, alignment axis (72). They are centered, in particular, relative to the alignment axis (72). Due to the different bale depths (t), the front and rear pressed bale edges in the longitudinal direction of the row are not aligned one above the other. The formation of the axial offset (60) and overhang (61) can be the same as in the previously described embodiments of Figures 31 to 33.

[0272] Due to the different bale depths (t), the widths of the free spaces (50) between the lined-up bale stacks (5.5') and their pressed bales (7.7') vary. For adjacent pressed bales (7.7') at the same stack height with maximum bale depth (t), the free space (50) can be minimized in the longitudinal direction of the row, or contact can occur. For pressed bales (7.7') arranged at the same height but with different bale depths (t), a free space (50) is created, the width of which depends on the respective pairing of bale depths (t) and can vary with this.

[0273] When storing and lining up the bale stacks (5,5') at the respective storage location (49) in the storage area (52), the axial spacing of the bale stacks (5,5') in the longitudinal direction of the rows can be selected to be large enough to result in the previously described conditions for the free spaces (50) created in the longitudinal direction of the rows. The aforementioned spacing and the width of the free spaces (50) can be adjusted accordingly to the tolerance range in the dimensions of the pressed bales (7,7), in particular their bale depth (t). The axial spacing of the bale stacks (5,5') can be related to the alignment axes (72) of the bale stacks (5,5'). It can, for example, correspond to half the maximum bale depth (tmax). This also creates the previously described axial offsets (60) and overhangs (61).In the variants of Figures 31 to 34, the single or multiple overhangs (61) are supported by an overhang support (57) at the rear end of the respective stacking row (55, 55') in the manner described above.

[0274] Figure 34 also illustrates the alignment axis (72) present at the stacking location (26) for the partial stacks (56, 56', 57, 57').

[0275] In a modification of the embodiments shown and described, according to Figure 35, another offset (60') can also exist between spaced or closely adjacent bale stacks (5, 5'), which is oriented transversely to the longitudinal direction of the laterally adjacent stack rows (55, 55'). In contrast to the variants described above, the illustration in Figure 34 shows a plan view of several stack rows (55, 55') adjacent laterally and transversely to the longitudinal direction of the rows, and the lateral offset (60') formed thereby, along with the overhang (61).

[0276] Modifications of the illustrated and described embodiments are possible in various ways within the scope of the claims. In particular, the features of the described embodiments and the modifications mentioned can be combined with one another in various ways or even interchanged.

[0277] REFERENCE NUMBER LIST

[0278] 1 bale storage

[0279] 2 Bale handling device automatic

[0280] 3 Bale testing device

[0281] 4 sorting agents

[0282] 5 bale stacks

[0283] 5 ' bale stack

[0284] 6 Bale stacking device

[0285] 7 Pres sballen

[0286] 7 ' Pres sballen

[0287] 8 bale body

[0288] 9 Bale fixation, strapping

[0289] 9 ' fixing tape, strapping tape

[0290] 9" constriction groove

[0291] 10 Material overhang

[0292] 11 bale grippers

[0293] 12 gripper arm

[0294] 13 frame

[0295] 14 Drive

[0296] 15 Bale manipulator

[0297] 16 gripper robots, gantry robots

[0298] 17 Portal

[0299] 18 Stack manipulator

[0300] 19 crane robots

[0301] 19 ' crane bridge

[0302] 19" carriage

[0303] 20 stack grippers

[0304] 21 conveyors, bale conveyors

[0305] 22 Bale feed

[0306] 23 Bale removal

[0307] 24 Enclosure

[0308] 25 feeding station

[0309] 26 parking spaces

[0310] 27 From sorting place

[0311] 28 baler

[0312] 28 ' Fixing device 29 Contour checker

[0313] 30 fixation testers

[0314] 31 trim tester

[0315] 32 compression testers

[0316] 33 stack testers

[0317] 34 Contour testing equipment, test roller

[0318] 35 frame

[0319] 36 guides

[0320] 37 Fixation defect, metal detector

[0321] 37 ' conductive detection device

[0322] 38 trimming tools, heated cutting wire

[0323] 39 trim frame, trim frame

[0324] 40 compression testing equipment

[0325] 41 bale clamping devices

[0326] 42 distance meters

[0327] 43 force gauges

[0328] 44 stack testing equipment, camera

[0329] 45 test frame

[0330] 46 carriers

[0331] 47 pivot bearings

[0332] 48 Positioning device

[0333] 49 storage location

[0334] 50 free space

[0335] 51 Control

[0336] 52 storage area

[0337] 53 Accelerator se

[0338] 54 From Locking

[0339] 55 stacking row

[0340] 55 ' stacking row

[0341] 56 partial stacks below

[0342] 56 ' partial stack below

[0343] 57 partial stack above

[0344] 57 ' partial stack above

[0345] 58 bales of z

[0346] 59 Stacking group

[0347] 60 Offset z axial

[0348] 60 ' offset z lateral 61 overhang

[0349] 62 gap

[0350] 63 Support plate

[0351] 64 floor adapters

[0352] 65 stack aligners, support hoppers

[0353] 66 support surface

[0354] 67 Overhang support

[0355] 68 Wall

[0356] 69 Shifting device

[0357] 69' shifting unit

[0358] 70 discharge conveyors

[0359] 71 Central axis

[0360] 72 Alignment axis

[0361] 73 Dimension Testers

[0362] 74 Sensor, electrode

[0363] 75 Sensor, counter electrode

[0364] 76 Sensor head

[0365] 77 load-bearing means

[0366] 78 Delivery device

[0367] 79 Feeding equipment, cylinder

[0368] 80 Voltage source

[0369] 81 Measuring device

[0370] 82 Referrers

[0371] 83 Contour inspection equipment, guide vanes

[0372] 84 Contour inspection equipment, guide vanes

[0373] 85 Adjustment device

[0374] 86 Preparation materials

[0375] 87 Adjusting arm

[0376] 88 Adjusting arm

[0377] 89 Transport direction b Bale width h Bale height t Bale depth

Claims

O PATENT CLAIMS 1.) Procedure for the automatic handling of Pressed bales (7,7') with an automatic bale handling device (2) in a stationary bale storage area (1) for bale stacks (5,5'), wherein the preferably cuboid-shaped pressed bales (7,7') are formed from recycled material, in particular plastic waste, characterized in that a plurality of pressed bales (7,7') are placed on top of one another to form column-like bale stacks (5,5') and the bale stacks (5,5') are stored by an automatic bale stacking device (6) at storage locations (49) in a storage area (52) of the bale storage area (1), and in that the pressed bales (7,7') to be stored and / or the bale stacks (5,5') are subjected to an automatic quality inspection. 2.) Method according to claim 1, characterized in that two or more adjacent bale stacks (5, 5') are arranged with a lateral distance and with a free space (50) from one another in the storage area (52) or that two or more laterally adjacent bale stacks (5, 5') are arranged closely next to one another and with mutual, laterally supporting contact in the storage area (52). 3.) Method according to claim 1 or 2, characterized in that the mutual laterally supporting contact of the laterally closely adjacent bale stacks (5, 5') exists over their entire stack height or in places, wherein preferably the laterally closely adjacent bale stacks at least in regions over the stack height have a mutual inclination or tilt directed upwards towards each other. 4.) Method according to claim 1, 2 or 3, characterized in that several laterally spaced or closely adjacent bale stacks (5, 5') are arranged one behind the other to form a respective stack row (55, 55') in the storage area (52). 5.) Method according to claim 1, 2 or 3, characterized in that two or more stack rows (55, 55') are arranged close to one another and with mutual, supporting contact in the storage area (52), and wherein preferably the bale stacks (5, 5') within their stack row (55, 55') in the row's longitudinal direction also have at least partial contact and supporting contact. 6.) Method according to one of the preceding claims, characterized in that the bale stacks (5, 5') each comprise one or more, in particular two, partial stacks (56, 56', 57, 57') each made up of several vertically aligned pressed bales (7, 7') and / or optionally several individual pressed bales (7, 7'). 7.) Method according to one of the preceding claims, characterized in that in the case of the two or more adjacent bale stacks (5, 5') within the bale stack (5, 5') one or more pressed bales (7, 7') are arranged with a rearward axial offset (60) in the longitudinal direction of their stack row (55, 55') and / or with a lateral offset (60') transverse to the longitudinal direction of their stack row (55, 55') and an overhang (61) is formed by the offset (60, 60'). 8.) Method according to one of the preceding claims, characterized in that in the case of two or more adjacent bale stacks (5,5') the offset (60, 60') is designed in such a way that the adjacent bale stacks (5,5') overlap one another in a supporting manner, with an upper pressed bale (7,7') of one bale stack (5,5') resting on lower pressed bales (7,7') of its own bale stack (5,5') and of the adjacent bale stack (5',5). 9.) Method according to one of the preceding claims, characterized in that in the case of the two or more adjacent bale stacks (5, 5'), one or more, in particular two, partial stacks (56, 56', 57, 57') and / or optionally one or more individual pressed bales (7, 7') are arranged one above the other and with a mutual offset (60, 60') within the bale stack (5, 5'). 10.) Method according to one of the preceding claims, characterized in that in the case of the two or more adjacent bale stacks (5,5') in each case the width of a free space (50) is dimensioned such that an upper pressed bale (7,7') of one bale stack (5,5') rests on lower pressed bales (7,7') of its own bale stack (5,5') and of the adjacent bale stack (5',5).

11. ) Method according to one of the preceding claims, characterized in that within the respective stack row (55, 55') by the axial offset (60) a respective last upper individual pressed bale (7, 7') or a respective the last upper partial stack (57, 57') projects axially with an overhang (61) over the individual pressed bales (7, 7') or lower partial stack (56, 56') lying directly below it, the overhang (61) being supported by an overhang support (67) from below and, if necessary, from behind. 12.) Method according to one of the preceding claims, characterized in that a plurality of laterally closely adjacent bale stacks (5, 5') are arranged one behind the other to form a respective stack row (55, 55') in the storage area (52), wherein the two or more stack rows (55, 55') are arranged closely next to one another and with mutual, supporting contact in the storage area (52), and wherein the bale stacks (5, 5') have touching and supporting contact at least in some areas within their stack row (55, 55') in the row's longitudinal direction. 13.) Method according to one of the preceding claims, characterized in that the laterally spaced or closely adjacent bale stacks (5, 5') are formed at a bale feed (22) of the bale storage (1) and are transported to the storage locations (49) by the automatic bale stacking device (6), in particular its automatic stacking manipulator (18), or that the laterally spaced or closely adjacent bale stacks (5, 5') are gradually built up and formed at the storage locations (49) by the automatic bale stacking device (6), in particular its automatic stacking manipulator (18). 14.) Method according to one of the preceding claims, characterized in that during the formation of the bale stacks (5, 5') at the bale feed (22), the pressed bales (7, 7') are stacked on top of one another, taking into account a recorded respective actual value of their bale dimension, in particular their bale depth (t), with a defined reference, in particular centered, to a predetermined upright alignment axis (72). 15.) Method according to one of the preceding claims, characterized in that at the storage location (4) the two or more laterally closely adjacent bale stacks (5,5') or the two or more laterally closely adjacent lower partial stacks (56,56') or the two or more laterally closely adjacent individual pressed bales (7,7') are tilted against each other by a base adapter (64) with a stack aligner (65). 16.) Method according to one of the preceding claims, characterized in that when storing and optionally retrieving pressed bales (7,7') two or more laterally closely adjacent individual pressed bales (7,7') form a bale set (58) and are gripped together on the outside by an automatic stacking manipulator (18) of the automatic bale stacking device (6) and are pressed against one another, transported and handled.

17. ) Method according to one of the preceding claims, characterized in that when storing and possibly retrieving pressed bales (7, 7') two or more laterally closely adjacent partial stacks ( 56, 56 ' , 57, 57 ' ) or two or more laterally closely adjacent bale stacks (5,5') form a stacking group (59) and are transported by an automatic Stacking manipulator (18) of the automatic bale stacking device (6) is gripped together on the outside and pressed against each other as well as transported and handled. 18.) Method according to one of the preceding claims, characterized in that a bale set (58) of two or more laterally closely adjacent individual pressed bales (7,7') or a stack group (59) of two or more laterally closely adjacent bale stacks (5,5') or of two or more laterally closely adjacent partial stacks (56, 56', 57, 57') is formed at a bale feed (22) from pressed bales (7,7') to be stored and is made available at a storage location (26) for collection by an automatic stack manipulator (18) of the automatic bale stacking device (6). 19.) Method according to one of the preceding claims, characterized in that two or more laterally adjacent individual pressed bales (7, 7') are made available at a storage location (26) or two or more laterally adjacent bale stacks (5, 5') or two or more laterally adjacent partial stacks (56, 56', 57, 57') are each built up individually and laterally spaced apart and preferably with a mutual inclination by a bale manipulator (15) at the storage location (26), wherein by means of a displacement device (69) before or during collection the individual pressed bales (7, 7') or the formed two or more bale stacks (5, 5') or the formed two or more partial stacks (56, 56', 57, 57') are pushed together laterally to form a bale set (58) or a stack group (59). 20.) Method according to one of the preceding claims, characterized in that in the automatic quality check by means of an automatic bale checking device (3) the quality of the pressed bales (7, 7') to be stored, in particular their stacking quality, is checked before storage and / or the stacking quality of the bale stacks (5, 5') is checked. 21.) Method according to one of the preceding claims, characterized in that during the automatic quality check before stacking of pressed bales (7,7') the outer contour and / or the compressibility of the pressed bales (7,7') and / or any bale fixings (9) are checked and lower quality pressed bales (7,7') are preferably sorted out.

22. ) Method according to claim 21, characterized in that a metallic bale fixation (9), in particular its Integrity is tested conductively, whereby an electrical voltage is applied to the ball fixation (9) and the existence of a current flow is detected. 23.) Method according to one of the preceding claims, characterized in that during the automatic quality inspection the pressed bales (7, 7') are trimmed before stacking, wherein any material projections (10) projecting beyond an outer side of a pressed bale (7, 7') are detected and removed.

24. ) Method according to one of the preceding claims, characterized in that before stacking pressed bales (7,7') their dimension, in particular their bale depth (t) is recorded. 25.) Method according to one of the preceding claims, characterized in that during the automatic quality control during stacking and / or unstacking of a bale stack (5,5'), the position and the external shape of the bale stack (5,5') is detected and an automatic Bale stacking device (6), in particular an automatic stacking manipulator (18), which is controlled and positioned according to the detection result. 26.) Automatic bale handling device designed for handling pressed bales (7, 7') in a stationary bale storage area (1) for bale stacks (5, 5'), the preferably cuboid-shaped pressed bales (7, 7') being formed from recycled material, in particular plastic waste, characterized in that the bale handling device (2) comprises an automatic bale stacking device (6) and an automatic bale testing device (3), the bale stacking device (6) being designed to store column-like bale stacks (5, 5') of pressed bales (7, 7') placed on top of one another at storage points (49) in a storage area (52) of the bale storage area (1). 27.) Bale handling device according to claim 26, characterized in that the automatic bale stacking device (6) is adapted to the shape and size of the pressed bales (7, 7') and is designed to form a bale set (58) of two or more laterally closely adjacent individual pressed bales (7, 7') or a stacking group (59) of two or more laterally closely adjacent bale stacks (5, 5') of pressed bales (7, 7') or of to grip two or more laterally closely adjacent partial stacks (56, 56 ', 57, 57 ') of pressed bales (7,7') together on the outside, to press them against each other and to transport and deliver them. 28.) Bale handling device according to claim 26, characterized in that the bale handling device (2) is designed to carry out the method according to at least one of claims 1 to 24. 29.) Bale handling device according to claim 26, 27 or 28, characterized in that the automatic bale testing device (3) is designed to carry out a quality check of the pressed bales (7, 7') to be stored, in particular their stacking quality, and / or a quality check of the bale stacks (5, 5'), wherein preferably the automatic bale testing device (3) is designed to sort out pressed bales (7, 7') with insufficient quality and the automatic bale testing device (3) comprises a sorting means (4). 30.) Bale handling device according to one of claims 26 to 29, characterized in that the automatic Bale handling device (2) comprises an automatic bale stacking device (6) with a stacking manipulator (18) and the automatic bale handling device (2) optionally comprises an automatic bale manipulator (15). 31.) Bale handling device according to claim 30, characterized in that the automatic stacking manipulator (18) and optionally the automatic bale manipulator (15) have at least one automatic, preferably fork-like, bale gripper (11). 32.) Bale handling device according to claim 31, characterized in that the automatic stack manipulator (18) comprises an automatic stack gripper (20) with several automatic, preferably fork-like, bale grippers (11) arranged one above the other, which are adapted to the shape and size of the pressed bales (7, 7') and which are designed to form a set of bales (58) of two or more laterally closely adjacent individual pressed bales (7,7') or a stacking group (59) of two or more laterally closely adjacent bale stacks (5,5') of pressed bales (7,7') or of two or more laterally closely adjacent partial stacks (56, 56', 57, 57') of pressed bales (7,7') together on the outside and to press them against each other. 33.) Bale handling device according to claim 31 or 32, characterized in that one or more bale grippers (11) have a transversely projecting, preferably downwardly wedge-shaped widened and, if necessary, removable Support plate (63) which is designed to protrude between jointly gripped pressed bales (7,7') of a bale set (58) or a stack group (59). 34.) Bale handling device according to one of claims 26 to 33, characterized in that the automatic Bale handling device (2) comprises one or more floor adapters (64) with a stack aligner (65) for two or more laterally closely adjacent bale stacks (5,5') placed thereon, wherein the stack aligner is preferably designed as a support funnel with funnel-like inclined support surfaces (66) for the bale stacks (5,5'). 35.) Bale handling device according to one of claims 26 to 34, characterized in that the automatic bale handling device (2) at a parking place (26) for high-quality pressed bales (7, 7') a Displacement device (69) which is designed to displace two or more laterally spaced-apart individual pressed bales (7, 7') or two or more laterally spaced-apart Bale stacks (5.5') made up of stacked pressed bales (7.7') or two or more partial stacks (56, 56', 57, 57') made up of stacked pressed bales (7.7') that are adjacent to one another at a distance from one another are pushed together laterally and brought into contact. 36.) Bale handling device according to one of claims 26 to 35, characterized in that the automatic Bale handling device (2) is designed to stack bale stacks (5,5') on top of one another at a storage location (26) for high-quality pressed bales (7,7') at which pressed bales (7,7') are made, taking into account a detected respective actual value of their bale dimension, in particular their bale depth (t), with a defined reference, in particular centered, to a predetermined upright alignment axis (72). 37.) Bale handling device according to one of claims 26 to 36, characterized in that the automatic bale checking device (3) comprises an automatic contour checker (29) which is designed to check the outer bale contour preferably with to detect contact and compare it with a specification and, if necessary, the automatic bale testing device (3) comprises an automatic trim tester (31) and is designed to Press bales (7,7') any over an outside of the Press bale (7.7') protruding material protrusions (10) to capture and remove. 38.) Bale handling device according to one of claims 26 to 37, characterized in that the automatic bale testing device (3) comprises an automatic compression tester (32) which is designed to detect the bale compressibility, preferably by contact, and to compare it with a specification.

39. ) Bale handling device according to one of claims 26 to 38, characterized in that the automatic Bale testing device (3) has an automatic dimension tester (73) for detecting a respective actual value of at least one bale dimension of the pressed bales (7,7'), in particular the bale depth (t). 40.) Bale handling device according to one of claims 26 to 39, characterized in that the automatic bale testing device (3) comprises an automatic fixation tester (30) which is designed to detect an external bale fixation (9) of the pressed bales (7, 7'), in particular their one or more strapping bands (9'), and to compare it with a specification. 41.) Bale handling device according to claim 40, characterized in that the fixation tester (30) comprises a fixation detector (37), in particular a metal detector. 42.) Bale handling device according to claim 40 or 41, characterized in that the fixation detector (37) has a conductive detection device (37') which, in the case of an electrically conductive, in particular metallic, bale fixation (9), applies an electrical voltage with contact and detects the existence of a current flow in the bale fixation (9). 43.) Bale handling device according to claim 42, characterized in that the conductive detection device (37') comprises electrically conductive sensors (74, 75), in particular electrodes and counter electrodes, with a feed device (78), an electrical voltage source (80) and a measuring device (81) for the current flow in the bale fixation (9), wherein preferably the Sensors (74, 75) each have a sensor head (76) with a front-sharp cutting edge, which is arranged transversely to the strapping band (9') and can penetrate into the pressed bale material at a constriction groove (9"). 44.) Bale handling device according to one of claims 26 to 43, characterized in that the automatic bale checking device (3) comprises an automatic stack checker (33) which is designed to detect the position and outer shape of the bale stack (5), wherein preferably the stack checker (33) is designed to detect an automatic bale stacking device (6), in particular a automatic stack manipulator (18), to be controlled according to the detection result. Stationary bale storage for bale stacks (5) of preferably cuboid-shaped pressed bales (7, 7'), which are formed from recycled material, in particular plastic waste, wherein the bale storage (1) comprises an automatic bale handling device (2), characterized in that the bale handling device (2) is designed according to at least one of claims 26 to 44. Bale storage according to claim 45, characterized in that the bale storage (1) comprises a preferably enclosed storage area (52) for bale stacks (5, 5') with a bale feed (22) and a bale removal (23). Bale storage according to claim 45 or 46, characterized in that the bale storage (1) comprises bale stacks (5, 5') of four or more, preferably five or more, pressed bales (7, 7') made of recycled material, in particular plastic waste, which are each stacked directly on top of one another.

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