Method and apparatus for feeding units of conveyed material into an automatic conveyor system

Abstract

The invention relates to a method for feeding units of conveyed material (11) into an automatic conveyor system (12), said method comprising the following steps: - feeding units of conveyed material (11) onto a first conveyor section (13), the first conveyor section (13) having a plurality of actuators (14), arranged side by side and one behind the other, for conveying units of conveyed material that are resting thereon, - determining the entry position, entry speed, and entry orientation of each fed unit of conveyed material (11), - determining the transfer position, transfer speed and transfer orientation of each unit of conveyed material (11a, ..., 11f) for the transfer from the first conveyor section (13) to at least one second conveyor section (15) located downstream of the first conveyor section (13) in the conveying direction (z), - determining a trajectory for the movement of a unit of conveyed material (11) from the feed onto the first conveyor section (13) to the transfer to the second conveyor section (15), and - controlling and driving the individual actuators (14) and thereby conveying the units of conveyed material (11) to the transfer to the second conveyor section (15) at the predefined transfer position, transfer speed, and transfer orientation. According to the invention: the changes in the orientation of the units of conveyed material from the entry onto the first conveyor section to the transfer to the second conveyor section are carried out by the actuators for conveying units of conveyed material resting thereon in such a way that translational and rotational movements of the units of conveyed material (11) are superimposed and can be executed continuously. The invention also relates to an apparatus for carrying out said method.

Description

[0001] Method and device for introducing conveyed goods units into an automatic conveyor system

[0002] The invention relates to a method and a device for introducing units of conveyed goods into an automatic conveyor system, in particular in production environments and in logistics.

[0003] background

[0004] In modern conveyor systems, logistical objects such as packages, bags, boxes, containers, trays, pallets, etc., as well as workpieces or workpiece carriers, are transported using material flow systems. These systems typically consist of a main conveyor system and various infeed and outfeed devices.

[0005] Modern conveyor systems are generally mechanically modular. A conveyor system is generally composed of a plurality of different conveyor sections that are connected together to form a working assembly. These conveyor sections are usually many times larger than the object to be conveyed, such as a conveyor belt with endless belts or cross-belt conveyors, or a driven roller conveyor, on which a large number of objects can be placed simultaneously. Conveyor systems with hanging pockets are also known, which make better use of the space in the building in which they are installed than conveyor systems that transport objects horizontally. When empty, the hanging pockets are flat and folded, requiring little space. They serve not only as conveyors but also as storage for the objects (for example, returned goods).Loading of the suspended pockets usually takes place at low speeds or even at a standstill. Another variant for a main conveyor system provides tilting trays for picking up and later discharging the conveyed object. These trays are mounted on a carrier device, especially one that is continuously moving. Introducing conveyed objects into main conveyor systems with dimensionally limited supports such as suspended pockets, sliding shoes, or tilting trays places an additional requirement on the infeed system in addition to the correct position, the correct speed, and the correct time of transfer: correct alignment and orientation of the conveyed object.

[0006] Especially with the ever-increasing popularity of online and mail-order business, and the growing importance of globally interdependent supply chains, the logistics and conveyance of parcels, bags, and other goods are a highly technical and complex task. A key component of these material flow systems are therefore those conveyor sections that, in addition to the underlying main transport using conveyor belts or roller conveyors, perform reliable and precise automated infeed of the conveyed objects. In this context, the infeed of goods onto high-speed main conveyors or onto main conveyors that require a predetermined alignment of the goods during transfer represents a particularly demanding task.

[0007] JP 2017186139 A describes a conveyor system with an induction device and a method for induction of articles P into the cells of the main conveyor. The induction device comprises several sections, which, in addition to unidirectional belt conveyors, also include a section with a plurality of conveyor rollers. The conveyor rollers of the special induction section can be rotated by 90 degrees by a motor, making it possible to execute even strong rotational movements of the articles P. According to this document, weak rotational movements can be generated by varying the speeds of the individual conveyor rollers when they are controlled as a cluster. The document is completely silent on coordinating the control of the clusters. This type of change in the orientation of individual conveyor rollers is very difficult to control gradually.This results in discontinuous, uneven movements when the drive forces are transferred to the conveyed goods. This prevents fluid movement and an individual, continuous, and steady trajectory of the conveyed goods because, inherently, the roller arrangement exhibits a high degree of slippage due to the contact line with the article in all movements that are not purely translational. This leads to low accuracy of the movement path, the speed, and the parameters for transfer to the downstream conveyor section. The efficiency of the process is therefore not optimal and leads to article throughputs (articles per hour) that are unacceptable for industrial applications. In addition, the equipment required is considerable because, in addition to a drive motor for driving the rollers, a motor for rotating each conveyor roller is also required.

[0008] Task

[0009] It is therefore an object of the invention to provide a method and a device which make it possible to automatically and variably produce a predetermined alignment of the conveyed goods, even when the goods are not ordered and / or have not been previously aligned, with both the correct transfer speed and the correct transfer position, wherein the device should have a small space requirement. For this purpose, the method and the device should preferably make it possible to produce the alignment, speed, position and distances between the conveyed goods by moving them individually, in any direction and in a flowing, i.e. non-discrete, movement. This should also be possible with several conveyed goods on the infeed section. As a result, the throughput of the automatic method and the device should be high, with a reliable and precise infeed function. Furthermore, the infeed method and the device shouldThe infeed device must be able to be changed in terms of the movement options that establish the transfer position, speed and orientation of the conveyed goods, even without structural changes to the system.

[0010] Brief description of the invention

[0011] The problem is solved by a method for introducing units of conveyed goods into an automatic conveyor system, comprising the following steps:

[0012] Feeding units of conveyed goods onto a first conveyor section with a main conveying direction z, wherein the first conveyor section has a plurality of actuators arranged side by side and one behind the other for conveying units of conveyed goods resting thereon,

[0013] Determining the input position, the input speed and the input orientation of each conveyed unit of goods supplied, Determining the transfer position, the transfer speed and the transfer orientation of each conveyed unit of goods for the transfer from the first conveyor section to at least one second conveyor section downstream of the first conveyor section in the conveying direction z,

[0014] Determining a trajectory for the movement of a conveyed goods unit from the feed to the first conveyor section for transfer to the second conveyor section, and

[0015] Controlling and driving the individual actuators and thereby conveying the conveyed goods units for transfer to the second conveyor section with a predetermined transfer position, transfer speed and transfer orientation.

[0016] According to the invention, the changes in the orientation of the conveyed goods units from the entrance to the first conveyor section to the transfer to the second conveyor section are carried out by the actuators for conveying conveyed goods units resting thereon in such a way that translational and rotational movements of the conveyed goods units are superimposed and can be carried out continuously.

[0017] In the context of the present invention, the term “orientation” of a conveyed item unit refers in particular to the orientation of the longitudinal axis of the conveyed item unit in relation to the conveying direction z of the first conveyor section or in relation to the conveying direction of the second conveyor section. The orientation / alignment together with the position of a conveyed item unit can also be referred to as a pose. During infeed, the orientation cannot be assumed to be entirely arbitrary, but is mapped onto the conveying surface, which is largely a flat surface. The orientations that a conveyed item unit can assume are limited to the orientation of the conveyed object within this conveying surface. In addition, the orientation during transfer to the second conveyor section is very important because it determines whether and how well the conveyed item unit is received in the section of the main conveyor intended for it.

[0018] In other words, the invention relates to a method for introducing conveyed goods units into an automatic conveyor system. In contrast to previously known introduction methods, the correct alignment of the conveyed goods units at the time of transfer is achieved by manipulating the conveyed goods units—in particular exclusively—at their support surface on the actuators for translational and rotational movement of the conveyed goods units. Thus, no forces are applied to or transmitted via the side surfaces of the conveyed goods units. This results in a significantly improved effectiveness of the achieved movements of the conveyed goods.Furthermore, a method according to the present invention makes it possible to carry out a flowing movement and an individual, continuous trajectory of the conveyed goods, which brings about a considerable improvement in the accuracy of the movement path, the speed and the parameters for transfer to the downstream conveyor section.

[0019] In contrast, previously known infeed methods include, for example, mounting angle brackets at the beginning of the infeeder, pushing the conveyed goods units into the correct alignment using lateral sliding planks (“pushers”), which are mounted vertically to the conveying plane and can be moved if necessary, or picking up the conveyed goods units individually with a swivel arm robot and placing them in the correct alignment on the infeed device.

[0020] These known variants have in common that they can only align the conveyed product units individually, which limits the throughput speed. Furthermore, once the alignment has been established, it cannot be readjusted. Furthermore, the effort required to change the predetermined transfer alignment is high, as this requires the mechanical components of the infeed to be modified, if this affects the contact angles and sliding planks (“pushers”) or additional rotary motors. A variation in the nature and dimensions of the conveyed product units also presents a problem in that the sliding planks or the contact angles no longer sufficiently grip the conveyed product unit, for example with very thin conveyed product units such as low-profile bags. This type of conveyed product unit also presents a problem for a swivel arm robot, as picking up these bags may require a large amount of force due to their low dimensional stability.different gripping tools are required than for sturdy boxes.

[0021] All of the disadvantages outlined above can be overcome with the method according to the invention. Since no lateral manipulation of the conveyed goods units is provided, and thus the establishment of the correct transfer orientation is carried out solely by the actuators provided for conveying the conveyed goods units, which support and carry the conveyed goods units from below, the forces for changing the direction act exclusively on the support surface of the conveyed goods units and thus not on the sides.

[0022] With this method, changes to the predetermined transfer orientation and readjustment during translational conveying can be easily and continuously implemented with a customized trajectory. No need to modify mechanical components. Conveyed goods of different characteristics and sizes can be fed in. Due to the controlled parameters of the transfer position, transfer speed, and transfer orientation in the method according to the invention, a high degree of accuracy of the feeding process is ensured.

[0023] The invention further relates to a device for carrying out the method.

[0024] Further advantageous embodiments are the subject of the dependent claims and the detailed description.

[0025] Brief description of the characters

[0026] The invention will be explained in more detail below with reference to exemplary embodiments shown in the figures. These show:

[0027] Fig. 1 shows a schematic plan view of an apparatus for carrying out the method according to the invention in one embodiment,

[0028] Fig. 2 shows a schematic plan view of a device for carrying out the method according to the invention in a further embodiment,

[0029] Fig. 3a shows a schematic perspective view of a device for carrying out the method according to the invention in a further embodiment, Fig. 3b shows a schematic perspective view of a device for carrying out the method according to the invention in a similar embodiment to Figure 3a,

[0030] Fig. 3c shows a schematic perspective view of an apparatus for carrying out the method according to the invention in a similar embodiment to Figures 3a and 3b,

[0031] Fig. 4a shows a schematic perspective view of a device for carrying out the method according to the invention in a further embodiment,

[0032] Fig. 4b shows a schematic perspective view of an apparatus for carrying out the method according to the invention in a similar embodiment to Figure 4a,

[0033] Fig. 4c shows a schematic perspective view of an apparatus for carrying out the method according to the invention in a similar embodiment to Figures 4a and 4b,

[0034] Fig. 5a shows a schematic perspective view of a device for carrying out the method according to the invention in a further embodiment,

[0035] Fig. 5b shows a schematic perspective view of an apparatus for carrying out the method according to the invention in a similar embodiment to Fig. 5a,

[0036] Fig. 5c shows a schematic perspective view of an apparatus for carrying out the method according to the invention in a similar embodiment to Figs. 5a and 5b, and Fig. 6 shows a schematic perspective view of an apparatus for carrying out the method according to the invention in a further embodiment.

[0037] Detailed description

[0038] The invention will be described in more detail below with reference to the figures. It should be noted that various aspects are described, each of which can be used individually or in combination; that is, any aspect can be used with different embodiments of the invention, unless explicitly presented as a mere alternative.

[0039] Furthermore, for the sake of simplicity, reference will generally only be made to one entity in the following. Unless explicitly stated, the invention may also comprise several of the entities in question. Therefore, the use of the words "a," "an," and "another" is to be understood merely as an indication that at least one entity is used in a simple embodiment.

[0040] The invention relates to a method for introducing conveyed goods units 11 into an automatic main conveyor system 12, comprising the following steps:

[0041] Feeding conveyed goods units 11 onto a first conveyor section 13, wherein the first conveyor section 13 has a plurality of actuators 14 arranged side by side and one behind the other for conveying conveyed goods units 11 resting thereon, wherein the actuators 14 each comprise at least one conveyor wheel, wherein the orientation of the individual conveyor wheels is unchangeable, wherein at least two groups of conveyor wheels are provided, wherein a first group has conveyor wheels with an orientation in the main conveying direction z and a second group has conveyor wheels with an orientation different from the main conveying direction z,

[0042] Determining the input position, the input speed and the input orientation of each conveyed unit 11, Determining the transfer position, the transfer speed and the transfer orientation of each conveyed unit 11a..11f for the transfer from the first conveyor section 13 to a second conveyor section 15 downstream of the first conveyor section 13 in the conveying direction (z),

[0043] Determining a trajectory for the movement of a conveyed goods unit (11) from the feed to the first conveyor section 13 for transfer to the second conveyor section 15, and

[0044] Controlling and driving the individual actuators 14 and thereby conveying the conveyed goods units 11 for transfer to the second conveyor section 15 with a predetermined transfer position, transfer speed and transfer orientation, wherein the changes in the orientation of the conveyed goods units 11 from the entrance to the first conveyor section 13 to the transfer to the second conveyor section 15 are carried out by the actuators 14 for conveying conveyed goods units 11 resting thereon in such a way that translational and rotational movements of the conveyed goods units are superimposed and can be carried out continuously.

[0045] Figure 1 shows, in a highly schematic plan view, an automatic main conveyor system 12 into which conveyed goods units 11a, 11b, 11c, 11d, 11e and 11f are fed by means of a first conveyor section 13.

[0046] In principle, unit loads 11 that can be conveyed in the method according to the invention are those that can be moved by horizontal conveying. Examples include packages, bags, boxes, containers, trays, pallets, etc., as well as workpieces or workpiece carriers. In this case, horizontal conveying refers in particular to the infeed process. However, this restriction does not apply to the main conveyor 12. In addition to systems for horizontal conveying of goods, systems that involve conveying in a suspended or upright position are also possible.

[0047] The conveyed product units 11 can have a base area or side lengths approximately as large as the second conveyor section 15, which in the present embodiment is designed as a conveyor carrier tray of the main conveyor 12. They are therefore transferred at a predetermined angle, so that the sides or edges are parallel to the sides of the conveyor carrier 15 after transfer. A diagonal arrangement of the conveyor unit 11 would then protrude beyond the conveyor carrier 15. In other embodiments (e.g., cross belt, guide shoe), it is possible for oversized conveyed product units 11 to be located on multiple conveyor carriers.

[0048] However, the feeding of the conveyed product units is preferably automatic, like the rest of the conveying process. Ideally, it is already carried out singly. Singulated means that the conveyed product units are present individually and not in heaps, e.g., in a group. In a special embodiment, the conveyed product units can be fed in a group. A 3D group is a disordered, densely packed accumulation of conveyed product units, some of which may overlap or even be heaped on top of one another. A 2D group is a disordered, densely packed accumulation of conveyed product units, without overlapping or heaping on top of one another. According to the present method, the conveyed product units 11 do not have a uniform orientation during feeding. They are therefore fed in a disordered, in particular unaligned, manner. In Figure 1, this is particularly indicated by the fact that the longitudinal axes of the conveyed product units 11a, ...., shown here as rectangles., 11e have different angles with respect to the conveying direction z of the first conveyor section 13. Upon entry to the first conveyor section 13, the conveyed goods units thus have individual entry orientations. Their entry speed and their entry position, i.e. the position they assume with respect to the entry area of ​​the conveying surface of the first conveyor section 13, can also be different. Depicted on the conveyor section 13 is a conveyed goods unit 11f that is shortly before being transferred to the second conveyor section 15, and a conveyed goods unit that is located at the entrance of the conveyor section 13. In a simple embodiment of the invention, there is always only one item of goods 13 on the conveyor section 13.

[0049] The first conveyor section 13 has a plurality of actuators 14 arranged side by side and one behind the other for conveying conveyed goods units 11a, 11b, 11c, 11d, 11e and 11f resting thereon. The actuators 14 can be of the same or different types. However, they should form a common conveying plane. In one embodiment of the invention, the actuators 14 preferably each comprise at least one conveyor wheel, wherein the orientation of the individual conveyor wheels is fixed and wherein at least two groups of conveyor wheels are provided, wherein a first group has conveyor wheels with an orientation in the main conveying direction z and / or normal to the main conveying direction z and a second group has conveyor wheels with an orientation different from the first conveying direction.

[0050] Preferably, they are at least partially designed as multidirectional actuators and can thus generate forces for the translational movement of the conveyed goods units 11 in the conveying direction z as well as movements deviating from this direction in the conveying plane with a vector angular to the conveying direction z, in particular within a range of ± 90° to the conveying direction z. Particularly preferably, the actuators are at least partially designed, and in particular all actuators 14 of the first conveying section 13, as omnidirectional actuators. In other words, this enables a targeted rotation of the conveyed goods units 11 (including on the side).

[0051] According to the present method, the entry position, entry speed, and entry orientation of each fed unit of conveyed goods 11 on the first conveyor section 13 are determined. This can be done by suitable means known to those skilled in the art. For example, sensors 16 can be used for this purpose, which monitor at least the entry area of ​​the first conveyor section 13. The sensors 16 can preferably be 2D or 3D or RGB cameras or IR cameras, optionally in combination with light barriers, also in a multiple arrangement in a row or light barrier curtains. Only one sensor 16 can also be used for this purpose. In a preferred embodiment, the sensors 16, and in particular cameras, are calibrated to the conveyor section to be monitored. This can be done once during setup or multiple times at predetermined intervals. The sensors or the sensor 16 transmits the recorded data to a computer.

[0052] In a further step, the transfer position, the transfer speed and the transfer orientation of each conveyed goods unit 11a..11f are determined for the transfer from the first conveyor section 13 to a second conveyor section 15 downstream of the first conveyor section 13 in the conveying direction z. This determination can already be stored as information on a computer. For example, it can be stored in the system control of the main conveyor 12, which can be designed separately or together with the computer to determine the input situation as described above. However, further sensor data can also be recorded and evaluated to determine the transfer situation, i.e. the transfer position, the transfer speed and the transfer orientation. This can be the data from the same sensor 16 or the same sensors 16 as used for the determination described above.Alternatively, or in combination, additional sensors may be used that are directed at the transfer section to the second conveyor section 15 and, if necessary, calibrated accordingly. The determination can be made individually for a conveyed product unit 11 and be different for each conveyed product unit 11, or the transfer position, transfer speed, and transfer orientation can be the same for each conveyed product unit 11.

[0053] From the data of the input situation and the transfer situation described above, a trajectory, i.e. a movement path, is determined for the movement of a conveyed product unit 11a, 11b, 11c, 11d, 11e and 11f from the feed onto the first conveyor section 13 for transfer to the second conveyor section 15. This is also done by a computer with appropriately configured software to process the previously determined data. Additional parameters of the conveyor sections 13 and 15 as well as the actuators 14 can be taken into account and incorporated into the determination of the trajectory. This can be the same computer as used to determine the input situation, i.e. the input position, the input speed and the input orientation. However, it can also be another computer that determines the movement path (trajectory); preferably, it can also be the system control of the first conveyor section 13 or that of the main conveyor 12.A trajectory in the sense of the present invention is in particular a movement pattern individually determined for an initially identified item of material to be conveyed, according to which pattern all necessary handling is carried out, i.e. position, rotation and translational movement as a superimposed and continuous movement. A trajectory can, for example, be described by a mathematical function or by a series of points which, when connected, lead from the input to the transfer point and have a specific speed, location and orientation at each point. In a preferred embodiment of the method, the method step includes the application of computer models which map the kinematics of the actuators. The result is a trajectory which is preferably continuous, or at least continuous in sections, and which has no singularities, i.e. no undeterminations or overdeterminations at the points along the trajectory from the actual to the target position.To achieve smooth movement and high throughput, it is preferred that the actuators be able to transmit forces to the conveyed objects at virtually any angle, so that the forces are applied tangentially along the calculated trajectory. In particular, it is preferred that the conveyor wheels of the actuators are not driven solely at right angles or parallel to an axis, in order to ensure fine control of the trajectory, which consists of straight sections and curved sections (with possibly different radii). If the conveyed object is to rotate during transport along a trajectory, handling becomes more difficult with said right-angled drives, as at least two superimposed movements are involved: translation and rotation. If there is an additional lateral movement to reach the target position, a lateral component is added.

[0054] A trajectory can also be redefined if the described data or sensor data require it. This is also a type of readjustment.

[0055] Along the determined trajectory, the conveyed goods units 11 are conveyed for transfer to the second conveyor section 15 with a predetermined transfer position, transfer speed, and transfer orientation by controlling and driving the individual actuators 14. Since the input orientation of the conveyed goods units 11 rarely coincides with the transfer orientation, i.e., a translational movement along the conveying direction z of the first conveyor section 13 is rarely sufficient, it is necessary to perform a movement with a component transverse to the conveying direction z in addition to conveying in the conveying direction z.In other words, the drives of the actuators 14 and their conveyor wheels are controlled in such a way that they manipulate the conveyed goods units 11 in such a way that, in addition to a translational movement along the conveying direction z, a rotation of the conveyed goods unit can take place at the same time, provided that the determined trajectory determines this.

[0056] The movement along the conveying direction z can also stop and intermittent, if necessary, e.g. if conveyed goods units 11 accumulate, i.e. the capacity of the infeeder is reached and / or no conveyed goods units 11 can be transferred to the second conveyor section 15. The conveying direction z runs from an inlet to at least one outlet of the first conveyor section 13. The conveying direction z can also follow a curve. An outlet can therefore be arranged opposite the inlet or on the sides of the infeed section (not shown here). Furthermore, one, two or more outlets can be expedient in a further development of the invention (not shown here).

[0057] What is characteristic of the method of the present invention is that the changes in the orientation of the conveyed goods units 11 from the entrance to the first conveyor section 13 to the transfer to the second conveyor section 15 are carried out by the actuators 14 for conveying conveyed goods units 11 lying thereon in such a way that translational and rotational movements of the conveyed goods units are superimposed and can be carried out continuously.

[0058] In the context of the present invention, the term “orientation” of a conveyed item unit refers in particular to the orientation of the longitudinal axis of the conveyed item unit in relation to the conveying direction z of the first conveyor section or in relation to the conveying direction of the second conveyor section. This can also be referred to as the position of the conveyed item unit. The orientation / alignment together with the position can also be referred to as the pose. During infeed, the orientation cannot be assumed to be completely arbitrary, but is mapped onto the conveying surface, which is largely a flat surface. The orientations that a conveyed item unit can assume are limited to the orientation of the conveyed object within this conveying surface. In addition, the orientation during transfer to the second conveyor section is very important because it determines whether and how well the conveyed item unit is received in the section of the main conveyor intended for it.

[0059] In other words, the invention relates to a method for introducing conveyed goods units into an automatic conveyor system, wherein, in contrast to previously known introduction methods, the correct alignment of the conveyed goods units at the time of transfer is achieved by manipulating the conveyed goods units - in particular exclusively - at their support surface on the actuators for translational and rotational movement of the conveyed goods units. Thus, no forces are applied and / or transmitted to or via the side surfaces of the conveyed goods units. In this case, the conveyor wheels of the actuators act, in contrast to previously known introduction devices, preferably without a change in their alignment. Therefore, in this embodiment, no motor is required to change the alignment of the conveyor wheels.In addition to eliminating these additional motors, this significantly improves the effectiveness of the conveyed goods movements achieved. This is because this type of change in the orientation of individual conveyor wheels is very difficult to control gradually. For this reason, to date only actuators are known and used that provide a main orientation of the conveyor wheel and a second orientation rotated by 90 degrees by the motor. However, this results in discontinuous, uneven movements with a lot of slippage when the drive forces are transferred to the conveyed goods. In contrast, a method according to the present invention makes it possible to execute a flowing movement and individual, continuous trajectory of the conveyed goods, which brings about a significant improvement in the accuracy of the movement path, the speed and the parameters for transfer to the downstream conveyor section.

[0060] The transfer orientation is preferably determined such that the longitudinal axis of the conveyed goods unit is arranged parallel or transversely to the conveying direction x of the main conveyor 12.

[0061] In contrast, previously known infeed methods include, for example, mounting angle brackets at the beginning of the infeeder, pushing the conveyed goods units into the correct alignment using lateral sliding planks (“pushers”), which are mounted vertically to the conveying plane and can be moved if necessary, or picking up the conveyed goods units individually with a swivel arm robot and placing them in the correct alignment on the infeed device.

[0062] These known variants have in common that they can only align the conveyed product units individually, which limits the throughput speed. Furthermore, once the alignment has been established, it cannot be readjusted. Furthermore, the effort required to change the predetermined transfer alignment is high, as this requires the mechanical components of the infeed to be modified, if this affects the contact angles and sliding planks (“pushers”) or additional rotary motors. A variation in the nature and dimensions of the conveyed product units also presents a problem in that the sliding planks or the contact angles no longer sufficiently grip the conveyed product unit, for example with very thin conveyed product units such as low-profile bags. This type of conveyed product unit also presents a problem for a swivel arm robot, as picking up these bags may require a large amount of force due to their low dimensional stability.different gripping tools are required than for sturdy boxes.

[0063] All of the disadvantages outlined above can be overcome with the method according to the invention. Since no lateral manipulation of the conveyed goods units is provided, and thus the establishment of the correct transfer orientation is carried out solely by the actuators provided for conveying the conveyed goods units, which support and carry the conveyed goods units from below, the forces for changing the direction act exclusively on the support surface of the conveyed goods units and thus not on the sides.

[0064] With this method, changes to the predetermined transfer orientation and readjustment during translational conveying can be easily and continuously implemented with a customized trajectory. No need to modify mechanical components. Conveyed goods of different characteristics and sizes can be fed in. Due to the controlled parameters of the transfer position, transfer speed, and transfer orientation in the method according to the invention, a high degree of accuracy of the feeding process is ensured.

[0065] As shown in Figure 1, in a preferred embodiment of the invention, a plurality of individual conveyed goods units 11a, ...., 11e are fed simultaneously and in different, random orientations. More than one of the conveyed goods units 11 can also be moved simultaneously along the first conveyor section 13 according to their individual trajectories, which is a further major advantage of the method according to the invention. In contrast to the prior art methods, there is no need to reset a movable slide, wait for the correct position of driver elements or actuators, and release the robot to a starting position.

[0066] The second conveyor section 15 is part of the main conveyor system 12 and, in the embodiment sketched in Figure 1, is a section of a tilt-tray conveyor. However, other suitable conveyors can be used, some of which are shown in the following figures. In addition to the predetermined transfer situation, the transfer time is also important. Downstream conveyor systems are often timed, but the transfer time is also important for non-timed systems such as endless conveyors. In the case of a continuously running endless conveyor, there is no timed cycle, since there are no countable conveyor carriers. Nevertheless, this downstream conveyor system 12 sends a signal for a free, loadable section 15 on the endless conveyor 12 to the control system of the first conveyor section 13.

[0067] In all cases, the controller of the first conveyor section 13 receives information about the release for the transfer of a conveyed goods unit 11. It is also conceivable for the controller to be connected to a sensor that monitors whether one or more free conveyor carriers 15 will reach the transfer position or whether a free conveyor section 15 is present on an endless conveyor 12, and draws conclusions from this as to whether the transfer can take place. To this end, the controller incorporates this information into the calculation of the execution of the movement path (trajectory) so that the desired transfer orientation is present at the position at the transfer time or time window.

[0068] Once the transfer orientation, transfer speed, and transfer position at the end of the first conveyor section 13 have been reached, and the controller has received a possibly required release signal, the respective conveyed goods unit 11 (in Figure 11f) is transferred to the downstream second conveyor section 15, here a conveyor carrier of the main conveyor 12. The transfer of this conveyed goods unit 11 is thus completed.

[0069] The orientation of the conveyor section 13 or the conveying direction z is shown in Figure 1 at an angle of approximately 45° with respect to the conveying direction of the second conveyor section 15. This is advantageous above all so that the conveyed product unit 11 has a speed component in the conveying direction of the second conveyor section when transferred from the conveyor section 13 to the second conveyor section 15. Advantageously, the speed component is almost identical to the speed of the second conveyor section. The orientation can also be 0° (parallel) or 90° or a value between 0° and 90° (not shown in Figure 1). It is shown how the transfer of a conveyed product unit from the conveyor section 13 to the main conveyor 12 takes place with its own longitudinal axis aligned parallel to the conveying direction x.For more rectangular conveyed goods units, transfer is preferably carried out with the longitudinal axis aligned parallel or orthogonal to the conveying direction x. In principle, the alignment is possible at any angle.

[0070] Figure 2 shows a comparable arrangement of components to Figure 1. In contrast to the steps of the method in Figure 1, the second conveyor section 15, which is located downstream of the first conveyor section, is not designed as a conveyor section of the main conveyor 12. In this embodiment of the invention, the second conveyor section 15 is designed as a transition belt conveyor and is located upstream of the main conveyor 12. In this way, it can perform an additional speed adjustment to the requirements of the main conveyor 12 in the form of acceleration or deceleration.

[0071] As already shown in Figure 1, the infeed arrangement comprises an inlet and a first conveyor section 13. In the current Figure 2, the second conveyor section 15 is also part of the infeed arrangement. It is in the form of a transfer belt conveyor arranged at an angle other than 90° to the conveying direction x of the main conveyor 12. This has the advantage that during infeed, a speed component is applied to the conveyed product unit 11 which corresponds in magnitude and direction to the main conveying direction x and the speed of the conveyor carrier of the downstream main conveyor 12. By interposing a transfer belt conveyor, this speed component can be varied again independently of the transfer speed from the first to the second conveyor section.

[0072] Figure 3a shows a highly schematic perspective view of a further embodiment of an application of the method according to the invention. For the inventive operation of the method, a sensor 16 is required here, but for the sake of simplicity, it is not shown, as is the case in the following highly schematic Figures 3b-6. Also for the sake of simplicity, the actuators 14 of the first conveyor section 13 are shown only with their ability to convey in multiple directions. This simplified representation of the actuators also applies to all subsequent figures. The orientation of the conveyor section 13, or the conveying direction z, is shown in Figure 3a at an angle of approximately 90° with respect to the conveying direction x of the main conveyor 12. This is possible when the speed of the main conveyor is low (e.g., less than 1 m per second).The main conveyor 12 is designed as a cross-belt conveyor with cross belts 20 and is capable of moving or even discharging conveyed product units transversely to the conveying direction x. It shows how a conveyed product unit 11 is transferred from the second conveyor section 15 to the main conveyor 12 with its own longitudinal axis aligned parallel to the conveying direction x. In the example shown, the conveyed product unit 11 is largely square. For more rectangular conveyed product units, transfer is preferably carried out with the longitudinal axis aligned parallel or orthogonal to the conveying direction x. In principle, the orientation at any angle is possible.

[0073] Figure 3b is a further development of the embodiment of an application of the method according to the invention shown in Figure 3a and shows an infeed oriented at an acute angle. Here, the orientation of the conveyor section 13 or the conveying direction z is shown at an angle of approximately 45° with respect to the conveying direction x of the main conveyor 12. This is advantageous when the main conveyor 12 has higher speeds and the conveyed goods units 11 to be inducted must have a speed component in the x direction during transfer and largely at the same speed as the main conveyor 12. Here, too, the main conveyor 12 is a cross-belt conveyor with cross belts 20.

[0074] Figure 3c is a further development of the embodiment of an application of the method according to the invention shown in Figure 3a and shows an infeed oriented at an angle of 0°. This is particularly advantageous, among other things, when the main conveyor 12 is operated at very high speeds, since the conveying directions x and z point in the same direction. Here, too, the main conveyor 12 is a cross-belt conveyor with cross belts 20. Figure 4a is a further development of the embodiment of an application of the method according to the invention shown in Figure 3a and shows a tray conveyor 12 with trays 19 as the main conveyor.

[0075] Figure 4b is a further development of the embodiment of an application of the method according to the invention shown in Figure 3b and shows a tray conveyor 12 with trays 19 as the main conveyor.

[0076] Figure 4c is a further development of the embodiment of an application of the method according to the invention shown in Figure 3c and shows a tray conveyor 12 with trays 19 as the main conveyor.

[0077] Figure 5a is a further development of the embodiment of an application of the method according to the invention shown in Figure 3a and shows a hanging pocket conveyor with hanging pockets 18 as the main conveyor 12.

[0078] The conveyed goods units 11 can have a base area or side lengths approximately as large as the conveyor carrier 18, which in the present embodiment is designed as a hanging pocket of the main conveyor 12. They are therefore transferred at a predetermined angle, so that the sides or edges are parallel to the sides of the conveyor carrier 18 after transfer. A diagonal arrangement of the conveyor unit 11 would then protrude beyond the conveyor carrier 18. In the present case of the hanging pocket sorter as the main conveyor 12, this is even mandatory, since the hanging pockets 18 have a filling section / edge that is usually narrower than the section arranged transversely to it (a vertically arranged rectangle).It is therefore necessary to adjust the orientation of the conveyed goods unit 11 to the dimensions of the hanging pocket 18, including its orientation, prior to transfer at the transfer section, so that a predetermined position and orientation is present at the transfer section at the time of transfer. The orientation is usually selected such that the short side of the conveyed objects is transferred to the hanging pocket sorter first ("short side leading"). Figure 5b is a further development of the embodiment of an application of the method according to the invention shown in Figure 3b and shows a hanging pocket conveyor with hanging pockets 18 as the main conveyor 12.

[0079] Figure 5c is a further development of the embodiment of an application of the method according to the invention shown in Figure 3c and shows as the main conveyor 12 a hanging pocket conveyor with hanging pockets 18, but with parallel but opposite conveying directions x and z.

[0080] Figure 6 is a further development of the embodiment of an application of the method according to the invention shown in Figure 3c and shows a sliding shoe conveyor with sliding shoes 17 as the main conveyor 12.

[0081] In a preferred embodiment of the method according to the invention, the actuators each comprise at least one conveyor wheel, wherein the orientation of the individual conveyor wheels is unchangeable, wherein at least two groups of conveyor wheels are provided, wherein a first group has conveyor wheels with an orientation in the main conveying direction z and / or normal to the main conveying direction z and a second group has conveyor wheels with an orientation different from the first conveying direction.

[0082] Advantageously, with permanently mounted conveyor systems of the actuators, no additional element to be controlled is required. Both the equipment and computational effort are significantly reduced. Not only can superimposed translational and rotational movements be performed, but these can also occur transversely to the alignment of the conveyor wheels. Furthermore, the desired movement of the conveyed goods can be carried out with an individual trajectory, which contributes to a continuous, flowing movement without discrete states, stops, or inaccuracies, particularly with regard to the predetermined parameters of the transfer situation. In a preferred embodiment of the method according to the invention, a time signal is received or a predetermined time signal is used to transfer a unit of conveyed goods from the first conveyor section to the second conveyor section, and the time signal is taken into account when determining the trajectory.

[0083] By taking the time signal into account when determining the trajectory, the control of the transfer situation can be further improved, particularly with regard to the transfer speed and position. The trajectory can be optimized, and improved efficiency is achieved, particularly with regard to the accuracy of the transfer and the throughput of the infeed process.

[0084] In a preferred embodiment of the method according to the invention, a plurality of individual conveyed goods units are fed simultaneously. The advantages of such a feed have already been explained above. In particular, the flexibility of the method and the conveyor system is increased. In a preferred embodiment of the method according to the invention, the trajectories of successive conveyed goods units are determined such that the conveyed goods units have a minimum distance from one another upon transfer to the second conveyor section, wherein the front edges of the conveyed goods units, the centers of the conveyed goods units, or the trailing edge of the preceding conveyed goods units are preferably at the same distance from one another to the front edge of the following conveyed goods unit.

[0085] The three alternative spacings between consecutively conveyed product units to be fed into the main conveyor introduce a further control parameter which, particularly in practice, represents a significant improvement in the coordination of the various conveyor sections and the smooth running of the conveying process. By providing equal spacings even between multiple product units through the infeed section, good control of the conveying processes is also possible. The three different spacing specifications described represent different scenarios, particularly with regard to the parameters of the downstream main conveyor. In the first case of the equal spacing of the front edges of the product units, downstream conveyor sections that specify fixed process time windows, such as additional sorters or sticker applicators, are particularly used in practice.In the second case of equal distances between the centers of the conveyed product units, main conveyors that require fixed cycle times, for example due to carrier units, are particularly advantageously served. This allows the shoe conveyors or hanging pocket conveyors already mentioned in the description of the figures to be reliably served during the infeed process. In the latter case of the same distance in relation to the rear edge of the preceding conveyed product unit to the front edge of the following conveyed product unit, a minimum distance between the conveyed product units can be set at high throughput. The timing can be coordinated here, for example, with subsequent scanner operations or continuous main conveyors with fixed free space distances and contribute to high process reliability at very high throughput.

[0086] In a preferred embodiment of the method according to the invention, the second conveyor section is a component of the main conveyor system and is, in particular, a tilt-tray conveyor, a hanging pocket conveyor, a belt conveyor, a cross-belt conveyor, or a shoe sorter. Equally preferred is an embodiment in which the second conveyor section is a synchronization belt, a belt conveyor, a roller conveyor, or a combination thereof, which transfers the conveyed goods units to a main conveyor.

[0087] In a preferred embodiment of the method according to the invention, the actuators of the first conveyor section are at least partially multidirectional actuators; preferably, all actuators are designed as multidirectional, in particular omnidirectional, actuators. Particular reference is made to actuators as described in EP 2874923 A1.

[0088] In a preferred embodiment of the method according to the invention, the input position, input speed, and input orientation of a conveyed item unit are determined using one or more sensors, in particular one or more cameras. Further details have already been provided above. In a preferred embodiment of the method according to the invention, the sensor(s) monitor(s) the entire first conveyor section. This makes it possible, in particular, to readjust in the event of deviations from the trajectory or to react to a disturbance.

[0089] In a preferred embodiment of the method according to the invention, the movement of the conveyed goods unit is readjusted based on the data on position, speed and orientation on the first conveyor section recorded by the sensor or by several sensors when deviations from the determined trajectory are detected.

[0090] The invention further relates to a device for carrying out the method described above.

[0091] In a preferred embodiment, the device comprises: a first conveyor section with a main conveyor direction z, comprising a plurality of actuators arranged side by side and one behind the other for conveying units of goods to be conveyed lying thereon, one or more sensors, at least one second conveyor section arranged downstream of the first conveyor section in the conveyor direction z,

[0092] Means for determining a trajectory of a conveyed goods unit for the movement from an input situation to a transfer situation, wherein the situation includes position, speed and orientation of the conveyed goods unit on the first conveyor section, and

[0093] Means for controlling and driving the actuators.

[0094] Preferably, the actuators are at least partially (in terms of their number) multidirectional, in particular omnidirectional. Furthermore, the actuators preferably each comprise at least one conveyor wheel, wherein the orientation of the individual conveyor wheels is fixed, wherein at least two groups of conveyor wheels are provided, wherein a first group comprises conveyor wheels oriented in the main conveying direction z and / or perpendicular to the main conveying direction z, and a second group comprises conveyor wheels oriented in an orientation different from the first conveying direction.

[0095] The advantages of this embodiment, in particular compared to actuators whose orientation is changed by rotation with an additional motor, have already been explained above and reference is made to these advantages at this point.

[0096] In a further embodiment of the device according to the invention, the sensor or sensors is a camera, in particular a 2D, 3D or RGB camera or an IR camera, a light barrier or a combination thereof.

[0097] In a further embodiment of the device according to the invention, the means for determining the trajectory of a conveyed item unit are in communication with the control means of the second, downstream conveyor section. This ensures excellent coordination of the movement of the conveyed item units on the first conveyor section with the requirements of the second conveyor section (in particular with the requirements of the main conveyor). This increases the reliability of the device, and fewer downtimes or stops of the infeed occur.

[0098] In a further embodiment of the device according to the invention, the device comprises two downstream second conveyor sections. These can be, for example, a belt conveyor and a main conveyor, whereby the belt conveyor can be used not only as a buffer for the main conveyor but also to achieve improved adjustment of the transfer speed.

Claims

Claims 1. A method for introducing conveyed goods units (11) into an automatic main conveyor system (12), comprising the following steps: Feeding conveyed goods units (11) onto a first conveyor section (13) having a main conveying direction z, wherein the first conveyor section (13) has a plurality of actuators (14) arranged side by side and one behind the other for conveying conveyed goods units (11) resting thereon, determining the input position, the input speed and the input orientation of each fed conveyed goods unit (11), Determining the transfer position, the transfer speed and the transfer orientation of each conveyed goods unit (11a..11f) for the transfer from the first conveyor section (13) to at least one second conveyor section (15) downstream of the first conveyor section (13) in the conveying direction (z), Determining a trajectory for the movement of a conveyed goods unit (11) from the feed to the first conveyor section (13) for transfer to the second conveyor section (15), and Controlling and driving the individual actuators (14) and thereby conveying the conveyed goods units (11) for transfer to the second conveyor section (15) with a predetermined transfer position, transfer speed and transfer orientation, characterized in that the changes in the orientation of the conveyed goods units (11) from the entrance to the first conveyor section (13) to the transfer to the second conveyor section (15) are carried out by the actuators (14) for conveying conveyed goods units (11) resting thereon in such a way that translatory and rotary movements of the conveyed goods units (11) are superimposed and continuous over the entire first conveyor section (13).

2. Method according to claim 1, wherein the actuators (14) each comprise at least one conveyor wheel (17), wherein the orientation of the individual conveyor wheels (17) is unchangeable, wherein at least two groups of conveyor wheels (17) are provided, wherein a first group of conveyor wheels with an orientation in - l- Main conveying direction z and / or normal to the main conveying direction z and a second group of conveyor wheels with an orientation different from the first conveying direction.

3. Method according to claim 1 or 2, wherein a time signal is received or a predetermined time signal is used to transfer a conveyed goods unit (11) from the first conveyor section (13) to the second conveyor section (15) and the time signal is taken into account in determining the trajectory.

4. Method according to one of claims 1 to 3, wherein a plurality of individual conveyed goods units (11a ... 11f) are fed and oriented on the first conveyor section (13).

5. The method according to claim 4, wherein the trajectories of successive conveyed goods units (11a, ...., 11f) are determined such that the conveyed goods units (11a, , 11f) have a minimum distance from one another during transfer to the second conveyor section (15), wherein preferably the front edges of the conveyed goods units, the centers of the conveyed goods units or the rear edge of the preceding conveyed goods units have the same distance from one another to the front edge of the subsequent conveyed goods unit.

6. Method according to one of claims 1 to 5, wherein the second conveyor section (15) is a component of the main conveyor system (12) and is in particular a tilting tray conveyor, a hanging pocket conveyor, a belt conveyor, a cross-belt conveyor or a shoe sorter.

7. Method according to one of claims 1 to 6, wherein the actuators (15) of the first conveyor section (13) are at least partially multi-directional actuators.

8. Method according to one of the preceding claims, wherein the determination of the input position, the input speed and the input orientation of a conveyed goods unit (11) is carried out by means of one or more sensors (16), in particular one or more cameras.

9. Method according to one of the preceding claims, wherein the sensor (16) or the sensors (16) monitor the entire first conveyor section (13).

10. The method according to claim 8 or 9, wherein the movement of the conveyed goods unit (11) is readjusted on the basis of the data on the position, speed and orientation on the first conveyor section (13) detected by means of the sensor (16) or by means of several sensors (16) in the event of detected deviations from the determined trajectory.

11. Method according to one of the preceding claims, wherein the second conveyor section (15) is a synchronization belt or a belt conveyor or a roller conveyor or a combination thereof, which transfers the conveyed goods units (11) to a main conveyor (12).

12. Method according to one of the preceding claims, wherein the distances between individual conveyed goods units (11) are made equal by the movement on the first conveyor section (13) with a predetermined size.

13. Apparatus for carrying out a method according to one of claims 1 to 12.

14. Device according to claim 13, comprising: a first conveyor section (13) with a main conveying direction (z), having a plurality of actuators (14) arranged side by side and one behind the other for conveying units (11) to be conveyed thereon, one or more sensors (16), at least one second conveyor section (15) arranged downstream of the first conveyor section (13) in the conveying direction (z), Means for determining a trajectory of a conveyed goods unit (11) for the movement from an input situation to a transfer situation, wherein the situation comprises position, speed and orientation of the conveyed goods unit (11) on the first conveyor section (13), and Means for controlling and driving the actuators (14).

15. Device according to one of claims 13 to 14, wherein the sensor (16) or the sensors (16) is a camera, in particular a 2D, 3D or RGB camera, a light barrier or a combination thereof.

16. Device according to one of claims 13 to 15, wherein the actuators (14) each comprise at least one conveyor wheel (17), wherein the orientation of the individual conveyor wheels (17) is unchangeable, wherein at least two groups of conveyor wheels (17) are provided, wherein a first group has conveyor wheels with an orientation in the main conveying direction z and / or normal to the main conveying direction z and a second group has conveyor wheels with an orientation different from the first conveying direction.

17. Device according to one of claims 13 to 16, wherein the actuators (14) are at least partially multidirectional actuators, in particular omnidirectional actuators.

18. Device according to one of claims 13 to 17, wherein the means for determining the trajectory of a conveyed goods unit (11) are in communication connection with control means of the second, downstream conveying section (15).

19. Device according to one of claims 13 to 18, wherein the device comprises two downstream second conveyor sections (15).

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