Method and system for receiving and manipulating articles

Abstract

A method for receiving and manipulating articles (2, 2') by means of at least one industrial robot is disclosed. In the method, articles (2, 2') are moved along at least one row into a working region of an industrial robot, wherein, in each row, directly consecutive articles (2, 2') form different relative spacings (20) with respect to one another. A control device (S) is provided, which senses an actual position of each article (2, 2') by means of at least one sensor system (25) as the article (2, 2') is moved along the row in question. Furthermore, the control device (S) can control at least one industrial robot according to the sensed actual positions, such that the at least one industrial robot, while or before receiving a plurality of articles (2, 2') by means of its gripping tool (23), adjusts a relative spacing (20) hitherto formed between said plurality of articles and such that the articles (2, 2') which the gripping tool (23) of the at least one industrial robot has thereupon received are manipulated in the adjusted relative spacing (20) by the at least one industrial robot.

Description

[0001] Procedure and system for receiving and manipulating articles

[0002] The present invention relates to a method and a system for receiving and manipulating articles.

[0003] Diverter systems are already known from the prior art which are able to distribute a single-row flow of articles, in which the articles can be in the form of beverage containers, for example, across multiple aisles. A disadvantage of such embodiments is that only a single-row flow of articles can be distributed across multiple aisles by means of such a diverter. If articles leave multiple work machines, which can be in the form of labelling machines, for example, in multiple article streams, these multiple article streams must first be brought together before being distributed via the respective diverter. If articles are already aligned in a defined way, this alignment can be lost again when they are brought together. For example, it can be the case that articles orContainers have a label, and items are already placed in a predetermined rotational position upon leaving a labeling machine based on the orientation of the respective label. If the items are brought together, it is possible that the respective label no longer points in the desired direction, and the previously established rotational orientation is lost.

[0004] A diverter is characterized by the fact that it supplies several aisles consecutively with one item each, or by supplying several aisles consecutively with one item each. In practice, this results in a relatively large gap between consecutive items in each aisle. To close or reduce the gap, the items are then reunited in the respective aisle via a correspondingly long conveyor. This also requires a complex structure of the overall system, which is generally undesirable in order to achieve appropriate distribution of items even with limited space.

[0005] Systems for manipulating articles that utilize an industrial robot are also known from the prior art. Such systems can be used for distribution, but also for other tasks, such as establishing an alignment between a large number of containers that is tailored to a palletizable position. In such systems, the articles or containers are first accumulated so that there is no gap between consecutive articles or containers, or so that immediately consecutive containers in a particular row are in surface contact with one another. Subsequently, each front-facing article or container is briefly accelerated, and a defined distance is created from the following articles or containers. In practice, this is achieved by driving conveyor belts at different transport speeds.To achieve such a distribution of items or containers, such systems require a comprehensive structure of the entire system, resulting in increased space requirements. Furthermore, it is often the case that containers or items tip over when maintaining the defined spacing.

[0006] One object of the invention can therefore be seen in providing a generic system and a generic method that at least mitigate the aforementioned disadvantages. Furthermore, the system should have a straightforward structure, and the method should be easy to implement.

[0007] The object is achieved by the subject matter comprising the features in the independent claims. Advantageous embodiments are described in the dependent claims.

[0008] The invention relates to a method for receiving and manipulating articles using at least one industrial robot. In particular, the invention can relate to a method for clamping and manipulating articles, which are beverage containers, using at least one industrial robot.

[0009] One step of the method provides for moving articles along at least one row into a work area of ​​an industrial robot or into work areas of several industrial robots. In this case, immediately successive articles in a respective row form different relative spacings from one another. The different relative spacings can be arbitrary. The articles can thus be moved along the respective row without prior alignment with regard to their relative spacings from one another. It can thus be the case that a first relative spacing is formed between a first immediately successive pair of articles in a row and that a second relative spacing is formed between a further immediately successive pair of articles. The first relative spacing can be different in amount than the second relative spacing.

[0010] In various embodiments, exactly one industrial robot can be provided. Embodiments have also proven successful in which exactly two industrial robots are provided, whose working areas are partially or completely offset from each other with respect to the transport direction of the articles moved along at least one row.

[0011] An infeed with at least one horizontal conveyor can be provided, via which articles are moved along at least one row into a work area of ​​an industrial robot or into the work areas of multiple industrial robots. The at least one horizontal conveyor can comprise at least one circulating conveyor belt and / or at least one circulating conveyor chain, on which the articles rest and are moved along the at least one row into a work area of ​​one industrial robot or into the work areas of multiple industrial robots.

[0012] The articles may be beverage containers, in particular beverage bottles and / or beverage cans, which may already be combined into a container in various forms.

[0013] A movement of articles along a respective row can be understood as a movement in which all of the articles moved along a respective row are at least partially aligned with one another along their direction of movement or transport. Thus, articles along at least one row can be moved into a workspace of an industrial robot or into the workspaces of multiple industrial robots, with directly consecutive articles in a respective row forming different relative spacings from one another, and with all of the articles in a respective row being at least partially aligned with one another along their direction of transport or movement.

[0014] Furthermore, a control device is provided, which uses at least one sensor to detect the respective actual position of a respective article while the respective article is being moved along the respective row. The control device may use the at least one sensor to detect all actual positions of the respective articles in a respective row before the respective articles enter a work area of ​​one industrial robot or the work areas of multiple industrial robots. The at least one sensor may be embodied by at least one light barrier and / or at least one camera.

[0015] It has proven effective for the control device to detect the actual positions of all articles in a respective row, for which purpose all articles in a respective row are moved past the at least one sensor. In such embodiments, the at least one sensor may be embodied by at least one light barrier.

[0016] In the invention, it can be that the control device specifies a defined receiving position, in which the detected actual positions are taken into account, for at least one gripping tool of at least one industrial robot for receiving at least one article and controls the respective at least one industrial robot so that the respective at least one industrial robot moves its respective gripping tool into the respective predetermined receiving position and receives the at least one article via its gripping tool located in the predetermined receiving position and then manipulates it.

[0017] In particular, it may be that the control device specifies a defined receiving position, in which the detected actual positions are taken into account, for at least one gripping tool of at least one industrial robot for receiving a plurality of articles and controls the respective at least one industrial robot so that the respective at least one industrial robot moves its respective gripping tool into the respective specified receiving position and receives the respective plurality of articles via its gripping tool located in the specified receiving position and then manipulates them.

[0018] This makes it possible for the respective industrial robot to detect articles moved into its work area even if consecutive articles have an arbitrary and previously not fixed relative distance from each other.

[0019] Work machines or multiple conveyor belts with different transport speeds, which in practice have previously been used to initially specify a relative spacing between articles before these articles enter the work area of ​​the industrial robot, are no longer necessary. The system therefore has a simple and compact design. In addition or as an alternative to this, the control device can be designed to control at least one industrial robot, taking into account the detected actual positions, in such a way that the respective industrial robot, when or before receiving several articles using its respective gripper tool, adjusts a previously established relative spacing between these several articles and then manipulates the respective articles received via its gripper tool at the adjusted relative spacing.

[0020] It has proven useful in this case if the control device is designed to control at least one industrial robot taking into account the detected actual positions in such a way that the respective industrial robot, when or before receiving a plurality of articles via its respective gripping tool, adapts a relative spacing previously established between these plurality of articles in such a way that immediately consecutive articles are arranged next to one another and manipulates the respective articles then received via its gripping tool in the adapted relative spacing in which immediately consecutive articles are arranged next to one another.

[0021] Even with such embodiments, it is not necessary to adjust the relative spacing of items in a particular row before these items enter the work area of ​​the respective industrial robot. Such a system can thus have a simple and compact design.

[0022] It has also proven useful if the control device is designed to control at least one industrial robot, taking into account the detected actual positions, in such a way that the respective industrial robot, when or before receiving a plurality of articles, adapts a relative spacing previously formed between these plurality of articles via its respective gripping tool in such a way that a substantially identical spacing is formed between all immediately consecutive articles and wherein the respective industrial robot manipulates the articles then received in this adapted relative spacing via its gripping tool.

[0023] The at least one gripping tool of the at least one industrial robot can be at least two clamping jaws or at least two clamping strips that can perform a common feed movement to thereby clamp multiple articles. During such a feed movement, the at least two clamping strips can approach each other or reduce their spacing. In particular, the at least one gripping tool of the at least one industrial robot can be at least two clamping jaws or at least two clamping strips that are aligned parallel to each other.

[0024] Embodiments have proven useful in which the control device specifies a defined receiving position, in which the detected actual positions are taken into account, for at least one gripping tool of the at least one industrial robot for receiving a plurality of articles and, in addition, taking the detected actual positions into account, selects a number of the plurality of articles intended for the respective receiving and controls the respective at least one industrial robot, so that the respective at least one industrial robot moves its respective gripping tool into the respective predetermined receiving position and receives the respective plurality of articles with the selected number via its gripping tool located in the predetermined receiving position and then manipulates them.

[0025] Alternatively or additionally, the control device may adjust the defined receiving position for the at least one gripping tool of at least one industrial robot to the article intended for respective receipt, which is arranged last in a transport direction. In particular, it may be provided that the defined receiving position is specified such that the article arranged last in the transport direction and the gripping tool are flush or at least approximately flush with each other perpendicular to the transport direction when the at least one article is received.

[0026] It is also possible for at least one gripping tool of at least one industrial robot to comprise a stop, via which the respective industrial robot accumulates the respective multiple articles before receiving them, so that the respective multiple articles are subsequently in surface contact with one another. The articles, still in surface contact, can then be clamped and subsequently manipulated by the respective at least one gripping tool. The stop can be arranged on a clamping jaw or on a clamping strip of the gripping tool.

[0027] In addition, the stop can be arranged essentially perpendicularly to a clamping jaw or clamping bar. It is also possible for a longitudinal extension of the stop to be arranged perpendicularly or essentially perpendicularly to a movement or transport direction of the respective frontmost article, which comes into surface contact with the stop when the relative spacing is adjusted. It is possible that articles still to be received are delayed by the stop to adjust the relative spacing.

[0028] It is further conceivable for the at least one industrial robot to adjust the respective previously established relative spacing between the respective plurality of articles by the at least one industrial robot using its gripping tool to grip at least one article of the plurality of articles and to accelerate or decelerate it relative to further articles of the respective plurality of articles, to subsequently release it again, to subsequently receive it together with the remaining plurality of articles and to then manipulate it. In particular, it can be the case that the at least one industrial robot adjusts the respective previously established relative spacing between the respective plurality of articles by the at least one industrial robot using its gripping tool, which consists of two deliverable terminal strips orare second deliverable clamping jaws, grip at least one article of the several articles and accelerate or decelerate it relative to other articles of the respective several articles.

[0029] It is conceivable that articles are moved along several rows into the work areas of a first industrial robot and a second industrial robot, which coordinately receive and handle articles from the several rows. In this case, the first industrial robot may take over the receipt and handling of articles for the second industrial robot if the second industrial robot is taken out of service or fails due to a malfunction.

[0030] Embodiments have also proven successful in which the at least one industrial robot receives at least one article or several articles at a time and distributes them to different aisles during the manipulation in such a way that each aisle of the plurality of aisles is supplied with a predetermined number of articles and in particular that each aisle of the plurality of aisles is supplied with a number of articles that remains constant over time. Each aisle can be formed by two aisle plates oriented parallel to one another, between which articles are guided one behind the other along a respective row. It is conceivable in this case that the predetermined number is selected before the articles are distributed among the plurality of aisles and is designed differently for the plurality of aisles.It may be that each of the several aisles is supplied with a constant number of items over time.

[0031] The number of aisles can be larger than the number of rows along which articles are moved into the working area of ​​one industrial robot or into the working areas of several industrial robots.

[0032] In various embodiments, one industrial robot may be a delta kinematic robot, or several industrial robots may be delta kinematic robots. For example, one industrial robot may be a gantry system, or several industrial robots may be gantry systems.

[0033] It is also conceivable that the control device has information about the completion of a respective manipulation via the respective gripping tool at a particular time. In this case, the control device may control the respective industrial robot, based on the detected actual positions, to move the respective gripping tool at a defined speed, at which the respective industrial robot completes the respective manipulation via its respective gripping tool at the respective time.

[0034] The invention also relates to a system for receiving and handling articles. The system can be designed to carry out the previously described embodiments of the method according to the invention. In particular, the invention relates to a system for receiving and handling articles, which are beverage containers, preferably beverage bottles, beverage cans, or beverage containers already combined into a respective package.

[0035] The system comprises an industrial robot with at least one gripping tool or several industrial robots, each with at least one gripping tool.

[0036] The at least one gripping tool can be configured as at least two clamping jaws or at least two clamping strips, each of which can be actuated with a feed movement to receive at least one article or multiple articles. The system further comprises an infeed, via which articles moved along at least one row can be moved into a working area of ​​one industrial robot or into the working area of ​​multiple industrial robots.

[0037] The system also includes at least one sensor. The at least one sensor can be embodied by at least one light barrier and / or by at least one camera and / or by at least one further sensor. A control device is also provided which, with the aid of the at least one sensor, can detect a respective actual position of a respective article moved in the area of ​​the inlet. A detection range of the at least one sensor can thus extend over the inlet, so that the control device, with the aid of the at least one sensor, can detect a respective actual position for all articles moved in the area of ​​the inlet when they pass through the detection range of the at least one sensor.

[0038] The control device can be configured to specify a defined receiving position for at least one gripping tool of at least one industrial robot, which defined receiving position takes the detected actual positions into account. Furthermore, the control device can be configured to control the at least one industrial robot in such a way that the at least one industrial robot moves its respective gripping tool into the respective predetermined receiving position and receives the at least one article via its gripping tool located in the predetermined receiving position and then manipulates it.

[0039] Alternatively or additionally, the control device may be designed to control at least one industrial robot, taking into account the detected actual positions, in such a way that the respective industrial robot, when or before receiving a plurality of articles via its respective gripping tool, adapts a relative spacing previously established between these plurality of articles and manipulates the respective articles received via its gripping tool in the adapted relative spacing.

[0040] In various embodiments, the at least one gripping tool of the at least one industrial robot can comprise a stop for accumulating a plurality of articles still to be received by the at least one gripping tool. The stop can extend perpendicular to the longitudinal extent of two clamping jaws through which the respective gripping tool of the respective industrial robot is formed. Alternatively or additionally, the at least one gripping tool of the at least one industrial robot can comprise at least two clamping jaws that can execute a feed movement for clamping the respective plurality of articles. The stop can be connected to one of the at least two clamping jaws, so that during a feed movement of the at least two clamping jaws, the stop is moved along with the clamping jaw to which the stop is connected.

[0041] Furthermore, the at least one industrial robot may be formed by at least one delta kinematic robot.

[0042] The system may comprise a first industrial robot and a second industrial robot configured to coordinately receive and manipulate articles in multiple rows. The first industrial robot may be configured and equipped such that the first industrial robot can take over the respective receiving and manipulation of articles intended for the second industrial robot if the second industrial robot is taken out of service or fails due to a malfunction.

[0043] Furthermore, the invention relates to a use of a system according to an embodiment of the above description for receiving and manipulating articles which are beverage containers.

[0044] In the following, exemplary embodiments will explain the invention and its advantages in more detail with reference to the accompanying figures. The relative sizes of the individual elements in the figures do not always correspond to the actual sizes, as some shapes are simplified and others are enlarged relative to other elements for better illustration.

[0045] It should be expressly stated at this point that all aspects and embodiments mentioned in connection with the system according to the invention equally relate to, or can be, partial aspects of the method according to the invention. Therefore, if certain aspects and / or relationships and / or effects are mentioned at any point in the description or in the claim definitions for the system according to the invention, this equally applies to the method according to the invention. The same applies conversely, so that all aspects and embodiments explained in connection with the method according to the invention equally relate to, or can be, partial aspects of the system according to the invention.Therefore, if certain aspects and / or relationships and / or effects are mentioned at any point in the description or in the claim definitions of the method according to the invention, this applies equally to the system according to the invention. All design features that have already been described previously for the embodiments of the method according to the invention can also be provided in the embodiments of the system according to the invention.

[0046] Fig. 1A illustrates problems and disadvantages of a system already known from the prior art. Fig. 1B shows an embodiment of a system according to the invention and illustrates individual steps as they can be provided in various embodiments of the method according to the invention.

[0047] Fig. 2A shows the system already illustrated in Fig. 1A, which is known from the prior art. Fig. 2B further shows the embodiment of a system corresponding to Fig. 1B and illustrates individual further steps as they can be provided in various embodiments of the method according to the invention.

[0048] Fig. 3 shows a schematic view of another embodiment of a system according to the invention and illustrates steps as they can be provided in various embodiments of a method according to the invention.

[0049] Fig. 4 shows individual aspects as they can be provided in various embodiments of a system according to the invention and in the implementation in various embodiments of the method according to the invention.

[0050] Figures 5A and 5B show a further embodiment of a system according to the invention and illustrate individual steps as they can be provided in various embodiments of a method according to the invention.

[0051] Figures 6A to 6C show a further embodiment of a system according to the invention and illustrate individual steps as they can be provided in various embodiments of a method according to the invention.

[0052] Figures 7A and 7B show the embodiment of the system according to Figures 6A and 6B and illustrate further steps as they can be provided in various embodiments of a method according to the invention. In Figure 8, the speed of an industrial robot is compared with the speed of a horizontal conveyor. The corresponding speed can be provided in various embodiments of a system according to the invention and in various embodiments of a method according to the invention.

[0053] Identical reference numerals are used for identical or equivalently functioning elements of the invention. Furthermore, for the sake of clarity, only those reference numerals are shown in the individual figures that are necessary for the description of the respective figure. The illustrated embodiments merely represent examples of how the invention can be configured and do not constitute an exhaustive limitation.

[0054] The schematic view in Fig. 1A illustrates and highlights disadvantages of systems already known from the prior art and used for distributing articles 2. In this case, the articles 2 are beverage containers 4. Such beverage containers 4 can be formed by beverage bottles or beverage cans. It is also possible that several such beverage containers 4 are already combined into a single container and manipulated by the system.

[0055] In Fig. 1A, the articles 2 are moved linearly along exactly one row via a horizontal conveyor 15. The articles 2 of exactly one row are aligned in the transport direction TR. As a rule, the articles 2 or beverage containers 4 previously leave a work machine and are then moved via the horizontal conveyor 15 into a work area 32 or 34 (cf. Fig. 3) of an industrial robot in order to be moved by an industrial robot perpendicular or obliquely to the transport direction TR and thereby arrive at an orientation in which the articles 2 are aligned with one of several aisles. A system that works in this way is referred to as a distribution system. Articles 2 always reach the work area of ​​an industrial robot and are clamped by the industrial robot and distributed across several aisles.

[0056] As can also be seen from Fig. 1A, two clamping jaws 12 and 14 are provided here, which are designed as part of an industrial robot (not shown in Fig. 1A) and can execute a feed movement in order to clamp and receive several articles 2 at least approximately simultaneously and then move them obliquely or perpendicular to the transport direction TR. In practice, the clamping jaws 12 and 14 operate in cycles and, after a predetermined period of time, return to a receiving position which is identical for all consecutive receptions of articles 2. In such systems known from the prior art, a movement of the clamping jaws 12 and 14 is coordinated with a transport speed of the horizontal conveyor device 15.

[0057] In order to be able to receive article 2 via the clamping jaws 12 and 14, it is therefore often the case that the articles 2 are brought into a defined relative distance from one another before being fed to the work area of ​​the industrial robot. This can be achieved, for example, by first accumulating articles 2 and then specifying the relative distance between the articles 2 by feeding the accumulated articles 2 to conveyor belts at different transport speeds. When the articles 2 reach the work area of ​​the industrial robot, the articles 2 are at least approximately in a position that corresponds to an expected target position, provided that the relative distance between the articles is adjusted via the preceding conveyor belts.

[0058] In order to bring articles 2 in the row into a defined relative spacing, as is necessary in prior art systems for securely clamping multiple articles 2, such systems have a complex design. Thus, it is necessary for a working machine or, as previously mentioned, conveyor belts to be arranged upstream of the horizontal conveyor 15 in the transport direction TR, which bring the articles 2 into a desired relative spacing from one another.

[0059] Fig. 1A now illustrates a problem that arises when, in systems known from the prior art, the relative spacing of articles 2 is not specified before they enter the working area of ​​the industrial robot. In Fig. 1A, arbitrary, unknown relative spacings 20 are formed between immediately consecutive articles 2. For example, it may be that articles 2 leave a labeling station before being transported via the horizontal conveyor 15 and enter the working area of ​​the industrial robot with the arbitrary or different relative spacings shown in Fig. 1A.It is also possible that individual articles 2 are rejected due to an error before being fed into the work area of ​​the industrial robot, so that there is a correspondingly large gap between successive articles 2, which corresponds at least to the diameter of an article 2 that has already been rejected. As Fig. 1A shows, the last article 2' held by the clamping jaws 12 and 14 was only incompletely gripped by the clamping jaws 12 and 14, so that the clamping jaws 12 and 14 cannot apply the necessary clamping force to this article 2, which is required for subsequent manipulation to securely hold this article 2'. If the articles 2 or 2' are subsequently moved obliquely or perpendicularly to the transport direction TR via the clamping jaws 12 and 14, it is possible that this last article 2' unintentionally becomes detached from the clamping jaws 12 and 14. The distribution of the articles 2 or 2'2' to several different lanes must be interrupted.

[0060] Practice has shown that the last article 2' frequently tips or falls over if this last article 2' is incompletely gripped or, as shown in Fig. 1A, is gripped by clamping jaws 12 and 14. Therefore, dispensing with a previously defined specification of the relative distance 20 between successive articles 2 is absolutely necessary in devices known from the prior art in order to avoid problems as shown in Fig. 1A, in which the last article 2' unintentionally detaches from the clamping jaws 12 and 14.

[0061] Fig. 1B shows an embodiment of a system 1 according to the invention that does not have these disadvantages. The specification of a relative distance 20 between articles 2 is not necessary in the embodiment according to Fig. 1B, so that additional belts or working machines, which fulfill such a function according to the previous description of Fig. 1A, can be dispensed with.

[0062] Component of the system 1 is a sensor system 15, which is connected to the control device S and can be designed, for example, as a light barrier, a camera, or even with another sensor system. All articles 2 of exactly one row are moved past a detection area of ​​the sensor system 25. For each of these articles 2, the control device S can use the sensor system 25 to detect the respective actual position when it is moved past the sensor system 25 on the horizontal conveyor device 15. Since the control device S also has information about the transport speed of the horizontal conveyor device 15, the control device S can also determine the position of the article 2 intended for a particular receipt when it has entered a work area 32 or 34 of the industrial robot 18 or 19 (cf. Fig. 4). As can be seen from Fig.As already mentioned in Figure 1A, in systems known from the prior art, it is provided that the clamping jaws 12 and 14 are always in an identical receiving position when multiple articles 2 are received consecutively. A view of Figures 1A and 1B together illustrates that the control device S is capable of adapting or specifying a respective receiving position of the clamping jaws 12 and 14 so that all articles 2 can be completely clamped and no received article 2 protrudes beyond the clamping jaws 12 and 14 opposite to the transport direction TR.

[0063] According to Fig. 1B, the industrial robot has adjusted the receiving position for the clamping jaws 12 and 14 and has shifted them relative to each other in the transport direction TR. Fig. 1B shows that the last article 2' received is at least approximately flush with the clamping jaws 12 and 14 and is therefore firmly held between the clamping jaws 12 and 14 when the clamped articles 2 are subsequently shifted at an angle to the transport direction TR.

[0064] A comparison of Fig. 1A with Fig. 1B also shows that the clamping jaws 12 and 14 in Fig. 1B have only clamped six articles 2 and 2' respectively, instead of the seven articles 2 and 2' respectively detected in Fig. 1A. The control device S is therefore also able to select a number of the multiple articles 2 and 2' respectively intended for the respective acceptance from detected actual positions, so that the respective extension of the clamping jaws 12 and 14 in the transport direction TR is sufficient to be able to completely hold all of the respective multiple articles 2 between the clamping jaws 12 and 14 during acceptance, without a last article 2' protruding beyond the clamping jaws 12 and 14 opposite to the transport direction TR.

[0065] The exemplary embodiment of a system 1 illustrated in Fig. 1B, as well as the method steps described in connection with the exemplary embodiment, offer numerous advantages over embodiments known from the prior art. Thus, a system 1 according to Fig. 1B requires no work machines or conveyor belts that align the articles 2 before they are received by an industrial robot, in which the articles 2 have a predetermined and defined relative spacing from one another. The system 1 therefore has a straightforward design. Furthermore, the system 1 is characterized by its small footprint.

[0066] Furthermore, articles 2 do not need to be slowed down or accelerated before being received in order to create a defined distance between immediately consecutive articles 2. In system 1 according to Fig. 1B, articles 2 are distributed across several aisles with gentle handling.

[0067] Prior art systems in which a respective predefined distance between articles 2 is specified before the respective articles 2 enter the work area of ​​an industrial robot occasionally result in articles 2 unintentionally tipping or rotating when the relative distance is specified. Furthermore, the risk of unintentional tipping or an unintentional change in rotational orientation is lower in system 1 shown in Fig. 1B compared to such prior art systems.

[0068] The schematic representation in Fig. 2A shows again the system already shown in Fig. 1A, which is already known from the prior art. The representation in Fig. 2A makes it clear that for an article 2 to become accidentally released from the clamping jaws 12 and 14, it can be sufficient if the last article 2' extends only slightly beyond the clamping jaws 12 and 14 in the opposite direction to the transport direction TR, or if the last article 2' projects slightly beyond a rear end edge of the clamping jaws 12 and 14. However, the respective longitudinal extent of the clamping jaws 12 and 14 can, under certain circumstances, be sufficient to clamp the last article 2' together with the other articles 2 intended for receipt, provided the receiving position of the clamping jaws 12 and 14 is adjusted accordingly.

[0069] As described for Fig. 1B, the control device S has decided, at the position of the last article 2' according to Fig. 1B, that the longitudinal extent of the clamping jaws 12 and 14 is not sufficient to clamp the last article 2' together with the other articles 2. In contrast, the control device S in Fig. 2B has decided that the longitudinal extent of the clamping jaws 12 and 14 is sufficient to hold the last article 2' securely between the clamping jaws 12 and 14 with a corresponding adjustment or specification of the receiving position of the clamping jaws 12 and 14. As can be seen from Fig. 2B, the receiving position of the clamping jaws 12 and 14 was adjusted in each case by offsetting the clamping jaws 12 and 14 slightly opposite to the transport direction TR and the last article 2' is thereby at least approximately flush with the clamping jaws 12 and 14 when the plurality of articles 2 or2' have been gripped by the clamping jaws 12 and 14. In Fig. 2B, all of the articles 2 intended for clamped receipt could thus still be gripped by the clamping jaws 12 and 14, whereas in Fig. 1B the last article 2' remained on the horizontal conveyor device 15 for later receipt by the clamping jaws 12 and 14, and in Fig. 1B, therefore, only exactly six articles 2 or 2' were gripped by the clamping jaws 12 and 14.

[0070] Fig. 3 shows a schematic view of a further embodiment of a system 1 according to the invention and illustrates steps as they can be provided in various embodiments of a method according to the invention. The system 1 comprises two inlets 3. Via each inlet 3, articles 2, which are also formed by beverage containers 4, are moved along exactly one row in the direction of the work areas of industrial robots 18 and 19 (cf. Fig. 4) shown in Fig. 3 with reference to numbers 32 and 34. The industrial robots 18 and 19 are not shown in Fig. 3. The industrial robots 18 and 19 can be delta kinematic robots 28 and 29, as shown in Fig. 4.

[0071] Both infeeds 3 move the respective articles 2 in the transport direction TR. The transport directions TR of the infeeds 3 are oriented parallel to each other. Each infeed 3 is assigned its own sensor system 25, with the sensors 25 being connected to the control device S. Via the respective sensor system 25, the control device S is able to detect the respective actual position of articles 2 when the respective articles 2 are moved past the respective sensor system 25 via the respective infeed 3.

[0072] Once the control device S has detected the respective actual positions of the articles 2 that are to be received by the gripping tools 23 of the industrial robots 18 and 19, the control device S specifies a respective receiving position for the gripping tools 23 for receiving a plurality of articles 2 and controls the respective industrial robot 18 or 19 so that the respective industrial robot 18 or 19 moves its respective gripping tool 23 into the respective receiving position and receives a plurality of articles 2 via its respective gripping tool 23, wherein the respective gripping tool 23 is in the respective receiving position. The gripping tools 23 can each be clamping jaws 12 and 14, as already shown and described previously in relation to Figures 1B and 2B. The receiving positions can be designed in accordance with the previous description in relation to Figures 1B and 2B in order to ensure that no article 2 orno last article 2' protrudes beyond the clamping jaws 12 and 14 in the transport direction TR or opposite to the transport direction TR and is thereby firmly held by the clamping jaws 12 and 14 when the industrial robot 18 or 19 manipulates article 2 or 2' via the respective gripping tool 23.

[0073] In the embodiment of a system 1 according to Fig. 3, it is provided that the working areas 32 and 34 of the industrial robots 18 and 19 do not overlap. The working areas 32 and 34 of the industrial robots 18 and 19 are offset from one another in the transport direction TR. Furthermore, it can be seen in Fig. 3 that the industrial robot 18 to which the working area shown in reference with number 32 is assigned exclusively receives articles 2 by clamping, which are made available to this industrial robot 18 via the upper inlet 3 of the two inlets 3. In contrast, the industrial robot 19 to which the working area shown in reference with number 34 is assigned exclusively receives articles 2 by clamping, which are made available to this industrial robot 19 via the lower inlet 3 of the two inlets 3.

[0074] The industrial robots 18 and 19, to which the work areas 32 and 34 are assigned, are operatively connected to one another via the control device S in such a way that each of the two industrial robots 18 and 19 can take over the tasks of the other industrial robot 18 and 19 if one of the two industrial robots 18 or 19 fails due to a malfunction or has to be temporarily shut down for other reasons.

[0075] Via the industrial robots 18 and 19, several articles 2 are each received in a clamping manner and moved relative to the transport direction TR in such a way that the respective articles 2 are then aligned with a specific aisle from the several aisles of the outlet 5. In the present case, exactly four aisles are formed in the area of ​​the outlet 5, into which the articles 2 or beverage containers 4 are distributed in identical numbers. The articles 2 are guided via the outlet 5 towards another work machine, which can, for example, apply packaging to the respective several articles 2. Depending on the subsequent processing, it may be necessary or expedient for one of the aisles to be supplied with a larger number of articles 2 per unit of time than the other aisles.The control device S can be capable of controlling the industrial robots 18 and 19 such that the distribution of the articles 2 to the aisles of the outlet 5 is coordinated with subsequent further processing of the articles 2. For example, an aisle can be supplied over a certain period of time with a number of articles 2 that is 10% higher than the number of articles 2 in the other aisles.

[0076] An aisle in the area of ​​the outlet 5 is formed by a respective pair of aisle plates or partition walls, which guide the articles 2 in the area of ​​the outlet 5. For reasons of clarity, such aisle plates or partition walls are not shown in Fig. 3.

[0077] In the embodiment according to Fig. 3, the relative spacing 20 formed by the respective articles 2 in the region of the inlet 3 is essentially maintained when the respective articles 2 are clamped by the respective industrial robot 18 or 19, respectively, then offset obliquely to the transport direction TR and moved in the lanes of the outlet 5. This is the case because a transport speed of a horizontal conveyor device 15 formed as a component of the inlet 3 and a transport speed of a horizontal conveyor device 16 formed as a component of the outlet 5 are identical.

[0078] However, for subsequent processing of the articles 2 moved via the outlet 5, it may be necessary for a small relative spacing or even no relative spacing to be established between successive articles 2. If this is appropriate or necessary, the control device S can, in this case, reduce the transport speed of the horizontal conveyor 16 in order to reduce the relative spacing 20 or even to accumulate articles 2 in the area of ​​the outlet 5, so that successive articles 2 in the area of ​​the outlet 5 are brought into surface contact with one another.

[0079] In order for the articles 2 to reach the outlet 5 at a predetermined time, the control device S is able to adjust a speed for the respective gripping tool 23 so that manipulation of the articles 2 or displacement of the articles 2 obliquely to the transport direction TR is completed at a predetermined time. An increased speed for the respective gripping tool 23 may therefore be necessary if the receiving position for the gripping tool 23 is corrected according to Fig. 1B or Fig. 2B, wherein the gripping tool 23 is displaced opposite to the transport direction TR. A reduced speed for the respective gripping tool 23 may therefore be necessary if the receiving position for the gripping tool 23 is corrected, wherein the gripping tool 23 is displaced in the transport direction TR.The control device S is therefore able, taking into account the detected actual positions of articles 2, to determine a corresponding movement speed for the gripping tool 23 with which an oblique offset to be carried out for article 2 relative to the transport direction TR can be completed at a predetermined time.

[0080] Just like the system 1 described in Figures 1B and 2B, the system 1 according to Figure 3 is characterized by the previously mentioned advantages. In particular, it has a compact design, since a specification of the relative distance 20 between successive articles 2 via conveyor belts is not necessary, and the articles 2 can be fed to the work areas 32 and 34 via the respective inlet 3 with any desired relative distance 20.

[0081] Fig. 4 shows individual aspects as they can be provided in various embodiments of a system 1 according to the invention and when implemented in various embodiments of the method according to the invention. In particular, Fig. 4 shows an exemplary embodiment for two industrial robots 18 and 19, which can be configured as part of an embodiment of a previously described system 1.

[0082] The industrial robots 18 and 19 each have three articulated arms 16, which are attached to a respective robot base 36 and execute a coordinated movement in order to be able to move a gripping tool 23. The gripping tool 23 is arranged on a respective gripper base 38. The industrial robots 18 and 19 are thus designed as delta kinematic robots 28 and 29, respectively, and are each connected to the control device S. In this case, the respective gripping tool 23 consists of two clamping jaws 12 and 14, which can execute a respective feed movement for the clamping receipt of multiple articles 2.

[0083] In alternative embodiments, the gripping tool 23 can also be a pneumatic gripping tool or another gripping tool. It is also possible that only one of the industrial robots 18 or 19 comprises such a gripping tool 23, which is formed by two clamping jaws 12 and 14, and that another industrial robot 18 or 19 comprises a gripping tool that does not comprise such clamping jaws.

[0084] Figures 5A and 5B show a further embodiment of a system 1 according to the invention and illustrate individual steps as they can be provided in various embodiments of a method according to the invention. In the embodiment of a system 1 according to Figures 5A and 5B, a sensor system 25 is also provided, which is connected to the control device S. With the aid of the sensor system 25, the control device S can detect the respective actual positions of the articles 2 as they are moved past the sensor system 25. The control device S is thus connected to the sensor system 25. In the system 1 according to Figures 5A and 5B, the articles 2 are moved along exactly one row in the transport direction TR. However, the system 1 according to the embodiment according to Figures 5A and 5B is also suitable in principle for clamping and manipulating articles 2 that are moved along several parallel rows.

[0085] The gripping tool 23 of the embodiment according to Figures 5A and 5B further comprises two clamping jaws 12 and 14, which can perform a feed movement in order to clamp several articles 2 together. The gripping tool 23 also comprises a stop 39, which is firmly connected to one of the two clamping jaws 12 or 14. A longitudinal extension of the stop 39 is oriented perpendicularly or substantially perpendicularly to the transport direction TR of the inlet 3.

[0086] As can be seen from a combination of Fig. 5A and Fig. 5B, the respective articles 2 intended for clamped receipt are first accumulated over the stop 39 and thereby come into surface contact with a respective article 2 leading in the transport direction TR, until all articles 2 intended for receipt have made contact with a respective leading article 2. The control device S can deduce from the previously detected actual position of the last article 2' to be received when this last article 2' comes into surface contact with the leading article 2 and in doing so ends up at least approximately flush with the two clamping jaws 12 and 14. At this point in time, which is known to the control device S due to the previously detected actual positions, the control device S causes an advancing movement of the clamping jaws 12 and 14, whereby the articles 2 and 2 which are largely adjacent to one another are then clamped together.2' are gripped via the clamping jaws 12 and 14. Following this, the articles 2 or 2' are displaced obliquely to the transport direction TR and reach a respective orientation in which the articles 2 or 2' are aligned with a specific lane of several lanes of an outlet 5 (cf. Fig. 3). If it should be necessary for subsequent processing of the articles 2 already manipulated via the gripping tool 23 that a relative distance is formed between the articles 2, the outlet 5 can comprise a horizontal conveyor device 16 (cf. Fig. 3) which is operated at an increased transport speed to create a defined relative distance between successive articles 2.

[0087] Figures 6A to 6C show a further embodiment of a system 1 according to the invention and illustrate individual steps as they can be provided in various embodiments of a method according to the invention. In the embodiment according to Figures 6A to 6C, the control device S also detects the respective actual position of a respective article 2 via the sensor system 25 when the respective article 2 passes the detection range of the sensor system 25 or when the respective article 2 is moved through the detection range of the sensor system 25.

[0088] Taking the detected actual positions into account, the control device S in Fig. 6A has initiated an advancing movement of the clamping jaws 12 and 14, so that exactly three articles 2 are held by the clamping jaws 12 and 14 and are temporarily decelerated relative to following articles 2 or even temporarily come to a standstill. The following articles 2 thus approach the exactly three articles 2 held by the clamping jaws 12 and 14. If a leading article 2 of the following articles 2 is in close proximity to the articles 2 held by the clamping jaws 12 and 14, or if a following article 2 even strikes one of the articles 2 held by the clamping jaws 12 and 14, the clamping jaws 12 and 14 are briefly accelerated together with the three held articles 2 until the speed of the held articles 2 corresponds to a speed of the trailing articles 2.

[0089] The clamping jaws 12 and 14 are then opened again and moved into a receiving position in which all articles 2 or 2' intended for receipt are located between the clamping jaws 12 and 14 as shown in Fig. 6C, and a last article 2' intended for receipt is approximately flush with the clamping jaws 12 and 14. Subsequently, the clamping jaws 12 and 14 are closed again, whereby all articles 2 or 2' intended for clamped receipt are held by the clamping jaws 12 and 14.

[0090] Starting from the position according to Fig. 6C, the gripping tool 23 can now displace the clamped articles 2 obliquely to the transport direction TR and thereby bring them into a position in which these clamped articles 2 are aligned with a specific lane out of several lanes of an outlet 5 (cf. Fig. 3).

[0091] Figures 7A to 7D show the embodiment of system 1 according to Figures 6A and 6B and illustrate further steps that can be provided in various embodiments of a method according to the invention. With system 1, defined relative distances 20 (cf. Fig. 7C) can be established between consecutive articles 2. As already mentioned above, the control device S, with the aid of the sensor system 25, detects the actual positions of all articles 2 as they move through the detection range of the sensor system 25.

[0092] A comparison of Fig. 7A with Fig. 7B shows that the gripping tool 23 is initially moved into a position in which exactly two articles 2 are located between the clamping jaws 12 and 14. The gripping tool 23 then executes an advancing movement of its clamping jaws 12 and 14, so that exactly two articles 2 are held by the gripping tool 23. The control device S then initiates an accelerated movement of these clamped articles 2 in the transport direction TR, whereby a defined relative spacing 20 is formed between the still held articles 2 and subsequent articles 2 (cf. Fig. 7C).

[0093] The clamping jaws 12 and 14 are then opened again, and the gripping tool 23 is moved in the direction of additional articles 2 to be received, until two additional articles 2 are located between the clamping jaws 12 and 14, as shown in Fig. 7C. The clamping jaws 12 and 14 then perform another feed movement, gripping the two articles 2 already gripped as well as the additional articles 2 now arranged between the clamping jaws 12 and 14. The gripping tool 23 also accelerates these additional articles 2 relative to trailing articles 2, so that these articles 2 also form a defined relative distance 20 relative to trailing articles.

[0094] After the clamping jaws 12 and 14 have been opened again, the gripping tool 23 is again moved in the direction of further articles 2 or 2' to be received, which encompass the last article 2' to be received (Fig. 7D). By a renewed advancing movement of the clamping jaws 12 and 14, these articles 2 or 2' are also received by the clamping jaws 12 and 14, with a last article 2' being flush or at least approximately flush with the clamping jaws 12 and 14. The articles 2 or 2' can then be manipulated with the established relative distances 20 and brought into an alignment in which the articles 2 or 2' are aligned with one of several aisles of an outlet 5 (cf. Fig. 3).

[0095] In Fig. 8, the speed of an industrial robot 18 or 19 is compared with the speed of a horizontal conveyor device that moves articles 2 when articles 2 are located in a work area 32 or 34 (see Fig. 3) of the respective industrial robot 18 or 19 (see Fig. 4). The corresponding speed can be provided in various embodiments of a system 1 according to the invention as well as in various embodiments of a method according to the invention.

[0096] In zone 1 shown in Fig. 8, a respective industrial robot 18 moves its respective gripping tool 23 at a speed corresponding to a belt speed of a horizontal conveyor on which articles 2 stand when they are located in the working area 32 or 34 of the respective industrial robot 18 or 19. When the gripping tool 23 is located in zone 1, clamping jaws 12 and 14 formed as part of the gripping tool 23 perform a feed movement so that one article 2 or more articles 2 located between the clamping jaws 12 and 14 are gripped by the clamping jaws 12 and 14.

[0097] When the gripping tool 23 reaches zone 2, the movement speed of the gripping tool 23 is gradually reduced, causing articles 2 that follow the articles 2 still gripped by the clamping jaws 12 and 14 to approach these still-gripped articles 2. Once the still-gripped articles 2 have reached a defined relative distance from the respective articles 2 that follow the still-gripped articles 2, the gripping tool 23 is accelerated in zone 2 so that its movement speed again corresponds to the belt speed. The clamping jaws 12 and 14 are also opened in zone 3.

[0098] In zone 4, the gripping tool 23 is braked again or the speed of the gripping tool 23 is reduced again compared to the belt speed, so that the articles 2 previously located between the clamping jaws 12 and 14 remain arranged between the clamping jaws 12 and 14 and further articles 2 or 2' move between the clamping jaws 12 and 14. In zone 5, the gripping tool 23 is accelerated so that its speed corresponds to the belt speed. The clamping jaws 12 and 14 carry out an infeed movement in zone 5 and grip all articles 2 and 2' arranged between the clamping jaws. A last article 2' is flush with the clamping jaws 12 and 14 so that all articles 2 or 2' arranged between the clamping jaws 12 and 14 are held securely by the clamping jaws 12 and 14 and do not protrude beyond the clamping jaws 12 and 14 opposite to the transport direction TR.

[0099] The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or variations of the invention can be made without departing from the scope of the following claims.

[0100] List of reference symbols

[0101] 1 system

[0102] 2 articles

[0103] 2' last article

[0104] 3 Inlet

[0105] 4 beverage containers

[0106] 4' last beverage container

[0107] 12 clamping jaw

[0108] 14 clamping jaw

[0109] 15 Horizontal conveyor (inlet 3)

[0110] 16 Articulated arm

[0111] 17 Horizontal conveyor (outlet 5)

[0112] 18 industrial robots / first industrial robot

[0113] 19 industrial robots / second industrial robot

[0114] 20 relative distance

[0115] 23 Gripping tool

[0116] 25 Sensor technology

[0117] 28 delta kinematic robots

[0118] 29 delta kinematic robots

[0119] 32 work area (first industrial robot 18)

[0120] 34 work area (second industrial robot 19)

[0121] 36 Robot Base

[0122] 38 Gripper base

[0123] 39 stop

[0124] 5 Control device

[0125] TR transport direction

Claims

Claims 1. A method for receiving and manipulating articles (2, 2') via at least one industrial robot (18, 19), the method comprising the following steps: - moving articles (2, 2') along at least one row into a working area (32, 34) of an industrial robot (18, 19) or into working areas (32, 34) of several industrial robots (18, 19), wherein immediately consecutive articles (2, 2') of a respective row form different relative spacings (20) from one another and - a control device (S) is provided which, via at least one sensor system (25), detects a respective actual position of a respective article (2, 2') while the respective article (2, 2') is moved along the respective row, wherein it is provided that a) the control device (S) specifies a defined receiving position, in which the detected actual positions are taken into account, for at least one gripping tool (23) of at least one industrial robot (18, 19) for receiving at least one article (2, 2') and controls the respective at least one industrial robot (18, 19) so that the respective at least one industrial robot (18, 19) moves its respective gripping tool (23) into the respective predetermined receiving position and receives the at least one article (2, 2') via its gripping tool (23) located in the predetermined receiving position and then manipulates it and / or wherein it is providedthat b) the control device (S) controls at least one industrial robot (18, 19) taking into account the detected actual positions, so that the at least one industrial robot (18, 19) adapts a relative spacing (20) previously formed between these multiple articles via its gripping tool (23) during or before receiving a plurality of articles (2, 2') and manipulates the respective articles (2, 2') then received via its gripping tool (23) in the adapted relative spacing (20).

2. Method according to claim 1, in which the control device (S) defines a recording position, in which the detected actual positions are taken into account, for at least one gripping tool (23) of the at least one industrial robot (18, 19) is specified for receiving a plurality of articles (2, 2') in each case and, taking into account the detected actual positions, also selects a number of the plurality of articles (2, 2') intended for the respective receipt and controls the respective at least one industrial robot (18, 19) so that the respective at least one industrial robot (18, 19) moves its respective gripping tool (23) into the respective specified receiving position and receives the respective plurality of articles (2, 2') with the selected number via its gripping tool (23) which is located in the specified receiving position and then manipulates them.

3. Method according to claim 1 or claim 2, in which the control device (S) adjusts the defined receiving position for the at least one gripping tool (23) of at least one industrial robot (18, 19) to the article (2, 2') intended for the respective receipt, which is arranged last in a transport direction (TR), and wherein it is provided in particular that the defined receiving position is predetermined such that the article (2, 2') arranged last in the transport direction (TR) and the gripping tool (23) are flush or at least approximately flush with one another perpendicular to the transport direction (TR) when the at least one article (2, 2') is received.

4. Method according to one of claims 1 to 3, in which at least one gripping tool (23) of at least one industrial robot (18, 19) comprises a stop (39) via which the respective industrial robot (18, 19) accumulates the respective plurality of articles (2, 2') before receiving the respective plurality of articles (2, 2'), so that the respective plurality of articles (2, 2') are subsequently in surface contact with one another, whereupon the plurality of articles (2, 2') still in surface contact are then clamped and subsequently manipulated by the respective at least one gripping tool (23).

5. Method according to one of claims 1 to 4, in which the at least one industrial robot (18, 19) adjusts the respective previously formed relative spacing (20) between the respective plurality of articles (2, 2') by the at least one industrial robot (18, 19) using its gripping tool (23) to grip at least one article (2, 2') of the plurality of articles (2, 2') and accelerates or decelerates it relative to further articles (2, 2') of the respective plurality of articles (2, 2'), and subsequently releases it again, subsequently receives it together with the remaining several articles (2, 2') and then manipulates them.

6. Method according to one of claims 1 to 5, in which articles (2, 2') are moved along a plurality of rows into working areas (32, 34) of a first industrial robot (18) and a second industrial robot (19), which receive and manipulate articles (2) of the plurality of rows in a coordinated manner and wherein the first industrial robot (18) takes over the receipt and manipulation of articles (2) for the second industrial robot (19) when the second industrial robot (19) is taken out of operation or fails due to a malfunction.

7. Method according to claim 1 or claim 6, wherein the at least one industrial robot (18, 19) receives at least one article (2, 2') or a plurality of articles (2, 2') several times and distributes them to different aisles as part of the manipulation in such a way that each aisle of the plurality of aisles is supplied with a predetermined number of articles (2, 2') and in particular that each aisle of the plurality of aisles is supplied with a number of articles (2, 2') that remains constant over time.

8. Method according to claim 7, wherein the predetermined number is selected before a distribution of the articles (2, 2') to the plurality of aisles and is designed differently for the plurality of aisles.

9. Method according to claim 7, wherein each lane of the plurality of lanes is supplied with a constant number of articles (2, 2') over time.

10. The method according to any one of claims 1 to 9, wherein the one industrial robot (18, 19) is a delta kinematic robot (28, 29) or wherein the plurality of industrial robots (18, 19) are delta kinematic robots (28, 29).

11. Method according to one of claims 1 to 10, wherein the control device (S) has information at a respective point in time for the completion of a respective manipulation via the respective gripping tool (23) and wherein the control device (S) controls the respective industrial robot (18, 19) in accordance with the detected actual positions to move the respective gripping tool (23) at a defined speed with which the respective industrial robot (18, 19) completes the respective manipulation at the respective time using its respective gripping tool (23).

12. System (1) for receiving and manipulating articles (2, 2'), comprising - an industrial robot (18, 19) with at least one gripping tool (23) or several industrial robots (18, 19) each with at least one gripping tool (23), - an inlet (3) via which articles (2, 2') moved along at least one row can be moved into a working area (32, 34) of the one industrial robot (18, 19) or working areas (32, 34) of the several industrial robots (18, 19) and - at least one sensor system (25) and a control device (S) which, with the aid of the at least one sensor system (25), can detect a respective actual position of a respective article (2, 2') moved in the area of ​​the inlet (3), wherein it is provided that a) the control device (S) is designed to specify a defined receiving position for at least one gripping tool (23) of at least one industrial robot (18, 19), in which defined receiving position the detected actual positions are taken into account and wherein the control device (S) is designed to control the at least one industrial robot (18, 19) in such a way that the at least one industrial robot (18, 19) thereby moves its respective gripping tool (23) into the respective predetermined receiving position and the at least one article (2,2') via its gripping tool (23) located in the predetermined receiving position and then manipulates it, and / or wherein it is provided that b) the control device (S) is designed, taking into account the detected actual positions, to control at least one industrial robot (18, 19) in such a way that the respective industrial robot (18, 19), during or before receiving a plurality of articles (2, 2'), adjusts a relative spacing previously established between these plurality of articles (2, 2') via its respective gripping tool (23) and manipulates the respective articles (2, 2') then received via its gripping tool (23) in the adjusted relative spacing.

13. System (1) according to claim 12, wherein at least one gripping tool (23) of the at least one industrial robot (18, 19) comprises a stop (39) for accumulating a plurality of articles (2, 2') still to be received via the at least one gripping tool (23).

14. System (1) according to claim 12 or claim 13, wherein the at least one Industrial robot (18, 19) is formed by at least one delta kinematic robot (28, 29).

15. System according to one of claims 12 to 14, comprising a first industrial robot (18) and a second industrial robot (19) which are designed for the coordinated receipt and manipulation of articles (2, 2') moved in a plurality of rows, wherein the first industrial robot (18) is configured and equipped such that the first industrial robot (18) can take over a respective receipt and manipulation of articles (2, 2') intended for the second industrial robot (19) if the second industrial robot (19) is taken out of operation or fails due to a malfunction.

16. Use of a system (1) according to one of claims 12 to 15 for receiving and manipulating articles (2, 2') which are beverage containers (4, 4').

Images