Apparatus for the external format change of a palletizing robot head, palletizing system, and method for the format change of a palletizing robot head

Abstract

The invention relates to an apparatus (100) for the external format change of a palletizing robot head (200), wherein the apparatus (100) comprises the following: a driving device (110) which is designed to drive the palletizing robot head (200) in the case of a movement; and a motorized adjusting device (120) for moving the driving device (110) in an adjusting direction, wherein the driving device (110) and the motorized adjusting device (120) are formed externally with respect to the palletizing robot head (200). The invention also relates to a palletizing system (1000) and a method for the format change of a palletizing robot head (200).

Description

[0001] Device for external format change of a palletizing robot head, palletizing system and method for format change of a palletizing robot head

[0002] Technical area

[0003] The invention relates to a device for external format change of a palletizing robot head. Furthermore, the invention relates to a palletizing system with a palletizing robot head and a corresponding device for external format change. Furthermore, the invention relates to a method for format change of a palletizing robot head.

[0004] State of the art

[0005] Palletizers are used to palletize layers of similar or similarly shaped items, such as beverage containers. To do this, the similar or similarly shaped items, especially containers, or even entire packages, are arranged into a palletizable layer. The resulting layers can be stacked or palletized with the palletizer to form a pallet stack.

[0006] A palletizing robot head, a palletizing robot, and a corresponding method are known from US 2020 / 0062518 A1. The palletizing robot head has a gripping device, an upper cushion, and support layers. To pick up a layer, the layer is first contacted on an upper side by the upper cushion, then gripped and lifted by the gripping device. The support layers are then moved beneath the lifted layer to support the layer. Typically, the palletizable layers must be centered before stacking to ensure precise arrangement and / or alignment on the pallets. Centering devices are used for this purpose, which can also be implemented as part of the palletizing robot head, for example.

[0007] The palletizing robot head and / or the centering devices must be sized to suit the layers to be handled. When changing products, it may therefore be necessary to adapt the palletizing robot head or the centering device, especially its centering elements, to the new product in question. In particular, the gripping width and / or length of the palletizing robot head or the centering device must be adjusted.

[0008] This adjustment is usually done manually by an operator who sets the new desired dimension accordingly. The disadvantage is that such manual adjustment is time-consuming and error-prone.

[0009] Therefore, attempts have been made in the prior art to simplify the format change of palletizing robot heads or centering devices. For example, DE 10 2019 128 026 A1 discloses a centering device in which centering elements, in particular centering bars, can be adjusted automatically. For this purpose, the centering device itself has drive devices that serve to carry out the format change.

[0010] However, these drive devices result in more complex and heavier centering devices or palletizing robot heads.

[0011] Description of the invention

[0012] The invention is therefore based on the object of providing a device for changing the format of a palletizing robot head that eliminates the above-mentioned problems and disadvantages of the prior art. Furthermore, the object of the present invention is to provide a palletizing system and a method for changing the format of a palletizing robot head that also eliminate the above-mentioned problems and disadvantages of the prior art.

[0013] These objects are achieved by the subject matter of the independent claims. Further possible embodiments of the invention are specified in particular in the dependent claims.

[0014] The solution according to the invention consists in particular in specifying a device for external format changes of a palletizing robot head. According to the invention, the device has a driving device which is designed to drive the palletizing robot head along when it moves. According to the invention, the device further has a motorized adjusting device for moving the driving device in an adjusting direction. When the driving device is moved in the adjusting direction by means of the motorized adjusting device, it is designed to drive the palletizing robot head along, i.e. to also move it in the adjusting direction. According to the invention, the driving device and the motorized adjusting device are designed externally of the palletizing robot head.

[0015] The palletizing robot head has an assembly which is designed to accommodate at least one layer to be palletized. In the event of a format change, i.e. when layers of a different format to be palletized are to be accommodated, the format of the first assembly must be changed accordingly. Typically, the format is square, so that in particular the length and / or the width of the format are changed. The length is in particular a direction in the transport direction of the layer to be palletized, for example the conveying direction of a conveyor belt that transports the layer to be palletized. The width runs perpendicular to the length, for example in the direction of the belt width of the conveyor belt. When the driving device moves the palletizing robot head, it moves in particular the first assembly or parts of the first assembly. The movement transmitted to the palletizing robot head is a format change movement.

[0016] The first assembly can, in particular, comprise centering elements, preferably centering plates. More generally, the palletizing robot head comprises corresponding centering elements.

[0017] Particularly preferably, the driving device is designed to drive the first assembly, in particular centering elements thereof, during a movement.

[0018] Independently of this, the centering elements can be designed, in particular, as centering frames for receiving the at least one layer to be palletized. The centering frame is preferably designed to move the layer to be palletized.

[0019] The centering frame can be designed such that at least one layer to be palletized can be laterally framed by it. In particular, the centering frame can have corresponding centering elements in front of, behind, and on the lateral sides of the at least one layer to be palletized with respect to a loading direction.

[0020] The loading direction refers specifically to the transport direction of the layer to be palletized. The loading direction is also referred to as the longitudinal direction. The direction perpendicular to this is referred to as the transverse direction. The transverse direction is preferably the adjustment direction.

[0021] The carrier device therefore preferably moves in the transverse direction.

[0022] Therefore, the longitudinal sides of the palletizing robot head can be adjusted using the drive device. In particular, the drive device can be used to move the centering elements located on one of the sides of the layer to be palletized.

[0023] The layer to be palletized can, for example, comprise one or more containers and / or packages. Containers are formed as a single piece or from several parts firmly connected to one another. Each container preferably has a hollow space inside and is designed to separate this hollow space from the surroundings. The containers can, for example, be containers for storing food and / or liquid, viscous, or pasty substances. The containers are particularly preferably cans or bottles. Independently of this, the package can comprise containers, wherein the containers can be joined together to form the package, e.g., glued, packaged, and / or connected. The layer to be palletized can be formed from an arrangement of several rows of containers and / or packages.

[0024] The device is designed to enable an external format change of the palletizing robot head. The format change thus takes place from outside the palletizing robot head. For this purpose, the carrier device and the motorized adjustment device are designed externally of the palletizing robot head. This means that they are designed separately from the palletizing robot head in such a way that the weight of the carrier device and / or the motorized adjustment device does not have to be borne when the palletizing robot head is lifted. In other words, the carrier device and the motorized adjustment device are not designed as parts of the palletizing robot head.

[0025] The device for external format change thus has the advantage of enabling automatic format changes of the palletizing robot head. At the same time, however, no additional design effort is required to implement the format change internally on the palletizing robot head. Instead, this is carried out by elements not located on the palletizing robot head. This also has the advantage that the palletizing robot head can be designed simply and with low weight. Small and lightweight pneumatic cylinders are particularly sufficient for the working stroke used to lift the layer to be palletized. For example, these pneumatic cylinders are used to adjust the first assembly or parts of the first assembly, in particular the centering elements.

[0026] According to an advantageous development of the invention, the driving device has a driving element with which the palletizing robot head can be brought into contact.

[0027] In particular, the carrier element extends upward from the carrier device. The upward direction is perpendicular to the longitudinal direction and perpendicular to the transverse direction. This also means that the palletizing robot head can be brought into contact with the carrier device by lowering it. A contact state is understood to mean a state in which the palletizing robot head is also moved when the carrier device is moved.

[0028] In particular, the first assembly or a centering element thereof comes into contact with the carrier element. The centering element or the first assembly, or more generally the palletizing robot head, has a corresponding recess designed to accommodate the carrier element.

[0029] In an advantageous further development of the invention, the driving element is designed as a driving dome.

[0030] As a conical body, the mandrel can compensate for a certain offset between the carrier device and the palletizing robot head.

[0031] According to an advantageous development of the invention, the device comprises a position detection device for detecting a position of the carrier device relative to the palletizing robot head. In particular, the carrier device comprises the position detection device.

[0032] The position detection device is preferably designed to detect a contact position of the carrying device, from which the palletizing robot head can be brought into contact with the carrying device by means of a linear movement.

[0033] In particular, the movement is a lowering movement and the palletizing robot head preferably comes into contact with the carrier element.

[0034] In particular, the palletizing robot head comes into contact with the carrier element in order to be transportable, i.e. displaceable, by means of the carrier device.

[0035] According to an advantageous development of the invention, the position detection device has an optical sensor device.

[0036] In particular, the optical sensor device is a reflection sensor. The reflection sensor is designed to detect light rays reflected by a reflector.

[0037] For example, the light source that emits the light beam is arranged on the carrier device. Furthermore, the reflector that reflects the light beam is arranged on the palletizing robot head, in particular on the first assembly or the centering element.

[0038] The light source particularly preferably emits the light beam upwards.

[0039] Independently of this, the device can comprise a drag chain, by means of which, for example, cables and lines can be safely guided to the carrier device. For example, the light source can be supplied via cables guided in this way. In an advantageous development of the invention, the carrier device comprises an elongated, in particular rod-shaped, guide element. The guide element preferably extends in the longitudinal direction. Thus, the guide element is aligned parallel to the two lateral sides of the layer to be palletized. Furthermore, the guide element is independently aligned perpendicular to the adjustment direction of the carrier device.

[0040] Preferably, the driving element is formed on the guide element, particularly preferably attached to the guide element.

[0041] According to an advantageous further development of the invention, the motorized adjustment device comprises two transmission bodies. The transmission bodies are preferably spaced apart from one another. Furthermore, the transmission bodies are designed to transmit a movement to the driving device.

[0042] In particular, the transmission bodies are designed to transmit a movement generated by the motorized adjustment device to the driving device.

[0043] In particular, each of the transmission bodies is designed to transmit a movement to the carrier device. In particular, the two transmission bodies are designed to synchronously transmit a movement to the carrier device.

[0044] The transmission bodies preferably have a main direction of extension. The main direction of extension of the transmission bodies runs in the adjustment direction, i.e., preferably in the transverse direction. Thus, the main direction of extension of the transmission bodies runs in the direction of movement of the driving device.

[0045] Independently of this, the transmission bodies are spaced apart from one another in the longitudinal direction. This results in force transmission at two points on the carrier device that are spaced apart in the longitudinal direction. Particularly preferably, the transmission bodies are designed to transmit movement to the guide element of the carrier device. For this purpose, the transmission bodies are preferably connected to the guide element. For example, the transmission bodies are attached to the guide element.

[0046] In an advantageous development of the invention, the transmission bodies are designed in the shape of rods, in particular as toothed racks.

[0047] The racks can be used to transmit the movement to the driving device via a rack drive. The rack is essentially a straight machine element with a series of raised sections, the teeth, into which a motor-driven gear meshes. The drive is independent of the gears, preferably by an electric motor.

[0048] In principle, however, a drive using hydraulic cylinders or pneumatic cylinders would also be possible.

[0049] According to an advantageous development, the palletizing robot head has a centering element, preferably a centering plate. The position of the centering element is adjustable during format changes. The device preferably has a blocking device, which can be arranged, in particular, on the palletizing robot head. The blocking device is preferably designed to enable and / or block, in particular selectively, an adjustment of the position of the centering element.

[0050] In other words, a format change can be released and / or blocked using the blocking device.

[0051] The blocking device is preferably arranged directly on the palletizing robot head. It can enable and / or block a movement or adjustment of the corresponding centering element relative to the rest of the palletizing robot head or another centering element. Independently of this, the blocking device is preferably released and blocked automatically, in particular by motorization. Particularly preferably, the blocking device is released and blocked pneumatically.

[0052] In an advantageous further development, the blocking device has a blocking rod.

[0053] Preferably, the blocking rod extends in the adjustment direction of the corresponding centering element. Thus, a distance between a corresponding centering element and the rest of the palletizing robot head can be fixed, i.e., blocked, using a length-adjustable blocking rod.

[0054] Furthermore, the task is solved by means of a palletizing system with a palletizing robot head and one of the aforementioned devices for external format change of the palletizing robot head. Since the device used is one of the aforementioned devices, all individual aspects and advantages of the individual devices are transferable here.

[0055] Preferably, the palletizing system comprises two of the aforementioned devices.

[0056] In particular, the two devices can be arranged on two opposite sides of the palletizing robot head. Particularly preferably, the two devices are arranged on two lateral sides, i.e., long sides, of the palletizing robot head. This means that the two long sides of the palletizing robot head or the first assembly, in particular the respective centering elements thereof, can be displaced by means of the two devices.

[0057] By rotating the palletizing robot head around a rotation axis perpendicular to the longitudinal direction and the transverse direction, the palletizing robot head can, for example, be rotated in such a way that a format change is also possible on the two other sides, namely the former front side and the former back side.

[0058] For example, all four sides of the palletizing robot head can be changed using two devices for external format change. Developing this idea further, it is also possible to change all four sides of the palletizing robot head using just one device for external format change.

[0059] Furthermore, the object is achieved by means of a method for changing the format of a palletizing robot head. The method preferably takes place using one of the aforementioned devices. Independently of this, the method comprises the following method steps: moving, in particular lowering, the palletizing robot head, in particular a centering element thereof, to contact a carrier device. The lowering of the palletizing robot head takes place in particular by means of a drive of the palletizing robot head, for example, by means of a robot arm of the palletizing robot head.

[0060] The method further comprises the following step: moving the carrier device together with the centering element to adjust the palletizing robot head, in particular the centering element thereof. The carrier device is particularly preferably moved by means of one of the aforementioned motorized adjustment devices.

[0061] The method further comprises the following method step: moving, in particular lifting, the palletizing robot head, in particular the centering element thereof, to separate the contact between the carrier device and the palletizing robot head, in particular the centering element thereof. After the centering element has been moved together with the carrier device during the format change, the carrier device is separated from the centering element. In particular, the separation takes place after the

[0062] Centering element has been adjusted to the new format.

[0063] According to an advantageous development of the invention, the adjustment of the centering element is released before the driving device is moved. The adjustment of the centering element is released in particular by means of one of the aforementioned blocking devices. Preferably, after the driving device is moved, the adjustment of the centering element is blocked. The adjustment of the centering element is also preferably blocked by means of one of the aforementioned blocking devices.

[0064] Since one of the aforementioned devices for external format change of the palletizing robot head can be used in the process, all individual aspects and advantages of the individual devices can be transferred accordingly.

[0065] Short description of the drawings

[0066] The various and exemplary features described above can be combined with one another according to the invention, provided this is technically reasonable and suitable. Further features, advantages, and embodiments of the invention will become apparent from the following description of exemplary embodiments and from the figures.

[0067] The figures used to explain the embodiments show:

[0068] Fig. 1 is a schematic representation of a palletizing system according to the invention,

[0069] Fig. 2 is a plan view of a palletizing robot head that can be used in the palletizing system shown in Fig. 1,

[0070] Fig. 3 is a schematic plan view of a device according to the invention for external format change of a palletizing robot head, and Fig. 4 is a detailed view of the device for external format change shown in Fig. 3.

[0071] Ways to implement the invention

[0072] Fig. 1 shows a palletizing system 1000. The palletizing system 1000 has a palletizing robot 300 with a palletizing robot head 200.

[0073] The palletizing robot head 200 has an assembly 210 which is designed to pick up, move and place a layer 400 to be palletized.

[0074] Fig. 1 schematically shows a first layer 400 to be palletized, which is located in front of the palletizing robot head 200. Next to the palletizing robot head 200, three layers that have already been moved are shown.

[0075] Fig. 2 shows a representation of the palletizing robot head 200. The palletizing robot head 200 comprises the assembly 210. The assembly 210 is designed here as a centering frame. The centering frame is also more generally referred to as a centering device.

[0076] The centrifugal frame has a plurality of centrifugal elements 211. The centrifugal elements 211 are elongated elements that form the centrifugal frame.

[0077] The centering frame is essentially rectangular and / or square in shape. The centering frame is designed to accommodate, i.e., hold, a layer to be palletized.

[0078] The centering frame has a long side and a wide side. The long side and the wide side are formed by the centering elements 211. In Fig. 2, the centering elements 211 are provided with reference numbers on one of the long sides of the centering frame or assembly 210. If the long side is moved in a direction parallel to the extension direction of the wide side, the width of the assembly 210 can be changed. Accordingly, the length of the assembly 210 can be changed by moving the centering elements 211 forming the wide sides in a direction parallel to the long side. Overall, the assembly 210 or the centering frame can thus be adapted to the format of a layer to be palletized.

[0079] The first assembly 210 or the centering frame has a drive 220. The drive 220 is designed to adjust at least one centering element 211 relative to the remaining palletizing robot head 200 or the other centering elements 211, in particular to grip or clamp at least one layer to be palletized. The drive 220, designated by a reference numeral in Fig. 2, is designed in particular to adjust the two centering elements 211 designated by reference numerals in a transverse direction of the palletizing robot head 200.

[0080] For example, as indicated in the figures, the drive 220 has guide rails along which the corresponding centering elements 211 can be moved. The drive 220 has only a small stroke and therefore serves only to handle the layers to be palletized and cannot be used to adjust the format.

[0081] In the embodiment shown in Fig. 2, each side of the centring frame is formed by two centring elements 211. The centring elements 211 are arranged parallel to each other and one above the other. Therefore, the centring frame is formed by eight centring elements 211 in total.

[0082] Furthermore, a blocking device 130 is provided, in particular formed, on the palletizing robot head 200. The blocking device 130 blocks the adjustment of the centering elements 211 by means of a blocking rod 131. This also means that the blocking device 130 must be released to adjust the centering elements 211. In particular, the blocking device 130 must be released during external adjustment of the centering elements 211, i.e., during an external format change of the palletizing robot head 200.

[0083] Recesses 212 can be seen in the centering elements 211 shown in Fig. 2.

[0084] As can be seen in Fig. 3, the recesses 212 of the centering elements 211 can be contacted by means of a driving element 111 of a driving device 110.

[0085] The carrying device 110 is part of a device 100 for external format change of the palletizing robot head 200.

[0086] The device 100 has a motorized adjustment device 120. The motorized adjustment device 120 has a motor 122.

[0087] As can be seen in Fig. 3, the motorized adjustment device 120 further comprises two transmission bodies 121. The transmission bodies 121 can be moved in the transverse direction by means of the motor 122. In particular, the transmission bodies 121 shown are racks. The racks can be driven synchronously by means of the motor 122.

[0088] The two transmission bodies 121 are arranged on a guide element 117 of the carrier device 110. The guide element 117 is an elongated, particularly rod-shaped, element that extends perpendicular to the transverse direction.

[0089] As can be seen in Fig. 3, the carrier element 111 is arranged on the guide element 117. The carrier element 111 extends upwards from the guide element 117. A drag chain 116 is arranged to guide cables and / or lines to the carrier device 110.

[0090] Fig. 4 shows a more detailed view of the carrier device 110. Here, too, the drag chain 116 is shown, which runs below the guide element 117.

[0091] In Fig. 4, it can be seen that the carrier element 111 is designed as a carrier dome. The centering elements 211, or the lower centering element 211, is lowered onto the carrier element 111 in the illustration shown in Fig. 4. This means that the carrier element 111 extends through the recess 212 of the centering element 211. Thus, the centering element 211 can be carried along, i.e., moved, when the carrier device 110 moves.

[0092] The driving device 110 shown in Fig. 4 further comprises a position detection device 112, which is designed as an optical sensor device 113.

[0093] The optical sensor device 113 has a light source 115 and a reflector 114. Preferably, the light source 115 is arranged on the carrier device 110, and the reflector 114 is arranged on the centering element 211. This has the particular advantage that the cables or lines required to supply the light source can be safely routed via the drag chain 116.

[0094] The position detection device 112 or the optical sensor device 113 serves to detect a position of the carrier device 110 relative to the palletizing robot head 200 or, in particular, the centering elements 211 thereof. In particular, a contact position of the carrier device 110 is to be detected, in which the centering element 211 can be lowered in order to come into contact with the carrier device 110 or the carrier element 111. When the contact between the carrier element 111 and the centering element

[0095] Once the centering element 211 is produced, the centering element 211 can be displaced by means of the driving device 110. For this purpose, the transfer body 121 shown in Fig. 3 moves synchronously in the adjustment direction, here in the transverse direction, with the centering elements 211 being driven along in the movement by means of the driving device 110 or the driving element 111. This enables an external format change.

[0096] Reference symbol

[0097] 100 portable device

[0098] 110 Driving element

[0099] 112 Position detection device

[0100] 113 optical sensor device

[0101] 114 Reflector

[0102] 115 Light source

[0103] 116 drag chain

[0104] 117 Guide element

[0105] 120 motorized adjustment device

[0106] 121 transfer bodies

[0107] 122 engine

[0108] 130 Blocking device

[0109] 131 Blocking rod

[0110] 200 palletizing robot head

[0111] 210 assembly

[0112] 211 centering elements

[0113] 212 recesses

[0114] 220 drive

[0115] 300 palletizing robots

[0116] 400 layers to be palletized

[0117] 1000 palletizing system

Claims

Patent claims 1. A device (100) for external format change of a palletizing robot head (200), wherein the device (100) comprises: a driving device (110) configured to drive the palletizing robot head (200) during a movement; and a motorized adjustment device (120) for moving the driving device (110) in an adjustment direction, wherein the driving device (110) and the motorized adjustment device (120) are configured externally of the palletizing robot head (200).

2. Device (100) according to claim 1, wherein the driving device (110) has a driving element (111) with which the palletizing robot head (200) can be brought into contact.

3. Device (100) according to claim 2, wherein the driving element (111) is designed as a driving dome.

4. Device (100) according to one of the preceding claims, wherein the device (100) has a position detection device (112) for detecting a position of the carrying device (110) relative to the palletizing robot head (200).

5. Device (100) according to claim 4, wherein the position detection device (112) is designed to detect a contact position of the carrying device (110), in which the palletizing robot head (200) can be brought into contact with the carrying device (110) by means of a movement, in particular by means of a lowering movement.

6. Device (100) according to claim 4 or 5, wherein the position detection device (112) comprises an optical sensor device (113).

7. Device (100) according to one of the preceding claims, wherein the driving device (110) has an elongated, in particular rod-shaped, guide element (117).

8. Device (100) according to one of the preceding claims, wherein the motorized adjusting device (120) has two transmission bodies (121) spaced apart from one another for transmitting a movement to the driving device (110).

9. Device (100) according to claim 8, wherein the transmission bodies (121) are designed as racks.

10. Device (100) according to one of the preceding claims, wherein the palletizing robot head (200) has a centering element (210), in particular a centering plate, the position of which is adjustable during the format change, wherein the device (100) has a blocking device (130) which can be arranged on the palletizing robot head (200), wherein the blocking device (130) is designed to release and / or block an adjustment of the position of the centering element (210).

11. Device (100) according to claim 10, wherein the blocking device (130) comprises a blocking rod (131).

12. Palletizing system (1000) with a palletizing robot head (200) and at least one device (100) according to one of the preceding claims for external format change of the palletizing robot head (200).

13. Method for changing the format of a palletizing robot head (200), in particular by means of a device (100) according to one of claims 1 to 11, wherein the method comprises the following method steps: - moving, in particular lowering, a centering element (210) to contact a driving device (110); - moving the driving device (110) together with the centering element (210) to adjust the centering element (210); and Moving, in particular lifting, the centering element (210) to separate the contact between the driving device (110) and the centering element (210).

14. The method according to claim 13, wherein before moving the Driving device (110) enables the adjustment of the Zentner element (210) and wherein after the movement of the driving device (110) the adjustment of the Zentner element (210) is blocked.

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