System consisting of a packaging for packaged goods and a vacuum gripping device and method for unloading flat objects
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-05-24
- Publication Date
- 2026-04-08
AI Technical Summary
Current automated removal systems are inefficient for unloading irregularly stacked and tilted folding boxes and other flat objects from packaging due to the need for manual handling and complex mechanical movements, and existing solutions require repositioning of the outer packaging, making the process time-consuming and labor-intensive.
A system comprising a packaged goods container with spacers and a vacuum gripping device featuring movable gripping elements and a pneumatically connected contact surface with suction openings, allowing for easy insertion into gaps between the container and packaged goods, enabling vertical and horizontal movement to push objects together and unload them without repositioning the packaging.
The system facilitates efficient and automated unloading of flat objects, reducing manual labor and eliminating the need for repositioning the outer packaging, allowing for quick and easy removal of multiple layers of packaged goods without damage, thereby enhancing the efficiency and automation of the unloading process.
Smart Images
Figure EP2024064325_05122024_PF_FP_ABST
Abstract
Description
[0001] System comprising a packaged goods container and a vacuum gripping device as well as a method for unloading flat objects
[0002] The invention relates to a system comprising a packaged goods container and a vacuum gripping device for unloading flat objects, a packaged goods container, and a method for unloading flat objects according to the preambles of the independent claims. The invention also relates to a vacuum gripping device and a system comprising a vacuum gripping device and an autonomous mobile robot unit.
[0003] In the packaging industry, there are only a few automated removal systems for folding boxes stacked and folded in packaging cartons. In some cases, the loading is still done manually. The outer packaging, usually cartons, is opened by hand, the folding boxes are removed and placed into the packaging system. Since the folding boxes, which are usually stacked vertically and in several layers, are irregularly arranged and the individual layers do not have a constant height due to the tilting of the folding boxes, simple mechanical removal is not possible. Similar problems arise when removing other flat objects such as cards, sheets of paper or the like from outer packaging.
[0004] In addition, the folding boxes are usually packed so tightly that there is no gap between the folding boxes and the side walls of the outer packaging into which a gripper could be inserted.
[0005] The demands on automated processes in industry are also becoming ever higher. EP 2 620 377 A2 attempts to at least partially overcome the disadvantages of the prior art. It describes a method for removing folding boxes from outer packaging by moving the outer packaging together with the gripping device so that the folding boxes slide together and can be removed with the gripping unit. However, this places additional technical demands on the automated device, since the holder for the outer packaging must be movable back and forth between at least two end positions and the movement must be coordinated with the movements of the gripping unit.
[0006] US Pat. No. 6,860,531 B2 proposes a gripping device comprising gripping elements and a vacuum arrangement. However, this device requires the gripping elements to be moved into the container at an angle to establish contact with the folding boxes. Furthermore, the outer packaging must be constantly repositioned until final removal to allow the folding boxes to be pushed together and removed. The process is complicated and time-consuming.
[0007] It is therefore at least one object of the present invention to eliminate the disadvantages of the prior art. It is a particular object of the invention to make the unloading of containers more efficient and to provide a system and a device that enables simple, automated unloading of flat objects, in particular folding boxes, as well as a simplified method for unloading the flat objects.
[0008] The at least one object is achieved by the subject matter of the independent claims, preferred embodiments can be found in the dependent claims. A first aspect of the invention relates to a system comprising a
[0009] A packaged goods container and a vacuum gripping device for unloading flat objects, in particular those not yet folded onto folding boxes, from the packaged goods container. The packaged goods container comprises a container with at least two spacers arranged on the front side and at least one layer of packaged goods arranged in the container.The vacuum gripping device has the following: a frame, a contact surface arranged on the frame for receiving at least one flat object, the contact surface having at least one suction opening, at least two gripping elements, the at least two gripping elements being movable together, and preferably together with the contact surface, and being arranged opposite one another on the frame, a vacuum unit which is pneumatically connected to the at least one suction opening of the contact surface. The at least two gripping elements can each be moved vertically relative to the frame and horizontally below the contact surface. The gripping elements can be introduced into spaces formed by the spacers between the container and the at least one layer of packaged goods in the packaged goods unit.
[0010] The vacuum unit can be a pump connected to the intake port. The connection can be made, for example, via a hose. The vacuum unit can also comprise a vacuum chamber.
[0011] The system enables easy unloading of flat objects from a container. Tilting the outer packaging is not necessary. The packaged goods container prevents the flat objects from sliding back and forth, eliminating the need to reposition the outer packaging. Overall, this significantly simplifies the unloading of folding boxes and other flat objects.
[0012] The invention also relates to a vacuum gripping device for unloading flat objects, in particular from a packaged goods container, comprising:
[0013] - a frame (12) ,
[0014] - a contact surface (10) arranged on the frame (12) for receiving at least one flat object, wherein the contact surface (10) has at least one suction opening (15),
[0015] - at least two gripping elements (7), wherein the at least two gripping elements (7) are movable together and are arranged opposite one another on the frame (12),
[0016] - a vacuum unit (11) which is pneumatically connected to the at least one suction opening (15) of the contact surface (10).
[0017] The at least two gripping elements (7) can each be moved vertically relative to the frame (12) and horizontally below the contact surface (10).
[0018] The device enables easy and efficient unloading of flat objects.
[0019] The following statements on the vacuum gripping device refer equally to the system and to the device per se.
[0020] The flat objects can be side-load folding boxes, top-load folding boxes, paper, cardboard, and the like. In principle, the system and the device can be used for all common flat objects. The packaged goods are preferably positioned horizontally with a positive fit using the vacuum gripper. No auxiliary movements of a container pick-up are required.
[0021] The at least two gripping elements can be moved simultaneously in opposite directions beneath the contact surface. The gripping elements can thus be moved toward each other, enabling the flat objects to be pushed together.
[0022] Preferably, a pair of gripping elements are arranged opposite one another on the frame.
[0023] The gripping elements can be selected from the following group: gripper arms, gripping tongs, sliding elements, robot hands, and blades. The gripping elements can also be provided with a non-slip surface, such as knobs or suction cups.
[0024] The contact surface can be made of a flexible, preferably elastic, material. The material can be slippery.
[0025] Preferably, the contact surface has a thickness between 10 mm and 28 mm, preferably 12 mm and 20 mm and particularly preferably 14 mm.
[0026] The contact surface can be formed from two identically shaped and glued foam sheets, each 10 mm + 4 mm thick. A slip-optimized film can be applied to the underside. The film can be a white HD-PE fleece (high-density polyethylene). The film protects the foam from abrasion and ensures the surface connection of the individual box blanks during stack compression. Due to the material and thickness of the contact surface, the contact surface can adapt to the objects to be removed. The contact surface can adapt to possible stack unevenness.
[0027] At least two layers of packaged goods can be arranged one above the other in the container. The layers can be separated from each other by at least one divider. Multiple layers are also possible.
[0028] Multiple layers of packaged goods in one container allow for rapid unloading. The container needs to be changed less frequently, which speeds up the unloading process.
[0029] The packaged goods are in particular pre-folded and / or pre-glued cartons, preferably not yet unfolded side-load boxes or top-load boxes.
[0030] Advantageously, the container and / or the spacers and / or the divider are made of cardboard. Cardboard is easily recycled.
[0031] The spacers preferably have a width of 25 mm between the container and the layers of packaged goods. Larger or smaller distances are possible. The distance of 25 mm is ideal in view of the container volume and allows collision-free insertion of the gripping elements into the spaces between the container, especially the container wall, and the layer or layers of packaged goods. The minimum distance is ideally 5 mm, preferably at least 25 mm.
[0032] The vacuum gripping device can have pneumatic cylinders, via which the gripping elements can be moved horizontally and vertically independently of each other. Inductive limit switches can be used to ensure that the cylinders or gripping elements have reached the corresponding end position.
[0033] The vacuum gripping device can be supplied with pneumatic lines via a central valve unit attached to a robot. The vacuum unit for generating the vacuum can be at least partially housed in a compact housing. For example, a blower or the pump can be housed in the housing. The housing can be attached to the robot, preferably to a vertical main rotation axis. The vacuum can be supplied via a hose.
[0034] The control of the robot, the vacuum gripping device, the valve unit and / or the vacuum unit can be controlled via central programmable logic controllers (PLCs), as are known in the state of the art and are offered, for example, by B&R (5PC910 . SX01- 00), and placed in a central control cabinet.
[0035] The vacuum gripping device, either alone or as a system, can be mounted or mountable on a robot, in particular a robot arm. Preferably, the robot, in particular the robot arm, is part of the system. The supply is preferably designed as described above with respect to the robot. The robot arm preferably defines the main axis of rotation.
[0036] Such a device or system offers a very high degree of flexibility in terms of the feeding options for the containers or the packaged goods. In particular, such a vacuum gripper device can remove packaged goods from two or more different, but spatially adjacent feeders. Depending on the order and task, different packaged goods, e.g., cartons and package inserts, can be loaded into one machine.
[0037] A further aspect of the invention relates to a system comprising a vacuum gripping device as described above or comprising a vacuum gripping device and packaged goods containers as described above, further comprising an autonomous mobile robot unit (AMR unit, Autonomous Mobile Robot).
[0038] Autonomous mobile robot units are characterized by their ability to understand and move within an environment without requiring direct supervision by an operator or being constrained to a fixed, predetermined path.
[0039] The autonomous mobile robot unit can feed a container to be unloaded to a robot arm. This allows for longer distances on a shop floor between a loading station and a final station to be bridged with minimal design effort. Material supply can be designed more flexibly.
[0040] A further aspect of the invention relates to a method for unloading flat objects, in particular not yet folded onto folding boxes, from a packaged goods container. The method comprises the steps of: a) providing a system as previously described, b) vertically extending the gripping elements, c) engaging the gripping elements in spaces formed by the spacers between the container and the at least one layer of packaged goods in the packaged goods container, d) horizontally displacing the gripping elements to push the packaged goods together, e) applying a negative pressure and sucking the packaged goods onto the contact surface, f) transferring the packaged goods to a box magazine, g) ejecting the packaged goods by releasing the negative pressure.
[0041] The contact surface can be lowered either before, during, or after step d). Foam panels attached to the contact surface can, for example, act as a seal against the environment of the packaged goods during step e). Lowering the contact surface after the packaged goods have been horizontally moved or compressed in step d) can prevent movement of the packaged goods in the plane of the contact surface. This can prevent damage to the contact surface and in particular to the foam panels. This in turn can extend the service life of the contact surface or the foam panels. Lowering the contact surface during step d) has the advantage that removal is accelerated because two movements occur simultaneously.
[0042] When the contact surface is lowered according to step d), the movement of the contact surface and gripping elements can occur simultaneously relative to the packaged goods, i.e. the contact surface and the gripping elements move together, but possibly with different movement amplitudes. For example, the gripping elements can glide along the packaged goods during the movement without opening and repeated horizontal displacement or recompression of the packaged goods. This results in better grip and / or improved compression of the packaged goods. A standstill of the gripping elements relative to the packaged goods and a movement of the contact surface towards the packaged goods represents a particularly surface-protecting procedure for the outer parts of the packaged goods. It prevents scratches, cracks and the like. Both options can also be combined.Preferably, in the case of lowering the contact surface after step d), the distance between the contact surface and the upper edge of the packaged goods should be selected to be large enough so that the packaged goods do not come into mechanical contact with the contact surface during step d). Preferred distances are between 3 and 20 mm, preferably 4 and 10 mm, and particularly preferably 5 mm. These ranges represent a good compromise between securing the surface of the contact surface and short travel distances between the contact surface and the packaged goods.
[0043] Preferably, in step f) a joint or simultaneous movement of the gripping elements and the contact surface takes place.
[0044] Ejection in step g) preferably takes place on a product machine. In step g), ejection of the packaged goods can be achieved by horizontally moving the gripping elements to release the tension on the packaged goods and by simultaneously releasing the vacuum. The folding boxes can then be opened and loaded mechanically. For example, they can be loaded with medications and package inserts.
[0045] The process enables quick and easy unloading of packaged goods and rapid loading of product machines.
[0046] Preferably, in step h), a separating base can be removed from the packaged goods container by suction against the contact surface. The gripping elements can be retracted vertically beforehand so as not to impede the removal of the separating base.
[0047] After step h), steps a ) to h) can be repeated for a second
[0048] The steps can also be repeated for additional layers. In the case of only two layers, only steps a) to g) can be repeated.
[0049] In process step e) and / or h), a vacuum is preferably generated at the at least one suction opening using a pump.
[0050] A further aspect relates to a packaged goods container comprising a container, at least one layer of packaged goods made of flat objects and at least two spacers arranged on the front side for introducing gripping elements of a gripping device into spaces formed by the spacers between the container and the at least one layer of packaged goods.
[0051] Preferably, the container and / or the spacers and / or the divider are made of cardboard. Cardboard is easily recycled.
[0052] The spacers should preferably have a width of at least 25 mm between the container and the layers of packaged goods. Larger distances are possible.
[0053] The packaged goods in the packaged goods container can be folding boxes that have not yet been folded, in particular side-load boxes or top-load boxes; paper or cardboard.
[0054] A further aspect of the invention relates to a method for loading containers with packaged goods. The method comprises the steps:
[0055] - Providing a system comprising a vacuum gripping device and an autonomous mobile robot unit as previously described,
[0056] - Providing at least one empty container, - Positioning the autonomous mobile robot unit with the empty container adjacent to the vacuum gripping device,
[0057] - Gripping at least one packaged item with the vacuum gripping device,
[0058] - Loading the at least one empty container with the at least one packaged item.
[0059] The gripping of the packaged goods can be carried out according to a method for unloading flat objects as previously described.
[0060] The packaged goods can be provided via a feeding device from which the vacuum gripping device can remove the packaged goods.
[0061] The process is characterized by the fact that the supply of packaged goods to the machine can be further automated even far away from the final loading of the machine. The aforementioned solutions, with an autonomous mobile robot unit and a robot, particularly a robot arm, thus contribute to increasing the level of automation in factories.
[0062] In principle, the processes for unloading a packaged goods unit and loading a container can also be combined, allowing unloading and reloading to take place in a single process. This allows for further time savings and process automation.
[0063] The invention is explained in more detail with reference to the figures. Identical reference symbols identify structurally identical elements. The embodiments are examples only. They are not to be understood as limiting. They show: Figure 1: A packaged goods container according to the invention.
[0064] Figure 2 A perspective side view of a vacuum gripping device of a system according to the invention for removing packaged goods from a container.
[0065] Figure 3 is a perspective bottom view of the vacuum gripping device.
[0066] Figure 4A-4E A method according to the invention for removing a first layer of packaged goods with a system according to the invention, shown in a sectional view.
[0067] Figure 5A-5C A method according to the invention for removing a separating floor, shown in a sectional view.
[0068] Figure 6A-6C A method according to the invention for removing a second layer of packaged goods, shown in a sectional view.
[0069] Figure 7 A robot for a vacuum gripping device.
[0070] Figure 8 A container feeder, the robot from Figure 7 with a vacuum gripping device according to the invention and a side-load box magazine.
[0071] Figure 9A-9N A further method according to the invention for removing packaged goods from a packaged goods container, shown in a sectional view.
[0072] Figure 1 shows a packaged goods container 1 according to the invention. The packaged goods container 1 comprises a container 2, spacers 3, and two layers of packaged goods 5 separated from one another by a dividing base. The packaged goods 5 are pre-folded and pre-glued boxes which are mechanically unfolded and filled on the production machine. In the packaged goods container 1, the boxes are lined up in an upright position in the folded state. The spacers 3 have a width of 25 mm, so that a corresponding gap 23 is created between the container 2 and the packaged goods 5.
[0073] Figure 2 shows a vacuum gripping device 6 of a system according to the invention. The vacuum gripping device comprises four gripping elements 7, one pair at a time arranged opposite one another. The gripping elements can be moved horizontally and vertically via pneumatic cylinders 8a and 8b. The end position is determined via limit switches 9a and 9b. A contact surface 10 is arranged on a frame 12 between the gripping elements.
[0074] As can be seen from Figure 3, the contact surface 10 comprises an opening 15 to a vacuum chamber 11.
[0075] Figures 4A to 4E describe the removal of the first layer of packaged goods from the container 1. Figures 4B and 4G show a sectional view parallel to a long edge of the contact surface 10 through the gripping elements 7. Figures 4D and 4E show a sectional view parallel to a long edge of the contact surface 10 through the vacuum chamber 11. Firstly, the gripping elements 7 extend vertically and engage in gaps 23 formed by the spacers 3 between the container 2 and the layer of packaged goods 5 of the packaged goods container 1, as can be seen from Figures 4A and 4B. After the gripping elements 7 have been retracted, the gripping elements 7 are moved horizontally towards one another so that the upper layer of packaged goods 5a is pushed together and compressed (Figure 4G). The lower layer of packaged goods 5b remains in its original position. The contact surface 10 touches the layer 5a above .Subsequently, a vacuum is generated via the vacuum chamber 11, so that a virtually sealing contact is created between the contact surface 10 and the upper layer of packaged goods 5a (Figure 4D). Subsequently, the layer of packaged goods 5a is lifted out of the container 2 with the aid of the generated vacuum and the retracted gripping elements 7 (Figure 4E) and transferred to a cardboard magazine (not shown). A separating base 4 and the second layer of packaged goods 5b remain in the container 2.
[0076] The process can be followed by the removal of the separating base 4, as shown in Figures 5A to 5C. Figures 5A to 5C show a sectional view parallel to the long edge of the contact surface 10 through the vacuum chamber 11. As can be seen in Figure 5A, the gripping elements 7 are first fully retracted into the device. The vacuum gripping device 6 is then lowered onto the separating base 4. The contact surface 10 lies on the separating base 4 (Figure 5B). By applying a vacuum in the vacuum chamber 11, the separating base 4 is sucked onto the contact surface 10, the device 6 moves upwards and in doing so removes the separating base 4 from the container 2 and exposes the lower layer of packaged goods 5b (Figure 5C). The separating carton 4 can be ejected by releasing the vacuum.
[0077] The second layer of packaged goods 5b can now be removed, as shown in Figures 6A to 6C. Figure 6A shows a sectional view parallel to the long edge of the contact surface 10 through the gripping elements 7. Figures 6B and 6C show a sectional view parallel to a long edge of the contact surface 10 through the vacuum chamber 11. The gripping elements 7 extend vertically again and grip into gaps 23 in the packaged goods container formed by the spacers 3. The contact surface 10 lies on the packaged goods 5b (Figure 6A). The gripping elements 7 are then moved horizontally towards one another and thus compress the packaged goods 5b. By applying a vacuum via the vacuum chamber 11, the contact surface adheres to the packaged goods (Figure 6B). In Figure 6C, the packaged goods 5b are lifted out of the container 2.
[0078] Figure 7 shows a detailed view of a robot 13 with a vacuum gripping device 6 according to the invention. The robot 13 comprises a base 14 and an arm 20. The vacuum gripping device 6 is supplied with power via a central valve unit 16 attached to the robot 13 with corresponding pneumatic lines 17. A blower or a pump for generating vacuum at the contact surface is housed in a compact housing 18, which is itself attached to the robot 13 on the vertical main axis of rotation. The vacuum is supplied via a flexible hose 19.
[0079] Figure 8 shows a system comprising a container feeder 21, the robot 13 and a side-load box magazine 22.
[0080] Figures 9A to 9N describe a further method for removing the packaged goods 5 from the container 1, including removal of the separating base 4. Figures 9A to 9C and 9J-9L show a sectional view parallel to a long edge of the contact surface 10 through the gripping elements 7. Figures 9D to 9I and 9M and 9N show a sectional view parallel to a long edge of the contact surface 10 through the vacuum chamber 11.
[0081] In this method, the gripping elements 7 also initially extend vertically and engage in gaps 23 formed by the spacers 3 between the container 2 and the layer of packaged goods 5 of the packaged goods bundle 1, as can be seen in Figures 9A and 9B. However, the gripping elements 7 only retract far enough so that no contact occurs between an upper edge of the packaged goods and the contact surface 10. A gap 24 remains. After the gripping elements 7 have retracted, the gripping elements 7 are moved horizontally toward one another, so that the upper layer of packaged goods 5a is pushed together and compressed.
[0082] ( Figure 9B ) . The lower layer of packaged goods 5b remains in its original position .
[0083] The contact surface 10 is then brought into contact with the packaged goods 5a (Figure 9C). The contact surface 10 touches the layer 5a above. The gripping elements 7 are moved during the lowering of the contact surface 10 such that they remain stationary relative to the packaged goods 5a. In principle, it would also be possible to carry the gripping elements 7 along with the contact surface 10 so that the gripping elements 7 slide along the outside of the packaged goods 5. A vacuum is then generated via the vacuum chamber 11 so that a virtually tight contact is created between the contact surface 10 and the upper layer of packaged goods 5a (Figure 9D). Subsequently, the layer of packaged goods 5a is lifted out of the container 2 by means of the generated negative pressure and the retracted gripping elements 7 (Figure 9E) and transferred to a carton magazine (not shown). A separating base 4 and the second layer of packaged goods 5b remain in the container 2.
[0084] In order to remove the divider base, as can be seen in Figure 9F, the gripping elements 7 are first fully retracted into the device 6. The vacuum gripping device 6 is then lowered onto the divider base 4. The contact surface 10 rests on the divider base 4 (Figure 9G). By applying a vacuum in the vacuum chamber 11, the divider base 4 is sucked onto the contact surface 10, the device 6 moves upwards and in the process removes the divider base 4 from the container 2 and exposes the lower layer of packaged goods 5b (Figure 9H). The divider carton 4 can be ejected by releasing the vacuum. The device remains without a divider base (Figure 9I). In order to remove the lower layer of packaged goods 5b, the gripping elements 7 extend vertically again and grip into the gaps 23 of the packaged goods formed by the spacers 3. Here, too, a gap 25 is initially left between the contact surface 10 and the packaged goods 5b (Figure 9J).The packaged goods 5b are pushed together (Figure 9K), and then the contact surface 10 is brought into contact with the packaged goods 5b. The contact surface 10 rests on the packaged goods 5b (Figure 9L). By applying a negative pressure via the vacuum chamber 11, the contact surface adheres to the packaged goods (Figure 9M). In Figure 9N, the packaged goods 5b are then lifted out of the container 2.
Claims
Patent claims 1. System comprising a packaged goods container (1) and a vacuum gripping device (6) for unloading flat objects from the packaged goods container (1), wherein the packaged goods container (1) has a container (2) with at least two spacers (3) arranged on the end face and at least one layer of packaged goods (5, 5a, 5b) arranged in the container (2), wherein the vacuum gripping device (6) has the following: - a frame (12) , - a contact surface (10) arranged on the frame (12) for receiving at least one flat object, wherein the contact surface (10) has at least one suction opening (15), - at least two gripping elements (7), wherein the at least two gripping elements (7) are movable together and are arranged opposite one another on the frame (12), - a vacuum unit (11) which is pneumatically operatively connected to the at least one suction opening (15) of the contact surface (10), wherein the at least two gripping elements (7) are each movable vertically relative to the frame (12) and horizontally below the contact surface (10), characterized in that the gripping elements (7) can be introduced into intermediate spaces (23) formed by the spacers (3) between the container (2) and the at least one layer of packaged goods (5, 5a, 5b) of the packaged goods container (1).
2. System according to claim 1, wherein the at least two gripping elements (7) below the contact surface (10) can be moved simultaneously in opposite directions.
3. System according to claim 1 or 2, wherein a pair of gripping elements (7) are arranged opposite one another on the frame (12).
4. System according to one of the preceding claims, wherein the gripping elements (7) are selected from the group consisting of: gripping arms, gripping tongs, sliding elements, robot hands, blades.
5. System according to one of the preceding claims, wherein the contact surface (10) is made of a flexible, preferably elastic, material.
6. System according to claim 5, wherein the contact surface (10) has a thickness between 10 mm and 15 mm, preferably 12 mm and 14 mm and particularly preferably 14 mm.
7. System according to one of the preceding claims, wherein at least two layers of packaged goods (5, 5a, 5b) are arranged one above the other in the container (2), wherein the layers (5, 5a, 5b) are separated from one another by at least one dividing floor (4).
8. System according to one of the preceding claims, wherein the packaged goods (5, 5a, 5b) are pre-folded and / or pre-glued cartons, preferably not yet unfolded side-load boxes.
9. System according to one of claims 7 to 8, wherein the container (2) and / or the spacers (3) and / or the separating base (4) is / are made of cardboard.
10. System according to one of the preceding claims, wherein the spacers (3) have a width of at least 5 mm, preferably at least 25 mm, between the container and the layers of packaged goods.
11. System according to one of the preceding claims, wherein the vacuum gripping device (6) is mounted or mountable on a robot (13), in particular a robot arm (20).
12. Method for unloading flat objects, in particular not yet unfolded folding boxes, from a packaged goods container (1), comprising the steps: a) Providing a system according to one of claims 1 to 11, b) Vertical extension of the gripping elements (7), c) Engagement of the gripping elements (7) in spaces (23) formed by the spacers (3) between the container (2) and the at least one layer of packaged goods (5, 5a, 5b) of the packaged goods container (1), d) Horizontal displacement of the gripping elements (7) for pushing together a packaged goods (5, 5a, 5b), e) Applying a negative pressure and sucking in the packaged goods (5, 5a, 5b) to the contact surface (10), f) transferring the packaged goods (5, 5a, 5b) to a box magazine, g) ejecting the packaged goods (5, 5a, 5b) by releasing the negative pressure.
13. The method according to claim 12, wherein in step h) a separating base (4) is removed from the packaged goods container (1) by suction onto the contact surface (10).
14. The method according to claim 13, wherein after step h) steps a) to h) are repeated for a second layer (5b).
15. Method according to one of claims 12 to 14, wherein in method step e) and / or h) negative pressure is generated at the at least one suction opening (15) by means of a pump.
16. Packaged goods container (1) comprising a container (2), at least one layer of packaged goods (5, 5a, 5b) made of flat objects and at least two spacers (3) arranged on the end face for introducing gripping elements (7) of a gripping device (6) into intermediate spaces (23) formed by the spacers between the container (2) and the at least one layer of packaged goods (5, 5a, 5b).
17. Vacuum gripping device for unloading flat objects, in particular from a packaged goods container, comprising: - a frame (12) , - a contact surface (10) arranged on the frame (12) for receiving at least one flat object, wherein the contact surface (10) has at least one suction opening (15), - at least two gripping elements (7), wherein the at least two gripping elements (7) are movable together and are arranged opposite one another on the frame (12), - a vacuum unit (11) which is pneumatically operatively connected to the at least one suction opening (15) of the contact surface (10), characterized in that the at least two gripping elements (7) are each movable vertically relative to the frame (12) and horizontally below the contact surface (10).
18. Vacuum gripping device according to claim 17, wherein the vacuum gripping device is mounted or mountable on a robot, in particular a robot arm.
19. A system comprising a vacuum gripping device according to one of claims 17 or 18 and an autonomous mobile robot unit. 20 . Method for loading containers with a packaged product, comprising the steps of : - Providing a system comprising a vacuum gripping device and an autonomous mobile robot unit, - Provide at least one empty container, - Positioning the autonomous mobile robot unit with the empty container adjacent to the vacuum gripping device, - Gripping at least one packaged item with the vacuum gripping device, Loading the at least one empty container with the at least one packaged item.