Method for actuating a palletizing system prior to reaching the end of a positioning surface, computer program product, and palletizing system

Abstract

The invention relates to a method (100) for actuating a palletizing system (1) for palletizing articles (3) to be palletized, comprising a lifting device (10) with a positioning surface (11), on which the articles (3) can be positioned in order to lift (230) the articles (3) from a transport plane (2.1) to a gripping height (4.1) in order to grip the articles by means of a gripping device (4), and comprising a transport device (2) for transporting the articles (3) to the lifting device (10). The invention also relates to a computer program product and to a palletizing system (1).

Description

[0001] Method for controlling a palletizing system before reaching the end of a positioning area, computer program product and palletizing system

[0002] Description

[0003] The invention relates to a method for controlling a palletizing system for palletizing palletized goods with a transport device for transporting the palletized goods to a lifting device and the lifting device with a positioning surface, a computer program product and a palletizing system.

[0004] It is known from the prior art to palletize manufactured goods in order to transport them to another location, for example, by truck. For this purpose, the goods are typically stacked in several layers on a transport pallet. Gripper devices are often used to arrange the goods on the pallet. These grippers pick up the palletized goods and place them at a predetermined location on the pallet. For example, DE 103 09 131 A1 discloses the use of a palletizing robot for this purpose.

[0005] The gripping of the palletized goods usually takes place at a gripping height to which the palletized goods are automatically raised by a lifting device, particularly when the gripper device is embedded in a production line for the palletized goods. For this purpose, the palletized goods, regardless of their format, are usually always moved to a package stop at the end of the lifting device. Particularly at higher gripper speeds, the speed of the lifting device can represent a significant factor for the cycle speed when palletizing the palletized goods. It is an object of the present invention to at least partially eliminate the above-mentioned disadvantages known from the prior art. In particular, it is an object of the present invention to enable a higher speed and / or a shorter cycle time when processing the palletized goods for at least one format of palletized goods.

[0006] The above object is achieved by a method having the features of claim 1, a computer program product having the features of claim 11, and a palletizing system having the features of claim 12. Further features and details of the invention emerge from the respective subclaims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the computer program product according to the invention and / or the palletizing system according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reciprocal reference is or can always be made.

[0007] According to a first aspect of the invention, a method for controlling a palletizing system for palletizing palletized goods is provided. The palletizing system comprises a lifting device with a positioning surface on which the palletized goods can be positioned for lifting the palletized goods from a transport plane to a gripping height for gripping by a gripper device. Furthermore, the palletizing system comprises a transport device for transporting the palletized goods to the lifting device. The method comprises, in particular in the form of method steps:

[0008] - Controlling the transport device for transporting the palletised goods along a transport direction, so that the palletised goods are moved via an entrance area of ​​the positioning surface onto the positioning surface, in particular by a control unit of the palletising system,

[0009] Detecting a positioning of the palletised goods on the positioning surface, wherein the positioning has a distance to an end of the positioning surface opposite the input area, in particular by the control unit,

[0010] - Controlling a lifting drive of the lifting device depending on the detection of the positioning in order to lift the palletized goods from the transport level to the gripping height, in particular by the control unit. The palletized goods can preferably be pre-stacked and / or empty packages, in particular bags. The palletized goods can preferably comprise valve bags. Furthermore, the palletized goods can have a stack height defined by a number of pre-stacked individual products. The stack height can be variable when palletizing successive pallet layers and / or pallets.

[0011] The gripping height can be understood as a height, particularly relative to a floor surface of the lifting device, at which the palletized goods can be picked up, in particular gripped, by the gripper device. In particular, the gripping height is located vertically above the transport plane, so that a gripper unit can move above the transport plane and / or the lifting unit to transport the palletized goods to the palletizing area.

[0012] The transport device can preferably comprise a conveyor belt on which the palletized goods can be transported along the transport direction. The lifting device can comprise a platform on which the positioning surface is formed. The palletized goods can thus be positioned on the positioning surface in order to lift the palletized goods from the positioning surface. It can be provided that the palletized goods are lifted and / or pressed off the positioning surface during lifting, i.e. in particular the positioning surface remains in the transport plane during lifting of the palletized goods. The positioning surface can preferably also be referred to as a lifting surface. The transport plane can be formed by the positioning surface. The transport plane can be parallel to a floor surface or inclined to a floor surface.

[0013] The entrance area can be formed by a partial area of ​​the positioning surface. Furthermore, the entrance area can form an access to the lifting device, in particular to the positioning surface, for the palletized goods and / or be designed for connection to a production line for producing the palletized goods. For this purpose, the entrance area can be coupled to the transport device mechanically, e.g. by fastening means, and / or process-wise, i.e. in particular for the automatic transfer of the palletized goods from the transport device to the lifting device. For example, the entrance area can comprise an opening in the lifting device and / or form a transport path for the palletized goods from the transport device to the positioning surface. It is conceivable for the entrance area to have a conveying means, such as a conveyor belt, in order to receive the palletized goods from the transport device in the transport plane and to transport them to the positioning surface.The movement of the palletized goods across the entrance area to the positioning surface can, for example, comprise the palletized goods being moved at least partially or completely through the entrance area and / or across the entrance area.

[0014] Furthermore, the lifting device can have a lifting means with several lifting elements spaced apart from one another by intermediate spaces. The lifting elements can form a rake-like surface for lifting the palletized goods in order to enable engagement of a rake-like gripper unit of the gripper device in the intermediate spaces and thereby at least partially close a transport space of the gripper unit below a support surface of the palletized goods. The positioning surface can thus be interrupted, i.e. in particular discontinuous. The lifting elements can be formed, for example, by sheet metal parts. The lifting means can therefore be referred to, in particular, as a lifting rake. In this way, the mass to be moved can be kept low. An underside of the palletized goods, for examplein the form of a stack bottom, with which the palletized goods rest first on the positioning surface and then on the surface formed by the lifting elements when the palletized goods are lifted. Due to the rake-like design of the gripper elements and the lifting device, the gripper elements can engage in gaps to grip underneath the palletized goods. This allows the transport space beneath the palletized goods to be at least partially or completely closed by the gripper elements in order to transport the palletized goods through the gripper unit. This also allows pressure-sensitive palletized goods, such as packaging, to be transported gently from the pick-up location to the palletizing area.

[0015] The lifting drive can preferably comprise an electric drive motor, e.g. in the form of a servomotor, with a position sensor for transmitting operating data of the drive motor to the control unit. The operating data can in particular comprise position information and / or speed information of the servomotor. The position sensor can in particular be a measuring unit for measuring the position information and / or speed information. For example, a motor current and / or a rotor position can be detected by the position sensor for this purpose. The position information can comprise, for example, a rotor position, commutation signals, absolute and / or relative position values ​​and / or angle signals of the drive motor. It is also conceivable for the position sensor to be designed as an incremental encoder and / or an absolute encoder. The drive motor can further comprise a gear and / or a hollow shaft drive.For example, the gearbox can be a harmonic drive, in particular a Harmonie Drive. Furthermore, the servo motor can have an output bearing for absorbing axial and / or radial forces and / or tilting moments. The position sensor can transmit feedback, in particular in the form of motor feedback, to the control unit in order to enable control of the drive motor, for example in real time. By designing the drive motor with a gearbox, a space-saving design can be provided to enable a compact design of the drive unit. Furthermore, the resolution of the position sensor can be multiplied by the gearbox, which can improve the accuracy of the control of the drive motor.

[0016] When positioning is detected, a specific position of the palletized item on the positioning surface can be recorded. For example, coordinates of a center point of the palletized item and / or an edge area of ​​the palletized item on the positioning surface can be detected. However, it is also conceivable that when positioning is detected, it can be detected whether the palletized item is at least partially or completely resting on the positioning surface. By controlling the lifting drive, the lifting rake, in particular, can be moved to lift the palletized item. In doing so, the lifting rake can move through the positioning surface and / or beyond the positioning surface, so that the palletized item loses contact with the positioning surface.

[0017] In the method, the positioning is detected and the lifting drive is activated in particular before the palletized item reaches the end of the positioning area opposite the entrance area. The palletized item can preferably have a format width in the transport direction that is smaller than a width of the positioning area in the transport direction. Thus, within the scope of the present invention, it has been recognized that full utilization of the positioning area is not necessary, in particular for certain formats of the palletized item. Therefore, it is not always necessary to move the palletized item to the end of the positioning area. Rather, the detection of positioning of the palletized item in a different position on the positioning area can be sufficient to bring the palletized item safely to the gripping height. This can consequently reduce the inlet distance on the positioning area.As a result, a process time can also be shortened by shortening the movement time of the palletized goods on the positioning surface, in particular depending on the distance to the end of the positioning surface.

[0018] Preferably, in a method according to the invention, it can be provided that the positioning surface has at least one conveying means for moving the palletized goods along the positioning surface, wherein the method, in particular in the form of a method step, comprises:

[0019] - Controlling the conveyor to move the palletised goods until the palletised goods reach a, in particular predefined, stop position on the positioning surface, preferably by the control unit, preferably wherein the detection of the positioning is carried out as a function of the stop position, in particular wherein the positioning is calculated as a function of the control of the conveyor. The conveyor can comprise at least one conveyor belt, preferably a plurality of conveyor belts. The positioning surface can be formed by a transport surface of the conveyor. In particular, the transport surface can be interrupted by openings for the lifting rake. Preferably, the conveyor comprises a drive, for example in the form of an electric drive motor, which is controlled to move the palletised goods. The stop position can be understood to be a position at which the palletised goods are positioned when the conveyor stops.In particular, the stop position is defined between the input area and the end of the positioning surface, so that the palletized goods are at a distance from the end of the positioning surface opposite the input area. It can be provided that the control of the conveyor is based on a law of motion in which a jerk, i.e. in particular a derivative function of an acceleration, has an asymptotic exit towards zero. This makes it possible to achieve a gentle entry into the stop position and prevent an orientation and / or stack alignment of the palletized goods from being influenced when the conveyor is stopped for the stop position. When calculating the positioning as a function of the control of the conveyor, it is possible to calculate when the palletized goods have reached the stop position, for example based on a movement speed of the conveyor and / or a movement time of the conveyor.This means, for example, that visual detection of the positioning can be omitted. In a method according to the invention, it can preferably be provided that the positioning of the palletized goods on the positioning surface is calculated and / or detected by sensors upon detection of the positioning based on at least one control parameter when controlling the transport device and / or the conveyor. The control parameter can comprise an operating parameter, in particular in the form of a movement time, and / or a control specification, in particular in the form of a speed and / or acceleration, of the conveyor. The control parameter can be sent to the transport device and / or the conveyor for controlling the transport device and / or the conveyor. The control specifications themselves can thus be used to detect the positioning.Furthermore, the control parameter can be detected by sensors when controlling the transport device and / or the conveyor. For example, the palletizing system can have a sensor system that detects the positioning of the palletized goods on the positioning surface, particularly optically, preferably visually. It is conceivable that the sensor system comprises a light barrier or a camera to detect the positioning. Thus, the positioning can be detected with high accuracy.

[0020] Furthermore, in a method according to the invention it can advantageously be provided that the method, in particular in the form of a method step, comprises:

[0021] - Controlling an alignment means which is arranged in particular in front of the positioning surface in the transport direction of the palletised goods, in order to bring the alignment means into an active position in which the alignment means blocks a process path of the palletised goods in order to specify an orientation of the palletised goods, and / or a passive position in which the process path is released by the alignment means.

[0022] The alignment means can, for example, be mounted so as to be rotatable and / or pivotable in order to be moved between the active position and the passive position. However, it is also conceivable for the alignment means to be linearly adjustable between the active position and the passive position. In particular, the alignment means can preferably be folded out and / or extended with respect to the positioning surface in the active position and folded in and / or retracted in the passive position. The stop surface can serve to straighten pre-stacked palletized goods so that any relative movements within the pre-stacked palletized goods can be compensated for during transport. Furthermore, an angular position of the palletized goods can be predetermined by the stop surface so that the palletized goods reach the positioning surface in an aligned state. The process path can comprise a movement space for the palletized goods.It can be provided that the alignment means is moved between the active position and the passive position depending on the detection of the palletized goods by a sensor system. Furthermore, it can be provided that the alignment means comprises several, preferably three, alignment elements, by means of which the orientation of the palletized goods can be predetermined on several sides, in particular on three sides, of the palletized goods. This can prevent the palletized goods from deflecting in the respective directions. By aligning the palletized goods in front of the positioning surface, the palletized goods can reach the positioning surface in an aligned state, so that the lifting process can begin, for example, immediately after reaching the stop position.

[0023] Furthermore, in a method according to the invention it can advantageously be provided that the method, in particular in the form of a method step, comprises:

[0024] Recording a job parameter set that includes a format of the palletized item, preferably by the control unit, wherein the positioning is detected depending on the format of the job parameter set. In this case, a length of the positioning surface between the input area and the end of the positioning surface can be taken into account in order to calculate the distance to the end of the positioning surface depending on the format and preferably the stop position. Furthermore, it is conceivable that the positioning is determined depending on the format and the control parameter. Thus, with a small format, the palletized item can be completely positioned on the positioning surface after a shorter movement time of the conveyor than with a wider format in the transport device. The job parameter set can preferably include geometric data of the palletized item, in particular in the form of the format of the palletized item.For example, the format can be determined by a width of the transported goods in the transport direction and / or perpendicular to the transport direction. Furthermore, it can be provided that the control of the conveyor takes place depending on the order parameter set. The stop position can be determined depending on the format of the palletized goods, preferably for all palletized goods of an order assigned to the order parameter set. The control unit can capture the geometry data via order data for the palletized goods and / or via a user interface of the control unit. By taking the geometry data into account, the lifting of the palletized goods can be coordinated with the geometry data. For example, the gripping height and / or a speed and / or an acceleration during lifting can be varied.This allows the lifting of the palletized goods to be individually tailored to the palletized goods, improving the movement sequence. The format can thus be used to determine the maximum distance of the palletized goods from the end of the positioning area, especially at which safe lifting of the palletized goods is still possible.

[0025] Preferably, in a method according to the invention, it can be provided that the alignment means is activated when the alignment means is activated to assume the active position before the palletized item reaches the alignment means, so that the palletized item is aligned by the alignment means on a front side of the palletized item oriented in the transport direction. To assume the active position, the alignment means can be moved from the passive position to the active position. The alignment means can be moved back to the passive position, particularly depending on the detection of the positioning, when the palletized item has passed the alignment means and / or is positioned on the positioning surface.For example, the alignment means can be arranged between the transport device and the positioning surface and / or in the entrance area of ​​the positioning surface, so that the front side of the palletized goods is automatically aligned with the stop surface during transport towards the positioning surface when the alignment means is in the active position, and can be transported further onto the positioning surface when the alignment means is in the passive position. This means that the alignment means itself does not need to be pressed against the palletized goods, which can prevent damage to the palletized goods. Furthermore, by aligning the goods before reaching the positioning surface, there is no longer any need for alignment on the positioning surface, which can allow greater freedom for positioning on the positioning surface.

[0026] It is further conceivable in a method according to the invention that the positioning is detected by detecting a position of a rear side of the palletized item that is oriented counter to the transport direction and in particular opposite the front side, on the positioning surface. The position of the rear side can be determined by a sensor and / or by a calculation, in particular as a function of the at least one control parameter. The rear side is in particular oriented counter to the front side and / or counter to the transport direction. Preferably, the front side and the rear side form opposite end faces of the palletized item. The rear side can thus form a fixed point for detecting the positioning. For example, a position of a center and / or the front side of the palletized item can be calculated based on the position of the rear side and the format.By aligning the palletized goods before they reach the positioning area, it can be ensured that the position of all sides can be determined based on the position of the back. This allows the positioning to be reliably and easily detected based on the back, enabling the palletized goods to be gripped.

[0027] Furthermore, in a method according to the invention, it is conceivable that the method, in particular in the form of a method step, comprises:

[0028] - Controlling the gripper device for gripping the palletised goods at the gripping height and for transporting the palletised goods to a palletising area, in particular by the control unit, wherein, for controlling the gripper device, a pick-up position of the palletised goods for gripping the palletised goods is specified as a function of the positioning of the palletised goods, preferably as a function of the detection of the positioning on the positioning surface. It is further conceivable that the pick-up position is predicted and / or calculated based on the order parameter set. When controlling the gripper device, a drive unit for moving the gripper unit between the pick-up position above the positioning surface and a drop-off position above a palletising area of ​​the palletising system can be moved. The palletising area can comprise a pallet and / or a sliding table for forming a layer pattern of the palletised goods.The drive unit can preferably be movable along three or more axes of movement in order to adjust the gripper unit between the pick-up position and the drop-off position. For this purpose, the gripper device can further comprise a frame on which the gripper unit is movably mounted. Furthermore, when controlling the gripper device, a gripper drive unit can be controlled to open and close the gripper elements. For this purpose, the gripper drive unit can comprise at least one electric and / or pneumatic drive. The pick-up position can correspond to the positioning of the palletized item on the positioning surface at the gripping height. Thus, the pick-up position can be detected and / or calculated depending on the detection of the positioning on the positioning surface. As a result, the control of the gripper device can be individually adapted to the positioning.Furthermore, in a method according to the invention, it can advantageously be provided that, in order to control the gripper device, a cycle speed for gripping the palletized goods is specified depending on the positioning of the palletized goods. The cycle speed can in particular comprise a processing time per palletized goods and / or a number of palletized goods per unit of time during processing by the lifting device and / or the gripper device. The cycle speed can thus define a process speed for palletizing the palletized goods. By specifying the cycle speed, the gripper device can, for example, be instructed to move the gripper unit and / or the gripper arms at a higher or lower speed than in a previous order, depending on the detection of the positioning. In particular, the further the palletized goods are positioned at the entrance area, i.e.In particular, the greater the distance to the end of the positioning surface, the shorter the time required by the lifting device and the longer the time required by the gripper device to transport the palletized goods. As a result of the upstream positioning, process time can be shifted from the lifting device to the gripper device. Because the gripper device can be operated, in particular at a higher speed, the overall process time can be shortened. Preferably, the cycle speed can be defined by a motion law and / or define a motion law on the basis of which the gripper device is controlled. For example, it can be provided that the cycle speed is calculated as a function of a transport time of the lifting device to achieve the positioning of the palletized goods on the positioning surface.For example, to control the gripper device, it can be specified that the transport of the palletized goods and / or a return movement from the drop position to the pick-up position by the gripper device does not exceed the transport time of the lifting device due to the cycle speed. By specifying the cycle speed, improved coordination between the gripper device and the lifting device and / or a reduction in process time can be achieved.

[0029] Furthermore, in a method according to the invention, it is conceivable that the control of the gripper device comprises a transport process for moving a gripper unit from the lifting device to a drop position, a waiting process in the drop position, and a drop process for dropping the palletized goods after completion of the waiting process, wherein the waiting process is defined depending on the positioning. The gripper unit of the gripper device can have at least two gripper elements that are movable relative to one another for performing a closing movement, by means of which the palletized goods can be at least partially enclosed at the transport height in a transport space formed between the gripper elements, and for performing an opening movement, by means of which the transport space can be opened to release the palletized goods at a palletizing area. For this purpose, the gripper unit can have one or more drives.The waiting process can be started by stopping the gripper unit in the ejection position and ended by the ejection process. In particular, the gripper unit can be stationary in the ejection position during the waiting process, i.e., in particular, decelerated and / or not driven. During the waiting process, a vibration induced by the movement of the gripper unit can decay. The definition of the waiting process can thus include determining a waiting time in the waiting position. The waiting time can be extended with increasing distance from the positioning of the palletized goods on the positioning surface, without extending the overall process time, whereby the operation of the gripper device can be more gentle on the material.

[0030] According to a further aspect of the invention, a computer program product is provided which comprises instructions which, when executed by a control unit, cause the control unit to carry out a method according to the invention.

[0031] Thus, a computer program product according to the invention brings with it the same advantages as have already been described in detail with reference to a method according to the invention. The method can in particular be a computer-implemented method. The computer program product can be implemented as computer-readable instruction code. Furthermore, the computer program product can be stored on a computer-readable storage medium such as a data disk, a removable drive, a volatile or non-volatile memory, or a built-in memory / processor. Furthermore, the computer program product can be provided or made available in a network such as the Internet, from which it can be downloaded by a user or executed online as needed. The computer program product can be implemented both by means of software and by means of one or more special electronic circuits, i.e.in hardware or in any hybrid form, i.e., by means of software components and hardware components. According to a further aspect of the invention, a palletizing system for palletizing palletized goods is provided. The palletizing system comprises a transport device for transporting the palletized goods and a gripper device for gripping the palletized goods at a gripping height for a palletizing process. Furthermore, the palletizing system comprises a lifting device for lifting the palletized goods from a transport plane of the transport device to the gripping height of the gripper device. Furthermore, the palletizing system has a control unit for carrying out a method according to the invention for controlling the palletizing system.

[0032] Thus, a palletizing system according to the invention offers the same advantages as those already described in detail with reference to a method according to the invention and / or a computer program product according to the invention. The control unit can comprise a processor and / or a microprocessor. Furthermore, the control unit can be at least partially or completely integrated into a central control unit of the lifting device, the gripper device, and / or the palletizing system. However, it is also conceivable for the control unit to be at least partially or completely integrated into one or more decentralized control units.

[0033] Furthermore, the gripper device can have a gripper unit with at least two gripper elements that are movable relative to one another for executing a closing movement, by means of which the palletized goods can be at least partially enclosed at the gripping height in a transport space formed between the gripper elements, and for executing an opening movement, by means of which the transport space can be opened to release the palletized goods for the palletizing process. The gripper unit can have an electric gripper drive for each of the gripper elements, which can be controlled by the control unit for the coordinated execution of the closing movement and the opening movement of the gripper elements. The control unit can preferably be designed to coordinate the closing movement with a control signal from the control unit when controlling the lifting drive to raise the palletized goods to the gripping height.The resulting improved motion sequence allows the speed of the palletizing system to be increased. Further advantages, features, and details of the invention will become apparent from the following description, which describes exemplary embodiments of the invention in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential to the invention individually or in any combination. The following schematically show:

[0034] Fig. 1 shows a palletizing system according to the invention for carrying out a method according to the invention in a plan view,

[0035] Fig. 2 shows a lifting device for lifting palletized goods for a gripper device in the palletizing system in a side view,

[0036] Fig. 3 a positioning of the palletized goods on a positioning surface of the lifting device,

[0037] Fig. 4+5 the palletizing system when controlling the gripper device, and

[0038] Fig. 6 shows a sequence of a method according to the invention for controlling the palletizing system.

[0039] In the following description of some embodiments of the invention, the same reference numerals are used for the same technical features even in different embodiments.

[0040] Figure 1 shows a palletizing system 1 according to the invention for palletizing palletized goods 3 in a first exemplary embodiment. The palletizing system 1 comprises a transport device 2 for transporting the palletized goods 3 to a lifting device 10. The palletized goods 3 are preferably pre-stacked bags that are fed to the transport device 2 for transport to the lifting device 10. The transport device 2 can, for example, comprise a conveyor belt on which the palletized goods 3 are transported along a transport direction 2.2. The palletizing system 1 further comprises the lifting device 10 for lifting 230 the palletized goods 3 from a transport plane 2.1 of the transport device 2 to a gripping height 4.1. For this purpose, the palletized goods 3 are transferred from the transport device 2, in particular by continuous conveyance, via an input area 11.1 of the lifting device 10 to a positioning surface 11 of the lifting device 10.As shown in Figure 2, the lifting device 10 comprises a lifting rake 15, which is guided through the positioning surface 11 to lift 230 the palletized goods 3. As shown in Figures 4 and 5, the palletizing system 1 further comprises a gripper device 4 for gripping the palletized goods 3 at the gripping height 4.1 in order to carry out a palletizing process.

[0041] Furthermore, the palletizing system 1 comprises a control unit 20 for executing a method 100 according to the invention for controlling the palletizing system 1 for palletizing the palletized goods 3. For this purpose, a computer program product can be provided that includes commands that, when executed by the control unit 20, cause the control unit 20 to execute the method 100. An exemplary sequence of the method 100 is shown in Figure 6.

[0042] This initially involves recording 101 an order parameter set 211 which comprises a format 211.1 of the palletized item 3. The order parameter set 211 can be determined, for example, based on order data which can be defined and / or entered by a user at a user interface 23 of the control unit 20. The format 211.1 of the palletized item 3 comprises, in particular, dimensions of the palletized item 3, e.g., in the form of a transverse side dimension, a longitudinal side dimension, and a height dimension. Furthermore, the method 100 comprises controlling 102 the transport device 2 for transporting the palletized item 3 along the transport direction 2.2, such that the palletized item 3 is moved via the entrance area 11.1 of the positioning surface 11 onto the positioning surface 11. It is provided that an actuation 103 of an alignment means 14 takes place, which, according to Figure 4, is arranged in front of the positioning surface 11 in the transport direction 2.2 of the palletized goods 3.The alignment means 14 can be brought into an active position 14.1, in which the alignment means 14 blocks a process path 220 of the palletized item 3 to specify an orientation of the palletized item 3, and a passive position 14.2, in which the process path 220 is released by the alignment means 14. When the alignment means 14 is controlled 103 to assume the active position 14.1, the alignment means 14 is controlled before the palletized item 3 reaches the alignment means 14, so that the palletized item 3 is aligned by the alignment means 14 on a front side 3.1 of the palletized item 3 oriented in the transport direction 2.2. As a result, the palletized item 3 reaches the positioning surface 11 in an aligned state. Figure 3 shows the positioning surface 11 with the input area 11.1 and an end 11.2 opposite the input area 11.1.The positioning surface 11 has at least one conveyor 13, here with multiple conveyor tracks, for moving the palletized goods 3 along the positioning surface 11. In the method 100, the conveyor 13 is controlled 104 to move the palletized goods 3 until the palletized goods 3 reach a predefined stop position 201 on the positioning surface 11. The stop position 201 is defined depending on the format 211.1 of the palletized goods 3 such that the stop position 201 has a distance 200.1 from the end 11.2 of the positioning surface 11. Advantageously, the stop position 201 can be defined based on the format 211.1 and / or a rear side 3.2 of the palletized goods 3, which is opposite the front side 3.1. For example, the rear side 3.2 can be flush with the entrance area 11.1. This allows the palletized goods 3 to be completely positioned on the positioning surface 11 with just a brief actuation 104 of the conveyor 13.

[0043] Subsequently, a detection 105 of a positioning 200 of the palletized item 3 on the positioning surface 11 in the stop position 201 at the distance 200.1 from the end 11.2 of the positioning surface 11 can be carried out. The detection 105 of the positioning 200 can be carried out depending on the stop position 201, for example, by calculating the positioning 200 of the palletized item 3 on the positioning surface 11 based on the format 211.1 of the order parameter set 211 and at least one control parameter 210 when controlling 102, 104 the transport device 2 and / or the conveyor 13. Additionally or alternatively, the positioning 200 of the palletized item 3 can be detected by sensors. In particular, the detection 105 of the positioning 200 can be carried out by detecting a position of the back 3.2 by calculating the position of the back 3.2 and / or detecting it by sensors.

[0044] Subsequently, a lifting drive 12 of the lifting device 10 is actuated 106 to move the lifting rake 15 depending on the detection 105 of the positioning 200 in order to lift the palletized goods 3 from the transport plane 2.1 to the gripping height 4.1. Subsequently, as shown in Figures 4 and 5, the gripper device 4 is actuated 107 to grip the palletized goods 3 at the gripping height 4.1 and to transport the palletized goods 3 to a palletizing area 5. The palletizing area 5 can comprise a sliding table (not shown) on which the palletized goods 3 are arranged before the palletized goods 3 fall onto a pallet. The control 107 of the gripper device 4 comprises a transport process 107.1 for moving a gripper unit 30 from the lifting device 10 to a drop position 203, a waiting process 107.2 in the drop position 203 above the palletizing area 5 and a drop process 107.3 for ejecting the palletized goods 3 after completion of the waiting process 107.2. For this purpose, a receiving position 202 of the palletized goods 3 for gripping the palletized goods 3 and a cycle speed 212 for gripping the palletized goods 3 are specified depending on the positioning 200 of the palletized goods 3. The cycle speed 212 can be used to coordinate the lifting device 10 and the gripper device 4 in order to increase the overall speed of the process and / or to enable more material-friendly operation of the palletizing system 1. The waiting process 107.2 is defined by the control unit 20 depending on the positioning 200.

[0045] The above explanation of the embodiments describes the present invention exclusively by way of examples. Of course, individual features of the embodiments can be freely combined with one another, provided they are technically feasible, within the scope of protection defined by the patent claims, without departing from the scope of the present invention.

[0046] Bezuq szei chen li ste

[0047] 1 palletizing system

[0048] 2 Transport device

[0049] 2.1 Transport level

[0050] 2.2 Transport direction

[0051] 3 Palletized goods

[0052] 3.1 Front

[0053] 3.2 Back

[0054] 4 gripper device

[0055] 4.1 Gripping height

[0056] 5 Palletizing area

[0057] 10 Lifting device

[0058] 11 Positioning surface

[0059] 11.1 Entrance area

[0060] 11.2 End

[0061] 12 Lifting drive

[0062] 13 funding

[0063] 14 Alignment tools

[0064] 14.1 Asset position

[0065] 14.2 Passive position

[0066] 15 lifting rakes

[0067] 20 Control unit

[0068] 30 gripper unit

[0069] 100 procedures

[0070] 101 Capture of 211

[0071] 102 Control of 2

[0072] 103 Control of 14

[0073] 104 Control of 13

[0074] 105 Detecting 200 106 Controlling 12

[0075] 107 Control of 4

[0076] 107.1 Transport process

[0077] 107.2 Waiting process

[0078] 107.3 Dropping process

[0079] 200 Positioning

[0080] 200.1 Distance to 11.2

[0081] 201 Stop position

[0082] 202 Recording position

[0083] 203 Drop-off position

[0084] 210 control parameters

[0085] 211 Job parameter set

[0086] 211.1 Format

[0087] 212 clock speed

[0088] 220 Process path

[0089] 230 Lifting

Claims

Patent claims 1. A method (100) for controlling a palletizing system (1) for palletizing palletized goods (3) with a lifting device (10) having a positioning surface (11) on which the palletized goods (3) can be positioned for lifting (230) the palletized goods (3) from a transport plane (2.1) to a gripping height (4.1) for gripping by a gripper device (4), and a transport device (2) for transporting the palletized goods (3) to the lifting device (10), wherein the method (100) comprises: - controlling (102) the transport device (2) to transport the palletised goods (3) along a transport direction (2.2), so that the palletised goods (3) are moved via an entrance area (11.1) of the positioning surface (11) onto the positioning surface (11), Detecting (105) a positioning (200) of the palletized goods (3) on the positioning surface (11), wherein the positioning (200) has a distance (200.1) to an end (11.2) of the positioning surface (11) opposite the input area (11.1), - Controlling (106) a lifting drive (12) of the lifting device (10) as a function of the detection (105) of the positioning (200) in order to lift the palletised goods (3) from the transport level (2.1) to the gripping height (4.1).

2. Method (100) according to claim 1, characterized in that the positioning surface (11) has at least one conveying means (13) for moving the palletized goods (3) along the positioning surface (11), the method (100) comprising: - controlling (104) the conveyor means (13) to move the palletized goods (3) until the palletized goods (3) reach a predefined stop position (201) on the positioning surface (11), wherein the detection (105) of the positioning (200) is carried out as a function of the stop position (201), in particular wherein the positioning (200) is calculated as a function of the controlling (104) of the conveyor means (13).

3. Method (100) according to claim 1 or 2, characterized in that the positioning (200) of the palletized goods (3) on the positioning surface (11) is calculated upon detection (105) of the positioning (200) on the basis of at least one control parameter (210) upon actuation (102) of the transport device (2) and / or the conveying means (13), and / or is detected by sensors.

4. Method (100) according to one of the preceding claims, characterized in that the method (100) comprises: Detecting (101) an order parameter set (211) which comprises a format (211.1) of the palletizing material (3), wherein the detection (105) of the positioning (200) takes place as a function of the format (211.1) of the order parameter set (211).

5. Method (100) according to one of the preceding claims, characterized in that the method (100) comprises: - controlling (103) an alignment means (14) which is arranged in front of the positioning surface (11) in the transport direction (2.2) of the palletized goods (3) in order to bring the alignment means (14) into an active position (14.1), in which the alignment means (14) blocks a process path (220) of the palletized goods (3) in order to specify an orientation of the palletized goods (3), and / or a passive position (14.2), in which the process path (220) is released by the alignment means (14).

6. Method (100) according to one of the preceding claims, characterized in that the alignment means (14) is activated during the actuation (103) of the alignment means (14) to assume the active position (14.1) before the palletized item (3) reaches the alignment means (14), so that the palletized item (3) is aligned by the alignment means (14) on a front side (3.1) of the palletized item (3) oriented in the transport direction (2.2).

7. Method (100) according to one of the preceding claims, characterized in that the detection (105) of the positioning (200) takes place by detecting a position of a rear side (3.2) of the palletized goods (3) on the positioning surface (11) oriented counter to the transport direction (2.2).

8. Method (100) according to one of the preceding claims, characterized in that the method (100) comprises: - controlling (107) the gripper device (4) for gripping the palletized goods (3) at the gripping height (4.1) and for transporting the palletized goods (3) to a palletizing area (5), wherein for controlling (107) the gripper device (4) a receiving position (202) of the palletized goods (3) for gripping the palletized goods (3) is specified depending on the positioning (200) of the palletized goods (3).

9. Method (100) according to one of the preceding claims, characterized in that for controlling (107) the gripper device (4) a cycle speed (212) for gripping the palletized goods (3) is specified as a function of the positioning (200) of the palletized goods (3).

10. Method (100) according to one of the preceding claims, characterized in that the actuation (107) of the gripper device (4) comprises a transport process (107.1) for moving a gripper unit (30) from the lifting device (10) to a drop-off position (203), a waiting process (107.2) in the drop-off position (203) and a drop-off process (107.3) for dropping the palletized goods (3) after completion of the waiting process (107.2), wherein the waiting process (107.2) is defined as a function of the positioning (200).

11. A computer program product comprising instructions which, when executed by a control unit (20), cause the control unit (20) to execute a method (100) according to any one of the preceding claims.

12. Palletizing system (1) for palletizing palletized goods (3), comprising a transport device (2) for transporting the palletized goods (3), a gripper device (4) for gripping the palletized goods (3) at a gripping height (4.1) for a palletizing process, a lifting device (10) for lifting (230) the palletized goods (3) from a transport plane (2.1) of the transport device (2) to the gripping height (4.1) of the gripper device (4), and a control unit (20) for carrying out a method (100) according to one of claims 1 to 10 for controlling the palletizing system (1).

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