Gripper device with electric gripper drives, palletising system, control method for transport and computer program product

Abstract

The invention relates to a gripper device (5) for transporting palletising material (3) from a receiving location (4) to a palletising region (6), having a gripper unit (10) with at least two gripper elements (11) which can be moved relative to one another to carry out a closing movement (201) by way of which the palletising material (3) at the receiving location (4) can be at least partially enclosed in a transport space (200) formed between the gripper elements (11), and to carry out an opening movement (202) by way of which the transport space (200) can be opened to release the palletising material (3) at the palletising region (6). The invention further relates to a palletising system (1), a control method (100) and a computer program product.

Description

[0001] Gripper device with electric gripper drives, palletizing system, control method for a transport and computer program product

[0002] Description

[0003] The invention relates to a gripper device for transporting palletized goods, a palletizing system, a control method for controlling the transport of palletized goods, and a computer program product.

[0004] It is well known from the state of the art to palletize manufactured goods in order to transport them to another location, for example, by truck. For this purpose, the goods are usually stacked in several layers on a transport pallet.

[0005] Gripper devices are often used to arrange the goods on the pallet. These pick up the palletized goods and place them at a predetermined location on the pallet. With gripper devices of this type, two pneumatically controlled gripper arms are often pneumatically controlled to grip the palletized goods and place them above the pallet. However, over the course of a pneumatic drive's life cycle, the pressure conditions in the lines can change individually for each of the gripper arms, e.g. due to wear and / or temperature changes. This can lead to asymmetric arm movements during operation despite symmetrical control. Asymmetric arm movements can, however, lead to the palletized goods no longer being reliably gripped by the gripper arms, transported to the desired location, and positioned there precisely.For example, it may happen that one of the arms opens too early or too late, causing the palletized goods falling onto the pallet to experience a torque and miss the intended, precise position and / or alignment on the pallet. This can compromise the layer quality and thus the transport safety of the stack on the pallet.

[0006] DE 103 09 131 A1 therefore discloses the use of a pneumatically controlled palletizing robot in which two gripper arms are coupled by a mechanical connecting element to enable symmetrical movement. However, such a mechanical connection is complex and can therefore result in additional costs and / or additional maintenance requirements.

[0007] It is an object of the present invention to at least partially remedy the above-mentioned disadvantages known from the prior art. In particular, it is an object of the present invention to provide improved automation for a palletizing process for palletized goods, preferably to enable the most precise and / or reproducible layer pattern possible.

[0008] The above object is achieved by a gripper device having the features of claim 1, a palletizing system having the features of claim 17, a control method having the features of claim 18, and a computer program product having the features of claim 25. Further features and details of the invention emerge from the respective subclaims, the description and the drawings. Features and details that are described in connection with the gripper device according to the invention naturally also apply in connection with the palletizing system according to the invention, the control method according to the invention and / or the computer program product according to the invention and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is or can always be made reciprocal.

[0009] According to a first aspect of the invention, a gripper device is provided for transporting palletized goods from a receiving location to a palletizing area. The gripper device comprises a gripper unit with at least two gripper elements, which are movable relative to one another for performing a closing movement, by which the palletized goods can be at least partially enclosed in a transport space formed between the gripper elements at the receiving location, and for performing an opening movement, by which the transport space is open to release the palletized goods at the palletizing area. Furthermore, the gripper device comprises a control unit for controlling the gripper unit. Furthermore, the gripper device comprises a gripper drive unit for moving the gripper elements.The gripper drive unit has 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.

[0010] The palletized goods can preferably be pre-stacked and / or empty packaging, 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 varied when palletizing successive pallet layers and / or pallets.

[0011] Furthermore, the gripper device can have an interface for connecting the gripper device to a production line for producing the palletized goods. In this case, the gripper device can form a termination of the production line. The receiving location can comprise a loading device for loading the palletized goods onto the gripper device. For example, a lifting table can be arranged at the receiving location to lift the palletized goods and enable them to be picked up by the gripper unit. A pallet for receiving the palletized goods can be arranged in the palletizing area. Preferably, several pallets can be kept in the palletizing area for sequential loading with palletized goods. It can advantageously be provided that the palletized goods can be set down and / or, in particular, dropped, upon release above the palletizing area by the opening movement.

[0012] The gripper elements can be designed as gripper arms. In particular, the gripper elements can be constructed identically and / or offset, preferably point-symmetrically, to one another. Furthermore, the gripper elements can be moved towards one another during the closing movement and / or away from one another during the opening movement. The transport space can be a volume that can be at least partially enclosed by the gripper unit, in particular the gripper elements. Enclosing the palletized goods in the transport space can be understood to mean that the palletized goods are secured for transport and / or at least partially surrounded by the gripper elements. The transport space can advantageously be adapted to the size of the palletized goods. In particular, the transport space can be formed by the closing movement, be open on opposite sides and / or closed off at an underside.

[0013] 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 gripper unit, the gripper device, and / or a 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.

[0014] The gripper drive unit can preferably be integrated into the gripper unit. For example, the gripper elements and the gripper drives can be arranged on a movement means of the gripper unit. The electric gripper drives preferably each comprise an electric motor for moving the gripper elements to execute the closing and opening movements.

[0015] The control unit is particularly designed to control each of the gripper drives for the coordinated execution of the closing and opening movements. Coordinated execution of the closing and opening movements can be understood as meaning that the control unit can specify a coordination of the gripper elements. For example, a predetermined symmetry and / or a predetermined asymmetry of the gripper elements can be controlled by the control unit when executing the closing and / or opening movements.

[0016] It has thus been recognized within the scope of the present invention that the electric gripper drives can be used to implement simplified control by the control unit, which, in particular, enables adaptation of a movement function for each of the gripper elements during the closing and opening movements without mechanical intervention in the gripper device. Because the gripper drives are electrically designed, the accuracy of positioning the palletized goods can be improved. In particular, the control unit can be designed to control the gripper drives with an offset, e.g., to account for wear and / or changing temperature conditions.

[0017] Furthermore, in a gripper device according to the invention, it can advantageously be provided that the gripper elements are designed to at least partially close the transport space by the closing movement below a support surface of the palletized goods, i.e. in particular between the palletized goods and a floor and / or contact surface of the gripper device, in particular wherein the gripper elements are designed in the manner of a rake in order to engage in a rake-like feeding device below the support surface. The support surface of the palletized goods can preferably be understood to be an underside of the palletized goods, e.g. in the form of a stack underside, with which the palletized goods rest at the feeding location, in particular on the feeding device. The feeding device can preferably comprise a lifting rake which is movable to lift the palletized goods at the receiving location.The rake-like design of the gripper elements and the loading device allows the gripper elements to engage in the gaps in the loading device to grasp the palletized goods underneath. This allows the transport space below the palletized goods to be at least partially or completely closed by the gripper elements to lift the palletized goods. By lifting the palletized goods at the support surface, a lateral pressure force can be avoided. This allows even pressure-sensitive palletized goods, such as packaging, to be transported gently from the pick-up point to the palletizing area.

[0018] In a gripper device according to the invention, it can preferably be provided that the control unit has a functional module for specifying a variable movement function for the coordinated execution of the closing movement and / or the opening movement as a function of the movement function, in particular wherein the movement function comprises a control curve. The movement function can, for example, comprise an acceleration and / or speed curve for each of the gripper elements. Advantageously, the movement function can be stored in a memory module of the control unit and / or can be determined on a job-related basis. Using the movement function, the control unit can determine a position of the gripper elements at any time during the execution of the closing movement and / or the opening movement. This allows the palletized goods to be gripped, deposited and / or ejected with a high degree of precision.Furthermore, the movement function can enable gentle operation of the gripper elements, in which acceleration of the gripper elements, in particular at a stop of the gripper unit, can be reduced.

[0019] Furthermore, in a gripper device according to the invention, it can advantageously be provided that the functional module is designed to individually specify and / or adapt the movement function for defining the opening movement and / or the closing movement for each of the gripper elements in order to define a synchronous movement of the gripper elements and / or a movement having a predefined offset. By individually specifying the movement function, the coordinated execution of the closing movement and the opening movement can be improved. In particular, each of the gripper elements can be assigned its own movement function. When adapting the movement function, individual wear, individual temperature conditions and / or other operating conditions of the gripper elements can be taken into account. Furthermore, it is conceivable that the movement function for the gripper elements can be dependent on a condition of the palletized goods, e.g.depending on the stack height, weight, orientation, and / or the like. For example, if the palletized goods include valve bags, an asymmetry in the weight distribution caused by the valves can be taken into account during the opening movement, so that the palletized goods fall onto the palletizing area in a straight line despite the asymmetrical weight distribution.

[0020] Furthermore, in a gripper device according to the invention, it can advantageously be provided that the gripper unit has a movement means for movable mounting on a support frame, wherein the gripper elements are each mounted on the movement means, in particular rotatably and / or pivotably, by at least one bearing element. The support frame can comprise a frame, in particular a stationary frame, preferably in the form of a steel structure, on which the movement means is arranged. For example, the movement means can be suspended from the support frame. The movement means can in particular comprise a carriage, by means of which the gripper unit can be moved on the support frame. In particular, the gripper unit can be moved by the movement means on the support frame between the receiving location and the palletizing area. In this case, a position for carrying out the opening movement on and / or above the palletizing area can be varied during each transport process.Advantageously, the movement means can have at least two, preferably three, axes of movement along which the movement means can move on the support frame. This allows the palletized goods to be distributed in a packing pattern within a layer in the palletizing area. The bearing element can, for example, comprise a hinge, roller bearing, and / or a plain bearing to enable rotatable and / or pivotable mounting. The rotatable and / or pivotable mounting allows the gripper elements to reach beneath the support surface of the palletized goods in order to lift the palletized goods. The translational, preferably purely translational and / or linear, movement of the at least one hold-down element allows the hold-down unit to be easily adapted to the stack height of the palletized goods.

[0021] Furthermore, in a gripper device according to the invention, it is conceivable that the gripper drives are designed to carry out a preferably coordinated braking of the gripper elements during the closing movement and the opening movement. It is conceivable that the gripper elements are accelerated at the beginning of the opening and / or closing movement and decelerated by the gripper drives at the end of the opening and / or closing movement. This makes it possible to implement high acceleration at the beginning of the opening and / or closing movement, while material fatigue can be reduced by the drive-side braking compared to braking by stops. The braking can, in particular, be motor braking. The braking can, for example, be prescribed by the movement function.Advantageously, during braking by the gripper drives, a recuperation process can be carried out, through which electrical energy is fed back into a supply network, in particular a power network, of the gripper device. Furthermore, braking allows stops for the gripper elements to be avoided and / or reduced in size.

[0022] Furthermore, in a gripper device according to the invention, it is conceivable that a hold-down unit is provided, by means of which a transport pressure can be exerted in the transport space for pressing the palletized goods against the gripper elements. The hold-down unit can preferably be integrated into the gripper unit. The hold-down element can advantageously be arranged centrally or eccentrically in the transport space. The hold-down element can have a pressure means, in particular in the form of a pressure rail. Advantageously, the hold-down element can have a pressure surface that can be pressed onto the palletized goods to exert the transport pressure. The electric press drive unit preferably comprises an electric motor for moving the hold-down element, in particular linearly. As a result, the transport pressure can be exerted on the palletized goods in a simple manner.The electric press drive allows for simplified control by the control unit, which, in particular, allows for consideration of changes in the operating behavior of the hold-down unit, e.g., due to changing ambient conditions and / or wear, without mechanical intervention in the gripper device. In particular, the control unit can be designed to control the hold-down unit with an offset, e.g., to take wear and / or changing temperature conditions into account. Furthermore, it can be provided that the control unit is designed to coordinate the application of the transport pressure and the control of the gripper unit to execute the opening and / or closing movement. This allows for improved coordination between the gripper unit and the hold-down unit to be realized in order to shorten the time required to execute the movements and to transport the palletized goods.

[0023] In a gripper device according to the invention, it can preferably be provided that the hold-down unit has an electric press drive unit and at least one hold-down element, wherein the control unit has a hold-down module for controlling the press drive unit to move the hold-down element to exert the transport pressure. The hold-down element can advantageously be arranged centrally or eccentrically in the transport space. The hold-down element can have a pressure means, in particular in the form of a pressure rail. Advantageously, the hold-down element can have a pressure surface that can be pressed onto the palletized goods to exert the transport pressure. The electric press drive unit preferably comprises an electric motor for moving the hold-down element, in particular linearly. As a result, the transport pressure can be exerted on the palletized goods in a simple manner.Preferably, it can be provided that the hold-down unit has at least two hold-down elements, by means of which the transport pressure can be exerted jointly, in particular symmetrically in the transport space, on the palletized goods, in particular wherein each of the hold-down elements is assigned an electric press drive controllable by the control unit for the coordinated movement of the hold-down elements. Advantageously, the hold-down elements can be designed identically. By providing two hold-down elements, the transport pressure can be distributed more evenly across a pressure surface of the palletized goods. For example, the hold-down elements can each be arranged off-center on opposite sides of a center of the palletized goods. The coordinated movement of the hold-down elements can be understood to mean that a coordination of the hold-down elements can be specified by the control unit.For example, a predetermined symmetry and / or a predetermined asymmetry of the hold-down elements can be controlled when exerting the transport pressure, when moving towards the palletized goods and / or when moving away from the palletized goods.

[0024] Furthermore, in a gripper device according to the invention, it is conceivable that each of the gripper drives of the gripper drive unit and / or the press drive unit comprises a servomotor with a position sensor for transmitting operating data of the servomotor to the control unit, in particular wherein the operating data comprises 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. The position information can include, for example, a rotor position, commutation signals, absolute and / or relative position values ​​and / or angle signals of the servomotor. Furthermore, it is conceivable that the position sensor is designed as an incremental encoder and / or an absolute value encoder. The servomotor can 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 gripper drive unit and / or the press drive unit, for example in real time. By configuring the servo motor with a gearbox, a space-saving design can be provided in order to enable a compact design of the gripper unit. Furthermore, the resolution of the position sensor can be multiplied by the gearbox, which can improve the accuracy of the control of the servo motor.Furthermore, in a gripper device according to the invention, it can advantageously be provided that the gripper drives and / or the press drive unit comprise a threaded drive, in particular in the form of a ball screw drive. The ball screw drive can comprise a spindle, a nut with balls, and / or a bearing. A force can be transmitted between the spindle and the nut with the aid of the balls. This allows the rotation of a motor to be converted into a linear movement with high efficiency. The servomotors can thus be designed as linear drives. This makes it possible to achieve an advantageous length-to-stroke ratio for the servomotors in order to reduce the required installation space, in particular in a vertical direction. In particular, the threaded drive can be designed such that the dimensions of the threaded drive do not exceed the dimensions of conventional pneumatic cylinders.

[0025] Furthermore, in a gripper device according to the invention, it can advantageously be provided that at least one main drive unit is provided, which can be controlled by the control unit in order to move the movement means with the gripper elements between the receiving location and the palletizing area. By controlling the main drive unit by the control unit, the main drive unit can be coordinated with the gripper drive unit and / or the press drive unit. Thus, a holistic control of the transport process of the palletized goods can be carried out by the control unit. In particular, the movement of the movement means and the gripper elements and / or the hold-down unit can be coordinated with one another in order to reduce or avoid transition times between the movement of the movement unit and the opening and / or closing movement.The main drive unit can be arranged on the movement unit and / or on the movement means in order to drive the movement means. The main drive unit preferably comprises one or more electric drives. In this case, it can be provided that the main drive unit is designed to carry out a recuperation process by which electrical energy is fed back into a supply network, in particular a power network, of the gripper device. In particular, if the gripper unit with the movement means is heavy, large amounts of energy can be fed back and thus saved. Furthermore, in a gripper device according to the invention, it can advantageously be provided that the control unit has a positioning module for controlling the gripper drive unit and / or the main drive unit for variable positioning and / or variable orientation of the palletizing goods in the palletizing area.The positioning module allows the positioning and / or orientation to be individually adjusted for each transported palletized item. This allows the control unit to stack individual packing patterns in the palletizing area. For example, the respective packing pattern can be designed to be product- and / or layer-specific. Furthermore, the positioning module can provide improved control of the gripper drive unit depending on the respective target positioning and / or target orientation. For example, the opening movement of the gripper elements can be adjusted depending on the stack height at the respective position and / or orientation, particularly to take the respective ambient conditions into account.

[0026] Preferably, a gripper device according to the invention can be provided with a user interface that is connected to the control unit for data communication. The positioning module is designed to detect at least one palletizing parameter, in particular a layer-specific packing pattern, via the user interface in order to control the main drive unit and / or the gripper elements for the coordinated execution of the opening and closing movements depending on the at least one palletizing parameter. It can advantageously be provided that multiple palletizing parameters can be detected via the user interface.The palletizing parameter(s) can include, for example, the layer-specific packing pattern, a layer count, a discharge height for executing the opening movement, a stack height of the pre-stacked palletized goods, a type of palletized goods, and / or a number of units of the palletized goods to be transported per unit of time. The packing pattern can preferably be graphically defined at the user interface. The user interface can preferably be arranged on the support frame of the gripper device. Operators of the gripper device can define the palletizing process via the user interface.Preferably, in a gripper device according to the invention, it can be provided that the gripper unit is movable on the support frame in a support plane, in particular wherein the gripper drives have a drive direction for moving the gripper elements, which is oriented about a drive axis aligned parallel to the support plane, and / or wherein the press drive unit is oriented at an angle, preferably perpendicular, to the support plane. The support plane can comprise a geometric plane in which the movement of the gripper unit for positioning the palletized goods takes place, in particular controlled by the main drive unit. The drive direction of the gripper drives about the drive axis allows the gripper elements to be rotated and / or pivoted. The press drive unit can also act in a direct line in the direction of the palletized goods.Because the drives act and are aligned in different directions, a compact gripper unit can be achieved.

[0027] Preferably, in a gripper device according to the invention, it can be provided that the gripper unit has at least two, preferably exactly two, side holders which form opposite sides of the transport space, wherein at least one of the side holders is designed to be pivotable in order to center the palletized goods in the transport space during the closing movement of the gripper elements and to release the palletized goods when the gripper elements open. Preferably, both side holders are designed to be pivotable. The side holders can form a wall of the transport space. In this case, the pivotable side holder can be designed to be rake-like, at least in sections, in order to allow one of the gripper elements to reach through. The side holders can center and align the palletized goods in the transport space.The pivotable side holder can be pivotable at least in sections together with one of the gripper elements and / or can be arranged with one of the gripper elements on one of the sides of the transport space. Furthermore, the side holders can preferably extend along the gripper elements. The side holders can advantageously each be pivotally mounted about a pivot axis about which one of the gripper elements can pivot. Furthermore, each of the side holders can be coupled at least in sections or permanently to one of the gripper elements during the closing movement and / or the opening movement. For example, the opening and closing movements can be two-phase movements, wherein the side holders are carried along by the gripper elements in a first movement phase and the gripper elements move freely from the side holders in a second movement phase.This allows the movement of the side supports to be minimized to reduce inertia in the second movement phase, while still allowing the gripper elements sufficient freedom of movement to pick up and release the palletized goods. Preferably, the side supports and the gripper elements can have a drive mechanism through which the side supports are driven by the gripper elements during the first movement phase.

[0028] Preferably, in a gripper device according to the invention, it can be provided that the control unit has a detection module for detecting geometric data, in particular a height measurement, of the palletized goods, in particular wherein the control unit is designed to control the gripper drives depending on the geometric data. Additionally or alternatively, the hold-down module can be designed to control the press drive unit depending on the geometric data. To detect the geometric data, the gripper device and / or the palletizing system can have a sensor unit by which the geometric data is measured. However, it is also conceivable that the geometric data are provided, e.g., depending on the palletizing parameters. For example, it can be provided that the height measurement can be calculated by the detection module depending on the stack height of the pre-stacked palletized goods.By taking the geometry data into account, the end position of at least one hold-down element can be individually adapted to the palletized goods. This allows the coordinated execution of the closing and opening movements to be individually adjusted. Furthermore, it is conceivable that the relative position of the gripper elements to one another in a direction oriented parallel to the carrier plane can be changed depending on the geometry data. This allows the pivot axes of the gripper elements to be displaced to accommodate a variable width of the palletized goods, e.g., for different palletizing jobs.

[0029] In a gripper device according to the invention, it can preferably be provided that the press drive unit and / or the gripper drive unit has a drive mechanism which blocks a drive position when the power is switched off, in particular wherein the control unit has a safety module by means of which an emergency situation can be detected and the press drive unit and / or the gripper drive unit can be switched off depending on the emergency situation. The drive mechanism can be formed, for example, by the threaded drive. Preferably, the drive mechanism is designed to be self-braking and / or self-locking. Locking the drive position can be understood to mean that an output of the drive mechanism remains in a position in which the output is when the power is switched off.As a result, the opening and / or closing movement can be interrupted and / or blocked when the power is switched off, in particular immediately. The emergency situation can comprise a malfunction of the gripper device and / or the palletizing system, e.g. in the form of an error when executing the opening and / or closing movement, an opening signal from a safety door and / or user intervention in the gripper device and / or the palletizing system. By switching off the power, it is possible, in particular, to prevent a movement sequence within the gripper unit from continuing despite the emergency situation. If the emergency situation occurs, for example, during the opening movement, the locking of the drive mechanism can prevent the palletized goods from being released from the transport space by the gripper unit and falling out during the emergency situation.Thus, the safety of the gripper device can be improved by the press drive unit and / or the gripper drive unit.

[0030] According to a further aspect of the invention, a palletizing system is provided. The palletizing system comprises a transport device for transporting palletized goods to a receiving location. Furthermore, the palletizing system comprises a gripper device according to the invention for transporting the palletized goods from the receiving location to a palletizing area.

[0031] Thus, a palletizing system according to the invention offers the same advantages as have already been described in detail with reference to a gripper device according to the invention. The transport device can be designed, for example, as a linear conveyor, in particular in the form of a conveyor belt. Furthermore, it can be provided that a production device for producing and / or pre-stacking the palletized goods is integrated into the palletizing system. In particular, the production device can be connected to the transport device in order to realize automatic conveyance of the palletized goods from the production to the gripper device. According to a further aspect of the invention, a control method for transporting palletized goods from a receiving location to a palletizing area is provided.Transporting is carried out by a gripper device, in particular a gripper device according to the invention, in a palletizing system, in particular a palletizing system according to the invention. The control method comprises, in particular in the form of method steps:

[0032] - Control of at least two electric gripper drives for carrying out a coordinated closing movement of at least two gripper elements of a gripper unit, by means of which the palletised goods are at least partially enclosed in a transport space formed between the gripper elements at the receiving location, preferably by a control unit of the gripper device,

[0033] - Controlling the gripper unit to move the gripper unit from the pick-up location to the palletising area, preferably by a control unit,

[0034] - Controlling the gripper drives to carry out a coordinated opening movement by which the transport space is opened to release the palletised goods at the palletising area, preferably by the control unit.

[0035] Thus, a control method according to the invention provides the same advantages as those already described in detail with reference to a gripper device according to the invention and / or a palletizing system according to the invention. The control of the gripper drives can, in particular, be individually adapted for each of the gripper drives. When moving the gripper unit from the pick-up location to the palletizing area, the gripper unit can be moved across the palletizing area.

[0036] Furthermore, in a control method according to the invention, it can advantageously be provided that a variable movement function is specified for controlling the gripper drives, for carrying out the closing movement and / or the opening movement, wherein the movement function comprises a control curve of the gripper elements for carrying out the closing movement and / or the opening movement. The movement function can be read out from a memory unit. The movement function can improve the movement sequence of the gripper elements. Furthermore, in a control method according to the invention, it is conceivable that the movement function for defining the opening movement and / or the closing movement is individually specified and / or adapted for each of the gripper elements in order to define a synchronous movement of the gripper elements and / or a movement having a predefined offset.This allows the fall of the palletized goods to be influenced, particularly during the closing movement, and preferably stabilized in a predefined orientation.

[0037] Furthermore, in a control method according to the invention, it can advantageously be provided that the gripper drives are controlled upon completion of the closing movement and / or the opening movement to execute a coordinated braking of the gripper elements. This braking allows stops for the gripper elements to be avoided and / or reduced in size. Furthermore, this allows a material-friendly movement to be defined, thereby reducing maintenance requirements.

[0038] Furthermore, in a control method according to the invention, it is conceivable that the control of the gripper unit for moving the gripper unit and / or the control of the gripper drives for executing the coordinated opening movement takes place depending on a variable positioning and / or a variable orientation of the palletized goods in the palletizing area. This allows the control unit to stack individual packing patterns in the palletizing area.

[0039] Within the scope of the invention, it is further conceivable that after and / or during the closing movement, a hold-down unit is activated to exert transport pressure to press the palletized goods against the gripper elements. This allows the palletized goods to be easily secured in the transport space during transport.

[0040] Furthermore, in a control method according to the invention, it can advantageously be provided that monitoring of the gripper device and / or the palletizing system is carried out in order to detect an emergency situation, wherein the gripper unit, in particular the press drive unit and / or the gripper drive unit, is de-energized depending on the emergency situation in order to block a drive position of a drive mechanism. For monitoring purposes, for example, a preferably continuously repeated check can be carried out to determine whether a fault signal from the gripper device and / or the palletizing system is detected, in particular by the control unit. This can improve the safety of the gripper device.

[0041] According to a further aspect of the invention, a computer program product is provided. The computer program comprises instructions which, when executed by a control unit, cause the control unit to execute a control method according to the invention.

[0042] 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 gripper device according to the invention, a palletizing system according to the invention, and / or a control method according to the invention. The control method can, in particular, be a computer-implemented control 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 either by means of software or 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.

[0043] The modules of the control unit, i.e. in particular the functional module, the positioning module and / or the hold-down module, can be designed separately from one another or at least partially connected to one another. For example, it can be provided that the modules are formed by memory areas, electronic circuits and / or, in particular programmed, electronic components of the control unit. Furthermore, the control unit can be designed to execute the computer program product. Further advantages, features and details of the invention emerge from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination. They show schematically:

[0044] Figure 1 shows a palletizing system according to the invention with a gripper device according to the invention for transporting palletized goods,

[0045] Figures 2 to 4 show a gripper unit of the gripper device when transporting the palletized goods,

[0046] Figure 5 shows a gripper element of the gripper unit in a schematic

[0047] perspective view,

[0048] Figure 6 shows a structure of a press drive unit of the gripper unit, and

[0049] Figure ? a sequence of an inventive control method for transporting the palletized goods.

[0050] 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.

[0051] Figure 1 shows a palletizing system 1 according to the invention in a first exemplary embodiment, comprising a transport device 2 for transporting palletized goods 3 to a receiving location 4. The palletized goods 3 can preferably be pre-stacked and / or empty packaging, in particular bags. The palletizing system 1 can advantageously be part of a production line in which the transport device 2 is directly connected to an upstream manufacturing device (not shown) for producing the palletized goods 3. Furthermore, the palletizing system 1 has a gripper device 5 according to the invention for transporting the palletized goods 3 from the receiving location 4 to a palletizing area 6. For this purpose, the gripper device 5 is preferably connected to the transport device 2. The receiving location 4 can, for example, be formed by a feed device 40, in particular a rake-like feed device.The feeding device 40 can be arranged at one end of the transport device 2.

[0052] The gripper device 5 has a gripper unit 10 for transporting the palletized goods 3 and a control unit 20 for controlling the gripper unit 10. The gripper unit 10 comprises a movement means 32 for movable mounting on a support frame 7 in a support plane 7.1. In order to move the movement means 32 with the gripper elements 11 between the receiving location 4 and the palletizing area 6, in particular in the support plane 7.1, the gripper device 5 has at least one main drive unit 50, which can be controlled by the control unit 20.

[0053] The control unit 20 can be integrated into the gripper unit 10 or designed separately from the gripper device 5. For example, the control unit 20 can be arranged in a control cabinet of the gripper device 5. Preferably, the control unit 20 is designed to execute a control method 100 according to the invention for transporting the palletized goods 3, as shown in Figure 7. For this purpose, a computer program product can be provided which comprises commands which, when executed by the control unit 20, cause the control unit 20 to execute the control method 100. Furthermore, the gripper device 5 has a user interface 23 which is connected to the control unit 20 for data communication. Additionally or alternatively, the control unit 20 can have an interface for data communication with electronics of the palletizing system 1 outside the gripper device 5.

[0054] As shown in Figure 2, the gripper unit 10 has two gripper elements 11. The gripper elements 11 can be moved relative to one another by a gripper drive unit 30 to perform a closing movement 201. As a result of the closing movement 201, the palletized item 3 at the receiving location 4, as shown in Figures 2 and 3, can be at least partially enclosed in a transport space 200 formed between the gripper elements 11. Furthermore, the gripper elements 11 can be moved relative to one another by the gripper drive unit 30 to perform an opening movement 202. As a result of the opening movement 202, the transport space 200 can be opened to release the palletized item 3 at the palletizing area 6, as shown in Figure 4. The transport space 200 is a volume in which the palletized item 3 can be transported from the receiving location 4 to the palletizing area 6. The volume can be at least partially open on the sides.Furthermore, the control unit 20 has a positioning module 22 for controlling the gripper drive unit 30 and / or the main drive unit 50 for a variable positioning 203 and / or a variable orientation 204 of the palletizing item 3 at the palletizing area 6, as shown in Figure 1. The positioning module 22 is designed to detect at least one palletizing parameter 211, in particular a layer-specific packing pattern, via the user interface 23 in order to control the main drive unit 50 and / or the gripper elements 11 depending on the at least one palletizing parameter 211.

[0055] As shown in Figure 3, the gripper elements 11 are designed to at least partially close the transport space 200 by the closing movement 201 below a support surface 3.1 of the palletized goods 3. For this purpose, the gripper elements 11 are designed in a rake-like manner in order to engage in the rake-like feeding device 40 below the support surface 3.1. The rake-like configuration is shown for one of the gripper elements 11 in Figure 5. The gripper elements 11 are preferably of identical construction and / or symmetrical to one another. Furthermore, the gripper elements 11 are each mounted on the movement means 32, in particular in a rotatable and / or pivotable manner, by at least one bearing element 11.1. Gripper drives 31 of the gripper drive unit 30 have a drive direction 30.1 for moving the gripper elements 11, which is oriented about a drive axis aligned parallel to the support plane 7.1.Furthermore, the gripper unit 10 has two side holders 62, which form opposite sides 3.2 of the transport space 200. The side holders 62 are pivotable in order to center the palletized goods 3 in the transport space 200 during the closing movement 201 of the gripper elements 11 and to release them when the opening movement 202 of the gripper elements 11 is executed.

[0056] In particular, for high precision when gripping and / or releasing the palletized goods 3, the gripper drive unit 30 has an electric gripper drive 31 for each of the gripper elements 11, which can be controlled by the control unit 20 for the coordinated execution of the closing movement 201 and the opening movement 202 of the gripper elements 11. For this purpose, each of the gripper drives 31 of the gripper drive unit 30 comprises a servo motor with a position sensor 33 for transmitting operating data 220 of the servo motor to the control unit 20. Furthermore, the gripper drives 31 each have a drive mechanism which blocks a drive position 31.1 when the power is switched off. Advantageously, the control unit 20 can also have a safety module 26, by means of which an emergency situation can be detected. The emergency situation can be a malfunction of the gripper device 5 and / or the palletizing system 1, e.g.This could be due to a machine fault and / or a user intrusion into the gripper device 5 and / or the palletizing system 1. Depending on the emergency situation, the gripper unit 10 and / or the gripper drives 31 can be de-energized by the safety module 26. This can stop the opening movement 202 and / or the closing movement 201 and, in particular, prevent the palletized goods 3 from falling out of the transport space 200. Furthermore, the gripper drives 31 can be configured by the servo motors to carry out a coordinated braking of the gripper elements 11 during the closing movement 201 and the opening movement 202.

[0057] Furthermore, the control unit 20 has a functional module 21 for specifying a variable movement function 210 for the coordinated execution of the closing movement 201 and / or the opening movement 202 depending on the movement function 210. The movement function 210 comprises, for example, a control cam for executing the closing movement 201 and / or the opening movement 202. Furthermore, the functional module 21 is designed to individually specify and / or adapt the movement function 210 for defining the opening movement 202 and / or the closing movement 201 for each of the gripper elements 11 in order to define a synchronous movement of the gripper elements 11 and / or a movement having a predefined offset and thereby execute it in a coordinated manner.

[0058] Furthermore, the gripper device 5, preferably the gripper unit 10, has a hold-down unit 60 for exerting a transport pressure 205 for pressing the palletized goods 3 against the gripper elements 11 in the transport space 200. The hold-down unit 60 comprises at least one hold-down element 61, here two hold-down elements 61. The hold-down elements 61 allow the transport pressure 205 to be exerted jointly on the palletized goods 3, in particular symmetrically in the transport space 200. For this purpose, the hold-down unit 60 has an electric press drive unit 70 for moving the hold-down elements 61. The press drive unit 70 is oriented at an angle, preferably perpendicular, to the support plane 7.1. Furthermore, the control unit 20 comprises a hold-down module 24 for controlling the press drive unit 70 to move the hold-down elements 61 to exert the transport pressure 205.Furthermore, each of the hold-down elements 61 is assigned an electrical press drive 71, which can be controlled by the control unit 20, for moving the hold-down elements 61. The functional module 21 can be designed to specify a further, variable movement function 210 for exerting the transport pressure 205 as a function of the further movement function 210. The further movement function 210 comprises, in particular, a control cam for each of the hold-down elements 61 in order to individually specify and / or adapt the movement function 210 for each of the hold-down elements 61 as a function of the opening movement 202 and / or the closing movement 201 of the gripper elements 11. This allows a synchronous movement of the hold-down elements 61 and / or a movement having a predefined offset to be defined.

[0059] The press drives 71 can advantageously each comprise a servomotor with a position sensor 33 for transmitting operating data 220 of the servomotor to the control unit 20. For example, as shown in Figure 6, each of the servomotors can have a threaded drive 72, in particular in the form of a ball screw drive, for a preferably purely translational movement. The drive mechanism can be formed by the threaded drive 72. Additionally or alternatively, the press drives 71 can functionally correspond to the gripper drives 31. In particular, the press drives 71 can be designed to carry out coordinated braking of the hold-down elements 61 when they move. Furthermore, the press drives 71 can each have a drive mechanism that locks a drive position 71.1 when the power is switched off.The safety module 26 allows the press drive unit 70, preferably the press drives 71, to be switched off depending on the emergency situation.

[0060] For order-specific and / or error-tolerant adjustment, the control unit 20 can further comprise a detection module 25 for detecting geometric data 3.3, in particular a height measurement, of the palletized goods 3. The control unit 20 can be configured to control the gripper drives 31 and / or the press drives 71 depending on the geometric data 3.3. It is conceivable that the geometric data are detected based on a measurement and / or based on the palletizing parameters 211.

[0061] Thus, in the control method 100, the electric gripper drives 31 can be controlled 101 to execute the coordinated closing movement 201 of the gripper elements 11, so that the palletized item 3 is at least partially enclosed in the transport space 200 by the gripper elements 11 at the receiving location 4. Preferably simultaneously with the closing movement 201, an electric press drive unit 70 is controlled 102 to move the hold-down elements 61 to exert the transport pressure 205 for pressing the palletized item 3 in the transport space 200 depending on the geometric data 3.3 of the palletized item 3.

[0062] Depending on the specified positioning 203 and / or the specified orientation 204 of the palletized goods 3 at the palletizing area 6, the gripper unit 10 is then controlled 103 to move the gripper unit 10 from the receiving location 4 to the palletizing area 6. At the palletizing area 6, the gripper drives 31 are controlled 104 to execute the coordinated opening movement 202, by which the transport space 200 is opened to release the palletized goods 3 at the palletizing area 6.

[0063] During the control method 100, monitoring of the gripper device 5 and / or the palletizing system 1 is further carried out in order to detect the emergency situation and to de-energize the gripper drive unit 30 and / or the press drive unit 70 depending on the emergency situation.

[0064] It has thus been recognized within the scope of the present invention that simplified control by the control unit 20 can be realized through the electric gripper drives 31 and the electric press drives 71. This avoids mechanical coupling of the gripper elements 11 and / or the hold-down elements 61. At the same time, high, reproducible accuracy in the positioning 203 of the palletized goods 3 can be improved with high process and system reliability. Furthermore, the accuracy can be maintained over a long period of operation of the gripper device 5 with low maintenance and, in particular, can even be electronically readjusted.

[0065] 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.

[0066] Bezuq szei chen li ste

[0067] 1 palletizing system

[0068] 2 Transport device

[0069] 3 Palletized goods

[0070] 3.1 Support surface

[0071] 4 Recording location

[0072] 5 gripper device

[0073] 6 Palletizing area

[0074] 7 support frames

[0075] 7.1 Support level

[0076] 10 gripper unit

[0077] 11 gripper elements

[0078] 11.1 Bearing element

[0079] 20 Control unit

[0080] 21 Function module

[0081] 22 Positioning module

[0082] 23 User interface

[0083] 24 hold-down module

[0084] 25 Recording module

[0085] 26 Security module

[0086] 30 gripper drive unit

[0087] 30.1 Drive direction

[0088] 31 Gripper drive

[0089] 31.1 Drive mechanism of 31

[0090] 32 means of transport

[0091] 33 position sensors

[0092] 40 Feeding device

[0093] 50 Main drive unit 0 Hold-down unit 1 Hold-down elements 2 Side holders 0 Press drive unit 1 Press drive 2 Thread drive

[0094] 31.1 Drive mechanism of 71

[0095] 100 control methods

[0096] 101 Control of 31

[0097] 102 Control of 70

[0098] 103 Control of 10

[0099] 104 Control of 31

[0100] 200 transport space

[0101] 201 Closing movement

[0102] 202 Opening movement

[0103] 203 Positioning

[0104] 204 Orientation

[0105] 205 Transport pressure

[0106] 210 Movement function

[0107] 211 Palletizing parameters

[0108] 220 operating data

Claims

P a t e n t a n s p r ü c h e 1. Gripper device (5) for transporting palletized goods (3) from a receiving location (4) to a palletizing area (6), comprising a gripper unit (10) with at least two gripper elements (11) which are movable relative to one another for carrying out a closing movement (201), by means of which the palletized goods (3) at the receiving location (4) can be at least partially enclosed in a transport space (200) formed between the gripper elements (11), and for carrying out an opening movement (202), by means of which the transport space (200) can be opened to release the palletized goods (3) at the palletizing area (6), a control unit (20) for controlling the gripper unit (10), and a gripper drive unit (30) for moving the gripper elements (11), characterized in that the gripper drive unit (30) has an electric gripper drive for each of the gripper elements (11). (31),which can be controlled by the control unit (20) for the coordinated execution of the closing movement (201) and the opening movement (202) of the gripper elements (11).

2. Gripper device (5) according to claim 1, characterized in that the gripper elements (11) are designed to at least partially close the transport space (200) by the closing movement (201) below a support surface (3.1) of the palletizing material (3), in particular wherein the gripper elements (11) are designed in a rake-like manner in order to engage in a rake-like feeding device (40) below the support surface (3.1).

3. Gripper device (5) according to claim 1 or 2, characterized in that the control unit (20) has a function module (21) for specifying a variable movement function (210) for the coordinated execution of the closing movement (201) and / or the opening movement (202) as a function of the movement function (210), wherein the movement function (210) comprises a control cam for executing the closing movement (201) and / or the opening movement (202).

4. Gripper device (5) according to one of the preceding claims, characterized in that the functional module (21) is designed to individually predetermine and / or adapt the movement function (210) for defining the opening movement (202) and / or the closing movement (201) for each of the gripper elements (11) in order to define a synchronous movement and / or a movement having a predefined offset of the gripper elements (11).

5. Gripper device (5) according to one of the preceding claims, characterized in that the gripper unit (10) has a movement means (32) for movable mounting on a support frame (7), wherein the gripper elements (11) are each mounted on the movement means (32) by at least one bearing element (11.1), in particular rotatably and / or pivotably.

6. Gripper device (5) according to one of the preceding claims, characterized in that the gripper drives (31) are designed to carry out a coordinated braking of the gripper elements (11) during the closing movement (201) and the opening movement (202).

7. Gripper device (5) according to one of the preceding claims, characterized in that a hold-down unit (60) is provided, by means of which a transport pressure (205) for pressing the palletized goods (3) against the gripper elements (11) can be exerted in the transport space (200).

8. Gripper device (5) according to one of the preceding claims, characterized in that the hold-down unit (60) has an electric press drive unit (70) and at least one hold-down element (61), wherein the control unit (20) has a hold-down module (24) for controlling the press drive unit (70) to move the hold-down element (61) to exert the transport pressure (205).

9. Gripper device (5) according to one of the preceding claims, characterized in that each of the gripper drives (31) of the gripper drive unit (30) and / or the press drive unit (70) comprises a servo motor with a position sensor (33) for transmitting operating data (220) of the servo motor to the control unit (20), in particular wherein the operating data (220) comprise position information and / or speed information of the servo motor.

10. Gripper device (5) according to one of the preceding claims, characterized in that at least one main drive unit (50) is provided which can be controlled by the control unit (20) in order to move the movement means (32) with the gripper elements (11) between the receiving location (4) and the palletizing area (6).

11. Gripper device (5) according to one of the preceding claims, characterized in that the control unit (20) has a positioning module (22) for controlling the gripper drive unit (30) and / or the main drive unit (50) for a variable positioning (203) and / or a variable orientation (204) of the palletizing material (3) at the palletizing area (6).

12. Gripper device (5) according to one of the preceding claims, characterized in that a user interface (23) is provided which is connected to the control unit (20) for data communication, wherein the positioning module (22) is designed to detect at least one palletizing parameter (211), in particular a layer-specific packing pattern, via the user interface (23) in order to control the main drive unit (50) and / or the gripper elements (11) for the coordinated execution of the opening movement (202) and closing movement (201) depending on the at least one palletizing parameter (211).

13. Gripper device (5) according to one of the preceding claims, characterized in that the gripper unit (10) is movable on the support frame (7) in a support plane (7.1), wherein the gripper drives (31) have a drive direction (30.1) for moving the gripper elements (11), which is oriented about a drive axis aligned parallel to the support plane (7.1), and / or wherein the press drive unit (70) is oriented at an angle, preferably perpendicular, to the support plane (7.1).

14. Gripper device (5) according to one of the preceding claims, characterized in that the gripper unit (10) has at least two side holders (62) which form opposite sides (3.2) of the transport space (200), wherein at least one of the side holders (62) is designed to be pivotable in order to center the palletized goods (3) in the transport space (200) during the closing movement (201) of the gripper elements (11) and to release the palletized goods (3) when the opening movement (202) of the gripper elements (11) is carried out.

15. Gripper device (5) according to one of the preceding claims, characterized in that the control unit (20) has a detection module (25) for detecting geometric data (3.3), in particular a height dimension, of the palletized goods (3), wherein the control unit (20) is designed to control the gripper drives (31) depending on the geometric data (3.3).

16. Gripper device (5) according to one of the preceding claims, characterized in that the press drive unit (70) and / or the gripper drive unit (30) has a drive mechanism which blocks a drive position (31.1, 71.1) when the power is switched off, in particular wherein the control unit (20) has a safety module (26) by means of which an emergency situation can be detected and the press drive unit (70) and / or the gripper drive unit (30) can be switched off depending on the emergency situation.

17. Palletizing system (1) comprising a transport device (2) for transporting palletized goods (3) to a receiving location (4), and a gripper device (5) according to one of the preceding claims for transporting the palletized goods (3) from the receiving location (4) to a palletizing area (6).

18. Control method (100) for transporting palletized goods (3) from a receiving location (4) to a palletizing area (6) by a gripper device (5), in particular according to one of claims 1 to 16, in a palletizing system (1), in particular according to the preceding claim, comprising: - controlling (101) at least two electric gripper drives (31) to carry out a coordinated closing movement (201) of at least two gripper elements (11) of a gripper unit (10), by means of which the palletized goods (3) are at least partially enclosed in a transport space (200) formed between the gripper elements (11) at the receiving location (4), - Controlling (103) the gripper unit (10) to move the gripper unit (10) from the pick-up location (4) to the pallet storage area (6), - Controlling (104) the gripper drives (31) to carry out a coordinated opening movement (202) by which the transport space (200) is opened to release the palletised goods (3) at the palletising area (6).

19. Control method (100) according to claim 18, characterized in that for controlling (101, 104) the gripper drives (31) to carry out the closing movement (201) and / or the opening movement (202), a variable movement function (210) is specified, wherein the movement function (210) comprises a control curve of the gripper elements (11) to carry out the closing movement (201) and / or the opening movement (202).

20. Control method (100) according to claim 18 or 19, characterized in that the movement function (210) for defining the opening movement (202) and / or the closing movement (201) is individually specified and / or adapted for each of the gripper elements (11) in order to define a synchronous movement and / or a movement having a predefined offset of the gripper elements (11).

21. Control method (100) according to one of the preceding claims, characterized in that the gripper drives (31) are controlled upon termination of the closing movement (201) and / or the opening movement (202) in order to carry out a coordinated braking of the gripper elements (11).

22. Control method (100) according to one of the preceding claims, characterized in that the control (103) of the gripper unit (10) for moving the gripper unit (10) and / or the control of the gripper drives (31) for carrying out the coordinated opening movement (202) takes place as a function of a variable positioning (203) and / or a variable orientation (204) of the palletizing material (3) at the palletizing area (6).

23. Control method (100) according to one of the preceding claims, characterized in that after and / or during the closing movement (201) a control (102) of a hold-down unit (60) for exerting a transport pressure (205) for pressing the palletizing material (3) against the gripper elements (11) takes place.

24. Control method (100) according to one of the preceding claims, characterized in that monitoring of the gripper device (5) and / or the palletizing system (1) is carried out in order to detect an emergency situation, wherein the gripper unit (10) is de-energized as a function of the emergency situation in order to block a drive position (31.1, 71.1) of a drive mechanism.

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

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