Lifting device, palletizing system, method for actuating a palletizing system, and computer program product

Abstract

The invention relates to a lifting device (10) for lifting articles (3) to be palletized to a gripping height (4.1) of a gripping device (4) in order to grip the articles (3) for a palletizing process, having a lifting unit (20) with a positioning surface (2.1), on which the articles (3) can be positioned in order to lift (230) the articles (3), and a lifting means (21) for lifting the articles (3) from the positioning surface (2.1) to the gripping height (4.1); and a drive means (22) for moving the lifting means (21) in order to lift the articles (3). The invention additionally relates to a palletizing system (1), to an actuation method (100), and to a computer program product.

Description

[0001] Lifting device, palletizing system, control method for controlling a palletizing system and computer program product

[0002] Description

[0003] The invention relates to a lifting device for lifting palletized goods to a gripping height, a palletizing system for palletizing palletized goods, a control method for controlling a palletizing system, and a computer program product.

[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 pneumatically controlled 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, especially when the gripper device is embedded in a production line for the palletized goods. Such lifting devices are often pneumatically controlled by initiating a predefined control pressure to raise the palletized goods to the gripping height.

[0006] However, over the life cycle of pneumatic drives, the pressure conditions in the lines can change, e.g., due to wear and / or temperature changes. This may, for example, require the pneumatic drive to be readjusted to ensure the gripping height remains constant during continued operation. Furthermore, such pneumatic drives often prevent the implementation of more complex control actions, which can limit the palletizing speed of the palletized goods.

[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 enable improved operation of a palletizing system for a palletizing process of a palletized product, preferably with regard to speed and / or accuracy reproducible over the life cycle.

[0008] The above object is achieved by a lifting device having the features of claim 1, a palletizing system having the features of claim 17, a control method having the features of claim 20, 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 described in connection with the lifting 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 reciprocal reference is or can always be made to the individual aspects of the invention with regard to the disclosure.

[0009] According to a first aspect of the invention, a lifting device is provided for lifting palletized goods to a gripping height of a gripper device for gripping the palletized goods for a palletizing process. The lifting device comprises the lifting unit, a positioning surface on which the palletized goods can be positioned for lifting the palletized goods on the positioning surface, and a lifting means for lifting the palletized goods from the positioning surface to the gripping height. Furthermore, the lifting device has a drive means for moving the lifting means for lifting the palletized goods and a control unit with a control module for controlling the drive means. The drive means comprises a drive motor, preferably an electric one, for moving the lifting means. Furthermore, the lifting device preferably comprises an adjusting means by which the positioning surface can be moved for adjusting a height of the positioning surface.The control module is further designed to output a, in particular variable, control signal for controlling the drive motor, preferably as a function of the height of the positioning surface.

[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] The gripper device can have a gripper unit with at least two gripper elements that 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 can be opened to release the palletized goods at a palletizing area. The palletizing area can comprise a pallet and / or a sliding table, in particular arranged above the pallet, for forming a layer pattern of the palletized goods. The gripping height can be understood as a height, in particular with respect to a floor surface of the lifting device, at which the palletized goods can be received, in particular gripped, by the gripper device.In particular, the gripping height is located vertically above the positioning surface, allowing the gripper unit to move above the positioning surface and / or the lifting unit to transport the palletized goods to the palletizing area. The gripping height is preferably determined by the gripper device and can remain constant when adjusting the height of the positioning surface.

[0012] The positioning surface can be parallel to a floor surface or diagonally to a floor surface. The positioning surface can be continuous or interrupted. Furthermore, the positioning surface can be formed by a conveyor for moving the palletized goods on the positioning surface. The conveyor can, for example, have several transport elements for moving the palletized goods on the positioning surface. The lifting means, in particular a lifting surface of the lifting means, can be adjustable to the height of the positioning surface. For example, the lifting means can be coupled to the positioning surface so that the lifting means moves with the positioning surface when the height of the positioning surface is adjusted. However, it is also conceivable for the lifting means to be mounted on a stationary frame of the lifting device and to be adjustable and / or automatically adjusted depending on the height of the positioning surface, in particular by the control unit.

[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 lifting device, 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 lifting device can define a platform with a lifting surface on which the palletized goods can be positioned for lifting the palletized goods. The variable control signal can vary depending on the order and / or be defined as a function of time and / or distance. The control signal itself and / or the movement sequence of the drive means and / or the lifting means when lifting the palletized goods can be varied by the control unit. The drive motor, in particular an electric one, can preferably comprise a linear drive and / or an internal gear for moving the lifting means.

[0015] The height of the positioning surface can be understood as a height, in particular in relation to a base surface of the lifting device, at which the palletized goods can be positioned on the lifting device. The height of the positioning surface can therefore also be referred to as the positioning height. The adjusting means can be designed for automatic and / or manual adjustment of the height of the positioning surface. For this purpose, the adjusting means can, for example, comprise a plurality of threads by means of which the height of the positioning surface can be adjusted. For this purpose, the threads, in particular in the form of screws, can be arranged in corner regions of the lifting device in order to enable uniform lifting of the lifting unit by adjusting all of the threads.

[0016] When controlling the drive motor depending on the height of the positioning surface, for example, a distance between the gripping height and the positioning surface can be taken into account, by which the palletized goods are lifted when lifted by the lifting device. To determine the control signal depending on the height of the positioning surface, the control unit can be connected to the adjustment device to detect the height of the positioning surface. However, it is also conceivable for the control unit to be designed to detect the height of the positioning surface based on order data and / or a user input.

[0017] By adjusting the height of the positioning surface, a distance, i.e. in particular a distance, between the gripping height and the positioning surface can be reduced. The process for lifting the palletized goods can be individually optimized using the control signal. For example, the movement of the lifting means can be coordinated with the movement of the gripper device in order to avoid pauses in the movement of the palletized goods during the process and, in particular, to enable continuous palletizing. This can increase the speed of the palletizing system when palletizing the goods. Furthermore, signs of wear during the life cycle of the lifting device and / or the gripper device can be compensated for by control technology, which can reduce maintenance costs. The drive means is, in particular, purely electric and can comprise one or more drive motors.It has therefore been recognized within the scope of the present invention that lifting the palletized goods can represent a significant factor for the process time during palletizing of the palletized goods. By reducing the distance between the gripping height and the positioning surface, the distance traveled during lifting can be reduced, thereby shortening the process time. By means of the electric drive means, i.e. in particular by moving away from pneumatic control, an improved control of the drive motor for moving the lifting means by the control unit can be realized, which can take the changed distance into account and which enables an adjustment of the control signal, in particular without mechanical intervention in the lifting device.

[0018] In a lifting device according to the invention, it can preferably be provided that the drive motor 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 the 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 servomotor. Furthermore, it is conceivable for the position sensor to be designed as an incremental encoder and / or 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 servomotor 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 configuring the servomotor 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 servomotor control.

[0019] Furthermore, in a lifting device according to the invention, it is conceivable that the control unit has a functional module for specifying a variable movement function for the control signal, wherein the movement function comprises a control curve for moving the lifting means. Preferably, the functional module is designed to adapt the movement function depending on the height of the positioning surface. The movement function can, for example, comprise an acceleration and / or speed curve for the lifting means and / or the drive means. For example, the functional module can be designed to define a starting point and / or the acceleration and / or speed curve for the movement function depending on the height of the positioning surface. 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.The movement function allows the control unit to determine a position of the lifting means and / or the drive motor at any time during the execution of the movement of the lifting means. This allows the palletized goods to be lifted with a high degree of precision in order to coordinate the movement of the lifting means and the gripper unit. Furthermore, the movement function can enable gentle operation of the lifting means, in which acceleration, in particular at a stop of the lifting means, can be reduced. Furthermore, in a lifting device according to the invention, it is conceivable that the adjusting means for moving the positioning surface is designed by moving the lifting unit to adjust the height of the positioning surface. When the lifting unit is moved, the lifting means can thus be automatically moved along with the positioning surface.For this purpose, the lifting device and the positioning surface can be arranged on a common frame, which can be moved by the adjustment device for adjusting the height of the positioning surface. A difference in the height of the positioning surface can be taken into account when adjusting the height of the positioning surface by the control unit to determine the control signal. In particular, this can prevent an adjustment of the initial position of the lifting device.

[0020] Preferably, in a lifting device according to the invention, it can be provided that the adjusting means has an adjusting drive for the automated movement of the positioning surface, in particular wherein the control unit has an adjusting module for controlling the adjusting drive for the automated movement of the positioning surface, in particular the lifting unit. This can increase the automation of the lifting device. Furthermore, the adjusting drive can be used to quickly react to changes in the process, e.g., a change in the order data and / or a format of the palletized goods. The adjusting drive can comprise an electric, hydraulic, and / or pneumatic drive. For example, the adjusting drive can have a servo motor and / or an NC motor. The adjusting drive can be connected to the control unit via a data connection for control by the control unit.The adjustment module can, for example, process order data from a user interface to determine the height of the positioning surface and to control the adjustment drive to set the height of the positioning surface.

[0021] Furthermore, in a lifting device according to the invention, it is conceivable that the lifting unit has a receiving interface for coupling to a transport device for transporting the palletized goods to the lifting device, preferably wherein the receiving interface comprises a bearing, in particular in the form of a loose bearing, for pivotably supporting the transport device. Advantageously, the receiving interface can be coupled to the lifting unit in order to be moved along with the lifting unit when adjusting the height of the positioning surface. The receiving interface can form an access to the lifting device for the palletized goods, and in particular can be designed for connection to a production line for producing the palletized goods by the transport device. The coupling of the receiving interface to the transport device can be mechanical, e.g. by fastening means, and / or process-related, iein particular for the automatic transfer of the palletized goods from the transport device to the lifting device. For example, the transfer interface can comprise an opening in the lifting device and / or form a transport path for the palletized goods from the transport device to the lifting means. It is conceivable for the transfer interface to have a conveying means, such as a conveyor belt, to receive the palletized goods from the transport device in the positioning surface and transport them to a lifting surface of the lifting means. The bearing for supporting the transport device can comprise a joint by means of which the transport device can be pivoted about a pivot axis. If the bearing is a loose bearing, the transport device can be floatingly mounted. For example, the loose bearing can comprise a slotted guide for a joint in the transport device and / or the transfer interface.By supporting the transport device, the transport device can be moved at least partially or completely when the height of the positioning surface is adjusted. Preferably, the transport device can be adjusted at an angle to a floor surface of the palletizing system when the height of the positioning surface is adjusted. In particular, if the transport device is supported by a fixed bearing at an end of the transport device opposite the lifting device, an end of the transport device oriented towards the lifting device can follow a circular path when the height of the positioning surface is changed. The floating bearing can compensate for a distance difference between the lifting device and the transport device, resulting in particular from the circular path, when the height of the positioning surface is adjusted.This enables a continuous supply of palletized goods to the positioning surface after adjusting the height of the positioning surface.

[0022] It is further conceivable in a lifting device according to the invention for the adjusting means to have a lever mechanism by means of which the movement of the positioning surface, in particular of the lifting unit, can be carried out in a translational manner when the height of the positioning surface is adjusted. The lever mechanism can comprise a lever gear. For example, several lever elements can interact to guide the translational movement of the positioning surface, in particular of the lifting unit. The translational movement can preferably be understood as a guided movement in which an alignment of the lifting unit, in particular with respect to a base surface of the lifting device, is at least substantially or completely maintained. As a result, the weight of the palletized goods can be sufficient to prevent the palletized goods from falling during the lifting process. In particular, additional securing of the palletized goods during lifting can be omitted.The translational movement of the positioning surface, in particular of the lifting unit, can preferably be carried out purely translationally, in particular with a parallel displacement of a lifting surface of the lifting means.

[0023] Furthermore, in a lifting device according to the invention, it is conceivable for the lever mechanism to comprise a scissor mechanism which can be deployed, in particular for a parallel displacement of the positioning surface, in particular of the lifting unit, in the direction of the gripping height. The parallel displacement can result in a purely translational movement of the positioning surface, in particular of the lifting unit. To configure the scissor mechanism, at least two lever elements of the lever mechanism can be connected by an axis, in particular a centrally arranged axis. The deployment of the scissor mechanism can be understood as the lever elements changing a relative position to one another in order to increase an extension of the lever mechanism in a lifting direction when lifting the palletized goods. The scissor mechanism can enable a high, in particular millimeter-accurate, movement of the positioning surface.

[0024] Furthermore, in a lifting device according to the invention it can advantageously be provided that the lifting means has a plurality of lifting elements arranged with intermediate spaces between one another, which form a rake-like lifting surface and / or by means of which a rake-like lifting surface can be formed 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 lifting surface can thus be interrupted by the intermediate spaces, i.e. in particular be discontinuous. In particular, the lifting elements can be spaced apart from one another in the region of the intermediate spaces. In this case, 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.The support surface of the palletized goods can preferably be understood as the underside of the palletized goods, e.g., in the form of the underside of a stack, with which the palletized goods rest on the lifting device 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 the palletized goods from underneath. 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 allows even pressure-sensitive palletized goods, such as packaging, to be transported gently from the pick-up location to the palletizing area.

[0025] Within the scope of the invention, it is further conceivable for the lifting unit to have transport elements arranged in the intermediate spaces, in particular within the positioning surface, by means of which the palletized item can be moved along the positioning surface and / or the lifting surface, i.e. in particular parallel to the positioning surface and / or lifting surface, preferably from the transfer interface to a gripping position for the gripper device. The lifting elements preferably move relative to the transport elements when the palletized item is lifted. The gripping position can be understood in particular as a position of the palletized item on the lifting surface and / or on the positioning surface, by means of which position the gripper unit of the gripper device can be aligned with the palletized item. The transport elements can therefore remain in one plane of the positioning surface when the palletized item is lifted.Preferably, the lifting elements can be arranged set back from the transport elements before the palletized goods are lifted. The transport elements can comprise several conveyor belts, by means of which the palletized goods can be moved on the lifting surface. Preferably, the transport elements can be driven by a common transport drive, e.g., in the form of a drive axle. The transport elements can advantageously position the palletized goods on the lifting surface for the gripper device, in order to simplify gripping of the palletized goods and / or improve reproducibility.

[0026] Furthermore, in a lifting device according to the invention, it can advantageously be provided that a detection means is provided by which a position of the palletized goods on the lifting surface and / or the positioning surface can be detected, wherein the control unit is in communication with the detection means and has a gripper module for providing position information about the position of the palletized goods for gripping the palletized goods by the gripper device. The detection means can preferably be integrated into the lifting unit and / or the transfer interface. Furthermore, the detection means can advantageously comprise a sensor system, in particular with an optical sensor. For example, the sensor system can comprise one or more light barriers. Additionally or alternatively, the control unit can be designed to determine the geometric data based on the palletizing parameter.The position of the palletized item can comprise an orientation and / or position of the palletized item on the lifting surface. The position information can comprise angle and / or coordinate data relating to the position of the palletized item. The gripper module can form an interface to a further control module and / or a local control unit of the gripper device. The position information can be made available to the gripper device in order to coordinate the movement of the gripper unit with the position information. However, it is also conceivable for the position information to comprise Boolean information as to whether the palletized item is completely positioned on the positioning surface and / or the lifting surface. In this case, the process for lifting the palletized item can be carried out by the lifting device depending on the position information. This allows lifting to take place immediately after the palletized item has arrived, i.e. in particular without any waiting time.Advantageously, the transport drive for the transport elements can be connected to the control unit. The control unit can be configured to control the transport drive. The transport drive can be connected to the transport elements, for example, by a frictional connection. Thus, the position of the palletized goods on the lifting surface can be coordinated with the lifting and / or gripper device in order to optimize the movement sequence within the palletizing system.

[0027] Furthermore, it is conceivable for a lifting device according to the invention to provide a user interface which is connected to the control unit for data communication, wherein the control unit is designed to detect at least one palletizing parameter, in particular a layer-specific packing pattern, via the user interface in order to define the control signal as a function of the at least one palletizing parameter. It can advantageously be provided that a plurality of 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 discharging the palletized goods above the palletizing area, 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 on the user interface. The user interface can preferably be arranged on the support frame of the gripper device. Operators can define the palletizing process via the user interface. Based on the at least one palletizing parameter, the control unit can determine, for example, the gripping height and the position of the palletized goods on the lifting surface. This can improve the coordination of the movement sequences when lifting the palletized goods.

[0028] Furthermore, in a lifting device according to the invention, it can advantageously be provided that the control unit has a detection module for detecting geometric data, in particular with a height measurement, of the palletized goods, wherein the control unit is designed to control the adjustment drive and / or the drive motor, i.e. in particular to output the control signal, as a function of the geometric data. The geometric data can be detectable by the detection module via the detection means, via order data for the palletized goods and / or via the user interface. By taking the geometric data into account, the adjustment of the height of the positioning surface and / or the lifting of the palletized goods can be coordinated with the geometric 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 and / or the height of the positioning surface to be individually adjusted to the palletized goods in order to improve the movement sequence.

[0029] It is further conceivable in a lifting device according to the invention that the control module is designed to control the drive motor by means of the control signal in at least two movement phases, wherein a first movement phase comprises lifting the palletized item from the positioning surface to an intermediate height, in particular depending on the height of the palletized item, and a second movement phase comprises lifting the palletized item to the gripping height. The first movement phase can thus be carried out in particular by pre-controlling the lifting means, during which the palletized item is brought into a standby position at the intermediate height. The pre-control can be carried out, for example, while the gripper unit is moving and / or before the gripper unit is located above the lifting means. The intermediate height can be defined such that the gripper unit can still pass the palletized item lying on the lifting means.The first movement phase can therefore cover part of the path from the positioning surface to the gripping height. This can further shorten the process time for palletizing the palletized goods. The intermediate height can be determined in particular as a function of the geometric data, preferably the height. The distance between the intermediate height and the gripping height can decrease, preferably proportionally, with the height. If the palletized goods have a small height, for example, the intermediate height can be higher, i.e. defined closer to the gripping height. The second movement phase can lift the palletized goods into the transport space when the gripper unit is located above the lifting device. This can reduce the path of movement of the gripper elements when carrying out the closing movement by reducing the required height of the gripper elements when the palletized goods pass on the lifting device.In particular, since the gripper elements can have a high mass inertia, this can further reduce process time and / or maintenance requirements.

[0030] Preferably, in a lifting device according to the invention, at least one alignment means for specifying an orientation of the palletized goods for the lifting means can be provided, preferably wherein the alignment means comprises at least one stop surface against which the palletized goods can be moved in order to specify the orientation on the stop surface, in particular wherein the alignment means is movable between an active position in which the alignment means for specifying the orientation of the palletized goods blocks a process path of the palletized goods and / or the gripper device, and a passive position in which the process path is released by the alignment means. The alignment means can preferably be integrated into the lifting unit in order to enable a height adjustment of the alignment means together with the positioning surface.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 lifting 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, the angular position can be predetermined by the stop surface so that the palletized goods are aligned on the lifting surface or reach the lifting surface in an aligned state. The process path can comprise a movement space of the palletized goods and / or the gripper unit of the gripper device.For example, the alignment means can be arranged between the transport device and the lifting surface so that the palletized goods are automatically aligned with the stop surface during transport towards the lifting surface when the alignment means is in the active position, and can be transported further onto the lifting surface when the alignment means is in the passive position. 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 the detection means and / or by an additional sensor, in particular a sensor of the transfer interface. 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 shifting in the respective directions.

[0031] Furthermore, in a lifting device according to the invention, it is conceivable that an alignment element of the alignment means is arranged on a side of the lifting means opposite the transfer interface, wherein the alignment element is coupled to the detection means and / or the lifting means for movement into the passive position. The coupling of the alignment element to the detection means and / or the lifting means can be implemented mechanically and / or electrically. For example, it can be provided that the alignment element is coupled to the lifting means via a gear and / or via the control unit. As a result, the alignment element can be brought into the passive position before the palletizing item is lifted and / or before the gripper unit of the gripper device moves towards the lifting device to grip the palletizing item.By arranging the alignment means on the side of the lifting means opposite the transfer interface, the orientation of the palletized goods on the lifting surface can be ensured. At the same time, it can be provided that the process path of the gripper device, in the form of a movement path of the gripper unit, is blocked by the alignment element. By coupling for moving into the passive position, the process path can be released at an advantageous time in the process sequence. 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 according to the invention for lifting the palletized goods to the gripping height of the gripper device.

[0032] Thus, a palletizing system according to the invention offers the same advantages as have already been described in detail with reference to a lifting 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. Preferably, the transport device can be mounted at an end opposite the lifting device by a fixed bearing and / or on the lifting device by a loose bearing. 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. It is conceivable that the lifting device is integrated into the gripper device.Thus, the palletizing system can preferably comprise a production line from the production of the palletized goods to the palletizing of the palletized goods.

[0033] It is further conceivable in a palletizing system according to the invention that a control device is provided by which a movement sequence of the gripper device for gripping the palletized goods and a control of a drive motor of the lifting device for moving a lifting means of the lifting device to raise the palletized goods to the gripping height can be coordinated. The control device preferably comprises control units of the gripper device and the lifting unit. The control units can be integrated into the control device, e.g., in the form of a central control unit of the palletizing system, and / or can be connected to one another in communication. By coordinating the movement sequence, the entire process flow during palletizing of the palletized goods can be coordinated, thereby increasing the speed.

[0034] Furthermore, in a palletizing system according to the invention, it can advantageously be provided that the gripper device comprises a gripper unit with at least two gripper elements which are movable relative to one another for carrying out 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 carrying out an opening movement by means of which the transport space can be opened to release the palletized goods for the palletizing process, in particular wherein the gripper unit has an electric gripper drive for each of the gripper elements, which electric gripper drive can be controlled by the control device for the coordinated execution of the closing movement and the opening movement of the gripper elements. The control device can in particular be designed to control each of the gripper elements for the coordinated execution of the closing movement and the opening movement.The coordinated execution of the closing movement and the opening movement can be understood to mean 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 when executing the closing movement and / or the opening movement can be controlled by the control unit. For this purpose, each of the gripper elements can be moved by a servo motor. Preferably, all actuators of the gripper unit are electric motors, in particular in the form of servo motors. This can improve the accuracy of positioning the palletized goods in the palletizing area and / or receiving the palletized goods in the transport space. Preferably, the control device can be designed to coordinate the closing movement with a control signal from the control unit of the lifting device for lifting the palletized goods to the gripping height.The resulting improved movement sequence allows the speed of the palletizing device to be increased.

[0035] According to a further aspect of the invention, a control method for controlling a palletizing system, in particular a palletizing system according to the invention, for palletizing palletized goods is provided. The control method comprises, in particular in the form of method steps:

[0036] - Preferably detecting a set height of a positioning surface of a lifting device for lifting the palletized goods, in particular by a control device of the palletizing system,

[0037] - Controlling a transport device for transporting the palletised goods to the positioning surface, in particular by the control device of the palletising system, - Controlling an electric drive motor of a lifting device, in particular a lifting device according to the invention, for lifting the palletised goods from the positioning surface to a gripping height by a, in particular variable, control signal, preferably depending on the height of the positioning surface, in particular by the control device,

[0038] - Controlling a 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 device.

[0039] Thus, a control method according to the invention brings with it the same advantages as have already been described in detail with reference to a lifting device according to the invention and / or a palletizing system according to the invention. The set height can be detected by reading a control of an adjustment drive and / or using sensor data. The control can be carried out in particular by outputting electrical signals. Furthermore, the control of the transport device, the control of the electric drive motor, and / or the control of the gripper device can preferably be carried out simultaneously and / or their execution can overlap in order to save process time for palletizing the palletized goods.

[0040] Within the scope of the invention, it is further conceivable for an alignment means to be controlled in order to move the alignment means between an active position, in which the alignment means blocks a process path of the palletized goods and / or the gripper device to specify an orientation of the palletized goods, and a passive position, in which the process path is released by the alignment means. This allows any relative movements within the pre-stacked palletized goods to be compensated for during transport and the orientation to be reproducibly established, particularly independently of upstream process stations. The passive position can prevent or reduce any movement restrictions of other components in the process.

[0041] Within the scope of the invention, it is further conceivable that the position of the palletized goods on the lifting surface and / or the positioning surface is detected, with the gripper device being controlled depending on the position of the palletized goods. The position can be detected, in particular, by a detection means of the lifting device. Thus, the position of the palletized goods on the lifting surface can be coordinated with the lifting and / or gripper device in order to optimize the movement sequence within the palletizing system.

[0042] Within the scope of the invention, it is further conceivable that the control of the drive motor by the control signal is divided into at least two movement phases, wherein a first movement phase comprises lifting the palletized goods from the positioning surface to an intermediate height, in particular depending on the height of the palletized goods, and a second movement phase comprises lifting the palletized goods to the gripping height. This allows the movement path of the gripper elements to be reduced during the closing movement by reducing the required height of the gripper elements when the palletized goods pass over the lifting means. At the same time, the first movement phase can already occur during the movement of the gripper unit.

[0043] Within the scope of the invention, it is further conceivable that, particularly before detecting the set height of the positioning surface, an adjustment drive of an adjustment means for moving and / or a lifting unit of the lifting device is controlled for adjusting the height of the positioning surface. This allows a higher degree of automation to be achieved and eliminates the need for manual adjustment of the positioning surface.

[0044] According to a further aspect of the invention, a computer program product is provided. The computer program product comprises instructions which, when executed by a control device, cause the control device to execute a control method according to the invention.

[0045] 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 lifting 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 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 as needed or executed online.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.

[0046] The modules of the control unit, i.e., in particular the control module, the function module, and / or the gripper module, can be designed separately from one another or at least partially connected to one another. For example, the modules can be 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.

[0047] Further advantages, features, and details of the invention will become apparent from the following description, which describes 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. They show schematically:

[0048] Fig. 1 shows a palletizing system according to the invention with a lifting device according to the invention for lifting palletized goods,

[0049] Fig. 2a-d the lifting device when adjusting a height of a positioning surface,

[0050] Fig. 3 the lifting device when lifting the palletized goods,

[0051] Fig. 4 a gripper unit of a gripper device of the palletizing system passing the palletized goods located at an intermediate height,

[0052] Fig. 5 to 7 the gripper device of the palletizing system during transport of the palletized goods to the palletizing area, Fig. 8 elements of an inventive control method for controlling the palletizing system, and

[0053] Fig. 9a+b an alternative embodiment of a lifting device when adjusting a height of a positioning surface.

[0054] 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.

[0055] Figure 1 shows a palletizing system 1 according to the invention for palletizing palletized goods 3 in a first exemplary embodiment, comprising a transport device 2 for transporting the palletized goods 3 to a lifting device 10 according to the invention for lifting the palletized goods 3 from a positioning surface 2.1 to a gripping height 4.1 of a gripper device 4 of the palletizing system 1. 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 the gripper device 4 for gripping the palletized goods 3 and for transporting the palletized goods 3 from the lifting device 10 to a palletizing area 5.For this purpose, the lifting device 10 is preferably integrated into the gripper device 4. The lifting device 10 is further arranged at one end of the transport device 2 and has a transfer interface 11 for coupling to the transport device 2.

[0056] As shown in Figures 4 to 7, the gripper device 4 comprises a gripper unit 50 with at least two gripper elements 51, which are movable relative to one another for carrying out a closing movement 201, by means of which the palletized item 3, as shown in Figure 5, can be at least partially enclosed in a transport space 200 formed between the gripper elements 51 at the gripping height 4.1, and for carrying out an opening movement 202, by means of which the transport space 200 can be opened to release the palletized item 3, as shown in Figure 7, for the palletizing process. As shown in Figures 2a and b, the lifting device 10 comprises a lifting unit 20 with the positioning surface 2.1 and a lifting means 21 for lifting 230 the palletized item 3 from the positioning surface 2.1 to the gripping height 4.1. For this purpose, the lifting means 21 has a plurality of lifting elements 25 arranged with spaces 24 between them, which form a rake-like lifting surface 21.1.Furthermore, the gripper elements 51 of the gripper unit 50 are also designed in a rake-like manner corresponding to the lifting surface 21.1. The intermediate spaces 24 enable the gripper elements 51 to engage in the intermediate spaces 24 after the lifting 230 of the palletized item 3, whereby a transport space 200 of the gripper unit 50 below a support surface 3.1 of the palletized item 3 can be at least partially closed while the palletized item 3 is still located on the lifting surface 21.1, as shown in Figure 6. Transport elements 26 are arranged in the intermediate spaces 24, by means of which the positioning surface 2.1 is formed and the palletized item 3 can be moved along the positioning surface 2.1 and / or the lifting surface 21.1, in particular from the transfer interface 11 to a gripping position 4.2 for the gripper device 4. The gripping position 4.2 can, for example, be predefined for the gripper device 4.

[0057] Furthermore, the lifting device 10 has an adjusting means 60, by which the positioning surface 2.1 can be moved to adjust a height 2.2 of the positioning surface 2.1. In the present exemplary embodiment, the adjusting means 60 is designed to move the positioning surface 2.1 by moving the lifting unit 20 to adjust the height 2.2 of the positioning surface 2.1, so that the lifting means 21 is automatically moved together with the positioning surface 2.1 when adjusting the height 2.2 of the positioning surface 2.1. However, it is also conceivable that when adjusting the height 2.2 of the positioning surface 2.1, only the positioning surface 2.1 with the transport elements 26 and the transfer interface 11 is moved, as shown in Figures 9a and b. Furthermore, the adjusting means 60 according to Figures 2a and 2b comprises a lever mechanism 23, by means of which the movement of the lifting unit 20 with the positioning surface 2 is controlled when adjusting the height 2.2 of the positioning surface 2.1.1 can be carried out in a translational manner. For this purpose, the lever mechanism 23 comprises a scissor mechanism which can be deployed to enable a parallel displacement of the lifting unit 20 when adjusting the height 2.2 of the positioning surface 2.1 in the direction of the gripping height 4.1. For constant coupling with the transport device 2, the transfer interface 11 comprises, as shown in a side view in Figures 2c and 2d, a bearing 11.1, in particular in the form of a loose bearing, for pivotably supporting the transport device 2. As a result, the transport device 2 can be tilted when adjusting the height 2.2 of the positioning surface 2.1 in order to enable a continuous supply of palletized goods 3 to the positioning surface 2.1.

[0058] Furthermore, as shown in Figure 4, the lifting device 10 comprises at least one alignment means 27 for specifying an orientation of the palletized goods 3 for the lifting means 21. The alignment means 27 comprises at least one stop surface 27.4 against which the palletized goods 3 can be moved in order to specify the orientation at the stop surface 27.4. As shown in Figures 2a and 2b, the alignment means 27 can comprise alignment elements 27.1 arranged at the transfer interface 11. This allows the orientation to be corrected before reaching the lifting means 21. Additionally or alternatively, an alignment element 27.1 of the alignment means 27 can be arranged on a side of the lifting means 21 opposite the transfer interface 11. When specifying the orientation, the alignment means 27 thus blocks in particular a process path 203 of the palletizing material 3 and / or the gripper unit 50. Therefore, the alignment means 27 is between an active position 27.2, in which the alignment means 27 blocks the process path 203 for specifying the orientation of the palletizing material 3, and a passive position 27.3, in which the process path 203 is released by the alignment means 27.

[0059] To move the lifting means 21, the lifting device 10, as shown in Figure 3, further comprises a drive means 22 with an electric drive motor 22.1 and a control unit 30 with a control module 31 for controlling the drive means 22. The control module 31 is designed to output a variable control signal 210 for controlling the drive motor 22.1 depending on the height 2.2 of the positioning surface 2.1. For this purpose, the control unit 30 has an adjustment module 36 for controlling the adjustment drive 61 for the automated movement of the positioning surface 2.1, in particular the lifting unit 20. By shortening the distance between the positioning surface 2.1 and the gripping height 4.1, the control signal 210 can be varied accordingly depending on the height 2.2 of the positioning surface 2.1. Furthermore, the control unit 30 can have a function module 32 for specifying a variable movement function 210.1 for the control signal 210. The movement function 210.1 can in particular comprise a control cam for moving the lifting means 21. The electric drive motor 22.1 preferably comprises a servomotor with a position sensor 22.2 for transmitting operating data 220 of the servomotor to the control unit 30. The operating data 220 can, for example, comprise position information and / or speed information of the drive motor 22.1. Furthermore, the lifting device 10 preferably has a user interface 35 which is connected to the control unit 30 for data communication. The control unit 30 is designed to detect at least one palletizing parameter 211, in particular a layer-specific packing pattern, via the user interface 35 in order to define the control signal 210 as a function of the at least one palletizing parameter 211.

[0060] The palletizing system 1 comprises a control device 6, into which the control unit 30 of the lifting device 10 and a further control unit 53 of the gripper device 4 are integrated. The control device 6 is designed to coordinate a movement sequence of the gripper device 4 for gripping the palletized item 3 and the control of a drive motor 22.1 of the lifting device 10 for moving a lifting means 21 of the lifting device 10 for lifting 230 the palletized item 3 to the gripping height 4.1. For this purpose, the lifting device 10 can have a detection means 40, by which a position 40.1 of the palletized item 3 on the lifting surface 21.1 can be detected. The control unit 30 of the lifting device 10 is in communication with the detection means 40. Furthermore, the control unit 30 of the lifting device 10 has a gripper module 33 for providing position information about the position 40.1 of the palletized goods 3 for gripping the palletized goods 3 by the gripper device 4.Furthermore, the alignment element 27.1 is also coupled to the detection means 40 and / or the lifting means 21 for moving into the passive position. This can improve the timing of the process flow.

[0061] As shown in Figure 4, the gripper unit 50 has an opening height 50.1, i.e. in particular a difference between the extension of the gripper unit 50 before and after the closing movement 201, which can be less than a height corresponding to the geometric data 3.3 of the palletized item 3. Therefore, the control module 31 is designed to control the drive motor 22.1 by the control signal 210 in at least two movement phases 231, 232. A first movement phase 231 comprises a lifting 230 of the palletized item 3 from the positioning surface 2.1 to an intermediate height 21.2, in particular depending on the height of the palletized item 3. As a result, the gripper unit 50 can pass the palletized item 3 and be positioned above it. A second movement phase 232 comprises a lifting 230 of the palletized goods 3 to the gripping height 4.1, so that the closing movement 201 of the gripper elements 51 encloses the palletized goods 3 in the transport space 200.For this purpose, the control unit 30 has a detection module 34 for detecting geometric data 3.3, in particular the height dimension, of the palletized goods 3, in order to control the drive motor 22.1 by the control module 31 depending on the geometric data 3.3. To further improve the gripping process of the palletized goods 3, the gripper unit 50 comprises an electric gripper drive 52 for each of the gripper elements 51, which can be controlled by the control device 6 for the coordinated execution of the closing movement 201 and the opening movement 202 of the gripper elements 51.

[0062] Thus, in a control method 100 for controlling a palletizing system 1, as shown in Figure 8, the set height 2.2 of the positioning surface 2.1 can be detected 101. For this purpose, the adjustment drive 61 is first activated to move the positioning surface 2.1 and / or the lifting unit 20 of the lifting device 10 to adjust the height 2.2 of the positioning surface 2.1. After and / or during the detection 101 of the set height 2.2, the transport device 2 is activated 102 to transport the palletized goods 3. Furthermore, the electric drive motor 22.1 of the lifting device 10 is controlled 103 to lift 230 the palletized goods 3 from the positioning surface 2.1 to the gripping height 4.1 by the control signal 210 of the control unit 30 of the lifting device 10, in particular in the at least two movement phases 231, 232. In this case, the alignment means 27 can also be controlled to move the alignment means 27 between the active position 27.2 and the passive position 27.3. Preferably, simultaneously with the actuation 103 of the electric drive motor 22.1 and the actuation 102 of the transport device 2, a actuation 104 of a gripper device 4 is carried out for gripping the palletized item 3 at the gripping height 4.1, in particular depending on the position 40.1 of the palletized item 3, and for transporting the palletized item 3 to the palletizing area 5. For the actuation method 100, a computer program product is preferably provided which comprises commands which, when executed by the control device 6, cause the control device 6 to execute the actuation method 100.

[0063] 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, particularly within the scope of protection defined by the patent claims, without departing from the scope of the present invention.

[0064] Reference symbol li ste

[0065] 1 palletizing system

[0066] 2 Transport device

[0067] 2.1 Positioning surface

[0068] 2.2 Height of 2.1

[0069] 3 Palletized goods

[0070] 3.1 Support surface of 3

[0071] 3.3 Geometry data of 3

[0072] 4 gripper device

[0073] 4.1 Gripping height

[0074] 4.2 Gripping position

[0075] 5 Palletizing area

[0076] 6 Control device

[0077] 10 Lifting device

[0078] 11 Transfer interface

[0079] 20 lifting unit

[0080] 21 lifting equipment

[0081] 21.1 Lifting area

[0082] 21.2 Intermediate height

[0083] 22 Propulsion means

[0084] 22.1 Drive motor

[0085] 22.2 Position sensor

[0086] 23 Lever mechanism

[0087] 24 spaces

[0088] 25 lifting elements

[0089] 26 transport elements

[0090] 27 Alignment tools

[0091] 27.1 Alignment element

[0092] 27.2 Asset position

[0093] 27.3 Passive position

[0094] 27.4 Stop surface 30 control unit

[0095] 31 Control module

[0096] 32 Function module

[0097] 33 Gripper module

[0098] 34 Recording module

[0099] 35 User interface

[0100] 36 adjustment module

[0101] 40 recording devices

[0102] 40.1 Location

[0103] 50 gripper unit

[0104] 50.1 Opening height

[0105] 51 gripper element

[0106] 52 Gripper drive

[0107] 53 control unit of 50

[0108] 60 adjustment devices

[0109] 61 Adjustment drive

[0110] 100 control methods

[0111] 101 Capturing height of 2.1

[0112] 102 Control of 2

[0113] 103 Controlling 22.1

[0114] 104 Control of 4

[0115] 200 transport space

[0116] 201 Closing movement

[0117] 202 Opening movement

[0118] 203 Process path

[0119] 210 Control signal

[0120] 210.1 Movement function 211 Palletizing parameters

[0121] 220 operating data

[0122] 230 Lifting of 3 231 first movement phase

[0123] 232 second movement phase

Claims

P a t e n t a n s p r ü c h e 1. Lifting device (10) for lifting (230) palletized goods (3) to a gripping height (4.1) of a gripper device (4) for gripping the palletized goods (3) for a palletizing process, comprising a lifting unit (20) with a positioning surface (2.1) on which the palletized goods (3) can be positioned for lifting (230) the palletized goods (3), and a lifting means (21) for lifting (230) the palletized goods (3) from the positioning surface (2.1) to the gripping height (4.1), a drive means (22) for moving the lifting means (21) for lifting (230) the palletized goods (3), and a control unit (30) with a control module (31) for controlling the drive means (22), characterized in that an adjusting means (60) is provided, by means of which the positioning surface (2.1) for adjusting a height (2.2) of the positioning surface (2.1), wherein the drive means (22) comprises a drive motor (22.1) for moving the lifting means (21), wherein the control module (31) is designed to output a variable control signal (210) for controlling the drive motor (22.1) as a function of the height (2.2) of the positioning surface (2.1).

2. Lifting device (10) according to claim 1, characterized in that the drive motor (22.1) comprises a servo motor with a position sensor (22.2) for transmitting operating data (220) of the servo motor to the control unit (30), in particular wherein the operating data (220) comprise position information and / or speed information of the servo motor.

3. Lifting device (10) according to claim 1 or 2, characterized in that the control unit (30) has a function module (32) for specifying a variable movement function (210.1) for the control signal (210), wherein the movement function (210.1) comprises a control curve for moving the lifting means (21).

4. Lifting device (10) according to one of the preceding claims, characterized in that the adjusting means (60) is designed to move the positioning surface (2.1) by moving the lifting unit (20) to adjust the height (2.2) of the positioning surface (2.1).

5. Lifting device (10) according to one of the preceding claims, characterized in that the adjusting means (60) has an adjusting drive (61) for the automated movement of the positioning surface (2.1), in particular of the lifting unit (20), wherein the control unit (30) has an adjusting module (36) for controlling the adjusting drive (61) for the automated movement of the positioning surface (2.1), in particular of the lifting unit (20).

6. Lifting device (10) according to one of the preceding claims, characterized in that the lifting unit (20) has a transfer interface (11) for coupling to a transport device (2) for transporting the palletized goods (3) to the lifting device (10), wherein the transfer interface (11) comprises a bearing (11.1), in particular in the form of a loose bearing, for pivotably supporting the transport device (2).

7. Lifting device (10) according to one of the preceding claims, characterized in that the adjusting means (60) has a lever mechanism (23) by means of which the movement of the positioning surface can be carried out in a translational manner when adjusting the height (2.2) of the positioning surface.

8. Lifting device (10) according to one of the preceding claims, characterized in that the lever mechanism (23) comprises a scissor mechanism which can be deployed for a parallel displacement of the lifting unit (20) in the direction of the gripping height (4.1).

9. Lifting device (10) according to one of the preceding claims, characterized in that the lifting means (21) has a plurality of lifting elements (25) arranged with intermediate spaces (24) to one another, which form a rake-like lifting surface (21.1) in order to enable engagement of a rake-like gripper unit (50) of the gripper device (4) in the intermediate spaces (24) and thereby at least partially close a transport space (200) of the gripper unit (50) below a support surface (3.1) of the palletized goods (3).

10. Lifting device (10) according to one of the preceding claims, characterized in that the lifting unit (20) has transport elements (26) arranged in the intermediate spaces (24), in particular within the positioning surface (2.1), by means of which the palletized goods (3) can be moved along the positioning surface (2.1) and / or the lifting surface (21.1), in particular from the transfer interface (11) to a gripping position (4.2) for the gripper device (4).

11. Lifting device (10) according to one of the preceding claims, characterized in that a detection means (40) is provided, by means of which a position (40.1) of the palletized goods (3) on the lifting surface (21.1) and / or the positioning surface (2.1) can be detected, wherein the control unit (30) is in communication connection with the detection means (40) and has a gripper module (33) for providing position information about the position (40.1) of the palletized goods (3) for gripping the palletized goods (3) by the gripper device (4).

12. Lifting device (10) according to one of the preceding claims, characterized in that a user interface (35) is provided which is connected to the control unit (30) for data communication, wherein the control unit (30) is designed to detect at least one palletizing parameter (211), in particular a layer-specific packing pattern, via the user interface (35) in order to define the control signal (210) as a function of the at least one palletizing parameter (211).

13. Lifting device (10) according to one of the preceding claims, characterized in that the control unit (30) has a detection module (34) for detecting geometric data (3.3), in particular with a height dimension, of the palletized goods (3), wherein the control unit (30) is designed to control the adjustment drive (61) and / or the drive motor (22.1) depending on the geometric data (3.3).

14. Lifting device (10) according to one of the preceding claims, characterized in that the control module (31) is designed to control the drive motor (22.1) by the control signal (210) in at least two movement phases (232), wherein a first movement phase (231) comprises a lifting (230) of the palletized goods (3) from the positioning surface (2.1) to an intermediate height, in particular depending on the height of the palletized goods (3), and a second movement phase (232) comprises a lifting (230) of the palletized goods (3) to the gripping height (4.1).

15. Lifting device (10) according to one of the preceding claims, characterized in that at least one alignment means (27) is provided for specifying an orientation of the palletized goods (3) for the lifting means (21), in particular wherein the alignment means (27) comprises at least one stop surface (27.4) against which the palletized goods (3) can be moved in order to specify the orientation on the stop surface (27.4), wherein the alignment means (27) can be moved between an active position (27.2), in which the alignment means (27) for specifying the orientation of the palletized goods (3) blocks a process path (203) of the palletized goods (3) and / or the gripper device (4), and a passive position (27.3), in which the process path (203) is released by the alignment means (27), is movable.

16. Lifting device (10) according to one of the preceding claims, characterized in that an alignment element (27.1) of the alignment means (27) is arranged on a side of the lifting means (21) opposite the transfer interface (11), wherein the alignment element (27.1) is coupled to the detection means (40) and / or the lifting means (21) for movement into the passive position.

17. 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, and a lifting device (10) according to one of the preceding claims for lifting (230) the palletized goods (3) to the gripping height (4.1) of the gripper device (4).

18. Palletizing system (1) according to claim 17, characterized in that a control device (6) is provided, by means of which a movement sequence of the gripper device (4) for gripping the palletized goods (3) and a control of a drive motor (22.1) of the lifting device (10) for moving a lifting means (21) of the lifting device (10) for lifting (230) the palletized goods (3) to the gripping height (4.1) can be coordinated.

19. Palletizing system (1) according to claim 17 or 18, characterized in that the gripper device (4) comprises a gripper unit (50) with at least two gripper elements (51) which are movable relative to one another for carrying out a closing movement (201), by means of which the palletized item (3) can be at least partially enclosed in a transport space (200) formed between the gripper elements (51) at the gripping height (4.1), and for carrying out an opening movement (202), by means of which the transport space (200) can be opened to release the palletized item (3) for the palletizing process, wherein the gripper unit (50) has an electric gripper drive (52) for each of the gripper elements (51), which electric gripper drive can be controlled by the control device (6) for the coordinated execution of the closing movement (201) and the opening movement (202) of the gripper elements (51).

20. Control method (100) for controlling a palletizing system (1), in particular according to one of claims 17 to 19, for palletizing palletized goods (3), comprising: Detecting (101) a set height (2.2) of a positioning surface (2.1) of a lifting device (10) for lifting (230) the palletized goods (3), - controlling (102) a transport device (2) for transporting the palletized goods (3) to the positioning surface (2.1), - controlling (103) an electric drive motor (22.1) of the lifting device (10) for lifting (230) the palletized goods (3) from the positioning surface (2.1) to a gripping height (4.1) by means of a variable control signal (210) depending on the height (2.2) of the positioning surface (2.1), - Controlling (104) a gripper device (4) for gripping the palletised goods (3) at the gripping height (4.1) and for transporting the palletised goods (3) to a palletising area (5).

21. Control method (100) according to claim 20, characterized in that an alignment means (27) is controlled in order to move the alignment means (27) between an active position (27.2), in which the alignment means (27) blocks a process path (203) of the palletizing material (3) and / or the gripper device (4) in order to specify an orientation of the palletizing material (3), and a passive position (27.3), in which the process path (203) is released by the alignment means (27).

22. Control method (100) according to claim 20 or 21, characterized in that a position (40.1) of the palletized goods (3) on the lifting surface (21.1) and / or the positioning surface (2.1) is detected, wherein the control (103) of the gripper device (4) is carried out depending on the position (40.1) of the palletized goods (3).

23. Control method (100) according to one of claims 20 to 22, characterized in that the control (102) of the drive motor (22.1) by the control signal (210) is divided into at least two movement phases (232), wherein a first movement phase (231) comprises a lifting (230) of the palletized goods (3) from the positioning surface (2.1) to an intermediate height, in particular depending on the height of the palletized goods (3), and a second movement phase (232) comprises a lifting (230) of the palletized goods (3) to the gripping height (4.1).

24. Control method (100) according to one of claims 20 to 23, characterized in that before the detection (101) of the set height (2.2) of the positioning surface (2.1), an adjustment drive (61) of an adjustment means (60) for moving the positioning surface (2.1) and / or a lifting unit (20) of the lifting device (10) for adjusting the height (2.2) of the positioning surface (2.1) is controlled.

25. A computer program product comprising instructions which, when executed by a control device (6), cause the control device (6) to execute a control method (100) according to one of the preceding claims.

Images