Handling system and method for handling articles, in particular for distribution

Abstract

The invention relates to a handling system (1) and to a method for handling articles (20). The handling system (1) comprises a distribution system (2), at least one supply device for supplying at least one row of moving articles (20), without a gap, to the distribution system (2) in a closed formation (F), a manipulator (4) for handling groups of articles (23), a control device (5) for controlling the manipulator (4), and at least two handling modules (16). In a first working mode (100), groups of articles (23) are created and are prepared and positioned evenly for supplying to the at least two handling modules (16). In a second working mode, no articles (20) are handled within the distribution system (2). In a third working mode, groups of articles (23) are created and are prepared and positioned unevenly for supplying to the at least two handling modules (16). In a fourth working mode, groups of articles (23) are created and the groups of articles (23) are prepared and positioned solely for supplying to one of the at least two handling modules (16).

Description

[0001] Handling system and method for handling piece goods, in particular for distribution

[0002] The present invention relates to a handling system and a method for handling piece goods, in particular for their distribution, with the features of the independent claims.

[0003] In systems in the beverage and packaging industries, individual items, such as containers, often need to be distributed between packaging modules and downstream palletizing systems. Diverter systems or other suitable distribution systems are typically used for this purpose.

[0004] A diverter system shifts and distributes containers perpendicular to the transport direction. The containers are fed into the diverter system at intervals, meaning that a gap is maintained between successive containers so that the diverter can move each container individually into the desired transport lane, which is assigned to the subsequent palletizing system or another handling module of the system. The performance of such a distribution diverter is limited by physical limits for the acceleration and deceleration of the containers.

[0005] Another distribution system, for example, is formed by a so-called support plate system. Here, too, gaps are created between the containers in the inlet. The support plate system comprises plates that can be moved transversely to the transport direction, which pick up the containers individually at an inlet and, after a corresponding transverse displacement, which may be coupled with an additional displacement in the transport direction, deliver them to an outlet. Distribution systems based on the support plate distributor principle reach their limits at high speeds and also generate high noise levels.

[0006] It is also known to use gantry robots to distribute containers. The containers are fed to the gantry robot at intervals, or the incoming transport device is briefly stopped at regular intervals to create gaps between the containers so that they can then be picked up and handled by the gantry robot. The problem here is that the acceleration and deceleration of the containers at high speeds can cause them to slip in the transport direction. Furthermore, the gap-forming system is prone to incorrect container positioning if the coefficient of friction between the container and the incoming transport device is reduced due to contamination, deposits, or wear on the latter.

[0007] An object of the invention is therefore to provide a system which overcomes the disadvantages of the prior art and operates quickly, efficiently and with low wear.

[0008] The object of the invention is achieved by a handling system and a method for handling piece goods, in particular by a method for distributing them, which comprise the features in the independent claims. Further advantageous embodiments are described in the subclaims.

[0009] The invention relates to a handling system comprising a distribution system, a manipulator for handling piece goods to form groups of piece goods, a control device for controlling the manipulator and at least two downstream handling modules, for example at least two palletizing systems or at least two packaging modules or at least one palletizing system and at least one packaging module or the like.

[0010] The packaging modules can, for example, be those that combine several assembled piece goods with an additional tray outer packaging and / or wrap-around outer packaging. These repackaged piece goods can then be palletized, particularly directly palletized.

[0011] The distribution system of the handling system not only enables the preparation of palletizable layers, as described in detail below, but also allows for dosing, feeding, and balancing the number of piece goods to a subsequent packaging module and / or palletizing system.

[0012] If exemplary embodiments are described below using a handling system with palletizing systems, the description can be transferred analogously to handling systems which, instead of palletizing systems, are equipped with other handling modules or a combination of other handling modules and palletizing systems.

[0013] Optionally, a layer formation module is assigned to each handling module designed as a palletizing system; in particular, a layer formation module is arranged upstream of each of the palletizing systems.

[0014] Furthermore, at least one removal device for the piece goods can optionally be provided between the distribution system and the handling modules or between the distribution system and the layer formation modules. The at least one removal device is designed to supply piece goods groups to the handling modules, which piece goods groups have been generated within the distribution system by the manipulator and handled by the manipulator, as described in more detail below. The at least one removal device is also provided for transporting piece goods which pass through the distribution system without being handled by the manipulator, which is also described in detail below.

[0015] In particular, it is provided that the removal device is designed to feed the piece goods groups separated from the supplied closed formation by the manipulator in a first work step described in more detail below or in a third work step and / or the piece goods groups separated from the supplied closed formation by the manipulator in a second work step described in more detail below or in a fourth work step to one of the at least two handling modules.

[0016] The at least one removal device is preferably designed such that the piece goods groups separated in a first work step described below or a third work step and / or the piece goods groups separated in the second work step or a fourth work step are fed to the handling module assigned to the piece goods group in alignment with a target position.

[0017] The removal device can, for example, be formed by a correspondingly wide conveyor. Preferably, however, each handling module can be assigned its own removal device. In this case, it can be provided, in particular, that each removal device has its own drive, so that the at least two removal devices can each be controlled independently of one another. This makes it possible to regulate and adjust the speed at which the piece goods groups generated in the distribution system are fed to the respective handling module.

[0018] The piece goods are fed to the distribution system via at least one feeder device in at least one row, one behind the other, without any gaps, in what is known as a closed formation. In this context, a closed formation is understood in particular to mean a row of piece goods transported one behind the other in an endless formation with no interruption between the piece goods. A seamless feed in a closed formation is understood in particular to mean that the piece goods within the row are arranged in the same orientation and in a line, with no gap between the successive piece goods, i.e. the successive piece goods touch one another. In this context, the piece goods are also referred to as being fed end-to-end.

[0019] The at least one feed device can be a driven conveyor device, for example an endless conveyor belt, a mat chain or similar.

[0020] According to a preferred embodiment, the moved piece goods can be articles, packages, container assemblies, bundles, cartons, articles assembled in baskets or on trays, or similar. For example, it can be provided that a plurality of identical or different articles are combined into a bundle or mixed bundle by means of cardboard packaging, one or more strappings, film packaging, or the like. Furthermore, a plurality of beverage containers, which are held together, for example, by shrink packaging, one or more strapping bands, can each form a piece of goods within the meaning of the present definition. The piece goods can be of the same or different designs depending on the requirements of downstream handling devices.Particularly preferably, this involves a plurality of beverage containers combined by an outer packaging means, wherein the beverage containers are formed in particular by plastic bottles, glass bottles, cans made of plastic or metal, or similar. The control device for the manipulator of the distribution system can be formed by a special control device of the distribution system. Alternatively, however, the control device can also be a machine control of the handling system, which additionally controls the other machine components of the handling system. A further embodiment can provide that the manipulator is controlled by a system control of an entire filling and / or packaging system, which filling and / or packaging system comprises a corresponding handling system described here in the application.

[0021] In addition to the at least one manipulator, the distribution system comprises a horizontal conveyor, which is moved continuously in the transport direction. The transport direction of the horizontal conveyor corresponds in particular to the feed direction of the piece goods on the feed conveyor. The horizontal conveyor preferably moves at the same speed as the feed conveyor. The piece goods handled by the manipulator are released by the manipulator at a target position on the horizontal conveyor and, after being released at a target position on the horizontal conveyor, are continuously moved further in the transport direction.

[0022] The handling system can be controlled by the control device in such a way that different working modes can be implemented, in which different working modes the manipulator handles the piece goods fed in a closed formation differently. When handling the piece goods, it is provided in particular that groups of piece goods from the piece goods fed in a closed formation are each detected by the manipulator within the detection range of the at least one manipulator, spatially separated from the following piece goods in the closed formation, and moved into a defined relative target position with respect to the following piece goods in the closed formation within the distribution system. The detection range within the meaning of the present application defines in particular a movement space of the at least one manipulator.

[0023] In particular, the manipulator captures a group of piece goods, comprising the first piece goods entering the capture area. The handling of piece goods groups by the manipulator occurs primarily in a continuous process, in which the supply of subsequent piece goods is not interrupted but continues continuously as a closed formation. After being moved to their respective defined target positions, the piece goods are released by the manipulator and moved further in the transport direction on the horizontal conveyor.

[0024] In analogy to the handling system, the method provides different working modes for handling, in particular for distributing, piece goods fed in at least one row behind the other in a closed formation.

[0025] In a first operating mode, which is also referred to as normal operation, the control device controls the manipulator in such a way that it detects groups of piece goods comprising a defined number of piece goods from the closed formation, spatially separates them from the trailing piece goods of the closed formation and prepares them essentially evenly for feeding to the two handling modules.

[0026] It is preferably provided that the manipulator clamps the piece goods of the piece goods groups in the first working mode as well as in a third working mode described below and a fourth working mode described below, spatially separates them from the following piece goods of the closed formation and moves them to the target position spaced apart from the closed formation.

[0027] In particular, the manipulator can be equipped with appropriate clamping or gripping devices, for example, with paired, mutually adjustable clamping jaws or similar devices. The clamping or gripping devices of the manipulator are preferably aligned parallel to the transport direction of the incoming piece goods while gripping the piece goods. The mutually adjustable clamping or gripping devices allow for rapid gripping, moving, positioning, and release of the piece goods groups at the desired speed with the desired positioning precision. Preferably, a so-called tripod is equipped with appropriate clamping or gripping devices. Other manipulators can also be advantageously used, for example, those designed as multi-axis robots, parallel kinematic robots, delta kinematic robots, or similar devices.It is preferably provided that in the first working mode, groups of piece goods are alternately prepared for feeding to a first handling module and for feeding to a second handling module and, if appropriate, for feeding to further handling modules.

[0028] When two handling modules are referred to below, in particular two palletizing systems, this is not to be understood as limiting. The features described in connection with two handling modules can be readily applied by a person skilled in the art to handling systems comprising more than two handling modules. The same applies to the specific use of terms such as "one feed conveyor," "one closed formation," "one discharge conveyor," etc.

[0029] It should be noted that, in the context of the above-described first operating mode, a substantially uniform distribution does not necessarily mean that 50% of the piece goods groups generated by the manipulator of the distribution system are fed to the first handling module and the other 50% of the generated piece goods groups are fed to the second handling module. Even if, in one embodiment of the method, approximately 40% of the generated piece goods groups are fed to the first handling module and approximately 60% to the second handling module, this can be considered a substantially uniform distribution according to an alternative embodiment within the scope of the present invention.

[0030] In particular, the piece goods groups separated from the closed formation are brought by the manipulator of the distribution system to a target position spaced from the closed formation. From there, they are continuously moved along the horizontal conveyor of the distribution system and, if necessary, along the downstream conveyor in the transport direction to the respective handling module. It can be provided that the piece goods groups first enter a layer-forming module, which is assigned to a handling module designed as a palletizing system, and in which layer-forming module, palletizable layers are created from the piece goods groups for handling by the respective palletizing system.

[0031] The handling of the piece goods by the manipulator, in particular the

[0032] The distribution of the piece goods by the manipulator depends in particular on how the piece goods are fed into the distribution system. In particular, a centralized or decentralized feed of the piece goods to the distribution system can be provided.

[0033] With a central feed system, the central longitudinal axis of the unit loads fed in a closed formation coincides with the central longitudinal axis of the distribution system's horizontal conveyor. This is the case, for example, when the central longitudinal axis of the feed conveyor coincides with the central longitudinal axis of the distribution system's horizontal conveyor, and the unit loads are moved centrally on the feed conveyor.

[0034] In contrast, a decentralized feed is one in which the central longitudinal axis of the closed formation of the piece goods and the central longitudinal axis of the horizontal conveyor of the distribution system do not coincide, but are arranged parallel to each other. This is particularly the case when the central longitudinal axis of the feed conveyor and the central longitudinal axis of the horizontal conveyor of the distribution system are arranged parallel to each other and the piece goods are moved centrally on the feed conveyor.

[0035] Decentralized feeding can also be achieved using a feeder whose central longitudinal axis coincides with the central longitudinal axis of the distribution system's horizontal conveyor. In this case, the piece goods must be moved off-center on the feeder.

[0036] In the case of decentralized feeding, the manipulator of the distribution system is preferably designed or controlled by the control device in such a way that, in a first step, it detects a group of piece goods comprising a defined number of piece goods, spatially separates them from the subsequent piece goods in the closed formation, and spaced them apart from them in the transport direction. The piece goods group generated in such a first step is arranged, in particular, in a target position on the horizontal conveyor of the distribution system, which target position is aligned with the closed formation of the supplied piece goods.

[0037] Furthermore, in the case of decentralized feeding, the manipulator is preferably designed or controlled by the control device in such a way that, in a second work step, it clamps a group of piece goods comprising a defined number of piece goods, spatially separates them from the following piece goods in the closed formation, and spaced them apart in the transport direction and laterally from them. The piece goods group generated in such a second work step is, in particular, arranged in a target position which is laterally offset from the alignment of the piece goods fed in a closed formation. The piece goods group handled in this way is then moved further in the transport direction parallel to the closed formation of the conveyed piece goods.

[0038] For example, the piece goods groups produced in the first work step and handled by the manipulator are subsequently fed to the first handling module, while the piece goods groups produced in the second work step and handled by the manipulator are subsequently fed to the second handling module.

[0039] In the case of central feeding, it is generally necessary to provide all groups of piece goods handled by the manipulator with a lateral offset. In particular, in a first alternative second work step, the manipulator of the distribution system is preferably controlled by the control device in such a way that it detects a group of piece goods comprising a defined number of piece goods, spatially separates it from the following piece goods in the closed formation, and spaced from them in the transport direction and with a lateral offset to the left. The group of piece goods generated in such a first alternative second work step is preferably arranged in a target position which prepares the group of piece goods for subsequent handling by the first handling module, in particular distributes it accordingly.

[0040] In a second alternative second work step, the manipulator of the distribution system is preferably controlled such that it captures a group of piece goods comprising a defined number of piece goods, spatially separates it from the subsequent piece goods in the closed formation, and spaced from them in the transport direction and with a lateral offset to the right. The piece goods group generated in such a second alternative second work step is arranged, in particular, in a target position, which prepares the piece goods group for subsequent handling by the second handling module.

[0041] For ease of reading, the first alternative second work step will be referred to below as the third work step, and the second alternative second work step will be referred to below as the fourth work step. It will be understood by those skilled in the art that additional work steps may be necessary to operate more than two handling modules, with the individual groups of items each being subjected to a different lateral offset relative to the closed formation.

[0042] When reference is made in this context to a first work step and a second work step or a third work step and a fourth work step, this does not imply a fixed sequence. The terms first work step and second work step or third work step and fourth work step are used only to differentiate between the different work steps. In the course of the method described here, in particular during normal operation of the handling system, it can also be provided that a second work step or a fourth work step is carried out first and then a first work step or a third work step, so that the second handling module is served by the distribution system first and only then the first handling module.

[0043] It is preferably provided that in the first work step and in the second work step or the third work step and the fourth work step, groups of piece goods are produced which each comprise the same number of piece goods.

[0044] An alternative embodiment may provide that in the first work step and in the second work step or the third work step and the fourth work step, groups of piece goods are produced which each comprise a different number of piece goods.

[0045] In one embodiment, it can also be provided that, in different first and third work steps, piece goods groups with a different number of piece goods are produced during layer formation. The same applies analogously to different second and fourth work steps.

[0046] In one embodiment, it can also be provided that, during the first and / or second work steps, or during the third and / or fourth work steps, the groups of piece goods grasped by the manipulator and separated from the closed formation are additionally rotated, for example, by 90 degrees, when being moved to the target position. This rotation can optionally only occur during some of the work steps.

[0047] In a second operating mode, the control device controls the distribution system's manipulator in such a way that it does not detect and handle groups of piece goods. This second operating mode is therefore also referred to as continuous operation.

[0048] In the second operating mode, the manipulator, particularly controlled by the control device, is moved into a so-called rest position. In this rest position, the manipulator does not come into contact with the piece goods entering the distribution system in a closed formation. Thus, the piece goods pass through the distribution system in a closed formation. In this case, the distribution system serves as a simple transport system.

[0049] Such continuous operation may be necessary or advantageous, for example, if both handling modules are not working or cannot work due to a defect, due to maintenance work or, for example, due to the lack of pallets or similar.

[0050] According to one embodiment, piece goods that pass through the distribution system unhandled can be discharged from the handling system after the distribution system. In this case, it can be provided that the piece goods are transferred, for example, to a buffer zone or similar.

[0051] A further embodiment may provide for the piece goods passing through the distribution system unhandled to be fed to another handling device for alternative handling. This may represent a desired alternative processing path within an overall system, in particular within an entire filling and / or packaging system. Feeding to another handling device enables alternative product processing and thus increases the flexibility of the overall system.

[0052] With a central supply of piece goods, it can be advantageous to provide a further transport device between the handling modules, via which the piece goods can be transported away or forwarded to an alternative handling facility, which then passes through the distribution system in the second operating mode without being handled. In a third operating mode, the control device is designed to control the manipulator of the distribution system in such a way that it prepares and positions the piece goods groups unevenly for supply to the at least two handling modules. This third operating mode is also referred to as restricted operation or uneven distribution operation.

[0053] It is provided that the control device controls the manipulator in such a way that it prepares and positions, in particular distributes, the groups of piece goods that have been detected and separated from the closed formation unevenly for feeding to the at least two handling modules.

[0054] Under uneven distribution, according to a first uneven distribution operation, for example, approximately 51% to 80% of the detected piece goods groups are handled by the manipulator in a first work step or in a third work step and subsequently fed to the first handling module. The remaining 49% to 20% of the piece goods groups detected by the manipulator, in contrast, are handled in a second work step or in a fourth work step and subsequently fed to the second handling module.

[0055] Alternatively, approximately 51% to 80% of the recorded piece goods groups can be handled in a second or fourth step and subsequently fed to the second handling module. The remaining 49% to 20% of the recorded piece goods groups, however, are handled in a first or third step and subsequently fed to the first handling module.

[0056] Furthermore, a second unequal distribution operation can be provided in which the piece goods groups are predominantly prepared and positioned for supply to one of at least two handling modules.

[0057] For example, it can be provided that in the second uneven distribution operation, approximately 81% to 99% of the recorded piece goods groups are handled in a first work step or in a third work step and subsequently fed to the first handling module. The remaining 19% to 1% of the recorded piece goods groups, in contrast, are handled in a second work step or in a fourth work step and subsequently fed to the second handling module. Alternatively, it can be provided that approximately 81% to 99% of the recorded piece goods groups are handled in a second work step or in a fourth work step and subsequently fed to the second handling module. The remaining 19% to 1% of the recorded piece goods groups, in contrast, are handled in a first work step or in a third work step and subsequently fed to the first handling module.

[0058] This so-called restricted operation or unequal distribution operation may be necessary, for example, if one of the at least two handling modules only operates to a limited extent, for example if one of two handling modules, in particular palletizing systems, can only remove and palletize the layers fed from the respective assigned layer formation module at a lower speed.

[0059] It may also be the case, for example, that one of the two handling modules has completely failed and the few groups of piece goods which are generated in alignment with this failed handling module during the uneven distribution are removed from the handling system after leaving the distribution system and temporarily stored or, if necessary, fed into an alternative handling system or something similar.

[0060] Furthermore, a fourth working mode or emergency operation can be provided, in which the control device is designed to control the manipulator of the distribution system in such a way that it completely prepares and positions the piece goods groups for supply to one of the at least two handling modules or that the manipulator prepares and positions the piece goods groups for supply to some of the handling modules of the handling system.

[0061] According to a first embodiment of emergency operation, the manipulator performs only the first or third work steps when the piece goods are fed centrally. Thus, in the first embodiment of emergency operation, groups of piece goods are separated from the closed formation and handled in such a way that they are subsequently fed, for example, only to the first of two handling modules.

[0062] In contrast, a second embodiment of emergency operation provides for the manipulator to perform only second or fourth work steps when the piece goods are fed in decentrally. Thus, in the second embodiment of emergency operation, groups of piece goods are separated from the closed formation and handled in such a way that they are subsequently fed only to the second of two handling modules.

[0063] Emergency operation may be necessary in particular if one of the layer formation modules, which is assigned to a handling module designed as a palletizing system, and / or one of the handling modules has completely failed and needs to be serviced, etc.

[0064] Preferably, the selection of the first work step or the third work step or the second work step or the fourth work step is carried out depending on which of the at least two handling modules of the handling system is functional and which of the at least two handling modules of the handling system is defective, requires maintenance, or similar.

[0065] From the preceding description it emerges in particular that the control device is designed to control a temporal sequence or order of first work steps or third work steps and / or second work steps or fourth work steps and optionally further work steps.

[0066] One embodiment provides that a uniform temporal sequence or order of first work steps or third work steps and second work steps or fourth work steps is controlled, which corresponds to a first work mode or normal operation of the handling system.

[0067] A further embodiment provides that an uneven temporal sequence or order of first work steps or third work steps and second work steps or fourth work steps is controlled, which corresponds to a third work mode or an uneven distribution operation of the handling system.

[0068] An alternative embodiment provides that only a temporal sequence or order of first work steps or third work steps or of second work steps or fourth work steps is controlled, which corresponds to a fourth work mode or emergency operation of the handling system.

[0069] The handling system described here is particularly designed to control the manipulator of the distribution system via the control device in such a way that it executes one of at least two of the above-described operating modes as required. Within the scope of the present invention, it is not mandatory for the handling system to be able to execute all of the above-described operating modes.

[0070] However, it is particularly preferred that the control device can control all four operating modes described above as required.

[0071] The method according to the invention for handling piece goods, in particular the method according to the invention for distributing piece goods, provides that piece goods are fed in at least one row behind one another, in a closed formation, to at least one distribution system of a handling system comprising two handling modules.

[0072] In a first working mode of the method, piece goods groups are generated from the piece goods fed in at least one closed formation and the piece goods groups are prepared and positioned essentially uniformly for feeding to the at least two handling modules.

[0073] In an alternative second working mode of the process, no piece goods are handled within the distribution system.

[0074] In an alternative third working mode of the method, piece goods groups are generated from the piece goods fed in at least one closed formation and the piece goods groups are prepared and positioned, in particular distributed, unevenly for feeding to the at least two handling modules.

[0075] In an alternative fourth working mode of the method, piece goods groups are generated from the piece goods fed in at least one closed formation and the piece goods groups are completely prepared and positioned, in particular distributed, for feeding to only one of the at least two handling modules.

[0076] In the case of, for example, three handling modules, the alternative fourth working mode can provide for the piece goods groups to be fully prepared and positioned for feeding to only one of the three handling modules, or for the piece goods groups to be prepared and positioned for feeding to two of the three handling modules. A person skilled in the art can readily transfer this to handling systems with more than three handling modules. The method further provides for at least two of the above-described working modes to be carried out as required. Within the scope of the present invention, it is not absolutely necessary for all of the above-described working modes to be carried out within the scope of the method. However, it is particularly preferably provided that within the scope of the method, each of the four working modes described above can be carried out as required.

[0077] In each of the different working modes described in connection with the handling system and the method, it may be useful to vary the speed of the feeding of the piece goods via the feed device and, in particular, to reduce it in connection with the third working mode or the fourth working mode in order to adapt it to the working speed of the respectively active handling module.

[0078] Alternatively or additionally, it may be necessary to adjust the working speed of the distribution system manipulator accordingly.

[0079] Alternatively or additionally, an embodiment can provide that, in the event of the failure of at least one handling module, the remaining at least one functional handling module of the handling system is operated in the fourth operating mode or emergency mode at an increased power level, for example, at twice the power level of a first operating mode or normal mode, up to the performance limit of the handling module. For example, if the remaining one functional handling module of two handling modules is operated in emergency mode at twice the power level of normal mode, the speed of the feed of the piece goods via the feed device does not need to be adjusted.

[0080] Layer formation in preparation for subsequent handling of the piece goods, particularly in preparation for repackaging or palletizing of the piece goods by one of the handling modules, can be performed seamlessly or in a synchronized manner. Seamless layer formation specifically means that the piece goods—as in the second operating mode described above—pass through the distribution system seamlessly or in a closed formation and are then accumulated, for example, in a layer formation module to form a palletizable layer.

[0081] Cycled preparation for handling piece goods refers, in particular, to the handling of piece goods in a first operating mode, a third operating mode, or a fourth operating mode, in which, within the distribution system, piece goods groups are prepared for delivery to at least one of at least two handling modules. The piece goods groups form the so-called cycles, which are then handled in the respective handling module. For example, the piece goods groups are accumulated into a palletizable layer in a layer formation module, which is assigned to a handling module designed as a palletizing system, thereby closing the gaps created between the piece goods groups in the distribution system.

[0082] According to an embodiment of the invention, it can further be provided that the distribution system comprises at least one detection means for the piece goods supplied in a closed formation.

[0083] The at least one detection means is preferably assigned to the detection area of ​​the manipulator.

[0084] The at least one detection means detects, by sensor means, at least spatial coordinates and / or position and / or contour data of at least one piece of cargo moving in the transport direction of the piece of cargo transported in a closed formation to the detection area of ​​the manipulator before the manipulator detects a group of piece of cargo and provides them to a control device as a position value. In particular, corresponding data of the foremost piece of cargo in the closed formation entering the distribution system is detected.

[0085] The necessary sensor technology is provided, for example, by at least one optical detection device that is spatially and / or functionally assigned to the detection area of ​​the at least one manipulator and is in particular designed to be movable.

[0086] The manipulator and, if applicable, other conveying components of the handling system, such as the feeder device, via which the piece goods are fed to the detection area in a closed formation, or the horizontal conveyor device of the distribution system, etc., can be calibrated and / or controlled based on the determined spatial coordinates and / or position and / or contour data. As soon as deviations in the dimensions of the piece goods and / or in the conveying speed, etc., arise, the manipulator's movement profile can be corrected, especially for all subsequent manipulation steps.

[0087] The use of such a detection means is known to the person skilled in the art, for example from the disclosure of DE 10 2016 213 400 A1, the disclosure of which is hereby incorporated into the present application.

[0088] The advantages of the invention described above are, in particular, that the seamless feeding of the piece goods allows operation at relatively low feed speeds. Since the manipulator picks up piece goods directly from the fed closed formation, no stop-and-go operation is necessary to create gaps between the piece goods before their appropriate distribution. This is particularly advantageous because it reduces the load on the drive of the feeder device and thus results in less wear. It also eliminates the need for regular braking and acceleration of the piece goods, which in turn could lead to slipping of the piece goods on the feeder device and thus damage to the piece goods and / or the feeder device.

[0089] When the manipulator grasps and separates the piece goods, the necessary acceleration of the piece goods occurs in the direction of transport. This eliminates the system's dependence on friction, contamination, wear, and / or tear of the conveying equipment, particularly the feeder or horizontal conveyor of the distribution system. During the grasping and separation of the piece goods by the manipulator, it can also be provided that the grasped piece goods are slightly lifted by the manipulator to reduce or eliminate the friction between the piece goods and the horizontal conveyor.

[0090] With the handling system described here, different distances between several incoming rows of piece goods and the several outgoing transport tracks for groups of piece goods can also be easily realized due to the easily adaptable control of the manipulator.

[0091] A further embodiment can provide for the horizontal conveyor device to be divided into sections in the distribution system. In particular, the horizontal conveyor device can comprise at least two independently driven conveyor devices. Thus, different discharge speeds can be set for certain areas, for example, to supply one of the at least two handling modules with groups of piece goods more slowly than another of the at least two handling modules.

[0092] For example, it would be conceivable for the horizontal conveyor to comprise a first detection zone adjacent to the feed conveyor, in which the manipulator detects and spatially separates individual groups of piece goods from the closed formation entering the distribution system. Furthermore, it can be provided that the horizontal conveyor comprises a positioning zone adjacent to the detection zone, which positioning zone consists of at least two adjacent conveyors. In particular, the number of adjacent conveyors corresponds to the number of downstream handling modules.

[0093] The at least two conveyor systems arranged side by side can be driven independently of one another and are thus individually controllable. The groups of piece goods grasped by the manipulator are released by the manipulator in the positioning area at the target position, which is in particular a target position assigned to one of the at least two conveyor systems. Each of the conveyor systems is assigned to a downstream handling module, so that the groups of piece goods moved to a target position on a respective conveyor system can subsequently be fed to the respectively assigned handling module.

[0094] The handling system described here also has a low layout requirement and can therefore be implemented with a small size, which enables cost-effective installation due to its small space requirement.

[0095] The handling system described here can preferably be part of a beverage packaging system. Such a beverage packaging system comprises, for example, a wet section with a can and / or bottle pusher, a filling module, and a closing module associated with the filling module, as well as optionally a labeling module. A pasteurizer can be arranged between the filling module and the labeling module or other downstream handling devices. It is also conceivable for the beverage packaging system to include, for example, a blow molding module for producing PET bottles, which are subsequently filled, closed, and labeled.

[0096] The beverages filled in cans or bottles are then combined into packaging units in a packaging device or a so-called production module, or piece goods are produced in the form of containers.

[0097] For example, several articles are grouped together into article groups, which are then combined with one packaging material.

[0098] The packaging units are then prepared for subsequent handling in a distribution system of the handling system described here, and the correspondingly prepared piece goods are handled by at least one handling module of the handling system, for example, equipped with further outer packaging and / or palletized and, in particular, stacked on top of one another during palletizing.

[0099] Within the beverage packaging plant, the articles and packaging units or piece goods are transported from one handling device to the next via suitable transport systems, which may be equipped with suitable buffer systems.

[0100] The components of the beverage packaging system are to be understood as examples only. Other configurations comprising a device described in the application are also intended to be encompassed by the application.

[0101] It should be expressly mentioned at this point that all aspects and embodiments explained in connection with the handling system according to the invention equally relate to or can be partial aspects of the method according to the invention. Therefore, if certain aspects and / or relationships and / or effects are mentioned at any point in the description or in the claim definitions for the handling system according to the invention, this equally applies to the method according to the invention. The same applies conversely, so that all aspects and embodiments explained in connection with the method according to the invention equally relate to or can be partial aspects of the handling system according to the invention.Therefore, if at one point in the description or in the claim definitions for the method according to the invention certain aspects and / or relationships and / or effects are mentioned, this applies equally to the handling system according to the invention.

[0102] In the following, exemplary embodiments will explain the invention and its advantages in more detail with reference to the accompanying figures. The relative sizes of the individual elements in the figures do not always correspond to the actual sizes, as some shapes are simplified and others are enlarged relative to other elements for better illustration.

[0103] Figures 1 to 6 show a first embodiment of a handling system with a distribution system in a so-called normal operation.

[0104] Fig. 7 shows the handling system according to Figures 1 to 6 in a continuous operation.

[0105] Fig. 8 shows the handling system according to Figures 1 to 6 in a first embodiment of an unequal distribution operation.

[0106] Fig. 9 shows the handling system according to Figures 1 to 6 in a first embodiment of an emergency operation.

[0107] Fig. 10 shows the handling system according to Figures 1 to 6 in a second embodiment of an emergency operation.

[0108] Figures 11 to 14 show a second embodiment of a handling system with a distribution system in different working modes.

[0109] Fig. 15 shows a third embodiment of a handling system.

[0110] Fig. 16 shows a fourth embodiment of a handling system.

[0111] Fig. 17 shows a fifth embodiment of a handling system.

[0112] Identical reference numerals are used for identical or equivalent elements of the invention. Furthermore, for the sake of clarity, only reference numerals necessary for the description of the respective figure are shown in the individual figures. The embodiments shown are merely examples of how the invention can be designed and do not represent an exhaustive limitation. The embodiments, examples and variants of the preceding paragraphs, the claims or the following description and the figures, including their various views or respective individual features, can be used independently of one another or in any combination. Features described in connection with one embodiment are applicable to all embodiments, unless the features are incompatible.

[0113] The schematic plan views of Figures 1 to 6 show a first embodiment of a handling system 1 with a distribution system 2 in a first operating mode 100, which also represents a so-called normal operation 101.

[0114] Unit loads 20, in particular containers 21, are fed to the distribution system 2 via at least one feed device 3 in at least one row, one behind the other, in a closed formation 22. In particular, the term "unit loads 20" refers to the fact that they are arranged in the same orientation and in a line, with no gap being formed between the successive unit loads 20, i.e., the successive unit loads 20 touch each other.

[0115] The piece goods 20 are preferably containers 21 comprising a plurality of beverage containers, in particular shrink containers comprising a plurality of cans or bottles, strapped containers comprising a plurality of cans or bottles, cans or bottles packed in cartons, in baskets, on trays or other articles or the like.

[0116] The distribution system 2 further comprises at least one manipulator 4 for handling piece goods 20, in particular for distributing piece goods groups 23, and a control device 5 for controlling the at least one manipulator 4. The control device 5 is only shown as an example in Fig. 1 and has been omitted in the other Figs. 2 to 6 to simplify the illustration.

[0117] The control device 5 can be a special control device 6 of the distribution system 2. According to an alternative embodiment, the control device 5 can be a machine control 7 of the handling system 1 or a system control 8 of an entire filling and / or packaging system, which can be a corresponding handling system 1. The distribution system 2 further comprises a horizontal conveyor 12, which is moved continuously in the transport direction TR and which is moved in the transport direction TR at the same speed as the feed conveyor 3. The piece goods groups 23 grasped and handled by the manipulator 4 are thereby continuously moved further in the transport direction TR, in particular after being released by the manipulator 4 in a target position on the horizontal conveyor 12.

[0118] The handling system 1 can further comprise at least one discharge device 9, via which the piece goods 20 are moved further in the transport direction TR. In particular, piece goods 20 in the form of piece goods groups 23 are moved in the transport direction TR via the at least one discharge device 9, which have been handled in the distribution system 2 by the manipulator 4, and / or piece goods 20 are moved in the transport direction TR via the at least one discharge device 9, which have passed through the distribution system 2 without being handled, which will be described in more detail below.

[0119] The handling system 1 further comprises at least two handling modules 16 designed as palletizing systems 10 (reference numeral 16 is only shown in Fig. 1 for reasons of clarity), to which palletizing systems 10 at least one layer formation module 11 is preferably assigned.

[0120] An alternative embodiment may provide that the layer formation modules 11 directly follow the distribution system 2 and a discharge device 9 is omitted.

[0121] In a first operating mode 100 shown in Figures 1 to 6, the control device 5 controls the manipulator 4 such that it detects piece goods groups 23 comprising a defined number of piece goods 20 from the closed formation 22 (Fig. 2), spatially separates them from the trailing piece goods 20 of the closed formation 22 (Fig. 3), and prepares them essentially uniformly for feeding to the two palletizing systems 10. In particular, the manipulator 4 detects one piece goods group 23 at a time, comprising the piece goods 20 that first enters a detection area of ​​the manipulator 4. Preferably, it is provided that piece goods groups 23 are alternately prepared for feeding to the first palletizing system 10-1 (Figures 3 to 5) and for feeding to the second palletizing system 10-2 (Fig. 6).

[0122] A substantially uniform distribution does not necessarily mean that 50% of the generated piece goods groups 23 are fed to the first palletizing system 10-1 and the other 50% to the second palletizing system 10-2. Even if, in one embodiment of the method, approximately 40% of the generated piece goods groups 23 are fed to the first palletizing system 10-1 and approximately 60% to the second palletizing system 10-2, this can be considered a substantially uniform distribution according to one embodiment within the scope of the present invention.

[0123] In particular, the piece goods group 23 separated from the closed formation 22 is brought into a target position spaced apart from the closed formation 22, from which the piece goods group is first fed to the layer formation module 11, which is assigned to the respective palletizing system 10, during the continuous further movement in the transport direction TR. In the layer formation module 11, palletizable layers are created from the piece goods groups 23 for handling by the respective palletizing system 10.

[0124] The manipulator 4 of the distribution system 2 is preferably designed or controlled by the control device 5 such that, in a first work step, it clamps a piece goods group 23 comprising a defined number of piece goods 20, spatially separates it from the subsequent piece goods 20 of the closed formation 22, and spaced apart from them in the transport direction TR (Figures 2 to 4). The piece goods group 23 generated in such a first work step is arranged, in particular, in a target position that is aligned with the piece goods 20 supplied in the closed formation 22.

[0125] In particular, the manipulator 4 can be equipped with appropriate clamping or gripping means 14 for this purpose, for example with paired, mutually adjustable clamping jaws 15 or the like (only shown as an example in Fig. 1). The clamping or gripping means 14 of the manipulator 4 are preferably aligned parallel to the transport direction TR of the incoming piece goods 20 while gripping the piece goods 20. The mutually adjustable clamping or gripping means 14 allow rapid gripping, moving, positioning, and release of the piece goods groups 23 at the desired speed with the desired positioning precision. Preferably, a so-called tripod is equipped with appropriate clamping or gripping means 14. Other manipulators 4 can also be advantageously used, for example, those designed as multi-axis robots, parallel kinematic robots, delta kinematic robots, or the like.

[0126] Furthermore, the manipulator 4 of the distribution system 2 is preferably designed or controlled by the control device 5 such that, in a second work step, it clamps a piece goods group 23 comprising a defined number of piece goods 20, spatially separates them from the following piece goods 20 of the closed formation 22, and spaced apart in the transport direction TR and laterally from them (Figures 5 and 6). The piece goods group 23 produced in such a second work step is arranged in particular in a target position that is laterally offset from the piece goods 20 supplied in the closed formation 22.

[0127] In particular, in the embodiment shown in Figures 1 to 6, in the first work step, piece goods groups 23 are produced by the manipulator 4, which are subsequently fed to the first palletizing system 10-1, while in the second work step, piece goods groups 23 are produced by the manipulator 4, which are subsequently fed to the second palletizing system 10-2.

[0128] When reference is made to a first work step and a second work step, this does not imply a fixed sequence. The designations "first work step" and "second work step" are used only to distinguish between the two work steps. In the course of the method described here, particularly during normal operation 101 of the handling system 1, it may also be provided that a second work step is performed first, followed by a first work step, so that the second layer formation module 11-2 and the second package system 10-2 are served first.

[0129] Preferably, in the first work step and in the second work step, piece goods groups 23 are generated, each comprising the same number of piece goods 20. An alternative embodiment may provide that in the first work step and in the second work step, piece goods groups 23 are generated, each comprising a different number of piece goods 20.

[0130] In one embodiment, it can also be provided that, in different first work steps during layer formation, piece goods groups 23 with a different number of piece goods 20 are produced. The same applies analogously to different second work steps.

[0131] In one embodiment, it can also be provided that, within the scope of first work steps and / or second work steps, the groups of piece goods 23 grasped by the manipulator 4 and separated from the closed formation 22 are additionally rotated, for example by 90 degrees, when being moved into the target position.

[0132] The removal device 9 is designed such that the piece goods groups 23 separated in the first work step and / or the piece goods groups 23 separated in the second work step are fed via it to the palletizing system 10 which is preferably aligned with the target position of the piece goods group 23.

[0133] The removal device 9 can, for example, be formed by a correspondingly wide conveyor device. Preferably, it can be provided that each palletizing system 10 is assigned its own removal device 9-1, 9-2, which is only shown as an example in Fig. 6. In this case, it can be provided, in particular, that each removal device 9-1, 9-2 has its own drive (not shown) and can thus be controlled independently of the other removal device 9. This makes it possible to differently regulate and adapt the speed of the feed of the piece goods groups 23 generated in the distribution system 2 to the respective palletizing system 10.

[0134] The schematic top view of Fig. 7 shows the handling system 1 with the distribution system 2 in a second operating mode 102, which is also referred to as continuous operation 103. For the reference numerals shown in the drawing but not specifically described, reference is made to the description of Figs. 1 to 6.

[0135] Here, the manipulator 4 is controlled by the control device 5 such that the manipulator 4 does not grasp or handle any groups of piece goods. In particular, the manipulator 4 is moved into a rest position by the control device 5, in which rest position the manipulator 4 does not come into contact with the piece goods 20 entering the distribution system 2 in a closed formation 22. In this continuous operation 103, the piece goods 20 thus pass through the distribution system 2 in a closed formation 22 without being handled. In this case, the distribution system 2 serves as a simple transport system.

[0136] This may be necessary, for example, if both layer formation modules 11 and / or both palletizing systems 10 are not working due to a defect, due to maintenance work or, for example, due to the lack of pallets or the like.

[0137] According to one embodiment, the piece goods 20 passing through the distribution system unhandled can be discharged from the handling system 1 following the distribution system 2. In this case, it can be provided that the piece goods 20 are transferred to a buffer zone (not shown) or that the piece goods 20 are fed to another handling module for alternative handling.

[0138] The embodiment in which the piece goods 20 pass through the distribution system 2 in a closed formation 22 and are then fed to another handling module for alternative handling can also represent a desired alternative processing path within an overall system, in particular within an entire filling and / or packaging system (not shown).

[0139] The schematic top view of Fig. 8 shows the handling system 1 with the distribution system 2 in a first embodiment of a third operating mode 104, in which an unequal distribution operation 105 is performed. For the reference numerals shown in the drawing but not specifically described, reference is made to the description of Figs. 1 to 6.

[0140] It is provided that the control device 5 controls the manipulator 4 of the distribution system 2 in such a way that it prepares and positions the piece goods groups 23 that have been detected and separated from the closed formation 22 unevenly for feeding to the at least two palletizing systems 10.

[0141] For example, it can be provided that in a first uneven distribution operation 105, approximately 51% to 80% of the detected piece goods groups 23 are spaced apart in the transport direction TR in a first work step and subsequently fed to the first palletizing system 10-1. The remaining 49% to 20% of the detected piece goods groups 22, however, are spaced apart in the transport direction TR and laterally in a second work step and subsequently fed to the second palletizing system 10-2.

[0142] Alternatively, it can of course be provided that approximately 51% to 80% of the detected piece goods groups 23 are spaced apart in the transport direction TR and laterally spaced apart in the first work step in the transport direction TR and subsequently fed to the second palletizing system 10-2. The remaining 49% to 20% of the detected piece goods groups 22, however, are spaced apart in the transport direction TR in a first work step and subsequently fed to the first palletizing system 10-1.

[0143] Furthermore, a second unequal distribution operation 105 can be provided, in which the piece goods groups 23 are predominantly prepared and positioned for supply to one of the at least two palletizing systems 10.

[0144] For example, it can be provided that approximately 81% to 99% of the detected piece goods groups 23 are spaced apart in the transport direction TR in a first work step and subsequently fed to the first palletizing system 10-1. The remaining 19% to 1% of the detected piece goods groups 22, however, are spaced apart in the transport direction TR and laterally in a second work step and subsequently fed to the second palletizing system 10-2.

[0145] Alternatively, it can of course be provided that approximately 81% to 99% of the detected piece goods groups 23 are spaced apart in the transport direction TR and laterally spaced apart in the first work step in the transport direction TR and subsequently fed to the second palletizing system 10-2. The remaining 19% to 1% of the detected piece goods groups 22, however, are spaced apart in the transport direction TR in a first work step and subsequently fed to the first palletizing system 10-1.

[0146] This is what is known as restricted operation. This may be necessary, for example, if one of the two palletizing systems 10 is operating only to a limited extent, for example, if one of the two palletizing systems 10 can only remove and palletize the layers fed from the associated layer formation module 11 at a lower speed. It may also be the case that one of the two palletizing systems 10 has completely failed, and the piece goods groups 23, which are generated in alignment with this failed palletizing system 10, are diverted from the handling system 1 after leaving the distribution system 2.

[0147] The schematic plan view of Fig. 9 shows the handling system 1 with the distribution system 2 in a first embodiment of a fourth operating mode 106, which is also referred to as emergency operation 107, and Fig. 10 shows the handling system 1 with the distribution system 2 in a second embodiment of the emergency operation 107. For the reference numerals which are shown in the drawing but not separately described, reference is made to the description of Figs. 1 to 6.

[0148] In this case, the manipulator 4 according to the first embodiment shown in Fig. 9 is controlled in such a way that it separates piece goods groups 23 from the closed formation 22 only in the context of a first work step and spaced them apart from it in the transport direction TR, so that separated piece goods groups 23 spaced apart in the transport direction TR are subsequently fed to the first layer formation module 11-1 and the first palletizing system 10-1.

[0149] In the second embodiment shown in Fig. 10, however, the manipulator 4 is controlled in such a way that it separates piece goods groups 23 from the closed formation 22 only in the context of a second work step and spaced them apart in the transport direction TR and laterally from this, so that separated piece goods groups 23 spaced apart in the transport direction TR and laterally are subsequently fed to the second layer formation module 11-2 and the second palletizing system 10-2.

[0150] The emergency operation 107 may be necessary in particular if one of the layer formation modules 11 and / or the palletizing systems 10 has completely failed or needs to be serviced.

[0151] In each of the different working modes described in Figures 7 to 10, it may be expedient to reduce the speed of the feed of the piece goods 20 via the feed device 2 in order to adapt it to the working speed of the active layer formation module 11 and / or palletizing system 10.

[0152] Accordingly, it may be necessary to adjust the working speed of the manipulator 4 accordingly, in particular in emergency operation 107 according to Figures 9 and 10. Alternatively or additionally, an embodiment may provide that the functional palletizing system 10 of the handling system 1 is operated at an increased power in emergency operation 107, for example at twice the power as in normal operation 101. If the functional palletizing system 10 is operated at twice the power, then the speed of the feed of the piece goods 21 via the feed device 3 does not need to be adjusted.

[0153] In the embodiments described in Figures 1 to 10, the piece goods 21 are fed in a decentralized manner via the feed device 2, since this is not arranged centrally to a central longitudinal axis 50 of the distribution system 2 (shown only as an example in Figure 1), but decentrally to the central longitudinal axis 50 of the distribution system 2.

[0154] Embodiments are described below in the context of Figures 11 to 14, in which a central supply of the piece goods 21 takes place via the feed device 3.

[0155] Figures 11 to 14 show a second embodiment of a handling system 1 with a distribution system 2 in various operating modes. For the reference numerals shown in the drawing but not specifically described, please refer to the description of Figures 1 to 10.

[0156] In the embodiment described here - as shown by way of example in Fig. 11 - the central longitudinal axis 51 of the piece goods 21 fed in a closed formation 22 coincides with the central longitudinal axis 50 of the distribution system 2, so that the piece goods 21 enter the distribution system 2 centrally in a closed formation 22.

[0157] In order to prepare the respectively detected piece goods groups 23 for feeding to one of the two palletizing systems 10, the manipulator 4 must perform two alternative second work steps, in particular a first alternative second work step and a second alternative second work step. Hereinafter, the first alternative second work step is referred to as the third work step, and the second alternative second work step is referred to as the fourth work step.

[0158] Fig. 11 shows a first working mode 100 or normal operation 101, in which the piece goods groups 23 are evenly distributed so that they are alternately fed to the first layer forming module 11-1 and thus to the first palletizing system 10-1 and to the second layer forming module 11-2 and thus to the second palletizing system 10-2.

[0159] In a third work step, the manipulator 4 of the distribution system 2 is preferably controlled by the control device 5 such that it clamps a piece goods group 23 comprising a defined number of piece goods 20, spatially separates it from the following piece goods 20 of the closed formation 22, and spaced from them in the transport direction TR and with a lateral offset to the left. The piece goods group 23 generated in such a third work step is arranged in particular in a target position, which prepares the piece goods group 23 for subsequent palletizing by the first palletizing system 10-1.

[0160] In a fourth work step, the manipulator 4 of the distribution system 2 is preferably controlled by the control device 5 such that it clamps a piece goods group 23 comprising a defined number of piece goods 20, spatially separates it from the following piece goods 20 of the closed formation 22, and spaced from them in the transport direction TR and with a lateral offset to the right. The piece goods group 23 generated in such a fourth work step is arranged in particular in a target position, which prepares the piece goods group 23 for subsequent palletizing by the second palletizing system 10-2.

[0161] When reference is made to a third work step and a fourth work step, this does not imply a fixed sequence. The terms "third work step" and "fourth work step" are used only to distinguish between the two work steps. In the course of the method described here, particularly during normal operation 101 of the handling system 1, it may also be provided that a fourth work step is performed first, followed by a third work step, so that the second layer formation module 11-2 and the second package system 10-2 are served first.

[0162] The schematic top view of Fig. 12 shows the handling system 1 according to Fig. 11 in a second operating mode 102, which is also referred to as continuous operation 103. For the general operation of the handling system 1 in continuous operation 103, reference is made to the description of Fig. 7.

[0163] Particularly advantageous in this embodiment of the handling system 1 is an additional transport device 13 arranged between the palletizing systems 10, having a central longitudinal axis 52 shown only as an example in Fig. 11. The central longitudinal axis 52 of the additional transport device 13 preferably coincides with the central longitudinal axis 51 of the piece goods 21 fed in a closed formation 22 and the central longitudinal axis 50 of the distribution system 2, so that the piece goods 21 enter the distribution system 2 in a closed formation 22, pass through the center of the distribution system 2 in the throughput operation 103, and are moved on by the discharge device 9 to the additional transport device 13.

[0164] Figures 13 and 14 show alternative embodiments of a fourth operating mode 106 or emergency operation 107. For the general operation of the handling system 1 in emergency operation 107, reference is made to the description of Figures 9 and 10.

[0165] In the first alternative embodiment of the fourth working mode 106 shown in Fig. 13, all of the piece goods groups 23 grasped by the manipulator 4 are clamped in a third working step, spatially separated from the following piece goods 20 of the closed formation 22, spaced apart from them in the transport direction TR and with a lateral offset to the left, and fed to the first layer forming module 11-1 and the first palletizing system 10-1.

[0166] In the second alternative embodiment of the fourth working mode 106 shown in Fig. 14, all of the piece goods groups 23 grasped by the manipulator 4 are clamped in a fourth working step, spatially separated from the following piece goods 20 of the closed formation 22, spaced apart from them in the transport direction TR and with a lateral offset to the right, and fed to the second layer forming module 11-2 and the second palletizing system 10-2.

[0167] The second embodiment of the handling system 1 shown in Figures 11 to 14 can also be operated in an analogous manner in a third working mode 104 or unequal distribution mode 105, as has been described in connection with Figure 8 for the first embodiment of the handling system 1.

[0168] In all embodiments described here, the control device 5 is designed to variably control a temporal sequence or order of first work steps and / or second work steps, or of third work steps and / or fourth work steps, to be performed by the manipulator 4. This can, in particular, involve a uniform temporal sequence and order of the work steps, as described for normal operation 101 in the context of Figures 1 to 6 and Fig. 11.

[0169] Alternatively, there may be an uneven temporal sequence and order of the work steps, as described for the uneven distribution operation 105 in connection with Fig. 8.

[0170] Furthermore, it can be provided that only a temporal sequence of first work steps or second work steps or third work steps or fourth work steps to be carried out by the manipulator 4 is controlled by the control device 5, as is provided in the fourth working mode 106 or emergency operation 107 according to Figures 9 to 10 and 13 to 14.

[0171] The selection of work steps preferably depends on the working mode 100, 102, 104, 106 in which the handling system 1 is operated. This depends in particular on which of the two palletizing systems 10 of the handling system 1 is fully or only partially functional, or whether one of the palletizing systems 10 is not functional at a certain point in time due to a defect, general maintenance work, or the like.

[0172] Fig. 15 shows a third embodiment of a handling system 1 with a distribution system 2 in a first operating mode 100, which also represents a so-called normal operation 101. Such a normal operation 101 is described in connection with Figures 1 to 6 and 11, to whose descriptions reference is hereby made. The other operating modes, which are described in connection with Figures 7 to 10 and 12 to 14, can also be implemented with the third embodiment.

[0173] Unit loads 20 are fed to the distribution system 2 via a centrally arranged feed device 3 in at least one row, one behind the other, in a closed formation 22. A central feed is described in connection with Fig. 11, to which description reference is hereby made.

[0174] The distribution system 2 further comprises at least one manipulator 4 for handling piece goods 20, in particular for distributing piece goods groups 23, and a control device 5 for controlling the at least one manipulator 4. The distribution system 2 further comprises a horizontal conveyor 12, which is moved in particular continuously in the transport direction TR and which is moved in particular at the same speed as the feed conveyor 3 in the transport direction TR. The piece goods groups 23 grasped and handled by the manipulator 4 are thereby continuously moved further in the transport direction TR, in particular after being released by the manipulator 4 in a target position on the horizontal conveyor 12.

[0175] The handling system 1 further comprises at least one discharge device 9, via which the piece goods 20 are moved further in the transport direction TR. In particular, piece goods 20 in the form of piece goods groups 23 are moved in the transport direction TR via the at least one discharge device 9, which have been handled in the distribution system 2 by the manipulator 4, and / or piece goods 20 are moved in the transport direction TR via the at least one discharge device 9, which have passed through the distribution system 2 without handling, which is described in connection with a throughput operation 103 in the embodiments of Figures 7 and 12, to whose description reference is hereby made.

[0176] The handling system 1 further comprises at least two handling modules 16 designed as packaging modules 17-1, 17-2. These are, for example, packaging modules 17 that combine the piece goods 20 into tray outer packaging and / or by means of wrap-around outer packaging. These piece goods 20 repackaged in this way can then be fed to a palletizing system, in particular a direct palletizing system.

[0177] In the case of the centrally arranged feed conveyor device 3, as described in connection with Figures 1 to 10, a shifting process with a lateral movement component is necessary for the distribution of the piece goods groups 23 and allocation to one of the handling modules 16-1, 16-2 for the normal operation 101 described in detail above, the unequal distribution operation 105 or the emergency operation 107.

[0178] In contrast, in the case of an off-center feed conveyor 3 - as described in connection with Figures 1 to 10 - for the normal operation 101 described in detail above, the unequal distribution operation 105 or the emergency operation 107, only one shifting process with a lateral movement component may be necessary for the distribution of the piece goods groups 23 and allocation to one of the handling modules 16-1 or 16-2, while for the allocation to the other handling module 16-2 or 16-1, a separation of the piece goods group 23 from the piece goods 20 of the closed formation 22 in the transport direction TR is sufficient.

[0179] Fig. 16 shows a fourth embodiment of a handling system 1 with a distribution system 2 in a first operating mode 100, which also represents a so-called normal operation 101. Such a normal operation 101 is described in connection with Figures 1 to 6 and 11, to whose descriptions reference is hereby made. The other operating modes, which are described in connection with Figures 7 to 10 and 12 to 14, can also be implemented with the fourth embodiment.

[0180] In contrast to the previously described embodiments, in this embodiment, a first handling module 16-1 is designed as a palletizing system 10, which palletizing system 10 can be preceded by a layer-forming module 11. The second handling module 16-2, on the other hand, is designed as a packaging module 17, as described in connection with Fig. 15, to whose description reference is hereby made.

[0181] In this fourth embodiment, the horizontal conveyor device 12 in the distribution system 2 is designed in a divided manner. In particular, the horizontal conveyor device 12 comprises at least two independently driven conveyor devices 12-1, 12-2. In particular, the number of adjacent conveyor devices 12-1, 12-2 corresponds to the number of downstream handling modules 16.

[0182] Thus, different discharge speeds can be set in certain areas, for example to supply one of the two handling modules 16 with piece goods groups 23 more slowly than the other of the two handling modules 16.

[0183] Fig. 17 shows a fifth embodiment of a handling system 1, which essentially corresponds to the fourth embodiment of Fig. 16, to the description of which reference is hereby made.

[0184] In this fifth embodiment, it is also provided that the horizontal conveyor device 12 in the distribution system 2 is designed to be at least partially divided. Furthermore, it is provided that the discharge device 9 is designed to be divided. In particular, each handling module 16 is assigned its own discharge device 9-1, 9-2, which can be operated independently of one another.

[0185] The first discharge device 9-1 is aligned with the first conveyor device 12-1 and the second discharge device 9-2 is aligned with the second conveyor device 12-1.

[0186] This makes it possible to regulate and adjust the speed of the feed of the piece goods groups 23 generated in the distribution system 2 to the respective handling module 16 even more finely.

[0187] Furthermore, in connection with the fifth embodiment, it is shown that the horizontal conveyor device 12 can comprise a first detection area 18 adjoining the feed conveyor device 2, in which detection area 18 the manipulator 4 detects groups of piece goods 23 from the closed formation 22 entering the distribution system 2 and spatially separates them from it.

[0188] The detection area 18 can be formed by an undivided horizontal conveyor device 12, or the detection area 18 can be formed by a respective partial area of ​​the two conveyor devices 12-1, 12-2.

[0189] Furthermore, it can be provided that the horizontal conveyor device 12 comprises a positioning region 19 adjoining the detection region 18, which positioning region 19 consists of the at least two conveyor devices 12-1, 12-2 arranged next to one another or which positioning region 19 can be formed by a respective partial region of the two conveyor devices 12-1, 12-2.

[0190] According to an embodiment of the invention not shown, it can be provided that the distribution system 2 comprises at least one detection means for the piece goods 20 supplied in a closed formation 22.

[0191] The at least one detection means is assigned to the detection range of the manipulator 4, which detection range defines a movement space of the manipulator 4. By means of the at least one detection means, at least spatial coordinates and / or position and / or outline data of at least one piece goods 20 moved in the transport direction TR of the piece goods 20 transported in a closed formation 22 to the detection range of the manipulator 4 are sensor-detected before the piece goods group 23 is detected by the manipulator 4 and made available to the control device 5 as a position value.

[0192] The necessary sensor technology is provided, for example, by at least one optical detection device that is spatially and / or functionally assigned to the detection area of ​​the at least one manipulator 4 and is in particular designed to be movable.

[0193] The manipulator 4 and, if applicable, further conveying components of the handling system, for example the feed conveyor 3, via which the piece goods 20 are fed in a closed formation 22 to the distribution system 2 and thus to the detection area of ​​the manipulator 4, or the horizontal conveyor 12 of the distribution system 2, etc., are calibrated and / or controlled on the basis of the determined spatial coordinates and / or position and / or outline data.

[0194] As soon as deviations occur in the dimensions of the piece goods 20 fed in a closed formation 22 and / or in the conveying speed or similar, the movement profile of the manipulator 4 can be corrected, in particular for all subsequent manipulation steps.

[0195] The use of such a detection means is known to the person skilled in the art, for example from the disclosure of DE 102016213400 A1.

[0196] A final note should be given at this point regarding the descriptions of embodiments of the invention, whereby these descriptive passages each refer to the attached drawings. When reference is generally made to "schematic" representations and views in the context of the figures and their descriptions, this in no way means that the figures and their descriptions are of secondary importance with regard to the disclosure of the invention. A person skilled in the art will be perfectly capable of deriving sufficient information from the schematic and abstractly drawn representations to facilitate their understanding of the invention, without their understanding being in any way impaired by the drawn proportions, which may not be exactly to scale.The figures thus enable the skilled reader to derive a better understanding of the inventive concept formulated in a more general and / or abstract manner in the claims and in the general part of the description on the basis of the more concretely explained implementations of the method according to the invention and the more concretely explained functioning of the device according to the invention.

[0197] The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or variations of the invention can be made without departing from the scope of the following claims.

[0198] Reference symbol

[0199] 1 Handling system 2 Distribution system

[0200] 3 Feeding device

[0201] 4 Manipulator 5 Control device

[0202] 6 Control device of the distribution system 7 Machine control

[0203] 8 System control

[0204] 9, 9-1 , 9-2 Discharge device

[0205] 10.10-1 ,10-2 palletizing system

[0206] 11.11-1 ,11-2 Layer formation module 12 Horizontal conveyor device 12-1 ,12-2 Conveyor device

[0207] 13 additional transport device 14 clamping or gripping devices

[0208] 15 clamping jaws

[0209] 16.16-1 ,16-2 Handling module

[0210] 17.17-1 ,17-2 Packaging module

[0211] 18 Detection range

[0212] 19 Positioning area

[0213] 20 general cargo containers

[0214] formation

[0215] General cargo group central longitudinal axis of the distribution system central longitudinal axis of the general cargo supplied in closed formation central longitudinal axis of the further transport device first working mode

[0216] Normal operation second working mode

[0217] Continuous operation third working mode uneven distribution operation fourth working mode

[0218] Emergency operation

Claims

Claims 1. Handling system (1) comprising at least: • a distribution system (2), • at least one feeding device for feeding piece goods (20) moved in at least one row, one behind the other, in a closed formation (F), to the distribution system (2), • a manipulator (4) for handling piece goods (20) by forming groups of piece goods (23), • a control device (5) for controlling the manipulator (4), • the handling system (1) further comprising at least two handling modules (16), • wherein the control device (5) is designed in a first operating mode (100) to control the manipulator (4) of the distribution system (2) in such a way that it prepares and positions the piece goods groups (23) substantially uniformly for feeding to the at least two handling modules (16), and / or • wherein the control device (5) is designed in a second operating mode (102) to control the manipulator (4) of the distribution system (2) in such a way that it does not handle any groups of piece goods (23), and / or • wherein the control device (5) is designed in a third working mode (104) to control the manipulator (4) of the distribution system (2) in such a way that it prepares and positions the piece goods groups (23) unevenly for feeding to the at least two handling modules (16) and / or • wherein the control device (5) is designed in a fourth working mode (106) to control the manipulator (4) of the distribution system (2) in such a way that it completely prepares and positions the piece goods groups (23) for feeding to one of the at least two handling modules (16).

2. Handling system (1) according to claim 1, wherein the manipulator (4) of the distribution system (2) is designed to clamp the group of piece goods (23), to spatially separate the group of piece goods (23) from the following piece goods (20) of the closed formation (F) and to move the captured The group of general cargo (23) is designed to be in a target position spaced from the closed formation (F).

3. Handling system (1) according to claim 1 or 2, • wherein the manipulator (4) of the distribution system (2) is designed to carry out a first work step, in which first work step a piece goods group (23) comprising a defined number of piece goods (20) is grasped by the manipulator (4), spatially separated from the following piece goods (20) of the closed formation (F) and spaced apart in the transport direction (TR), and / or • wherein the manipulator (4) of the distribution system (2) is designed to carry out a second work step, in which second work step a piece goods group (23) comprising a defined number of piece goods (20) is grasped by the manipulator (4), spatially separated from the following piece goods (20) of the closed formation (F) and spaced apart in the transport direction (TR) and laterally.

4. Handling system (1) according to claim 3, wherein the control device (5) is designed to control a temporal sequence or order of first work steps and / or second work steps, • in particular, wherein a uniform temporal sequence or order of first work steps and second work steps can be controlled, or • where an uneven temporal sequence or order of first work steps and second work steps can be controlled, or • where only a temporal sequence or order of first work steps or second work steps can be controlled.

5. Handling system (1) according to one of the preceding claims, wherein the handling system comprises at least one removal device (9) between the distribution system (2) and the at least two handling modules (16), which at least one removal device (9) is designed to feed the piece goods groups (23) separated in the first work step and / or the piece goods groups (23) separated in the second work step to at least one of the at least two handling modules (16).

6. Handling system (1) according to one of claims 3 to 5, wherein the parts handled by the manipulator (4) in a first working step Groups of piece goods (23) can be fed to a first of the at least two handling modules (16), and wherein the groups of piece goods (23) handled by the manipulator (4) in a second work step can be fed to a second of the at least two handling modules (16).

7. Handling system (1) according to one of the preceding claims, wherein the distribution system (2) comprises a horizontal conveyor device (12), which horizontal conveyor device (12) is designed to be divided, in particular which horizontal conveyor device (12) comprises at least two independently driven conveyor devices (12-1, 12-2).

8. Method for handling piece goods (20), in particular method for distributing piece goods, in which method • the piece goods (20) are fed in at least one row behind the other, in a closed formation (F) to at least one distribution system (2) of a handling system (1) comprising at least two handling modules (16), • wherein, in a first working mode (100), piece goods groups (23) are produced from the piece goods (20) fed in at least one closed formation (F), and the piece goods groups (23) are prepared and positioned substantially uniformly for feeding to the at least two handling modules (16), and / or • wherein in a second working mode (102) no piece goods (20) are handled within the distribution system (2), and / or • wherein, in a third working mode (104), piece goods groups (23) are produced from the piece goods (20) fed in at least one closed formation (F), and the piece goods groups (23) are prepared and positioned unevenly for feeding to the at least two handling modules (16), and / or • wherein, in a fourth working mode (106), piece goods groups (23) are produced from the piece goods (20) fed in at least one closed formation (F), and the piece goods groups (23) are completely prepared and positioned for feeding to one of the at least two handling modules (16).

9. The method according to claim 8, wherein the manipulator (4) of the distribution system (2) clamps a group of items (23) of the closed formation (F), spatially from the following piece goods (20) of the closed formation (F) and moves them to a target position spaced from the closed formation (F).

10. Method according to claim 8 or 9, • wherein the manipulator (4) of the distribution system (2) is designed to carry out a first work step, in which first work step a piece goods group (23) comprising a defined number of piece goods (20) is grasped by the manipulator (4), spatially separated from the following piece goods (20) of the closed formation (F) and spaced apart in the transport direction (TR), and / or • wherein the manipulator (4) of the distribution system (2) is designed to carry out a second work step, in which second work step a piece goods group (23) comprising a defined number of piece goods (20) is clamped by the manipulator (4), spatially separated from the following piece goods (20) of the closed formation (F) and spaced apart in the transport direction (TR) and laterally.

11. Method according to claim 10, wherein a temporal sequence and order of first work steps and / or second work steps can be controlled variably, • in particular, whereby a uniform temporal sequence or order of first work steps and second work steps is controlled, or • where an uneven temporal sequence or order of first work steps and second work steps is controlled, or • where only a temporal sequence or order of first work steps or second work steps is controlled.

12. Method according to one of claims 8 to 11, wherein the groups of piece goods (23) handled by the manipulator (4) are each fed to one of at least two handling modules (16).

13. The method according to one of claims 8 to 12, wherein in the first working mode (100) of the handling system (1) a first working step and a second working step are carried out alternately within the distribution system (2), and wherein the piece goods groups (23) handled in the first working step are fed to a first of the at least two handling modules (16), and wherein the piece goods groups (23) handled in the second working step are fed to a second of the at least two handling modules (16).

14. The method according to one of claims 8 to 13, wherein in the fourth working mode (106), in which fourth working mode (106) only one handling module (16) of the handling system (1) or only a part of the handling modules (16) of the handling system (1) is functional, only the first working step or only the second working step is carried out within the distribution system (2), in particular wherein the selection of the first working step or the second working step is dependent on which of the at least two handling modules (16) of the handling system (1) is functional.

15. The method according to claim 14, wherein the functional handling module (16) of the handling system (1) is operated in the fourth working mode (106) with an increased power, in particular wherein the functional handling module (16) is operated in the fourth working mode (106) with twice the power as in the first working mode (100).

Images