Device and method for moving containers

Abstract

The present invention relates to a device for moving containers, comprising an inlet having one or more inlet lanes, a first outlet and a second outlet, each having one or more outlet lanes, a control unit which is designed to generate and output a control signal on the basis of a specified target signal, and a robot which is designed to operate the inlet and the outlets and to move all incoming containers to the first outlet or to the second outlet on the basis of the control signal that is output by the control unit. The present invention further provides a method for moving containers.

Description

[0001] Device and method for moving containers

[0002] The present invention relates to a device for moving containers, as well as a method for moving containers.

[0003] State of the art

[0004] When filling products into designated containers in established production facilities, different production paths are used depending on the container type or system status. For example, after a labeling machine, several different packaging machines are accessed. The production path selection is made by appropriate guide rails, which direct the containers along the selected production path to the intended packaging machine. Sensors monitor the currently selected production path, thus ensuring that the correct machine is approached.

[0005] A disadvantage of the current approach, however, is that different insert railings must be provided for each product type and stored until needed. Especially when transporting containers in multiple aisles, these insert railings are often very large and heavy, requiring a crane or lifting device for replacement. This increases changeover and downtime, as well as costs. Flexible and rapid product changeovers are therefore impossible or involve significantly increased time and effort.

[0006] Task

[0007] Therefore, a device for moving containers in a transport system and an associated method that overcome the aforementioned disadvantages would be desirable. This problem is solved by the device according to claim 1 and the method according to claim 13.

[0008] Solution

[0009] According to the invention, a device for moving containers is provided, comprising an inlet with one or more inlet lanes, a first outlet and a second outlet, each with one or more outlet lanes, a control unit configured to generate and output a control signal based on a predetermined target signal, and a robot. The robot is configured to operate the inlet and outlets and, based on the control signal output by the control unit, to move incoming containers to the first outlet or the second outlet. The containers entering the inlet with its inlet lanes are moved by the robot to one of the outlets. This eliminates the need for the previously described insertion rails to redirect the container flow to the first outlet or the second outlet.The device thus overcomes the aforementioned disadvantages and provides simpler and more flexible handling in the treatment and transport of containers.

[0010] In this description, the term "relocation" refers to the transport of containers by moving or lifting them between an inlet and an outlet.

[0011] The incoming containers are, for example, diverted to either the first or the second outlet. This redirects the flow of containers in a predetermined direction, much like a push-in railing. Alternatively, the incoming containers can be distributed between the two outlets in any desired pattern. An intermittent distribution is conceivable, where groups of containers (e.g., groups of six containers to create a six-pack) are alternately diverted to the first and second outlets. It is also possible to divert a predefined percentage (e.g., 25%, 30%, 40%, 50%, 60%, 70%, or 75%) of the incoming containers to the first outlet, while the remaining containers are diverted to the second. This makes the device more flexible than a push-in railing, which can typically only direct the flow of containers to one outlet.

[0012] A single-aisle conveyor (inlet or outlet with exactly one aisle) is understood to mean that the containers are transported in a row without being transported side by side along a single direction. In contrast, a multi-aisle conveyor allows the containers to be arranged both side by side and one behind the other along the direction of transport. The device described herein can be designed for both single-aisle and multi-aisle operation.

[0013] In this description, a robot refers to a device / element designed to transport one or more containers using mechanical means, such as moving or lifting them. The robot is controlled by a control unit. Specifically, the control unit provides an algorithm for controlling the robot. The control unit receives a predefined target signal that defines which of the outlets the containers are to be moved to. This target signal can be entered into the control unit by an operator, for example. Based on the target signal, the control unit calculates how the incoming containers must be moved to the outlet lanes.Based on this information, an algorithm controls the robot's function, specifically determining the pattern according to which the incoming containers must be transported or repositioned to achieve the desired distribution in the discharge lane(s). In particular, the robot's control can be automated. The algorithm can be modified while the device is idle or even during operation, for example, to react to changes in the infeed (e.g., a lane failure) or to a new target signal. An operator can also manually access the robot's control system.

[0014] The device can have exactly one inlet. The device can have exactly two, or exactly three, or exactly four outlets. Even in the case of more than two outlets, each outlet includes one or more discharge lanes. The number of discharge lanes can be the same or different in each outlet. Even in the case of more than two outlets, the robot is configured to transfer the incoming containers to the first outlet and / or the second outlet and / or the third outlet. In particular, the distribution can be intermittent or occur according to a predefined percentage, as already mentioned above.

[0015] The device can further include an infeed detection unit configured to detect the containers entering the infeed and to generate and output an infeed signal based on the number and / or distribution of the incoming containers, and a control unit configured to generate and output the control signal based on the infeed signal output by the infeed detection unit. Accordingly, the robot can further be configured to move all incoming containers to the first discharge or to the second discharge based on the control signal output by the control unit.

[0016] The infeed detection unit can detect the distribution, number, and orientation (lying / standing) of incoming containers and incorporate this information into the robot's control system. This allows for more efficient robot control by specifically tailoring the robot's movements to the incoming containers. This can contribute to faster, smoother handling and higher container throughput, for example, by removing horizontally arriving containers from the process (i.e., the infeed) before they reach the robot using a container pusher. In particular, even an irregular distribution of containers in the infeed need not negatively impact handling efficiency.

[0017] The infeed detection unit can, for example, include one or more light barriers per infeed lane, which detect the number and / or distribution of incoming containers in each lane. Alternatively, the infeed detection unit can include one or more optical, inductive, capacitive, or ultrasonic sensors. This can be advantageous because not all container types are necessarily suitable for detection with a light barrier. It is also possible for the infeed detection unit to be configured to uniquely identify specific containers, for example, using a unique identifier on the container (e.g., barcode, QR code, etc.). Based on the detected number and / or distribution of incoming containers, the infeed detection unit generates an infeed signal that is transmitted to the control unit.

[0018] The number of containers refers to how many containers pass through the inlet / detection unit within a specific time period. A distribution analysis considers not only the sheer number of containers but also the distances and gaps between them.

[0019] The robot can be equipped with a gripper to grasp one or more containers simultaneously. This gripper can be designed to simply move the container(s) or to lift the container(s) for transport.

[0020] In particular, when several containers can be gripped simultaneously, this results in a higher production output of the robot and thus of the device, enabling a higher throughput of containers.

[0021] The robot can be a tripod robot, particularly with delta kinematics, or an articulated robot with up to six degrees of freedom. Alternatively, other suitable mechanical designs can be used, such as mechanical diverters. These receive the containers at the diverter's inlet in the form of a single-row inlet stream and then distribute this single-row stream across several lanes perpendicular to the container transport direction.

[0022] These types of robots are particularly well-suited for use in the beverage industry, for example, for handling containers. Crucially, the robots must have suitable kinematics to transport and / or distribute the containers at high speed. In combination with the device described here, these robots thus offer high performance capacity in container transport and distribution environments.

[0023] The device may further include an outlet detection unit configured to detect containers dispensing at the first outlet and the second outlet and to generate and output an outlet signal based on the number and / or distribution of the dispensing containers in the outlet lanes, wherein the control unit is configured to additionally generate and output a control signal based on the outlet signal.

[0024] In principle, the outflow detection unit can be designed like the inflow detection unit and may include, for example, one or more light barriers, or one or more ultrasonic, optical, inductive, or capacitive sensors. It is also possible for the outflow detection unit to be configured to uniquely identify specific containers, for example, using a unique identifier on the container (e.g., barcode, QR code, etc.). Based on the detected number, orientation (vertical or horizontal), and distribution of outflowing containers, the outflow detection unit then generates an outflow signal, which is transmitted to the control unit and used to generate the control signal. Thus, if a horizontal container is detected at the outflow, the distribution process can be stopped and a message issued to prevent the outflow lanes from becoming blocked and subsequent containers from colliding with it.

[0025] By incorporating the discharge signal into the robot's control system, it's possible to consider the situation in the discharge lanes when moving incoming containers. Accordingly, container movement can be individually tailored to the situation in specific discharges and lanes. For example, a discharge lane might be congested, preventing the robot from moving any further containers to that lane. Alternatively, the robot can ensure an even distribution of containers across all discharge lanes. "Equal distribution" could mean that all discharge lanes contain the same number of containers or that the containers in all discharge lanes have the same number of containers.

[0026] It is also possible for the robot, particularly its control unit, to detect which discharge lanes the containers are being moved into. In this case, the discharge detection unit can only serve for process monitoring and not process control. Practically speaking, this means that the containers are moved solely based on the target signal (and, if applicable, the infeed signal). The discharge detection unit counts the containers in the discharge lanes and can thus identify empty or blocked lanes and issue a notification. In this configuration, the discharge detection unit has no direct influence on the robot's movement of the containers.

[0027] The device can also include one or more additional robots, wherein the additional robot(s) is / are arranged between the robot and the two outlets, wherein the robot and the additional robot(s) are configured as a robot unit, and wherein the robot unit is configured to operate the inlet and the two outlets and, based on the control signal issued by the control unit, to move the incoming containers to the first outlet or to the second outlet.

[0028] This includes the possibility that the robot unit can be trained to distribute the incoming containers to the two outlets in any desired distribution pattern. An intermittent distribution is conceivable, where groups of containers (e.g., groups of six containers to create a six-pack) are alternately discharged to the first and second outlets. It is also possible to discharge a predefined percentage (e.g., 25%, 30%, 40%, 50%, 60%, 70%, or 75%) of the incoming containers to the first outlet, while the remaining containers are discharged to the second.

[0029] The robot and the other robot(s) can be arranged one behind the other or next to each other, viewed from the entrance.

[0030] The two or more robots can be controlled by the same control unit. A shared algorithm can also be used to control the two or more robots together. The tasks performed by the two or more robots can be coordinated in various ways. For example, one robot can operate one or more specific infeed lanes and transfer the incoming containers from these lanes to the outfeed lanes. The other robot(s) then handle the remaining infeed lanes not operated by the first robot and transfer the containers arriving in these lanes. In this way, all infeed lanes are operated by the robot unit, resulting in a specific distribution of outfeed containers.Because each of the two or more robots only serves a part of the infeed aisles, a higher overall throughput can be achieved with this robot unit than with a single robot, because the two or more robots work in parallel and the capacities of the individual robots practically add up.

[0031] Alternatively, the two or more robots can complement each other in another way. The robot can be configured to serve all infeed lanes and create an intermediate distribution of the containers. This intermediate distribution is then taken over by the other robot(s) and processed into a specific distribution of outgoing containers at the respective outlet. The other robot(s) can serve all outgoing lanes. In this case, too, a higher throughput can be achieved compared to a single robot if creating an intermediate distribution requires less time or fewer work steps than creating the distribution of the outgoing containers.

[0032] It is also possible for the two or more robots to service the same infeed lane alternately or in an irregular sequence. In this scenario, one or more robots temporarily bypass one or more infeed lanes, which are then serviced by the other robot(s). In this way, the two or more robots complement each other as they process the infeed lanes in parallel, and a higher throughput can be achieved than with a single robot. This approach can also be used to load lanes with different products from two different machines, for example, to create mixed containers.

[0033] The above-mentioned specifications regarding the structural design of the robot can also apply to the additional robot(s). In particular, each of the additional robots can have a gripper to grasp one or more containers simultaneously. The additional robot(s) can be a tripod robot, especially with delta kinematics, or an articulated robot with up to six degrees of freedom.

[0034] The device can include a robot unit in conjunction with an inlet detection unit and / or an outlet detection unit.

[0035] The robot and / or the additional robot(s) may be trained to operate only certain, in particular not every, or all of the inlet and / or outlet lanes.

[0036] If each of the two or more robots can only serve specific infeed and / or outfeed lanes, it is possible to arrange the two or more robots in a more compact configuration, so that the device as a whole requires less space. As described above, however, it is still possible to achieve a higher throughput compared to a single robot in this configuration.

[0037] A conveyor belt can be arranged between the inlet and the outlets, and the robot or robotic unit can be designed to move the incoming containers along the conveyor belt.

[0038] Compared to transport by lifting the containers, moving them on a moving conveyor belt or multiple conveyor belts traveling at the same or different speeds is less susceptible to disruptions, such as those caused by containers tipping over. Furthermore, the containers are already transported in the direction of travel on the conveyor belt and, to be moved onto the discharge lanes, only need to be shifted perpendicular to the direction of travel and / or guided or moved in the direction of travel. This takes less time than lifting the containers. As a result, the transfer can be carried out quickly, or a higher throughput can be achieved within a given timeframe.

[0039] The robot and / or the additional robot(s) can each be attached to a positioning unit, allowing the position of each robot to be changed. This allows the working area of ​​the respective robot to be increased without having to change the dimensions of the robot itself.

[0040] Furthermore, the present invention provides a system for container treatment, comprising the device described above, a first treatment machine, and a second treatment machine. The containers can be transported to the first treatment machine via the first outlet and to the second treatment machine via the second outlet. In particular, the first treatment machine and / or the second treatment machine are packaging machines.

[0041] This system, like the device itself, offers simpler and more flexible handling during the treatment and transport of containers. Furthermore, the robot allows for easy switching between transferring containers to the first and second outlets. For example, in the event of a malfunction in one of the treatment machines, a quick switch to the other is possible, thus avoiding system downtime.

[0042] Furthermore, the containers in the system can be transported to the device via the inlet from a filling machine or a labeling machine.

[0043] The correspondingly expanded system thus enables, as previously described, efficient container handling from filling or labeling to packaging the containers.

[0044] The present invention further relates to a method for moving containers in a device comprising an inlet with one or more inlet lanes, a first outlet and a second outlet, each with one or more outlet lanes, wherein the method comprises the following steps:

[0045] Generating and outputting a control signal based on a predetermined target signal, and moving incoming containers to the first outlet or the second outlet using a robot based on the control signal.

[0046] Similar to the described device, this method also offers the advantage that no connecting railings are required to redirect the container flow from the inlet to the first outlet and the second outlet, or, if necessary, to both outlets simultaneously. This results in simpler and more flexible handling during the treatment and transport of containers. When distributing the flow to both inlets, the previously stated considerations regarding intermittent or percentage distribution also apply to this method.

[0047] The process may further include the following steps:

[0048] Capturing the container entering the device at the inlet,

[0049] Generating and outputting an inlet signal based on the number and / or distribution and / or container orientation of the incoming containers at the inlet, and

[0050] Generating and outputting the control signal based on the output input signal and the specified target signal.

[0051] By generating and outputting the infeed signal, the distribution, number, and / or orientation of incoming containers can be detected, and this information can be incorporated into the robot's control system. This allows for more efficient robot control by specifically tailoring the robot's movements to the incoming containers and eliminating those unsuitable for the transfer process. This can contribute to faster, trouble-free transfer and a higher throughput of containers. In particular, even an irregular distribution at the infeed need not negatively impact transfer efficiency or distribution quality.

[0052] Furthermore, the procedure may also include:

[0053] Capturing containers leaking from the device into the two outlets,

[0054] Generating and outputting a discharge signal based on the number and / or distribution and / or orientation of the discharge containers in the discharge lanes, and

[0055] Generating and outputting the control signal is additionally based on the output discharge signal. By incorporating the discharge signal into the robot's control, it is possible to consider the situation in the discharges (or discharge lanes) when moving the incoming containers. Accordingly, the container movement can also be individually tailored to the situation in specific among the multiple discharges (discharge lanes). Further advantages in this context are described in relation to the figures.

[0056] The distribution of incoming containers in at least one of the incoming lanes may be irregular.

[0057] An irregular distribution within an infeed lane means that the distances between adjacent containers in the lane are irregular. Furthermore, the number of containers entering the lane may vary. This can be caused, among other things, by the fact that the containers in the different lanes are fed from various other devices, each with a different throughput rate. Removing containers from one of the infeed lanes can also lead to an irregular distribution.

[0058] The transport speed of the first outlet and / or the second outlet can be equal to or proportional to the transport speed of the inlet. Alternatively, the transport speed of the first outlet and / or the second outlet can be the same as the transport speed of the inlet.

[0059] By coordinating the infeed and outfeed transport speeds in this way, gaps between the outfeed containers can be avoided. Selecting a slower outfeed transport speed than any infeed speed is particularly advantageous when the infeed containers are spaced apart, meaning there is a certain distance between them. This results in fewer, smaller, or even no gaps between the outfeed containers, and allows for a shorter multi-aisle transport to a subsequent machine such as a packaging or filling machine. Another benefit of a lower outfeed transport speed compared to the infeed speeds is an increased occupancy rate in the various outfeed lanes, i.e., the number of containers in each lane.Conversely, a certain distance can be maintained between the outgoing containers if the transport speed of the outgoing container is higher than the transport speed of the incoming container.

[0060] Brief description of the figures: Further features and advantages are explained below using the example figures. These show:

[0061] Figure 1 shows a schematic top view of a device for moving containers according to a first embodiment;

[0062] Figure 2 shows a schematic top view of a device for moving containers according to a second embodiment;

[0063] Figure 3 shows a schematic oblique view of the device comprising a robot unit; and

[0064] Figure 4 shows a schematic representation of the control system of the robot or robot unit.

[0065] In the following and in the figures, unless otherwise specified, the same reference numerals are used for identical or corresponding elements in the various embodiments.

[0066] Detailed description

[0067] Figure 1 shows a schematic top view of a device 1 according to the invention for moving containers. The device 1 comprises an inlet 2 with two inlet lanes 2a, 2b. The inlet 2 can have one or more spatially separated conveyor belts or other suitable conveying equipment on which the containers are transported to the device 1. These containers are referred to as incoming containers 10. The device 1 further comprises two outlets 3, 3', each with two outlet lanes 3a, 3b and 3a', 3b', respectively. The two outlets 3, 3' can also have a conveyor belt to transport the containers away from the device. These containers are referred to as outgoing containers 11.

[0068] In the example shown, the outgoing containers 11 are offset onto the different discharge lanes 3a, 3b of the first discharge 3 such that each discharge lane contains the same number of containers and the containers in each discharge lane 3a, 3b are equally spaced. However, the distribution of outgoing containers 11 onto the discharge lanes can be freely determined and is not limited to the configuration shown. Furthermore, it is possible for the incoming containers 10 to be offset onto both discharges. Thus, the incoming containers 10 can also be distributed onto the two discharges 3, 3' in any distribution pattern. An intermittent distribution is conceivable, in which groups of containers (e.g., groups of six containers to create a six-pack) are alternately offset onto the first discharge 3 and the second discharge 3'. It is also possible to use a predefined percentage (e.g.,25%, 30%, 40%, 50%, 60%, 70% or 75% of the incoming containers 10 are moved to the first outlet 3, while the remaining containers are moved to the second outlet 3'.

[0069] In this embodiment, the device 1 is configured such that the two outlets 3, 3' are arranged on opposite sides and directly adjacent to the inlet 2. This allows the incoming containers 10 to be transported to their respective outlets 3, 3' by sliding them over, requiring only a short transport distance. This configuration is particularly compact, and the time required to move the containers is minimal, resulting in a high overall throughput.

[0070] Robot 4 itself is shown schematically in this figure only. For further structural details about robot 4, please refer to Figures 3 and 4 and the accompanying description. Robot 4 is configured to transfer the incoming containers 10 from the inlet lanes 2a, 2b to the outlet lanes 3a, 3b or 3a', 3b' (depending on whether the containers are to be transferred to the first outlet or the second outlet).

[0071] The device 1 further comprises a control unit 41, which can be part of the robot 4 or exist as a separate unit coupled to the robot 4. Its properties and functions are explained in more detail with reference to Figure 4. The control unit 41 is configured to generate a control signal from a predefined target signal and transmit it to the robot 4. Based on this control signal, the robot 4 then moves the containers.

[0072] A transport speed can be set independently for each of the outlets 3, 3' and for the inlet 2. The transport speed of inlet 2 is referred to below as Vein, and that of the first outlet lane 3a as v. aus ,i and the second exit lane 3b as v aus,2. The independent adjustment of the transport speeds allows for a high degree of flexibility in the device 1. Specifically, the transport speed of the first outlet 3 and / or the second outlet 3' can be lower than the transport speed of the inlet 2. This serves the purpose of reducing the distances between the incoming containers 10 at the inlet 2 and the outlet 3, 3'. This results in a higher packing density of the outgoing containers 11 at the outlet 3, 3'. Consequently, the transport path between the device 1 and a downstream treatment machine can be shorter. A corresponding system consisting of the device 1 and one or more treatment machines can thus be made more compact. In addition to the aforementioned technical effect of simpler and more flexible handling during container treatment, the described device 1 offers further advantages.For example, the described insertion railing can be omitted because the robot redirects the containers to the designated discharge point. This reduces changeover times, as no change of components (exchange of the insertion railing) is necessary. The production path can be configured for each product type using software, and the system can be operated immediately after product selection. Only when the container diameter changes do the aisle widths need to be adjusted, which can optionally be done with a motor.

[0073] Furthermore, labor and machinery requirements are reduced, as no lifting device (such as a crane) is needed to convert the plug-in railing. Storage space for the plug-in railing is also unnecessary.

[0074] Furthermore, the displacement pattern to be performed by robot 4 (displacement to the first outlet or to the second outlet) can be quickly and easily adjusted. Should a processing machine downstream of the first outlet 3 experience a malfunction, the system can quickly switch to the second outlet 3' and use a different downstream processing machine. This reduces downtime in the event of malfunctions. In particular, switching the displacement from the first outlet 3 to the second outlet 3' can also be carried out during production, thus avoiding lengthy downtimes.

[0075] It is understood that the present invention is not limited to the embodiments described herein. For example, the two outlets 3, 3' can comprise a different number of outlet channels, and the number of two inlet channels shown is not to be considered limiting.

[0076] Figure 2 schematically shows a further embodiment of a device 1 according to the invention for moving containers in a top view. Elements and properties of the device 1 that are already shown and explained in Figure 1 are not explained again in detail.

[0077] The device 1 comprises a robot unit 6, consisting of a robot 4 and another robot 5. The robot unit 6 is configured to operate the inlet 2 and the outlets 3, 3' and to transfer the incoming containers 10 from the inlet lanes 2a, 2b to the outlet lanes 3a', 3b' of outlet 3' (or alternatively to the outlet lanes 3a, 3b of outlet 3). Furthermore, according to this embodiment, the device 1 comprises an inlet detection unit 20 and an outlet detection unit 30. The outlet detection unit 30 is configured to detect the outgoing containers 11 for outlets 3, 3' and to generate and output an outlet signal based on the distribution of the outgoing containers 11 in the outlet lanes 3a, 3b, 3a', 3b'.Similarly, the inlet detection unit 20 is configured to detect the incoming containers 10 at inlet 2 and to generate and output an inlet signal based on the distribution of these containers. The outlet detection device 30, like the inlet detection unit 20, can comprise one or more light barriers or one or more other suitable devices such as optical, inductive, capacitive, or ultrasonic sensors. The inlet and outlet signals are transmitted to the control unit 41, which generates and outputs the control signal based on the target signal, inlet signal, and outlet signal. Based on the control signal output by the control unit 41, the robot unit 6 is configured to move all incoming containers 10 to the outlet lanes 3a', 3b' of the second outlet (or alternatively to the outlet lanes 3a, 3b of the first outlet 3).

[0078] The two inlet lanes 2a and 2b are spatially separated. This has the advantage of allowing horizontal container discharge. For this purpose, the inlet detection system 20 detects horizontal containers in inlet lanes 2a and 2b, whereupon these can be removed from the respective lane using a pusher (not shown). This prevents disruptions to the operational process caused by horizontal (or otherwise incorrectly oriented) containers.

[0079] In principle, the distribution of the outgoing containers 11 in the different discharge lanes 3a, 3b can be arbitrary or freely adjustable, and the uniform distribution shown in Figure 1 represents only one possibility. In contrast, in this embodiment, each discharge lane 3a, 3b is equipped with a different number of containers 11. The inlet lanes of the first and second outlets can also be equipped simultaneously. The same considerations apply here as for the first embodiment. For example, the different lanes are treated differently by a downstream device, so that an uneven distribution of the discharge lanes 3a, 3b is advantageous.

[0080] In the case of spatially separated inlets 2a and 2b, it is not absolutely necessary for inlet 2 to have a common inlet velocity for both inlet lanes. Rather, the two inlet lanes 2a and 2b can be controlled independently of each other and have different velocities v. e in,i and v ein,2 possess. In this way, the flexibility and versatility of the described device 1 can be further improved. Figure 3 shows an oblique view of a device 1 according to the invention, from which details of the structure and function of the robot 4 and the further robot 5 are particularly evident. In this example, a robot unit 6 consisting of the robot 4 and the further robot 5 is shown, both robots being designed as so-called tripod robots. It is understood that the two robots can also be of different types and are not limited to the type shown. The robot 4 and the further robot 5 each have a gripping tool 40, which is designed to grasp and lift or move one or more containers 10. In order to be able to grasp several containers 10, the containers 10 must in particular be arranged one behind the other or next to each other.

[0081] The device 1 comprises an inlet 2 with two inlet lanes 2a, 2b. The robot 4 serves the two inlet lanes 2a, 2b and, using the gripper 40, moves the containers 10 entering these lanes onto the conveyor belt 7. Similarly, the second robot 5 serves the two inlet lanes 2a, 2b and, using the gripper 40, moves the containers 10 entering these lanes onto the conveyor belt 7. An outlet 3, 3' is arranged on each side of the conveyor belt 7, with the robots transferring the incoming containers 10 from the inlet 2 to one or both of the two outlets 3, 3'. The outgoing containers 11, which were transferred by the robot unit to the two outlet lanes 3a, 3b of the first outlet 3, are shown as an example.

[0082] Conveyor belt 7 and discharges 3, 3' can be controlled independently of each other, allowing, for example, the speeds of discharges 3, 3' and conveyor belt 7 to be adjusted. As described above, the transport speed of discharge 3 can be set slower than the transport speed of infeed 2 or conveyor belt 7 to minimize gaps between the incoming containers 10 at discharge 3 or to increase the occupancy rate in discharge lanes 3a, 3b. This allows the transport distance to a subsequent device, such as a processing or packaging machine, to be shortened.

[0083] Tripod robots offer high spatial flexibility and are therefore able to serve a variety of infeed aisles while maintaining a compact design. Furthermore, they allow for high-speed control with high precision and are therefore well-suited for the described application in a distribution system where a high throughput of containers is required.

[0084] Figure 4 shows a schematic representation of the robot or robot unit control system, comprising a control unit. The control unit 41 can be configured as a separate, external unit or integrated into the robot 4 or robot unit 6. The control unit 41 includes a target signal that defines which of the outlets the containers are to be placed on. The target signal thus contains information about which of the outlets the incoming containers are to be placed on. Furthermore, the target signal can contain information about a specific intended distribution of the containers in the outlet, in particular the loading of the outlet lanes and / or a specific distribution or spacing of the containers in the outlet lanes. The target signal can be entered into the control unit by an operator. In particular, the target signal can be updated, for example, during operation of the device.

[0085] Furthermore, the control unit 41 can receive the infeed signal generated by the infeed detection unit 20. The transmission of the infeed signal can be carried out via conventional transmission channels. The control unit 41 also receives the outfeed signal generated by the outfeed detection unit 30. Thus, the control unit 41 is configured to generate the control signal for the robot 4 or the robot unit 6 based on the target signal, the infeed signal, and the outfeed signal. Note that the device 1, according to the embodiment shown in Figure 1, does not necessarily have an outfeed detection unit 30 and / or an infeed detection unit 20. In this case, the control unit 41 only receives the infeed signal from the infeed detection unit 20 or has only the specified target signal to generate the control signal.

[0086] The control unit 41 includes an algorithm for controlling the robot 4 or the robot unit 6. The algorithm is programmed to calculate the necessary work steps of the robot 4 or the robot unit 6 based on the input signal and, if applicable, the output signal, and to control the robot 4 or the robot unit 6 accordingly via the control unit 41. The algorithm stored in the control unit 41 can be continuously updated, for example, if a new distribution of outgoing container material is to be generated at the output.

[0087] The embodiments shown can be suitably combined with one another. For example, an outflow detection unit 30 and / or an inflow detection unit 20 can also be provided even if the device 1 comprises only one robot 4.

Claims

Claims 1. Device (1) for moving containers, comprising: an inlet (2) with one or more inlet lanes (2a, 2b), a first outlet (3) and a second outlet (3') each with one or more outlet lanes (3a, 3b; 3a', 3b'), a control unit (41) configured to generate and output a control signal based on a predetermined target signal, and a robot (4) configured to operate the inlet (2) and the outlets (3, 3') and to move incoming containers (10) to the first outlet (3) or to the second outlet (3') based on the control signal output by the control unit (41).

2. Device (1) according to claim 1, further comprising an inlet detection unit (20) configured to detect the containers (10) entering the inlet (2) and to generate and output an inlet signal based on a number and / or distribution of the inlet containers (10), wherein the control unit (41) is further configured to generate and output the control signal based on the inlet signal output by the inlet detection unit (20) and a predetermined target signal.

3. Device (1) according to one of the preceding claims, wherein the robot (4) has a gripping tool (40) to be able to grip one or more containers simultaneously.

4. Device (1) according to one of the preceding claims, wherein the robot (4) is a tripod robot, in particular with delta kinematics, or an articulated robot with up to six degrees of freedom.

5. Device (1) according to one of the preceding claims, further comprising: an outlet detection unit (30) configured to detect containers (11) discharging onto the first outlet (3) and the second outlet (3') and to generate and output an outlet signal based on a number and / or distribution of the discharging containers (11) in the outlet lanes (3a, 3b; 3a', 3b'), wherein the control unit (41) is configured to additionally generate and output a control signal based on the outlet signal.

6. Device (1) according to one of the preceding claims, further comprising one or more additional robots (5), wherein the additional robot(s) (5) is / are arranged between the robot (4) and the two outlets (3, 3'), wherein the robot (4) and the additional robot(s) (5) are configured as a robot unit (6), and wherein the robot unit (6) is configured to operate the inlet (2) and the two outlets (3, 3') and, based on the control signal issued by the control unit (41), to move the incoming containers (10) to the first outlet (3) or the second outlet (3').

7. Device (1) according to one of the preceding claims, wherein the robot (4) and / or the further robot(s) (5) are configured to operate only certain, in particular not each of, or all of the inlet lanes (2a, 2b) and / or outlet lanes (3a, 3b; 3a', 3b').

8. Device (1) according to one of the preceding claims, wherein a conveyor belt (7) is arranged between the inlet (2) and the outlets (3, 3'), and wherein the robot (4) or robot unit (6) is configured to move the incoming containers (10) on the conveyor belt (7).

9. Device (1) according to one of the preceding claims, wherein the robot (4) and / or the further robot(s) (5) is / are each attached to a positioning unit, such that the position of the respective robot can be changed.

10. Container treatment system comprising: the device (1) according to one of the preceding claims, a first treatment machine and a second treatment machine, wherein the containers can be transported to the first treatment machine via the first outlet (3), wherein the containers can be transported to the second treatment machine via the second outlet (3'), and wherein the first treatment machine and / or the second treatment machine are in particular packaging machines.

11. System according to claim 10, wherein the containers can be transported via the inlet (2) from a filling machine or a labeling machine or from a buffer system to the device (1).

12. Method for moving containers in a device (1) comprising an inlet (2) with one or more inlet lanes (2a, 2b), a first outlet (3) and a second outlet (3') each with one or more outlet lanes (3a, 3b; 3a', 3b'), wherein the method comprises: Generating and outputting a control signal based on a predefined target signal, and Moving incoming containers (10) to the first outlet (3) or the second outlet (3') using a robot (4) based on the control signal.

13. The method of claim 12, further comprising: Capturing the container (10) entering the device (1) at the inlet (2), Generating and outputting an inlet signal based on a number and / or distribution and / or orientation of the incoming containers (10) in the inlet (2), and generating and outputting the control signal based on the output inlet signal and the specified target signal.

14. The method of claim 13, further comprising: Capturing the outflowing container (11) from the device (1) into the two outlets (3, 3'), Generating and outputting a discharge signal based on a number and / or distribution and / or orientation of the discharge containers (1 1 ) in the discharge lanes (3a, 3b; 3a', 3b'), and Generating and outputting the control signal additionally based on the output outlet signal.

15. Method according to one of claims 12 to 14, wherein the distribution of the incoming containers (10) in at least one of the incoming lanes (2a, 2b) is irregular.

16. Method according to any one of claims 12 to 15, wherein a transport speed (Vaus.-i, v) aus ,2) of the first outlet (3) and / or of the second outlet (3') equal to or proportional to a transport speed (v e in) of the inlet (2) is, or where a transport speed (v aus ,i, v aus ,2) of the first outlet (3) and / or the second outlet (3') is slower than a transport speed (v e in) of the inlet (2).

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