Piece-Goods Row Handling With Rotating Grippers for Precise Alignment
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Solution Overview
Problem
Existing methods for handling piece goods in row formations face challenges such as imprecise transfer due to speed differences and frictional resistance, leading to increased cycle times and mechanical stress, which complicates the creation of stable pallet layers.
Innovation Solution
A method involving a manipulator with clamping and gripping means that rotates and positions piece goods relative to a vertical axis, allowing precise alignment and orientation without collisions, using a delta kinematic robot with actuating arms and a compensating movement mechanism to enhance handling efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If piece goods are transferred between conveyor belts using speed differences, then individual piece goods can be transferred from the distribution belt to the conveyor belt, but imprecise transfer occurs due to frictional resistance and speed differences
Solution Approach 1:
The patent replaces the mechanical conveyor belt speed difference transfer mechanism with a robotic manipulator system. The manipulator uses controlled gripping and positioning mechanisms to transfer piece goods, eliminating the frictional resistance and speed synchronization issues inherent in belt-based transfer systems. This substitution enables precise and reliable positioning of each piece good at the target location.
2Shape
If multiple conveyor belts with different speeds are used to create spacing and rotate packaged goods, then row formation is achieved, but the construction becomes relatively complex and complicated
Solution Approach 1:
The robotic manipulator performs multiple functions that previously required separate conveyor belt systems. It can grasp piece goods, rotate them to desired orientations, position them in row formations, and transfer them to target locations using a single integrated system. This multi-functional approach eliminates the need for multiple conveyor belts with different speeds and configurations, significantly reducing system complexity.
3Quantity of substance
If the layer forming belt is moved in synchronized steps with the conveyor belt, then individual piece goods can be transferred to the layer forming belt, but cycle time increases due to abrupt changes in speed and direction
Solution Approach 1:
The robotic manipulator operates in continuous periodic cycles, grasping piece goods from the moving conveyor belt and placing them on the layer forming belt without requiring the layer forming belt to stop or change speed. The manipulator's rapid grasp-and-place operations occur at regular intervals, maintaining continuous belt motion and eliminating the cycle time delays associated with synchronized stepping movements.
4Manufacturing precision
If piece goods are mechanically arranged in required positions using stop points, then alignment is achieved, but mechanical stress on piece goods increases causing detrimental effects on gentle product processing
Solution Approach 1:
The patent replaces mechanical stop points and force-based alignment mechanisms with a robotic manipulator that uses controlled gripping and precise positioning. The manipulator grasps each piece good individually and places it at the exact target position through controlled movement, eliminating the high mechanical stresses and abrupt forces generated by mechanical stop points and synchronized belt deceleration.
Data Source
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AI summary
The invention relates to a method and to a device (10) for handling piece goods (2) moved one behind the other, which are transported to a grasping region (4) of a manipulator (5). At least one transported piece good (2) is grasped in the grasping region (4) in an clamping and/or frictional and/or interlocking manner by means of at least two clamping and/or grabbing means (22), which are associated with the at least one manipulator (5) and are arranged opposite each other, is spatially separated from following piece goods (2), and is brought into a defined relative target position (P1, P2, P3, P4, P5, P6, P7, P8) and/or target orientation with respect to the following piece goods (2). A first vertical plane of symmetry, which is defined by the at least one piece good (2) grasped by the at least two clamping and/or grabbing means of the at least one manipulator (5) and which is oriented approximately perpendicular to a transport direction (TR) of the piece goods (2), is spaced apart from a second vertical plane of symmetry, which is oriented approximately parallel thereto and which is defined by the manipulator (5) or by the clamping and/or grabbing means (22) thereof. In each of at least one step of a plurality of consecutive steps, at least one transported piece good (2) is grasped and, by a rotation about a vertical axis with an angle of rotation of at least 90°, in particular of approximately 180°, is spatially separated from a linear motion path in the original transport direction (TR) and is brought into a defined relative target position (P1, P2, P3, P4, P5, P6, P7, P8) and/or target orientation with respect to following piece goods (2).