Method and apparatus for handling piece goods moved in at least two parallel rows

Patent metadata

Field	Value
Publication number	US-10882702-B2
Application number	US-201716093321-A
Country	US
Kind code	B2
Filing date	Mar 21, 2017
Priority date	Apr 20, 2016
Publication date	Jan 5, 2021
Grant date	Jan 5, 2021

Abstract

The invention relates to a method and apparatus ( 10 ) for handling piece goods ( 2 ) for forming a palletizable layer or partial layer, with the piece goods ( 2 ) being moved in at least two parallel rows ( 1 ) and the layer comprising a plurality of piece goods ( 2 ). At least two piece goods ( 2 ) that are transported beside each other in parallel rows ( 1 ) are seized in a clamping and/or force-locking and/or form-locking manner, are then spatially separated from the at least two parallel rows ( 1 ) and are then brought into a specified relative target position (P 1 , P 2 ) and/or target alignment in relation to subsequent piece goods ( 2 ). The apparatus ( 10 ) comprises at least one manipulator ( 5 ) for piece goods ( 2 ), and at least one transport device ( 3 ), where the piece goods ( 2 ) arranged in at least two parallel rows ( 1 ).

First claim

The invention claimed is:

1. A method for handling piece goods ( 2 ) moved in at least two parallel rows ( 1 ) in a transport direction (TR) for forming a palletizable layer or partial layer, the layer comprising a plurality of piece goods ( 2 ), comprising:
seizing at least two piece goods ( 2 ) transported beside each other in parallel rows ( 1 ) orthogonal to the transport direction (TR) together in a clamping and/or force-locking and/or form-locking manner,
spatially separating the seized at least two piece goods ( 2 ) from the at least two parallel rows ( 1 ); and
transferring the at least two seized piece goods ( 2 ) into a specified relative target position (P 1 , P 2 ) and/or target alignment in relation to subsequent piece goods ( 2 ); and
in a subsequent step, seizing at least one piece good ( 2 ) from one of the at least two parallel rows ( 1 ) in a clamping and/or force-locking and/or form-locking manner, spatially separating the seized at least one piece good ( 2 ) from the row ( 1 ), and transferring the at least one piece good ( 2 ) into a specified relative target position (P 1 , P 2 ) and/or target alignment in relation to subsequent piece goods ( 2 ).

2. The method of claim 1 , further comprising transporting the piece goods ( 2 ) in the at least two parallel rows ( 1 ) are largely without gaps between one another.

3. The method of claim 2 , further comprising feeding the piece goods ( 2 ) into each of the at least two parallel rows ( 1 ), in the transport direction (TR), without gaps between one another or with minimal gaps between one another as a closed formation.

4. The method of claim 2 , further comprising forming groups ( 7 ) of one or more piece goods ( 2 ) within at least one of the at least two parallel rows ( 1 ), wherein the groups ( 7 ) are spaced from one another in a transport direction (TR) by defined gaps (L), wherein the defined gaps (L) between successive groups ( 7 ) are the same or different.

5. The method of claim 4 , wherein the formed groups ( 7 ) in each of the at least two parallel rows ( 1 ) correspond to each other.

6. The method of claim 5 , wherein individual piece goods ( 2 ) and/or groups ( 7 ) of piece goods ( 2 ) of the at least two directly adjacent parallel rows ( 1 ) are jointly seized, spatially separated and brought into a defined relative target position (P 1 , P 2 ) and/or target alignment relative to subsequent piece goods ( 2 ), wherein the individual piece goods ( 2 ) and/or groups ( 7 ) of piece goods ( 2 ) within each row ( 1 ) are correspondingly separated by a gap (L) from the subsequent piece goods within the respective row ( 1 ).

7. The method of claim 6 , wherein the transferring step comprises: rotating the seized piece goods ( 2 ) moving the seized piece goods ( 2 ) in alignment relative to the subsequent piece goods ( 2 ) in the transport direction (TR), or moving the seized piece goods ( 2 ) with a lateral offset with respect to the subsequent piece goods ( 2 ).

8. An apparatus ( 10 ) for handling piece goods ( 2 ) moved in at least two parallel rows ( 1 ), the apparatus ( 10 ) comprising:
at least one manipulator ( 5 ) for seizing piece goods ( 2 ); and
at least one transport device ( 3 ) that transports piece goods ( 2 ) arranged in at least two parallel rows ( 1 ) in a transport direction (TR) into a seizing range ( 4 ) of the at least one manipulator ( 5 ),
wherein the at least one manipulator ( 5 ) seizes at least two piece goods ( 2 ) transported beside each other in parallel rows ( 1 ) orthogonal to the transport direction (TR) in a clamping and/or force-locking and/or form-locking manner, and separates and transfers the at least two piece goods ( 2 ) from the at least two parallel rows ( 1 ) to a target position (P 1 , P 2 ) and/or target alignment; and
wherein the at least one manipulator ( 5 ) seizes at least one piece good ( 2 ) from one of the at least two parallel rows ( 1 ) in a clamping and/or force-locking and/or form-locking manner, and separates and transfers the at least one piece good ( 2 ) to a target position (P 1 , P 2 ) and/or target alignment.

9. The apparatus ( 10 ) of claim 8 , wherein the at least one manipulator ( 5 ) seizes at least one foremost piece good ( 2 ) from the at least two parallel rows ( 1 ).

10. The apparatus ( 10 ) of claim 8 , wherein the manipulator ( 5 ) comprises at least two clamping elements and/or gripping elements ( 52 ) that are adjustable relative to one another, wherein in a first working position the clamping elements and/or gripping elements ( 52 ) are arranged or can be arranged parallel to the transport direction (TR).

11. The apparatus ( 10 ) claim 8 , further comprising at least one grouping belt ( 18 ), wherein the at least one grouping belt ( 18 ) forms defined gaps (L) between the piece goods ( 2 ) supplied in at least two parallel rows ( 1 ) and the subsequent piece goods ( 2 ) and/or forms defined gaps (L) between groups ( 7 ) comprising at least two piece goods ( 2 ) each and the subsequent piece goods ( 2 ).

12. The apparatus ( 10 ) of claim 11 , wherein in a second working position, the clamping elements and/or gripping elements ( 52 ) are arranged or can be arranged perpendicular to the transport direction (TR).

13. The apparatus ( 10 ) of claim 12 , wherein one of the clamping elements and/or gripping elements ( 52 ) is positioned in the transport direction (TR) behind the at least one piece good ( 2 ) to be separated or the group ( 7 ) of piece goods ( 2 ) to be separated, and within a gap (L) between the at least one piece good ( 2 ) to be separated or the group ( 7 ) to be separated and the subsequent piece goods ( 2 ), and wherein the other clamping element and/or gripping element ( 52 ) is arranged in the transport direction (TR) in front of the at least one piece good ( 2 ) to be separated or the group ( 7 ) to be separated.

14. A conveying, processing, and/or packaging facility for piece goods ( 2 ) comprising:
an apparatus ( 10 ) for handling piece goods ( 2 ) moved in at least two parallel rows ( 1 ), the apparatus ( 10 ) comprising:
at least one manipulator ( 5 ) for seizing piece goods ( 2 ); and
at least one transport device ( 3 ) that transports piece goods ( 2 ) arranged in at least two parallel rows ( 1 ) in a transport direction (TR) into a seizing range ( 4 ) of the at least one manipulator ( 5 ),

wherein the at least one manipulator ( 5 ) seizes at least two piece goods ( 2 ) transported beside each other in parallel rows ( 1 ) orthogonal to the transport direction (TR) in a clamping and/or force-locking and/or form-locking manner, and separates and transfers the at least two piece goods ( 2 ) from the at least two parallel rows ( 1 ) to a target position (P 1 , P 2 ) and/or target alignment; and
wherein the at least one manipulator ( 5 ) seizes at least one piece good ( 2 ) in a clamping and/or force-locking and/or form-locking manner, and separates and transfers the at least one piece good ( 2 ) to a target position (P 1 , P 2 ) and/or target alignment.

Assignees

• Krones Ag

Inventors

• Kirzinger Johannes
• Kollmuss Manuel

Classifications

• B65G1/1375

  the orders being assembled on a commissioning stacker-crane or truck · CPC title

• B25J15/00

  Gripping heads {and other end effectors (grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used for mounting electrical components H05K13/04; gripping means used in the manufacture of semiconductors H10P72/7602)} · CPC title

• B65G47/086 Primary

  cubiform articles · CPC title

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title

• B65G47/902

  provided with drive systems incorporating rotary and rectilinear movements · CPC title