Device and method for the treatment and/or handling of piece goods moved in at least one row

Patent metadata

Field	Value
Publication number	US-11772902-B2
Application number	US-202017633623-A
Country	US
Kind code	B2
Filing date	Jul 21, 2020
Priority date	Aug 8, 2019
Publication date	Oct 3, 2023
Grant date	Oct 3, 2023

Abstract

The invention relates to a handling device or layer forming device ( 10 ) and a method for forming piece good layers. Piece goods ( 14 ) are conveyed on a horizontal conveying device ( 16 ) to a grouping station and/or layer forming station ( 12 ) comprising a manipulator ( 20 ). In a work cycle, the manipulator ( 20 ) seizes at least one piece good ( 14 ) and moves it into a target position or target alignment, in particular with regard to a piece good layer to be formed. The horizontal conveying device ( 16 ), which is arranged upstream of the grouping station and layer forming station ( 12 ), comprises at least one sensor device ( 24 ) for obtaining positional data or dimensional data or alignment data of the transported piece goods ( 14 ). Based on the obtained data, the control device ( 28 ) controls the movements of the manipulator ( 20 ) within the movement range for the purpose of the layer formation.

First claim

The invention claimed is:

1. A method for the treatment or the handling of piece goods ( 14 ) moved in at least one row comprising:
feeding a plurality of piece goods ( 14 ) that have identical or different or variable distances from one another from a packaging station or equipping station or another upstream handling device or conveying device by at least one horizontal conveying device ( 16 ) to a grouping station or layer forming station ( 12 ) comprising a seizing range ( 22 ) that defines or spatially delimits a movement range of at least one manipulator ( 20 ),
seizing, with the at least one manipulator ( 20 ), in a work cycle, at least one piece good ( 14 ) and moving it into a target position or target alignment as part of forming to a piece good layer,
acquiring positional data or dimensional data or alignment data of the piece goods ( 14 ) that are being transported on the horizontal conveying device ( 16 ) with, wherein the sensor device ( 24 ) is an optical or electromagnetic wave-based or mechanical sensor device, and wherein the sensor device ( 24 ) performs a mechanical scanning ( 40 ) with adjustable lateral guiding rails ( 44 ) on both sides of a transport path of the piece goods ( 14 ) on the horizontal conveying device ( 16 ), wherein a piece good width ( 42 ) is determined by a detection of torques of actuators ( 46 ) during the advancement of the adjustable lateral guiding rails ( 44 ) towards one another towards lateral surfaces of the piece goods ( 14 ),
generating, with the sensor device ( 24 ), electronic output signals ( 26 ) from the positional data or dimensional data or alignment data obtained for the piece goods ( 14 ) that are being transported on the horizontal conveying device ( 16 ),
controlling the manipulator ( 20 ) in accordance with the output signals ( 26 ) to form a piece good layer.

2. The method of claim 1 , wherein the sensor device ( 24 ) detects the piece goods ( 14 ) through image processing.

3. The method of claim 1 , wherein the sensor device ( 24 ) detects the piece goods ( 14 ) through ultrasonic signal processing.

4. The method of claim 1 , wherein the manipulator ( 20 ) moves or rotates or displaces individual or a plurality of piece goods ( 14 ) within the seizing range ( 22 ) based on the output signals ( 26 ).

5. The method of claim 4 , wherein, based on the output signals ( 26 ) that are obtained and processed by the sensor device ( 24 ) and that are provided to a control device ( 28 ) of the manipulator ( 20 ), the manipulator ( 20 ) corrects or adjusts the positions of individual or multiple piece goods ( 14 ) within the seizing range ( 22 ).

6. The method according to claim 4 , wherein, based on the output signals ( 26 ) that are obtained and processed by the sensor device ( 24 ) and that are provided to a control device ( 28 ) of the manipulator ( 20 ), the manipulator ( 20 ) seizes individual or multiple piece goods ( 14 ) within the seizing range ( 22 ) and removes them from the seizing range ( 22 ) or discharges them from further processing.

7. A handling device or layer forming device ( 10 ), comprising:
at least one horizontal conveying device ( 16 ) for conveying piece goods ( 14 ) in rows from a packaging station or equipping station or another upstream handling device or conveying device to a grouping station or layer forming station ( 12 ), wherein piece goods ( 14 ) are distanced uniformly or differently from one another, wherein the grouping station or layer forming station ( 12 ) has a seizing range ( 22 ) that defines or spatially delimits a movement range of at least one manipulator ( 20 ), wherein the at least one manipulator ( 20 ) can seize in a work cycle at least one piece good ( 14 ) from the at least one supplied row and move it into a target position or target alignment as part of forming a piece good layer,
wherein the at least one horizontal conveying device ( 16 ), which is arranged upstream of the grouping station or layer forming station ( 12 ) in the transport direction ( 18 ) of the piece goods ( 14 ), has at least one sensor device ( 24 ) that is an optical or electromagnetic wave-based or mechanical sensor device,
wherein the sensor device ( 24 ) generates electronic output signals ( 26 ) from the positional data or dimensional data or alignment data obtained for the piece goods ( 14 ) that are being transported on the horizontal conveying device ( 16 ) and wherein the sensor device ( 24 ) comprises adjustable lateral guiding rails ( 44 ) on both sides of a transport path of the piece goods ( 14 ) on the horizontal conveying device ( 16 ), wherein a piece good width ( 42 ) can be derived by detecting torques of actuators ( 46 ) for the adjustable lateral guiding rails ( 44 ),
which output signals ( 26 ) are processed in a control device ( 28 ), which control device ( 28 ) controls the movements of the manipulator ( 20 ) for the purpose of the layer formation from piece goods ( 14 ).

8. The device of claim 7 , wherein the sensor device ( 24 ) is an optical detection device or uses image processing to detect the piece goods ( 14 ).

9. The device of claim 7 , wherein the sensor device ( 24 ) comprises at least one camera ( 38 ) or at least one line sensor.

10. The device of claim 7 , wherein the sensor device ( 24 ) uses ultrasound to detects the piece goods ( 14 ).

11. The device of claim 7 , wherein the sensor device ( 24 ) comprises at least one reflective scanner.

12. The device of claim 7 , wherein the sensor device ( 24 ) is arranged upstream of a transition region from the horizontal conveying device ( 16 ) to the grouping station or layer forming station ( 12 ).

13. The devices of claim 7 , wherein the control device ( 28 ) for controlling the movement of the manipulator ( 20 ) is coupled to a controllable discharging device.

14. The method of claim 1 , wherein the seizing step comprises seizing in a gripping manner with the at least one manipulator ( 20 ).

15. The device of claim 7 , wherein the manipulator ( 20 ) can seize the at least one piece good in a gripping manner.

Assignees

• Krones Ag

Inventors

• Kollmuss Manuel
• Hensel Thomas
• Lehner Thomas

Classifications

• B65G47/086 Primary

  cubiform articles · CPC title

• B65G21/2072

  Laterial guidance means · CPC title

• B65G43/08 Primary

  Control devices operated by article or material being fed, conveyed or discharged {(and controlling the discharging devices B65G47/42)} · CPC title

• B65G47/905

  Control arrangements · CPC title

• B65G61/00 Primary

  Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for · CPC title