Method and device for taking up and repositioning containers

p0001The invention relates to a device for receiving containers with a supporting base for the containers and with an at least partially open front side for introducing the containers. Furthermore, the invention relates to a system for repositioning of containers with at least one robot. Furthermore, the invention relates to a method for receiving and re-positioning of containers, wherein the containers are introduced in a horizontal direction in at least one container receiving a respective robot.

p0002A generic device and a generic method is used for example in industrial manufacturing plants, where the manufactured products or goods to different sized packaging or containers are bundled in order then to another place in larger transport or storage units, for example on a pallet as stacked goods layer remedy. In particular, the so-called mixed palletizing different goods or containers are put together on a single pallet, for example based on an order of a retailer from the wholesaler. The desired goods are taken from homogeneous pallets and custom built on a range of sizes according to customer order. Another important application is the unloading of containers or goods layer, for example, new glass, cans pallets or pallets of plastic products (PET bottles), and then isolated supply the products of a filling machine. It is not only the requirement to remove individual goods layer of stacked pallets, but also accommodate those containers that are provided by other types of peripheral structures such as conveyors.

p0003To record of stacked containers on pallets are robot with a robot arm arranged at the receiving device for the container known, which is also called Depalettierwerkzeug or gripping tool. Such tools are normally equipped in such a way that the intake of the container is effected in the vertical direction after the receiving device has been placed on the pallet into position and placed over the respective stacked on the pallet container. In this way, a successive unstacking or stacking pallets are carried out with containers.

p0004The case required the introduction of the container from the bottom into the receiving device a tightly strung together arrangement of space economy reasons, but often disadvantageous particularly in the case of a provision of the container by means of semi-detached peripheral structures such as conveyor systems, or even with a plurality of pallets in which required , In contrast, a time introducing the respective container is preferable in the receiving device or even required. For this purpose it is known to use from the pick-up device of the robot separate, external structures, which move the containers laterally in the receiving device. This solution, however, has the disadvantage of increased space effort and also a little flexible because such a device must be provided to the fixed location of the respective containers before loading / unloading of containers.

p0005The invention is therefore based on the object to enable avoiding the aforementioned drawbacks, a lateral introduction of containers into a receiving device which is particularly flexible in terms of location, education and the environment of the container.

p0006We present invention, the above object with a device of the above-mentioned type in that it comprises a movable slider connected for moving the containers along a horizontal receiving direction through the open front.

p0007The inventive arrangement of a slide on the receiving device so a lateral introduction of himself unfavorably positioned containers is possible. In addition, the apparatus is also applicable to varying the position and arrangement of individual containers.

p0008In the concrete embodiment, it is provided that the slide is movable between an outer position in front of the open front and an inner position behind the open front.

p0009For precise positioning of the slider, it is proposed that the slide is rail-guided. Preferably, the positioning of the slider is carried out automatically, it being provided that the slider is displaceable by at least one drive, preferably via toothed belts.

p0010A simple handling of the container can be achieved in that the slide is designed for circumferential gripping of the containers. A specific embodiment provides in this case that the slide is formed by three substantially U-shaped arranged legs. Here, two parallel side legs extend along the receiving direction of the container and the two lateral branches connecting transverse leg of the open front opposite. In preferred embodiments this side legs are rail-shaped and is movable along a respective one above the tray arranged rail guide. To achieve a uniform distribution of forces on the container it is proposed that the transverse limb is plate-shaped. This ensures uniform movement during insertion of the containers is obtained and to avoid damage to the container.

p0011According to a preferred development of the recording device according to the invention it is provided that above the tray one each along the two lateral boundaries of the tray extending positioning element is provided for positioning the containers on the supporting base. In addition to such positioning of the containers on the supporting base in the lateral direction may be provided in the longitudinal direction and a positioning. This is achieved in that above the tray one along the trailing side of the tray extending positioning element is provided for positioning the containers on the support base. The receiving position the container may be adapted to differently shaped containers and modified such that the respective positioning element is displaceable perpendicular to its direction of extension on the supporting base. Here, too, can be achieved in a uniform transmission of forces that the positioning elements are substantially plate-shaped.

p0012According to a preferred development of the recording device is provided that the tray has at least two mutually movable tray parts. It is thereby achieved that the containers can be taken up and released in the vertical direction. In a preferred embodiment it is proposed that the bearing floor parts are movable in or against the horizontal pickup direction of the container.

p0013For connection to a robot, it is proposed that the receiving device comprises a connection coupling.

p0014To achieve the above object with a system of the initially mentioned type is proposed that at least one of the robots has a device according to the invention for receiving containers, as has been previously described. According to an embodiment, at least one robot for merging goods to containers and at least one robot for receiving the container is provided with a receiving device according to the invention.

p0015Said object is further achieved by a method of the aforementioned type, wherein the containers are moved by means of a movable connected to the receiving container slide into the container receptacle. In a subsequent step can be provided that the items are submitted by the cask receiver in a vertical direction. Here, the dispensing of the container in the vertical direction is preferably carried out by mutual process of two support base parts in the cask receiver. According to an embodiment, it is proposed that the containers are collected by at least one robot from individual products or groups and / or individual products or groups of at least one robot from the containers are removed.

p0016The invention based on preferred embodiments illustrated with reference to the drawings, reference to which other features and advantages of the invention arise. Show it:<dl id="dl0001"><dt>figure 1</dt><dd>a perspective view of an inventive device in a position for receiving containers in the horizontal direction;</dd><dt>figure 2</dt><dd>a further perspective view of the apparatus shown in Figure 1 in a position for dispensing containers in the vertical direction.</dd><dt>figure 3</dt><dd>an embodiment of an inventive system for repositioning of containers in perspective view; and</dd><dt>figure 4</dt><dd>an alternative embodiment of an inventive for repositioning of containers in perspective.</dd></dl>

p0017The apparatus shown in FIG. 1 1 comprises a base frame 2, having two laterally arranged plates 2a, 2b which are connected rigidly to one another on the top. On the underside of the base frame 2, two supporting base parts 3a and 3b are arranged in the form of two identically constructed halves of a tray.

p0018The front side 5 of the device has an opening between the side plates 2a, 2b, through which an introducing containers from the outside in the horizontal direction on the support bottom parts 3a, 3b is possible. ' Opposite the opening at the front, a slider 6 is arranged on the front. This is essentially formed by a fixed to a crosspiece 6b sliding plate 6AE, said crosspiece 6b at both of its ends to one end of each side rail 6c, 6d is connected, so that the slide 6 has a substantially U-shape as a whole.

p0019At their respective other end of the side rails 6c, 6d each connected to a rail guide, which is 2a 2b extending along the inside of the side plates in the horizontal direction. This allows a telescopic movement of the slider relative to the base frame 2 in the horizontal direction between an outer and an inner position possible. In Fig. 1 gezeigte.Darstellung of the device 1 corresponds to the outer position, in which the slide 6 is arranged to the side rails 6c, 6d is substantially completely outside the opening on the front side 5.

p0020On the other hand corresponds to the diagram shown in Fig. 2 of the device 1 of the internal position with the side rails 6c, 6d essentially fully retracted into the interior, so that the sliding plate 6 is as close to the opening of the front side 5, or in this occurs.

p0021For an automated movement of the telescoping slide 6 between the outer and inner position, a drive 7 is provided in the form of an electric motor, the engine power via a distributor shaft 8 and a combination of timing belts 9a, 9b, 10a, 10b on each one of the side rails 6c, 6d for horizontal movement thereof is transmitted.

p0022The tray parts 3a, 3b of the tray are arranged on both sides by means of sliding bearings 4 also designed to be movable so that they are mutually movable. An automated and synchronous movement of the two supporting base parts 3a, 3b to and away from each other is ensured by a further electric motor 11, a transfer shaft 12 drives, via a toothed belt, which acts on a arranged on both sides of respective further drive belt 13, which in turn, via a respective carrier with in each case one of the support bottom parts 3a, 3b is operatively connected.

p0023For asynchronous movement of the two support base parts 3a, 3b can be provided in a further development of an additional motor. Thus, the supporting base portions 3a, 3b movable between an outer and an inner position.

p0024The representation shown in FIG. 1 corresponds to the inner position of the support bottom parts 3a, 3b, in which the two tray parts 3a, 3b are located entirely between the lateral plates 2a, 2b of the base frame 2 and adjoin each other at one of their ends in such a way that a continuous tray is formed from the two halves.

p0025In the embodiment shown in FIG. 2 illustration, corresponding to the external position, the two support base parts are .3a, 3b such respect to one another in the horizontal direction facing the front or rear side, to be substantially outside the limited of the plates 2a, 2b interior and disposed between the plates 2a, 2b an opening downward is formed. This position is suitable for vertical dispensing or receiving containers.

p0026The surfaces of the support bottom parts 3a and 3b are made of lubricious stainless steel sheets. The stainless steel sheets are nub to reduce the contact area with the established goods or shaped groove-like or reshaped. Alternatively, the surfaces of the support base parts 3a and 3b may be also equipped with an active drivable conveyor belts or passive rollers.

p0027To position the container taken on the tray a centering is also provided. This comprises a lateral centering, which is essentially by means of two along the inner sides of the plates 2a, 2b of the base frame arranged movable pushing plates 15a, 15b is realized. This recording any sized container is made possible at a defined lateral position. In addition, on the rear side of the apparatus between the platens 2a, 2b is a rear, also movable slide plate 16 is provided, through which, together with the telescopically movable in the horizontal direction slide plate 6a of the slider 6 a positioning with regard to the front or rear side of the apparatus on the tray is possible. Overall, therefore, a four-sided positioning of recorded packs is possible.

p0028An automated synchronous movement of the laterally disposed slide plates 15a and 15b is accomplished by a drive unit 17 in the form of an electric motor, which is coupled to a further toothed belt, which is in turn connected with two connection pieces. In each case a connection piece is fixedly connected with one of the sliding plates so that when a drive of the toothed belt in dependence of the direction of rotation of the drive unit, the two sliding plates 15a, 15b in synchronism to one another or are moved away from each other. By a further drive unit (not shown) and an automated adjustment of the rear slide plates 16 is made possible, wherein the force transfer also takes place by means of toothed belts.

p0029On the upper side of the device 1 a connection coupling 18 is provided, via which a connection to the arm of a robot may be prepared.

p0030In FIG. 3, a system for repositioning containers is shown in which the apparatus shown in Fig. 1 and in FIG. 2 1 for holding containers advantageously is used. The recording apparatus 1 is a robot 19 fixed to the arm 20, which the receiving device 1 above a pallet 21 arranged on a stack 22 of containers positioned in the stack 22 has been brought in by means of a conveyor belt 23rd A container is formed by a respective fabric ply 24 of the stack 22nd The slider 6 occupies the outward position shown in Figure 1., Which is provided for receiving containers. The U-shape of the slide 6, the stack 22 is surrounded beneficial in lowering the recording device 1 by the robot 19th

p0031For vertical positioning of the holding device 1 on a plane between two goods layers or bundles 24 are photocells provided as sensors that can detect not only the boundary plane between two goods layers, but also a gap between two goods or containers in the same plane. The sensors can for example be arranged at the front end of the support bottom parts 3a, 3b. These sensors may be either in addition to detecting the height of the layer or it can be provided for separate sensors, which are for example fixed to the base frame of the recording device. After the slide has 6 taken the appropriate position at the top fabric ply 24, that of the corresponding layer can be peeled from the stack 22 by the slide 6 in the recording device. 1 Here, a separation layer is interposed as an intermediate layer between each two layers of goods so that the goods capable of this separation layer is easily pushed off, without affecting the underlying goods location or damage. Such intermediate layers can be formed for example in the form of paper or cardboard layers. For simple products, such as large boxes, the assembly may include a liner may not be necessary.

p0032Now it is possible to position the container to another location by pivoting the robot arm 20th Thereupon, the delivery of the package takes place, for example to a different stacking of containers by depositing the recording device 1 on the stack and by moving the two supporting base parts 3a, 3b in the outer shown in the Fig. 2 position.

p0033The FIG. 4 shows another embodiment of an inventive for repositioning of containers. Here, a further robot 25 is provided next to the robot 19 with the recording device 1 according to the invention, which compiles on a conveyor belt 26 antransportierte goods 27 to respective containers 29th By means of a further conveyor belt 28 the containers are introduced into the feed zone of the robot 19th This positions the recording apparatus 1 via the container 29 and prepared according to the receiving of the container 29 from this in the manner described previously on the stack 30 as the fabric ply. After reaching an intended height of the stack 30 with these layers of goods is carried away by the conveyor belt 31st

p0034In an alternative embodiment, it is provided that the robot 19 is not used for loading, but to discharge the stack 30th The recording of each product layers by means of the slide 6 of the device 1 in the horizontal direction in the manner described above is carried out. The output in each case of a fabric ply on the conveyor belt 28 takes place in a vertical direction by reciprocal process of the support bottom parts 3a, 3b in the outer shown in the Fig. 2 position. Now the robot takes over 25 the removal of individual products 27 from the container. This may be for example, new glass, cans pallets or pallets of plastic products (PET bottles). The thus extracted goods can then be vereinzelnd then supplied, for example a filling machine.