DE102018109559A1 - General cargo handling system and method for handling general cargo and / or packaging aids - Google Patents

Abstract

The invention relates to a general cargo handling system and a method for handling piece goods (2) and / or packaging aids (20), wherein the general cargo handling system has at least one hoverable flying device (10) for handling at least one piece good (2) and / or at least one packing aid (20). includes. In this case, it is provided that the at least one article (2) and / or the at least one packaging aid (20) can be transported from a first position to a second position by means of the flying device (10).

Description

The present invention relates to a general cargo handling system and a method for handling general cargo and / or packaging aids according to the features of the independent claims.

In general cargo handling plants, in particular in packaging and palletizing technology, robots, axle systems or also mechanical devices are conventionally used for layer formation in palletizers or for regrouping of containers, for example for changing the number of transport tracks from m to n tracks. The containers are usually clamped with grippers and moved. To palletize the containers are either formed into a complete layer and then stacked layer by layer on a pallet or the containers are individually seized and stacked with a multi-axis system.

The handling devices used for this purpose, for example robots, are usually stationary. Workspace overlaps are possible with a compact installation of several robots. At high power also increases the space required for each robot.

In the palletizing of containers, packing aids, such as intermediate layers, are frequently arranged between the layers for stabilization. Such so-called packaging aids, such as carton blanks, partially weigh only about 50 grams, but are separated with elaborate and heavy handling devices of a stack of cardboard and must be sold one or two meters further on the pallet or on a container layer. Currently, for example, so-called liner inserts are used, which consist of a Packhilfsmittelsäule and a vacuum gripper unit. The liner insert has three axes and a defined working area, which can be approached via the respective drives. The vacuum gripper is supplied with vacuum via ejectors or a vacuum pump. The cost of a corresponding packaging auxiliary machine are very high, also the space requirement of such a machine is very high.

The invention has for its object to provide a cargo handling plant and a method for handling piece goods and / or packaging aids are available, which are technically simpler and thus less expensive than conventional systems and methods and preferably have a smaller footprint.

The above object is achieved by a general cargo handling system and a method for handling general cargo and / or packaging aids, comprising the features in the independent claims. Further advantageous embodiments are described by the subclaims.

A general cargo handling system and the method for handling general cargo and / or packaging aids according to the present invention comprises at least one hoverable flying device for handling at least one unit load and / or at least one packaging aid, wherein the at least one cargo and / or the at least one packaging aid by means of the flying device of a first position can be spent and / or transported to a second position.

Under hovering is to be understood in particular that the flying device should be able to remain at least temporarily in a stable position and height at least temporarily for gripping the piece goods and / or packaging aid in the first position and for storage in the second position. For this reason, helicopter-like flying devices or drone-like flying devices with at least one vertically downward-acting rotor are expedient for this purpose. Particularly suitable are, for example, quadrocopter, hexacopter, octocopter etc, i. generally multicopters with a plurality of four, six or eight etc. arranged in a plane, vertically downwardly acting rotors. The rotors generate lift. By inclining the rotor plane, a propulsion can be generated. An advantage of these flying devices is that they, like a helicopter, can take off and land vertically. Alternatively, flying devices can be used which, for example, are driven by means of magnetic fields or jet drives.

The piece goods may be, for example, individual items such as individual beverage containers, bottles, cans, etc. Furthermore, by means of an outer packaging combined into a container items each form a piece goods, for example, a plurality of beverage containers, bottles, cans, etc. by a cardboard outer packaging, a shrink wrap, at least one strapping o.ä. be summarized into a container.

In the context of the present invention, packing aids are, in particular, meant intermediate layers which are used in the palletizing of piece goods, above all in the arrangement of a plurality of piece goods. The intermediate layers are preferably flat blanks made of thin material that are used in the palletizing of piece goods can be arranged between the stacked cargo items. The intermediate layers are used in particular for securing and better positioning of the piece goods layers on a corresponding loading unit, for example a pallet. The intermediate layers are mainly made of paper or thin cardboard, but can also be made of other flexible material, such as plastic.

According to a preferred embodiment of the invention, the piece goods treatment plant comprises a palletizing device or the piece goods treatment plant is a palletizing device.

The palletizing device comprises, for example, at least one flying device, by means of which the piece goods can be moved from a first position on a transport device to a second position on at least one loading unit, wherein the piece goods are arranged on the loading unit in such a way that they form a piece goods estate. By loading unit is meant, in particular, a pallet on which a plurality of stacked piece goods layers are formed. According to one embodiment, the palletizing device comprises a plurality of flying devices, in particular at least two flying devices, through which piece goods, which are supplied in particular via a common transport device, are transferred from the first position on the transport device to a second position on a loading unit. Preferably, a plurality of loading units can be loaded simultaneously with such a palletizing device. It can be provided that each flight device is assigned to exactly one loading unit and only each piece goods from the transport device to the associated loading unit spends training a piece goods. It is preferably provided that each flying device is movable within a defined range of movement between the transport device and the respective loading unit. Preferably, it is further provided that the movement spaces of the flying devices do not overlap or only slightly overlap in order to avoid collisions. The technical embodiment of the limitation of the movement space will be described in more detail below.

In accordance with a further embodiment of the invention, at least one flying device is used to transfer planarized packaging aids from a first position to a second position, the packaging aids being arranged in the second position on a loading unit and / or a piece goods item. In particular, the packaging aids in the first position horizontally lying in a magazine oää. be arranged and transferred to a horizontally lying second position. Alternatively, it may be provided that the packaging aids are arranged in the first position vertically or approximately vertically or obliquely standing in a magazine and are conveyed by means of the flying device in a vertical orientation to the second position, where the packaging aids when stored on the loading unit and / or general cargo be arranged lying horizontally.

For detecting and transporting the piece goods and / or packaging aids, the flying devices are equipped with corresponding first devices for receiving the piece goods and / or packaging aids. The first devices are equipped accordingly depending on the piece goods to be transported and / or packaging aid. For transporting piece goods in the form of cartons or containers, gripping devices, such as e.g. Clamp gripper with gripping arms which can be delivered against each other Use between which the piece goods can be clamped.

For the detection and transport of horizontally arranged packaging aids, such as liners, the first means in the form of suction pads, in particular vacuum cups or the like may be formed, and the use of electrically driven needle grippers is possible. For the horizontal storage of the horizontally conveyed packaging aids on the loading unit and / or cargo item, the flight device may have an auxiliary device, for example, the packaging aid presses down on the loading unit and / or cargo, while the flight device lifts back up. When using suction cups for detecting the packaging aid, it may be sufficient as an auxiliary device, if the vacuum is switched off for a short time, so that the packaging aid dissolves due to gravity when lifting the flying device and remains on the loading unit and / or cargo position. When using electric needle grippers for detecting the packaging aid, it may be sufficient as an auxiliary device when the power supply is switched off for a short time, so that the packaging aid dissolves due to gravity when lifting the aircraft and remains on the loading unit and / or cargo.

For the transport of vertically arranged packaging aids, such as intermediate layers, the first means may be formed as a staple gripper or the like. Preferably, the packaging aids are conveyed vertically suspended from the flying device from the first position to a second position on the loading unit and / or cargo and then stored horizontally.

Since intermediate layers often have a very low weight, a special embodiment of the flying device and / or the intermediate layers may be necessary in order to securely detect and transport the intermediate layers. In particular, the downwash of the above-described drives in the form of rotors can prove problematic. According to one embodiment of the invention, it is therefore provided that a cross-sectional area is formed between the rotors of the flying device which is greater than the cross-sectional area of the packaging auxiliary to be handled. In order to detect a horizontally-lying packaging auxiliary, provision can be made, in particular, for the flying device to be positioned first in a defined first height above the packaging auxiliary to be detected such that the rotors of the flying device are arranged outside the cross-sectional area of the packaging auxiliary. Now the flying device is lowered and the packaging aid detected by the first means. The flying device then flies with the detected packaging aid to the loading unit and / or the cargo item and is in turn positioned above it, so that the rotors of the aircraft are outside the cross-sectional area of the loading unit and / or cargo. Subsequently, the flying device is lowered in such a way that the packaging aid can optionally be deposited on the loading unit and / or piece goods with the assistance of an auxiliary device described above.

Another embodiment relates to a special embodiment of the packaging aid. It can be provided that the intermediate layer has recesses. The flying device is positioned for detecting the intermediate layer above it in such a way that the exhaust air generated by the rotors is in particular passed through the recesses. Thus, the liner is not pressed by the exhaust air down and can be detected safely by the first means of the aircraft. The flying device can be made significantly smaller in this embodiment, since the rotors can be arranged clearly closer together than in the embodiment described in the preceding paragraph.

In all the above-described embodiments, it is preferably provided that the position and / or arrangement of the piece goods and / or packing aids to be transported by the at least one flying device is sensed by the flying device before being detected by the flying device. For example, the flying device may comprise at least one suitable sensor which is designed to detect at least one parameter of the piece goods and / or packaging auxiliary. For example, an image recognition system can be used with a camera or a plurality of cameras, wherein the camera / cameras can be arranged directly on the flying device and wherein the movement of the flying device via an integrated control unit of the flying device based on a predefined program and depending on the sensory data is controlled. Alternatively, it may be provided that the sensors are associated stationary with the transport device and / or further components of the system and that the determined data is transmitted to the flight device, for example by radio, and their movement is controlled accordingly. In this case, the flying device itself may have a control unit or else completely via an external control unit and radio link or the like. to be controlled. Likewise, via the above-described sensors and / or further sensors, the arrangement of piece goods of the article stock on the loading unit can be detected and then the positioning of the further piece goods within the article stock can be controlled. Furthermore, the arrangement and precise positioning of the packaging aid on the loading unit and / or piece goods can be sensory controlled and regulated.

According to one embodiment of the invention, it is provided that the flying device has its own energy source and can thus fly autonomously. For example, the flying device may be equipped with accumulators. These can be charged, for example, via an induction loop. According to one embodiment of the invention, it is provided that such an induction loop is arranged, for example, between the first position and the second position and that the flying device respectively during transport of a piece goods and / or packaging aid from the first to the second position and / or the return flight or empty transport the flying device is passed from the second position to the first position at this induction loop, so that the accumulators each charge is automatically supplied.

An alternative embodiment may provide that the flying device is equipped with replaceable batteries, and that the general cargo handling system comprises a charging station, in each of which at least one set of replaceable batteries is charged. For example, if the state of charge of the batteries falls below a predefined threshold value, a program is automatically triggered which causes the aircraft to fly to the charging station at which an automated battery replacement is carried out.

A further alternative embodiment may provide that the flying device comprises at least one integrated accumulator, which are equipped with a first charging contact. The general cargo handling system comprises at least a charging station with a corresponding second charging contact. If the charge state of the at least one accumulator falls below a predefined threshold value, a program is triggered automatically, for example, which causes the flying device to fly to the charging station and dock via its first charging contact for charging the at least one integrated accumulator to the second charging contact of the charging station. In particular, it may be provided that the general cargo handling system comprises at least two such flying devices, each with at least one integrated accumulator, so that always transported a flying device during operation piece goods and / or packaging aids, while the other flying device for charging its at least one integrated accumulator on the Charging station is located.

According to one embodiment of the invention, it is provided that the at least one flying device has a limited range of motion. For example, the internal or external control unit may have information about a defined flight space, which allow movements of the flight device only within this flight space. If the aircraft leaves the predefined flight space, an automatic correction of the flight direction is triggered. It is preferably provided that the area comprising the flight area, for example, with a security fence or the like. is separated from the remaining area of the cargo handling plant, so that an accidental entry of persons in the flight space of the aircraft is additionally prevented.

According to an alternative embodiment it can be provided that the flying space of the flying device is mechanically limited. For example, the flying device on at least one cable to a ceiling, a winch or the like. be fastened, wherein the attachment is formed above the operating range of the flying device during operation. For example, the flying device can be secured to a spring-like safety rope from above, wherein the flying device is freely movable within the limited by the safety rope movement space. The positioning of the aircraft continues to take place via its own drives, such as rotors, the aircraft. The lifting work can be at least partially taken over by the at least one cable and / or the winch in this embodiment. In addition, the cable can be used in this embodiment for energy supply, so that the charging of batteries described above can be omitted. Furthermore, the cable can be used for supplying control information, so that an external control unit can be used, whereby the weight of the flying device can be reduced.

In the general cargo handling equipment and method described herein, the performance of the system can be scaled arbitrarily by appropriate choice of the number of flying devices used. The removal station of the piece goods at the transport device and / or the removal station of the packaging aids and the loading unit and / or cargo position can be arranged at an arbitrary distance from each other. The return stroke of the flying device, i. the movement of the flying device back to the removal station, for example transport device or magazine with the items to be picked up and / or packaging aids, can take place on another route, in particular in another movement space, than the actual working cycle. Thus, for example, two flying devices could be used simultaneously, with one flying at a time while the other is in the return stroke. The system is flexible in any geometric direction. When using a cable attachment to limit the range of motion applies: the higher or higher up the attachment point of the winch, the larger the working area or range of motion of the aircraft.

The flying devices can overcome obstacles without mechanical effort. In addition, the space required in comparison to known Packhilfsmittelsäulen o.ä. much lower. Furthermore, the downdraft of the flying device can be used, for example, to generate the necessary vacuum for vacuum suction for detecting a packaging aid.

It should be expressly mentioned at this point that all aspects and variants which have been explained in connection with the device according to the invention, may equally relate to partial aspects of the method according to the invention or may be. Therefore, if at some point in the description or in the claim definitions for the device according to the invention of certain aspects and / or relationships and / or effects is mentioned, this is equally true for the inventive method. Conversely, the same applies, so that all aspects and variants which have been explained in connection with the method according to the invention can equally relate to or may be partial aspects of the device according to the invention. Therefore, if at some point in the description or in the claim definitions for the method according to the invention of certain aspects and / or relationships and / or effects is mentioned, this applies equally to the inventive device.

• 1 zeigt eine erste Ausführungsform einer Palettierungsvorrichtung mit Flugvorrichtung.
• 2 zeigt eine zweite Ausführungsform einer Palettierungsvorrichtung mit Flugvorrichtung.
• 3 zeigt eine dritte Ausführungsform einer Palettierungsvorrichtung mit einer Mehrzahl von Flugvorrichtungen.
• 4 bis 10 zeigen unterschiedliche Ausführungsformen von Palettierungsvorrichtungen, bei denen die Handhabung von Packhilfsmitteln jeweils vermittels mindestens einer Flugvorrichtung erfolgt.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

• 1 shows a first embodiment of a palletizer with flying device.
• 2 shows a second embodiment of a palletizer with flying device.
• 3 shows a third embodiment of a palletizing device with a plurality of flying devices.
• 4 to 10 show different embodiments of palletizing devices, in which the handling of packaging aids takes place in each case by means of at least one flying device.

For identical or equivalent elements of the invention, identical reference numerals are used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are merely examples of how the device or method of the invention may be configured and are not an exhaustive limitation.

The schematic views of 1 to 3 show different embodiments of palletizing devices 1 with flying device 10 , in particular shows 1 a first embodiment of a palletizing device 1a . 2 shows a second embodiment of a palletizing device 1 Federation 3 shows a third embodiment of a palletizing device 1c with a plurality of flying devices 10 ,

The on a loading unit, such as a pallet 5 , piece goods to be arranged in one or more layers 2 be through a conveyor 3 For example, a conveyor belt 4 , in a transport direction TR the palletizing device 1a fed. With the general cargo 2 For example, it may be boxes with articles arranged therein, individual articles, containers, for example combinations of beverage containers combined with a shrink film. act. The palletizing device 1a is at least one flying device 10 associated with gripping devices 12 Is provided. This may be, for example, grippers that can be fed against each other 13 act, being a distance A between the grippers 13 can be set variably. The flying device is preferably driven autonomously, for example, the flying device 10 a plurality of rotors (not shown), which can be operated for example via one or more accumulators. Alternative drives such as magnetic fields or beam drives are also conceivable.

The aircraft 10 engages in each case at least one piece goods 2 from the transport device 3 from and transported to a desired position and in a specific location on the pallet 5 , When attacking the cargo it may be necessary to adjust the distance A between the grippers 13 adapt to the piece goods 2 each safe and secure for the flying transport of the transport device 3 to the pallet 5 to fix.

The aircraft 10 can be controlled for example via a radio remote connection. The aircraft may also follow a substantially predefined program. For this it may be necessary to consider other factors. For example, a position detection of the piece goods 2 necessary and / or useful to ensure the safe and correct collection of the piece goods 2 through the flying device 10 to enable. Such position detection can, for example, via optical sensors, in particular via image recognition systems or similar. respectively.

For the energy supply can be provided that the aircraft passes by an induction loop and is charged. Alternatively it can be provided that each palletizing device 1a two flying devices 10 are assigned, wherein a first flight device 10 active general cargo 2 transported while the second flight device 10 is paused and charged at a charging unit (not shown). In particular, a check of the charging status of the two aircraft devices 10 respectively. Once the accumulators of the first flight device 10 a defined state of charge, for example, 40% or 30% below, the state of charge of the second aircraft 10 checked. If this is at least 90%, preferably 100%, then the first flight device 10 signals that it has to fly to the cargo unit and the second flight device 10 is now used for palletizing. This leads to an optimized performance increase of the used flying devices 10 ,

Similarly, in the palletizing device 1b according to 2 the piece goods 2 also via a transport device 3 in a transport direction TR the palletizing device 1b fed. The flying device 10b is here via a cable 15 on the ceiling or on a winch 16 attached. Preferably, the cable 15 be designed as a spring-like safety rope.

The positioning of the flying device 10b continues via the drive of the rotors or similar. The lifting work that is necessary to the piece goods 2 from the transport device 3 to take and to the pallet 5 For the most part, it is possible to carry over the cable 15 and the winds 16 respectively. At the same time, the cable 15 be used for energy supply and / or for the transmission of control information, ie in this case, a suitable control unit could be independent of the aircraft 10b stationary at the palletizing device 1b be arranged.

The performance of palletizing devices 1 can be scaled arbitrarily. The decrease of piece goods 2 and the palette 5 can be arranged arbitrarily far from each other. The "return stroke", ie the movement of the empty flying device 10 after settling the piece goods 2 on the pallet 5 can take place a different movement distance than the carriage of the respective piece goods 2 from the transport device 3 to the pallet 5 , The systems described here are freely flexible in any geometric direction. In the case of the second embodiment, the higher the attachment point of the winch 16 is, the larger the working range of the aircraft 10b ,

The third embodiment of a palletizing device 1c according to 3 shows that to increase performance, the number of aircraft used 10 can be multiplied to time a plurality of pallets 5 with piece goods 2 to load. In the view from above shown here are the rotors 11 of the flying devices 10 to recognize. Preferably, it is provided that each flying device 10 only within a limited range of movement 18 is mobile. The movement room 18 includes in particular the respectively associated pallet 5 and an adjacent section of the transport 3 , Preferably, it is provided that adjacent movement spaces 18-1 . 18-2 do not overlap to collisions between the flying devices 10 to avoid. The limitation of the movement spaces 18-1 . 18-2 can, for example, via the control unit of the aircraft 10 take place and / or over a limit by means of a cable analogous to that in 2 described second embodiment.

The flying devices 10 must in this case in any case have sensors or be coupled by control technology with sensors that control the position of piece goods 2 on the transport device 3 recognize and the flying devices 10 each to the correct acceptance position.

The advantages of using flying devices 10 , in particular of flying devices with integrated gripping system, in the packaging and palletizing are diverse. The aircraft devices have only small dimensions, so that the overall system can be made smaller, especially with a smaller footprint. Under footprint can be understood on the one hand, the size or space requirements of the entire system, in particular the outlines of the stationary overall system on the ground. It may also mean the carbon footprint, that is, the measure of the total carbon dioxide emissions caused by the whole plant in its life cycle. The flying devices 10 can be equipped with sensors for own position and / or position detection. In addition, the flying devices 10 with sensors for position and / or position detection of piece goods 2 on the transport device 3 and / or the pallet 5 be equipped or be coupled control technology with appropriate sensors. For example, it would be conceivable that the flying devices 10 receive corresponding control signals and other information transmitted by radio. The flying devices 10 are inexpensive to purchase and can therefore be made available in multiple numbers at low cost. The noise level of the flying devices 10 is relatively low. With the flying devices 10 The plants can be operated in a highly dynamic way and complete automation is possible. The flying devices 10 are insensitive to contamination and increase even the cleanliness within the plants. Despite their low weight can by means of the aircraft 10 high payloads of up to 25 kg, especially when using a cable support analogous to 2 ,

The flying devices 10 Not only for palletizing piece goods 2 be used. It would also be conceivable to use for inserting intermediate layers or cover frames, packing and unpacking articles into or out of cartons or boxes, etc.

The 4 to 10 show different embodiments of palletizing devices 1 in which the handling of packaging aids by means of pending flying devices 10 he follows. In the figures, the devices for arranging the piece goods are respectively 2 on the respective pallet 5 or to compile the piece goods 2 as a location and arrangement on the pallet 5 not shown.

In packaging technology, smaller or larger piece goods are used 2 for storage and / or transport on pallets 5 arranged (cf. 1 to 3 ). The piece goods 2 , especially cardboard boxes or other packages such as cans, cans, bottles, etc. are stacked on the pallet 5 or another pad. Between the individual layers can packaging aids, for example in the form of liners 20 be introduced. These are preferably flat blanks made of a thin material, which in particular serves to secure and better positioning of the piece goods. The liners 20 consist mainly of paper or thin cardboard, but can also be made of other flexible material, such as plastic.

In the prior art, interlayer insertion devices are conventionally used in which a vacuum gripper head is arranged on a stationary auxiliary packaging column. With this individual liners are removed from a magazine and stored in the correct position on the top cargo. In particular, the vacuum gripper head has to be moved from the magazine to the pallet, which leads to a high space requirement for an intermediate layer inserting device and also limits the speed of the system.

The schematic view of 4 shows in general the use of a floating aircraft 10 , This has a plurality of rotors 11 , your own energy supply 16 , For example, accumulators, and a first device, such as a corresponding gripping device 12 , to manage liners 20 on. The liners 20 be as finished blanks in a first position in a liner magazine 22 provided. The gripping device 12 the flying device 10 is for example a vacuum gripper 14 formed, for receiving flat objects, in particular intermediate layers 20 , suitable is. The vacuum gripper 14 is for example a decentralized mounted miniature radial fan on the aircraft 10 supplied with vacuum. Alternatively, the own downdraft of the rotors 11 for vacuum generation for vacuum grippers 14 be used.

At the gripping device 12 it is preferably a lightweight scraper in hybrid construction. For example, carbon fiber reinforced plastic semi-finished products can be combined with 3d printed fasteners. Alternatively, an electric needle gripper can be used. This could be due to a lithium polymer accumulator or similar. the flying device 10 be supplied with electrical energy. When using an electric needle gripper can be placed on a liner magazine 22 for separating the intermediate layers 20 be waived.

In 4 is still a palletizer 1 represented within which a pallet 5 is arranged on the already five Stückgutlagen 6 are located. Between the stacked piece goods layers 6 is each an intermediate layer 20 arranged. The pallet 5 with the piece goods situations 6 represents in particular the second position in which the intermediate layer 20 by means of the flying device 10 is spent.

While the in 4 illustrated flying device 10 is arranged freely movable, the movement space is in 5 illustrated flying device 10 by a safety rope in the form of three with the flying device 10 connected cables 15 limited. The piece goods 2 are formed by bottles in the illustrated embodiment. A defined number of bottles can be connected by means of a shrink wrap, a strapping and / or adhesive bond to a container (not shown), in particular, such a container counts as a single piece goods.

The perspective view of 6A shows a palletizing device 1 analogous to 5 in which the movement space of the flying device handling the intermediate layers 10 by three with the flying device 10 connected cables 15 is limited. The length of the cables 15 in particular by Seilführungs- and Aufrollsysteme 17 controlled. In particular, the shows 6A the flying device 10 in a first working position AP1 when removing an intermediate layer 20 from the liner magazine 22 , Further shows 6A the flying device 10 in a second working position AP2 when filing the liner 20 on a piece goods estate 6 ,

To increase the general plant safety can be provided that the palletizing device 1 at least partially from a security fence 30 is surrounded, so that an undesirable entry of persons into the movement space of the flying device 10 is prevented. For example, it can be provided that a control unit 35 for the palletizing device 1 behind the security fence 30 located.

The perspective view of 6B shows a single view of the in 6A illustrated flying device 10 and 6C shows the liner magazine 22 , The flying device 10 has six rotors 11 on to each one rotor blade protection 40 is arranged around to protect them from damage. The rotors 11 are in particular on a frame 42 arranged, which is constructed for example in a hybrid construction, in which the tubes are formed as semi-finished carbon fiber reinforced plastic, while the connecting elements were produced by 3D printing. As gripping devices 12 includes the flying device 10 a plurality of suction cups 43 for sucking the respective uppermost intermediate layer 20 out a liner magazine 22 , For correct orientation and positioning of the flying device 10 is a camera system 45 comprising a plurality of cameras 46 intended for image recognition. In particular, the cameras take pictures all around the flying device 10 captured around. The power supply is the flying device 10 with integrated accumulators 47 equipped and has charging contacts 48 to the accumulators 47 recharge. Alternatively or additionally, a power supply via the in 6A illustrated cable 15 respectively.

To one through the suction cups 43 recorded liner 20 at the appropriate place, in particular to store a piece goods, is still a spring plunger 49 to release the liner 20 from the suction cups 43 intended.

The problem is that due to the resulting under a rotor movement downwardly flowing air flow and a directly underlying gripped intermediate layer no buoyancy can be generated when no recoil can form against the free environment. In the in the 6A to 6C illustrated embodiment, the rotors 11 the flying device 10 For this reason, spaced apart such that a cross-sectional area between the rotors 11 is greater than a cross-sectional area of the intermediate layer 20 , The flying device 10 gets so over the liners 20 in the liner magazine 22 positioned that the rotors 11 outside the cross-sectional area of the intermediate layer 20 are located. This circumvents the problem that the downwardly flowing air flow produced by the rotor movement effectively absorbs the uppermost intermediate layer 20 from the liner magazine 22 by means of the suction cups 43 would prevent. To prime the top liner 20 and the correct positioning of the flying device 10 for removing an intermediate layer 20 from the liner magazine 22 to support, points the liner magazine 22 additional lead structures 23 on. These are done by the cameras 46 detected, so that the flying device 10 for receiving an intermediate layer 20 correct on the liner magazine 22 Align and position. Alternatively, opposing rotor pairs could be easily tilted outwardly, with the rotors of the rotor pair still above the surface of the ZWL. The inclination must be designed such that the downdraft of the air flow is passed outside of the intermediate layer.

The perspective view of 7A shows a palletizing device 1 analogous to 4 in which the movement space of the flying device 10 is preferably limited control technology. In particular, the shows 7A the flying device 10 in a first working position AP1 when removing an intermediate layer 20 from the liner magazine 22 , Further shows 7A the flying device 10 in a second working position AP2 when filing the liner 20 on a piece goods estate 6 and in a third working position AP3 when charging the accumulators of the aircraft 10 , Also in this embodiment is a security fence 30 and an arrangement of the control unit 35 for the palletizing device 1 behind the security fence 30 intended. In this case, a fixed external camera system 58 for determining the position of the flying devices 10 intended.

The perspective view of 7B shows a single view of the in 7A illustrated flying device 10 and the formation of the liner used in this embodiment 20 , 7C and 7D show different views of flying devices 10 and a charging station 50 for the flying devices 10 ,

The flying device 10 has a first frame cross 52 with first arms 53 on, being at the free ends of the arms 53 the four rotors 11 the flying device 10 are arranged. Furthermore, the flying device 10 a second frame cross 54 with second arms 55 on where the suckers 43 for picking up the liner 20 are arranged. The first frame cross 52 and the second frame cross 54 are arranged in parallel planes, in particular, the first frame cross 52 arranged above the second frame cross, wherein the respective centers of the two frame crosses 52 . 54 are arranged directly above one another. The first frame cross 52 and the second frame cross 54 are arranged rotated by 45 ° to each other, leaving a second arm 55 of the second frame cross 54 each center between two first arms 53 of the first frame cross 52 is arranged.

The liner used in this embodiment 20 has cross recesses 25 on, so the liner 20 essentially from an outer liner frame 26 and an inner liner cross 27 consists. To decrease the liner 20 becomes the flying device 10 so above the liner 20 positioned that rotors 11 each above cross recesses 25 are arranged, whereas the second arms 55 with the suction cups 43 directly above the remaining inner interlayer cross 27 be arranged so that the liner 20 at the inner liner cross 27 can be detected. The suckers 43 are preferably as vacuum suction 44 trained and the flying device 10 has a miniature radial fan 60 for vacuum generation, that over the second arms 55 of the second frame cross 54 with the vacuum cups 44 connected is. Due to the cross recesses 25 the liner 20 this has a partially open permeability, so that downdraft and thus the buoyancy of the aircraft 10 are guaranteed. The flying device 10 according to the embodiment of the 7A to 7D can thus be significantly smaller than the aircraft 10 according to the embodiment of the 6A to 6C be formed.

The power supply is the flying device 10 according to the embodiment of the 7A to 7D with integrated accumulators 62 equipped and has charging contacts 64 to the accumulators 62 at one within the palletizer 1 arranged charging station 65 recharge. In particular, the charging contacts 64 on or adjacent to a conical centering aid 67 be formed, the landing of the aircraft and the correct docking to the charging station 65 supported. If necessary, the charging station 65 at least one correspondingly designed suction cup 66 in which the conical centering aid 67 intervenes. As already related to the 1 to 3 has been described, it can be provided that the palletizing device 1 at least two flying devices 10 are assigned, wherein a first flight device 10 active general cargo 2 transported while the at least one second flight device 10 at the loading unit 65 paused and charged.

The second arms 55 forming tubes and / or the first arms 53 For example, they can again be formed as semi-finished carbon fiber reinforced plastic and the fasteners by 3D printing to a particularly lightweight construction of the aircraft 10 to achieve.

The perspective view of 8A shows a palletizing device 1 analogous to 4 in which the movement space of the flying device 10 is preferably limited control technology. In particular, the shows 8A the flying device 10 in a first working position AP1 when removing an intermediate layer 20 from the liner magazine 22 , Further shows 8A the flying device 10 in a second working position AP2 when filing the liner 20 on a piece goods estate 6 and in a third working position AP3 at a charging station 70 , Also in this embodiment is a security fence 30 and an arrangement of the control unit 35 for the palletizing device 1 behind the security fence 30 intended.

The 8B and 8C each show different individual views of the in 8A illustrated flying device 10 and 8D shows the transport of an intermediate layer 20 by means of such a flying device 10 , Further shows 8E a charging station 70 for exchangeable batteries 72 ,

In the according to 8A to 8E illustrated embodiment of a palletizing device 1 become the liners 20 conveyed vertically, so that in particular the flat sides of the intermediate layers 20 at least during transport from the liner magazine 22 to the pallet 5 in a vertical orientation. In particular, it is provided that the flying device 10 one vertically gripped intermediate layer 20 in a horizontal longitudinal flight just above the cargo position 6 spends and the liner 20 then in a horizontal position on the cargo position 6 stores. It is preferably provided that the intermediate layers 20 within the liner magazine 22 are arranged vertically. For safe tapping of only one intermediate layer 20 can at the liner magazine 22 a separating unit 29 be provided. To describe the other from the 1 to 7 Prior art reference numbers are referred to the above description of the figures.

The flying device 10 has four rotors 11 with rotor blade protection 40 on. Below this are two mechanical parallel grippers 75 for detecting a respective intermediate layer 20 and vertical transport of the same. For correct orientation and positioning of the flying device 10 within the palletizing device 1 includes the flying device 10 a camera system 76 with cameras 77 , in particular, in each case a camera 77 a mechanical parallel gripper 75 can be assigned.

In this embodiment, it is provided that the flying device 10 with exchangeable batteries 72 can be operated, for example with two batteries 72 , These can in particular at a charging station 70 be charged with automatic battery replacement function. Ie for at least one flying device 10 are at least four accumulators 72 intended. While the flying device 10 during operation of at least two accumulators 72 at the flying device 10 arranged accumulators 72 is driven parallel to it at the charging station 70 at least two additional batteries 72 held and / or charged. Once the state of charge of the two at the aircraft 10 arranged accumulators 72 falls below a predefined value, a corresponding signal is triggered, which causes the aircraft 10 the charging station 70 flies on and a battery change takes place.

The perspective view of 9A shows a palletizing device 1 analogous to 4 , at the movement space of the flying device 10 is preferably limited control technology. In particular, the shows 9A the flying device 10 in a first working position AP1 when removing an intermediate layer 20 , continues showing 9A the flying device 10 in a second working position AP2 when filing the liner 20 on a piece goods estate 6 and in a third working position AP3 at a charging station 80 , 9B and 9C show different views of a flying device 10 according to 9A with a liner 20 , To describe the other from the 1 to 8th Prior art reference numbers are referred to the above description of the figures.

The flying device 10 has four rotors 11 with rotor blade protection 40 on. The rotors 11 are at the free ends of the arms 82 a frame cross 81 arranged, with one between the four rotors 11 clamped rectangular cross-sectional area at which the four rotors 11 each form the vertices, is greater than the cross-sectional area of the intermediate layer to be transported 20 , In particular, when recording an intermediate position 20 the rotors 11 the flying device 10 not directly above the intermediate layer 20 arranged. It is also said that the rotors 11 outside the liner 20 are arranged.

The power supply of the flying device 10 takes place in this embodiment via at least one integrated accumulator 85 for example, the flyover passing by 10 at the inductive contactless charging station 80 (see. 9A) can be charged. In particular, the flying device 10 in working position AP3 according to 9A charged without contact.

In the according to 9A to 9C illustrated embodiment of a flying device 10 includes these as gripping devices 12 eight needle grippers 84 at the bottom of the arms 82 of the frame cross 81 are arranged. The needle gripper 84 For example, by the integrated accumulator 85 the flying device 10 , For example, a lithium polymer battery to be supplied with electrical energy. When using at least one electric needle gripper 84 can be dispensed with a liner magazine for separating the liners. Instead, the liners can 20 directly from a liner stack 24 be tapped. For placing the intermediate layer 20 the energy supply becomes the needle grippers 84 briefly interrupted when the aircraft 10 in the correct position and orientation directly above the cargo position 6 located. To drop the liner 20 can continue to support the aircraft 10 In addition, a motor-driven holding-down device 88 exhibit.

For correct orientation and positioning of the flying device 10 within the palletizing device 1 includes the flying device 10 a camera system 86 with a plurality of cameras 87 In particular, in the illustrated embodiment, four cameras 87 provided, which are arranged so that they have different, possibly partially overlapping coverage areas, so that the environment 360 ° around the aircraft 10 can be detected around. To make the detection of the environment even more detailed, it may be provided in particular that more than four cameras 87 be used.

The perspective view of 10A shows a palletizing device 1 analogous to 4 in which the movement space of the flying device 10 is preferably limited control technology. In particular, the shows 10A the flying device 10 in a first working position AP1 when removing an intermediate layer 20 from a liner magazine 22 , Further shows 10A the flying device 10 in a second working position AP2 when filing the liner 20 on a piece goods estate 6 and in a third working position AP3 at a charging station 65 analogous to 7A , 10B and 10C show different views of a flying device 10 according to 10A with a liner 20 , To describe the other from the 1 to 9 Prior art reference numbers are referred to the above description of the figures.

The flying device 10 has four rotors 11 on to each one rotor blade protection 40 is arranged around. The rotors 11 are at the free ends of the arms 92 a frame cross 91 arranged, with one between the four rotors 11 clamped rectangular cross-sectional area at which the four rotors 11 each form the vertices, is greater than the cross-sectional area of the intermediate layer to be transported 20 , In particular, when recording an intermediate position 20 the rotors 11 the flying device 10 not directly above the intermediate layer 20 arranged. It is also said that the rotors 11 outside the liner 20 are arranged.

The power supply of the flying device 10 takes place in this embodiment via at least one integrated accumulator 62 who is at the charging station 65 can be charged - as it is in connection with the 7A to 7D has already been described in detail. In particular, in each case at least one flying device 10 in working position AP3 according to 10A at the charging station 65 to be charged.

In the according to 10A to 10C illustrated embodiment of a flying device 10 includes these - as also in the context of the aircraft 10 according to the embodiment in the 7A to 7D has been described - as gripping devices 12 eight vacuum cups 44 and the flying device 10 has a miniature radial fan 60 for vacuum generation, that over the arms 92 of the frame cross 91 with the vacuum cups 44 connected is.

For correct orientation and positioning of the flying device 10 within the palletizing device 1 includes the flying device 10 a camera system 96 with a plurality of cameras 97 ,

The embodiments, examples and variations of the preceding paragraphs, the claims or the following description and the figures, including their various views or respective individual features, may be used independently or in any combination. Features described in connection with one embodiment are applicable to all embodiments as long as the features are not inconsistent.

The aforementioned devices show that when using flying devices 10 the installation of the liner magazines 22 or the cargo, in particular general cargo 2 etc. can be made more independent of other components of the devices. In particular, a high degree of flexibility is achieved when installing the corresponding system. The cost of acquiring aircraft 10 are significantly lower than the cost of conventionally used Packhilfsmitteltäulen with Vakuumgreiferkopf or similar. for handling liners 20 , In addition, the space requirement is much lower. The flying devices 10 have high dynamics and freedom of movement and can overcome obstacles without mechanical effort. Furthermore, an autonomous operation of the flying devices 10 possible. When using at least two flying devices 10 the productivity of such systems can be scaled arbitrarily. Depending on the required layer performance, a defined number of flying devices 10 be used. Furthermore, the flying devices 10 can be combined with various end effectors and can therefore be used for further applications if required.

Although in the context of the figures in general of "schematic" representations and views is mentioned, this does not mean that the figure representations and their description with respect to the disclosure of the invention should be of minor importance. The person skilled in the art is quite capable of taking enough information from the schematic and abstract illustrations to facilitate his understanding of the invention, without having to draw from the drawn and possibly not exactly to scale proportions of the flying device, piece goods, intermediate layer and / or. or parts of the device or other drawn elements in any way would be impaired in its understanding. The figures thus make it possible for a person skilled in the art as a reader to derive a better understanding of the concept of the invention as formulated in the claims and in the general part of the description more generally and / or more abstractly on the basis of the specifically explained conversions of the method according to the invention and the more specifically explained mode of operation of the device according to the invention.

The invention has been described with reference to a preferred embodiment. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims.

LIST OF REFERENCE NUMBERS

1, 1a, 1b, 1c

palletizer

2

cargo

3

transport means

4

conveyor belt

5

palette

6

cargo location

10, 10a, 10b

flight device

11

rotor

12

gripping devices

13

grab

14

vacuum gripper

15

electric wire

16

power supply

17

Cable guiding and roll-up system

18, 18-1, 18-2

movement space

20

liner

22

Liners magazine

23

lead compounds

24

Liner stack

25

cross recess

26

outer liner frame

27

inner liner cross

29

separating unit

30

security fence

35

control unit

40

Rotor blade guard

42

frame

43

suction cup

44

vacuum cups

45

camera system

46

camera

47

accumulator

48

charging contact

49

spring plunger

50

charging station

52

first frame cross

53

first arm

54

second frame cross

55

second arm

58

camera system

60

Miniature centrifugal blowers

62

accumulator

64

charging contact

65

charging station

66

suction cup

67

conical centering aid

70

charging station

72

replaceable accumulator

75

mechanical parallel gripper

80

charging station

81

frame cross

82

poor

84

needle grippers

85

accumulator

86

camera system

87

camera

88

Stripper plate

91

frame cross

92

poor

96

camera system

97

camera

A

distance

AP1

first job position

AP2

second working position

AP3

third working position

TR

transport direction

Claims (14)

A general cargo handling system comprising at least one hoverable flying device (10) for handling at least one piece (2) and / or at least one packaging aid (20), wherein the at least one piece (2) and / or the at least one packaging aid (20) by means of the flying device (10) is / are transportable from a first position to a second position. General cargo handling plant according to Claim 1 comprising or forming a palletizing device (1). General cargo handling plant according to Claim 2 in which the palletizing device (1) comprises at least one flying device (10), by means of which the piece goods (2) are moved from a first position on a transport device (3) under arrangement and formation of a piece goods layer (6) to a second position on at least one loading unit (5 ), in particular wherein the palletizing device (1) comprises at least two flying devices (10) by means of their piece goods (2) from a first position on a transport device (3) under arrangement and formation of a piece goods position (6) to a second position on at least two loading units (5) can be brought. General cargo handling plant according to Claim 2 in which the palletizing device (1) comprises at least one flying device (10), by means of which the flatly formed packaging aids (20) from a first position under arrangement of the packaging aids (20) in a second position on a loading unit (5) and / or on a General cargo position (6) can be brought. General cargo handling plant according to Claim 4 wherein the flying device (10) comprises at least a first device for receiving horizontally arranged packaging auxiliary means (20) and wherein the flying device (10) at least one auxiliary device for Storage of lying horizontally arranged packaging aids (20) on a loading unit (5) and / or a cargo item (6) or wherein the flying device (10) at least a first means for receiving standing arranged packing aids (20) and wherein the flying device (10 ) is formed to the horizontal storage of the packaging aid (20) on a loading unit (5) and / or a cargo item (6). General cargo handling plant according to one of the Claims 4 or 5 wherein the flying device (10) comprises a plurality of rotors (11), wherein between the rotors (11) has a cross-sectional area which is greater than the cross-sectional area of a handling aid to be handled (20). General cargo handling plant according to one of the Claims 1 to 6 , wherein the at least one flying device (10) comprises at least one sensor for position detection and / or orientation and / or detection of the piece goods (2) to be detected and / or wherein the general cargo handling system at least one sensor for position detection and / or orientation and / or recognition of to be detected piece goods (2) and a control unit (35), wherein the control unit (35) and the at least one flying device (10) are coupled to each other control technology and wherein the at least one flying device (10) is controllable / regulated based on sensory data , General cargo handling plant according to one of the Claims 1 to 7 wherein the at least one flying device (10) has a limited range of motion. Method for handling piece goods (2) and / or packaging aids (20) within a unit-handling facility, the unit-handling facility comprising at least one hoverable flying device (10) for handling at least one of the piece goods (2) and / or at least one packing aid (20), wherein the at least one article (2) and / or the at least one packaging aid (20) is / are moved from a first position to a second position by means of the flying device (10). Method according to Claim 9 in which at least one flying device (10) spends piece goods (2) from a first position on a transport device (3) under arrangement and formation of a piece goods layer (6) to a second position on a loading unit (5). Method according to Claim 9 or 10 in which at least two flying devices (10) transfer piece goods (2) from a first position on a transport device (3) under arrangement and formation of a piece goods layer (6) to a second position on at least one loading unit (5), in particular wherein each of the flying devices ( 10) each piece goods (2) on a respective assigned own loading unit spends. Method according to Claim 9 , wherein at least one flying device (10) flat trained packaging aid (20) from a first position under arrangement of the packaging aid (20) in a second position on a loading unit (5) and / or a cargo (6) spends. Method according to Claim 12 in that the packaging aids (20) are arranged lying horizontally in the first position and in the second position, respectively, or wherein the packaging aids (20) are arranged vertically or approximately vertically in the first position and wherein the packaging aids (20) in the second Position are arranged horizontally lying. Method according to one of Claims 9 to 13 , wherein the movement space of the at least one flying device (10) is limited mechanically or control technology.

Images