DE102009026388A1 - Surface drive, method and device for transporting, sorting, shifting and / or distributing articles on a support - Google Patents

Abstract

The invention relates to a surface drive (10) with an at least sectionally flat support (14) and a plurality of balls (16) mounted therein in a regular arrangement, which can be driven to move articles (28) located on the support (14). Several separate drives (20) are assigned to the balls (16). The invention further relates to a transport, sorting, moving and / or distributing device for articles (28) which has at least one such surface drive (10). The drives (20) of the balls (16) are coupled to a control unit (30), which is prepared for processing sensor signals (32) from detection devices (34).

Description

The The present invention relates to a surface drive with an at least partially planar edition and a variety from being stored in regular order Balls used for moving articles on the support are drivable. Furthermore, the invention relates to a transport, Sorting and / or distribution device for articles that at least having such a surface drive. In addition concerns The invention relates to a method for transport, for displacement and / or Distribution of articles on at least partially planar Edition by means of a variety of it in regular Arrangement of stored balls, which are used for moving on the pad are driven articles.

to Sorting, rotation, distribution and directional onward transport of articles, containers, containers and the like. Packaged goods There are various handling devices that are normally based on mechanical action. So it is, for example, usual, for sorting and alignment of irregular conveyed containers to horizontal pallet layers and slidable gripper arms, which by means of a suitable optical detection device grab the container targeted, then rotate and / or move to a desired position and then release it again until a pallet layer of side by side completed containers is completed.

Of the Space required for such a gripper head sorting is relative high. For some applications, the handling speed not high enough, so the conveying speed for the to be sorted article needs to be reduced. In addition, this gripper head control too costly for some applications, so that after more compact and simpler sorting and Displacement possibilities for articles, containers and other packaged goods are searched.

The Promotion of the article is usually done via known Horizontal conveyors, eg. Via conveyor belts or chains o. The like. Another known possibility for horizontal movement of articles and packaged goods A storage and / or conveying level is the use of so-called surface drives, which through a variety of regular arranged and collectively drivable balls are formed.

In the EP 0 180 710 A2 Such a transport device for piece goods is described with a plurality of rotatable balls that protrude from a support surface and each have a shaft drive. In each case a number of balls, a drive shaft is assigned. The parallel drive shafts are located transversely to a conveying direction, so that a fixed transport direction for the piece goods is defined.

From the EP 0 276 881 A1 is another transport device with balls known, which are also driven by shafts and Reibübertragung. By means of a drive of each ball via two angularly arranged waves, the conveying direction and speed of the goods to be transported can be varied by superposition of the drives, since the directions of rotation and rotational speeds of the two shafts can be controlled variably.

A powered ball table for orthogonal sorting flat objects is still in the DE 692 05 309 T2 described. The balls are arranged in a matrix and are rotated by means of a drivable conveyor belt. Another drive means can generate a perpendicular motion component.

Other variants of ball tables are, for example, from the DE 692 07 737 T2 , from the US 60 65 665 A , from the JP 2000 219 308 A , from the GB 23 48 631 A as well as from the EP 1 277 675 A1 known.

One The primary object of the invention is to provide such a ball table and a method for the horizontal transport of articles and piece goods To further develop and improve that variability the mobility of the articles and goods to be transported is increased.

The mentioned object of the invention is with the objects of achieved independent claims. characteristics Advantageous developments of the invention will become apparent from the respective dependent claims.

The invention relates to a surface drive with an at least partially planar support and a plurality of balls mounted therein in a regular arrangement, which are driven for moving articles located on the support. The inventive feature of the surface drive is that the balls are assigned several separate drives. The surface drive according to the invention can also be referred to as a ball table, since the support can be regarded as a table, protrude through the table surface a plurality of balls with a part of their surface. However, unlike the prior art ball tables, the rotatable balls are equipped with more than one drive. Preferably, at least in each case groups of several balls are assigned separate drives, so that an individual controllability of defined groups of balls is made possible. In a further embodiment The invention may optionally be assigned to each individual drivable ball in each case a separate drive, so that a very extensive mobility of each of several standing on the support surface and in different directions to moving articles or cargo is possible. If several goods are to be moved, rotated and / or moved in different directions and, for example, transferred to different transport devices, then the surface drive according to the invention makes it possible for each of the drives for the balls to be controlled individually. In this way, the phenomenon of parallel movement of several articles known from the prior art can be avoided, which is particularly disadvantageous when articles close to each other are to be separated from one another and / or conveyed in different directions.

According to one particularly preferred embodiment of the invention Surface drive form the rotatable in all directions in the bearing mounted balls themselves parts of the respective drives. In this case, the balls usually each form the anchor while their storage, support or recording forms the winding. The structure and the operation of such so-called. Ball motors are those skilled in the art known, so on the detailed description at this point is waived. These are electrically driven motors, where the balls by appropriate control in all directions can be rotated without requiring further mechanical transmission means required are.

A conceivable and advantageous for practical use variant can provide that the drives for the individual balls are each formed by electric motors whose rotating shafts For example, via a Reibradübertragung or another Type of power transmission with the balls or with groups coupled by balls. Appropriately, is each ball a drive, consisting of at least two electric motors, associated with their drive shafts at an angle to each other stand, so by simultaneously driving both engines and by a superposition of their drive movements a desired Direction of rotation of the balls and thus a desired direction of movement the article to be transported can be produced. The rotation transmission from the rotating shafts of the electric motors to the spherical surface can z. B. by means of suitable friction wheels, preferably each a drive surface with a cheap Having structure for forming a practicable friction pairing. at Use of steel balls can make the friction wheels For example, also have steel surfaces, which in a appropriately selected pressing force for a largely slip-free power transmission at the same time ensure minimal wear. About that In addition, of course, other friction pairings are useful can be used, for example, those made of steel / plastic, plastic / elastomer, Steel / elastomer etc.

According to one Alternative embodiment can also others Drive types are used. So can the variable controllable drives for the balls z. B. each by be formed piezoelectric actuators or actuators, each via frictional Connections with the balls or with groups of balls coupled are. By suitable placement of piezoelectrically driven Tappets o. The like. Can the balls desired Rotational movements are imposed. By very fast oscillations such piezoelectric linear actuators can the rotational speeds the spheres are kept in practicable dimensions, as required for the intended use are.

Advantageously, the surface drive can be used as a transport device, in which the flat support forms at least a part of a transport table, which may be part of a transport, sorting and / or distribution device for articles. These items may be, for example, containers of beverage containers or other piece goods with a flat underside, so that they can be conveyed in the desired manner with the transport table. In such an application, the invention relates to a transport, shifting, sorting and / or distribution device for articles, which has at least one surface drive with an at least partially planar support and a plurality of balls mounted therein in a regular arrangement, for moving from the articles are driven, wherein the balls are associated with a plurality of separate drives, each coupled to a control unit, which is prepared for processing sensor signals of optical detection devices. These optical detection devices coupled to the control unit can in particular be formed in each case by image detection devices with downstream image evaluation for the detection and evaluation of the articles as well as their movements on the surface of the surface drive. By means of such optical detection and monitoring, a desired motion control of each individual detected article is made possible by means of the surface drive, since its rotating balls are controlled individually and thereby several different directions of movement and Fördergeschwindkgeiten can be impressed on several items located on the table. Particularly suitable as optical detection devices are so-called CCD cameras whose output signals are recorded in the form of pixel graphics and are advantageously analyzed by means of suitable evaluation programs ter way to control the surface drive can be used.

The Invention further relates to a method for transport, for turning, Controlling, moving and / or distributing articles in at least one section level edition by means of a variety of it in more regular Arrangement of stored balls, which are used for moving on the pad are driven articles. Also the invention Method is like the surface drive described in detail above characterized in that the balls separately or at least in groups individually controlled and driven. In this way You can also have several items that may be next to each other or arranged one behind the other, spatially separated and simultaneously transported in different directions, eg. various transport rails or conveyor belts o. The like., To be assigned. In addition, these funding movements the driven balls in different directions each with different conveyor speeds occur because of Drive the balls in a desired direction with variable Speed can be done.

According to one preferred embodiment of the invention Method, the pad may be part of a transport, sorting and / or distribution device for articles, wherein the the balls associated with separate drives each of a control unit be controlled. The sensor signals are at least from one processed optical detection device. So can the control unit For example, be coupled with optical detection devices, the in each case by image acquisition devices with downstream image evaluation for recording and evaluating the articles as well as their movements formed on the surface of the surface drive are. As such optical detection devices come, for example. so-called CCD cameras in question, the pixel signals of different resolutions can deliver. These pixel signals can be used with appropriate Evaluate evaluation algorithms within very short processing times, so that from it control signals for the control of the drives the surface drive according to the invention can be generated.

About that In addition, however, also other embodiments for Detection and control of the ball movements conceivable, for example, a Stress current analysis o. The like., With the help of each with a resistance by a moving article impose balls on detected and by analysis of several or all load currents in the control signal of the ball drives which moved with the drives Article whose mass or moment of inertia and / or their Size can be evaluated. A Further analysis and control variant can, for example, a weight sensor provide, with the help of which the positions of the dormant or means the ball drives moved items recognized, evaluated and the Control of the ball drives can be used. All of these mentioned sensor variants can be as needed and application case can also be combined with each other.

According to one another embodiment of the invention can the article formed, for example, by containers or containers be that formed by means of the surface edition Surface drive turned, sorted, moved, distributed and / or several different transport routes assigned and there be forwarded. Such containers can especially beverage containers and the containers can in particular groups of combined and interconnected Be beverage container.

With Help of the method according to the invention can by means of individually controllable and each in different Directions: Rotary balls of flat pad several located there Articles, containers and / or containers at the same time in each case different directions are rotated and / or transported.

in the Below are embodiments of the invention and their advantages with reference to the accompanying figures closer explain. The proportions of the individual elements to each other in the figures not always the real size ratios, as some forms are simplified and other forms for ease of illustration increased in proportion to other elements are shown.

1 shows a schematic perspective view of a surface drive with a plurality of regularly arranged movable balls.

2 shows a part of the surface drive according to 1 ,

3 shows in two views a single drive element of the surface drive according to 1 ,

4 shows in three different schematic views a portion of a horizontal conveyor with a surface drive.

5 shows in three different schematic views control components of the surface drive.

6 shows in three schematic representations the structure of an electric motor drive for a ball drive.

The following detailed description of a preferred embodiment of the invention is provided as a non-limiting example. Same components in the 1 to 6 have basically the same reference numerals and will not be explained several times.

The schematic perspective view of 1 shows on the basis of an embodiment, the arrangement of a surface drive according to the invention 10 , the following also as a ball table 12 referred to as. The surface drive according to the invention 10 or ball table 12 has a flat bearing surface 14 and a plurality of spheres mounted therein in a regular array 16 on which to move on the support surface 14 located articles (not shown here) are drivable. The surface drive according to the invention 10 is also therefore as a ball table 12 referred to as the bearing surface 14 can be regarded as a table, through the table surface (support surface 14 ) the regular variety of balls 16 with a part of their surface protrude. Is shown in 1 only a smaller section of an almost arbitrarily large executable surface drive 10 or ball table 12 ,

The balls 16 can according to 2 in several juxtaposed ball tracks 18 so that by juxtaposing several or a plurality of such ball strips 18 a surface drive 10 according to desired size 1 can be configured. The ball bars 18 can be lined up either side by side with their long sides next to each other. To create even larger ball tables 12 However, you can also add two, three or more ball bars 18 each be joined together with their narrow sides, so that multiples of the previously formed by juxtaposing surfaces can arise.

The rotatable balls 16 are each with separate drives 20 provided (see. 3 ) or form such separate drives 20 , allowing a very wide mobility of each one of several on the bearing surface 14 (see. 1 ) and in different directions to moving articles or cargo is possible. 3a shows a perspective view while 3b a schematic side view of such a ball drive 20 shows. Here are the rotatable in all directions in the edition 14 stored balls 16 even parts of the respective drives 20 , Here are the balls 16 usually the anchor, while their storage, support or recording forms the winding. The construction and operation of such so-called. Ball engines are known in the art, so that can be dispensed with the detailed description at this point. These are electrically driven motors in which the balls 16 can be rotated by appropriate control in all directions, without the need for further mechanical transmission means are required. An alternative embodiment of such a drive 20 with friction wheels as a ball drive is based on the 6 explained in more detail.

Should be accordingly 4 several on a horizontal conveyor 22 such as a conveyor belt 24 or a chain conveyor o. The like. In a disorderly sequence in the conveying direction 26 piece goods moving to the right 28 or articles in different directions, rotated and / or moved and, for example, to various transport devices (not shown here) are passed, so this is with the help of the surface drive according to the invention 10 according to 5 This allows each of the drives 20 for the balls 16 is individually controllable. As in the 4 and 5 indicated, the surface drive 10 or the ball table 12 thus be used advantageously as a transport device, in which the flat support 14 forms at least part of a transport table, the part of a transport, sorting and / or distribution device for articles or piece goods 28 is. These articles or piece goods 28 For example, can be containers of beverage containers or other goods with a flat bottom so that they in the desired manner with the arranged in the transport table balls 16 promoted and accordingly 5 can be rotated and / or moved in a desired direction.

Optionally, with the arranged in the transport table balls 16 also articles 28 be transported and moved with uneven surface. However, at least a certain proportion of surfaces lying in the same plane must be present so that the articles are perfectly transportable. For example, a variant is conceivable in which the balls of the size z. B. only 5 mm in diameter. With such a variant, it would then also be possible to transport articles that do not have an exact flat surface, since the article usually on a variety of balls 16 rest, so that there should always be sufficient contact for proper transport.

In addition, the drives 20 the individual balls 16 each with a control unit 30 coupled, which the sensor signals 32 an optical detection device 34 processed. This with the control unit 30 coupled optical detection devices 34 In particular, in each case by image acquisition devices with downstream image analysis for the detection and evaluation of the article or piece goods 28 as well as their movements on the surface of the surface drive 10 be formed. By means of such optical detection and monitoring is a desired motion control of each individual detected article 28 by means of surface drive 10 allows because of its rotie ing bullets 16 individually controlled and thereby several on the table 12 located articles 28 different directions of movement and Fördergeschwindkgeiten can be impressed. As optical detection devices 34 come in particular so-called CCD cameras 36 in question, whose output signals 32 captured in the form of pixel graphics and in the controller 30 by means of suitable evaluation programs in an advantageous manner for controlling the surface drive 10 can be used.

An advantageously usable in practice and relatively inexpensive realizable drive variant can provide that the motor drives 20 for the individual drivable balls 16 according to 6 each by electric motors 38 are formed, whose rotating waves 40 via a friction wheel transmission 42 with the balls 16 are coupled. Conveniently, each individual ball 16 a drive 20 , consisting of at least two electric motors 38 , assigned as this in 6 is indicated. The electric motors 38 be from the control unit 30 activated to achieve the desired ball movement. The drive shafts 40 the electric motors 38 are expediently at an angle to each other, so that by simultaneous drive of both motors 38 and by a superposition of their drive movements a desired direction of rotation of the balls 16 and thus a desired direction of movement of the article to be transported 28 is possible.

The rotation transmission from the rotating shafts 40 the electric motors 38 on the sphere surface 16 can by means of suitable friction wheels 42 take place, preferably a suitable surface to achieve a favorable friction pairing with the ball 16 exhibit. When using balls 16 made of steel, the friction wheels 42 For example, also have steel surfaces, which can provide a largely slip-free power transmission while minimizing wear at a correspondingly selected pressure force. In addition, of course, other friction pairings are useful.

Notwithstanding the embodiment described above, other types of drives can be used, so that the drives 20 For example, may be formed by piezoelectric actuators, each via frictional connections with the balls 16 or with groups of balls 16 can be coupled. By suitable placement of piezoelectrically driven rams o. The like. Can the balls 16 desired rotational movements are impressed. By very fast oscillations of such piezoelectric linear drives, the rotational speeds of the balls 16 be kept in practicable orders of magnitude, as they are required for the desired application.

The The invention is not limited to the above embodiments limited. Rather, a variety of variants and Modifications conceivable that of the invention Use your thoughts and therefore also in the protection area fall.

LIST OF REFERENCE NUMBERS

10

surface drive

12

ball table

14

bearing surface

16

Bullet

18

ball rail

20

drive

22

Horizontal conveyor

24

conveyor belt

26

conveying direction

28

general cargo, items

30

control unit

32

sensor signal

34

optical detector

36

camera

38

electric motor

40

drive shaft

42

friction wheel

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - EP 0180710 A2 [0005]
• EP 0276881 A1 [0006]
• - DE 69205309 T2 [0007]
• - DE 69207737 T2 [0008]
• - US 6065665 A [0008]
• - JP 2000219308 A [0008]
• - GB 2348631 A [0008]
• EP 1277675 A1 [0008]

Claims (16)

Surface drive ( 10 ) with at least partially planar support ( 14 ) and a plurality of spheres mounted therein in a regular arrangement ( 16 ) used for moving on the support ( 14 ) ( 28 ) are driven, characterized in that the balls ( 16 ) several separate drives ( 20 ) assigned. Surface drive according to Claim 1, in which groups of a plurality of balls ( 16 ) a separate drive ( 20 ) assigned. Surface drive according to claim 1, in which each individual drivable ball ( 16 ) each have a separate drive ( 20 ) assigned. Surface drive according to one of Claims 1 to 3, in which each of the drives ( 20 ) is individually controllable. Surface drive according to one of Claims 1 to 4, in which the drives ( 20 ) each by electric motors ( 38 ) are formed whose rotating shafts ( 40 ) via a friction wheel transmission ( 42 ) with the balls ( 16 ) or with groups of balls ( 16 ) are coupled. Surface drive according to one of Claims 1 to 4, in which the drives ( 20 ) are each formed by piezoelectric drives, each via frictional connections with the balls ( 16 ) or with groups of balls ( 16 ) are coupled. Surface drive according to one of claims 1 to 4, in which the rotatable in all directions in the support ( 14 ) mounted balls ( 20 ) Parts of the respective drives ( 20 ) form. Surface drive according to one of Claims 1 to 7, in which the flat support ( 14 ) forms at least part of a transport table, which is part of a transport, sorting and / or distribution device for articles. Transport, sorting, shifting and / or distributing device for articles ( 28 ), the at least one surface drive ( 10 ) with at least partially planar support ( 14 ) and a plurality of spheres mounted therein in a regular arrangement ( 16 ) for moving on the support ( 14 ) ( 28 ) are drivable, wherein the balls ( 16 ) several separate drives ( 20 ), each with a control unit ( 30 ), which are used to process sensor signals ( 32 ) of detection devices ( 34 ) is prepared. Device according to Claim 9, in which the control unit ( 30 ) for processing sensor signals ( 32 ) optical detection devices ( 34 ) is prepared. Apparatus according to claim 9 or 10, in which the control unit ( 30 ) coupled optical detection devices ( 34 ) in each case by image acquisition devices with downstream image evaluation for the collection and evaluation of the articles ( 28 ) and their movements on the surface of the surface drive ( 10 ) are formed. Method for transporting, sorting, moving and / or distributing articles ( 28 ) on an at least partially planar support ( 14 ) by means of a plurality of spheres mounted therein in a regular arrangement ( 16 ) used for moving on the support ( 14 ) ( 28 ), characterized in that the balls ( 16 ) individually or at least in groups individually controlled and driven. Method according to Claim 12, in which the support ( 14 ) a part of a transport, sorting and / or distribution device for articles ( 28 ), whereby the balls ( 16 ) associated with separate drives ( 20 ) each from a control unit ( 30 ), the sensor signals ( 32 ) at least one detection device ( 34 ) processed. Method according to Claim 12 or 13, in which the control unit ( 30 ) with optical detection devices ( 34 ), in each case by image acquisition devices with downstream image evaluation for the detection and evaluation of the articles ( 28 ) and their movements on the surface of the surface drive ( 10 ) are formed. Method according to one of claims 12 to 14, in which the articles ( 28 ) are formed by containers or containers, which by means of the by the flat support ( 14 ) surface drive ( 10 ) are rotated, sorted, moved, distributed and / or assigned to several different transport routes and transported there. Method according to one of claims 12 to 15, wherein by means of the individually controllable and the in each case in different directions rotatable balls ( 16 ) of the surface edition ( 14 ) several articles ( 28 ), Containers and / or containers are simultaneously rotated and / or transported in different directions.

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