EP2996944B1 - Method of handling containers for groups of goods, including packages - Google Patents
Method of handling containers for groups of goods, including packages Download PDFInfo
- Publication number
- EP2996944B1 EP2996944B1 EP14720900.1A EP14720900A EP2996944B1 EP 2996944 B1 EP2996944 B1 EP 2996944B1 EP 14720900 A EP14720900 A EP 14720900A EP 2996944 B1 EP2996944 B1 EP 2996944B1
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- EP
- European Patent Office
- Prior art keywords
- cardboard
- packages
- cardboard boxes
- boxes
- robot
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 13
- 238000003780 insertion Methods 0.000 claims description 9
- 230000037431 insertion Effects 0.000 claims description 9
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000005429 filling process Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims 2
- 238000012856 packing Methods 0.000 description 12
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 239000011087 paperboard Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/54—Means for supporting containers or receptacles during the filling operation
- B65B43/56—Means for supporting containers or receptacles during the filling operation movable stepwise to position container or receptacle for the reception of successive increments of contents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/06—Packaging groups of articles, the groups being treated as single articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/003—Packaging lines, e.g. general layout
Definitions
- the invention relates to a method for handling cartons, for groups of packages, wherein the packages are successively introduced into the cartons and deposited there in an ordered formation, and wherein the cartons are each held by a carton robot for inserting the packages, according to the preamble of the claim 7. Furthermore, the invention relates to a device according to the preamble of claim 1. Methods and devices of the type mentioned are in practice as well as from DE 20 2010 000056 U1 and EP 2586 712 A1 known.
- the invention has for its object to further develop the known methods and devices.
- a method according to the invention has the features of claim 7. It is therefore provided that in each case several boxes are kept ready at the same time by the cardboard robot for filling with packages.
- This solution has the particular advantage that the filling process is faster overall, since a smaller number of paperboard exchanges is required.
- This solution is also more cost effective than the obvious solution of using multiple cardboard robots, each handling one box at a time. Although this would also increase the throughput, but this would require a corresponding number of additional cardboard robot.
- Another special feature may consist in that the boxes are held apart for detection by means of the cardboard robot, wherein the distance the cartons to each other in keeping ready the distance of the cartons to each other in the subsequent filling corresponds.
- the cartons are kept ready to be grasped by the carton robot by pneumatic gripping members, the cartons are preferably initially dammed and each detected by a gripping member and then brought by appropriate movement of at least one gripping member to the distance to each other.
- At least one carton is detected on an inner wall by a gripping member, and that the gripping member for spacing the carton is laterally displaced by an adjacent carton by means of the gripping member, and that the gripping member during subsequent withdrawal from the carton first spaced from the inner wall and subsequently pulled out.
- Another special feature may consist in that the packages are fed on a conveyor belt and then pushed off at an angle, in particular transversely on a cross conveyor belt, and that the packages are kept ready by abutment against stops in the region of the cross conveyor at a distance to each other, the distance of the cartons equivalent.
- At least one stop is arranged stationary, and that at least one further stop is arranged to be movable and is moved in the conveying path of the packs to position a pack at a predetermined distance to another pack, which on the stationary stop is applied.
- the packages are fed to a central feed conveyor and deported from two cross conveyor belts and from there into the boxes, each cross conveyor belt is associated with a cardboard robot, and the carton robot alternately holding boxes for filling and place them in succession on a filled cardboard conveyor.
- An inventive device for solving the above-mentioned problem has the features of claim 1.
- each carton robot is associated with each cross conveyor belt for holding a plurality of cartons for simultaneously filling the same with packages.
- both carton robots remove the cartons in pairs one after the other from a central carton station.
- Another special feature may be that in the area of the or each cross conveyor belt a packing robot for the packs for transporting the same is provided in the cartons, wherein preferably the packs are inserted by means of the packing robot via a projecting into the prepared cardboard guide member, preferably insertion aids for Keep open folding flaps of the boxes are provided.
- gripping heads of the cardboard robot for the boxes grab several boxes simultaneously and handle for filling.
- the or each packing robot for the packs is set up to handle a plurality of packs at the same time, the number of simultaneously handled packs corresponding to the number of simultaneously held packs.
- the illustrated embodiment is concerned with the filling of containers with a plurality of articles.
- the containers are boxes 10.
- the items in the exemplary embodiment shown are packs 11. These items may, for example, be in the form of a bag and have a rectangular, preferably flat, shape.
- the objects are to be accommodated in the container so that it is optimally filled. Thereafter, the containers are closed and transported away.
- box 10 and box 11 Essential components of the device are a conveyor belt 12 for empty, unfilled cartons 10, a conveyor belt 13 for packages 11, two cross conveyor belts 14 for the packages 11, handling devices for the packages 11 in the form of packing robots 15, handling devices for boxes 10 in the form of cardboard robots 16 and a cardboard station 17 and a discharge belt 18 for filled cartons 10. Individual units are arranged within a machine frame 19 and connected thereto.
- Nuclear assemblies of the device are the handling devices for the boxes 10 and for the packs 11.
- the handling devices are designed so that on the one hand the boxes 10 and on the other hand the packs 11 can perform complex, coordinated movements during insertion of the packs 11 into the carton 10.
- both handling devices are designed as robots, which have a plurality of support arms or arms and thus are pivotable in the vertical direction and horizontal direction and also variable in length.
- the cardboard robot 16 have In addition, a gripping head 20, with which the boxes 10 can be detected and kept ready for filling.
- a special feature of the cardboard robot 16 is that they are each designed to handle a plurality of boxes 10 at the same time. It is conceivable, for example, that the carton robots 16 each have a gripping head 20 which can simultaneously detect a plurality of cartons 10 or that the carton robots 16 each have a plurality of gripping heads 20, each of which holds a carton 10.
- the cardboard robots 16 are set up for the simultaneous handling of two boxes each. It is also conceivable, however, a larger number of boxes that are handled simultaneously.
- the packing robot 15 are set up such that in each case a plurality of packages 11 are handled simultaneously, namely transferred to the prepared boxes 10.
- a double slide 21 is attached to the head of the packing robot 15, with which two packs 11 can be introduced into the carton 10 at the same time.
- the number of slides of course, be greater according to the number of 10 to be filled boxes.
- the conveyor belt 12 for the boxes 10 to be filled runs centrally through the machine frame 19 to the cardboard station 17. Following the cardboard station 17, the discharge conveyor 18 is arranged, which conveys the filled boxes 10 out of the machine frame 19. Feed conveyor 12 and discharge conveyor 18 run in the present case in an axis which divides the machine frame 19 in two halves.
- the feed conveyor 13 extends for the packs 11.
- the feed conveyor 13 ends with (a small distance) above the Cardboard station 17.
- the conveyor belt 13 is followed by a cross conveyor belt 14 on both sides, which transport the packages 11 in the direction of a packing robot 15.
- a transverse conveyor 22 is arranged above the feed belt 13, on the circumference of which drivers 23 for the transverse removal of the packages 11 are arranged.
- the individually and at a distance successively supplied packs 11 are distributed in each case on the two transverse conveyor belts 14. So that two packs 11 can be detected simultaneously by a double slide 21 of a packing robot 15, the packs 11 are stopped in predetermined positions. This is done by means of a fixed stop 24 and a slide stop 25 arranged in front of it.
- the fixed stop 24 is arranged stationary and stationary, so that a pack 11 is transported against the fixed stop 24 during transport along the transverse conveyor belt 14 and is kept ready for the double slide 21.
- the slide stop 25, however, is moved after passing through a pack 11 in the transport path of the packs 11 on the cross conveyor belt 14, so that a subsequent pack 11 can be stopped by the slide stop 25.
- insertion aids 26 When inserting the packs 11 into a carton 10, insertion aids 26 are used which hold folding flaps of the cartons 10 open. On the other hand, the packs 11 are pushed into the boxes 10 via an insertion tongue 27, the insertion tongue 27 bridging the distance between the cross conveyor 14 and the boxes 10.
- Fig. 5 to 7 The details of conveying the packages 11 into the boxes 10 is in Fig. 5 to 7 shown.
- Fig. 6 can also be seen that at the end of Zu specialbands 13, a further fixed stop 28 is provided, against which the Packs 11 at the end of the feed conveyor 13 abut before they are transported laterally through the cross conveyor 22.
- a further special feature relates to the process of keeping cartons 10 ready to be picked up by a carton robot 16. Storing takes place in an area of the carton station 17, namely at the end of the feed conveyor 12. With the help of gripping members 29, 30, two cartons 10 are spaced apart from one another held that they can be detected by the gripping head 20 of the carton robot 16.
- the two gripping members 29, 30 are mounted displaceably along a linear axis 31. More precisely, a first gripping member 29 is mounted on a carriage 32 in the longitudinal direction of the linear axis 31 at this movable. The second gripping member 30 in turn mounted on a slide 33 in the longitudinal direction of the linear axis 31 on the carriage 32. In addition, the gripping member 30 is movably mounted on the carriage 33 along a vertical axis.
- the gripping member 30 For feeding two boxes 10 into the cardboard station 17, the gripping member 30 is first lifted, so that a first carton 10 can be moved along the feed belt 12 against the gripping member 29. At this side walls of the carton 10 are held by vacuum on suction members 34. Thereafter, another box 10 is transported to the cardboard station 17 until it abuts against the already held by the gripping member 29 carton 10 and rests against this. Then, the second gripping member 30 is lowered in the vertical direction, so that a suction member 34 of the gripping member 30 is first moved into the carton 10 and then against an inner wall thereof.
- the two boxes 10 are brought into the cardboard station 17 at a defined distance from each other, so that the boxes 10 can be detected by the gripping head 20 of the carton robot 16.
- the distance in which the boxes 10 must be kept ready also corresponds to the distance between the individual slides of the double slide 21 when filling the boxes 10th
- the spacing of the boxes 10 is achieved by moving the gripping member 30 along the linear axis 31 until the predetermined distance between the boxes 10 has been established. Thereafter, the boxes 10 are detected by the gripping head 20 of the carton robot 16 and turned off the vacuum, so that the boxes 10 are no longer held by the suction members 34, but only by the gripping head 20. Subsequently, the gripping member 30 is pulled out of the box 10 and the cartons 10 are moved simultaneously through the carton robot 16 for filling.
- the boxes 10 are parked by the cardboard robot 16 on the discharge belt 18 in the area of the cardboard station 17 and transported away.
- Both carton robots 16 work alternately so that 10 collisions are avoided when picking up the empty boxes 10 or when settling the filled boxes.
- the structure of the device does not necessarily have to be double-tracked with two cardboard robots 16 and two packing robots 15 each. It is also conceivable a one-lane operation of the device. Also conceivable are variants with a different number of packing robots 15 and cardboard robots 16, for example, depending on the performance of the handling devices or the complexity of the packaging process.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Container Filling Or Packaging Operations (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
- Specific Conveyance Elements (AREA)
Description
Die Erfindung betrifft ein Verfahren zur Handhabung von Kartons, für Gruppen von Packungen, wobei die Packungen nacheinander in die Kartons eingeführt und dort in einer geordneten Formation abgesetzt werden, und wobei die Kartons jeweils durch einen Kartonroboter zum Einführen der Packungen bereitgehalten werden, gemäß dem Oberbegriff des Anspruchs 7. Weiterhin betrifft die Erfindung eine Vorrichtung gemäß dem Oberbegriff des Anspruchs 1. Verfahren und Vorrichtungen der eingangs genannten Art sind aus der Praxis sowie aus
Der Erfindung liegt die Aufgabe zugrunde die bekannten Verfahren und Vorrichtungen weiterzuentwickeln.The invention has for its object to further develop the known methods and devices.
Zur Lösung dieser Aufgabe weist ein erfindungsgemäßes Verfahren die Merkmale des Anspruchs 7 auf. Es ist demnach vorgesehen, dass jeweils mehrere Kartons gleichzeitig durch den Kartonroboter zum Befüllen mit Packungen bereitgehalten werden.To achieve this object, a method according to the invention has the features of claim 7. It is therefore provided that in each case several boxes are kept ready at the same time by the cardboard robot for filling with packages.
Diese Lösung hat insbesondere den Vorteil, dass der Befüllvorgang insgesamt schneller abläuft, da eine geringere Anzahl an Kartonwechselvorgängen erforderlich ist. Diese Lösung ist zudem auch kostengünstiger als die naheliegende Lösung des Einsatzes mehrerer Kartonroboter, die jeweils einen Karton zur Zeit handhaben. Hierdurch ließe sich zwar auch der Durchsatz erhöhen, jedoch wäre hierzu eine entsprechende Anzahl zusätzlicher Kartonroboter erforderlich.This solution has the particular advantage that the filling process is faster overall, since a smaller number of paperboard exchanges is required. This solution is also more cost effective than the obvious solution of using multiple cardboard robots, each handling one box at a time. Although this would also increase the throughput, but this would require a corresponding number of additional cardboard robot.
Eine weitere Besonderheit kann darin bestehen, dass die Kartons zum Erfassen mittels des Kartonroboters mit Abstand zueinander bereitgehalten werden, wobei der Abstand der Kartons zueinander beim Bereithalten dem Abstand der Kartons zueinander bei der nachfolgenden Befüllung entspricht.Another special feature may consist in that the boxes are held apart for detection by means of the cardboard robot, wherein the distance the cartons to each other in keeping ready the distance of the cartons to each other in the subsequent filling corresponds.
Vorzugsweise kann vorgesehen sein, dass die Kartons beim Bereithalten zum Erfassen durch den Kartonroboter durch pneumatisch arbeitende Greiforgane gehalten werden, wobei die Kartons vorzugsweise zunächst aufgestaut und jeweils durch ein Greiforgan erfasst werden und danach durch entsprechende Bewegung mindestens eines Greiforgans auf den Abstand zueinander gebracht werden.Preferably, it may be provided that the cartons are kept ready to be grasped by the carton robot by pneumatic gripping members, the cartons are preferably initially dammed and each detected by a gripping member and then brought by appropriate movement of at least one gripping member to the distance to each other.
Gemäß einem bevorzugten Ausführungsbeispiel ist vorgesehen, dass wenigstens ein Kartons an einer Innenwandung durch ein Greiforgan erfasst wird, und dass das Greiforgan zum Beabstanden des Kartons von einem benachbarten Karton mittels des Greiforgans seitlich verschoben wird, und dass das Greiforgan beim nachfolgenden Herausziehen aus dem Karton zunächst von der Innenwandung beabstandet und nachfolgend herausgezogen wird.According to a preferred embodiment, it is provided that at least one carton is detected on an inner wall by a gripping member, and that the gripping member for spacing the carton is laterally displaced by an adjacent carton by means of the gripping member, and that the gripping member during subsequent withdrawal from the carton first spaced from the inner wall and subsequently pulled out.
Eine weitere Besonderheit kann darin bestehen, dass die Packungen auf einem Zuförderband zugeführt und dann winklig, insbesondere quer auf einem Querförderband abgeschoben werden, und dass die Packungen durch Anlage an Anschlägen im Bereich des Querförderbands mit einem Abstand zueinander bereitgehalten werden, der dem Abstand der Kartons entspricht.Another special feature may consist in that the packages are fed on a conveyor belt and then pushed off at an angle, in particular transversely on a cross conveyor belt, and that the packages are kept ready by abutment against stops in the region of the cross conveyor at a distance to each other, the distance of the cartons equivalent.
Gemäß einer bevorzugten Weiterbildung ist vorgesehen, dass wenigstens ein Anschlag ortsfest angeordnet ist, und dass wenigstens ein weiterer Anschlag beweglich angeordnet ist und in den Förderweg der Packungen bewegt wird, um eine Packung in einem vorgegebenen Abstand zu einer anderen Packung zu positionieren, der an dem ortsfesten Anschlag anliegt.According to a preferred embodiment it is provided that at least one stop is arranged stationary, and that at least one further stop is arranged to be movable and is moved in the conveying path of the packs to position a pack at a predetermined distance to another pack, which on the stationary stop is applied.
In einer besonders bevorzugten Ausgestaltung des Verfahrens ist vorgesehen, dass die Packungen auf einem zentralen Zuförderband zugeführt werden und auf zwei Querförderbänder abgeschoben und von dort in die Kartons eingeführt werden, wobei jedem Querförderband jeweils ein Kartonroboter zugeordnet ist, und die Kartonroboter abwechselnd Kartons zum Befüllen bereithalten und diese nacheinander auf einer Fördereinrichtung für befüllte Kartons absetzen.In a particularly preferred embodiment of the method is provided that the packages are fed to a central feed conveyor and deported from two cross conveyor belts and from there into the boxes, each cross conveyor belt is associated with a cardboard robot, and the carton robot alternately holding boxes for filling and place them in succession on a filled cardboard conveyor.
Eine erfindungsgemäße Vorrichtung zur Lösung der eingangs genannten Aufgabe weist die Merkmale des Anspruchs 1 auf.An inventive device for solving the above-mentioned problem has the features of claim 1.
Gemäß einer vorteilhaften Ausführungsform kann vorgesehen sein, dass sich zwei Querförderbänder beiderseits des Zuförderbands erstrecken, und dass jedem Querförderband ein Kartonroboter zum Bereithalten von jeweils mehreren Kartons zum gleichzeitigen Befüllen derselben mit Packungen zugeordnet ist.According to an advantageous embodiment, it can be provided that two transverse conveyor belts extend on both sides of the feed belt, and that each carton robot is associated with each cross conveyor belt for holding a plurality of cartons for simultaneously filling the same with packages.
Vorzugsweise ist vorgesehen, dass beide Kartonroboter die Kartons jeweils paarweise nacheinander von einer zentralen Kartonstation entnehmen.It is preferably provided that both carton robots remove the cartons in pairs one after the other from a central carton station.
Eine weitere Besonderheit kann darin bestehen, dass im Bereich des oder jedes Querförderbands eine Packungsroboter für die Packungen zum Transport derselben in die Kartons vorgesehen ist, wobei vorzugsweise die Packungen mittels des Packungsroboters über ein in die bereitgehaltenen Karton hineinragendes Leitorgan eingeschoben werden, wobei vorzugsweise Einführhilfen zum Offenhalten von Faltlappen der Kartons vorgesehen sind.Another special feature may be that in the area of the or each cross conveyor belt a packing robot for the packs for transporting the same is provided in the cartons, wherein preferably the packs are inserted by means of the packing robot via a projecting into the prepared cardboard guide member, preferably insertion aids for Keep open folding flaps of the boxes are provided.
Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass Greifköpfe des Kartonroboters für die Kartons mehrere Kartons gleichzeitig greifen und zur Befüllung handhaben.According to a preferred embodiment, it is provided that gripping heads of the cardboard robot for the boxes grab several boxes simultaneously and handle for filling.
Gemäß einer weiteren bevorzugten Ausführungsform ist vorgesehen, dass der oder jeder Packungsroboter für die Packungen zur gleichzeitigen Handhabung mehrerer Packungen eingerichtet ist, wobei die Anzahl der gleichzeitig gehandhabten Packungen der Anzahl der gleichzeitig bereitgehaltenen Kartons entspricht.According to a further preferred embodiment it is provided that the or each packing robot for the packs is set up to handle a plurality of packs at the same time, the number of simultaneously handled packs corresponding to the number of simultaneously held packs.
Weitere Besonderheiten ergeben sich aus den Unteransprüchen im Übrigen, der nachfolgenden Beschreibung sowie der Zeichnung eines bevorzugten Ausführungsbeispiels. In dieser zeigen:
- Fig. 1
- eine Draufsicht auf eine Vorrichtung zum Verpacken von Packungen in Kartons,
- Fig. 2
- einen Vertikalschnitt durch die Vorrichtung entlang Schnittlinie II-II in
Fig. 1 , - Fig. 3 und 4
- eine Einzelheit der Vorrichtung gemäß Kennzeichnung in
Fig. 2 , - Fig. 5
- einen Vertikalschnitt durch die Vorrichtung entlang Schnittlinie V-V in
Fig. 1 , - Fig. 6
- eine Einzelheit der Vorrichtung gemäß Kennzeichnung in
Fig. 1 , - Fig. 7
- einen Vertikalschnitt durch die Vorrichtung entlang Schnittlinie VII-VII in
Fig. 6 .
- Fig. 1
- a top view of an apparatus for packing packages in cartons,
- Fig. 2
- a vertical section through the device along section line II-II in
Fig. 1 . - 3 and 4
- a detail of the device as indicated in
Fig. 2 . - Fig. 5
- a vertical section through the device along section line VV in
Fig. 1 . - Fig. 6
- a detail of the device as indicated in
Fig. 1 . - Fig. 7
- a vertical section through the device along section line VII-VII in
Fig. 6 ,
Das gezeigte Ausführungsbeispiel befasst sich mit der Befüllung von Behältern mit einer Mehrzahl von Gegenständen. Vorzugsweise handelt es sich bei den Behältern um Kartons 10. Bei den Gegenständen handelt es sich im gezeigten Ausführungsbeispiel um Packungen 11. Diese können beispielsweise als Beutel ausgebildet sein und eine quaderförmige, vorzugsweise flache Form aufweisen. Die Gegenstände sind derart im Behälter unterzubringen, dass dieser optimal gefüllt ist. Danach werden die Behälter verschlossen und abtransportiert.The illustrated embodiment is concerned with the filling of containers with a plurality of articles. Preferably, the containers are
Nachfolgend bezieht sich die Beschreibung des bevorzugten Ausführungsbeispiels auf die Begriffe Karton 10 und Packung 11.
Wesentliche Bestandteile der Vorrichtung sind ein Zuförderband 12 für leere, unbefüllte Kartons 10, ein Zuförderband 13 für Packungen 11, zwei Querförderbänder 14 für die Packungen 11, Handhabungseinrichtungen für die Packungen 11 in Form von Packungsrobotern 15, Handhabungseinrichtungen für Kartons 10 in Form von Kartonrobotern 16 sowie eine Kartonstation 17 und ein Abförderband 18 für befüllte Kartons 10. Einzelne Aggregate sind innerhalb eines Maschinengestells 19 angeordnet bzw. mit diesem verbunden.Hereinafter, the description of the preferred embodiment refers to the
Essential components of the device are a
Kernaggregate der Vorrichtung sind die Handhabungsgeräte für die Kartons 10 sowie für die Packungen 11. Die Handhabungsgeräte sind so ausgebildet, dass einerseits die Kartons 10 und andererseits die Packungen 11 komplexe, aufeinander abgestimmte Bewegungen beim Einführen der Packungen 11 in den Karton 10 ausführen können. Hierzu sind beide Handhabungsgeräte als Roboter ausgebildet, die über mehrere Tragarme bzw. Ausleger verfügen und somit in Vertikalrichtung und Horizontalrichtung schwenkbar und darüber hinaus längenveränderlich sind. Die Kartonroboter 16 weisen zudem einen Greifkopf 20 auf, mit dem die Kartons 10 erfasst und zum Befüllen bereitgehalten werden können.Nuclear assemblies of the device are the handling devices for the
Eine Besonderheit der Kartonroboter 16 besteht darin, dass diese jeweils dazu ausgebildet sind mehrere Kartons 10 gleichzeitig zu handhaben. Denkbar ist beispielsweise, dass die Kartonroboter 16 jeweils einen Greifkopf 20 aufweisen, der mehrere Kartons 10 gleichzeitig erfassen kann oder dass die Kartonroboter 16 jeweils mehrere Greifköpfe 20 aufweisen, die jeweils einen Karton 10 erfassen.A special feature of the
Im gezeigten Ausführungsbeispiel sind die Kartonroboter 16 zur gleichzeitigen Handhabung von jeweils zwei Kartons eingerichtet. Denkbar ist aber auch eine größere Anzahl an Kartons, die gleichzeitig gehandhabt werden.In the exemplary embodiment shown, the
Im vorliegenden Fall sind auch die Packungsroboter 15 derart eingerichtet, dass jeweils mehrere Packungen 11 gleichzeitig gehandhabt werden, nämlich an die bereitgehaltenen Kartons 10 überführt werden. Im vorliegenden Fall ist am Kopf der Packungsroboter 15 jeweils ein Doppelschieber 21 angebracht, mit dem gleichzeitig zwei Packungen 11 in den Karton 10 eingeführt werden können. Auch hier kann die Anzahl der Schieber natürlich entsprechend der Anzahl der zu befüllenden Kartons 10 größer sein.In the present case, the
Das Zuförderband 12 für die zu befüllenden Kartons 10 verläuft zentral durch das Maschinengestell 19 bis zur Kartonstation 17. Im Anschluss an die Kartonstation 17 ist das Abförderband 18 angeordnet, welches die befüllten Kartons 10 aus dem Maschinengestell 19 herausfördert. Zuförderband 12 und Abförderband 18 verlaufen dabei im vorliegenden Fall in einer Achse, die das Maschinengestell 19 in zwei Hälften aufteilt.The
Oberhalb des Zuförderbands 12 verläuft das Zuförderband 13 für die Packungen 11. Das Zuförderband 13 endet mit (geringem Abstand) oberhalb der Kartonstation 17. An das Zuförderband 13 schließt sich zu beiden Seiten jeweils ein Querförderband 14 an, welche die Packungen 11 in Richtung eines Packungsroboters 15 transportieren. Um die Packungen 11 vom Zuförderband 13 auf eines der Querförderbänder 14 abzuschieben ist oberhalb des Zuförderbands 13 ein Querförderer 22 angeordnet, an dessen Umfang Mitnehmer 23 zum Querabschub der Packungen 11 angeordnet sind.Above the
Die einzeln und mit Abstand hintereinander zugeführten Packungen 11 werden jeweils auf die beiden Querförderbänder 14 verteilt. Damit zwei Packungen 11 gleichzeitig von einem Doppelschieber 21 eines Packungsroboters 15 erfasst werden können, werden die Packungen 11 in vorgegebenen Positionen gestoppt. Dieses erfolgt mittels eines Festanschlags 24 sowie eines davor angeordneten Schiebeanschlags 25. Der Festanschlag 24 ist ortsfest und feststehend angeordnet, sodass eine Packung 11 beim Transport entlang des Querförderbands 14 gegen den Festanschlag 24 transportiert wird und dort positionsgerecht für den Doppelschieber 21 bereitgehalten wird. Der Schiebeanschlag 25 hingegen wird nach Durchlauf einer Packung 11 in den Transportweg der Packungen 11 auf dem Querförderband 14 bewegt, sodass eine nachfolgende Packung 11 durch den Schiebeanschlag 25 gestoppt werden kann. Die beiden Packungen 11 am Festanschlag 24 und am Schiebeanschlag 25 befinden sich dann in korrekter Relativlage zueinander, sodass der Doppelschieber 21 die Packungen 11 zusammen in den Karton 10 befördern kann. Danach wird der Schiebeanschlag 25 zurückgefahren, sodass die nächste Packung 11 zum Festanschlag 24 transportiert werden kann.The individually and at a distance successively supplied
Beim Einführen der Packungen 11 in einen Karton 10 kommen zum einen Einführhilfen 26 zum Einsatz, die Faltlappen der Kartons 10 geöffnet halten. Zum anderen werden die Packungen 11 über eine Einführzunge 27 in die Kartons 10 geschoben, wobei die Einführzunge 27 den Abstand zwischen dem Querförderband 14 und den Kartons 10 überbrückt.When inserting the
Die Details des Einförderns der Packungen 11 in die Kartons 10 ist in
Eine weitere Besonderheit betrifft den Vorgang des Bereithaltens von Kartons 10 zur Aufnahme durch einen Kartonroboter 16. Das Bereithalten erfolgt in einem Bereich der Kartonstation 17, nämlich am Ende des Zuförderbands 12. Mit Hilfe von Greiforganen 29, 30 werden zwei Kartons 10 derart auf Abstand zueinander bereitgehalten, dass diese durch den Greifkopf 20 des Kartonroboters 16 erfasst werden können.A further special feature relates to the process of keeping
Die beiden Greiforgane 29, 30 sind entlang einer Linearachse 31 verschieblich gelagert. Genauer gesagt ist ein erstes Greiforgan 29 über einen Schlitten 32 in Längsrichtung der Linearachse 31 an dieser verfahrbar gelagert. Das zweite Greiforgan 30 wiederum über einen Schlitten 33 in Längsrichtung der Linearachse 31 am Schlitten 32 gelagert. Darüber hinaus ist das Greiforgan 30 entlang einer vertikalen Achse verfahrbar am Schlitten 33 gelagert.The two
Zum Zuführen von zwei Kartons 10 in die Kartonstation 17 wird zunächst das Greiforgan 30 angehoben, sodass ein erster Karton 10 entlang des Zuförderbands 12 gegen das Greiforgan 29 gefahren werden kann. An diesem werden Seitenwandungen des Kartons 10 mittels Unterdruck über Saugorgane 34 gehalten. Danach wird ein weiterer Karton 10 in die Kartonstation 17 transportiert bis er gegen den bereits durch das Greiforgan 29 gehaltenen Karton 10 stößt bzw. an diesem anliegt. Dann wird das zweite Greiforgan 30 in vertikaler Richtung abgesenkt, sodass ein Saugorgan 34 des Greiforgans 30 zunächst in den Karton 10 und dann gegen eine Innenwandung desselben bewegt wird.For feeding two
Im nächsten Schritt werden die beiden Kartons 10 in der Kartonstation 17 in einen definierten Abstand zueinander gebracht, sodass die Kartons 10 vom Greifkopf 20 des Kartonroboters 16 erfasst werden können. Der Abstand, in dem die Kartons 10 bereit gehalten werden müssen, entspricht auch dem Abstand der einzelnen Schieber des Doppelschiebers 21 beim Befüllen der Kartons 10.In the next step, the two
Das Beabstanden der Kartons 10 erfolgt dadurch, dass das Greiforgan 30 entsprechend entlang der Linearachse 31 bewegt wird, bis der vorgegebene Abstand zwischen den Kartons 10 hergestellt ist. Danach werden die Kartons 10 durch den Greifkopf 20 des Kartonroboters 16 erfasst und der Unterdruck abgestellt, sodass die Kartons 10 nicht mehr durch die Saugorgane 34 gehalten werden, sondern nur noch durch den Greifkopf 20. Anschließend wird das Greiforgan 30 aus dem Karton 10 herausgezogen und die Kartons 10 gleichzeitig bzw. zusammen durch den Kartonroboter 16 zum Befüllen bewegt.The spacing of the
Nach dem Befüllen werden die Kartons 10 durch den Kartonroboter 16 auf das Abförderband 18 im Bereich der Kartonstation 17 abgestellt und abtransportiert.After filling, the
Beide Kartonroboter 16 arbeiten abwechselnd, damit beim Aufnehmen der leeren Kartons 10 bzw. beim Absetzen der befüllten Kartons 10 Kollisionen vermieden werden.Both
Es versteht sich, dass der Aufbau der Vorrichtung nicht zwangsläufig doppelbahnig mit jeweils zwei Kartonrobotern 16 und zwei Packungsrobotern 15 ausgeführt sein muss. Denkbar ist auch eine einbahnige Arbeitsweise der Vorrichtung. Weiterhin denkbar sind Varianten mit einer unterschiedlichen Anzahl von Packungsrobotern 15 und Kartonrobotern 16, zum Beispiel in Abhängigkeit von der Leistungsfähigkeit der Handhabungseinrichtungen bzw. der Komplexität des Verpackungsvorgangs.It goes without saying that the structure of the device does not necessarily have to be double-tracked with two
- 1010
- Kartoncarton
- 1111
- Packungpack
- 1212
- Zuförderband (Karton)Feed conveyor (carton)
- 1313
- Zuförderband (Packung)Feed conveyor (pack)
- 1414
- Querförderband (Packung)Cross conveyor (pack)
- 1515
- Packungsroboterpacking robot
- 1616
- Kartonrobotercardboard robot
- 1717
- Kartonstationcarton station
- 1818
- Abförderbanddischarge belt
- 1919
- Maschinengestellmachine frame
- 2020
- Greifkopf (Kartonroboter)Gripping head (cardboard robot)
- 2121
- Doppelschieberdouble slide
- 2222
- Querförderercross conveyor
- 2323
- Mitnehmertakeaway
- 2424
- Festanschlag (Querförderer)Fixed stop (cross conveyor)
- 2525
- Schiebeanschlagsliding stop
- 2626
- Einführhilfeinsertion
- 2727
- EinführzungeEinführzunge
- 2828
- Festanschlag (Zuförderband)Fixed stop (feeder belt)
- 2929
- Greiforgangripping member
- 3030
- Greiforgangripping member
- 3131
- Linearachselinear axis
- 3232
- Schlittencarriage
- 3333
- Schlittencarriage
- 3434
- Saugorgansuction element
Claims (12)
- A device for handling cardboard boxes (10) for groups of packages (11), wherein the packages (11) are inserted one after another into the cardboard boxes (10) and are deposited there in an ordered formation, having a cardboard box robot (16) for holding the cardboard boxes (10) ready for the insertion of the packages (11), characterized by the following features:a) a feed conveyor (13) for supplying the packages (10),b) one or several cross conveyors (14) arranged in connection with the feed conveyor (13) for discharging the objects in a lateral manner,c) stops (24, 25) are provided in the region of the cross conveyors (14) for stopping the packages (10) at a spacing with respect to one another which corresponds to the spacing between the cardboard boxes (10) held ready by the cardboard box robot (16),d) a feed conveyor (13) for packages (11) is arranged above the feed conveyor (12) for the cardboard boxes (10) and ends above the cardboard box station (17),e) provided in the cardboard box station (17) are pneumatically operating gripping members (29, 30) for simultaneously holding two cardboard boxes (10) spaced apart from one another ready and which are mounted so as to be displaceable along a linear axis (31), wherein the spacing of the cardboard boxes (10) held ready by the gripping members (29, 30) with respect to one another corresponds to the spacing between the cardboard boxes (10) with respect to one another during the subsequent filling process,f) a discharging conveyor (18) for filled cardboard boxes (10) is arranged connecting to the cardboard box station (17).
- The device as claimed in claim 1, characterized in that two cross conveyors (14) extend on both sides of the feed conveyor (13), and in that each cross conveyor (14) has associated therewith one cardboard box robot (16) for holding in each case several cardboard boxes (10) ready so that said containers can be filled simultaneously with packages (11).
- The device as claimed in claim 2, characterized in that both cardboard box robots (16) remove the containers in each case in pairs one after another from a central cardboard box station (17).
- The device as claimed in one of the claims 1 to 3, characterized in that in the region of the or of each cross conveyor (14) a package robot (15) for the packages (11) is provided for conveying the same into the cardboard boxes (10), wherein the packages (10) are preferably pushed by means of the package robot (15) over a guiding member (27) which projects into the cardboard boxes (10) that are held ready, wherein insertion aids (26) are preferably provided for holding open folding tabs of the cardboard boxes (10).
- The device as claimed in one of the claims 1 to 4, characterized in that gripping heads (20) of the cardboard box robot (16) for the cardboard boxes (10) grip several cardboard boxes (10) simultaneously and handle them for filling.
- The device as claimed in one of the claims 1 - 5, characterized in that the or each package robot (15) for the packages (11) is set up for handling several packages (11) simultaneously, wherein the number of packages (11) handled simultaneously corresponds to the number of cardboard boxes (10) that are simultaneously held ready.
- A method for handling cardboard boxes (10) for groups of packages (11) by means of a device according to one of the claims 1 to 6, wherein the packages (11) are inserted one after another into the cardboard box (10) and are deposited there in an ordered formation, and wherein the cardboard boxes (10) are held ready in each case by a cardboard box robot (16) for the insertion of the packages (11), characterized in that in each case two cardboard boxes (10) are held ready at the same time by the cardboard box robot (16), and in that the cardboard boxes (10) are held ready at a spacing from one another by pneumatically operating gripping members (29, 30) so that they can be grasped by means of the cardboard box robot (16), wherein the spacing between the cardboard boxes (10) held by the gripping members with respect to one another when being held ready corresponds to the spacing between the cardboard boxes (10) with respect to one another during the subsequent filling process.
- The method as claimed in claim 7, characterized in that the cardboard boxes (10) are first of all accumulated and in each case grasped by one of the gripping members (29, 30) and are then moved to the spacing with respect to one another by means of corresponding movement of a different gripping member (30).
- The method as claimed in claim 8, characterized in that a cardboard box (10) is grasped at an inner wall by a gripping member (30), and in that the gripping member (30) is displaced laterally so as to space the cardboard box (10) from an adjacent cardboard box (10), and in that, during the subsequent removal out of the cardboard box (10), the gripping member (30) is initially moved away from the inner wall and then withdrawn.
- The method as claimed in claim 7 or in one of the further preceding claims 8,9, characterized in that the packages (11) are supplied on a feed conveyor (13) and are then shifted at an angle, in particular transversely, on a cross conveyor (14), and in that, as a result of abutting against stops (24, 25), the packages (11) are held ready in the region of the cross conveyor (14) at a spacing with respect to one another which corresponds to the spacing between the cardboard boxes (10).
- The method as claimed in claim 10, characterized in that at least one stop (24) is arranged in an immovable manner, and in that at least one further stop (25) is arranged so as to be movable and is moved into the conveying path of the packages (11) in order to position a package (11) at a predefined spacing with respect to another package (11) which abuts against the immovable stop (24).
- The method as claimed in claim 7 or in one of the further preceding claims, characterized in that the packages (11) are supplied on a central feed conveyor (13) and are shifted onto two cross conveyors (14) and from there are inserted into the cardboard boxes (10), wherein each cross conveyor (14) has associated therewith in each case one cardboard box robot (16), wherein the cardboard box robots (16) hold cardboard boxes (10) ready for filling in an alternating manner and deposit them one after another on a conveying device (18) for filled cardboard boxes (10).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013105002.6A DE102013105002A1 (en) | 2013-05-15 | 2013-05-15 | Method of handling containers, in particular boxes, for groups of articles, in particular packages |
PCT/EP2014/001144 WO2014183834A1 (en) | 2013-05-15 | 2014-04-29 | Method for handling containers, in particular cardboard boxes, for groups of objects, in particular packages |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2996944A1 EP2996944A1 (en) | 2016-03-23 |
EP2996944B1 true EP2996944B1 (en) | 2018-11-07 |
Family
ID=50630752
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14720900.1A Active EP2996944B1 (en) | 2013-05-15 | 2014-04-29 | Method of handling containers for groups of goods, including packages |
Country Status (9)
Country | Link |
---|---|
US (1) | US10351280B2 (en) |
EP (1) | EP2996944B1 (en) |
CN (1) | CN105358436B (en) |
AR (1) | AR096247A1 (en) |
BR (1) | BR112015027506B1 (en) |
DE (1) | DE102013105002A1 (en) |
MX (1) | MX364850B (en) |
RU (1) | RU2015153495A (en) |
WO (1) | WO2014183834A1 (en) |
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CN110654626A (en) * | 2019-09-29 | 2020-01-07 | 珠海格力智能装备有限公司 | Electric cooker packaging production line |
CN110641760B (en) * | 2019-10-16 | 2021-01-26 | 长春工程学院 | Continuous arrangement vanning device of non-metallic bellows |
CN112938025B (en) * | 2019-12-11 | 2022-09-30 | 泰科电子(上海)有限公司 | Electronic product packaging system |
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2013
- 2013-05-15 DE DE102013105002.6A patent/DE102013105002A1/en not_active Withdrawn
-
2014
- 2014-04-29 CN CN201480028144.6A patent/CN105358436B/en not_active Expired - Fee Related
- 2014-04-29 RU RU2015153495A patent/RU2015153495A/en not_active Application Discontinuation
- 2014-04-29 US US14/785,189 patent/US10351280B2/en not_active Expired - Fee Related
- 2014-04-29 EP EP14720900.1A patent/EP2996944B1/en active Active
- 2014-04-29 WO PCT/EP2014/001144 patent/WO2014183834A1/en active Application Filing
- 2014-04-29 BR BR112015027506-0A patent/BR112015027506B1/en active IP Right Grant
- 2014-04-29 MX MX2015015618A patent/MX364850B/en active IP Right Grant
- 2014-05-09 AR ARP140101894A patent/AR096247A1/en active IP Right Grant
Also Published As
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WO2014183834A1 (en) | 2014-11-20 |
US20160083129A1 (en) | 2016-03-24 |
RU2015153495A (en) | 2017-06-20 |
EP2996944A1 (en) | 2016-03-23 |
MX2015015618A (en) | 2016-03-11 |
BR112015027506A2 (en) | 2017-07-25 |
DE102013105002A1 (en) | 2014-11-20 |
CN105358436A (en) | 2016-02-24 |
BR112015027506B1 (en) | 2021-02-09 |
US10351280B2 (en) | 2019-07-16 |
MX364850B (en) | 2019-05-09 |
CN105358436B (en) | 2018-09-18 |
AR096247A1 (en) | 2015-12-16 |
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