CA2286952A1 - Apparatus for moving stackable bag packs, in particular plastic bags with bottom folds - Google Patents
Apparatus for moving stackable bag packs, in particular plastic bags with bottom folds Download PDFInfo
- Publication number
- CA2286952A1 CA2286952A1 CA002286952A CA2286952A CA2286952A1 CA 2286952 A1 CA2286952 A1 CA 2286952A1 CA 002286952 A CA002286952 A CA 002286952A CA 2286952 A CA2286952 A CA 2286952A CA 2286952 A1 CA2286952 A1 CA 2286952A1
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- CA
- Canada
- Prior art keywords
- bag pack
- stack
- essentially
- bag
- pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
- B65H29/38—Delivering or advancing articles from machines; Advancing articles to or into piles by movable piling or advancing arms, frames, plates, or like members with which the articles are maintained in face contact
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B70/00—Making flexible containers, e.g. envelopes or bags
- B31B70/74—Auxiliary operations
- B31B70/92—Delivering
- B31B70/98—Delivering in stacks or bundles
- B31B70/984—Stacking bags on wicket pins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/17—Nature of material
- B65H2701/176—Cardboard
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Making Paper Articles (AREA)
- Manipulator (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
- Pile Receivers (AREA)
- Specific Conveyance Elements (AREA)
- Forming Counted Batches (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
Abstract
The present invention relates to a device for moving stackable packs of bags, in particular, plastic bags with a bottom folds, with a pin stack conveyor (2) from which the bag pack can be moved relatively easily, by a pivot plate that can be swung upward, into an essentially horizontal removal position from which it can be taken over by a gripper hand (8) of a robot (6) and passed to a packaging station.
Description
Apparatus for Moving Stackable Bag Packs, in particular Plastic Bags with Bottom Folds The present invention relates to a device for moving stackable packs of bags, in particular, plastic bags with bottom folds, with a pin stack conveyor that incorporates a movable pin-stack chain with stack pins that moves incrementally and a removal station that incorporates a robot with a gripper formed in the manner of pincers.
DE 38 34 115 Cl makes general reference to the use of a robot in order to automate the removal process in a removal station. However, this known device proceeds from the idea that the individual plastic bag are retained in a bag stack by using wire clips. Details as to how the robot is to be used for the removal of the plastic bags are not provided in this document;
rather it is stated very generally that the use of a robot has not as yet been pursued for reasons of complexity and cost.
In the case of stack removal, it is also generally known that the use of wire clips to keep the individual plastic bags in the bag stack should be avoided. Rather, the individual plastic bags are blocked to form a bag stack right in the pin-stack conveyor, this being done in that the plastic bags are welded together by pressure and heat, at specific places, for example in an area that is delimited by a line of perforations.
It is true that in this way it is possible to achieve a significant simplification during the production of the plastic bags, since removal of the bags that from the pin stack conveyor can be managed much better and, in addition, it is much simpler to pack the plastic bags ire cartons or the like. Even so, the operator must ensure the quality of the blocked bag pack and prepare it for packaging, for example in a cartons. This preparation for packaging in a carton entails particular difficulties, especially in the case of plastic bags with bottom folds. This is so because the plastic bags that lie one on top of the other in the stack tend to fan out in the folded bottom area and are thus thicker at that point than in the flat head area. Depending on the type of and size of the bags involved, the bottom area will tend to break out if the bag pack is put in a horizontal or nearly horizontal position. For this reason, even if a robot-controlled mufti-function hand is used, the operator will have his hands full ensuring that uniform packs of bags are formed. Frequently, this can be done only if the production speed is reduced so that the person responsible for removing can keep up with the preparation of the packs.
It is the objectives of the present invention to create an apparatus of the type described in the introduction hereto, for transporting stackable packs of bags, in particular plastic bags with bottom folds, with which the removal and transfer of bag stacks from a pin stack conveyor to a packaging station is made even simpler and more rapid by appropriate automation.
According to the present invention, this objective has bean achieved in that in the area of the removal station the pin-stack conveyor incorporates a pivot plate that moves the bag pack that is ready for removal from a position in which it is essentially suspended from the stack pins into an essentially horizontal position and the gripper hand incorporates two clamping devices that are positioned so as to be diagonally opposite each other and grip the bag pack on both sides, as well as a pressure element that acts essentially on the middle of the bag pack and which can be adjusted for height. The means according to the present invention provide a comparatively simple solution to prevent the undesirable break-out of the bottom fold area of the plastic bag. In particular, this is achieved in that the bag pack that is suspended in the pin-stack conveyor is moved by the pivot plate into an essentially horizontal position, L
from which the bag pack that is being acted upon by the pressure element or a hold-down element connected thereto can be gripped by the gripper hand and held on the opposing sides by the clamping devices, so that movement of the pressure element relative to the bag pack causes the pack to be bent, thereby ensuring that the bottom fold area can no longer break out. By means of a robot that supports the gripper hand and by its transport movements, once the outer clamping devices have been released downward movement of the pressure element can deposit the bag pack in a waiting carton or the like, when the pressure element forming a V-bend can deposit the bag pack from the releasing clamping devices on to the bottom of the carton or on to a pack that is already in place in said carton. The gripper hand does not simply allow the a pack to drop; rather, the pack is optimally positioned on the last bag pack to have been deposited in the carton.
In another development of the present invention, the pressure element is formed by a bending bar that essentially extends in the longitudinal direction of the bag pack.
The bending bar or a supporting rail that holds this is secured to a first carrier plate by an adjusting cylinder that can be adjusted for height, the first carrier plate being connected either directly or indirectly to a boom arm of the robot.
The first supporting plate and a second supporting plate that is interleaved with this accommodate guide bars for supporting arms that are supported therein so as to be adjustable, the holding brackets of the clamping devices being connected in pairs to the free ends of these that face towards one side. The holding brackets can be moved by hydraulic cylinders to the dimensions of the particular bag packs that are to be transported.
A preferred embodiment of the present invention will be described in greater detai-~ below on the basis of the drawings appended hereto. These drawings show the following:
Figure l: a plan view of a part of a bag-making machine with a pin-stack conveyor, including a robot with a gripper hand as well as an associated removal station;
Figure 2: a side view of the pin stack conveyor with a part of the gripper hand, at enlarged scale;
Figure 3: a partial cross section through the gripper hand in an open position;
Figure 4: an associated view of the gripper hand;
Figure 5: a diagrammatic side view of the gripper;
Figure 6: a cross section view corresponding to Figure 3, although in a position gripping a bag pack;
Figure 7: a view corresponding to Figure 6, in a position wherein the bag pack is released.
Figure 1 is a diagrammatic view of a bag-making machine 1 that is configured and equipped to manufacture plastic bags, for example plastic bags with a bottom fold. To this end, a plastic foil web of thermoplastic material is wound off a supply roll in a winding stand (not shown herein); this web can be formed as a tubular foil web. Within the bag-making machine 1, the tubular foil web is guided by means of drive rollers and tension rollers (not shown herein). Two suspension holes are made in the plastic foil web by means of devices (not shown herein) and individual bags can be separated off from the tubular foil web by means of a transverse-cut welding device (not shown herein). Finally, these bags are moved to the pin-stack conveyor 2 by means of a pin-stack chain 3 that moves incrementally. Once on the pin stack conveyor, plastic bags that are collected continuously can be formed into bag packs in the manner known per se. To this end, the pin-stack conveyor has stack pins 4 on the pin stack chain 3 that are arranged in pairs, and as can be seen from Figure 2, the bag pack 5 is hung on these by way of the suspension openings in the bags, when it then hangs down essentially freely. The bags collected into packs are blocked with each other in the pin-stack conveyor in the manner known per se.
Once a blocked bag stack 5 has been formed on the pin stack chain 3, the finished bag stack is removed at the end of the pin-stack conveyor 3 with the help of a robot 6 that is arranged at the end of the pin-stack conveyor 2, and which has a gripper hand 8 that is mounted on a boom 7. The function of the robot or the gripper 8 is described in greater detail below.
A freely moving, rotatable roller 9 is provided at the removal station of the pin stack conveyor 2 in order to improve guidance of the bag stack 5; this roller 9 keeps the bag stack 5 a short distance away from a pivot plate 11 that is supported so as to be rotatable about an essentially horizontal axis 12 at the upper end of the pin-stack conveyor 2. With the aid of this pivot plate 11, the bag pack 5 can be moved from the suspended position indicated in Figure 2 by the broken lines into an essentially horizontal position that is indicated in Figure 2 by broken lines. An adjusting cylinder 13 is used to pivot the pivot plate, and this is articulated so as to be able to pivot on an arm 14 of the supporting frame 15 at point 16. Figure 2 also shows a part of the gripper hand in order to indicate the position from which the gripper hand 8 grasps the bag pack 5 that is lying essentially horizontally in a manner described in greater detail below and then guides it to a removal station 18 in the direction indicated by the arrow 17, where there is an empty carton 19 that can accommodate a plurality of bag packs 5.
As can be seen from Figure 3 and Figure 4, the gripper hand 8 has carrier plates 20, 21 that are interleaved and which :J
can move each other along a longitudinal guide 23; one of these is secured to the boom 7 of the robot 6. Just below the underside of the carrier plate 20 there is a pressure element 22 in the form of a bending bar that is supported on a supporting rail 22'. The level of the bending bar 22 can be adjusted for height by way of an adjusting cylinder 24 for purposes that will be described in greater detail below. Guide rails 25, 26 that are offset relative to each other are arranged on the carrier plate 20, 21; these are arranged in pairs towards one or the other side. The guide rails serve to accommodate supporting arms 27, 28 that are installed in them so as to be movable and on which diametrically opposed retaining brackets 29, 31 are guided.
A piston-cylinder unit 32, 33 is provided in order to move each retaining bracket 29, 31 into a position that accommodates the bag pack 5 and into a release position; one piston-cylinder unit is secured to supporting plate 22 and the other is secured to the other supporting plate 21. The retaining brackets 31 have a lower arm 34, 35 and an upper arm 36, 37. Clamping cylinders 38, 39 are secured to each of the upper arms 36, 37, and the piston rods 41, 42 of these incorporate clamping pieces 43, 44.
Figure 3 and Figure 4 show the gripper hand 8 with its clamping devices 30 extended in order to accommodate a bag pack 5, whilst Figure 5 and Figure 6 show it in the release position.
The device according to the present invention operates as follows:
The gripper hand receiving position is shown in Figure 3, i.e., the retaining brackets 29 and 31 have been moved outward. The pivot plate 11 of the pin stack conveyor is now pivoted upward by the adjusting cylinder 13, so that the bag pack 5 moves from the position in which it is hanging essentially freely downward into the position shown in Figure 2, which is essentially horizontal; this can also be seen in Figure 3.
Then, each retaining bracket 29, 31 is moved inward by its associated cylinder-piston units 32, 33 so that the bag pack is accommodated by the lower arms 34, 35 of the retaining bracket 29, 31. In the retracted position, in conjunction with the pressure element 22, it can be ensured that the bottom fold area cannot break out to the inside. If necessary, the bag pack can be bent slightly by the bending bar 22 that runs obliquely upward to the bottom fold area of the bag pack; this is shown in Figure 6. The bags or the bag pack, respectively, are held on both sides by the clamping cylinders 38, 39 or by way of the clamping pieces 43, 44 that are located on the piston rods 41, 42, so that the bag pack is centered in its position. The bag pack that is clamped in this way is brought into a removal position in the area of the packaging station 18 with the aid of the robot 6;
this is done in such a way that t:he gripper hand is situated above a carton 19 that is to be filled and, if necessary, it moves into this. As soon as the correct position has been reached, the clamping cylinders 38, 39 move upward, the retaining bracket 29, 31 remaining in the same position, and the pressure element or the bending bar 22 is so extended that the pack is bent into a V-shape when it is laid into the carton as is shown in Figure 7. This ensures that the thicker or fanned-out fold bottom areas cannot break-out and that, on the other hand, the bag pack can be laid into a waiting carton 19. In the meantime, the pivot plate 11 has once again been pivoted back into its starting position, in which it faces essentially downward.
DE 38 34 115 Cl makes general reference to the use of a robot in order to automate the removal process in a removal station. However, this known device proceeds from the idea that the individual plastic bag are retained in a bag stack by using wire clips. Details as to how the robot is to be used for the removal of the plastic bags are not provided in this document;
rather it is stated very generally that the use of a robot has not as yet been pursued for reasons of complexity and cost.
In the case of stack removal, it is also generally known that the use of wire clips to keep the individual plastic bags in the bag stack should be avoided. Rather, the individual plastic bags are blocked to form a bag stack right in the pin-stack conveyor, this being done in that the plastic bags are welded together by pressure and heat, at specific places, for example in an area that is delimited by a line of perforations.
It is true that in this way it is possible to achieve a significant simplification during the production of the plastic bags, since removal of the bags that from the pin stack conveyor can be managed much better and, in addition, it is much simpler to pack the plastic bags ire cartons or the like. Even so, the operator must ensure the quality of the blocked bag pack and prepare it for packaging, for example in a cartons. This preparation for packaging in a carton entails particular difficulties, especially in the case of plastic bags with bottom folds. This is so because the plastic bags that lie one on top of the other in the stack tend to fan out in the folded bottom area and are thus thicker at that point than in the flat head area. Depending on the type of and size of the bags involved, the bottom area will tend to break out if the bag pack is put in a horizontal or nearly horizontal position. For this reason, even if a robot-controlled mufti-function hand is used, the operator will have his hands full ensuring that uniform packs of bags are formed. Frequently, this can be done only if the production speed is reduced so that the person responsible for removing can keep up with the preparation of the packs.
It is the objectives of the present invention to create an apparatus of the type described in the introduction hereto, for transporting stackable packs of bags, in particular plastic bags with bottom folds, with which the removal and transfer of bag stacks from a pin stack conveyor to a packaging station is made even simpler and more rapid by appropriate automation.
According to the present invention, this objective has bean achieved in that in the area of the removal station the pin-stack conveyor incorporates a pivot plate that moves the bag pack that is ready for removal from a position in which it is essentially suspended from the stack pins into an essentially horizontal position and the gripper hand incorporates two clamping devices that are positioned so as to be diagonally opposite each other and grip the bag pack on both sides, as well as a pressure element that acts essentially on the middle of the bag pack and which can be adjusted for height. The means according to the present invention provide a comparatively simple solution to prevent the undesirable break-out of the bottom fold area of the plastic bag. In particular, this is achieved in that the bag pack that is suspended in the pin-stack conveyor is moved by the pivot plate into an essentially horizontal position, L
from which the bag pack that is being acted upon by the pressure element or a hold-down element connected thereto can be gripped by the gripper hand and held on the opposing sides by the clamping devices, so that movement of the pressure element relative to the bag pack causes the pack to be bent, thereby ensuring that the bottom fold area can no longer break out. By means of a robot that supports the gripper hand and by its transport movements, once the outer clamping devices have been released downward movement of the pressure element can deposit the bag pack in a waiting carton or the like, when the pressure element forming a V-bend can deposit the bag pack from the releasing clamping devices on to the bottom of the carton or on to a pack that is already in place in said carton. The gripper hand does not simply allow the a pack to drop; rather, the pack is optimally positioned on the last bag pack to have been deposited in the carton.
In another development of the present invention, the pressure element is formed by a bending bar that essentially extends in the longitudinal direction of the bag pack.
The bending bar or a supporting rail that holds this is secured to a first carrier plate by an adjusting cylinder that can be adjusted for height, the first carrier plate being connected either directly or indirectly to a boom arm of the robot.
The first supporting plate and a second supporting plate that is interleaved with this accommodate guide bars for supporting arms that are supported therein so as to be adjustable, the holding brackets of the clamping devices being connected in pairs to the free ends of these that face towards one side. The holding brackets can be moved by hydraulic cylinders to the dimensions of the particular bag packs that are to be transported.
A preferred embodiment of the present invention will be described in greater detai-~ below on the basis of the drawings appended hereto. These drawings show the following:
Figure l: a plan view of a part of a bag-making machine with a pin-stack conveyor, including a robot with a gripper hand as well as an associated removal station;
Figure 2: a side view of the pin stack conveyor with a part of the gripper hand, at enlarged scale;
Figure 3: a partial cross section through the gripper hand in an open position;
Figure 4: an associated view of the gripper hand;
Figure 5: a diagrammatic side view of the gripper;
Figure 6: a cross section view corresponding to Figure 3, although in a position gripping a bag pack;
Figure 7: a view corresponding to Figure 6, in a position wherein the bag pack is released.
Figure 1 is a diagrammatic view of a bag-making machine 1 that is configured and equipped to manufacture plastic bags, for example plastic bags with a bottom fold. To this end, a plastic foil web of thermoplastic material is wound off a supply roll in a winding stand (not shown herein); this web can be formed as a tubular foil web. Within the bag-making machine 1, the tubular foil web is guided by means of drive rollers and tension rollers (not shown herein). Two suspension holes are made in the plastic foil web by means of devices (not shown herein) and individual bags can be separated off from the tubular foil web by means of a transverse-cut welding device (not shown herein). Finally, these bags are moved to the pin-stack conveyor 2 by means of a pin-stack chain 3 that moves incrementally. Once on the pin stack conveyor, plastic bags that are collected continuously can be formed into bag packs in the manner known per se. To this end, the pin-stack conveyor has stack pins 4 on the pin stack chain 3 that are arranged in pairs, and as can be seen from Figure 2, the bag pack 5 is hung on these by way of the suspension openings in the bags, when it then hangs down essentially freely. The bags collected into packs are blocked with each other in the pin-stack conveyor in the manner known per se.
Once a blocked bag stack 5 has been formed on the pin stack chain 3, the finished bag stack is removed at the end of the pin-stack conveyor 3 with the help of a robot 6 that is arranged at the end of the pin-stack conveyor 2, and which has a gripper hand 8 that is mounted on a boom 7. The function of the robot or the gripper 8 is described in greater detail below.
A freely moving, rotatable roller 9 is provided at the removal station of the pin stack conveyor 2 in order to improve guidance of the bag stack 5; this roller 9 keeps the bag stack 5 a short distance away from a pivot plate 11 that is supported so as to be rotatable about an essentially horizontal axis 12 at the upper end of the pin-stack conveyor 2. With the aid of this pivot plate 11, the bag pack 5 can be moved from the suspended position indicated in Figure 2 by the broken lines into an essentially horizontal position that is indicated in Figure 2 by broken lines. An adjusting cylinder 13 is used to pivot the pivot plate, and this is articulated so as to be able to pivot on an arm 14 of the supporting frame 15 at point 16. Figure 2 also shows a part of the gripper hand in order to indicate the position from which the gripper hand 8 grasps the bag pack 5 that is lying essentially horizontally in a manner described in greater detail below and then guides it to a removal station 18 in the direction indicated by the arrow 17, where there is an empty carton 19 that can accommodate a plurality of bag packs 5.
As can be seen from Figure 3 and Figure 4, the gripper hand 8 has carrier plates 20, 21 that are interleaved and which :J
can move each other along a longitudinal guide 23; one of these is secured to the boom 7 of the robot 6. Just below the underside of the carrier plate 20 there is a pressure element 22 in the form of a bending bar that is supported on a supporting rail 22'. The level of the bending bar 22 can be adjusted for height by way of an adjusting cylinder 24 for purposes that will be described in greater detail below. Guide rails 25, 26 that are offset relative to each other are arranged on the carrier plate 20, 21; these are arranged in pairs towards one or the other side. The guide rails serve to accommodate supporting arms 27, 28 that are installed in them so as to be movable and on which diametrically opposed retaining brackets 29, 31 are guided.
A piston-cylinder unit 32, 33 is provided in order to move each retaining bracket 29, 31 into a position that accommodates the bag pack 5 and into a release position; one piston-cylinder unit is secured to supporting plate 22 and the other is secured to the other supporting plate 21. The retaining brackets 31 have a lower arm 34, 35 and an upper arm 36, 37. Clamping cylinders 38, 39 are secured to each of the upper arms 36, 37, and the piston rods 41, 42 of these incorporate clamping pieces 43, 44.
Figure 3 and Figure 4 show the gripper hand 8 with its clamping devices 30 extended in order to accommodate a bag pack 5, whilst Figure 5 and Figure 6 show it in the release position.
The device according to the present invention operates as follows:
The gripper hand receiving position is shown in Figure 3, i.e., the retaining brackets 29 and 31 have been moved outward. The pivot plate 11 of the pin stack conveyor is now pivoted upward by the adjusting cylinder 13, so that the bag pack 5 moves from the position in which it is hanging essentially freely downward into the position shown in Figure 2, which is essentially horizontal; this can also be seen in Figure 3.
Then, each retaining bracket 29, 31 is moved inward by its associated cylinder-piston units 32, 33 so that the bag pack is accommodated by the lower arms 34, 35 of the retaining bracket 29, 31. In the retracted position, in conjunction with the pressure element 22, it can be ensured that the bottom fold area cannot break out to the inside. If necessary, the bag pack can be bent slightly by the bending bar 22 that runs obliquely upward to the bottom fold area of the bag pack; this is shown in Figure 6. The bags or the bag pack, respectively, are held on both sides by the clamping cylinders 38, 39 or by way of the clamping pieces 43, 44 that are located on the piston rods 41, 42, so that the bag pack is centered in its position. The bag pack that is clamped in this way is brought into a removal position in the area of the packaging station 18 with the aid of the robot 6;
this is done in such a way that t:he gripper hand is situated above a carton 19 that is to be filled and, if necessary, it moves into this. As soon as the correct position has been reached, the clamping cylinders 38, 39 move upward, the retaining bracket 29, 31 remaining in the same position, and the pressure element or the bending bar 22 is so extended that the pack is bent into a V-shape when it is laid into the carton as is shown in Figure 7. This ensures that the thicker or fanned-out fold bottom areas cannot break-out and that, on the other hand, the bag pack can be laid into a waiting carton 19. In the meantime, the pivot plate 11 has once again been pivoted back into its starting position, in which it faces essentially downward.
Claims (7)
1. Device for moving stackable packs of bags, in particular plastic bags with bottom folds, with a pin stack conveyor that incorporates a pin stack chain with stack pins that moves incrementally, and a removal station that incorporates a robot with a gripper hand formed in the manner of pincers, characterized in that in the area of the removal station, the pin-stack conveyor (2) incorporates a pivot plate (11 that moves the bag pack (5) that is ready for removal from a position in which it is essentially suspended from the stack pins (4) into an essentially horizontal position and the gripper hand (8) incorporates clamping devices (30) that are located diagonally opposite each other and which grip the bag pack (5) on both sides, as well as a pressure element (22) that can be adjustable for height and which acts on the bag pack (5) essentially at its middle point.
2. Device as defined in Claim 1, characterized in that the pressure element comprises a supporting bar (22') with a bending bar (22) that extends essentially in the longitudinal direction of they bag pack (5).
3. Device as defined in Claim 1 or Claim 2, characterized in that a hold-down (23) that can act on the bottom fold area of the bag pack is secured to the bend bar (22).
4. Device as defined in one of the Claims 1 to 3, characterized in that the bend bar (22) is secured so as to be spaced apart from the carrier plates (20, 21) that are connected to the boom arm (7) of the robot (6), on which the adjusting cylinders (24) for the bend bar (22) are mounted either directly or indirectly.
5. Device as defined in one or more of the Claims 1 to 4, characterized in that guide rails (25, 26) for supporting arms (27, 28) that are supported therein so as to be adjustable are secured to the carrier plates (20, 21), holding brackets (29, 31) of the clamping devices (30) being connected by pairs to the free ends that each face to one side.
6. Device as defined in Claim 5, characterized in that the holding brackets (29, 31) are adjustable by piston-cylinder units (32, 33) that are supported on the holding plate (21).
7. Device as defined in one of the Claims 5 or 6, characterized in that the holding brackets (29, 31) of the clamping devices (30) have upper and lower arms (34, 35, 36, 37) that are angled inward; and in that clamping cylinders (38, 39) are secured to the upper arms (36, 37), the piston rods of which (41, 42) support clamp>ing pieces (43, 44) that are essentially parallel to the bending bar (22).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19847932A DE19847932A1 (en) | 1998-10-19 | 1998-10-19 | Device for transporting stackable packs of bags, in particular plastic bags with a bottom fold |
| DE19847932.8 | 1998-10-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2286952A1 true CA2286952A1 (en) | 2000-04-19 |
Family
ID=7884806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002286952A Abandoned CA2286952A1 (en) | 1998-10-19 | 1999-10-18 | Apparatus for moving stackable bag packs, in particular plastic bags with bottom folds |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP0995589B1 (en) |
| JP (1) | JP2000128135A (en) |
| CA (1) | CA2286952A1 (en) |
| DE (2) | DE19847932A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555168A (en) * | 2018-05-07 | 2018-09-21 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19924625A1 (en) | 1999-05-28 | 2000-11-30 | Lemo Maschb Gmbh | Device for stacking and transporting plastic bags, in particular automatic bags |
| EP1375405A1 (en) * | 2002-06-27 | 2004-01-02 | Innopack S.r.l. | Unit for handling a product comprising at least one ream of sheets |
| EP2039632B1 (en) * | 2007-09-13 | 2010-03-03 | Multivac Sepp Haggenmüller GmbH & Co. KG | Device for storing and transporting an article |
| WO2010044109A1 (en) * | 2008-10-13 | 2010-04-22 | Trevisan Cometal S.P.A. | Stacking and/or destacking machine |
| DE102009030011A1 (en) * | 2009-06-23 | 2010-12-30 | Weber Maschinenbau Gmbh Breidenbach | product gripper |
| WO2012034219A1 (en) * | 2010-09-13 | 2012-03-22 | Premier Tech Technologies Ltée | Automated displacing device for filling a bag |
| EP2439026A1 (en) * | 2010-10-06 | 2012-04-11 | Weber Maschinenbau GmbH Breidenbach | Portion gripper |
| WO2013055208A2 (en) * | 2011-10-10 | 2013-04-18 | Moba Group B.V. | Conveyor for trays |
| JP5906901B2 (en) * | 2012-03-30 | 2016-04-20 | 富士通株式会社 | Robot hand, robot, and removal method |
| CN105415359B (en) * | 2015-11-30 | 2023-08-18 | 诸暨市润拓机械自动化科技有限公司 | Feeding manipulator |
| JP7274409B2 (en) * | 2019-12-27 | 2023-05-16 | Ｐａｃｒａｆｔ株式会社 | Bag bundle transfer system and bag bundle transfer method |
| DE102020103400A1 (en) | 2020-02-11 | 2021-08-12 | Heidelberger Druckmaschinen Aktiengesellschaft | Method for moving a stack of products with a robot |
| JP7432480B2 (en) | 2020-10-07 | 2024-02-16 | Ｐａｃｒａｆｔ株式会社 | Bag bundle transport device and bag bundle transport method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3834115C1 (en) * | 1988-10-07 | 1990-05-03 | Karl Heinz 7000 Stuttgart De Stiegler | |
| ES2030299T3 (en) * | 1988-12-31 | 1992-10-16 | System Gmbh | ROBOT PALLETIZER. |
| JPH08217245A (en) * | 1995-02-13 | 1996-08-27 | I A Syst Kk | Transporting method and device |
-
1998
- 1998-10-19 DE DE19847932A patent/DE19847932A1/en not_active Withdrawn
-
1999
- 1999-09-28 EP EP99119272A patent/EP0995589B1/en not_active Expired - Lifetime
- 1999-09-28 DE DE59907791T patent/DE59907791D1/en not_active Expired - Fee Related
- 1999-10-18 CA CA002286952A patent/CA2286952A1/en not_active Abandoned
- 1999-10-18 JP JP11295595A patent/JP2000128135A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555168A (en) * | 2018-05-07 | 2018-09-21 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
| CN108555168B (en) * | 2018-05-07 | 2023-09-15 | 苏州神运机器人有限公司 | Robot gripper rotating fine adjustment mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| DE59907791D1 (en) | 2003-12-24 |
| EP0995589B1 (en) | 2003-11-19 |
| JP2000128135A (en) | 2000-05-09 |
| DE19847932A1 (en) | 2000-04-20 |
| EP0995589A2 (en) | 2000-04-26 |
| EP0995589A3 (en) | 2000-05-24 |
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