CN107683249A

CN107683249A - Conveying, the method and apparatus for providing and the reel with packaging material being changed in packing machine

Info

Publication number: CN107683249A
Application number: CN201680022825.0A
Authority: CN
Inventors: 托马斯·维默尔; 赫尔伯特·斯宾徳勒
Original assignee: Krones AG
Current assignee: Krones AG
Priority date: 2015-04-30
Filing date: 2016-04-14
Publication date: 2018-02-09
Anticipated expiration: 2036-04-14
Also published as: EP3288873A1; EP3288873B1; CN107683249B; WO2016173853A1; DE102015208122A1

Abstract

The invention discloses the method and equipment for conveying, providing, carrying and/or changing reel (12,20), the reel is with flat and/or thin-film material wound thereon and as packaging member goods, the packaging material for attaching together part or the like group.In the apparatus and method, at least one installation site (EB1 by least approximate reel (20) for unwinding and/or exhausting completely by packing machine (14), EB2) remove and then corresponding installation site (EB1 will be encased in flat and/or thin-film material new reel (12) respectively, EB2 in), wherein, new reel (12) is supplied to packing machine (14) and after the reel consumed (20) is removed in advance therefrom in the feeding mechanism of restriction, new reel is encased in corresponding installation site (EB1 by means of at least one crawl and/or handling device (16) there, EB2 in).The crawl and/or handling device (16) are equipped with the temporary place of the reel (12) for be encased in packing machine (14), and the temporary place may be used as the support (62) of reel (12), particularly be used to deposit reel, provide reel receive with meeting rotation direction and again reel by crawl and/or handling device (16) to hand in packing machine (14).

Description

Conveying, provide and in packing machine change with packaging material reel method and Equipment

Technical field

The present invention relates to a kind of method of the feature with independent claims 1, this method is used to convey, provide, carry And/or reel is changed inside packing machine, the reel has wound thereon and is used as packaging member goods, attaches together part Or the like group packaging material flat and/or thin-film material.The invention further relates to one kind to have independent claims 10 Feature equipment, the equipment is used to conveying, provide, carry and/or changing reel, the reel have it is wound thereon and And the flat and/or thin-film material as packaging member goods, the packaging material for attaching together part or the like group.

Background technology

By article, such as container for drink or the like be grouped and be combined into attach together part when, in practice through normal open Cross shrink film these articles keep together, to prevent combining landing by article in further carry or in transport Or release.By prior art is for example known part is attached together including four, six or more containers.Such part that attaches together is to be used for The fairly common modification of the sale unit of container for drink or bottle made of PET.In order to packaging when and/or with High productivity ratio is realized during rear stacking, it is expected to combine as rapidly as possible so in the case where not interrupting each production stage Attach together part.

Attach together part to provide packaging material or shrink film either partially or fully to coat, it is known that some equipment and Method, these apparatus and method are unwind material by one or more reel, in packing machine delivered inside and at the same time Attach together part using packaging material cladding is each or each can form each article for attaching together part.Here, packaging material is by reel Unwinding can generally be carried out flexibly and as a continuous process.Some known equipment, in such devices pass through packaging material Roller is extracted out by the reel rotated herein.If unwinding reel and using up the packaging material of reel deposit, must change corresponding Reel or replaced by new reel.But, associated with so replacing reel is undesirably to interrupt to combine and pack Attach together the process of part.

Such as a kind of method and a kind of equipment as known to the A1 of document DE 40 40 545, can by means of this method and equipment To feed new reel and the reel consumed changed inside packaging machine.This known equipment, which has, multiple carries band The deposit reel of material, these deposit reels are abreast set.The core of reel, which covers, to be attached on common pin.By stripping Initiating terminal be connected in advance with roller, the roller by stripping extracted out by corresponding reel and be downwardly away from equipment guide.For This known equipment can be run and unwind material by reel, the reel must meet rotation direction using its core Ground set is attached on pin.The first layer of stripping or stripping must be sunk to by top towards roller.If reel is with phase Anti- rotation direction set is attached on pin, then stripping can not or can only be extracted out difficulty by reel, is thus produced in unwinding It is difficult.In order to ensure glitch-free operation, according to the rotation direction of the new reel of suit, can not be saved in these known equipment Go manual transfer and meet the suit again of rotation direction.

In addition, consumed for the material that automation is supplied on reel in processing machine or packing machine with replacing The equipment of reel is with different implementation flexible programs, it is known that is, for example according to the A1 of document DE 32 02 647 or pressing Pass through according to the A1 of document DE 41 42 256 for being supplied in processing machine and changing the equipment of the spool with strip material Know.

The A1 of document DE 34 25 734 disclose a kind of for packaging material to be supplied into oneself of production and/or baling line Dynamicization equipment.This equipment includes the hopper for packaging material and the fork truck equipped with articulated jib, and the articulated jib is used to catch Packaging material and the processing machine that packaging material is supplied on processing line.Fork truck with articulated jib is along by calculating The route running that machine equipment determines, the computer equipment are connected with processing machine.

A kind of in addition, dress for being used to supply consumption or packaging material to packing machine known to the B1 of document EP 1 273 541 Put.The material roll for being wound into spool is supplied on pallet and is assigned on multiple productions and packing machine, wherein, by respectively Individual spool is removed by single spool conveyer and transported to during the machine to be supplied, is incited somebody to action first by means of conveyor pallet Pallet is taken in transition storage portions.

The A1 of document DE 10 2,006 017 379 disclose a kind of dress for being used to carry the reel being made up of packaging material Put.This device includes the reel bunker with portal frame, wherein, reel is stored on pallet.With gantry machinery cranked arm Hand on demand transfers reel to the winding unit being arranged on outside portal frame.Therefrom, material roll is being put down towards the side on opposite Row is in being fed to consumption equipment on the direction of portal frame Longitudinal extending.

Known method for carrying and equipment usually require to be precisely located and supply new reel or with wound thereon Packaging material reel.It is difficult successfully to change the reel consumed, thus not if be precisely located described in not ensuring The operability of packing machine is ensured again.In addition, in known packing machine must by reel to be accordingly correctly oriented loading, because Need accurate guiding for material roll to be unwind and be only allowed in for this reason in certain position to load reel, at this Material roll to be unwind, that is, in rotational direction adapter to the left or to the right can be taken in position by the guide device arranged.

The content of the invention

For these reasons, it is an object of the present invention to provide it is a kind of be used to carrying flat on reel and/or Thin-film material and with high automaticity apparatus and method, can be carried un-interrupted by means of the apparatus and method For flat and/or thin-film material.Even if the reel received by crawl and/or handling device may be filled with incorrect rotation direction It is fashionable, the equipment and methods described can also realize reel in packing machine with phase in requisition for rotation direction position, wherein, phase The reel feeding mechanism that should be equipped with is worked without problems and with outstanding tolerance and ensures to roll up under all operating conditions The smooth replacing of cylinder.

The purpose of the present invention is realized using the theme of independent claims.The spy for being advantageously improved scheme of the present invention Sign is drawn by dependent claims.In order to realize the purpose being previously mentioned, the present invention propose it is a kind of be used to convey, provide, carry and/ Or the method for changing reel, the reel carry wound thereon and are used as packaging member goods, attach together part or similar The flat and/or thin-film material of the packaging material of article group.In the process, by least approximate unwinding completely and/or consumption Most reel is removed by least one installation site of packing machine and then carries flat and/or thin-film material by one every time New reel be encased in corresponding installation site.In a particularly preferred embodiment, the equipment can include at least two Different installation sites.Described at least two different installation sites can be opposed to or be disposed adjacently.Each installation position Putting can be configured to receive reel or receive just what a reel.

Generally, after new reel is loaded every time, by the exterior layer of each new reel near the free end of reel or Person extracted out in the region of the free end and in order to formed the material roll of no interruption and another reel in packing machine One section of connection of the material roll of guiding, particularly weld or be bonded.However it is also contemplated that ensure the required bag without interruption Ship other connection possibilities of row.Methods described provides, in the feeding mechanism of restriction, for example by means of pallet, shelf system New reel is supplied to packing machine and there by means of extremely by system, FTS (that is, unmanned transportation system) or the like The new reel is encased in corresponding installation site by a few crawl and/or handling device, is removed therefrom in advance before this The reel consumed.Preferably by means of carrying and grabbing device independently receives reel and by reel by orderly feeding mechanism It is encased in packing machine.According to the present invention, methods described it further provides that, during reel is carried by crawl and/or handling device Check and what (that is, when reel mistake is placed) amendment each will be newly encased in packing machine on demand turns meeting for reel The positioning in dynamic direction, the reel that the mistake is placed have the loose material roll end in the opposite way round.In order to correct Rotation direction, crawl and/or handling device are equipped with the temporary place for the reel in packing machine to be encased in, and the temporary place uses Make the support of reel, be particularly used to deposit reel, provide reel with meeting rotation direction and by crawl and/or handling device Reel is received again to hand in packing machine.Temporary place can particularly be formed by fulcrum bearing or the like, the supporting Seat occupies fixed or variable position in the space of crawl and/or handling device.Optionally, fulcrum bearing can be with structure Make as FTS's or the shuttle machine of so-called unpiloted transportation system, thus, the fulcrum bearing can be when reel will commutate Implement the automatic rotation around its vertical axis 180 degree, grabbed so as to which the reel deposited there is supplied to correct position Take and/or handling system and by crawl and/or handling system receive again.In this case, can also optionally advise Fixed, temporary place or fulcrum bearing are equipped with video camera, it may thereby be ensured that the additional optical monitoring at fulcrum bearing, to examine Survey roll position etc. and control fulcrum bearing or crawl and/or handling device in a desired manner.

In addition, it is contemplated that the tube filler of each reel being stored in temporary place is checked by means of optical detection apparatus Whether damage is had, wherein, do not transfer corresponding reel to packing machine when tube filler is present or produces damage, and wherein, Crawl and/or handling device receive reel when damage is not present in tube filler and transfer reel to packing machine again, to incite somebody to action Reel is encased in corresponding installation site.In this case, can particularly make optical detection apparatus via crawl and/or Handling device is moved for checking whether tube filler has damage towards tube filler or towards temporary place.In addition, crawl and/or carrying Device can tube filler exist or produce damage when by the corresponding reel with the tube filler damaged be placed on pallet or by Temporary place obtains and screened corresponding reel.

In addition, fulcrum bearing can be equipped with the rotation for making the horizontal median axis rotation in reel winding reel thereon Driver, to adjust the orientation at the edge of the exterior layer of the turned position of reel and/or material roll.It is fixed with fulcrum bearing Or movable is unrelated, and the fulcrum bearing can be equipped with appropriate changement, to implement 180 ° when reel is kept flat Rotate, so as to which reel can be made to reach in correct installation site.As already mentioned, temporary place can be optionally by nothing Transportation system that people drives and/or remote control is formed, and crawl and/or handling device will be wanted to be encased in packing machine It is individually placed in temporary place to change the new reel of its rotation direction, and is received again after 180 degree is turned over around vertical axis The new reel and place it in packing machine, be at this moment with for corresponding installation site correct rotation direction enter What row was placed, it is necessary to which described correctly rotate for the accurate guiding that packaging material left-hand to be unwind or dextrad rotate Direction.

Another according to the present invention implements flexible program, is supervised by means of appropriate optical sensor arrangement and/or space Position and/or detection of the reel in the region of the feeding mechanism of restriction and/or offer device can also at least be detected by surveying device Crawl and/or handling device and/or its space.In addition, practical, by means of appropriate optical sensor arrangement and/ Or reel storage is also being received in the region at temporary place or again the reel phase by SS device there and therefrom Between detect reel position.According to the spatial data, exercise data and/or sensing data detected at least control crawl and/ Or handling device for the feeding mechanism of the restriction of reel and/or provide device region in motion or in the crawl And/or the motion in the corresponding space of handling device.According to the spatial data, exercise data and/or sensing detected Device data can also control the control campaign, rotary motion and/or commutation motion at temporary place or fulcrum bearing, the control fortune In the space of dynamic, rotary motion and/or commutation motion in crawl and/or handling device.

Methods described may further specify that, the SS device being previously mentioned by least one optical detection apparatus, particularly Video camera is formed, and the optical detection apparatus at least detects the space of crawl and/or handling device and provides output signal, The motion that the output signal describes the space and crawl and/or handling device occurs in the space.This In the case of, at least one optical detection apparatus either video camera can for example arrange to crawl and/or handling device or Installation there, so as to the optical detection apparatus or video camera check that crawl and/or the motion of handling device and The orientation for meeting rotation direction of each new reel is checked when before new reel is loaded or loading new reel.It is but optional Ground, video camera can also cover the space, and its mode is, the camera position be fixedly mounted in space or By packing machine；Video cameras add or multiple may also be provided with crawl and/or handling device.It can generally use multiple Video camera or optical detection apparatus, the output signal of these video cameras or optical detection apparatus can be superimposed and is used for It is accurately determined the position of all part, handling system and/or with packaging material reels to be exercised.

SS device can also be formed by one or more video cameras, and the video camera is arranged to temporary place or prison The space environment at temporary place is surveyed, so as to accurately detect the reel deposited there and determine position and the ideal of reel Ground determines the rotation direction of reel, can quickly to change rotation direction if necessary, as long as this is for correct in packing machine Installation site for be desirable.

Method according to the present invention can be realized the new reel essence with packaging material wound thereon by this way Really position and be supplied to packing machine.The accurate positioning of handling device may insure successfully to change the reel consumed, Thus the operability of packing machine is ensured in an ideal way.Methods described is carried on reel for packaging purpose There is high automaticity, so as to which nothing can be realized in the embodiment being contemplated that in the case of flat and/or thin-film material Interruptedly or at least approximation provides flat and/or thin-film material un-interrupted.In addition, methods described in reel feeding mechanism not Without problems and work and can also ensure under all operating conditions with outstanding tolerance in the case of being accurately positioned The smooth replacing of reel.

In the process, crawl and/or handling device can particularly be formed by multi-axis robot, the multi-axis robot New reel is received by the feeding mechanism limited and the new reel is placed in packing machine.As mentioned, carry Robot can optionally be equipped with single video camera, and the video camera for example may be mounted at the movable of transfer robot On cantilever, so as to shooting function detection all motions in space and to be received and to navigate to the volume in packing machine Cylinder.Handling device or multi-axis robot preferably have appropriate crawl or holding element, to receive reel.Therefore, carry Device or multi-axis robot, which can for example have, keeps mandrel, and the holding mandrel protrudes into the construction of each new reel in side In the tube filler of hollow body, to increase the maximum cross section diameter of the holding mandrel or increasing the cross-sectional area of the holding mandrel And each new reel is fixed on handling device or multi-axis robot with blocking with this.

Alternatively, in the method according to the invention, crawl and/or handling device can also by unpiloted and/or Transportation system's (FTS, shuttle machine of at least one self-propelled) of remote control is formed, and the transportation system is by the feeding mechanism that limits Receive new reel and the new reel is placed in packing machine.The shuttle machine of the FTS or FTS can for example have crawl Arm or the like receives reel for receiving and carrying reel, using the crawl arm, reel is stored on transport support, Then travelled together with reel towards packing machine and load reel there.Alternatively, the shuttle machine can be equipped The video camera of itself, to control the motion of the shuttle machine in space.

Methods described may further specify that, packing machine in itself or packing machine be used for it is with packaging material and replaceable At least one installation site of reel is also by optical monitoring.In this case, in packing machine, particularly in the volume to be changed Additional optical monitoring device or shooting can be either set in the region of the installation site of the reel in the region of cylinder Machine.

In addition, in another flexible program according to the method for the present invention advantageously, by least one optical markings New reel is applied in the part in the region of the free end of its exterior material width and by means of handling device by newly Reel is so encased in respective installation site or is so directed to new reel each before each exterior layer is extracted out Installation site in so that optical markings point to corresponding opposed installation site.At least one optical markings are each new Reel is for example so applied on the new reel before being encased in respective installation site so that by means of optical markings The free end of the exterior material width of each new reel is at least fixedly secured on each new reel as far as possible.Methods described It can be stated that optical markings are for example applied on the new reel in temporary place, if necessary in the video camera in monitoring space Or apply in the case where the auxiliary for the video camera being arranged in temporary place is supported.However, optical markings can also be applied in conveying Another position in the region of device, manually apply as necessary by operator or support staff.Particularly, in order to aobvious Show and ensure the correct rotation direction of reel, be encased in so as to which reel be correctly oriented with it in packing machine, the optics Mark can be important.

Such as new spool motion can be made via horizontal transferring device into the region of crawl and/or handling device and borrowed Help crawl and/or handling device is directly removed new reel by horizontal transferring device.Equally new reel can be fed to support On disk, so as to which the reel of for example each four settings is arranged on a pallet, by means of appropriate feeding mechanism by the reel Take in the space of crawl and/or handling device, to be received there by crawl and/handling device and to be encased in bag In machine, temporary place is taken into account if necessary, as above as possibility description.

In addition, in the method according to the invention it can be stated that control unit and handling device and SS device Couple and be connected and each new in view of being received by means of handling device by feed region and/or horizontal transferring device The beat operation of prescribed level conveying device in the case of reel.The control unit equally can specify that the pallet weight by being supplied New reel is received in multiple connection.

In order to realize the purpose being previously mentioned, the present invention also proposes a kind of for conveying, providing and/or carrying and/or change Reel, have independent device claim feature equipment, the reel with it is wound thereon and as packaging Member goods, the flat and/or thin-film material for attaching together the packaging material that part or the like is organized.Previously for method Feature described by various embodiments can equally provide and therefore redundantly not old in the various embodiments of equipment State.The feature of the various embodiments for being related to equipment discussed below can be advised further in previously described method It is fixed.

The equipment regulation, can be by reel that is at least approximate unwinding completely and/or exhausting by least the one of packing machine The individual installation site installation site different with preferably at least two is taken out and by being carried for each of each installation site Flat and/or thin-film material new reel is replaced, wherein, preferably in the free end of the new reel after new reel is loaded every time Nearby or in the region of the free end extract the exterior layer of each new reel out and in order to form the material of no interruption in portion In packing machine one section connection, the particularly welding or Nian Jie of guiding material width of the width by the exterior layer with another reel.By This, can maintain continuous packaging operation in the embodiment being contemplated that.In other embodiments it is contemplated that by extremely At least one reel of a few installation site is at least approximate to unwind packaging material un-interrupted.It is different for described at least two Installation site reel for, connect or weld the flat and/or thin-film material of the reel with it is other in packing machine During the flat and/or thin-film material of middle guiding or reception, the unwinding of packaging material may be temporarily ceased.

Equipment according to the present invention includes being used in the feeding mechanism of restriction, such as pallet, commodity shelf system, FTS or class Like the device and at least one crawl and/or handling device that the new reel for packing machine is provided in thing, the crawl and/or remove Shipping unit is used for the feeding mechanism adapter reel by limiting and the corresponding installation position for new reel to be encased in packing machine In putting and/or for removing the reel consumed by least one installation site of packing machine.In this case, especially It is that reel independently can be received by orderly feeding mechanism by means of carrying and grabbing device and reel is encased in packaging In machine.

It is unrelated with the specific configuration scheme of crawl and/or handling device, it is proposed, according to the invention, provided with appropriate additional device, So as to the inspection during reel is carried by crawl and/or handling device and (that is, when being placed in reel mistake) repaiies on demand The positioning for meeting rotation direction for the reel that be just each newly encased in packing machine, the reel that the mistake is placed, which has, to be in The loose material roll end of the opposite way round.In this case, the additional device is by arranging to crawl and/or handling device And the temporary place for the reel that to load packing machine formed, the temporary place may be used as the support of reel, particularly be used for Storage reel, reel is provided with meeting rotation direction and reel is received to hand over to by crawl and/or handling device again In packing machine.Temporary place inside space in the crawl and/or handling device can for example be formed by fulcrum bearing, The fulcrum bearing can occupy fixed or variable position in the space of crawl and/or handling device.It can also advise Fixed, fulcrum bearing can form the movable and self-propelled of FTS (unpiloted and/or paleocinetic transportation system) and wear Shuttle machine.In addition, fulcrum bearing can optionally be equipped with video camera, thus, it is possible to realize that the additional optics at fulcrum bearing is supervised Survey.In addition, the rotary driver that fulcrum bearing can rotate equipped with the reel for making to be in thereon around the long axis of level, with Just the edge-oriented of the turned position of the reel and/or the exterior layer of material roll is adjusted.In addition, fulcrum bearing can optionally have There is changement, so as to which 180 ° of rotation can be implemented when reel is kept flat.This function is configured to wearing for self-propelled at temporary place Just exist during shuttle machine.In the flexible program, place is kept in by unpiloted and/or remote control transportation system shape Make newly to roll up in a manner of controlled cooperation with crawl and/or handling device into or including such transportation system, the transportation system Cylinder reaches the rotation direction limited and the new reel is given back into crawl and/or handling device and/or is independently placed on In packing machine.

In addition, it can be used at least equipped with SS device, the space detection means according to the equipment of the present invention The position and/or detection temporary position and/or the motion that are in space in of the detection reel in the region at temporary place, and For controlling the orientation of reel in order to changing or correct the rotation direction of reel.In addition, the equipment can be equipped with it is free Between monitoring device, the SS device be used at least detect reel restriction feeding mechanism and/or provide device area The position and/or motion of position and/or detection crawl and/or handling device in space in domain, and it is used for basis By means of spatial data, exercise data and/or sensing data the control crawl and/or carrying of SS device detection Motion of the device in for the region of the feeding mechanism of the restriction of reel and/or offer device.

In a kind of flexible program of the equipment, SS device can for example be filled by least one optical detection Put, particularly video camera formed, the optical detection apparatus at least detect crawl and/or handling device space and carry The output signal of the motion occurred for the description space and crawl and/or handling device in the space and general The output signal is supplied to control system.At least one optical detection apparatus or video camera for example can be arranged directly To crawl and/or handling device and/or the environment at temporary place.Therefore, video camera can be installed there；The video camera then may be used To check the motion of each new reel before new reel is loaded or when loading new reel and its meet determining for rotation direction To, and the commutation that the reel is carried out by means of temporary place is checked if necessary.It is alternatively possible to taken the photograph described in setting in space Camera can also either set multiple video cameras in space and/or in robot or handling device.

It is alternatively possible to set the video camera in the region of the either fulcrum bearing at temporary place or can also be described Multiple video cameras are set in region, and the output signal of the video camera is used to accurately control temporary place and/or crawl and/or control Device processed.

Crawl and/or handling device can particularly be formed by multi-axis robot, and the multi-axis robot is by the supply that limits Device receives new reel and the new reel is placed in packing machine, and considering to be provided with if necessary makes the new reel reach just The situation at the temporary place of true rotation direction.As mentioned, transfer robot or multi-axis robot can be selective Ground is equipped with video camera, and the video camera can be for example arranged on movable or be hinged crawl arm or cantilever, to detect All objects caught and corresponding environment, so as to which preferably and multi-axis robot can be precisely controlled.

Crawl and/or handling device or multi-axis robot have appropriate crawl and/or retainer member, the crawl And/or retainer member can for example be formed by holding mandrel, the holding mandrel protrudes into the new volume for being configured to hollow body in side Cylinder in, increase the holding mandrel maximum cross section diameter and with this by each new reel with blocking be fixed on crawl and/or On handling device or multi-axis robot.

Alternatively, crawl and/or handling device (can be carried by unpiloted and/or remote control transportation system The so-called FTS of the shuttle machine of at least one self-propelled) formed, the transportation system receives new reel simultaneously by the feeding mechanism limited And the new reel is placed in packing machine.The shuttle machine or FTS can also optionally be equipped with video camera.

In addition, the equipment can be in packing machine, particularly in the region of the reel to be changed or in reel Additional optical monitoring device or video camera are set in the region of installation site.

In addition, the equipment can have additional device, so as to which at least one optical markings are applied into new volume respectively Cylinder is in the part in the region of the free end of its exterior material width, so that will be new by means of crawl and/or handling device Reel be so encased in respective installation site or before each exterior layer is extracted out by the new reel in respective peace So oriented in holding position so that optical markings point to corresponding opposed installation site.It may further specify that in this case, institute State at least one optical markings and the new volume is so applied to before each new reel is encased in respective installation site On cylinder so that at least fixedly fixed the free end of the exterior material width of each new reel as far as possible by means of optical markings On each new reel.Particularly advantageously, the optical markings can be applied on the new reel at temporary place, exist if necessary The auxiliary of corresponding video camera supports lower apply.

Alternatively, it can arrive new spool motion via pallet such as via horizontal transferring device in the apparatus Crawl and/or handling device region in and by means of crawl and/or handling device by new reel directly by pallet or water Flat conveying device is removed.Furthermore it is preferred that regulation, control unit are connected with crawl and/or handling device and SS device Connect and in view of being received by means of crawl and/or handling device by feed region and/or pallet or horizontal transferring device The beat of prescribed level conveying device or pallet feeding mechanism is run in the case of each new reel.

Therefore, the equipment can include optical detection apparatus, it can be checked and be stored in by means of the optical detection apparatus Whether the tube filler of each reel in temporary place has damage, wherein, crawl and/or handling device can manipulate use when existing and damaging In the reel for screening each tube filler with damage, and wherein, crawl and/or handling device are being not present or are not producing damage Bad when, can be manipulated for each reel with unspoiled tube filler to be handed in packing machine.Optical detection apparatus for example can be with Mechanically it is fastened on the movable arm section of crawl and/or handling device.

Integrate again below according to the method for the present invention and according to some aspects of equipment of the present invention, characteristic and thin Section.That is, the present invention relates to it is a kind of be used for carry on reel and as member goods, attach together part or the like Flat and/or thin-film material the method for the packaging material of group.Here, described flat and/or thin-film material can be structured as receiving Contracting film or traditional plastic foil.Reel can have tube filler, and the geometry of the tube filler is equivalent to hollow cylinder and institute State tube filler partly can at least be made up of the material of containing cellulose.It is possible thereby to each new drum sheath is advantageously attached to packaging Rotationally rotated on the pin corresponding with tube filler of machine and when being extracted out by reel or being removed packaging material on pin.Described In the range of method, the reel at least partly unwinding and/or exhausting removed by least one installation site of packaging machine and Hereafter correspondingly the new reel with flat material and/or thin-film material is inserted into corresponding installation site.Preferable In embodiment, at least two different installation sites can be provided with.Each installation site at least two installation sites There can be pin as already mentioned above, new drum sheath is attached on the pin and each reel is on the pin Rotation is for the respective flat and/or thin-film material of unwinding.Reel is particularly fixed on respective installation position with can blocking On the pin put.Pin can be rotatably driven and transmit torque on the reel of each suit, so as to which reel is in order to unwind Its flat and/or thin-film material and via its sell rotational motion.Each pin can be equipped with driver, make phase via the driver The pin answered rotates.The control that driver can be connected or be then also well described with the control unit being then also well described Unit processed is manipulated for rotating pin.It is being unwind with least part and/or exhausting being removed by respective installation site Before the reel of packaging material, it can loosen between pin and reel and block connection, so as to hereafter reel is no longer fixed with pin Ground is connected and can removed by pin.The rotary motion of pin can be interrupted, until new drum sheath to be attached on pin or load Into corresponding installation site., generally will be new accordingly after new reel is correspondingly encased in respective installation site The exterior layer of reel is extracted out and in order to form no interruption near its free end or in the region of the free end Material roll and be connected with one section of the material roll guided in packing machine of another reel.

Can be after new reel be loaded using appropriate grasping element, for example by means of with pneumatic suction pressure , machinery with blocking ground and/or Electrostatic Absorption the crawl that works and/or handling device by the outside of the new reel loaded accordingly Layer is extracted out, and the crawl and/or handling device move back and forth between at least two installation site.Therefore, grasping element can Alternately to extract the exterior layer of new reel out by least two installation site.Some embodiments confirm in practice can OK, grasping element temporarily fixes the corresponding exterior layer of new reel by negative pressure in these embodiments.Furthermore, it is possible to set There is welding rod, the welding rod moves downward and in this case by the exterior layer of each new reel and the material guided in packing machine Web is welded.Via grasping element each exterior layer can be made to move in the working region of welding rod.Therefore, the welding rod of temperature adjustment can Moved with clamping the exterior layer of each new reel towards the material roll guided in packing machine.Particularly, some embodiment quilts Confirmation is feasible, and welding rod vertically moves up and down for this and will be new in vertical descending motion in these embodiments Each exterior layer of reel and the material roll guided in packing machine are welded.

Generally during new reel is loaded and during connection, the flat and/or thin-film material of another reel is not also complete Full unwinding.Therefore, new reel can be desirably encased in the embodiment being contemplated that, while flat and/or thin-film material is still Continuously unwind by another reel in packing machine.Even in removing at least approximate unwinding completely and/or consumption by packing machine During most reel, flat and/or thin-film material can also be unwind by another reel of packing machine.It is contemplated that will be flat Flat and/or thin-film material continuously and is un-interrupted unwind by least one reel being positioned in packing machine.May also It is to connect the flat and/or thin-film material of new reel and the flat and/or film material for guiding or receiving in packing machine At the time of material, the flat and/or thin-film material of the reel received at least two installation site is not unwind.

In the method described using the present invention, reel that is at least approximate unwinding and/or exhausting is identified sensor-typely simultaneously And by means of previously described crawl and/or handling device by being replaced with flat and/or thin-film material new reel.It is sensor-type Identification can for example be carried out under the auxiliary of optical detector or optical detection system, the optical detection system can be set In the region of at least one installation site.Optical detection system or optical detector and crawl and/or handling device Can be connected with control unit, the control unit also control crawl and/or handling device or multi-axis robot motion.

Furthermore, it is possible to determine and/or check during or before new reel is loaded the new reel rotation direction and/or Meet the orientation of rotation direction.Here, in practice be particularly the embodiment be proved to be it is feasible, in these embodiment party In formula rotation direction and/or meet rotation direction orientation determination and/or check carried out by means of optical detection apparatus.So And the present invention is not limited to such embodiment, so as to mechanical devices that can also for example set tactile and/or other, with Just check the rotation direction of each new reel and/or meet the orientation of rotation direction.If the rotation direction and/or symbol that are identified The orientation for closing rotation direction is matched with or meets predetermined theoretical orientation and/or theoretical rotation direction, then corresponding new volume Cylinder can be encased in the installation site of its arranging or be retained in the installation site of respective arranging.If it is determined that mistake Rotation direction and/or do not meet the orientation of rotation direction, then the orientation amendment or selection for carrying out corresponding new reel have Another new reel of appropriate rotation direction and/or the orientation for meeting rotation direction is corresponding for loading and being encased in In installation site.According to the present invention, this is carried out in the case where using temporary place described above, and the temporary place is positioned at crawl And/or near handling device or it is located at least in the space of crawl and/or handling device.

Therefore, the rotation direction of new reel can be checked and/or meet the positioning of rotation direction.If it is determined that mistake Rotation direction and/or the orientation for not meeting rotation direction, then new reel can be placed before being encased in packing machine accordingly Onto temporary place, separated with crawl and/or handling device and with meeting rotation direction or with appropriate rotation direction orientation or Calibration, receive and be then encased in respective installation site again.Then, the orientation of rotation direction is met or with appropriate Rotation direction orientation and by reel be encased in respective installation site can by the exterior layer of reel with still retaining Carried out before material roll connection or welding in packaging machine.It can be incited somebody to action during new reel is not calibrated with meeting rotation direction Flat and/or packaging material continuously by another in packing machine or at least two installation site one of them The reel unwinding that installation position centers.

In addition provide, the optical detector being previously mentioned or optical detection system of space detecting system are via control unit Effectively it is connected with crawl and/or handling device and controls the precise motion of the crawl and/or handling device to carry reel, Wherein, via optical detector or optical detection system can also check and/or determine new reel corresponding rotation direction and/ Or meet the orientation of rotation direction, and can by means of crawl and/or handling device by new reel with suitable for each installation position The rotation direction put and/or meet the orientation of rotation direction and load, and/or can will newly be rolled up by means of crawl and/or handling device Cylinder with appropriate rotation direction and/or meet rotation direction orientation calibrate.In addition, the equipment can have it is optical and The display unit that is connected with control unit, such as display or the like, shown via the display on rotation side To and/or meet rotation direction orientation information.

For instance it can be possible that the rotation direction of new reel or when meeting the orientation mistake of rotation direction via optical aobvious Show that unit sends instruction to user.It is also contemplated that the information conduct on rotation direction and/or the orientation for meeting rotation direction The signal output of acoustics.

Therefore, control unit is preferably connected in a certain way with crawl and/or handling device, i.e. at least partly unwinding and/ Or the reel exhausted can independently be removed by each installation site and turned with appropriate rotation direction and/or appropriate meeting Moving directioal new reel can independently be encased at least two installation sites set in a preferred embodiment. In this case, algorithm can be stored with the control unit, wherein, via the algorithm in view of reel position after testing Put the rotation direction of (this for example may be on pallet) and each new reel determined by optical detector and/or meet and turn It is dynamic it is directioal in the case of definitely manipulation crawl and/or handling device.In addition, it is hollow for blocking ground fixture construction It is that the crawl of the new reel of body and/or handling device construct in which can include pref. cylindrical and with adjustable maximized The holding mandrel of cross-sectional diameter.The adjustment of cross-sectional diameter can be carried out by control unit or provided by control unit. Handling device can have movable crawl arm, wherein, set on the free end of crawl arm and keep mandrel.

Alternatively, the horizontal feed for being configured to transport new reel can be disposed with crawl and/or handling device upstream Device, the horizontal transferring device extend to crawl and/or handling device working region in and can in view of by crawl and/ Or handling device is removed and manipulated via control unit in a manner of beat is run in the case of new reel.In other embodiments It is contemplated that provide new reel to crawl and/or handling device on pallet or the like.There is also following possibility, i.e. New reel is placed in container or the like, and the container is in the working region for capturing and/or carrying region and passed through The container provides new reel to crawl and/or handling device.New reel can be placed brokenly or with arbitrary orientation In a reservoir, wherein, it can check and/or determine rotation direction by means of optical detector and/or meet the orientation of rotation direction.

Brief description of the drawings

Embodiments of the invention and its advantage should be explained in more detail by means of accompanying drawing below.Each element in figure each other Between dimension scale always do not meet actual dimension scale because wherein simplifying some shapes and in order to preferably enter Row illustrates and enlargedly shows other shapes relative to other elements.

Fig. 1 shows the schematical perspective view of the first embodiment of the equipment according to the present invention.In addition, it is contemplated that borrow Fig. 1 shows a kind of embodiment of the method according to the present invention.

Fig. 2 shows the schematical perspective view of the second implementation flexible program of the equipment according to the present invention and is contemplated that to borrow Show a kind of embodiment of the method according to the present invention with Fig. 2.

Fig. 3 shows seven explanatory views altogether at temporary place, and the temporary place can implement in second of the equipment according to Fig. 2 Used in flexible program.

Fig. 4 shows the schematical perspective view of two installation sites for reel inside packing machine, the packaging The equipment mating reaction of function and the embodiment according to Fig. 1 and Fig. 2.

Fig. 5 shows Fig. 4 installation site, wherein having been charged into new reel in the second installation site.

Fig. 6 shows Fig. 4 and Fig. 5 installation site, wherein the layer of the outside for the new reel being encased in the second installation site It is extracted.

Fig. 7 illustrates the implementation flexible program of handling device with total of three perspective, and the handling device is received new by pallet Reel, so as to which reel is stored in temporary place or reel is encased in packing machine.

Fig. 8 illustrates the handling device when new reel is encased in packing machine with two other perspective.

Fig. 9 shows reel being fitted into the installation site inside packing machine or by reel by packing machine with four views The positioning step and remove step that the installation site in portion is removed.

Identical or effect identical element for the present invention use identical reference.In addition, in order to clear It can be seen that only show in various figures for illustrating the reference needed for corresponding picture.Shown embodiment is only It is shown as equipment of the invention and the example that how can implement according to method of the invention and does not form exclusiveness limit System.

Embodiment

Fig. 1 schematical perspective illustrates the first implementation flexible program of the equipment 10 according to the present invention.In addition, it can set Want that borrowing Fig. 1 shows a kind of embodiment of the method according to the present invention.

Equipment 10 is used to carry flat packaging material, such as shrink film or packaging film, these packaging materials winding On the big reel 12 that generally can not be carried manually due to own wt.The one of packing machine 14 is schematically indicated that in Fig. 1 Part, to be captured in greater detail and/or new reel 12 is supplied to the packing machine by handling device 16 via following.Showing Embodiment in the crawl of multi-axis robot 18 that is configured to immovably set and/or handling device 16 to be supplied each New reel 12 to packing machine 14 is encased in two different installation site EB1 and EB2, and the two installation sites are in Fig. 1 It is only capable of finding out substantially and is illustratively shown in Fig. 4 detailed view.

The temporary place 60 of the pith of the present invention is formed not shown in Fig. 1 view, but in Fig. 2 view Middle just to show, the temporary place is used to orient the new reel 12 in packing machine 14 to be encased in meeting rotation direction.

As shown in Fig. 4 to Fig. 6 and Fig. 1 and Fig. 2 overviews, by means of crawl and/or handling device 16 or by Multiaxis or transfer robot 18 by each new reel 12 be encased in an installation site EB1 in described two installation sites or In EB2, and a reel 20 for having consumed or partly having consumed in another installation site EB2 or EB1 also be present, each Continued to during loading new reel 12 by the reel unwinding for having consumed or partly having consumed in material roll 22 thereon, will The material roll is handled in packing machine 14 as packaging material.The phase of material roll 22 is further unwind in the reel 20 by almost exhausting Between the exterior layer 24 (referring to Fig. 6) of new reel 12 is attached or welded with material roll 22, thus, equipment 10 can be continuous Operation, without interrupting packaging process to change the reel 20 exhausted with new reel 12.

Each new reel 12 is respectively by the flat packaging material 22 or packaging or 26 groups of shrink film and tube filler of winding Conjunction forms, and packaging material 22 or shrink film are in the tube filler.In order to by figure 1 illustrates horizontal transferring device 28 obtain New reel 12, handling device 16 or transfer robot 18 is taken to protrude into the tube filler of new reel 12 in side via holding mandrel 32 In 26, the holding mandrel is movably disposed in end on the movable cantilever 30 of the handling device or transfer robot. Therefore, the arm section 34 of the handling device 16 or transfer robot 18 can be made around the rotation schematically shown in fig. 7 Axis 36 rotatably moves.The cross-sectional diameter for keeping mandrel 32 is increased after keeping mandrel 32 to protrude into tube filler 26, Kept so as to which new reel 12 is also fixed on being blocked as shown in figure 7b on mandrel 32.Tube filler 26 is configured to open circles Column, keep the shape of mandrel 32 correspondingly to construct, so as to keep mandrel 32 via in its outer peripheral face and tube filler 26 New reel 12 for blocking is fixed in surface connection.

It can be carried incessantly to crawl and/or handling device 16 or transfer robot 18 via horizontal transferring device 28 For new reel 12, so as to make another new reel 12 when removing new reel 12 by horizontal transferring device 28 towards handling device 16 Continue motion or promoted towards crawl and/or handling device 16.Horizontal feed can be filled in the desired manner as needed 28 are put to run in a manner of beat or consistently run with constant speed.Pass through the control unit only illustrate schematicallyd herein The operation of the 38 regulation horizontal transferring devices, the control unit is not only in the transporting velocity and/or beat of horizontal transferring device The horizontal transferring device 28 is controlled in terms of operation, and the transfer robot 18 is controlled in terms of the motion of transfer robot. Control unit 38 handles the signal 40 of at least one SS device 42, and the SS device particularly can be by one Optical detection apparatus or a video camera 44 are formed, also formed if necessary by multiple video cameras 44, and the video camera is at least examined The motion of the space 46 and the multi-axis robot of multi-axis robot 18 is surveyed, this is also referred to the cantilever for keeping mandrel 32 30 relative to each new reel 12 to be caught precise motion, it is described holding mandrel be pivotally movably arranged on cantilever. Can be by means of the space 46 of the optical detection of SS device 42 formed by video camera 44 in the illustration of FIG. 1 in order to more Represent well and the radiation sector by being represented by dotted lines shows.

In addition, can be seen that the manipulator 48 being positioned in the region of horizontal transferring device 28 in Fig. 1, the manipulator by with Family 50 controls and can be erected to new reel 12 via the manipulator and is placed on horizontal transferring device 28.Such as it can incite somebody to action New reel 12, which is erected on a pallet 52, to be supplied, and user 34 can be by means of can be in terms of motion by the manipulator 48 of user's control New reel is obtained by the pallet and the new reel is placed on horizontal feed dress by means of the holding mandrel 54 positioned at there Put on 28.Therefore, the working region of manipulator 48 extends over one section of section of pallet 52 and horizontal transferring device 28.No Cross, shown control and conveying flexible program are only an examples in many alternatives.Continuous conveying flexible program is same Sample is possible, and the conveying flexible program need not control manually as described by by means of Fig. 1.Not with described It is practical in the mode of movement that mode is arranged, one is provided with the space 46 with handling device 16 is captured and is used to newly roll up The temporary place of cylinder 12, so as to carry out not catching volume with meeting rotation direction in the holding mandrel 32 by transfer robot 18 Cylinder when by reel 12 deposit there, will keep mandrel 32 extracted out by tube filler 26 and in another side of the reel 12 again It is secondary to catch the reel, so as to by the reel with corresponding required for the installation site EB1 or EB2 in packing machine 14 Rotation direction loads.Exemplarily by means of Fig. 2 implementation flexible program be explained in more detail such temporary place, its function and Its mating reaction with crawl and/or handling device 16 and with SS device 42.Figure 1 illustrates equipment 10 change In type scheme, although the temporary place 60 is not shown, but it is still the important component of equipment 10.

In addition, Fig. 1 shows the unlimited container 56 in top, the container is positioned at crawl and/or the working region of handling device 16 In 46.Used up if placed at the packaging material of reel 12 or 20 in packing machine 14 or the deposit of shrink film, then by means of Transfer robot 18 is by the tube filler 26 made of cellulose, plastics, timber or millboard of the reel 20 of sky by packing machine 14 Remove and be stored in container 56.Just new reel 12 can be encased in the corresponding of packing machine 14 only after tube filler 26 is removed Installation site EB1 or EB2 in, so as to capture and/or handling device 16 or transfer robot 18 remove tube filler 26 simultaneously first And then new reel 12 is encased in corresponding installation site EB1 or EB2.

As already mentioned, horizontal transferring device 28, crawl and/or handling device 16 or the and of multi-axis robot 18 Packing machine 14 is connected with control unit 38.Identical situation is applied to 60 (reference pictures 2) of temporary place.The control unit 38 is special It is the beat operation that can specify that horizontal transferring device 28, starts by handling device 16 that the loading of reel 12 or 20 is described two Installation site EB1 and EB2 and removed by described two installation sites.In addition, as illustrated in more detail herembelow, it is described Control unit can control the packaging material of reel 12 loaded in packing machine 14 or the uncoiling of shrink film.In addition, according to The present invention, it is important that SS device 42 can combine the motion control that control unit 38 realizes horizontal transferring device 28 And particularly crawl and/or the motion control of handling device 16, this, which can be realized, positions and conveys fault-tolerantly and carry new volume Cylinder 12, because can effectively aid in supporting and controlling the guarantor by transfer robot 18 by least one video camera 44 Hold mandrel 32 and accurately catch each new reel 12, so as to which being accurately positioned on horizontal transferring device 28 of reel 12 recedes into the background And the motion control of corresponding supplement that can be by transfer robot 18 inside its space 46 compensates.

The positioning of the video camera 44 shown in Fig. 1 only should exemplarily understand.That is, a video camera 44 or multiple take the photograph Camera 44 can be positioned at other places, such as can also be positioned in the region of packing machine 14, in transfer robot 18 Even it is positioned in region or if necessary at the pivotal arm 30 of the transfer robot, as long as thus can cover in a desired manner With detection space 46.

Therefore, control unit 38 can have display device 58 or display, via the display device or display The information of the orientation that is rotation direction or meeting rotation direction on new reel 12 can be made and/or on multi-axis robot 18 and/or horizontal transferring device 28 other controls or exercise parameter are visible to user 50.Such as show referring to Fig. 4 to Fig. 6 As describing to example property, determine and/or check preferably by the video camera 44 or if necessary also by another video camera and be new The rotation direction of reel 12 or the orientation for meeting rotation direction, one or two video cameras are connected with control unit 38 Connect.Because crawl and/or handling device 16 can be taken out the corresponding tube filler 26 of empty 20 by packing machine 14 and in institute Video camera 44 is stated either under the auxiliary of other video cameras by with appropriate rotation direction or with meeting rotation direction The new reel 12 of orientation is independently encased in packing machine 14, it is possible to makes equipment 10 at least from starting by horizontal transferring device 28 obtain new reel 12 runs with playing full automation.

Fig. 2 schematical perspective view shows to implement flexible program according to the second of the equipment 10 of the present invention and is contemplated that Borrow Fig. 2 and show a kind of embodiment of the method according to the present invention.Packing machine 14 and the previously described modification side according to Fig. 1 Case does not have significant difference.Equipment 10 is also used for carrying flat packaging material herein, such as shrink film or packaging film, root Needed according to the supply depending on consumption and by means of be configured to multi-axis robot 18 crawl and/or handling device 16 by the receipts Contracting film or packaging film are supplied to packing machine 14 with reel 12 respectively.As in the first flexible program according to Fig. 1, crawl And/or handling device 16 by each new reel 12 that be supplied to packing machine 14 be encased in two different installation site EB1 and In EB2, the two installation sites are explained in more detail by means of Fig. 4 to Fig. 6 detailed view.

Second flexible program of equipment 10 shown in figure 2 saves horizontal transferring device, but respectively in each pallet The new reel 12 supplied on 52, wherein, four reels 12 for holding up setting on each pallet 52 be present, by transfer robot 18 Separately receive the reel and the reel is encased in packing machine 14.In order to from it is in effective range, That is, in crawl and/or handling device 16 or multi-axis robot 18 space 46 in pallet 52 receive new reel 12, handling device 16 or transfer robot 18, should via keeping mandrel 32 to be protruded into side in the tube filler 26 of new reel 12 Mandrel is kept to be movably disposed in end on the movable cantilever 30 of the handling device or transfer robot, this has been borrowed Fig. 1 is helped to illustrate.Therefore, the arm section 34 of the handling device 16 or transfer robot 18 can be made around illustrating in fig. 7 Pivot center 36 shown in property rotatably moves.The transversal of mandrel 32 will be kept after keeping mandrel 32 to protrude into tube filler 26 Face diameter increase, keeps on mandrel 32 so as to which new reel 12 is also fixed on being blocked as shown in figure 7b.Tube filler 26 Hollow cylindrical is configured to, keeps the shape of mandrel 32 correspondingly to construct, so as to keep mandrel 32 via its outer peripheral face For blocking fixed new reel 12 is connected with the inner surface of tube filler 26.

Via be respectively provided with four reels 12 and in space 46 by the pallet 52 that rule provides to crawl and/ Or handling device 16 or transfer robot 18 provide new reel 12 incessantly, so as to be held in the palm from one in the pallet 52 Disk can change empty pallet 52, the new pallet when removing all new reels 12 with the new pallet 52 with four additional reel 12 It is placed into the space 46 of crawl and/or handling device.The method of supplying can be by means of appropriate ground transport Car is carried out, such as is carried out by means of so-called FTS (unmanned transportation system), and the FTS is by self-propelled, remote control And/or the transport vehicle with the sensor-based system of itself for turning to is formed, the transport vehicle for example can be every time by a band The pallet 52 for having the reel 12 being placed on it is transported in space 46.It can make in the desired manner as needed described Transportation system or FTS are run in a manner of beat.It is preferred that the transportation system or FTS operation are passed through what is schematically shown Control unit 38 provides that the control unit is not only controlled in terms of (not shown here) FTS transporting velocity and/or beat operation The FTS is made, and the transfer robot is controlled for changing in packing machine 14 in terms of the motion of transfer robot 18 In reel 12.In addition, control unit 38 handles the signal 40 of at least one SS device 42, the SS device It can also particularly be formed in the flexible program according to Fig. 2 by an optical detection apparatus or a video camera 44, be necessary When also formed by multiple video cameras 44, the video camera at least detect multi-axis robot 18 space 46 and the multi-axis machine The motion of people, accurate fortune of the cantilever 30 with holding mandrel 32 relative to each new reel 12 to be caught is also referred to this Dynamic, the holding mandrel is pivotally movably arranged on cantilever.Can be by means of the SS device that is formed by video camera 44 The space 46 of 42 optical detections is shown by the ellipse being represented by dotted lines in the illustration of FIG. 1.

Based on the space 46 fully measured, level can be not only saved in the flexible program according to Fig. 2 equipment Conveying device, and the manipulator with the horizontal transferring device mating reaction can also be saved, can be by newly via the manipulator Reel 12, which is erected to, to be placed on horizontal transferring device (for this reference picture 1).In contrast to this, in fig. 2, capturing and carrying dress Put in 16 space 46 and its nearby can be seen that the temporary place 60 for new reel 12, reel 12 on pallet 52 generally In the case of not limiting rotation direction, the temporary place is used to ensure each reel 12 necessary symbol when being encased in packing machine 14 Close the positioning of rotation direction.In practice, the holding mandrel 32 of transfer robot 18 is not in the case where also checking rotation direction Catch each reel 12 being erected on pallet 52.With by keeping the cantilever 30 of reel 12 that mandrel 32 conveys towards bag During the motion of installation 14, by appropriate optical check or by otherwise (such as inductively, by means of transponder or Such mode) carry out detection come check whether can by reel 12 directly and without replace ground there positioning or Whether person's reel 12 may have vicious rotation direction.If it is the case, it can then pass through the phase of transfer robot 18 Reel 12 is stored in temporary place 60 by the motion control answered, and then will keep mandrel 32 by the tube filler 26 for the reel 12 being stored Extract out, to catch the reel again at another side of the reel 12, so as to by the reel with for wrapping The corresponding required rotation direction of installation site EB1 or EB2 in installation 14 loads.Exemplarily become by means of Fig. 2 implementation Type scheme and Fig. 3 detailed view be explained in more detail the structural scheme at temporary place 60, its precise function and its with crawl and/ Or handling device 16 and the mating reaction with SS device 42.

The user 50 to stand in fig. 2 in space 46 generally stops there merely for maintenance purpose, but is grabbing Take and/or the continuous operation of handling device does not stay in there, this again may be by SS device 42 if necessary Examine.

In fig. 2 it can also be seen that the container 56 that top is opened wide, the container is positioned at crawl and/or the workspace of handling device 16 In domain 46.Used up if placed at the packaging material of reel 12 or 20 in packing machine 14 or the deposit of shrink film, then by In transfer robot 18 by the tube filler 26 made of cellulose, plastics, timber or millboard of the reel 20 of sky by packing machine 14 remove and are stored in container 56.New reel 12 can be just encased in the phase of packing machine 14 only after tube filler 26 is removed In the installation site EB1 or EB2 that answer, so as to capture and/or handling device 16 or transfer robot 18 remove tube filler 26 first And then new reel 12 is encased in corresponding installation site EB1 or EB2.

As already mentioned, crawl and/or handling device 16 or multi-axis robot 18, for the controllable of reel 12 The temporary place 60 and packing machine 14 of system are connected with control unit 38, control to the being also an option that property of control unit for supplying Pallet 52 and unshowned FTS herein.Therefore, control unit 38, which is particularly, can specify that FTS beat operation, starts and lead to Handling device 16 is crossed reel 12 or 20 is loaded into described two installation site EB1 and EB2 and taken by described two installation sites Under, and if necessary using temporary place 60 for ensuring the correct rotation direction for the new reel 12 to be loaded.In addition, such as with Under be more fully described as, described control unit can control the reel 12 loaded in packing machine 14 packaging material or The uncoiling of person's shrink film.In addition, according to the invention, it is important that, SS device 42 can combine control unit 38 on demand Crawl and/or the motion control of handling device 16 are realized in the case that temporary place 60 is taken into account, it is fault-tolerant thus, it is possible to realize Ground positions and conveyed the new reel 12 on not pinpoint pallet 52 and allows to carry the reel 12 received, because can Effectively to be aided in supporting by means of at least one video camera 44 and control the holding mandrel 32 by transfer robot 18 Each new reel 12 is accurately caught, so that being accurately positioned on pallet 52 of reel 12 or pallet 52 itself are in space Being accurately positioned on the ground in 46 region recedes into the background and can be by transfer robot 18 inside its space 46 The motion control of corresponding supplement compensate.

The positioning of the video camera 44 shown in fig. 2 only should exemplarily understand.That is, a video camera 44 or multiple take the photograph Camera 44 can be positioned at other places, such as can also be positioned in the region of packing machine 14, in transfer robot 18 Also or if necessary it is positioned at the pivotal arm 30 of the transfer robot in region, as long as thus can cover and examine in a desired manner Survey space 46.If space 46 can be completely covered as far as possible and can essence for video camera 44 or SS device 42 Really detect and follow the trail of crawl and/or the motion of handling device 16, the motion of its holding mandrel 32 and keep mandrel 32 receiving With positioning reel 12 when different target locations, then video camera or the SS device can complete in an optimal manner Its purpose.In order to reliably ensure that this point and practical, reel 12 but at least holding mandrel 32 of transfer robot 18 Provided with appropriate reference marker, the pivotal arm 30 of transfer robot is also optionally provided with reference marker, and the reference marker is for example It can be formed by the mark that can clearly identify optically in space, can clearly be identified so as to which the reference marker can be used as And be classified as the mark about space and be used for camera chain 44.

Therefore, control unit 38 can have display device 58 or display, via the display device or display The information of the orientation that is rotation direction or meeting rotation direction on new reel 12 can be made and/or on multi-axis robot 18 and/or FTS other controls or exercise parameter are visible to user 50.As being illustratively described referring to Fig. 4 to Fig. 6 Like that, the rotation of new reel 12 is preferably also determined and/or checked by another video camera by the video camera 44 or if necessary Direction or the orientation for meeting rotation direction, one or two video cameras are connected with control unit 38.Because crawl and/ Or handling device 16 the corresponding tube filler 26 of empty 20 can be taken out by packing machine 14 and in the video camera 44 or By with appropriate rotation direction or with the orientation for meeting rotation direction new reel 12 under the auxiliary of other video cameras Independently it is encased in packing machine 14, it is possible to make equipment 10 most at least from starting to obtain new reel 12 by each pallet 52 May automatically it run.

Should supplement herein referring to Figures 1 and 2, shown crawl and/or handling device 16 or formed the crawl and/ Or the transfer robot 18 of handling device optionally may also exist with double or three times embodiments, as long as described two Or more transfer robot 18 space 46 it is mutually coordinated in some way and will not collide.It is however, because logical The operation without interruption of long period is often ensured based on the material roll length on reel 12, so it is unnecessary to be replaced as frequently as Reel 12 and need to use two or more transfer robots 18.

However, a kind of practical implementation flexible program is it can be stated that a crawl and/or handling device 16 or single Transfer robot 18 can service two baling lines or two packing machines 14 every time, wherein, space 46 is with rational side Formula is present between two packing machines about be arrangeding in parallel 14, so as to horizontal transferring device 28 (reference picture 1) or support The feed region for new reel 12 of disk feeding mechanism (reference picture 2) is between two packing machines 14 and is in carrying implement Device people 18 is nearby and its inside space 46.In this case, transfer robot 18 can be alternately to two in just Normal operating packing machine 14 is supplied respectively to new reel 12 and by the reel 20 consumed if necessary transferred to common container So that ensuing or periodic rubbish is removed in 56.If space 46 can not be monitored using unique video camera 44 (because the video camera is for example partially obscured), then multiple video cameras 44 can be provided with if necessary for SS.

Fig. 3 shows seven explanatory views altogether at temporary place 60, if the rotation direction of reel 12 is by conveying robot The holding mandrel 32 of people 18 does not meet the installation site set in packing machine 14 after receiving, then the temporary place can by According to being used in two flexible programs of Fig. 1 and Fig. 2 equipment 10.In this case, transfer robot 18 can be more by it Reel 12 is stored in the rib at the temporary place 60 being arranged in space 46 by the corresponding pivoting action of the cantilever 30 of axle motion On the top bearing-surface 62 of column (reference picture 3A to Fig. 3 C), mandrel 32 will be kept to be extracted out by reel tube filler 26 and in reel 12 Opposed side on the holding mandrel is imported into reel tube filler 26 again.Kept reel 12 is fixed on mandrel 32 Afterwards, the holding mandrel can receive reel 12 again by the corresponding motion of cantilever 30 and the reel is encased in into packaging In the installation site set of machine 14.

First flexible program at the temporary place 60 of the top bearing-surface 62 with prism-shaped shown in Fig. 3 A to Fig. 3 C It is responsible for accurately being centrally located reel 12 in storage and prevents the reel from laterally sliding or rotating.Alternatively, top supports Face 62 can also be formed according to Fig. 3 D by multiple rollers 94 arranged in parallel, and these rollers are so set with a graded so that simultaneously Arrange roller 94 of the roller 94 less than two higher outsides of the inside set.This arrangement of roller 94 can realize new reel 12 Accurate storage, new reel can be deposited there (reference picture 3E) by means of transfer robot 18.At least one roller 94 It is rotatably supported in side in vertical frame plate 96, the roller can be equipped with driver, to make reel 12 around it Long axis turn over the angle of restriction, such as material roll edge is reached in desired position, and the position is advantageous to fill by reel The material roll edge is extracted out after entering in the correct installation site into packing machine 14.The driver particularly can be by Show that roller 94 is formed according to Fig. 3 D to Fig. 3 G, these rollers are integrated in bearing-surface 62 or formed the bearing-surface 62.However, Optional driver can not be found out in detail in Fig. 3 A to Fig. 3 C view, but be only capable of seeing in Fig. 3 D to Fig. 3 G view Go out.

Top view such as Fig. 3 A, Fig. 3 D, Fig. 3 E and Fig. 3 F perspective view, Fig. 3 B and Fig. 3 G front view and Fig. 3 C can be seen As going out, temporary place 60 is configured to fulcrum bearing 64, and the fulcrum bearing optionally can immovably be anchored at space 46 Region in ground on.However, the implementation flexible program with movable fulcrum bearing is equally possible, the movable supporting Seat can rotate (reference picture 3C) around vertical axis 66, so as to adjust in the desired manner the rotation direction of reel 12 or with Desired mode in order to receive the reel 12 to be located again by the holding mandrel 32 of transfer robot 18.

In addition, temporary place 60 or fulcrum bearing 64 can be equipped with appropriate detection device, such as video camera or the like, The detection device is preferably connected with control unit 38 (reference picture 2), so as to check and detect the volume on bearing-surface 62 The rotation direction or rotational angle of 12 be accurately positioned of cylinder, the orientation of the reel and the reel, to control conveying robot The optional driver at people 18 and/or temporary place 60, changement etc..

Another selection scheme it can be stated that temporary place 60 it is overall be movable, such as when the place of keeping in is likewise constructed to During so-called FTS (unpiloted transportation system).It is preferred that it can equally transported in this flexible program by control unit 38 The temporary place is controlled inside dynamic space 46 and in terms of the motion and rotation at temporary place, is typically rationally assisted with transfer robot 18 Ground control is adjusted, this particularly goes for the acceleration of the Renewal process of reel 12.

In addition, Fig. 3 A to Fig. 3 G are it can be seen that clamping plate 68, if the clamping plate is fed to two sides of reel 12 There, then they can be pressed against on the side for the reel 12 for being stored in bearing-surface 62 in both sides.In the sideway feed of clamping plate 68 Reel 12 can be maintained in its position by this way afterwards, until in order to receive reel 12 again mandrel 32 will be kept to move into Into reel tube filler 26 and fix there, so as to which reel 12 is transported in the installation site in packing machine 14.With In can along roller 94 length bearing of trend feed or open clamping plate 68 Feed servo system device and feed mechanism 98 in Fig. 3 D With can impliedly find out in Fig. 3 E and the clamping plate is in the lower section of roller 94 and is threaded in both sides on frame plate 96, The frame plate forms the supporting part of fulcrum bearing 64 in the implementation flexible program.

Fig. 3 E perspective schematic view shows the process being stored in new reel 12 on rotatable and drivable roller 94, institute State the top bearing-surface 62 that roller forms the cavity shape of fulcrum bearing 64.Reel 12 is stored in temporary place by means of transfer robot 18 On 60, the holding mandrel 32 on the end of crawl arm 34 is then extracted out by reel tube filler 26, by means of roller 94 make reel 12 with Desired mode is rotated and/or the reel is in axial direction positioned on bearing-surface 62 by the clamping plate 68 by means of that can feed.

Fig. 3 F perspective schematic view and Fig. 3 G front schematic view show another implementation modification side at temporary place 60 Case, wherein, two parallel frame plates 96 (reference picture 3D and Fig. 3 E) are provided with the housing 100 of closing, the housing is used In receiving and backing roll 94 and adjustable clamping plate 68 together with its Feed servo system device and/or feed mechanism 98.According to Fig. 3 F Meet the flexible program according to Fig. 3 D and Fig. 3 E as far as possible with remaining structure at Fig. 3 G temporary place 60.

Fig. 4 schematical perspective view shows the previous already mentioned installation site EB1 and EB2 for reel 12, this Two installation sites are limited in the packing machine 14 according to the flexible program for meeting Fig. 1 and/or Fig. 2.Each installation site EB1 and EB2 is limited by the rotatable reception mandrel 70 of itself.By means of crawl and/or handling device (referring to Figures 1 and 2) Every time by new 12 sets of a reel be attached to described two horizontal orientations reception mandrel 70 each reception mandrel on and by The diameter of mandrel 70 is received in increase and the new reel is fixed on corresponding reception core with blocking by blocking reel tube filler 26 On axle 70.In addition, Fig. 4 is it can be seen that welded grider 72, the welded grider be provided for connection be encased in corresponding installation site EB1 or The exterior layer 24 (reference picture 5, Fig. 6) of new reel 12 (reference picture 5) in EB2 with remaining material roll 22 is simultaneously in packing machine 14 And the welded grider is set vertically to decline for this.Connecting the exterior layer 24 (reference picture 5) and the remaining material in packing machine 14 After web 22, vertically lifted temperature adjustment welded grider and make the welded grider reach figure 4 illustrates position in.

In Fig. 4 diagram, in the first installation site EB1, the reel 20 almost exhausted is sleeved on first installation position Put on EB1 reception mandrel 70 and rotatably moved due to mandrel 70 or by extracting material roll 22 out.Here, unwinding set Mounted in the first installation site EB1 packaging material or shrink film that receive the reel 20 on mandrel 70.In the second installation site EB2 On, the reel 20 consumed has been unwound completely and tube filler 26 (referring to Figures 1 and 2) is removed via handling device 16, Packaging material is carried so as to which the second installation site EB2 or second installation site EB2 reception mandrel 70 is ready to receive New reel 2.

In addition, each installation site in the installation site EB1 and EB2 can be equipped with the sensor of itself or take the photograph Camera 74, volume that is at least approximate unwinding completely and/or exhausting can be optically identified by means of the sensor or video camera Cylinder 20.Unwind and/or exhaust completely as long as a reel 20 is at least approximate, corresponding video camera 74 just will be on accordingly at least The information of reel 20 that is that approximation is unwind completely and/or exhausting is sent to control unit 38.Previous already mentioned control unit Control crawl and/or carrying dress on the basis of 38 video camera 74 on the basis of many data that is, inside packing machine 14 Put 18 or transfer robot 18 (referring to Figures 1 and 2) for removing corresponding at least approximate unwinding completely and/or exhaust Reel 20 or for removing the tube filler 26 of reel 20 that is corresponding at least approximate unwinding completely and/or exhausting.In order to Reel 20 at least approximate unwinding completely and/or exhausting is removed by respective installation site EB1 or EB2, loosened in advance What is constructed between corresponding reel 20 and reception mandrel 70 blocks connection.This is typically via the corresponding reception mandrel 70 of reduction Cross-sectional diameter is carried out, and thereby, it is possible to extract reel tube filler 26 out.In addition, provide described to block connection by control unit 38 Release or receive the reduction of the cross-sectional diameter of mandrel 70.

In order to which reel 20 at least approximate unwinding completely and/or exhausting is taken by respective installation site EB1 or EB2 Under, crawl and/or handling device 16 is protruded at least approximate unwinding completely through being maintained by it mandrel 32 (reference picture 7A) And/or in the tube filler 26 of reel 20 that exhausts.Then, the cross-sectional diameter for mandrel 70 being received by increasing will accordingly at least Reel 20 that is that approximation is unwind completely and/or exhausting is fixed on the holding mandrel 32 of handling device 16.Equally, it is single by controlling The regulation of member 38 increases the cross-sectional diameter of holding mandrel 32 to block reel 20 or reel tube filler 26.Will be at least near It is fixed on like reel 20 unwinding completely and/or exhausting after keeping on mandrel 32, by means of crawl and/or handling device 16 And make this at least approximate unwinding completely in the case of by as defined in control unit 38 and/or the reel 20 that exhausts is towards appearance Device 56 (referring to Figures 1 and 2) moves and keeps the cross-sectional diameter of mandrel 32 to deposit the reel there by means of reducing.

Reel 20 or tube filler 26 at least approximate unwinding completely and/or exhausting are being stored in (the reference picture 1 of container 56 And Fig. 2) after, crawl and/or handling device 16 are manipulated via control unit 38 for new reel 12 is encased in into packing machine In corresponding installation site EB1 or EB2 inside 14.The rotation direction of each new reel 12 of precheck meets rotation side To orientation, preferably checked under the auxiliary of temporary place 60 or fulcrum bearing 64 (reference picture 3), as has been described previously that Sample.Can automatically operational outfit 10 by this way.Herein, it should be noted that according to Fig. 4 embodiment exemplarily only Understand, so as to it is contemplated that other embodiment, two installation sites EB1 and EB2 are only equipped with one in these embodiments Video camera 74, the detection zone of the video camera extend over two installation sites EB1 and EB2.There is also via multiple video cameras 74 check the rotation direction of the new reel 12 being encased in installation site EB1 and EB2 or the orientation for meeting rotation direction can Can property.If it is determined that the rotation direction of the new reel 12 in an installation site in described two installation site EB1 or EB2 Or it is wrong to meet the orientation of rotation direction, then can be arranged by control unit 38 via crawl and/or handling device The orientation direction of the corresponding new reel 12 of 16 amendments.Then, the crawl and/or handling device can be by each new reels 12 by each From installation site EB1 or EB2 remove, be stored in (reference picture 2) in temporary place 60, receive again there is appropriate rotation direction And/or meet the reel 12 of the orientation of rotation direction and the reel with appropriate rotation direction and/or is then met into rotation The orientation in direction is reloaded in respective installation site EB1 or EB2.

Fig. 5 another schematical perspective illustrates installation site EB1 and EB2 according to Fig. 4, wherein in the second installation Have in the EB2 of position and load new reel 12.By Fig. 4 in the view of fig. 5, by means of crawl and/or the (ginseng of handling device 16 According to Fig. 1 and Fig. 2) a new reel 12 is pushed away be attached on the second installation site EB2 reception mandrel 70.Continue by the first installation position Put the EB1 reel 20 that is either unwinding and therefore will removing almost consumed unwinding packaging material 22 or shrink Film, so that also can be through transitions into the second installation site EB2 new reel when the reel 20 of the first installation site is replaced 12 and continue to run with packing machine 14 (referring to Figures 1 and 2).If a new reel 12 is then encased in the first installation site In EB1, then continue to unwind packaging material 22 or shrink film by the second installation site EB2 reel 12, packaging can ensure that with this Required continuous and without interruption the operation of machine 14.

Fig. 5 the second installation site EB2 new reel 12 can preferably have can optical identification attachment mark 76, this is attached Mark can particularly be formed by attachment mark 76 that is reflexive or can identifying inductively or in another manner, the attachment Mark is applied on the exterior layer 24 of the new reel in the region of the free end of new reel 12.Now, arrange to second Installation site EB2 video camera 74 can by means of adhere to mark 76 check new reel 12 whether with appropriate rotation direction or Meet rotation direction orientation pushed away be attached to receive mandrel 70 on.Fig. 5 and Fig. 6 overview is it can be shown that in the second installation site In EB2 new reel 12, exterior layer 24 is guided via reel 12 from top and to being lowered into.If by reel 12 with mistake Rotation direction does not meet the orientation of rotation direction and is placed on the second installation site EB2 reception mandrel 70, then exterior layer 24 It is downwardly away from reel 12 and because the reason can not capture or only difficulty capture.Thus can also interfere with packing machine 14 Or the uncoiling characteristic in material roll process.Therefore, it is impossible to oriented below welded grider 72.Therefore, meeting for new reel 12 turns It is exhausted to move the positioning in direction or be encased in new reel 12 in corresponding installation site EB1 or EB2 with appropriate rotation direction To necessary, so as to which equipment 10 or the glitch-free fortune of packing machine 14 can be ensured in the follow-up material conveying of material roll 22 OK.

If attachment mark 76 can be identified by means of corresponding video camera 74, reception mandrel 70 is set rotationally to move, Until attachment mark 76 points to opposed installation site EB1 or EB2.Only after attachment mark 76 so orientation, in packing machine The crawl that can be moved in 14 between installation site EB1 and EB2 and welded grider 72 and/or the crawl rod of handling device (not shown) 78 can just capture the exterior layer 24 of new reel 12 and the exterior layer is positioned at into the lower section of welded grider 72, and the crawl rod is only being schemed Schematically shown in 6.The crawl rod 78 for example by means of negative-pressure ward and can capture the exterior layer 24 of reel 12.

But, it is noted that be, it is also contemplated that some embodiments, in these embodiments new reel 12 do not have this Reflexive (according to Fig. 5's) attachment mark 76 of sample and multiple video cameras 74 do not have in new reel 12 in these embodiments The exterior layer 24 of new reel 12 or the free end regions of new reel 12 are identified in the case of having additional optical signature.So And the attachment mark 76 of energy optical detection preferably has the coding not shown in detail herein, the coding can be by multiple video cameras 74 identifications.The coding preferably can also clearly indicate volume in addition to clearly determining the position of end regions of exterior layer 24 The rotation direction of cylinder 12, so as to which (if necessary in the case where additionally taking temporary place 60 into account) is utilizing transfer robot 18 It just can have been utilized when carrying the reel 12 newly to load and adhere to mark 76 for determining rotation direction and correctly determining The end regions of position exterior layer 24.Here, attachment mark 76 can preferably be detected by SS device 42 or video camera 44 And the information content is analyzed to be then supplied to control unit 38, so as to control in a desired manner transfer robot 18 and/ Or temporary place 60.

Fig. 6 schematical perspective illustrates Fig. 4 and Fig. 5 installation site EB1 and EB2, wherein being encased in the second installation The exterior layer 24 of new reel 12 in the EB2 of position is extracted.It can find out again herein clear enough, be positioned at the second installation The exterior layer 24 of reel 12 in the EB2 of position is set out to being lowered into from top, and the reel being encased in the first installation site EB1 20 exterior layer or material roll 22 is guided by lower section departure place.Two reels 12 and 20 are arranging to their reception core respectively Rotated with identical rotation direction on axle 70, rotated counterclockwise herein.New reel 12 needs to load with meeting rotation direction, with Just operation that is equipment 10 or packing machine 14 (referring to Figures 1 and 2) glitch-free and working is ensured.

Therefore, it not only may determine rotation direction via multiple video cameras 74 inside packing machine 14 or meet rotation side To orientation, and reel 20 that is at least approximate unwinding completely and/or exhausting may be identified via multiple video cameras 74.It will close In the rotation direction of reel 12 or the orientation for meeting rotation direction information and on it is at least approximate unwinding completely and/ Or the information of the reel 20 exhausted passes to control unit 38 by multiple video cameras 74, the control unit can specify that new reel 12 Orientation amendment and regulation replace reel 20 that is at least approximate unwinding and/or exhausting with new reel 12.This particularly can be with Certain mode is carried out, and which will alternatively examined by means of Fig. 2 and Fig. 3 for the temporary place 60 of rotation direction amendment Illustrated in the case of including worry.But, the shooting is primarily utilized herein in order to determine correct rotation direction and practical Machine 44 and secondary strategic point just utilize multiple video cameras 74, so as to by reel 12, loading is followed by examined again in packing machine 14 Test correct rotation direction.

Fig. 7 A and Fig. 7 B schematical view show a part for transfer robot 18, and the transfer robot, which is formed, to be used for Crawl and/or the handling device 16 of reel 12 are carried in apparatus 10.The crawl arm or the energy of arm section 34 of transfer robot 18 Axis 36 around horizontal orientation pivots, fixed vertically so as to which the holding mandrel 32 of transfer robot 18 is carried out with its longitudinal axis To for protruding into the tube filler 26 of each new reel 12.If by transfer robot 18 or by means of keeping mandrel 32 have caught each new reel 12, then new reel 12 is rotated simultaneously around the pivoting action again of axis 36 by crawl arm 34 And then the new reel is encased in and correspondingly arranged in installation site EB1 or EB2 (reference picture 4 to Fig. 6) to it.

In addition, Fig. 7 A and Fig. 7 B show another optional video camera 80.This optional video camera 80 and crawl arm 34 Regularly mechanical coupling, so as to which the video camera is directed when crawl arm 34 moves together with the crawl arm.If make crawl arm 34 pivot around axis 36, then can be determined the rotation direction of one or more new reels 12 by means of video camera 80 or met to turn The orientation in dynamic direction.In order to realize to crawl and/or the corresponding analyzing and processing of handling device 16 and motion control, video camera 80 are connected with control unit 38, and control unit control is obtained with appropriate rotation by means of handling device 16 by pallet 52 Direction or meet rotation direction orientation new reel 12.

In addition, Fig. 7 B show the crawl after the new reel 12 with the orientation for meeting rotation direction is received by pallet 52 And/or handling device 16 (reference picture 7A).As can be seen that in figure 7b, make crawl arm 34 by Fig. 7 A position around Axis 36 pivots, and the axis extends along the direction of drawing in fig. 7.Now, new reel 12 has the orientation of at least level of approximation And correspondingly arranging in installation site EB1 or EB2 to the new reel in packing machine 14 can be loaded into.Equally with water Flat orientation removes reel 20 that is at least approximate unwinding completely and/or exhausting by corresponding installation site EB1 or EB2.In order to Reel 20 at least approximate unwinding completely and/or exhausting is removed by respective installation site EB1 or EB2, transfer robot 32 holding mandrel 32 is protruded into the tube filler 26 of reel 20 that is described at least approximate unwinding completely and/or exhausting, and this can lead to Cross and aid in supporting below by the different additional devices being explained in more detail in Fig. 9 and Figure 10.Mandrel 32 is kept by increasing Cross-sectional diameter each reel 20 at least approximate unwinding completely and/or exhausting is fixed on to the holding of transfer robot 18 On mandrel 32.The increase of the cross-sectional diameter of holding mandrel 32 is provided by control unit 38.

What Fig. 7 C perspective schematic view showed to will remain in the cantilever 34 of transfer robot 18 keeps new on mandrel 32 Reel 12 is stored in the process on rotatable and drivable roller 94, and the roller forms the cavity shape of the fulcrum bearing 64 at temporary place 60 Top bearing-surface 62.Reel 12 is stored in temporary place 60 by means of transfer robot 18, then taken out by reel tube filler 26 The holding mandrel 32 gone out on the end of crawl arm 34, by means of roller 94 make reel 12 rotate in the desired manner and/or by The reel is in axial direction positioned on bearing-surface 62 in the clamping plate 68 that can be fed, so as to then can be with appropriate rotation side Mandrel 32 is kept to receive the reel again to utilization, so that most the reel is encased in packing machine 14 at last.Described according to figure In 7C implementation flexible program, keep in place also again equipped with the housing 100 of closing, the housing be used to accommodate and backing roll 94 with And adjustable clamping plate 68 is together with its Feed servo system device and/or feed mechanism 98 (for this reference picture 3F and Fig. 3 G).

The schematical perspective view of two of Fig. 8 A and Fig. 8 B shows its that a new reel 12 sets in packing machine 14 In position fixing process in installation site an EB1 or EB2 (reference picture 4 to Fig. 6).Therefore, Fig. 8 A are shown with packaging material And pushed away to be attached in packing machine 14 and receive new reel 12 a bit of on mandrel 70, in advance by the new reel with carrying The holding mandrel 32 of robot 18 separates.Therefore, keep mandrel 32 to be provided with drift annex 82, for by reel 12 towards axial Stopper section 84 pushes away the purpose for being attached to and receiving on mandrel 70, and the drift annex is temporarily fixed to the holding mandrel of transfer robot 18 On 32.Showing that this pushes away dress process in the fig. 8b, drift annex 82 is pressed against on the side of reel 12 as this pushes away dress process, until By the reel towards axial direction stopper section 84 push away dress and and then push away be attached to its setting installation site EB1 or EB2 in.Pacify reaching Transfer robot 18 is separated with reel 12 and distributes new task again after holding position EB1 or EB2.

Correspondingly, reel 20 that is consumption or almost exhausting is released by reception mandrel 70 and passes through conveying robot The holding mandrel 32 of people 18 is taken over by means of the stopper section 84 of moveable axial direction and receives mandrel 70 by means of rotatable Moveable supporting structure and simplify, Fig. 9 A to Fig. 9 D show this point.

The schematical perspective view of two of Fig. 9 A and Fig. 9 B shows the installation site EB1 or EB2 set in packing machine 14 In reel 12 (Fig. 9 A) or the reel by removing there (Fig. 9 B) received on mandrel 70 in (reference picture 4 to Fig. 6) Different running statuses.In Fig. 9 A diagram, reel 12 is in the installation site EB1 or EB2 that set for uncoiling, And in Fig. 9 B diagram, the reel is pushed down by reception mandrel 70 by the movement of the stopper section 84 of axial direction and for example removed Transport the adapter (not shown) of robot 18.The stopper section 84 of moveable axial direction is in can be parallel to the Longitudinal extending for receiving mandrel 70 On the pedestal 86 of direction motion, the pedestal is maintained in two parallel longitudinal guide portions 88 and is movable.In reel 12 In when receiving on mandrel 70, it is maintained at pedestal 86 that is in longitudinal guide portion 88 and can moving horizontally and connects homoaxial backstop Naturally in bearing 90 nearby (Fig. 9 A), the bearing forms the supporting structure and the reception for rotation driven simultaneously in portion 84 The driver 92 of mandrel 70.

As two schematical side views such as Fig. 9 C and Fig. 9 D show, whole bearing 90 is together with its He of driver 92 The reception mandrel 70 of rotation driven is configured to what is moved along two parallel horizontal guide portions 88, and this simplifies will be new The fit on of reel 12 receives mandrel 70 and the reel of consumption is removed by transfer robot.

Fig. 9 C show to be positioned at the reel 12 received on mandrel 70.Here, the bearing 90 with driver 92 is in the right Stopper section by, now be used for unwind reel 12 be in packing machine 14 in.The stopper section 84 of axial direction utilizes its pedestal 86 Shifting is come on bearing 90, so as to which the stopper section does not contact with reel 12.Fig. 9 D equally show to be positioned at the volume received on mandrel 70 Cylinder 12.Here, the bearing 90 with driver 92 is moved to the left, axial stopper section 84 is also that so the stopper section utilizes it Pedestal 86 is abutted on bearing 90 and is therefore equally moved to the left.Here, the reception core being rotatably supported on bearing 70 Axle 70 outwards removes one section together with reel 12 thereon by installation site EB1 or EB2, so as to which the reel 12 is not in fitting For in the position of unwinding, but in remove or rigging position in, in the rigging position, the reel can be handled upside down machine easily Device people 18 takes over or is handed over to packing machine 14.Particularly, when bearing 90 moves right original operation with mandrel 70 When in position (according to Fig. 9 C), the position that is shown in Fig. 9 D can be formed reel 12 is moved by reception mandrel 70 under position Put, and the pedestal 86 of the stopper section 84 with axial direction is maintained at its opening position (according to Fig. 9 D).Here, in the stopper section 84 of axial direction During being abutted in side on reel 12 and the reel being maintained at into its opening position, mandrel 70 is removed by reel tube filler 26.By The holding mandrel 32 of transfer robot 18, can be pushed into the reel tube filler 26 of abjection and finally from reception mandrel 70 by this Take over and extract reel 12 out.

With reference to the preferred embodiment description present invention.However, to those skilled in the art it is contemplated that can be with Change or improve the present invention, and to this without departing from scope of the claims.

Reference numerals list

10 equipment

12 reels, new reel

14 packing machines

16 grabbing devices, handling device, crawl and/or handling device

18 multi-axis robots, transfer robot

20 reels, the reel consumed, the reel of part unwinding

22 material rolls, packaging material

24 exterior layers

26 tube fillers, reel tube filler

28 horizontal transferring devices

30 cantilevers

32 keep mandrel

34 arm sections, crawl arm

36 pivot centers

38 control units

40 output signals

42 SS devices

44 optical detection apparatus, video camera

46 spaces

48 manipulators

50 users, operating personnel

52 pallets

54 keep mandrel

56 containers

58 display devices

60 temporary places

62 bearing-surfaces, top bearing-surface

64 fulcrum bearings

66 axis, vertical axis

68 clamping plates

70 mandrels, receive mandrel, keep mandrel

72 welded griders

74 video cameras

76 attachment mark, can optical identification/it is reflexive attachment mark

78 crawl rods

80 video cameras, (transfer robot) another video camera

82 drift annexes

84 axial stops

86 moveable pedestals

88 longitudinal guide portions, parallel longitudinal guide portion

90 bearings

92 drivers

94 rollers

96 frame plates

98 (being used for clamping plate) Feed servo system devices, feed mechanism

The installation sites of EB1 first

The installation sites of EB2 second.

Claims

1. for the method that conveys, provide, carry and/or change reel (12,20), the reel have it is wound thereon and And the flat and/or thin-film material as packaging member goods, the packaging material (22) for attaching together part or the like group, in institute State in method, at least one installation position by reel (20) that is at least approximate unwinding completely and/or exhausting by packing machine (14) (EB1, EB2) is put to remove and then will correspondingly be encased in accordingly with flat and/or thin-film material new reel (12) In installation site (EB1, EB2), wherein, by new reel (12) be supplied in the feeding mechanism of restriction packing machine (14) and After removing the reel (20) consumed in advance therefrom, correspondingly by means of at least one crawl and/or handling device (16) New reel (12) is encased in corresponding installation site (EB1, EB2), wherein, to be each newly encased in packing machine carrying (14) check that the reel meets the position of rotation direction and corrected on demand during the reel (12) in, its mode is institute State crawl and/or handling device (16) relevant reel (12) is stored on temporary place (60) for changing rotation direction, The temporary support (62) of the place as reel (12), then the crawl and/or handling device receive again reel (12) and The reel is transferred to packing machine (14), so as to which the reel is encased in corresponding installation site (EB1, EB2).

2. according to the method for claim 1, in the process, check each storage by means of optical detection apparatus (44) Whether the tube filler (26) of the reel (12) on temporary place (60) has damage, wherein, when tube filler (26) has damage, not by phase The reel (12) answered transfers packing machine (14) to, also, damage is not present in tube filler (26) in the crawl and/or handling device (16) Bad when, receives reel (12) and transfers reel to packing machine (14) again, so as to which the reel is encased in into corresponding installation position Put in (EB1, EB2).

3. according to the method for claim 2, wherein, make the optical detection apparatus (44) via crawl and/or carry dress (16) are put to move towards tube filler (26) for checking whether tube filler (26) has damage.

4. the method according to one of claims 1 to 3, in the process, the temporary place (60) be in crawl and/or It is merged into there in the space (46) of handling device (16) and on demand in assembling process for by new reel (12) loaded with correct rotation direction in packing machine (14).

5. the method according to one of Claims 1-4, in the process, by means of SS device (42) at least Detect reel (12) restriction feeding mechanism and/or provide device region in position and/or detection it is described crawl and/or Handling device (16) and/or its space (46), and according to the spatial data, exercise data and/or sensor detected Data (40) at least control it is described crawl and/or handling device (16) the restriction for reel (12) feeding mechanism and/or Motion in the region of device and/or in the region of temporary place (60) is provided.

6. the method according to one of claim 1 to 5, in the process, by means of optical detection apparatus, it is particularly and borrows Help that at least one video camera (44,80) detection is each conveyed by the crawl and/or handling device (16) and/or carrying New reel (12) meets rotation direction position.

7. the method according to claim 5 or 6, in the process, the SS device (42) are at least detected and grabbed Take and/or the space of handling device (16) (46) is together with temporary place (60) therein and providing output signal (40) motion that, the output signal describes the space (46) and crawl and/or handling device (16) occurs wherein And/or the carrying step occurred wherein with the reel (12) of correct rotation direction positioning on temporary place (60).

8. the method according to one of claim 1 to 7, in the process, the temporary place (60) is by unpiloted And/or the transportation system of remote control is formed, crawl and/or handling device (16) are by those in order to be encased in packing machine (14) And the new reel (12) that to change its rotation direction is individually placed in the transportation system, and in the reel around vertical axis Line receives the new reel and the new reel is placed in packing machine (14) again after rotating.

9. the method according to one of claim 1 to 8, in the process, at least one optical markings (76) are applied To new reel (12) in the part in the region of the free end of its exterior material width (24), and by means of crawl and/ Or new reel (12) is so encased in respective installation site (EB1, EB2) by handling device (16), or it is each extracting out So the new reel is directed in respective installation site (EB1, EB2) before exterior layer (24) so that by the optics (76) are marked to point to a corresponding opposed installation site (EB1, EB2).

10. according to the method for claim 9, in the process, at least one optical markings (76) are each new Reel (12) is so applied on the new reel before being encased in respective installation site (EB1, EB2) so that by In the optical markings (76) by the free end of the exterior material width (24) of each new reel (12) at least as far as possible fixedly It is fixed on each new reel (12).

11. the method according to claim 9 or 10, in the process, the optical markings (76), which are applied to, to be in On new reel (12) on temporary place (60).

12. the equipment (10) for conveying, providing and/or carrying and/or change reel (12,20), the reel have winding It is thereon and as packaging member goods, the packaging material (22) for attaching together part or the like group it is flat and/or thin Membrane material, in the apparatus, reel (20) at least approximate unwinding completely and/or exhausting can be by packing machine (14) at least One installation site (EB1, EB2) remove and can by for each installation site (EB1, EB2) and with flat and/or thin Each new reel (12) of membrane material is replaced, and is provided in the device for the supply that the equipment (10) is included in restriction for packing machine (14) device of new reel (12) and it is at least one crawl and/or handling device (16), it is described it is at least one crawl and/or remove Shipping unit is used to take over the reel (12) by the feeding mechanism limited and is used for the new reel (12) with corresponding The rotation direction of restriction is encased in the corresponding installation site (EB1, EB2) of packing machine (14) and/or for that will consume Reel (20) is removed by least one installation site (EB1, EB2) of packing machine (14), wherein, crawl and/or the carrying dress The temporary place (60) that (16) are equipped with the reel (12) for be encased in packing machine (14) is put, the temporary place is used as reel (12) support (62), particularly it is used to deposit reel, provide reel with meeting rotation direction and by capturing and/or carrying dress Put (16) and receive reel again to hand in packing machine (14).

13. equipment according to claim 12, in the apparatus, the temporary place (60) are formed by fulcrum bearing (64), The fulcrum bearing occupies fixed or variable position in the space (46) of crawl and/or handling device (16).

14. the equipment according to claim 12 or 13, in the apparatus, the fulcrum bearing (64) are equipped for rotating Rotary driver in reel (12) thereon, to adjust the turned position of the reel and/or exterior material width layer (24) orientation at edge.

15. the equipment according to one of claim 12 to 14, in the apparatus, the temporary place (60) is by unmanned And/or the transportation system of remote control formed or including such transportation system, the transportation system and crawl and/or carry Device (16) is made new reel (12) reach the rotation direction limited in a manner of controlled cooperation and gives back the new reel Crawl and/or handling device (16) and/or independently it is placed in packing machine (14).

16. the equipment according to one of claim 12 to 15, the equipment is equipped with SS device (42), the sky Between detection means be used at least detecting position and/or detection temporary place (60) of the reel (12) in the region of temporary place (60) and exist Position and/or motion in space (46), and for controlling the orientation of reel (12) in order to changing or correct volume The rotation direction of cylinder.

17. the equipment according to one of claim 12 to 16, in the apparatus, the SS device (42) are used for Position and/or the detection crawl of the reel (12) in the region of the feeding mechanism of restriction and/or offer device are at least provided And/or the position and/or motion of handling device (16) and/or temporary place (60) in space (46), and it is used for basis By means of described in spatial data, exercise data and/or sensing data (40) control of the SS device (42) detection The fortune of crawl and/or handling device (16) in for the region of the feeding mechanism of the restriction of reel (12) and/or offer device It is dynamic.

18. the equipment according to claim 16 or 17, in the apparatus, the SS device (42) is by least one Individual optical detection apparatus, particularly video camera (44,80) formation, at least one optical detection apparatus at least detect crawl And/or handling device (16) space (46) and output signal (40) is provided, the output signal describes the motion The motion that space (46) and crawl and/or handling device (16) and/or temporary place (60) occur in the space.

19. equipment according to claim 18, in the apparatus, by least one optical detection apparatus or take the photograph Camera (44,80) is arranged to crawl and/or handling device (16) and/or temporary place (60).

20. the equipment according to one of claim 12 to 19, in the apparatus, the crawl and/or handling device (16) formed by multi-axis robot (18), the multi-axis robot receives new reel (12) and by described in from the feeding mechanism of restriction New reel is placed in packing machine (14).

21. the equipment according to one of claim 12 to 20, the equipment includes optical detection apparatus (44), by means of this Optical detection apparatus can check whether the tube filler (26) of each reel (12) being stored on temporary place (60) has damage, wherein, Crawl and/or handling device (16) pick out the reel of each tube filler (26) with damage when damage be present controllablely (12), also, crawl and/or handling device (16) have unspoiled tube filler by each controllablely when in the absence of damage (26) reel (12) is handed in packing machine (14).

22. equipment according to claim 21, in the apparatus, the optical detection apparatus (44) are mechanically fastened On the movable arm section (34) of crawl and/or handling device (16).