CN208959329U - Equipment for conveying, providing, carry and/or replace reel - Google Patents

Abstract

Equipment for conveying, providing, carry and/or replace reel, reel have wound thereon and are used as the flat and/or thin-film material of packing member cargo, attach together part or the like the packaging material of group.At least approximate reel for unwinding and/or exhausting completely is removed from the installation site of packing machine and will be then fitted into installation site with flat and/or thin-film material new reel, new reel is supplied to packing machine in the feeding mechanism of restriction and after removing the reel consumed, new reel is fitted into installation site by crawl and/or handling device.Position and/or detection crawl and/or handling device and/or its space of the reel in the region of the feeding mechanism of restriction and/or offer device are at least provided by space monitoring device, and the movement of crawl and/or handling device in the region of the feeding mechanism of the restriction for reel and/or offer device is at least provided according to spatial data detected, exercise data and/or sensing data.

Description

Equipment for conveying, providing, carry and/or replace reel

Technical field

The utility model relates to a kind of equipment, the equipment for convey, provide and/or as far as possible un-interrupted carry and/ Or replacement reel, the reel has wound thereon and is used as packaging member cargo, the group that attaches together part or the like The flat and/or thin-film material of packaging material.

Background technique

By article, for example beverage container or the like be grouped and be combined into attach together part when, in practice through normal open It crosses shrink film these articles keep together, to prevent combining landing by article in further carry or in transport Or it loosens.Part is attached together including four, six or more by the prior art is for example known.Such part that attaches together is to be used for The fairly common modification of the sale unit of beverage container or bottle made of PET plastic.In order to packaging when and/or with High productivity is realized when rear stacking, it is expected that combining as rapidly as possible in this way 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 device and method are unwound material by one or more reel, in packing machine delivered inside and at the same time It is coated using packaging material and each attach together part or each will form each article for attaching together part.Here, packaging material is by reel Unwinding usually carries out flexibly and during continuous.Known some 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 replace corresponding Reel or replaced by new reel.But, associated with such changing bobbins is undesirably to interrupt to combine and wrap Dress attaches together the process of part.

Such as a kind of method and a kind of equipment as known to 40 40 545 A1 of document DE, it can by means of this method and equipment To feed new reel and replace the reel consumed inside packaging machine.This known equipment has multiple with band The deposit reel of material, these deposit reels are abreast arranged.The core of reel is set on common pin.By piece of tape The starting point of material is connected with roller in advance, which is extracted out by corresponding reel by stripping and be downwardly away from equipment guidance. In order to run this known equipment and unwind material by reel, the reel must meet rotation side using its core It is attached on pin to ground set.The first layer of stripping or stripping must be sunk to by top towards roller.If reel with Opposite 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 raw difficult.It, cannot in equipment known to these according to the rotation direction of the new reel of suit in order to ensure glitch-free operation Save the suit again for manually shifting and meeting rotation direction.

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

34 25 734 A1 of document DE discloses a kind of for packaging material to be supplied to 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 for catching Packaging material and packaging material is supplied to the processing machine on the 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.

In addition, a kind of for supplying the dress of consumption or packaging material to packing machine known to 1 273 541 B1 of document EP It sets.The material roll for being wound into spool is supplied on pallet and is assigned on multiple productions and packing machine, wherein will be each Spool is removed by individual spool conveyer and is transported to during the machine to be supplied, will be held in the palm by means of conveyor pallet first Dribbling is into transition storage portions.

10 2,006 017 379 A1 of document DE discloses a kind of for carrying the dress for the reel being made of packaging material It sets.This device includes the reel bunker with portal frame, wherein reel is stored on pallet.It is mechanical with the gantry cranked arm Reel is transferred to the winding unit being arranged in except portal frame by hand as needed.Therefrom, material roll is towards the side on opposite flat Row is in being fed to consumption equipment on the direction that portal frame longitudinally extends.

Known method for carrying and equipment usually require to be precisely located and supply new reel or with wound thereon Packaging material reel.If be precisely located described in not ensuring, it is difficult successfully to replace the reel consumed, thus not Ensure the operability of packing machine again.

Utility model content

It is flat on reel for carrying that the purpose of the utility model is to provide a kind of due to the above reasons, And/or equipment thin-film material and with high the degree of automation, it can be provided un-interrupted by means of the equipment flat And/or thin-film material.The equipment should ensure in the case where reel feeding mechanism is not accurately positioned without problems and to go out Many tolerances work and ensure the smooth replacement of reel under all operating conditions.

In order to realize the purpose being previously mentioned, the utility model proposes one kind for conveying, providing, carry and/or more change of lap The equipment of cylinder, the reel is with wound thereon and be used as packaging member cargo, the group that attaches together part or the like The flat and/or thin-film material of packaging material.

Here, reel at least approximate unwinding completely and/or exhausting is taken by least one installation site of packing machine One is packed into flat and/or thin-film material new reel every time down and then or after removing corresponding reel Into corresponding installation site.In general, after being packed into new reel every time, by the exterior layer of each new reel reel freedom It is extracted out nearby or in the region of the free end and in order to form the material roll of no interruption and another reel in end The one section of connection, particularly welding of the material roll guided in packing machine or bonding.However it is also contemplated that other connections may Property.The method regulation, in the feeding mechanism of restriction, for example by means of pallet, commodity shelf system, FTS (that is, unmanned fortune Defeated system), rotary hopper, supply system, vertical conveying device or the like by new reel be supplied to packing machine and It, there will be described by means of at least one crawl and/or handling device after the reel consumed is removed therefrom in advance New reel is encased in corresponding installation site.The rotary hopper for example reel is arranged in this way in circular pallet or In rotatable system, allow to provide new reel when the pallet rotates again or within the system.The supply system Bucket elevator or shuttle machine are configured to referring for example to 2 862 823 A1 of document EP.It is filled preferably by means of carrying and grabbing It sets and reel is automatically received by orderly feeding mechanism and reel is encased in packing machine.

In addition, at least detecting reel in restriction by means of optical sensor arrangement appropriate and/or space monitoring device Position and/or crawl and/or detection handling device and/or its space in the region of feeding mechanism and/or offer device. The crawl is at least controlled according to spatial data detected, exercise data and/or sensing data and/or handling device exists The feeding mechanism of restriction for reel and/or movement or the control crawl and/or carrying in the region of offer device Movement of the device in its corresponding space.

It may further specify that, the space monitoring device being previously mentioned is by least one optical detection apparatus, particularly video camera shape At the optical detection apparatus at least detects the space of crawl and/or handling device and provides output signal, output letter Number describe the space and crawl and/or movement that handling device occurs in the space.In this case, institute Stating at least one optical detection apparatus or video camera for example can be arranged to crawl and/or handling device or be mounted on that In, so that the optical detection apparatus or video camera can check crawl and/or the movement of handling device and be packed into newly The orientation for meeting rotation direction of each new reel is checked before reel or when being packed into new reel.Alternatively, however, it images Machine can also cover the space, and mode is, the video camera installed in such a way that position is fixed in space or By packing machine；Additional or multiple video cameras may also be set in crawl and/or handling device.It usually can be used multiple Their output signal can be superimposed and be used to be accurately determined all to be exercised by video camera or optical detection apparatus The position of the position of component, the position of handling system and/or the reel with packaging material.

It can realize the new reel with packaging material wound thereon in this way relative to the accurate of packing machine Ground positioning and supply.The accurate positioning of handling device may insure successfully to replace the reel consumed, thus with ideal Mode ensures the operability of packing machine.The method carried for packaging purpose flat on reel and/or With high the degree of automation when thin-film material, flat and/or thin-film material is provided un-interrupted to be able to achieve.In addition, institute It states method and is worked without problems and with outstanding tolerance and may be used also in the case where reel feeding mechanism is not accurately positioned To ensure smoothly changing bobbins under all operating conditions.

It is encased in addition, it is contemplated that space monitoring device detects in the space of crawl and/or handling device The state of the tube filler of reel in each installation site and the information of tube filler state is provided as output signal.Here, must It can determine whether the tube filler of reel is damaged and determine whether or not filled without difficulty due to damage in turn when wanting Enter into each installation site of packing machine.Here, it is contemplated that in the damage for determining tube filler via grabbing and/or remove Shipping unit screens the reel of each tube filler with damage and this reel is not encased in each installation site.Crawl And/or each reel with the tube filler damaged can be for example placed on the particular pallet for being used to screen reel by handling device Or it is transferred to the particular pallet for screening reel.As described further below, crawl and/or handling device are matched Equipped with the temporary place for the reel in packing machine to be encased in, which may be used as the bracket of reel, particularly is used for Store each reel to be packed into, meet rotation direction by crawl and/or handling device receive each reel again to move It is sent in packing machine.Here, some embodiments be proved to be it is feasible, in these embodiments, crawl and/or carry dress The reel that setting will be encased in corresponding installation site positions in temporary place, is then detected optically by and positions in temporary place Reel tube filler state and the status information of tube filler is provided as output signal.It especially can by reel accumbency Or it is horizontally positioned in temporary place with its longitudinal extension.Such embodiment be proved to be it is feasible, so as to energy Simply and in a manner of compared with low-risk carrying out defect identification to potential damage check each volume being located in temporary place The state of the tube filler of cylinder.Optical detection apparatus or camera chain especially can be set, which has an X-rayed cylinder Core is for determining or checking the component part for damaging and being configured to crawl and/or handling device or arranging to crawl And/or handling device.Therefore, the arm in crawl and/or handling device can be set in camera chain or optical detection apparatus In the region of tube filler that is upper and moving to each reel via crawl and/or handling device when necessary.

Crawl and/or handling device can especially 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.As mentioned, transfer robot can select It is equipped with to selecting property individual video camera, which for example may be mounted on the movable cantilever of transfer robot, thus Camera shooting function detection all movements in space and to be received and to navigate to the reel in packing machine.Handling device Or multi-axis robot preferably has crawl appropriate or holding element, to receive reel.Therefore, handling device or multiaxis Robot for example can have holding mandrel, which protrudes into the new reel for being configured to hollow body in end side, increase The maximum cross section diameter of the holding mandrel increases the cross-sectional area of the holding mandrel and with this by each new reel It is fixed on blocking on handling device or multi-axis robot.

Optionally, crawl and/or handling device can also be by transportation systems that is unpiloted and/or remotely controlling (shuttle machine of FTS, at least one self-propelled) forms or including such transportation system, and the transportation system is by the supply that limits Device receives new reel and places the new reel in packing machine.The shuttle machine of the FTS or FTS for example can have Crawl arm or the like is for receiving and carrying reel.The transportation system receives reel using the crawl arm, by reel It is stored on transport support, it is then mobile towards packing machine together with reel and be packed into reel there.Optionally, described Shuttle machine can be equipped with the video camera of itself, to control the movement of the shuttle machine in space.

In addition, being provided with reasonable manner, checked during carrying reel by crawl and/or handling device and on-demand The positioning for meeting rotation direction for the reel for wanting (that is, when reel mistake is placed) amendment to be each newly encased in packing machine, The reel that the mistake is placed has the loose material roll end in wrong way.In order to correct rotation direction, grab And/or handling device can for example be equipped with the temporary place for the reel in packing machine to be encased in, which is used as volume Cylinder bracket, particularly for store reel, with meeting rotation direction provide reel and by crawl and/or handling device again Reel is received to hand over in packing machine.Temporary place can especially be formed by fulcrum bearing or the like, which exists Fixed or variable position is occupied in the space of crawl and/or handling device.Optionally, fulcrum bearing itself can be with structure The shuttle machine for FTS or unpiloted transportation system are made, the fulcrum bearing can be implemented when reel will commutate around it as a result, The automatic rotation of vertical axis 180 degree, so as to which crawl and/or handling system is made to receive again with correct position and be stored in that In reel.In this case, and it can be stated that temporary place or fulcrum bearing are equipped with video camera, it may thereby be ensured that Additional optical monitoring at fulcrum bearing, to detect roll position etc. and in a desired manner control fulcrum bearing or to grab It takes and/or handling device.

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 turned position of the reel and/or the orientation of cladding material breadths edge.It is fixed go back with fulcrum bearing Be it is movable unrelated, which can be equipped with reversing mechanism appropriate, turn to implement 180 ° when reel is laid flat It is dynamic, so that reel can be made to reach in correct installation site.

May further specify that, packing machine itself or its be used for the installation site with packaging material and replaceable reel By optical monitoring.In this case, in packing machine, particularly in the region of the reel to be replaced or in the reel Installation site region in additional optical monitoring device or video camera can be set.

In addition, advantageously, by least one optics mark in another variant schemes using the utility model description Note is applied to new reel in a part in the region of the free end of its exterior material width and is incited somebody to action by means of handling device New reel is encased in respective installation site in this way or is in this way directed to new reel respectively before extracting each exterior layer out From installation site in so that optical markings are directed toward corresponding opposed installation site.At least one described optical markings are each New reel is for example applied on the new reel in this way before being encased in respective installation site, so that by means of optics mark The free end of the exterior material width of each new reel is at least fixedly secured on each new reel by note as far as possible.It can advise Fixed, optical markings are for example applied on the new reel in temporary place, when necessary monitoring space or be arranged temporary The auxiliary for depositing the video camera in place supports lower apply.However, optical markings can also be applied in the region of conveying device Another position manually applies as necessary by operator or support staff.In particular, the optical markings can be weight It wants, to show and ensure the correct rotation direction of reel, is encased in packing machine so that reel is correctly oriented with it In.

The optical markings being previously mentioned can be optionally applied on reel afterwards, so that Marking film or material roll start End.However it may be desirable to which such label is inserted into material roll, such as by squeeze wood material web in material Material web adjacent edges insert in the region at material roll edge, this can simplify again relative to the subsequent optical markings that apply Operation, because eliminating another carries step.In addition, the optical markings in material roll be it is practical, which exists Material roll end at hand is shown when unwinding reel.The label can be monitored and be detected with optical means, so that identification is almost The reel that exhausts and prepares in time and start changing bobbins.

Material roll edge must be sticked on the material roll layer under it with sufficient adhesion strength, so that material roll starts End will not unnecessarily, for example be disengaged in transport by mandrel surface.However, on the other hand, adhesion strength must be small in this way, make External material roll layer or film layer can be taken off without difficulty by reel, preferably be taken off also by way of pneumatic fixture, The pneumatic fixture can provide the adhesion strength for being significantly less than mechanical clamp.The auxiliary inside packing machine can be passed through when necessary Device is taken off described in assisting supporting, also that is, for example carrying out auxiliary branch by tip wedge (make reel against the tip wedge rotate) It holds, so that the tip wedge can elapse below the material roll edge of exterior material width or film web, it is possible thereby to overcome material The adhesion strength of breadths edge.

Such as can make new spool motion into the region of handling device via horizontal transferring device and by means of carry Device is directly removed new reel by horizontal transferring device.New reel can be equally supplied on pallet, thus four for example each The reel of setting is arranged on a pallet, takes the reel to crawl by means of feeding mechanism appropriate and/or carries dress In the space set, to be received and to be encased in packaging machine by crawl and/handling device there, also will when necessary Temporary place takes into account, as above as possibility description.

In addition, it can be stated that control unit and handling device and space according to the embodiments of the present invention Monitoring device is combined and is connected and is considering to be connect by means of handling device by feed region and/or horizontal transferring device Receive the beat operation of prescribed level conveying device in the case where each new reel.The control unit equally can specify that by being supplied Pallet repeat to receive new reel.

In order to realize the purpose being previously mentioned, the utility model also propose it is a kind of for conveying, provide and/or carry and/or The equipment for replacing reel, the reel is with wound thereon and be used as packaging member cargo, attach together part or the like The flat and/or thin-film material of the packaging material of product group.Previously for conceivable many embodiments institute of the method The feature of description equally can with conceivable many embodiments of equipment described below in terms of regulation and therefore not redundancy Ground set forth.The feature for the various embodiments of equipment that is be previously mentioned below be related to can be advised further at previously described aspect 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 A installation site take out and by for each installation site and accordingly replaced with flat and/or thin-film material new reel Change, wherein preferably after being packed into new reel every time near the free end of each new reel or the free end area Extract the exterior layer of each new reel in domain out and in order to form the material roll of no interruption for the exterior layer and another reel The one section of connection, particularly welding or bonding of guiding material width in packing machine.Equipment according to the utility model includes being used for In the feeding mechanism of restriction, such as providing the device of new reel to packing machine in pallet, commodity shelf system, FTS or the like, And it is used to be taken over by the feeding mechanism limited including at least one crawl and/or handling device, the crawl and/or handling device Reel and for new reel being encased in the corresponding installation site of packing machine and/or being used for corresponding peace by packing machine Holding position removes the reel consumed.It in this case, especially can be by means of carrying with grabbing device automatically by having The feeding mechanism of sequence receives reel and reel is encased in packing machine.In addition, the equipment according to the utility model can match Space monitoring device is had, the space monitoring device in the feeding mechanism of restriction and/or provides dress at least detection reel It position and/or movement of the position in region and/or detection crawl and/or handling device set in space and is used for The crawl is controlled according to the spatial data, exercise data and/or sensing data detected by means of the space monitoring device And/or movement of the handling device in the feeding mechanism of the restriction for reel and/or the region of offer device.

In a kind of variant schemes of the equipment, space monitoring device can for example be filled by least one optical detection It sets, particularly video camera is formed, the optical detection apparatus at least detects the space of crawl and/or handling device and mentions For describing the space and crawl and/or the output signal of movement that handling device occurs in the space and will The output signal is supplied to control system.At least one described optical detection apparatus or video camera for example can directly be arranged To crawl and/or handling device.Therefore, video camera can be installed there；The video camera then can be packed into new reel it Movement preceding or that each new reel is checked when being packed into new reel and the orientation for meeting rotation direction.It is alternatively possible to The video camera is set in space or multiple camera shootings can also be set in space and/or in robot or handling device Machine.

Crawl and/or handling device can especially 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.As mentioned, transfer robot or more It is equipped with to the axis robot property of can choose video camera, which for example can be set in movable or hinged crawl arm Or on cantilever, to detect all objects caught and corresponding environment, so that preferably and multiaxis can be precisely controlled Robot.

Handling device or multi-axis robot have crawl appropriate and/or retainer member, the crawl and/or retainer Part can for example be formed by holding mandrel, which protrudes into the new reel for being configured to hollow body in end side, and increasing should It keeps the maximum cross section diameter of mandrel or increases its cross-sectional area and be fixed on each new reel with blocking with this to remove On shipping unit or multi-axis robot.

Optionally, crawl and/or handling device (can be had by transportation system that is unpiloted and/or remotely controlling The so-called FTS of the shuttle machine of at least one self-propelled) formed or including such transportation system, the transportation system is by limiting Feeding mechanism receive new reel and place the new reel in packing machine.The shuttle machine or FTS also can choose It is equipped with video camera to property.

It is unrelated with the specific configuration scheme of crawl and/or handling device, it is preferably provided with additional device appropriate, so as to logical Cross crawl and/or check during handling device carries the reel that be each newly encased in packing machine and as needed (that is, When reel mistake is placed) positioning for meeting rotation direction of the amendment reel, the reel that the mistake is placed has in mistake The accidentally loose material roll end in direction.Therefore, crawl and/or handling device can be for example equipped for be encased in packaging The temporary place of reel in machine, the temporary place may be used as the bracket of reel, particularly for storing reel, meeting rotation direction Ground provides reel and receives reel again by crawl and/or handling device to hand over in packing machine.It is described optional to be located in Temporary place in space can for example be formed by fulcrum bearing, which can be in crawl and/or the fortune of handling device Fixed or variable position is occupied in dynamic space.Also it can be stated that fulcrum bearing itself can be formed the movable of FTS and The shuttle machine of self-propelled.In addition, the fulcrum bearing property of can choose be equipped with video camera, be thus able to achieve additional at fulcrum bearing Optical monitoring.In addition, fulcrum bearing can be equipped with for making the rotation in reel thereon around horizontal long axis rotation Driver, to adjust the orientation of the turned position of the reel and/or the edge of cladding material width.In addition, fulcrum bearing can be with Selectively there is reversing mechanism, so that 180 ° of rotation can be implemented when reel is laid flat.This function is configured at temporary place It is just had existed when the shuttle machine of self-propelled.

In addition, the equipment can be in packing machine, particularly in the region of the reel to be replaced 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 that at least one optical markings is applied to new volume respectively Cylinder is in a part in the region of the free end of its exterior material width, to be filled new reel in this way by means of handling device Enter into respective installation site or new reel is directed to respective installation site in this way before extracting each exterior layer out In, so that optical markings are directed toward corresponding opposed installation site.It may further specify that in this case, at least one described optics Label is applied in this way on the new reel before each new reel is encased in respective installation site, so that by means of The free end of the exterior material width of each new reel is at least fixedly secured on each new reel by optical markings as far as possible. Particularly advantageously, the optical markings can be applied on the new reel in temporary place, when necessary in corresponding video camera Auxiliary support lower apply.

Optionally, new spool motion can be made to arrive via pallet such as via horizontal transferring device in the apparatus It is directly removed by pallet or horizontal transferring device in the region of handling device and by means of handling device by new reel.This Outside, it preferably provides, control unit is connected with handling device and space monitoring device and in view of filling by means of carrying Set by feed region and/or pallet or horizontal transferring device receive in the case where each new reel prescribed level conveying device or The beat of person's pallet feeding mechanism is run.

The some of the method for the utility model description and according to the utility model equipment are comprehensively utilized again below Aspect, characteristic and details.Also that is, the utility model disclose it is a kind of for carrying on reel and being used as un-interrupted Member cargo, the group that attaches together part or the like packaging material flat and/or thin-film material method.Here, described flat And/or thin-film material can be structured as shrink film or traditional plastic foil.Reel can have tube filler, the geometric form of the tube filler Shape is equivalent to hollow cylinder and can at least partly be made of cellulose-containing material.It is possible thereby to advantageously will be each New drum sheath is attached on the pin corresponding with tube filler of packing machine and when being extracted out by reel or being removed packaging material on pin Rotationally rotate.In the range of the method, by reel that is at least partly unwinding and/or exhausting by least the one of packing machine A installation site is removed and then or after removing corresponding reel has flat and/or thin-film material for one every time New reel be encased in corresponding installation site.In a preferred embodiment, at least two installation sites can be set. Each installation site at least two installation sites can have pin as already mentioned above, and new reel is set with On to the pin and each reel is rotated on the pin for unwinding respective flat and/or thin-film material.Reel is special It is not that can be fixed on blocking on the pin of respective installation site.

Pin can be rotatably driven and transmit torque on the reel of each suit, so that reel is in order to unwind it Flat and/or thin-film material and via its sell rotational motion.Each pin can be equipped with driver, make accordingly via the driver Pin rotation.The control that driver can be connected with the control unit being then also well described or be then also well described Unit manipulation is for rotating pin.It removes by respective installation site with packet that is at least partly unwinding and/or exhausting Before the reel of package material, can loosen between pin and reel and block connection, thus reel then no longer with pin fixedly It connects and can be removed by pin.The movement of the rotation of pin can be interrupted, until new drum sheath to be attached on pin or be packed into Into corresponding installation site.It, usually will be new accordingly after new reel is correspondingly encased in respective installation site The exterior layer of reel is extracted out near its free end or in the region of the free end and in order to form no interruption Material roll and connect with one section of the material roll of another reel guided in packing machine.

It can be after being packed into new reel using grasping element appropriate, for example by means of with pneumatic suction pressure , the mechanical crawl to work with blocking ground and/or Electrostatic Absorption and/or handling device be by the exterior layer for the new reel being accordingly packed into Extraction, the crawl and/or handling device move back and forth between at least two installation site.Therefore, grasping element can be with Alternately extract the exterior layer of new reel out by least two installation site.Some embodiments confirm in practice it is feasible, Grasping element temporarily fixes the corresponding exterior layer of new reel by negative pressure in these embodiments.Furthermore, it is possible to be provided with Welding rod, the welding rod move downward and in this case by the exterior layer of each new reel and the material guided in packing machine Width welding.Each exterior layer can be made to move in the working region of welding rod via grasping element.Therefore, the welding rod of temperature adjustment can be with The exterior layer for clamping each new reel is moved towards the material roll guided in packing machine.In particular, some embodiments confirm Feasible, welding rod vertically moves up and down thus and in vertical descending motion by each of new reel in these embodiments A exterior layer is welded with the material roll guided in packing machine.

Usually during being packed into new reel and during the connection, the flat and/or thin-film material of another reel is not also complete Fully- depleted.Here, can be for the purpose that continuous packaging is run and by flat and/or thin-film material by least two installation sites At least one reel unwind un-interrupted.Therefore, it can be advantageous to be packed into new reel, while flat and/or thin-film material is still Continuously unwound by another reel in packing machine.In other embodiments it is contemplated that in the phase for welding new reel Answer exterior layer with guided in packing machine material roll at the time of not by least two installation site a reel unwind Material is temporarily ceased via the reel unwinding material being encased at least two installation sites, can temporarily cease set thus The rotary motion of pin equipped with reel.

Even if when removing reel that is at least approximate unwinding completely and/or exhausting by packing machine, can also will it is flat with/ Or thin-film material is unwound by another reel of packing machine, thus continuously and nothing by flat and/or thin-film material when necessary The unwinding of the reel in packing machine is interruptedly located in by least one.It is sensor-type in the method using the utility model description Ground identifies reel that is at least approximate unwinding and/or exhausting and by means of previously described crawl and/or handling device by band There is flat and/or thin-film material new reel replacement.Sensor-type identification for example can be in optical detector or optical detection It is carried out under the auxiliary of system, which can be set in the region of at least one installation site.Optics is visited Examining system or optical detector and crawl and/or handling device can be connected with control unit, which also controls The crawl and/or the movement of handling device or the movement of multi-axis robot.

Furthermore, it is possible to during or before being packed into new reel determine and/or check reel rotation direction and/or meet turn The orientation in dynamic direction.It is proved to be feasible here, being especially the embodiment in practice, turns in these embodiments The determination and/or inspection of dynamic direction and/or the orientation for meeting rotation direction are carried out by means of optical detection apparatus.However, this reality It is not limited to such embodiment with novel, thus mechanical devices that for example also can be set tactile and/or other, to examine It looks into the rotation direction of each new reel and/or meets the orientation of rotation direction.If the rotation direction that is identified and/or meet turns The orientation in dynamic direction is matched with or meets predetermined theoretical orientation and/or theoretical rotation direction, then corresponding new reel can In installation site to be encased in its arranging or it is retained in the installation site of respective arranging.If it is determined that mistake turns The orientation for meeting rotation direction of dynamic direction and/or mistake, then the orientation amendment or selection for carrying out corresponding new reel have Rotation direction appropriate and/or meet rotation direction orientation another new reel with corresponding for being packed into and being encased in In installation site.It is carried out in the case where this temporary place that face describes in use, which is located at crawl and/or handling device Nearby or it is located at least in the space of crawl and/or handling device.

Therefore, it can check the rotation direction of new reel 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 corresponding new reel can be placed before being encased in packing machine Onto temporary place, with crawl and/or handling device separate and with meeting rotation direction or with rotation direction appropriate orientation and/ Or it calibrates, be received and be then encased in respective installation site again.Then, meet the orientation of rotation direction or have The orientation of rotation direction appropriate and by reel be encased in respective installation site can by the exterior layer of reel with still It is carried out before the material roll connection or welding that are retained in packaging machine.It can be with during calibrating new reel with meeting rotation direction The reel centered in packing machine or in one of installation position of at least two installation site by another connects Flat and/or packaging material is unwound continuously.

Furthermore it provides, the optical detector being previously mentioned or optical detection system of space detection system are via control unit It is effectively connect 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 correspondingly rotate direction and/ Or meet the orientation of rotation direction, and can by means of crawl and/or handling device by new reel be suitable for each installation position The rotation direction set and/or the orientation for meeting rotation direction are packed into and/or can be by means of crawl and/or handling devices by new reel It is calibrated with rotation direction appropriate and/or the orientation for meeting rotation direction.In addition, the equipment can have it is optical and with Control unit combine display unit, such as display or the like, show via the display about rotation direction And/or meet the information of the orientation of rotation direction.

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 is issued to user to prompt.It is also contemplated that the information conduct about rotation direction and/or the orientation for meeting rotation direction The signal of acoustics exports.

For this purpose, control unit is preferably combined in a certain way with crawl and/or handling device, that is, the reel at least Part is unwound and/or the reel that exhausts can automatically be removed and be had by each installation site rotation direction appropriate and/or The new reel of the orientation appropriate for meeting rotation direction can be automatically encased at least two installation site.In this feelings Under condition, algorithm can store in a control unit, wherein considering that the roll position through detecting is (described via the algorithm Roll position for example may be on pallet) and in the rotation side of each new reel in view of being determined by optical detector To and/or definitely manipulate the crawl and/or handling device in the case where meeting the orientation of rotation direction.In addition, for blocking Residence fixture construction be hollow body new reel crawl and/or handling device may include pref. cylindrical construct, tool There is the holding mandrel of adjustable maximized cross-sectional diameter.The adjustment of cross-sectional diameter can by control unit carry out or It is provided by control unit.Crawl and/or handling device can have movable crawl arm, wherein in the free of crawl arm Setting keeps mandrel on end.

Optionally, it can be disposed in crawl and/or handling device upstream and be configured to transport the horizontal feed of new reel Device, the horizontal transferring device extend in the working region of crawl and/or handling device and can in view of by crawl and/ Or handling device is removed and is manipulated in a manner of beat operation in the case where new reel via control unit.In other embodiment party It is contemplated that providing new reel to crawl and/or handling device on pallet or the like in formula.There is also following possibility Property, that is, new reel is placed in container or the like, and the container is in the working region for grabbing and/or carrying region simultaneously And new reel is provided to handling device by the container.New reel can be placed on appearance irregularly or with arbitrary orientation In device, wherein can check and/or determine rotation direction by means of optical detector and/or meet the orientation of rotation direction.

Detailed description of the invention

The embodiments of the present invention and its advantage should be explained in more detail by means of attached drawing below.Each element is in figure Dimension scale each other does not always meet actual dimension scale, because wherein simplifying some shapes and in order to more preferable Ground is illustrated 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 utility model.In addition, it is contemplated that Borrow the embodiment that Fig. 1 shows a kind of method using the utility model description.

Fig. 2 shows the schematical perspective view of the second implementation modification of the equipment according to the utility model and can set Want to borrow the embodiment that Fig. 2 shows a kind of method using the utility model description.

Fig. 3 A to Fig. 3 C shows a total of three explanatory view at temporary place, which can be in the equipment according to Fig. 2 It is used in second implementation modification.

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 the installation site of Fig. 4, wherein the second installation site has the new reel having been charged into.

Fig. 6 shows the installation site of Fig. 4 and Fig. 5, wherein the new reel exterior layer being encased in the second installation site is taken out Out.

Fig. 7 A and Fig. 7 B illustrate a handling device with two perspectives, which receives new reel by pallet, so as to The reel is encased in packing machine.

Fig. 8 A and Fig. 8 B illustrate the handling device when new reel to be encased in packing machine with other two perspective.

Fig. 9 A to Fig. 9 D is shown in the installation site that reel is fitted into inside packing machine with four views or by reel Positioning step when being removed by the installation site inside packing machine and remove step.

Figure 10 A to Figure 10 C is schematically shown with three shows the different of reel feeding mechanism or reel storing unit Variant schemes.

Identical appended drawing reference is used for the identical of the utility model or the identical element of effect.In addition, in order to It is high-visible, it only shows in various figures for appended drawing reference needed for illustrating corresponding picture.Shown embodiment Be only be shown as the equipment of the utility model and the example that how can implement of method that is described using the utility model simultaneously And do not constitute exclusiveness limitation.

Specific embodiment

The schematical perspective of Fig. 1 illustrates the first implementation modification of the equipment 10 according to the utility model.In addition, It is contemplated that borrowing the embodiment that Fig. 1 shows a kind of method using the utility model description.

Equipment 10 is for carrying 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 will grab and/or new reel 12 is supplied to the packing machine by handling device 16 in greater detail via following.It is showing Embodiment in be configured to fixed setting multi-axis robot 18 crawl and/or handling device 16 by each to be supplied to packaging The new reel 12 of machine 14 is encased in two different installation site EB1 and EB2, the two installation sites are only capable of base in Fig. 1 Originally find out and be illustratively shown in the detailed view of Fig. 4.

As shown in fig. 4 to fig. 6 and Fig. 1 overview, by means of crawl and/or handling device 16 or by multiaxis Or in transfer robot 18 installation site an EB1 or EB2 that each new reel 12 is encased in described two installation sites, And the reel 20 for having consumed or partially having consumed there is also one in another installation site EB2 or EB1, it is being packed into every time It is continued to during new reel 12 by the reel unwinding for having consumed or partially having consumed in material roll 22 thereon, by this Material roll is handled in packing machine 14 as packaging material.During the reel 20 by almost exhausting further unwinding material roll 22 The exterior layer 24 (referring to Fig. 6) of new reel 12 is attached or is welded with material roll 22, equipment 10 can be continuous as a result, Operation, without interrupting packaging process for the reel 20 exhausted with the replacement of new reel 12.

Each new reel 12 is respectively by the flat packaging material 22 of winding or packaging or shrink film and 26 groups of tube filler It closes, packaging material 22 or shrink film are in the tube filler.In order to be obtained by horizontal transferring device 28 shown in FIG. 1 New reel 12, handling device 16 or transfer robot 18 is taken to protrude into the cylinder of new reel 12 in end side via holding mandrel 32 In core 26, which is movably disposed at the movable cantilever 30 of the handling device or transfer robot in end On.For this purpose, the arm section 34 of the handling device 16 or transfer robot 18 can be made around schematically showing in fig. 7 Pivot center 36 rotatably moves.The cross-sectional diameter of mandrel 32 will be kept to increase after keeping mandrel 32 to protrude into tube filler 26 Greatly, so that new reel 12 is fixed on and keeps on mandrel 32 with also blocking as illustrated by figure 7b.Tube filler 26 is configured to sky The heart is columned, keeps the shape of mandrel 32 correspondingly to construct, to keep mandrel 32 via its outer peripheral surface and tube filler 26 Inner surface connection with for blocking fixed new reel 12.

It can be mentioned incessantly via horizontal transferring device 28 to crawl and/or handling device 16 or transfer robot 18 For new reel 12, to make another new reel 12 towards handling device when removing new reel 12 by horizontal transferring device 28 16 continue movement or promote towards crawl and/or handling device 16.Can according to need makes horizontal feed in the desired manner Device 28 is consistently run in a manner of beat or with constant speed.Pass through the control unit 38 only illustrate schematicallyd herein Provide the operation of the horizontal transferring device, which not only transports in the conveying speed of horizontal transferring device and/or beat Row aspect controls the horizontal transferring device 28, and the transfer robot 18 is controlled in terms of the movement of transfer robot.Control Unit 38 processed handles the signal 40 of at least one space monitoring device 42, and the space monitoring device especially can be by a light It learns detection device or a video camera 44 is formed, also formed when necessary by multiple video cameras 44, the video camera at least detects The movement of the space 46 and the multi-axis robot of multi-axis robot 18, also refers to this with the cantilever 30 for keeping mandrel 32 Relative to the precise motion of each new reel 12 to be caught, the holding mandrel is pivotally movably arranged on cantilever.Energy By means of the space 46 of 42 optical detection of space monitoring device formed by video camera 44 in the illustration of FIG. 1 in order to more It indicates well and passes through the radiation sector being represented by dotted lines and show.

In addition, can be seen that the manipulator 48 being located in the region of horizontal transferring device 28 in Fig. 1, the manipulator by User 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 It is supplied so that new reel 12 to be erected on a pallet 52, user 50 can be by means of that can be controlled in terms of movement by user Manipulator 48 by the pallet obtain new reel and by means of be located at there holding mandrel 54 the new reel is placed on On horizontal transferring device 28.Therefore, the working region of manipulator 48 extends over pallet 52 and covering horizontal transferring device 28 One section of section.But, control shown in and conveying variant schemes are only an examples in many alternatives.It is continuous defeated Send variant schemes equally possible, the conveying variant schemes is not needed as by means of manually controlling described in Fig. 1. It is practical in the mode of movement that do not arrange in this way, it is arranged in the space 46 of crawl and handling device 16 There is a temporary place for new reel 12, so as to pass through the holding mandrel 32 of transfer robot 18 not meet rotation side To mode catch reel when by the storage of reel 12 there, mandrel 32 will be kept to be extracted out by tube filler 26 and in the reel 12 The reel is caught at another end side again, so as to by the reel for the installation site EB1 in packing machine 14 Or the corresponding required rotation direction of EB2 is packed into.Illustratively it is explained in more detail in this way by means of the implementation modification of Fig. 2 Temporary place, its function and its with crawl and/or handling device 16 and mating reaction with space monitoring device 42.In Fig. 1 Shown in equipment 10 variant schemes in, the task of user 50 is still responsible for making each reel 12 in horizontal transferring device 28 On correctly positioning, particularly also in view of the reel corresponding installation site EB1 or EB2 (thus extremely referring to Fig. 4 Correct rotation direction positioning in Fig. 6).

In addition, Fig. 1 shows the open container 56 in top, which is located at the working region of crawl and/or handling device 16 In 46.If the packaging material of reel 12 or 20 or the deposit of shrink film that are placed in packing machine 14 are used up, by means of Transfer robot 18 is by the tube filler 26 made of cellulose, plastics, timber or millboard of empty reel 20 by packing machine 14 It removes and is stored in container 56.Only just new reel 12 can be encased in the corresponding of packing machine 14 after removing tube filler 26 Installation site EB1 or EB2 in, so that crawl 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 18 and of handling device 16 or multi-axis robot Packing machine 14 is connected with control unit 38.The control unit is especially the beat operation that can specify that horizontal transferring device 28, It starts through handling device 16 by the described two installation site EB1 and EB2 of the loading of reel 12 or 20 and by described two installations It removes position.In addition, as illustrated in more detail herembelow, described control unit can control to be packed into packing machine 14 The packaging material of reel 12 or the uncoiling of shrink film.In addition, according to the utility model, it is important that space monitoring device 42 Can combine control unit 38 realize horizontal transferring device 28 and especially grab and/or handling device 16 motion control, This, which is able to achieve, positions fault-tolerantly and conveys and carry new reel 12, because can be effective by least one described video camera 44 Ground auxiliary is supported and controls accurately to catch each new reel 12 by the holding mandrel 32 of transfer robot 18, thus reel 12 It recedes into the background in the accurate positioning on horizontal transferring device 28 and transfer robot 18 can be passed through inside its space 46 The motion control that accordingly supplements compensate.

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

In addition, control unit 38 can have display device 58 perhaps display via the display device or display It can make the information of orientation that the is rotation direction about new reel 12 or meeting rotation direction and/or make multi-axis robot 18 And/or horizontal transferring device 28 other controls or exercise parameter it is visible to user 50.Such as show referring to fig. 4 to fig. 6 As describing to example property, is preferably also determined and/or checked by another video camera by the video camera 44 or when necessary and is 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 It connects.Because the corresponding tube filler 26 of empty 20 can be taken out by packing machine 14 and taken the photograph by crawl and/or handling device 16 It will be with rotation direction appropriate or with meeting rotation direction under the auxiliary of camera 44 or other video cameras The new reel 12 of orientation is automatically encased in packing machine 14, it is possible to make equipment 10 at least from starting by horizontal transferring device 28 obtain new reel 12 runs with playing full automation.

The schematical perspective view of Fig. 2 shows the second implementation modification according to the equipment 10 of the utility model and can Imagine and borrows the embodiment that Fig. 2 shows a kind of method using the utility model description.Packing machine 14 with according to the previous of Fig. 1 The variant schemes of description does not have significant difference.Equipment 10 is also used for carrying flat packaging material herein, such as shrink film Or packaging film, need crawl and/or carrying by means of being configured to multi-axis robot 18 to fill according to the supply for depending on consumption It sets 16 and the shrink film or packaging film is supplied to packing machine 14 with reel 12 respectively.Such as in the first modification side according to Fig. 1 In case like that, crawl and/or handling device 16 by each new reel 12 that be supplied to packing machine 14 be encased in two it is different In installation site EB1 and EB2, the two installation sites are explained in more detail by means of the detailed view of fig. 4 to fig. 6.

Second variant schemes of equipment 10 shown in figure 2 saves horizontal transferring device, but respectively in each pallet The new reel 12 of supply is obtained on 52, wherein there are the reels 12 that four are holded up setting on each pallet 52, by conveying robot People 18 separately receives the reel and the reel is encased in packing machine 14.In order to from effective range That is, in crawl and/or handling device 16 or multi-axis robot 18 space 46 in pallet 52 receive newly Reel 12, handling device 16 or transfer robot 18 protrude into the tube filler 26 of new reel 12 in end side via holding mandrel 32 In, the holding mandrel on the movable cantilever 30 that end is movably disposed at the handling device or transfer robot, this Illustrated by Fig. 1.For this purpose, the arm section 34 of the handling device 16 or transfer robot 18 can be made to be wound on figure The pivot center 36 schematically shown in 7A rotatably moves.Core will be kept after keeping mandrel 32 to protrude into tube filler 26 The cross-sectional diameter of axis 32 increases, so that new reel 12 is fixed on holding mandrel with also blocking as illustrated by figure 7b On 32.Tube filler 26 is configured to hollow cylindrical, keeps the shape of mandrel 32 correspondingly to construct, to keep mandrel 32 It connect via its outer peripheral surface with the inner surface of tube filler 26 with for blocking fixed new reel 12.

Via be respectively provided with four reels 12 and in space 46 by rule provide pallet 52 to crawl and/or Handling device 16 or transfer robot 18 provide new reel 12 incessantly, to hold in the palm from one in the pallet 52 Disk can replace 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 ground transport appropriate Vehicle carries out, such as is carried out by means of so-called FTS (unmanned transportation system), the FTS by self-propelled, remotely control And/or the transport vehicle with the sensor-based system of itself for steering is formed, the transport vehicle for example can be every time by a band There is the pallet 52 of the reel being placed on it 12 to be transported in space 46.It can according to need described in making in the desired manner Transportation system or FTS are run in a manner of beat.It is preferred that by the operation of the transportation system or FTS by schematically showing Control unit 38 provides that the control unit is not only controlled in terms of the conveying speed of (not shown here) FTS and/or beat operation The FTS is made, and controls the transfer robot for replacing in packing machine 14 in terms of the movement of transfer robot 18 In reel 12.In addition, control unit 38 handles the signal 40 of at least one space monitoring device 42, the space monitoring device It can also especially be formed by an optical detection apparatus or a video camera 44 in the variant schemes according to Fig. 2, is 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 movement of people also refers to this with the accurate fortune for keeping the cantilever 30 of mandrel 32 relative to each new reel 12 to be caught Dynamic, the holding mandrel is pivotally movably arranged on cantilever.It can be by means of the space monitoring device that is formed by video camera 44 The space 46 of 42 optical detections is shown in the diagram of Fig. 2 by the ellipse being represented by dotted lines.

Based on the space 46 sufficiently measured, level can be not only saved in the variant schemes according to the equipment of Fig. 2 Conveying device, and can save the manipulator with the horizontal transferring device mating reaction, can will be new via the manipulator Reel 12, which is erected to, to be placed on horizontal transferring device (thus referring to Fig.1).In contrast to this, equipment 10 shown in figure 2 In variant schemes, in the space 46 of crawl and handling device 16 and its nearby it is provided with temporary place for new reel 12 60, in reel 12 in the case where usually not limiting rotation direction on pallet 52, the temporary place is for ensuring that each reel 12 exists The necessary positioning for meeting rotation direction when being encased in packing machine 14.In practice, the holding mandrel 32 of transfer robot 18 Each reel 12 being erected on pallet 52 is caught in the case where also not checking rotation direction.With by holding mandrel 32 During the cantilever 30 of the reel 12 of conveying is moved towards packing machine 14, by optical check appropriate or by other ways The detection that (such as inductively, by means of the mode of transponder or the like) carries out can be by reel 12 directly to check whether And whether positioning or reel 12 may have vicious rotation direction there without shifting ground.If it is the case, Reel 12 can be then stored in temporary place 60 by the corresponding motion control of transfer robot 18, then will keep core Axis 32 is extracted out by the tube filler 26 for the reel 12 being stored, to catch the reel again at another end side of the reel 12, So as to then can be by the reel with required rotation side corresponding for the installation site EB1 or EB2 in packing machine 14 To loading.Illustratively it is explained in more detail temporarily by means of the detailed view of the implementation modification of Fig. 2 and Fig. 3 A to Fig. 3 C The structural scheme at the place of depositing 60, its exact function and its match with crawl and/or handling device 16 and with space monitoring device 42 Cooperation is used.

User 50 of the station in space 46 usually stops there merely for maintenance purpose in Fig. 2, however The continuous operation of crawl and/or handling device does not stay in there, this again may be by space monitoring device 42 when necessary To examine.

It can also be seen that the open container 56 in top, the container are located at the workspace of crawl and/or handling device 16 in Fig. 2 In domain 46.If the packaging material of reel 12 or 20 or the deposit of shrink film that are placed in packing machine 14 are used up, by In transfer robot 18 by the tube filler 26 made of cellulose, plastics, timber or millboard of empty reel 20 by packing machine 14 remove and are stored in container 56.New reel 12 only can be just encased in after removing tube filler 26 phase of packing machine 14 In the installation site EB1 or EB2 answered, so that crawl 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 for supplying to the being also an option that property of control unit The pallet 52 and unshowned FTS herein.Therefore, control unit 38, which is especially, can specify that the beat operation of FTS, rises The dynamic handling device 16 that passes through is by the described two installation site EB1 and EB2 of the loading of reel 12 or 20 and by described two installation positions It sets and removes, and when necessary using temporary place 60 with the correct rotation direction for the new reel 12 for ensuring to be packed into.In addition, such as with Under be more fully described as, described control unit can control the reel 12 being packed into packing machine 14 packaging material or The uncoiling of person's shrink film.In addition, according to the utility model, it is important that space monitoring device 42 can exist in conjunction with control unit 38 Crawl and/or the motion control of handling device 16 are realized in the case where temporary place 60 is taken into account as needed, are thus able to achieve It positions and conveys fault-tolerantly the new reel 12 on not pinpoint pallet 52 and allow to carry received reel 12, because Can effectively to be assisted supporting and controlling the holding core for passing through transfer robot 18 by means of at least one described video camera 44 Axis 32 accurately catches each new reel 12, so that accurate positioning or pallet 52 of the reel 12 on pallet 52 itself is being transported The accurate positioning on ground in the region in dynamic space 46 recedes into the background and can be by transfer robot 18 in its space The motion control accordingly supplemented inside 46 compensates.

The positioning of the video camera 44 shown in Fig. 2 should exemplarily only understand.Also that is, a video camera 44 or multiple taking the photograph Camera 44 can be positioned at other places, such as also can be positioned in the region of packing machine 14, in transfer robot 18 It is located at the pivotal arm 30 of the transfer robot in region or when necessary, 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 space monitoring device 42 It really detects and tracks crawl and/or the movement of handling device 16, the movement of its holding mandrel 32 and mandrel 32 is kept to receive With different target positions when positioning reel 12, then the video camera or space monitoring device can be completed in an optimal manner Its purpose.In order to reliably ensure this point and practical, reel 12 however the holding mandrel of at least transfer robot 18 32 are equipped with reference marker appropriate, and the pivotal arm 30 of transfer robot is also optionally provided with reference marker, the reference marker example It can such as be formed by the label that can clearly identify optically in space, so that the reference marker, which can be used as, clearly to be known It is other and the label in relation to space can be classified as camera chain 44.

For this purpose, control unit 38 can have display device 58 perhaps display via the display device or display It can make the information of orientation that the is rotation direction about new reel 12 or meeting rotation direction and/or make multi-axis robot 18 And/or horizontal transferring device 28 other controls or exercise parameter it is visible to user 50.Such as show referring to fig. 4 to fig. 6 As describing to example property, is preferably also determined and/or checked by another video camera by the video camera 44 or when necessary and is 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 It connects.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 Stating will be with rotation direction appropriate or with meeting rotation direction under the auxiliary of video camera 44 or other video cameras The new reel 12 of orientation is automatically encased in packing machine 14, it is possible to obtain equipment 10 at least from beginning by each pallet 52 It takes new reel 12 to rise automatically to run as far as possible.

Should supplement herein referring to Figures 1 and 2, shown in crawl and/or handling device 16 or form the crawl And/or the transfer robot 18 of handling device may also be selectively with the presence of double or three times embodiments, as long as described The space 46 of two or more transfer robots 18 is mutually coordinated in some way, without colliding.However, because Material roll length to be typically based on reel 12 ensures the operation without interruption of long period, so it is unnecessary to continually It replaces reel 12 and needs using two or more transfer robots 18.

However, a kind of practical implementation modification 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 reasonable side Formula is present between two packing machines 14 about disposed in parallel, to horizontal transferring device 28 (referring to Fig.1) or hold in the palm Feed region that is disk feeding mechanism (referring to Fig. 2) and being used for new reel 12 is between two packing machines 14 and in carrying Robot 18 is nearby and its inside space 46.In this case, transfer robot 18 can be alternately in two Packing machine 14 in normal operation is supplied respectively to new reel 12 and by the reel 20 consumed if necessary transferred to common appearance So as to the removing of next or periodic rubbish in device 56.If space 46 can not be supervised using unique video camera 44 (because the video camera is for example partially obscured) is surveyed, then can be equipped with multiple video cameras 44 when necessary to be used for space monitoring.

Fig. 3 A to Fig. 3 C shows a total of three explanatory view at temporary place 60, if the rotation direction of reel 12 by The holding mandrel 32 of transfer robot 18 does not meet the installation site set in packing machine 14 after receiving, then this is temporary Place can use in the second variant schemes according to the equipment 10 of Fig. 2.In this case, transfer robot 18 passes through its energy Reel 12 is stored in the temporary place 60 being arranged in space 46 by the corresponding pivoting action of the cantilever 30 of multiaxial motion On the top bearing surface 62 of prism-shaped, mandrel 32 will be kept to be extracted out by reel tube filler 26 and on the opposed end side of reel 12 The holding mandrel is imported into again in reel tube filler 26.After reel 12 being fixed on holding mandrel 32, the holding core Axis can receive reel 12 by the corresponding movement of cantilever 30 again and the reel is encased in setting for packing machine 14 Installation site in.

The top bearing surface 62 of prism-shaped is responsible for accurately being centrally located reel 12 when storing reel and prevents the volume Cylinder is lateral to be slid or rotates.However, it is possible to driver is selectively provided with, to make reel 12 turn over restriction around its long axis Angle, such as reach material roll edge in desired position, which is conducive to for reel being encased in packing machine 14 Correct installation site in after extract the material roll edge out.The driver can for example be formed by roller, these roller collection At in bearing surface 62.However, optional driver cannot be found out in detail in the view of Fig. 3 A to Fig. 3 C

As the top view of the perspective view of Fig. 3 A, the front view of Fig. 3 B and Fig. 3 C can be found out, 60 construction of place is kept in For fulcrum bearing 64, which selectively can be immovably anchored on the ground in the region of space 46.However, Implementation modification with movable fulcrum bearing 64 is equally possible, which can be around vertical central axes 66 Rotation (referring to Fig. 3 C), to adjust the rotation direction of reel 12 in the desired manner or so as in the desired manner by removing The holding mandrel 32 of fortune robot 18 receives reel again to position the reel 12.

In addition, temporary place 60 or fulcrum bearing 64 can be equipped with detection device appropriate, such as video camera or the like, The detection device is preferably combined with control unit 38 (referring to Fig. 2), so as to check and detect the volume on bearing surface 62 Accurate positioning, the orientation of the reel and the rotation direction of the reel or rotational angle of cylinder 12, it is described temporary to control The transfer robot 18 at place 60 and/or optional driver, reversing mechanism etc..

Another kind selection it can be stated that temporary place 60 it is whole be movable, such as when the place of keeping in be likewise constructed to it is so-called FTS (unpiloted transportation system) when.It is preferred that in this variant schemes equally space 46 can be in temporary Internal movement and rotation aspect, controls this by control unit 38 and keeps in, typically with 18 reasonable coordination of transfer robot Control, this especially can be adapted for the acceleration of the replacement process of reel 12.

In addition, Fig. 3 A to Fig. 3 C is it can be seen that clamping plate 68, if the clamping plate is in the reel for being stored in bearing surface 62 12 end side feeding, then they can be there from the end side that two sides press against the reel.In 68 sideway feed of clamping plate Reel 12 can be always held in its position in this way later, until mandrel will be kept in order to receive reel 12 again 32 are moved into reel tube filler 26 and fix there, so as to which reel 12 to be transported to the installation position in packing machine 14 In setting.

The schematical perspective view of Fig. 4 shows installation site EB1 and EB2 previously already mentioned and that be used for reel 12, The two installation sites are limited in the packing machine 14 according to the variant schemes for meeting Fig. 1 and/or Fig. 2.Each installation position EB1 and EB2 is set to be limited by the rotatable reception mandrel 70 of itself.(referring to Fig.1 and schemed by means of crawl and/or handling device 2) one new 12 sets of reel are attached to every time on each reception mandrel of the reception mandrel 70 of described two horizontal orientations and are borrowed Help to increase the diameter for receiving mandrel 70 and be connect accordingly to be fixed on the new reel with blocking by blocking reel tube filler 26 It receives on mandrel 70.In addition, Fig. 4 is it can be seen that welded grider 72, welded grider setting are encased in corresponding installation site for connecting The exterior layer 24 (referring to Fig. 5, Fig. 6) and the remaining material in packing machine 14 of new reel 12 (referring to Fig. 5) in EB1 or EB2 22 and decline the welded grider vertically.It is remained connecting the exterior layer 24 (referring to Fig. 5) in packing machine 14 After remaining material roll 22, vertically promotes the welded grider of temperature adjustment and reach the welded grider in the position being shown in FIG. 4.

In the diagram of Fig. 4, in the first installation site EB1, the reel 20 almost exhausted is sleeved on first installation position It sets on the reception mandrel 70 of EB1 and is rotatably moved due to mandrel 70 or by extracting material roll 22 out.Here, unwinding set Mounted in the packaging material or shrink film for receiving the reel 20 on mandrel 70 of the first installation site EB1.In the second installation site On EB2, the reel 20 consumed has been unwound completely and tube filler 26 (referring to Figures 1 and 2) is via 16 quilt of handling device It removes, is had so that the reception mandrel 70 of the second installation site EB2 or second installation site EB2 are ready for receiving The new reel 2 of packaging material.

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 can optically identify volume that is at least approximate unwinding completely and/or exhausting by means of the sensor or video camera Cylinder 20.It unwinds and/or exhausts completely as long as a reel 20 is at least approximate, corresponding video camera 74 will be about accordingly at least The information of reel 20 that is that approximation is unwound completely and/or exhausting is sent to control unit 38.Previous already mentioned control unit The crawl is controlled on the basis of 38 video camera 74 on the basis of many data that is, inside packing machine 14 and/or is removed Shipping unit 16 or transfer robot 18 (referring to Fig. 1 and Fig. 2) with for remove it is corresponding at least approximate unwinding completely and/or The reel 20 that exhausts or with the tube filler 26 for removing reel 20 that is corresponding at least approximate unwinding completely and/or exhausting. In order to remove reel 20 at least approximate unwinding completely and/or exhausting by respective installation site EB1 or EB2, in advance Loosen in corresponding reel 20 and receive mandrel 70 between construct block connection.This is corresponding by reducing with typical way The cross-sectional diameter for receiving mandrel 70 carries out, and thereby, it is possible to extract reel tube filler 26 out.In addition, providing institute by control unit 38 State the reduction for blocking the cross-sectional diameter for loosening or receiving mandrel 70 of connection.

In order to which reel 20 at least approximate unwinding completely and/or exhausting is taken by respective installation site EB1 or EB2 Under, so that crawl and/or handling device 16 is maintained by it mandrel 32 (referring to Fig. 7 A) and protrudes into described at least approximate complete unwind And/or in the tube filler 26 of reel 20 that exhausts.It then, will accordingly extremely by increasing the cross-sectional diameter of reception mandrel 70 Reel 20 that is that few approximation is unwound completely and/or exhausting is fixed on the holding mandrel 32 of handling device 16.Equally, pass through control Unit 38 provides to increase the cross-sectional diameter for keeping mandrel 32 in order to block reel 20 or reel tube filler 26.Near After reel 20 that is that few approximation is unwound completely and/or exhausting is fixed on holding mandrel 32, by means of grabbing and/or carrying dress It sets 16 and makes this at least approximate unwinding completely in through situation as defined in control unit 38 and/or 20 court of reel that is exhausting It is moved to container 56 (referring to Figures 1 and 2) and keeps the cross-sectional diameter of mandrel 32 to store the reel by means of reducing There.

Reel 20 or tube filler 26 at least approximate unwinding completely and/or exhausting are being stored in container 56 (referring to Fig.1 And Fig. 2) after, the crawl and/or handling device 16 are manipulated for new reel 12 to be encased in packet via control unit 38 In corresponding installation site EB1 or EB2 inside installation 14.The rotation direction of each new reel 12 of precheck or meet turn The orientation in dynamic direction preferably checks under the auxiliary of temporary place 60 or fulcrum bearing 64 (to this referring to Fig. 3 A to Fig. 3 C), such as As described in previously.The equipment 10 can be automatically run in this way.Herein, it should be noted that according to The embodiment of Fig. 4 should exemplarily only understand, thus it is contemplated that other embodiment, two installation positions in these embodiments Set EB1 and EB2 and be only equipped with a video camera 74, the detection zone of the video camera extend over two installation site EB1 and EB2.There is also checked via multiple video cameras 74 rotation direction for being newly encased in reel 12 in installation site EB1 and EB2 or Person meets a possibility that orientation of rotation direction.If it is determined that an installation position in described two installation site EB1 or EB2 The rotation direction of new reel 12 in setting or the orientation for meeting rotation direction be it is wrong, then can be pacified by control device 38 Row corrects the orientation direction of corresponding new reel 12 via crawl and/or handling device 16.Then, the crawl and/or carrying dress Setting can be removed by respective installation site EB1 or EB2 by each new reel 12, be stored on temporary 60 (referring to Fig. 2), again It is secondary to receive the reel 12 with rotation direction appropriate and/or the orientation for meeting rotation direction and then by the reel with appropriate Rotation direction and/or meet the orientation of rotation direction and reload in respective installation site EB1 or EB2.

Another schematical perspective of Fig. 5 illustrates installation site EB1 and EB2 according to Fig. 4, wherein the second installation Position EB2 has the new reel 12 being packed into.By Fig. 4 in the view of fig. 5, by means of crawl and/or handling device 16 (referring to Figures 1 and 2) a new reel 12 is pushed away and is attached on the reception mandrel 70 of the second installation site EB2.Continue by the first peace Holding position EB1 almost consume or unwinding and the reel 20 that therefore will remove unwind packaging material 22 or receive Contracting film, thus can be through transitions into the new volume of the second installation site EB2 when replacing the reel 20 of the first installation site Cylinder 12 and continue to run packing machine 14 (referring to Figures 1 and 2).If a new reel 12 is then encased in the first installation position It sets in EB1, then continues to unwind packaging material 22 or shrink film by the reel 12 of the second installation site EB2, packet can ensure that with this Required continuous and without interruption the operation of installation 14.

The new reel 12 of the second installation site EB2 of Fig. 5 can preferably have can optical identification attachment label 76, this is attached Label can especially be formed by attachment label 76 that is reflexive or can identifying inductively or in another manner, the attachment It marks on the exterior layer 24 for being applied to the new reel in the region of the free end of new reel 12.Now, it is arranged to second The video camera 74 of installation site EB2 can by means of adhere to label 76 check new reel 12 whether with rotation direction appropriate or The orientation for meeting rotation direction is pushed away to be attached to and be received on mandrel 70.The overview of Fig. 5 and Fig. 6 is it can be shown that in the second installation site In the new reel 12 of EB2, exterior layer 24 is guided via reel 12 from top and to being lowered into.If will have vicious turn Move direction or with the orientation for not meeting rotation direction 12 sets of the reel reception mandrels for being attached to the second installation site EB2 On 70, exterior layer 24 is downwardly away from reel 12 and can not be crawled due to described or be only difficulty crawled.Thus It can also interfere with uncoiling characteristic or interfering material width process in packing machine 14.Therefore, it is impossible to fixed below welded grider 72 To.Therefore, the positioning for meeting rotation direction of new reel 12 or new reel 12 is encased in accordingly with rotation direction appropriate Installation site EB1 or EB2 in be it is indispensable, so as to can the subsequent material of material roll 22 conveying in ensure equipment 10 or packing machine 14 glitch-free operation.

If can be identified attachment label 76 by means of corresponding video camera 74, move reception mandrel 70 rotationally, Until attachment label 76 is directed toward opposed installation site EB1 or EB2.Only after attachment label 76 orientation in this way, it can pack The crawl of the crawl and/or handling device (not shown) that are moved between installation site EB1 and EB2 and welded grider 72 in machine 14 Stick 78 can just grab the exterior layer 24 of new reel 12 and the exterior layer is located in 72 lower section of welded grider, and the crawl stick is only It is schematically shown in Fig. 6.The crawl stick 78 for example by means of negative-pressure ward and can grab the outside of the reel 12 Layer 24.

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) the attachment label 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 where having additional optical signature.So And the attachment label 76 of energy optical detection preferably has the coding not shown in detail herein, which can be by multiple video cameras 74 identifications.The coding preferably can also be indicated clearly other than clearly measuring the position of end regions of exterior layer 24 The rotation direction of reel 12, so that (when necessary in the case where additionally taking into account temporary place 60) is utilizing transfer robot 18 can use attachment label 76 just to determine rotation direction and correctly position when carrying the reel 12 to be newly packed into The end regions of the exterior layer 24.Here, attachment label 76 can preferably be examined by space monitoring device 42 or video camera 44 It surveys and the information content is analyzed and is then supplied to control unit 38, to control transfer robot 18 in a desired manner The temporary place 60 and/or.

The schematical perspective of Fig. 6 illustrates the installation site EB1 and EB2 of Fig. 4 and Fig. 5, 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 to clear enough again herein, be located in the second installation The exterior layer 24 of reel 12 in the EB2 of position is set out from top to the reel for being lowered into, and 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 being separately equipped with to their reception core It is rotated counterclockwise on axis 70 with the rotation of identical rotation direction, herein.New reel 12 is packed into needing to meet rotation direction, with Just ensure operation that is equipment 10 or packing machine 14 (referring to Figures 1 and 2) glitch-free and working.

Therefore, rotation direction can not only be determined via multiple video cameras 74 inside packing machine 14 or meet rotation direction Orientation, and reel 20 that is at least approximate unwinding completely and/or exhausting can be identified via multiple video cameras 74.It will be about new The information of orientation that the is rotation direction of reel 12 or meeting rotation direction and about at least approximate unwinding completely and/or The information of the reel 20 exhausted passes to control unit 38 by multiple video cameras 74, which can specify that new reel 12 Orientation amendment simultaneously stipulated that passes through reel 20 that the is at least approximate unwinding of new reel 12 replacement and/or exhausting.This especially can be with Certain mode carries out, and which is by means of Fig. 2 and Fig. 3 A to Fig. 3 C will optionally to can be used for rotation direction modified Temporary place 60 illustrates in the case where taking into account.But, herein in order to determine correct rotation direction and practical, primarily Multiple video cameras 74 are just utilized using video camera 44 and secondary strategic point, to be followed by be packed into reel 12 in packing machine 14 Examine correct rotation direction again.

The schematical view of Fig. 7 A and Fig. 7 B show a part of transfer robot 18, and transfer robot formation is used for Crawl and/or the handling device 16 of reel 12 are carried in apparatus 10.34 energy of crawl arm or arm section of transfer robot 18 Axis 36 around horizontal orientation pivots, fixed vertically so as to carry out the holding mandrel 32 of transfer robot 18 with its longitudinal axis To in the tube filler 26 for protruding into each new reel 12.If by means of transfer robot 18 or by means of keeping mandrel 32 catch each new reel 12, then by crawl arm 34 around the pivoting action again of axis 36 make new reel 12 rotate and Then the new reel 12 is encased in and is correspondingly arranged in its installation site EB1 or EB2 (referring to fig. 4 to fig. 6).

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

In addition, Fig. 7 B, which is shown, is being received the new reel 12 with the orientation for meeting rotation direction by pallet 52 (referring to Fig. 7 A) Crawl and/or handling device 16 later.As can be seen that in figure 7b, make crawl arm 34 by the position of Fig. 7 A around Axis 36 pivots, which extends along the direction of drawing in fig. 7.Now, new reel 12 has the orientation of at least level of approximation And being correspondingly arranged in installation site EB1 or EB2 to the new reel in packing machine 14 can be loaded into.Equally with Horizontal orientation removes reel 20 that is at least approximate unwinding completely and/or exhausting by corresponding installation site EB1 or EB2.For Reel 20 at least approximate unwinding completely and/or exhausting is removed by respective installation site EB1 or EB2, conveying robot The holding mandrel 32 of people 18 protrudes into the tube filler 26 of reel 20 that is described at least approximate unwinding completely and/or exhausting, this It can be by below by the different additional device auxiliary branch being explained in more detail in Fig. 9 A to Fig. 9 D and Figure 10 A to Figure 10 C It holds.The cross-sectional diameter of mandrel 32 is kept to consolidate each reel 20 at least approximate unwinding completely and/or exhausting by increasing It is scheduled on the holding mandrel 32 of transfer robot 18.The increasing of the cross-sectional diameter of holding mandrel 32 is provided by control unit 38 Greatly.

The schematical perspective view of two of Fig. 8 A and Fig. 8 B shows a new reel 12 in packing machine 14 (referring to Fig. 4 to figure 6) position fixing process in one of installation site EB1 or EB2 set in.Therefore, Fig. 8 A is 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 and carrying The holding mandrel 32 of robot 18 separates.Keep mandrel 32 to be therefore equipped with formed punch attachment 82, for by reel 12 towards axial Stopper section 84 pushes away the purpose for being attached to and receiving on mandrel 70, which is temporarily fixed to the holding mandrel of transfer robot 18 On 32.Showing that this pushes away dress process in the fig. 8b, formed punch attachment 82 presses against on the end side of reel 12 as this pushes away dress process, until The reel is pushed away into dress towards axial stopper section 84 and is pushed away in turn and is attached in the installation site EB1 or EB2 of its setting.It reaches Transfer robot 18 is separated with reel 12 and distributes new task again after installation site EB1 or EB2.

Correspondingly, by consumption or almost the reel 20 that exhausts is released by reception mandrel 70 and passes through conveying robot Holding mandrel 32 adapter tube of people 18 is by means of moveable axial stopper section 84 and by means of rotatably receiving mandrel 70 Moveable supporting structure be simplified, Fig. 9 A to Fig. 9 D shows this point.

The schematical perspective view of two of Fig. 9 A and Fig. 9 B shows the installation site EB1 or EB2 that are arranged in packing machine 14 In (referring to fig. 4 to fig. 6) in the reel 12 (Fig. 9 A) received on mandrel 70 or reel (Fig. 9 B) is removed no by there Same operating status.In the diagram of Fig. 9 A, reel 12 has been in the installation site EB1 or EB2 of setting for uncoiling, And in the diagram of Fig. 9 B, which is pushed down by reception mandrel 70 and is for example removed by the movement of axial stopper section 84 Transport 18 adapter tube (not shown) of robot.Moveable axial stopper section 84 extends in that can be parallel to the longitudinal direction for receiving mandrel 70 On the pedestal 86 of direction movement, which 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 nearby (Fig. 9 A) in support 90, which is formed simultaneously the supporting structure and the reception for being driven rotation in portion 84 The driver 92 of mandrel 70.

As two schematical side views of Fig. 9 C and Fig. 9 D show, entire support 90 is together with its driver 92 It is configured to move along two parallel horizontal guide portions 88 with the reception mandrel 70 for being driven rotation, this especially simplifies The reel for receiving mandrel 70 and removing consumption by transfer robot 18 is assembled with new reel 12.

Fig. 9 C shows the reel 12 for being located in and receiving on mandrel 70.Here, the support 90 with driver 92 is in the right Stopper section by, at this time for unwinding reel 12 be in packing machine 14.Axial stopper section 84 utilizes its pedestal 86 Shifting comes on support 90, so that the stopper section is not contacted with reel 12.Fig. 9 D equally shows the volume for being located in and receiving on mandrel 70 Cylinder 12.Here, the support 90 with driver 92 is moved to the left, axial stopper section 84 is also in this way, the stopper section utilizes it Pedestal 86 is sticked on support 90 and is therefore equally moved to the left.Here, the reception core being rotatably supported on support 90 Axis 70 removes one section by installation site EB1 or EB2 together in reel 12 thereon outward, thus the reel 12 be not in it is suitable For in the position of unwinding, but in remove or rigging position in, it is described remove or rigging position in, which can be easily It is handled upside down the adapter tube of robot 18 or is handed over to packing machine 14.In particular, when support 90 moves right original with mandrel 70 When in the running position (according to Fig. 9 C) of beginning, the position shown in Fig. 9 D, which can be formed, is moved reel 12 by reception mandrel 70 Under homeposition, and the pedestal 86 with axial stopper section 84 is maintained at its position (according to Fig. 9 D).Here, in axial direction Stopper section 84 sticked on reel 12 in end side and reel 12 be maintained at its position during, mandrel 70 is by reel tube filler 26 remove.Thus, it is possible to the holding mandrel 32 of transfer robot 18 is pushed into the reel tube filler 26 of abjection and finally from Mandrel 70 is received to take over and extract reel 12 out.

As mentioned, it provides according to the equipment of the utility model 10, once packing machine needs, is just limiting respectively Feeding mechanism in, for example by means of pallet 52 (referring to Fig. 2), horizontal transferring device 28 (referring to Fig.1), unshowned herein Commodity shelf system or equally new reel 12 is supplied to one by the FTS (that is, unmanned transportation system) of non-detailed configuration herein A packing machine 14 or multiple packing machines 14, so as to after the reel 20 consumed is removed therefrom in advance, then by It takes over and is transferred in packing machine 14 in crawl and/or handling device 16 or transfer robot 18.

The a total of three of Figure 10 A to Figure 10 C schematically shows its for showing reel feeding mechanism or reel storing unit Its alternative variant schemes.Also that is, Figure 10 A shows rotary hopper 100 with very schematical view, in the rotary hopper In new reel 12 rotated respectively with circular arrangement around horizontal axis, wherein the difference when hopper 100 rotates again every time One new reel 12 is provided.Figure 10 B shows rotating disc type hopper 102 with very schematical view, new in the rotating disc type hopper Reel 12 is rotated with circular arrangement around vertical axis respectively, thus each again in discoid rotating disc type hopper 102 A new reel 12 is supplied to packing machine 14 or crawl and/or handling device 16 (referring to Fig.1) respectively when rotation.

In addition, Figure 10 C shows bucket lifting hopper 104 with very schematical view, in the bucket lifting hopper, newly Reel 12 is separately positioned in the jacking system conveyed vertically, thus when promoting bucket lifting hopper 104 every time respectively by one A new reel 12 is supplied to packing machine 14 or crawl and/or handling device 16 (referring to Fig.1).Herein, it is advantageous to one Bucket lifting hopper 104 is filled in a plane 106, which is in the other components for being also equipped with packing machine 14 and equipment 10 Under top plane or operation plane 108.Lower, planar 106 can be travelled with surface vehicle in an advantageous manner, so as to Simplifiedly to implement the assembly of bucket lifting hopper 104.

In addition, it is contemplated that some variant schemes, for example can transport (reference by means of shuttle machine in these variant schemes 2 862 823 A1 of document EP) or similar fashion progress reel supply.

Reference signs 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, the reel of part consumption, empty

22 material rolls, packaging material

24 exterior layers, exterior material width

26 tube fillers, reel tube filler

28 horizontal transferring devices

30 cantilevers, pivotal arm

32 keep mandrel

34 arm sections, crawl arm

The axis of 36 pivot centers, horizontal orientation

38 control units

40 output signals, signal, spatial data, exercise data, sensing data

42 space monitoring devices

44 optical detection apparatus, video camera

46 spaces

48 manipulators

50 users, operator

52 pallets

54 keep mandrel

56 containers

58 display devices

60 temporary places

62 bearing surfaces, top bearing surface, bracket

64 supports

66 central axes, vertical central axes

68 clamping plates

70 mandrels receive mandrel, keep mandrel

72 welded griders

74 video cameras

76 attachment labels, can optical identification/reflexive attachment label

78 crawl sticks

80 video cameras, (transfer robot) another video camera

82 formed punch attachmentes

84 axial stops

86 moveable pedestals

88 longitudinal guide portions, parallel longitudinal guide portion

90 supports

92 drivers

100 rotary hoppers

102 rotating disc type hoppers

104 bucket lifting hoppers

106 lower, planars

108 top planes, operation plane

The first installation site of EB1

The second installation site of EB2.

Claims (12)

1. the equipment (10) for conveying, providing, carrying and/or replacing reel (12,20), the reel has wound thereon And packaging material (22) that be used as packing article group flat and/or thin-film material, which is characterized in that at least it is approximate completely Reel (20) that is unwinding and/or exhausting can be removed by least one installation site of packing machine (14) and can be by for each Installation site and with flat and/or thin-film material new reel (12) accordingly replace, the equipment have restriction confession The device that the new reel (12) for packing machine (14) is provided in device and at least one crawl and/or handling device (16) are answered, This at least one crawl and/or handling device (16) be used to be taken over by the feeding mechanism limited the new reel (12) and Reel for the new reel (12) to be encased in the corresponding installation site of packing machine (14) and/or for will consume (20) it is removed by the corresponding installation site of packing machine, and the equipment also has space monitoring device (42), the space Monitoring device is used at least detect position of the new reel (12) in the region of the feeding mechanism of restriction and/or offer device And/or the position and/or movement of detection crawl and/or handling device (16) in space (46) inside, and it is used for basis It is controlled by means of space monitoring device (42) spatial data detected, exercise data and/or sensing data (40) described Crawl and/or handling device (16) are in the feeding mechanism of the restriction for new reel (12) and/or the region of offer device Movement.

2. equipment according to claim 1, which is characterized in that the space monitoring device (42) is examined by least one optics It surveys device to be formed, which at least detects the space (46) of crawl and/or handling device (16) and provide Output signal (40), the output signal describe the space (46) and crawl and/or handling device (16) in the movement The movement occurred in space.

3. equipment according to claim 2, which is characterized in that at least one described optical detection apparatus is arranged to crawl And/or handling device (16).

4. according to claim 1 to equipment described in one of 3, which is characterized in that the crawl and/or handling device (16) are by more Axis robot (18) formation, the multi-axis robot are received new reel (12) by the feeding mechanism limited and are put the new reel It sets in packing machine (14).

5. equipment according to claim 4, which is characterized in that handling device (16) or the multi-axis robot (18) tool Have holding mandrel (32), the holding mandrel protrudes into the new reel (12) for being configured to hollow body in end side, increases the holding The maximum cross-sectional diameter of mandrel and each new reel (12) is fixed on by handling device (16) or more with this with blocking In axis robot (18).

6. according to claim 1 to equipment described in one of 3, which is characterized in that the crawl and/or handling device (16) are by nothing Transportation system that people drives and/or long-range control forms or including such transportation system, and the transportation system is from restriction Feeding mechanism receives new reel (12) and the new reel is placed in packing machine (14).

7. according to claim 1 to equipment described in one of 3, which is characterized in that the crawl and/or handling device (16) are arranged There is the temporary place (60) of the new reel (12) for be encased in packing machine (14), which may be used as the new reel (12) bracket (62), for store the new reel, provide the new reel with meeting rotation direction and by crawl and/or Handling device (16) receives the new reel again to hand over in packing machine (14).

8. equipment according to claim 7, which is characterized in that the temporary place (60) is formed by fulcrum bearing (64), the branch It is seated against in the space (46) of crawl and/or handling device (16) and occupies fixed or variable position.

9. equipment according to claim 8, which is characterized in that the fulcrum bearing (64) is equipped for rotating in thereon New reel (12) rotary driver, so as to adjust the new reel turned position and/or adjustment exterior material width layer (24) orientation at edge.

10. according to claim 1 to equipment described in one of 3, which is characterized in that in packing machine (14), in the volume to be replaced Additional light is set in the region of at least one installation site in the region of cylinder (12,20) or in the reel to be replaced Hygienic monitoring on hands of childhood device or video camera (74).

11. equipment according to claim 2 or 3, which is characterized in that the optical detection apparatus is video camera.

12. equipment according to claim 1, which is characterized in that described flat and/or thin-film material is used as packaging member goods Object attaches together part.