DE102005015623A1 - Device for gripping and releasing boxes or bags to a cardboard packaging box for a packing machine comprises a drive arranged on a gripping arm for rotating a gripping head about a vertical axis - Google Patents

Abstract

Device for gripping and releasing boxes or bags to a cardboard packaging box (3) comprises a drive (38) arranged on a gripping arm (4) for rotating a gripping head (18) about a vertical axis. An independent claim is also included for a method for operating the above device. Preferred Features: A transport belt (33) for guiding packaging box is arranged on the above device and has a drive (42) for moving the belt forwards and backwards to arrange the objects in rows arranged across the transport direction. A pivoting device pivots the gripping arm on the device.

Description

Of the The subject of the application relates to packaging machine construction and there in particular a handling device for gripping and stacking packages, e.g. B. in a box into it.

To generating and subsequently filling boxes these are usually supplied to a collective packaging and on this or in this stacked so as to provide the boxes for further transport. As a collective packaging pallets, boxes or trays are used. The boxes are doing by means of a device for their handling grabbed and stacked. Instead of boxes can also be any objects, the it is to be packaged, with or without stacking, to be handled.

From the DE 101 08 321 a device for handling objects is known, comprising a gripping arm for gripping the objects and a holding device for holding the gripping arm, which has two arms which are aligned parallel to one another. In this device, each arm is connected at one end to the gripper arm via a hinge, and a drive is connected to another end of an arm for pivoting the arm, and thereby to move the gripper arm toward or away from an object to be able to.

These known device is adapted to the holding device for Holding the gripper arm by means of a pure translational movement and additionally optionally to provide a tilting movement. For a precise vertical movement to reach, the holding device is provided with a parallelogram linkage. The drives are designed as servomotors.

The known device and the method using it have the disadvantage that a rotary movement of a gripping head is not possible.

It the object is based, this disadvantage in a device according to the generic term of claim 1 to eliminate.

Solved is the Task according to the characterizing Part of claim 1. Thereafter, the gripper is another drive provided for rotating the gripping head about a vertical axis.

The proposed device has the advantage that the gripping head, in particular relative to the gripper arm (claim 5) can be rotated to turn an object with it or not to turn it when it does the collection container supplied becomes. Thus, you can Boxes are passed horizontally and vertically, and thereby stacked in a particular arrangement to each other.

The Device can be operated such that the gripping head to the vertical axis is rotated to alternately one layer at a time always in one direction arranged objects, and then another To stack in an order to 90 degrees rotated objects (claim 8). In such a stacking a high stack stability is achieved.

is according to claim 2 on the device, a conveyor belt for the introduction of Provided overpacks, which has a drive, which is designed to move the conveyor belt back and forth to the objects in shape from transversely to the transport direction arranged rows in the outer packaging provide which of a transversely movable only to the conveyor belt Gripping arm are delivered to the outer packaging, so can successively arranged transversely to the transport direction rows successively be provided. By appropriate rotation of the gripping head relative to the gripper arm can things alternately in layers with different object orientation be stacked.

is according to claim 3 a pivoting device for pivoting the gripping arm on the Provided device, so the gripper arm can additionally in a third direction, and thus be moved within a room. Do it according to claim 9 the pivoting of the gripper arm and the rotation of the gripping head relative to the gripping arm in a manner in which the objects respectively in a given orientation or in a direction that is transverse points to this orientation, which are supplied to the outer packaging, so can despite their otherwise successive rotation of the objects the pivoting movement of the gripping arm, the objects due to the overlapping rotational movement of the gripper head around the gripper arm always with a desired Item orientation are delivered to the collection container.

A linear drive otherwise suitable only for a linear movement can also be used for a rotary movement and a vertical movement, wherein the Drehbe movement and the vertical movement selectively superimpose the linear movement, if according to claim 4, a drive which is provided for pivoting the holding device in a vertical plane, connected via a provided for rotation about a vertical axis pivot with a movable part of a linear drive is, and another movable part, preferably this linear drive is provided to intervene via a coupling means, preferably a rack in a sprocket, which is connected to the drive.

Of the Advantage of this embodiment is that two movable parts of a Linear actuator can be moved relative to each other to exercise such a rotational movement of the gripping arm. All it takes is one anyway for needed a vertical movement Drive rigidly to connect to a moving part and using it to turn a coupling agent. The coupling agent is thereby operated by the distance between the moving parts. It makes sense, a stationary part of a linear actuator as a secondary part and to design the two moving parts as primary parts to such the moving parts relative to each other or with a constant distance to each other along the secondary part to move to either a rotational movement of the drive required for the vertical movement or to achieve no rotational movement. As a drive is particularly suitable a servomotor, a torque motor or another direct drive without Transmission. Since no gear is provided for these drives, a compact design of the device is achieved. In addition, must the linear drive is not additional accelerate a transmission of the drive, allowing faster linear drives possible are.

is an additional one Drive for moving the gripper arm in his gripping direction, which in the direction of its extension, provided (claim 6), so becomes a parallel to the pipe aligned, further linear movement of the gripping head causes. Such a movement is used for. B. a faster Grab an item. It also expands a workspace of a Operating point of the gripping head.

Around to monitor a batch process, or different high and big ones Clippings each filled optimally to be able to is according to claim 7 proposed that a plurality of sensors provided is to control a build up of rows on or in the outer package. Such are still aufzufüllende Volume registered as well as a completed filling, a newly arrived collection container, its exact position relative to the gripper arm and the size of a Item together with the space occupied by him in the collecting container. in this connection it is also possible things Finally, to turn against a previous batch specification so that they fit into a residual volume in the collection container. So z. B. a location objects pointing in one direction, and few remaining objects must be across to put in the sump to make optimum use of the entire volume of the collecting he follows. You can do this also empirical values from a memory of a machine control be retrieved. A slipped object can be detected and by a subsequently introduced object back into his original Be pushed position. In this way, accidents are avoided.

in the The following will illustrate the invention with reference to exemplary embodiments Figures described in more detail. It shows:

1 in a side view of a device for gripping and dispensing boxes to bring them into a carton, wherein the device comprises a linear drive and connected to a movable part of the linear drive servomotor to articulated about two parallel aligned arms with these two drives Gripping arm whose gripping head is rotatable to move;

2 in a side view the device of 1 in a condition where the previously picked box is put in the box;

3 in a view from above the cardboard of the 2 after inserting the carton into the carton, executing a predetermined type of stacking in which after a first layer of carton a second layer has been started with differently oriented cartons, as well as

4 in a view from above a linear actuator analog 1 but with two moving parts displaceable along a stationary part of the linear drive, with a coupling means between the two moving parts, in order to be able to rotate a drive articulated to a moving part by a change in the distance between the moving parts.

By means of a device 1 for handling are boxes 2 in a box 3 brought in ( 2 ). A gripper arm 4 serves to grasp the boxes 2 , One of two parallel aligned arms 5 . 6 having holding device 7 is to hold the gripper arm 4 provided, each arm 5 . 6 at one end 10 about a joint 8th with the gripper arm 4 connected, and a drive 9 with another end 11 an arm 5 connected to the arm 5 to pivot, and so both the gripping arm 4 on a box 2 to be able to move as well as away from it ( 1 . 2 ). The drive 9 is rigid with a moving part 12 of the linear drive 13 connected. A stationary part 14 of the linear drive 13 has a guide 15 on, along the moving part 12 is movable. Of the not from the drive 9 powered arm 6 is about a joint 16 with the moving part 12 of the linear drive 13 connected. The poor 5 . 6 the holding device 7 are aligned parallel to each other and have the same length. The stationary, on a rack 35 attached part 14 of the linear drive 13 extends in a horizontal direction.

The gripper arm 4 has a gripping head 18 with vacuum cups 19 on, as well as a rigid tube 20 for bringing negative pressure to the gripping head 18 , which has a flexible cable 21 connected to a vacuum generator.

The joints 8th the poor 5 . 6 are about a connection 32 with the rigid pipe 20 connected. The rigid pipe 20 but could also be due to the flexible supply line 21 , which are at the top of the rigid pipe 20 be formed, provided that they are in a frame of the gripper arm 4 would be lost. The drive 9 is designed as a servomotor. But it could also be designed as a torque motor without gear.

On the rigid pipe 20 is an additional drive 22 to move the pipe 20 in gripping direction 26 its extension provided to the linear movement of the linear drive 13 and the pivotal movement of the drive 9 additionally a movement in gripping direction 26 to superimpose, and so the gripping head 18 better in relatively tall boxes 3 to be able to move. The additional drive 22 is for turning a spindle 23 provided, which in one on the pipe 20 attached thread 24 engages this, together with the gripper arm 4 relative to the joints 8th to move. As a rule, the gripper arm 4 both by means of a linear movement of the linear drive 13 as well as by means of a pivoting movement of the drive 9 emotional. The movement is in many cases more optimal if at least temporarily the linear motion is superimposed on the pivoting movement. In this case, the pivoting movement is executed only from a location defined by the linear movement. It is advantageous that the direction 25 the linear movement parallel or at a right angle to the gripping direction 26 runs.

On the gripper arm 4 serves another drive 38 for turning the gripping head 18 around a vertical axis 41 , This drive 38 is intended to the gripping head 18 relative to the gripper arm 4 to turn around so the gripped cartons 2 to align exactly when they are in a specific stacking scheme in the carton 3 be set, whose tabs 40 are open.

It is at the device 1 a conveyor belt 33 for bringing cardboard boxes 3 provided as a repackaging or collective packaging, which is a drive 42 having, which is adapted to the conveyor belt 33 move back and forth to the objects in the form of transverse to the transport direction 46 arranged rows 47 . 48 to provide in the outer packaging, which of the only transverse to the conveyor belt 33 movable gripping arms 4 be delivered to the outer packaging. Thereby the device becomes 1 operated such that the gripping head 18 around the vertical axis 41 is rotated, alternately one layer at a time 51 always in one direction arranged boxes 2 , and then another location 52 in a box rotated 90 degrees 2 to stack ( 3 ).

In a second embodiment is in the device 1 analogous to the 1 and 2 in addition a pivoting device 49 ( 4 ) for pivoting the swivel arm 4 intended. The pivoting device 49 serves to pivot the drive 9 about a vertical axis and relative to the moving part 12 ,

This will be the joint 16 on the coat 17 of the drive 9 attached (in 1 shown in dashed lines), so that by a rotation of the drive 9 relative to the moving part 12 the gripper arm 4 is also pivotable about this vertical axis. Otherwise, the technique used remains unchanged in this second embodiment as previously described in the first embodiment, but the method changes. The drive 9 , for pivoting the holding device 7 is provided in a vertical plane, is about the provided for rotation about a vertical axis pivot 50 with a moving part 12 of the linear drive 13 connected. Another moving part 43 this linear drive 13 is intended, via a coupling means which a rack 44 has, in a sprocket 45 of the drive 9 intervene to this when performing a relative movement of the moving parts 12 . 43 to turn each other. Become, however, the moving part 12 . 43 at a constant distance along the fixed part 14 of the linear drive 13 moved, so is the drive 9 not opposite to the moving part 12 turned.

By this rotational movement of the carton 3 be filled, and always stationary relative to the device 1 remain during its filling. To align the boxes 2 In the carton 3 to achieve the pivoting of the gripper arm done 4 about a vertical axis and the turning of the gripping head 18 relative to the gripper arm 4 in a manner in which the articles each in a predetermined orientation or in a direction transverse to this orientation, the outer packaging are supplied.

In both described method is on the device 1 a plurality of sensors 36 intended to build a series 47 . 48 on or in the outer packaging ( 3 ). Because two sensors each 36 with her measuring beam 37 the location of a box 2 cover, is taken from the individual readings regarding a removal of a box 2 to the sensors arranged above it 36 to the height of the box 2 closed in the stack and their orientation. Furthermore, there will be free space in the box 3 recognized, which still with as always aligned boxes 2 can be occupied. The sensors 36 They are also suitable for pallets with boxes up to a certain height 2 or other objects are to be equipped, and always with a maximum stack height is observed.

1

contraption

2

box

3

carton

4

claw arm

5, 6

poor

7

holder

8th

joint

9

drive

10 11

The End

12

portable part

13

linear actuator

14

stationary part

15

guide

16

joint

17

coat

18

gripping head

19

vacuum cups

20

rigid pipe

21

flexible supply

22

additional drive

23

spindle

24

thread

25

direction a linear movement

26

gripping direction

31

frame line

32

connection

33 34

conveyor belt

35

frame

36

sensor

37

measuring beam

38

drive

39

swivel

40

flap

41

vertical axis

42

drive

43

portable part

44

rack

45

sprocket

46

transport direction

47 48

line

49

Pivot means

50

swivel

51 52

location

Claims (9)

Contraption ( 1 ) for gripping and delivering objects, in particular boxes ( 2 ) or bags towards an outer packaging, in particular into a carton ( 3 ) or on a pallet, with one of a holding device ( 7 ) held gripper arm ( 4 ), a gripping head ( 18 ) with at least one vacuum suction device ( 19 ) for gripping at least one object, with a drive, preferably a linear drive ( 13 ) for moving the gripper arm ( 4 ) in the horizontal direction, and a drive ( 9 . 22 ) for moving the gripper arm ( 4 ) in the vertical direction, characterized in that the gripper arm ( 4 ) another drive ( 38 ) for turning the gripping head ( 18 ) about a vertical axis ( 41 ) is provided. Device according to claim 1, characterized in that on the device ( 1 ) a conveyor belt ( 33 ) is provided for the introduction of outer packaging, which is a drive ( 42 ), which is adapted to the conveyor belt ( 33 ) to move back and forth to the articles in the form of transversely to the transport direction ( 46 ) arranged rows ( 47 . 48 ) provided in the outer packaging, which is of a transverse only to the conveyor belt ( 33 ) movable gripping arm ( 4 ) are delivered to the outer packaging. Apparatus according to claim 1, characterized in that a pivoting device ( 49 ) for pivoting the gripper arm ( 4 ) on the device ( 1 ) is provided. Apparatus according to claim 3, characterized in that a drive ( 9 ), for pivoting the holding device ( 7 ) is provided in a vertical plane, via a provided for rotation about a vertical axis pivot ( 50 ) with a movable part ( 12 ) of a linear drive ( 13 ) and that another movable part ( 43 ), preferably this linear drive ( 13 ) is provided, via a coupling means, preferably a rack ( 44 ) in a sprocket ( 45 ), which with the drive ( 9 ) is intervene. Device according to claim 1, characterized in that the drive ( 38 ) is provided, the gripping head ( 18 ) relative to the gripper arm ( 4 ) to turn. Device according to one of claims 1 to 5, characterized in that an additional drive ( 22 ) for moving the gripper arm ( 4 ) in its gripping direction ( 26 ), which points in the direction of its extent, is provided. Device according to one of claims 1 to 6, characterized in that on the device ( 1 ) a plurality of sensors ( 36 ) is intended to provide a structure of series ( 47 . 48 ) on or in the outer packaging. Method for operating a device ( 1 ) according to one of claims 1 to 7, characterized in that the gripping head ( 18 ) about the vertical axis ( 41 ) is rotated to alternately one layer ( 51 ) always arranged in one direction, and then another layer ( 52 ) in a 90 degrees rotated objects to stack. Method for operating a device ( 1 ) according to claim 3, characterized in that the pivoting of the gripping arm ( 4 ) and turning the gripping head ( 18 ) relative to the gripper arm ( 4 ) in a manner such that the articles are each fed to the overpack in a predetermined orientation or in a direction transverse to that orientation.