DE102014111632B4 - Device and method for unpacking articles from a package - Google Patents

Abstract

Method for the fully automated unpacking of a plurality of articles (82), jointly packaged in shrink film (84) and combined into a pack (80), in particular bottles, containers or containers, comprising the steps of: providing the pack (80) with the articles (82) Clamping and positioning the pack (80) with the articles (82), providing electronic cutting parameters to actively control a cutting device (90), adjusting the cutting device (90) to the shrink wrap (84) of the pack (80), controlling the cutting device (90) based on the electronic cutting parameters, so that the cutting of the shrink film (84) is performed by a relative movement between the cutting device (90) and the pack (80), in particular the pack (80) rotated about a rotation axis (50) In this case, the cutting device (90) is adjusted to the pack (80) taking into account the electronic cutting parameters, with the pack (80) being opened, detachment n a bottom of the cut shrink wrap (84) from the opened pack (80), peeling an upper portion of the cut shrink wrap (84) from the opened pack (80), discharging the fully unpacked articles (82) for further use.

Description

Field of the invention

The invention relates to a method for unpacking articles from a package as well as an unpacking system.

Background of the invention

Automated packaging equipment is often used in the packaging of retail products or those intended for further processing. The products are typically bundled into a box with a box or tray, palletized in this form, or stacked on a pallet to form a transport unit.

The shrink film packaging represents a special form by which the products can be bundled. The use of shrinkable plastic film for packaging various products is generally known. The products are typically arranged in a layer arrangement, ie side by side, and gradually fed to a shrink oven. The entropy-led shrinking process forms a tight-fitting shell around the products. The resulting bundle can eventually be automated, for example in an automated batch process, without the risk of a single product falling out of the envelope.

The further automated processing and unpacking of shrink-wrapped products poses some challenges. The shrink film used is often not evenly distributed around the products. For example, tolerance measures may add up to each product across the layer arrangement and result in erroneous packing dimensions. The shrink film may be partially fold in folds. It can therefore occur local thickening, which are difficult to work.

For example, the US Patent US Pat. No. 4,050,223 a semi-automatic unpacking device, wherein the actual unpacking is done manually, there are facilities provided to support the unpacker. For example, a pack can be clamped automatically, or the shrink wrap can be automatically peeled off. However, the cutting of the shrink film must be done by hand.

From the US patent US 3,889,442 A One method is to partially remove a package wrapping a plurality of units. The method is disadvantageous in that the cutting process can be adapted only to a very limited extent, so that with an increased probability thickened corners of the shrink film can not be cut. However, as soon as an automated cutting operation is unsuccessful, the unpacking device, typically operating in a safe plant area, must be shut down and either the pack removed or the cut completed by hand. In addition, the method shown is disadvantageous in that the products themselves are scratched in the cutting process shown, so can act with unknown force a cut in the product.

The US patent US 5,463,841 shows an unpacking device for unpacking a palletized load. The machine is only suitable for unpacking large palletized loads. With a cutting device that is adjustable only in the vertical, the system shown is not able to perform contour cuts.

The US patent US 3 922 778 A shows a device for cutting the side walls of a box to remove the lid in whole or in part. A quality control device detects whether the cut has been completed, but a correction in the case of a faulty cut must continue to be performed manually if necessary.

From the DE 20 2009 005 086 U1 Furthermore, there is an opening device for flexible packaging of goods.

The publication DE 10 2007 027 878 A1 Finally, there is shown an apparatus and method for removing a sterile article from a sterile package.

Thus, the previously described and commercially available unpackaging devices have in common that they do not produce satisfactory results. In addition, these do not work fast enough or require too much space.

General description of the invention

It is therefore an object of the present invention to provide an unpacking device which overcomes or improves the aforementioned disadvantages.

One aspect of the invention is to provide a space saving device.

Another aspect of the invention is to provide more reliable cuts of shrink wrap packages.

Other objects will become apparent from the following description or the particular advantages achieved with certain embodiments.

The object is solved by the subject matter of the independent claims. Advantageous embodiments are the subject of the dependent claims.

The invention which is now presented in the following thus solves the problem of fully automatically unpacking a shrink-wrap package which surrounds a large number of articles bundled by means of the film and thereby being tolerant of imperfect shrink-wrap films. The presented invention is also compact in construction, so that the space requirements compared to known systems can also be significantly reduced.

According to the invention, in the method for fully automated unpacking of a plurality of articles, which are packaged together in shrink-wrapped packaging and combined into a pack, the pack of articles is first provided.

Typically, several of the packs are delivered together on a pallet and each one of the packs, for example by means of a robot, brought to a feeder, so for example placed on a feed rail. The pack is moved in the unpacking system until the pack is clamped to take a stable and defined position for the opening of the shrink wrap. If necessary, the position of the pack can be adjusted or corrected or optimized during clamping.

To prepare the cutting operation, electronic cutting parameters are provided for actively controlling a cutting device. The electronic cutting parameters can be, for example, setting values with which the cutting device is adjusted or information about the dimensions of the pack.

According to the invention follows the hiring of the cutting device to the shrink film of the pack. In other words, the cutter is approximated to the shrink film so that the cutting operation can be performed. If necessary, the pack is already positioned during the clamping so that the cutting device is employed when clamping directly to the pack. In general, however, it is advantageous if, while clamping a, albeit less space remains to the cutter, so that the pack can be initially positioned without, for example, the possibility that the pack gets caught on the cutter or the cutter is in the way.

According to the invention, the cutting device is controllable. In other words, for example, the position of the cutting device can be changed by translational and / or rotational movement or by changing the angle of attack. The change can for example be servomotor, pneumatic or hydraulic. The adjustment of the position is particularly advantageous based on the electronic cutting parameters.

The cutting of the shrink film is then carried out by a relative movement between the cutting device and the pack, and the cutting device is adjusted to the pack taking into account the electronic cutting parameters. The pack will be opened. In other words, the cutting device cuts the pack along the circumference of the cutting plane while relative movement takes place between the cutting device and the pack.

The cutting device can be made under the application of a contact pressure to the pack. This can be for example a biasing force.

The pack can be rotated around a rotation axis. For example, such an axis of rotation passes through the center of gravity of the pack, preferably the axis of rotation is a vertical axis of rotation perpendicular to a packing plane. The axis of rotation of the pack is typically an axis perpendicular to the cut surface or plane.

Then, peeling off a top of the cut shrink film from the opened pack. For example, a holding device with suction cups may be provided which removes the top of the cut shrink film from the opened pack by applying a vacuum force.

With the detachment of a bottom of the cut shrink wrap from the opened pack, the entire shrink wrap is removed from the articles. The completely unpacked articles are removed for further use, so for example transported on a conveyor where the articles, ie in particular bottles, containers or containers, for example, cleaned, filled or otherwise processed further.

Preferably, at the beginning of the cutting process, a cutting blade of the cutting device dips into the shrink film. The cutting blade is preferably arranged so that its sharp Cutting side faces away from the articles during the cutting process, so that a blunt side of the cutting blade in the cutting process faces the articles. In other words, the cutting blade penetrates the stretched shrink film and cuts it from the inside of the shrink film. The cutting blade is thus passed through the shrink film, for example, inserted between two articles in the shrink film, so that the cutting blade from the inside of the shrink film cuts through the shrink film ago.

The arrangement of the cutting blade facing the articles with the blunt side is advantageous in that the articles, which are in particular glass bottles, are not scratched by the cutting blade and thus pre-damaged, as has hitherto frequently occurred in unpacking machines. On the one hand, pre-damage to articles due to, for example, scratching or scratches can lead to premature breakage of the articles, for example already in normal use of the articles. On the other hand, when scribing the articles particles of the articles can be solved and, if a clean room environment, as required in particular for pharmaceutical products, should be necessary, the clean room environment can already be burdened by these particles. This can prevent or reduce the present invention.

The positioning of the cutting device in this preferred cutting blade alignment is complex to manufacture, which is why it is particularly advantageous to be able to adjust and adjust the cutting device on the basis of the electronically available cutting parameters, possibly also during the cutting process. Thus, the cutting device can be preset by taking into account the cutting parameters, for example the packing dimensions, but can also respond to irregularities during cutting.

The cutting of the shrink film using the method according to the invention can therefore be carried out advantageously without detachment of particles of the articles, i. For example, of glass particles, as occurs regularly in known cutting methods. The glasses therefore receive no "breaking point" in the cutting area when opening the packaging, and the risk of splinters in the articles is also considerably reduced.

In addition, no use of a heating process is necessary to cut the shrink film, as it is regularly used in known methods, so that also less or no particles of the shrink film are released. When opening the shrink film, therefore, occur significantly less foreign matter overall, as compared to known methods.

Thus, with the use of the method according to the invention, it may now be possible to open the shrink film, which may be airtight, in a clean room, i. unpack the articles without excessively loading the clean room with particles through the opening process. In other words, the method according to the invention can enable a complete process chain of the articles in a clean room environment.

The cutting blade is preferably mounted in such a floating manner that irregularities and / or deviations in the shrink film, in particular variations in a thickness of the film or a width of the pack, are tolerated.

In a preferred embodiment of the invention, the cut surface of the shrink film packaging is detected by means of a sensor. For example, the pack can be rotated about an axis of rotation while a sensor, in particular a laser sensor, scans the shrink-wrap package and thus detects it. In particular, the detection of the cut surface may be performed after the step of clamping and positioning the pack with the articles.

By means of the cut surface detected with the sensor, an envelope can be determined in a further embodiment. The envelope can in turn be taken into account when setting the cutting blade. In other words, cutting parameters of the cutting blade can be adjusted based on the envelope.

For the detachment of the lower part of the cut shrink film from the opened pack, in another embodiment of the invention, an advantageous implementation could be found by leaving the lower part attached to the articles while lifting the articles into a first plane. In other words, the entire pack in the region of the lower part of the cut shrink film is still stretched around the pack, while the articles are raised from below, for example by a plate such as a lifting plane. During the lifting process then the still stretched shrink film dissolves. The shrink film is preferably detected by a scraper when passing the stripping in the region of the cut and stripped from the articles during further lifting of the article by a lifting device. The shrink film can then be slipped over the lifting device.

The lifting device can also be designed so that after the cutting operation, the clamping force is released on the pack and the Lower part of the shrink film is fixed, in particular by vacuum suction, and the lower part of the shrink film is fixed down.

In another embodiment, the pack is provided in the first plane and transported to a second plane underlying the first plane for clamping and cutting.

In still another embodiment, after the peel-off of the shrink film, the cut top and / or the cut bottom of the shrink film are ejected, in particular released from the machine parts by means of a gas pressure impact. As a result, any occurring electrostatic forces of attraction of the film parts can be overcome and the film parts are safely removed.

An unpacking system according to the invention for the fully automated unpacking of a plurality of articles packaged together in shrink-wrapped film and combined into a pack has a clamping device for clamping the pack. The pack is conveyed to the clamping device by means of a feed device, which is prepared for feeding the pack with the articles to the clamping device. In a simple case, the feeder may be a conveyor belt. For example, rollers, driven or not, are suitable as a feeder. Preferably, the feed device has a feed arm. In other words, the pack is unloaded from the pallet, for example with a robot arm or a portal system, placed on the conveyor belt and fed there automatically, in particular by means of the feed arm, to the clamping device. The clamping device fixes the pack and optionally positions the pack.

The unpacking system further includes a controllable cutter for opening the shrink film when the pack is clamped in the clamp. Thus, a cutting device is provided which is controllable in response to dedicated control commands. Control commands are in particular electronic cutting parameters with which the cutting device can be controlled even with more difficult cutting surfaces. In other words, the cutting device is adapted to make changes to the cut in response to control instructions. For example, the cutting device for this adjustment, in particular servo-motor, pneumatic or hydraulic adjusting means have. By means of the adjusting means, the cutting blade can be adjusted to the shrinking film, in particular with regard to the radial position relative to the pack and / or with regard to the angle of incidence of a cutting blade.

A control device provides the electronic cutting parameters, by means of which the cutting device is controllable. For example, the controller may include a commercially available programmable logic controller (PLC) to issue control commands to the cutter and thus to guide the cutter blade in a controlled manner during the cut. The PLC can have such a high processing speed that the cutting parameters are generated during the control of the cutting device, that is, in particular during the pack, and output to the cutting device for controlling the same. Thus, the cutting blade can perform more precise. Defects in the shrink wrap, such as multi-layer thickening of the film or holes in the film, can be tracked during the cutting operation in one embodiment, so that faulty cutting operations are minimized.

The cutting device is designed to cut the shrink film in a cutting plane. The sectional plane is preferably a surface which is substantially parallel to an upper side and / or a lower side of the pack. The cutting plane is also typically such that the cutting plane passes through the articles. The cut made with the cutting blade of the cutting device in this case leads along the circumference, which is formed by the shrink film of the pack on the cutting plane.

An unpacking system further comprises a detachment device for detaching an upper part of the cut shrink film. After the cutting process, the shrink film which is no longer required can thus be removed from the articles. The articles are optionally further clamped by the clamping device, while the removal device removes the upper part of the shrink film, preferably in a vertical direction, from the pack.

The lower part of the cut shrink film is removed from the articles in the unpacking system. The lower part is stripped, for example, after the articles are detached from the clamping device. For stripping the lower part of the cut shrink film, the Entpackungsanlage on a stripping device.

Moreover, the upper part and the lower part of the cut shrink film can be automatically ejected from the unpacking device after the cutting operation by means of an ejection device. For example, the parts of the shrink film with a defined discharge of compressed air together with the escaping air flow laterally escape from the Entpackungsanlage.

The electronic cutting parameters may include one or more values that are measurable directly on the pack, for example. Thus, an electronic cutting parameter can be the vertical position of the cutting plane. This position must be approached by the cutting device before starting the cutting process.

The electronic cutting parameters can also be formed from values, in particular directly measurable values at the pack. For example, by means of a sensor, the maximum and / or minimum thickness of the shrink wrap in the cutting plane can be measured and used, for example, to calculate which force settings are to be set in the control of the cutting blade.

Other electronic cutting parameters may include the length and / or width of the pack, the circumference of the pack in the cutting plane, the average thickness of the shrink wrap in the cutting plane, the thickness of the shrink wrap along the cutting circumference, the contraction of the shrink film between the articles and / or or the geometry of the individual article.

Electronic cutting parameters may also be related to predefined values. Thus, a packing type can be predefined in which the required values and cutting parameters have already been calculated before the regular unpacking process is started. The type of pack can then be set in the unpacking system when starting the unpacking system and / or during a read-in operation of the pack, in particular via a barcode or the like.

To a pack, a relative deviation of the position of the shrink film to a predefined geometric figure can be detected. In a simple case, the geometric figure may be a rectangle. For example, however, the pack type can represent the predefined geometric figure, the deviation of the pack currently being used in the unpacking system from the pack type or from the predefined geometric figure being stored as the electronic cutting parameter. By predefining pack types and / or geometric figures, the computation outlay when processing a pack can possibly be reduced.

An unpacking system may have an automatic compensating device of the cutting device for compensating for minor irregularities and / or deviations in the shrinking film. Irregularities are, in particular, thickness variations of the shrink film along the circumference of the cut and contour deviations. Frequently, thickness variations occur in the region of the corners of the pack, with several layers of the shrink film laying one on top of the other and considerably complicating the cutting of the shrink film.

The automatic compensation device may further comprise a translational or eccentric unit, wherein the translational unit allows a displacement of the cutting device in the cutting plane. In other words, the translational unit permits movement of the cutting device in the direction of the articles towards and in a direction away from the articles, ie a radial movement direction perpendicular to the cutting circumference and in the cutting plane.

The translating unit may include biasing means for exerting a biasing force acting in a tangential direction to the cutting plane on the cutting device attached to the pack. In the biasing means, for example, a mechanical spring, a gas spring, pneumatic acting elements or a combination thereof can apply the biasing force. Such a biased cutting device shows all the advantages of a floating storage, the cutting device can follow the cutting circumference with short response times precisely, but can also automatically respond to deviations.

The unpacking system may further comprise a lifting device for moving the pack from a first level to a second level. The second level is arranged below the first level. The cutting device may be arranged in the region of the second plane in this embodiment, so that the pack can be cut when it is moved in the second plane. In other words, the automated unpacking is performed in this embodiment in several levels, which are arranged one above the other, on the one hand to speed up the process, on the other hand to save valuable space in the production or dispatch hall.

Furthermore, a detection device can be provided in the unpacking system for detecting the sectional plane of the pack. The detection device may comprise a sensor, in particular a laser sensor.

The sensor can be arranged stationary. The sensor can detect the cutting plane in one embodiment of the invention, while the pack is rotated about the axis of rotation by means of the here rotatably running clamping device.

On the basis of the cutting plane detected by the detection device, in particular the cutting parameters for a safe cutting of the shrink film can be defined. Under Using the cutting parameters, the cutting device can then control the cutting blade to cut the shrink wrap.

In a preferred embodiment of the invention, the axis of rotation (50) extends substantially through the center of gravity of the pack (80) formed by the mass and perpendicular to an upper side and / or a lower side of the pack (80).

The slides (26, 27) preferably hold a predefinable, relative position relative to one another when the separated articles are pushed off. In other words, the feeding device (23) preferably interacts with the discharge device (25) when the unpacked articles are pushed out so that the space between the front slide (26) of the feed device (23) and the downstream slide (27) of the discharge device remains constant. A fixed specifiable, constant space, which moves with the articles during the removal, allows a safe transport of the articles, which can be moved, for example, on minor bumps, without individual articles fall over and possibly block the way.

The slides (26, 27) may also preferably exert a force directed towards the separated articles (82) when the singulated articles are pushed off. Particularly preferred as a drive for the slide (26, 27) is a servo proportional technology used, which allows an accurate adjustment of the distance between the front slide (26) and the rear slide (27).

In the following the invention will be explained in more detail by means of embodiments and with reference to the figures, wherein the same and similar elements are partially provided with the same reference numerals and the features of the various embodiments can be combined.

list of figures

• 1 eine Totalansicht einer erfindungsgemäßen Entpackungsanlage in einer sicherheitsgerichteten Umgebung,
• 2 eine Totalansicht einer erfindungsgemäßen Entpackungsanlage,
• 3 eine Zuführeinrichtung,
• 4 eine Abführeinrichtung,
• 5 eine Entpackungsanlage, wobei der Pack auf eine Hubebene transportiert wurde,
• 6 eine Hubeinrichtung,
• 7 eine Ablöseeinrichtung,
• 8 eine Entpackungsanlage, wobei der Pack in der Klemmeinrichtung geklemmt ist,
• 9 eine Klemmeinrichtung,
• 10 eine Entpackungsanlage, wobei der Pack in der Klemmeinrichtung gedreht ist,
• 11 eine simulierte Hüllkurve eines Packs,
• 12 eine Schneidvorrichtung,
• 13 eine Abstreifeinrichtung,
• 14 eine Kompensationseinrichtung,
• 15 eine Entpackungsanlage mit vereinzelten Artikeln.

Show it:

• 1 a total view of an unpacking system according to the invention in a safety-related environment,
• 2 a total view of an unpacking system according to the invention,
• 3 a feeder,
• 4 a discharge device,
• 5 an unpacking system, whereby the pack was transported to a lifting level,
• 6 a lifting device,
• 7 a release device,
• 8th an unpacking system, wherein the pack is clamped in the clamping device,
• 9 a clamping device,
• 10 an unpacking system, wherein the pack is rotated in the clamping device,
• 11 a simulated envelope of a pack,
• 12 a cutting device,
• 13 a stripping device,
• 14 a compensation device,
• 15 an unpacking system with isolated articles.

Detailed description of the invention

1 shows a total view of an unpacking system 10 in an optionally monitored safety-related environment. The moving and therefore potentially dangerous parts of the unpacking system 10 are in this embodiment in a cabin 110 accommodated. The cabin 110 has a feed opening 116 and a Ausführöffnung 118 on for entering or removing the packaged article to be processed 82 , On the back can be an opening of the cabin 110 be provided for the film application, wherein the area in which the film is applied, preferably assigned to the safety-related area. The rest of the cabin is closed on all sides, with one or two doors on the front 112 for the purposes of accessibility of the unpacking system 10 are arranged. The doors 112 have door closing contacts (not shown), so that the closed state of the cabin 110 can be reliably detected. The closed state of the cabin 110 can via a display device 120 in an easy-to-understand way - for example via the red, yellow and green displays. Furthermore, one in this example allows for a support arm 102 assembled operating device 100 , Entries to the unpacking system 10 make. For example, the Entpackungsanlage 10 via the operating device 100 be started or stopped or the process speed changed. Furthermore, it is also possible via the operating device 100 manually the packing type of the articles to be processed 82 pretend and so if necessary in the unpacking 10 for the sake of safety, to simplify automatic detection of the pack type.

2 shows a further embodiment of a Entpackungsanlage 10 , this embodiment, for example, in the with 1 shown safety-oriented cab 110 can be used. The unpacking system 10 is in one Initial state shown, where the pack 80 straight into the unpacking system 10 is introduced.

The unpacking system 10 has a rail 20 on. At the rail 20 It is essentially a device that allows the most trouble-free moving the article. For example, the rail 20 a continuous metal rail or metal plate or Kunststoffschine or plastic plate or a combination thereof. At the rail 20 It can also be a variety of roles that allow side by side to pass through the article. Other conveyor technologies such as belt or belt drives are also possible. The rail 20 is divided into two sections, a feed rail 22 and a drainage rail 24 , On the feed rail 22 the still sealed pack is moved so that the design of the feed rail 22 can be adapted to this. On the drainage rail 24 are the articles 82 isolated, so the shrink film 84 cut or opened. On the drainage rail 24 So there is a possibility that the articles 82 fall over individually, which makes further transport difficult. The design of the discharge rail 24 is to adapt to this, so that any overturning of the article 82 is prevented. In the present case is as a discharge rail 24 a plate 24 executed, on which the articles 82 by means of the slider 26 and the slider 27 can be moved. It has been found that a uniform design of the feed or discharge device 23 . 25 is advantageous. For example, in the form shown, the slider 26 the feeder 23 and the slider 27 the discharge device 25 interact and so does the pack 80 position. The pack 80 can from the slide 26 by means of the feed arm 34 in the direction of the cutting device 90 can be pushed, and at the same time can the slider 27 as a counter bearing a force in the opposite direction to the pack 80 exercise. Thus, in this embodiment, an exact positioning of the pack on the interaction of the feeder 23 and the discharge device 25 respectively.

The rail 20 is in a first plane in this embodiment 16 arranged. The rail 20 is in common with the feed arm 34 Part of the feeder 23 , by means of which the pack 80 with the articles 82 finally to the cutting device 90 the unpacking system 10 is supplied.

In 2 is also a rotation axis 50 indicated to which of the pack 80 can be turned. For example, the rotation of the pack 80 Electromotive done when the pack 80 on a round table 58 the lifting device 52 is turned off. Furthermore, the unpacking system 10 of the 2 a release device 44 on, with the cut top 84A and lower part 84B the shrink film 84 can be removed.

3 shows the feeder 23 , The feed arm 34 can along the feed rail 22 in a translation direction 32 the feeding device to be moved. The slider 26 can in a rotation direction 30 the slider can be rotated so that the slider 26 behind a newly introduced pack 80 in the direction of the arrow 30 rotate and the pack 80 held by the feeding arm 34 , can push.

The feeder 23 points in 3 also a position detection device 28 on. The position detection device 28 For example, in a simple manner via a rack, the position of the feed 34 capture and thus indirectly the position of the pack 80 , In another example, the position detection device 28 via optical, Hall sensors, magnetic or magnetostrictive means the distance to the feed arm 34 capture and from there the position of the feed arm and / or the pack 80 determine. If the feed rail 22 firmly with the remaining unpacking system 10 is connected, the position detection device 28 be calibrated, leaving an absolute position of the pack 80 , ie also relative to, for example, the cutting device 90 or the clamping device 70 , can be obtained. In one embodiment, for example, absolute measuring systems can be used. The position detection device 28 can thus output a position value that is used for exact positioning of the pack 80 before cutting the shrink film 84 can be used.

4 shows the discharge device 25 , At the discharge rail 24 in this embodiment is the discharge arm 35 arranged, which a translational movement 40 can perform. Furthermore, the slider can 27 on the laxative arm 35 a rotational movement 38 carry out. A position detection device 36 For example, the position of the Abführarms 35 and / or the position of the articles to be removed 82 and / or the position of the pack 80 to capture.

5 shows an unpacking system 10 , being a pack 80 from the feed arm 34 already along the feed rail 22 was moved on. The pack 80 is in 5 by means of feeding arm 34 and laxative arm 35 ready positioned.

5 moreover shows an embodiment in which the Abführarm 35 the translation movement 40 on a Abführarmschiene 33 completes. The Abführarmschiene 33 is here laterally next to and parallel to the discharge rail 24 arranged.

Furthermore, the embodiment of the 5 a first level 16 and a second level 18 on. In the first level 16 will each be a pack 80 with articles 82 on a Hubebene 58 (cf., eg 6 ) for further processing. In the first level 16 will also be the unpacked items 82 from the Hubebene 58 picked up and by means of the slide 26 . 27 from the unpacking system 10 promoted.

6 shows an embodiment of a lifting device 52 , A lifting cylinder 54 can in a particular vertical stroke direction 56 a reciprocating piston 53 move, where the Hubebene 58 is appropriate. If at the Hubebene 58 items 82 are turned off, they can therefore by means of the lifting device 52 in the vertical direction 56 to be moved. The articles 82 can do this especially from the first level 16 to the second level 18 and moved back again.

The lifting device 52 of the 6 also has cantilever holders arranged on cantilevers 62 on which the clamping device 70 can be fixed.

The lifting device 52 , as exemplified in 6 can be shown on a rotary ring guide 75 be stored (see, for example. 2 . 5 . 8th . 10 . 12 . 15 ). Through the rotary ring guide 75 can the lift cylinder 54 protrude down. The clamping device 70 For example, on the clamper holders 62 is fixed (see, for example. 8th ), then together with the whole lifting device 52 on the rotary ring guide 75 rotatably mounted when the rotary ring guide 75 is turned.

7 shows an embodiment of the release device 44 , The removal device 44 can on the mast 61 a translational movement 66 perform, ie in particular lift and lower. In addition, the rotary drive 69 the removal device 44 in the direction of rotation 68 rotate. On a boom 63 is a detachment frame 65 positioned, which has a packing opening 67 for receiving the top of the pack 80 having. Furthermore, the detachment frame 65 adhesives 64 which can generate an adhesive force such that the detachment device 44 on the shrink film 84 of the pack 80 liable. It is preferable that the adhesives 64 to pneumatically acting suction systems, which can apply a negative pressure on the shrink film. Particularly preferably, the pneumatically acting suction systems can also generate an overpressure, so that the suctioned with negative pressure and at the release frame 65 fixed shrink film 84 can be repelled by means of a positive pressure surge.

8th again shows an unpacking system 10 , The pack 80 with the articles 82 is by means of the lifting device 52 from the first level 16 to the second level 18 method. In addition, the pack 80 from the clamping device 70 clamped. The removal device 44 is already on the shrink wrap 84 by means of adhesives 64 attached, in particular sucked by negative pressure.

9 shows a detailed view of a clamping device 70 , In this example is in the clamping device 70 a superimposed double frame 78 formed, for example, from stainless steel profiles, being between the double frame 78 clamping bodies 72 are located. The clamp bodies are in the direction 74 movable or expandable. Preferably, the clamping bodies can be inflated by means of compressed air, so that they have a clamping force on one in the packing opening 76 used pack 80 exercise.

The clamping device 70 is preferred on clamp holders 62 attached, so for example screwed. Will be a pack 80 then via the lifting device 52 in the area of the packing opening 76 brought, the clamping device can 70 by means of the clamping body 72 a clamping force on the pack 80 exercise and clamp this.

10 shows a further embodiment of the Entpackungsanlage 10 , In the packing opening 76 the clamping device 70 is a pack 80 used. The clamping device 70 is turned against the starting position.

The rotation of the clamping device 70 is in the embodiment of the 10 achieved by the means of the clamping device holder 62 attached clamping device 70 on a rotary ring guide 75 is turned. The rotary ring guide 75 In turn, for example, by an electric motor (not shown) driven.

In 10 is also the cutting knife 92 the cutting device 90 to the shrink film 84 of the pack 80 hired.

11 shows a computer-simulated pack 80a around the one envelope 86 is laid. The envelope may be known packing parameters with a control device 12 be calculated, for example, based on a simple geometric 87 For example, the rectangle 87 shown. Such a simple geometric 87 can already be determined based on the position values obtained by the position detection devices 28 . 36 be detected, for example, based on the distance of the position detection devices 28 . 36 to each other. The conformability or generally the shape of the shrink film 84 can then also with the control device 12 be calculated. However, it is also possible to use the pack 80 with a sensor 91 to scan (see, eg 10 ). If the sensor 91 is fixed and not rotatable, for example, the pack 80 be rotated once before the cutting process and by the sensor 91 be recorded. A detection device 91 around the pack 80 is rotatable is also possible. From the sensor data, the control device 12 finally an envelope 86 calculate and control parameters to the cutting device 90 transfer.

The cutting device 90 Finally, with the control parameters can be controlled so that the cutting blade 92 the envelope moves along so that the shrink film 84 clean cut, but the articles 82 not be scratched.

12 shows a cutting device 90 using cutting blade actuators 94 to a pack 80 (cf., eg 10 ) can be employed. The cutting knife 92 is from the compensation device 99 led (in 14 shown in more detail). The length of the cutting knife actuator guides 96 allows you to edit different pack sizes, including packs with a clearer difference between the length and width of the pack 80 , The cutting knife guide 96 is with an adjuster stop 98 assured that the cutting knife adjuster 94 the leadership leaves.

Various control lines and electrical supply lines are via the Schneidmesseransteller 94 to the cutting knife 92 , the sensor 91 and / or the compensation device 99 guided. For this are flexible supply lines 97 intended.

Furthermore, in 12 the rotary ring guide 75 , also turntable 75 called, shown the rotational movement of the lifting device 52 can cause.

13 shows the stripping device 42 , The stripping device 42 is in the embodiment shown in the first plane 16 arranged so that these flush the floor between the feed rail 22 and the drainage rail 24 forms. So if a pack 80 from the second level 18 to the first level 16 by means of the lifting device 52 is lifted, so goes through the pack 80 the packing opening 43 , The stripping device 42 has lancing agent 46 on, one in the directional arrow 47 clarified direction acting lancing effect on one in the pack opening 43 located pack 80 exercise. The lancing agent 46 are designed to be in the cutting plane and by the cutting device 90 completed cut between the separate shrink-film parts 84A . 84B penetrate. The pack 80 Therefore, after the cutting operation is preferably so far, almost to an intermediate level, raised that the lancing means 46 just at the level of the cutting plane, after which the lancing means 46 in the shrink film 84 be admitted. In a further upward movement of the pack by means of the lifting device 52 releases the stripping device 42 the lower part 84A the shrink film 84 from the pack and inverts this in a relaxed state over the Hubebene 58 the lifting device 52 , In other words, with the stripping device 42 the bottom of a pack 80 from the shrink wrap 84 be freed.

The detached and now essentially loose on the articles 82 lying upper part of the shrink film 84 is from the stripper 44 by means of the adhesive 64 detached from the articles. Afterwards the unpacked articles can 82 from the unpacking system 10 be issued.

The upper part 84B the shrink film 84 can via the discharge device 25 directly from the unpacking system 10 be applied.

Be the article 82 from the Hubebene 58 removed, ie in particular by the discharge device 25 dissipated, which is still around the lifting device 52 inverted lower shrink film 84A through the removal device 44 with the adhesives 64 sucked, discharged and dropped by a pressure surge.

For example, the upper part 84B the shrink film 84 also by the removal device 44 linear down to the lifting level 58 transported, and with a brief push of the adhesive 64 on the lower part 84A the shrink film 84 be dropped. The lower part 84A can then together with the shell 84B the shrink film 84 be raised. This process is such that the release device 44 the top 84B the shrink film 84 let go for a very short moment. If again the vacuum on the adhesive 64 is given, the upper part of the shrink film 84 through the deformation of the films, so to speak, the lower part of the shrink film 84 "Grab" by the two shrink-film parts dig into each other or entangled. This process can be reliably reproduced. The removal device 44 can afterwards all foil parts, so the entire shrink film 84 from the unpacking system 10 by means of a translational and / or rotational movement 66 . 68 (see. 7 ). Should the shrink film 84 after releasing the adhesive 64 , So in particular the discharge of the negative pressure, not automatically following the gravity of the detachment device 44 solve, so can by means of the adhesive 64 For example, a compressed air pulse are delivered, which safely dissolves the shrink film.

14 shows a detailed view of the cutting blade 92 with the compensation device 99 , The compensation device 99 has a biasing element 93 in the form of a spring element 93 on which a biasing force on the cutting blade 92 exercises. In addition, the cutting knife 92 by means of a translation unit 95 traversable. The translation unit 95 allows a finer and possibly faster adjustment of the linear position compared to the SchneidmesserAnsteller 94 so that the translation unit 95 together with the adjustment via the cutting knife adjuster 94 an improved adjustment of the linear position of the cutting blade 92 to the shrink film 84 of the pack 80 allows. The cutting device 90 is a total of a bracket 89 appropriate.

14 further shows an effective embodiment of a cutting depth limiter 88 , One below the translational unit 95 arranged rolling wheel 88 Can during the cutting process on the outside of the stretched shrink film 84 on the pack 80 roll. First of all, the diameter of the rolling wheel defines in a simple way the penetration depth of the cutting blade into the shrinking film 84 , In addition, the rolling wheel can also be used with the pretensioning element 93 combine. The type of storage of the rolling wheel 88 or the design of the rolling wheel 88 itself, for example as a rubber hose, can eventually in conjunction with the hiring of the cutting device 90 to the pack 80 generate a defined biasing force and thus a separate biasing element 93 substitute. Instead of the rolling wheel 88 For example, a sliding shoe 88 be used as Schnitttiefenbegrenzer.

15 finally shows a final embodiment of the Entpackungsanlage 10 , In this embodiment, the shrink film is with the cutting blade 92 already cut the articles 82 are scattered and are with the feeder 23 in cooperation with the discharge device 25 from the unpacking system 10 promoted. The articles 82 were doing from the lifting device 52 vertically upwards from the second level 18 to the first level 16 method. While the lifting device 52 the articles 82 with the cut shrink film 84 raises the clamping device remains 70 in position, the clamping means 72 are solved. As described above, the shrink film 84 on the stripping device 42 from the articles 82 away.

In summary, a fully automatic unpacking system 10 presented the shrink film 84 completely from the articles 82 can remove, and in a short time and with high precision.

The cutting device can follow the cut of a predefined contour, since it by the control device 12 is controllable. It can be a theoretical envelope 86 are given, which follows the cutting device. This contour cutting technology can by means of the control device 12 be adjusted. If, for example, the entropy-led shrinking process, the shrink film 84 when packing the articles 82 subject to an even denser wrap around each individual item, the envelope may be 86 be adjusted accordingly, for example, with regard to the penetration depth of the cutting blade.

The compensation device 99 is capable of remaining deviations between the theoretical envelope 86 which can also be produced by the addition of the individual article dimensions of each individual article in the layer arrangement and the real envelope which integrates each article with respect to the true dimensions. The compensation device 99 includes a translation unit 95 on which the cutting knife 92 is appropriate. A biasing force is achieved by means of the biasing element 93 perpendicular to the envelope 86 applied. The biasing force can be induced, for example, with a spring, a spring-damping element or pneumatically or a combination thereof. To the cutting knife 92 to adjust in the penetration depth and possibly to control a Schnitttiefenbegrenzer 88 used, in particular on the side wall of the shrink film 84 roll or slide. Several millimeters deviations can thus be tolerated.

In order to reduce the size of the machine, all steps are carried out in horizontal planes, ie in particular in several superimposed planes. The shrink film 84 and the unpacked articles 82 are moved with two different devices, on the one hand the supply and discharge device 23 . 25 for the translational movement, on the other hand, the lifting device 52 for the vertical movement. This division results in a compact handling of the shrink film in a multi-level station.

Optical detection methods can be added to scan the cutting area (eg, with a laser scanner) so that the envelope can be detected before cutting. Subsequently, the control unit calculates 12 the cutting path. The same technology optical detection method can be used to check the cut before peeling the shrink film or to possibly present particles of shrink film on the articles 82 to recognize.

The output of the unpacking system 10 in terms of the number of unpackaged articles 82 is depending on the dimensions of the shrink film 84 and the envelope. Four to eight shrink wrap packages 84 of approximately 600 x 400 mm can probably be unpacked in one minute. Usually, the articles have a height in the range of 25 mm to 350 mm. Other formats are possible, the Entpackungsanlage can be adapted to it.

Also, a preferred use of the unpacking system 10 the use in pharmaceutical products, where, for example, hygienic requirements must be met. Here's the shrink wrap 84 As a protection against harmful environmental influences can be used, the shrink wrap is particularly stable and thus more critical to cut. Moreover, it is important in these products that when cutting no particles from the articles 82 and / or from the shrink wrap 84 be replaced, since clean room conditions may be required.

It will be apparent to those skilled in the art that the above-described embodiments are to be read by way of example, and that the invention is not limited thereto, but that it can be varied in many ways without departing from the scope of the claims. It is also to be understood that the features, independently as they are disclosed in the specification, claims, figures, or otherwise, also individually define essential components of the invention, even if described together with other features.

LIST OF REFERENCE NUMBERS

10

Entpackungsanlage

12

control device

16

first floor

18

second level

20

rail

22

feed track

23

feeding

24

unloading guiding

25

removal device

26

pusher

27

pusher

28

Position detection device

30

Rotation direction of the slider

32

Direction of translation of the feeder

34

supply arm

35

removal arm

36

Position detection device

38

Rotation direction of the slider

40

Direction of translation of the discharge device

42

stripping

43

Pack opening

44

stripper

46

piercing means

47

arrow

50

axis of rotation

52

lifting device

53

reciprocating

54

lifting cylinder

55

segmentation

56

stroke direction

58

Lifting Platform

61

mast

62

Clamper holder

63

boom

64

adhesives

65

transfer framework

66

Direction of translation of the removal device

67

Pack opening

68

Rotation direction of the detachment device

69

rotary drive

70

clamper

72

clamping bodies

74

arrow

75

Rotating ring guide / rotary table

76

Pack opening

78

double frame

80

closed pack with articles

82

items

84

shrink film

84A

Lower part of the cut shrink film

84B

Upper part of the cut shrink film

86

envelope

88

Cutting deepth

89

Holder of the cutting device

90

cutter

91

Detecting device, sensor

92

cutting blade

93

biasing member

94

Schneidmesseransteller

95

Translation unit

96

Schneidmesseranstellerführung

97

flexible supply line

98

Anstelleranschlag

99

compensator

100

operating device

102

Beam

110

cabin

112

safety partition

114

Emergency button

116

feed

118

outfeed

120

display

Claims (22)

Method for fully automated unpacking of a plurality of articles (82), which are packed together in shrink film (84) and combined into a pack (80), in particular bottles, containers or containers, comprising the steps of: Providing the pack (80) with the articles (82), Clamping and positioning the pack (80) with the articles (82), Providing electronic cutting parameters for actively controlling a cutting device (90), Placing the cutting device (90) against the shrink film (84) of the pack (80), Controlling the cutting device (90) based on the electronic cutting parameters, in that the cutting of the shrink film (84) is carried out by a relative movement between the cutting device (90) and the pack (80), in particular the pack (80) is rotated about a rotation axis (50), and the cutting device (90) taking into account the electronic cutting parameters to the pack (80) is turned on, the pack (80) is opened, Detaching a bottom of the cut shrink wrap (84) from the opened pack (80), Detaching a top of the cut shrink wrap (84) from the opened pack (80), Removing the fully unpacked articles (82) for further use. A method according to the preceding claim, wherein a cutting knife (92) of the cutting device (90) dips into the shrink film (84) at the beginning of the cutting operation and a cutting side of the cutting knife (92) faces away from the articles (82) during the cutting operation, such that a blunt side of the cutting blade (92) facing the articles (82) during the cutting operation. , Method according to the preceding claim, wherein the cutting blade (92) is mounted so as to tolerate irregularities and / or deviations in the shrink film (84), in particular variations in a thickness of the film or a width of the pack, or the contour. Method according to one of the preceding claims, wherein a cut surface of the shrink wrap (84) is detected by a sensor (91), in particular a laser sensor, while the pack (80) is rotated about an axis of rotation (50), the shrink wrap (84) detected. Method according to the preceding claim, wherein an envelope (86) for adjusting the cutting blade (92) is determined by means of the cut surface detected by the sensor (91). A method according to any one of the preceding claims, wherein detachment of the bottom of the cut shrink wrap (84) from the opened pack (80) is accomplished by leaving the bottom clamped while the articles (82) are raised to a first plane (16). Method according to one of the preceding claims, wherein the pack (80) is provided in the first level (16) and the pack (80) is transported to a second plane (18) below the first plane (16) to be clamped and cut there. A method according to any one of the preceding claims, wherein following peeling of the shrink film (84), the step of ejecting the cut top and / or the cut bottom of the shrink film (84) follows. An unpacking system (10) for fully automated unpacking of a plurality of articles (82), in particular bottles, containers or containers, packaged together in shrink wrap (84) and assembled into a pack (80), comprising: a clamping device (70) for clamping the pack (80 ), feeding means (23) for feeding the pack (80) with the articles (82) to the clamping means (70), a controllable cutting device (90) for opening the shrink film (84), when the pack (80) is clamped in the clamping device (70), a control device (12) for providing electronic cutting parameters, by means of which the cutting device (90) is controllable Detachment means (44) for detaching a top (84B) of the cut shrink film (84), and stripping means (42) for stripping a bottom (84A) of the cut shrink film (84), the cutting means (90) being formed the shrink film (84) to cut in a cutting plane. An unpacking system (10) according to the preceding claim, wherein the cutting plane is substantially parallel to an upper side and / or a lower side of the pack (80). An unpacking system (10) according to any one of the preceding claims, wherein the electronic cutting parameters comprise at least one of the following values or are formed from one of the following values: vertical position of the cutting plane, Length and / or width of the pack (80), - Scope of the pack in the cutting plane, - predefined packing type, the average thickness of the shrink wrap (84) in the cutting plane, maximum and / or minimum thickness of the shrink wrap (84) in the cutting plane, The course of the thickness of the shrink wrap (84) along the circumference of the cut, - Relative deviation of the position of the shrink film (84) to a predefined geometric figure, in particular a rectangle. An unpacking system (10) according to any one of the preceding claims, further comprising compensation means (99) of the cutting device (92) for compensating for irregularities and / or deviations in the shrink film (84). Entpackungsanlage (10) according to the preceding claim, wherein the compensation device (99) comprises a translation unit, wherein the translational unit allows a displacement of the cutting device (90) in the cutting plane. An uncoater (10) according to the preceding claim, wherein the translating unit comprises biasing means for applying a biasing force acting tangentially to the cutting plane on the cutting device (90), particularly when the cutting device (90) is engaged with the pack (80). An uncoating device (10) according to the preceding claim, wherein the biasing means the biasing force by means of a mechanical spring, pneumatic, a spring-damping element, a gas spring or a combination thereof is applied. Unpacking system (10) according to one of the preceding claims, further comprising a lifting device (52) for moving the pack (80) from a first plane (16) into a second plane (18), wherein the second plane (18) is disposed below the first plane (16) and wherein the cutting device (90) is arranged in the region of the second plane (18), so that the pack (80) can be cut when it has moved into the second plane (18). An unpacking system (10) according to any one of the preceding claims, further comprising detecting means (91) for detecting the cutting plane of the pack (80). Unpacking system (10) according to the preceding claim, wherein the detection device (91) comprises a sensor, in particular a laser sensor. An uncoating apparatus (10) according to the preceding claim, wherein the sensor (91) is fixedly arranged and detects the cutting plane, while the pack (80) is rotated about the rotation axis (50) by means of the rotatable clamping device (70). Unpacking system (10) according to one of Claims 16 to 18 in which the cutting parameters for a safe cutting of the shrink film (84) are defined on the basis of the cutting plane detected by the detection device (91) and wherein the cutting device (90) controls a cutting knife (92) for cutting the shrink film package (84) using the cutting parameters. An unpacking system (10) according to any one of the preceding claims, wherein the axis of rotation (50) extends substantially through the center of gravity of the pack (80) and perpendicular to an upper side and / or a lower side of the pack (80). Unpacking system (10) according to one of the preceding claims, wherein the slides (26, 27) can hold a defined, relative position to each other during the pushing of the separated articles and / or wherein the slides (26, 27) during the Removal of the isolated articles may exert a force directed to the isolated articles (82).

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