DE102020120294A1 - Device for handling, treating and/or inspecting objects - Google Patents

Abstract

The invention relates to a device (10) for handling, treating and/or inspecting objects (24, 26), preferably containers. The device (10) has a planar drive system (14) with a base element (16) and at least one movement device (18) which can be moved with respect to the base element (16) and an effector device (20, 22) for handling, treating and/or testing of an object (24, 26). The device (10) has a carrier device (12) which movably carries the base element (16). The device (10) advantageously represents a highly flexible system for interacting with objects (24, 26).

Description

technical field

The present disclosure relates to a device for handling, treating and/or inspecting objects, preferably containers, the device having a planar drive system.

Technical background

Containers of various geometries and shapes are transported through the individual system parts in filling and packaging systems, where they are filled, closed, labeled, inspected and discharged, grouped and packaged.

the EP 3 172 156 B1 discloses a drive surface that covers two transport systems transversely to their transport direction. The drive surface is arranged slightly above the top of the transport systems in such a way that movers are able to pick up supplied products with at least partial vertical movement and deposit them in a container. Two movers each grab a group of supplied products. A handling device of the mover is, for example, L-shaped and includes several receptacles for the products.

the DE 10 2014 214 697 A1 discloses, for example, a device for filling a container. A filling station fills at least one container. At least one container receptacle transports the container relative to the filling station. A drive surface and at least one mover that can be magnetically coupled to the drive surface are provided. The mover is arranged to be displaceable and/or rotatable in at least two degrees of freedom on the drive surface and the container holder is arranged on the mover.

Also known are robots for handling, processing or testing objects. A replaceable tool that is suitable for the respective application is usually attached to the tool center point (TCP - tool center point) of each robot. Multiple tools with several identical or different tools are also known. Different products often require tools that are adapted to them, with corresponding development and manufacturing costs. Furthermore, robots can usually only handle one object per cycle if the objects are not arranged for picking up. Tasks that place very high demands on the flexibility of robot end effectors have not yet been able to be performed by them (e.g. unfolding a cardboard blank).

An object of the invention is to provide an alternative and/or improved device for handling, treating and/or inspecting objects.

Summary of the Invention

The object is achieved by the features of independent claim 1. Advantageous developments are specified in the dependent claims and the description.

One aspect of the present disclosure relates to an apparatus for handling, treating, and/or inspecting objects, preferably containers (e.g., carton, bottle, can, canister, etc.). The device has a (for example magnetic) planar drive system with a (for example plate-shaped) base element and at least one movement device. The at least one movement device is moveable with respect to the base element (e.g. by means of magnetic interaction between the base element and the at least one movement device). The at least one movement device has an effector device for handling, treating and/or checking an object. The apparatus also includes a support device (e.g., stationary or moveable) that movably supports the base member (e.g., during operation of the planar propulsion system).

The device advantageously represents a highly flexible system for interacting with objects. Due to the effector devices, which can preferably be moved in any direction and angle, handling or treatment processes (e.g. manufacturing processes) without changing format parts or tools are conceivable, for example. The interaction with the objects can also become more complex than before. The movements of the effector devices can be adjusted very flexibly, on the one hand by the mobility of the movement devices relative to the base element, on the other hand by the mobility of the carrier device. The device can also enable, for example, simple part handling, the elimination of format and special tools, and very fast changeover times, if required at all. Parallel handling, checking and/or treating a number of objects at the same time can also be made possible.

In one embodiment, the carrier device carries the base element in a linearly movable manner, preferably with one, two or three degrees of freedom. Alternatively or additionally, the carrier device can carry the basic element in a rotationally movable manner, preferably with one, two or three degrees of freedom.

In a further exemplary embodiment, the carrier device is designed to move the basic element while the effector device handles, treats and/or examines the object, preferably to support the handling, treat- ment and/or examination.

A control unit of the carrier device can preferably be coupled to a control unit of the planar drive system, or both control units can be integrated with one another.

In a further exemplary embodiment, the carrier device is designed as a mobile or stationary robot device (eg with parallel or serial kinematics). Preferably, the planar drive system can be used by the robotic device as an effector, and/or the effector device can be used by the robotic device as an end effector.

In a further development, the carrier device is designed as an articulated-arm robot device/articulated-arm robot device (e.g. 5, 6 or 7-axis articulated-arm robot, dual-arm robot, palletizing robot, SCARA robot), portal robot device, delta robot device, duopod -Robotic device, tripod robotic device, quadpod robotic device, pentapod robotic device or hexapod robotic device executed.

In one embodiment, the effector device has a gripper or a clamp mount for handling the object, a sensor for detecting the object and/or a tool for treating the object. Depending on the requirement, the device can thus be equipped very flexibly with different effector devices, which can also be used together to interact with the object.

For example, the effector device can be in communication with a control unit of the device. For example, signals can be transmitted from the effector device designed as a sensor to the control unit.

In a further embodiment, the effector device is passive. Since the effector device does not have to be supplied with energy, for example, the device can be used particularly flexibly.

Alternatively, the effector device can be active. Energy can preferably be transmitted to the effector device by cable or by means of inductive energy transmission or by means of a relative movement of the respective movement device with the effector device to another movement device.

In a variant embodiment, the object to be handled, checked and/or treated is assigned to a group of objects with different shapes, positions and/or orientations, preferably a group of carton blanks. Preferably, the planar drive system can be designed to adapt a movement of the at least one movement device during handling, treatment and/or testing to a respective shape, position and/or orientation of the object to be handled, tested and/or treated, preferably when picking up the Object by means of the effector device. The interaction with different objects, object positions and object orientations is thus made possible in a simple manner.

For example, a respective shape, position and/or orientation of the object can be detected by a sensor system and/or the device can be operable in different program modes.

In a further embodiment variant, several movement devices are included, which can preferably be moved independently of one another with respect to the base element.

In a further development, the multiple movement devices have at least partially identical and/or at least partially different effector devices. Advantageously, the same effector devices can enable the simultaneous, parallel handling, checking and/or treating of a number of objects or, for example, the omission of format parts for handling. Different effector devices can advantageously enable complex interactions with the objects, e.g. B. simultaneous handling and treatment or simultaneous handling, testing and treatment.

In one embodiment, the planar drive system is designed (e.g. by means of a control unit) so that the effector devices of the plurality of movement devices jointly (e.g. simultaneously or successively) handle, treat and/or check the same object, or handle a number of objects at the same time, treat and/or examine. For example, a throughput of the device can be increased.

In a further exemplary embodiment, the planar drive system (e.g. by means of a control unit) is designed to clamp the object for holding or transporting between the effector devices of at least two movement devices (e.g. exactly two, three or four movement devices) of the plurality of movement devices . Thus, a omission of format parts, such as B. different gripper heads are made possible.

In one embodiment, the planar drive system is configured (e.g. by means of a control unit) to hold the object from the effector device of at least one of the plurality of movement devices while the object is being treated by the effector device of at least one other of the plurality of movement devices. In this way, a complex and flexible treatment of the object can be made possible.

In a further embodiment, the planar drive system is designed (e.g. by means of a control unit) to hold the object, preferably a cardboard blank, by means of the effector device of at least one of the several movement devices and to successively treat it by means of the effector devices of other of the several movement devices, preferably to fold, glue and/or press. For example, a highly complex treatment of the object in several different treatment steps can be made possible.

In one embodiment variant, the planar drive system is designed (e.g. by means of a control unit) to be operated in a number of modes, with at least one of the number of movement devices being positioned in a parking position depending on the mode and not used when handling, treating and/or inspecting the object will. The device can thus also be used as a tool changing system with extremely fast changeover times due to flying tool changes. For example, a tool change magazine would no longer have to be approached to change tools.

In a further embodiment, the planar drive system is designed (e.g. by means of a control unit) to pick up a number of objects using the effector devices of the plurality of movement devices and to deliver the picked up objects in a changed orientation and/or sequence.

It is possible for the device, the carrier device and/or the planar drive system to have a control unit which controls a movement of the movement device(s) and/or the carrier device and/or an actuation of the effector device(s).

The term “control unit” can preferably refer to electronics (e.g. with microprocessor(s) and data memory) which, depending on the training, can take on control tasks and/or regulation tasks and/or processing tasks. Even if the term “control” is used here, it can also appropriately include or mean “regulation” or “control with feedback” and “processing”.

The device disclosed herein can preferably be included in a container treatment system for bottles, cans and/or canisters for container handling, for container testing and/or for container treatment. Alternatively, the device disclosed herein can be included, for example, in a packaging system for producing, assembling and/or unfolding packaging (e.g. cartons).

The preferred embodiments and features of the invention described above can be combined with one another as desired.

character list

• 1 eine schematische Perspektivansicht einer Vorrichtung zum Handhaben, Behandeln und/oder Prüfen von Objekten gemäß einem Ausführungsbeispiel der vorliegenden Offenbarung;
• 2 eine schematische Draufsicht auf ein Planarantriebssystems gemäß einem Ausführungsbeispiel der vorliegenden Offenbarung; und
• 3 eine schematische Draufsicht auf ein Planarantriebssystems gemäß einem weiteren Ausführungsbeispiel der vorliegenden Offenbarung.

Further details and advantages of the invention are described below with reference to the accompanying drawings. Show it:

• 1 a schematic perspective view of a device for handling, treating and/or inspecting objects according to an embodiment of the present disclosure;
• 2 a schematic plan view of a planar drive system according to an embodiment of the present disclosure; and
• 3 a schematic plan view of a planar drive system according to a further embodiment of the present disclosure.

The embodiments shown in the figures correspond at least in part, so that similar or identical parts are provided with the same reference symbols and, for their explanation, reference is also made to the description of the other embodiments or figures in order to avoid repetition.

Detailed description of exemplary embodiments

the 1 10 shows a device 10. Depending on the embodiment, the device 10 can handle, treat and/or inspect objects. The objects can be of any type, shape and/or size. However, the objects are preferably containers (or precursors thereof), such as e.g. B. cartons, bottles, cans, canisters, etc.

The device 10 has a carrier device 12 and a planar drive system 14 with a Basic element 16 and a plurality of moving devices 18 on.

The carrier device 12 can be stationary or mobile. The carrier device 12 is designed to carry and move the base element 16 of the planar drive system 14 .

Depending on the design of the carrier device 12, the carrier device 12 can move the base element 16 between different positions and/or orientations. For example, the carrier device 12 can move the basic element 16 in an orthogonal coordinate system along one, two or three coordinate axes (e.g. x, y and/or z axis) and/or rotate about one, two or three of the coordinate axes . The carrier device 12 can preferably have one to six degrees of freedom for moving the base element 16 .

The movement of the carrier device 12 to move the base element 16 can be used, for example, to transport the base element 16, e.g. B. from an object pick-up point to an object delivery point. The carrier device 12 may also move the base 16 to enable or assist in inspection, treatment, or handling of the object or objects.

The carrier device 12 is particularly preferably designed as a robot device. In 1 1 shows that the carrier device 12 is preferably designed as a stationary robot device with serial kinematics. In detail, the carrier device 12 is designed as a multi-axis articulated arm robot device or articulated arm robot device. The planar drive system 14 serves as an effector of the robotic device.

However, it is also possible for the carrier device 12 to be designed, for example, as a differently designed robot device, for example as a mobile robot device, as a robot device with parallel kinematics, as a dual-arm robot device, as a palletizing robot device, as a SCARA robot device, as a portal robot device , a delta robotic device, a duopod robotic device, a tripod robotic device, a quadpod robotic device, a pentapod robotic device or a hexapod robotic device. It is also possible that the carrier device 12 z. B. is not designed as a robot device due to lack of multi-purpose capability or lack of free programmability.

The planar drive system 14 is preferably a magnetic planar drive system. The movement devices 18 can be moved freely and independently over the base element 16 by means of magnetic interaction with the base element 16 . The movers 18 may also be rotated (e.g., yaw) with respect to the base 16 via magnetic interaction with the base 16 . The movers 18 may also be tilted (e.g., pitch and/or roll) with respect to the base 16 via magnetic interaction with the base 16 . The movement devices 18 can also perform a lifting movement up or down with respect to the base element 16 by means of magnetic interaction with the base element 16 . A number of movement devices 18 can be freely selected depending on the application.

The base member 16 forms a stator of the planar drive system 14. The moving devices 18 form runners of the planar drive system 14. The moving devices 18 are supported by the base member 16 without contact, preferably on an upper side of the base member 16 and preferably with an ironless motor design. Alternatively, an iron core motor with inherently stronger propulsion and attraction forces could be used. In this case, it would be advantageous to equip the movement devices with a chassis that absorbs the higher forces of attraction. The base element 16 can, for example, have a plurality of distributed electromagnets, e.g. B. electrical coils have. The movement devices 18 can have permanent magnets. The electromagnets are preferably arranged in a matrix which extends in a plane of the base element 16 . A control unit (not shown) of the planar drive system 14 can control a power supply to the electromagnets of the base element 16 in order to establish electromagnetic fields at a desired position of the base element 16 with a desired field strength. A propulsion, a rotation, an inclination and/or a stroke of the movement devices 18 can be brought about by corresponding electromagnetic fields of the electromagnets of the base element 16 .

An alignment of the base element 16 and/or a position of the base element 16 can be changed by means of the carrier device 12 . Consequently, the alignments and/or positions of the movement devices 18 in space can also be changed in this way. The base member 16 is mounted on the carrier device 12 to be moved by means of the carrier device 12 . A rear side of the base element 16 is preferably attached to the carrier device 12, preferably centrally with respect to the rear side. For example, the base member 16 on a robot tool be attached to the carrier device 12, which is preferably designed as a robot device.

The movement devices 18 can each carry the same or different effector devices 20, 22. The effector devices 20, 22 can preferably be used as end effectors of the carrier device 12 designed as a robot device. It is possible that the movement devices 18 each carry only a single effector device 20, 22, or that the movement devices 18 each carry a plurality of effector devices 20, 22.

If, for example, a number of movement devices 18 are equipped with the same effector devices 20 or 22, it may be possible, for example, for the device 10 to be able to examine, treat or handle a number of objects in parallel. For example, an effector device of a first movement device can examine, treat and/or handle a first object, while an effector device of a second movement device examine, treat and/or handle a second object. It is also possible for the effector devices of the first movement device to check, treat and/or handle a first section of the object, while the effector device of the second movement device checks, treat and/or handle another section of the object.

For example, several effector devices 20, 22 of several movement devices 18 can pick up several objects at the same time and release the picked up objects in a different orientation and/or order.

On the other hand, if several movement devices 18 are equipped with different effector devices 20, 22, it may be possible, for example, for an effector device of a first movement device to carry out a first action on the object (e.g. checking, treating or handling), while an effector device of a second movement device performs a performs a second action on the object (e.g., examine, treat, or handle). For example, complex production processes in which one or more complex treatment processes are carried out on a recorded object can also be possible. The treatment processes can be supported by a corresponding movement of the carrier device 12.

It is also possible for the movement devices 18 to be operated in the manner of a tool changing system with flying tool change. In a first mode of the device 10, at least one first movement device is in a waiting position or parking position, while an effector device of at least one second movement device checks, treats or handles an object. In the case of a program change to a second mode, on the other hand, the at least one second movement device can be positioned in the waiting position while an effector device of the at least one first movement device checks, treats or handles another object.

It is also conceivable for the movement devices 18 to switch between the basic elements by docking the basic element 16 to a stationary or another basic element attached to another handling unit 12, for example in order to change tools, or to transport the movement devices together with the object to a basic element in a highly dynamic manner or remove from him.

In 1 is shown by way of example that the effector devices 20 are designed as mechanical grippers, and the effector device 22 is designed as a suction gripper. In general, the effector devices 20, 22 can preferably have a gripper, a clamp mount, a sensor and/or a tool. For example, the gripper can be designed to grip and hold one or more objects. The clamp mount can be designed, for example, to hold an object in a clamped manner, e.g. B. also in cooperation with at least one other clamp of another movement device. The sensor can be designed to detect the object or a section thereof, for example in a tactile or non-contact manner. The sensor can be an optical sensor or a tactile measuring probe, for example. The sensor can output a signal that can be communicated wirelessly or by cable to a control unit of the device 10, for example. The tool can expediently be a treatment tool with which the object can be treated, for example edited or changed.

The effector devices 20, 22 can be passive and function without the supply or removal of energy and/or media. For example, the effector devices 20, 22 can be designed as passive clamp mounts for clamping and holding the objects.

The effector devices 20, 22 can also be active, for example drivable. Energy can be transmitted to the effector devices 20, 22, for example, by cable or by means of inductive energy transmission (electromagnetic Induction) are effected by the base element 16.

Alternatively or additionally, it is possible that the effector devices 20, 22 can be driven by a relative movement between two movement devices 18. Thus, for example, a gear mechanism can be present, which converts a relative movement between two movement devices 18 into a drive for the effector devices 20, 22. For example, one of the movement devices 18 could have an effector device 20 and a rotatable gear wheel. The rotatable gear wheel is drivingly connected to the effector device 20 . Another of the moving devices 18 carries a rack. The rack can be engaged with the gear. If the corresponding movement devices move relative to one another, the toothed rack drives the toothed wheel, which in turn drives the effector device 20 .

2 14 shows an exemplary configuration of the planar drive system 14 for manipulating an object 24. The object 24 may be, for example, a container.

The object 24 is gripped between several, preferably passive, effector devices 20, 22 of several movement devices 18, preferably clamped. The movement devices 18 can move the object 24 by means of joint movement. The object 24 can also be moved by moving the carrier device 12 . For example, several objects 24 can also be gripped if further movement devices were included (not in 2 shown).

The clamping force can be adjusted according to the different objects to be handled. For example, holding full, large glass bottles requires a higher clamping force than empty, thin-walled PET bottles. Empty PET bottles would be crushed by the high clamping force for the glass bottles.

3 14 shows an exemplary configuration of the planar drive system 14 for handling two objects 26. The objects 26 may be, for example, cardboard blanks.

A plurality of movement devices 18 are each equipped with an effector device 22 designed as a suction gripper for handling the objects 26 . Two (or more or fewer) moving devices 18 each can carry one of the objects 26 by suction using the effector devices 22, preferably for object separation (e.g. carton blank separation) from an object stack, an object pallet or other object accumulation. A number of objects 26 can also be handled simultaneously with a corresponding number of moving devices 18, as shown.

The movement of the movement devices 18 can be based on a respective position, orientation and/or shape, e.g. B. contour of the objects 26 adjust. The movement adjustment can be carried out, for example, program-controlled or sensor-supported (eg also by means of an effector device of a movement device or by means of an external sensor system). In particular, the effector devices 20, 22 can be positioned by the movement devices 18 and/or the carrier device 12 before the object 26 is picked up in such a way that the effector devices 26 are positioned on desired sections of the object 26 so that the object 26 can be picked up and handled safely can be guaranteed. It is also possible that before the object 26 is recorded, a position and/or orientation of the object 26 is first detected (e.g. likewise by means of an effector device of a movement device or by means of an external sensor system). For example, the objects 26 could lie disorderly on a pallet. The effector device(s) 20, 22 can then be moved by the movement devices 18 and/or the carrier device 12, adapted to the detected position and/or orientation, to the detected object 26 in order to pick up the object 26.

With a not in 3 At least one further movement device could be provided, the effector device of which treats the recorded object 26. For example, the object 26 designed as a cardboard blank could be folded, glued and pressed into a cardboard box by one or more effector devices. During the treatment, the carrier device 12 can carry out a transfer movement, so that the treated object 26 can finally be returned to a target position.

The invention is not limited to the preferred embodiments described above. Rather, a large number of variants and modifications are possible, which also make use of the idea of the invention and therefore fall within the scope of protection. In particular, the invention also claims protection for the subject matter and the features of the subclaims independently of the claims referred to. In particular, the individual features of independent claim 1 are each disclosed independently of one another. In addition, the features of the dependent claims are independent of sämtli are disclosed according to the features of independent claim 1 and, for example, independently of the features relating to the presence and/or the configuration of the planar drive system and/or the supporting device of independent claim 1.

Reference List

10

contraption

12

carrier device

14

planar drive system

16

basic element

18

moving device

20

effector device

22

effector device

24

object

26

object

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• EP 3172156 B1 [0003]
• DE 102014214697 A1 [0004]

Claims (15)

Device (10) for handling, treating and/or inspecting objects (24, 26), preferably containers, comprising: a planar drive system (14) with a base element (16) and at least one movement device (18) which can be moved with respect to the base element (16) and an effector device (20, 22) for handling, treating and/or inspecting an object (24, 26 ) having; and a support device (12) movably supporting the base member (16). Device (10) after claim 1 wherein: the carrier device (12) carries the base element (16) in a linearly movable manner, preferably with one, two or three degrees of freedom; and/or the carrier device (12) carries the base element (16) in a rotationally movable manner, preferably with one, two or three degrees of freedom. Device (10) after claim 1 or claim 2 , wherein: the carrier device (12) is designed to move the base element (16) while the effector device (20, 22) handles, treats and/or examines the object (24, 26), preferably to support the handling, treatment and/or testing. Device (10) according to any one of the preceding claims, wherein the carrier device (12) is designed as a mobile or stationary robot device, where preferably: the planar drive system (14) is usable by the robotic device as an effector; and or the effector device (20, 22) can be used by the robotic device as an end effector. Device (10) after claim 4 , wherein the carrier device (12) is designed as an articulated arm robot device, portal robot device, delta robot device, duopod robot device, tripod robot device, quadpod robot device, pentapod robot device or hexapod robot device. Apparatus (10) according to any one of the preceding claims, wherein: the effector device (20, 22) has a gripper or a clamp for handling the object (24, 26), a sensor for detecting the object (24, 26) and/or a tool for treating the object (24, 26). Apparatus (10) according to any one of the preceding claims, wherein: the effector device (20, 22) is passive; or the effector device (20, 22) is active, with energy preferably being transmitted to the effector device (20, 22) by cable or by means of inductive energy transmission or by means of a relative movement of the respective movement device (18) with the effector device (20, 22) to another movement device ( 18) is done. Apparatus (10) according to any one of the preceding claims, wherein: the object (24, 26) to be handled, inspected and/or treated is associated with a group of objects (24, 26) having different shapes, positions and/or orientations, preferably a group of carton blanks; and the planar drive system (14) is designed to adapt a movement of the at least one movement device (18) during handling, treatment and/or testing to a respective shape, position and/or orientation of the object (24 , 26), preferably when recording the object (24, 26) by means of the effector device (20, 22). Apparatus (10) according to any one of the preceding claims, wherein: a plurality of movement devices (18) are included, which are movable with respect to the base element (16) independently of one another. Device (10) after claim 9 , wherein: the plurality of movement devices (18) have at least partially identical and/or at least partially different effector devices (20, 22); and/or the planar drive system (14) is designed so that the effector devices (20, 22) of the multiple movement devices (18) jointly handle, treat and/or check the same object (24, 26), or simultaneously multiple objects (24, 26 ) handle, treat and/or examine. Device (10) after claim 9 or claim 10 wherein: the planar drive system (14) is adapted to clamp the object (24, 26) for holding or transporting between the effector devices (20, 22) of at least two movement devices (18) of the plurality of movement devices (18). Device (10) according to one of claims 9 until 11 , wherein: the planar drive system (14) is adapted to hold the object (24, 26) from the effector device (20, 22) of at least one of the plurality of movement devices (18), while the object (24, 26) from the effector device ( 20, 22) at least another of the plurality of movement devices (18) is treated. Device (10) according to one of claims 9 until 12 , wherein: the planar drive system (14) is designed to hold the object (24, 26), preferably a cardboard blank, by means of the effector device (20, 22) of at least one of the several movement devices (18) and successively by means of the effector devices (20 , 22) to treat, preferably to fold, glue and/or press other of the several movement devices (18). Device (10) according to one of claims 9 until 13 , wherein: the planar drive system (14) is designed to be operated in a plurality of modes, with at least one of the plurality of movement devices (18) being positioned in a park position depending on the mode and when handling, treating and/or inspecting the object (24, 26) is not used. Device (10) according to one of claims 9 until 14 , wherein: the planar drive system (14) is designed to pick up a plurality of objects (24, 26) by means of the effector devices (20, 22) of the plurality of movement devices (18) and the picked up objects (24, 26) in a changed orientation and/or to submit order.

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