DE102020133483A1 - Shifting device and method for shifting - Google Patents

Abstract

Shifting device (200) for a handling device (250) comprising a joint mechanism (201) on which the handling device (250) is accommodated, the handling device (250) moving between a first position (202) and a second position by means of the joint mechanism (201). (203) is relocatable. A preloading device (204) is operatively connected to the articulation mechanism (201) and/or the handling device (250) in order to support the weight of the articulation mechanism and/or the handling device (250) during the displacement of the handling device (250) between the first position ( 202) and the second position (203). In the method for shifting a handling device (250) using such a shifting device (200), the preloading device (204) relieves the weight of the handling device (250) when shifting between the first position (202) and the second position (203), so that a continuous and reduced force is required to move the handling device (250). The packing machine (1) for filling product and in particular bulk goods into sacks comprises a filling module (100) with a filling spout (101), such a displacement device (200) and at least one handling device (250).

Description

The present invention relates to a shifting device for at least one handling device, in particular for a gripper device with at least one gripper arm of a packaging machine, comprising at least one joint mechanism on which the handling device is accommodated. The handling device can be displaced between at least a first position and at least a second position by means of the joint mechanism. The present invention also relates to a method for shifting a handling device with such a shifting device. Furthermore, the present invention relates to a packaging machine for filling product and in particular bulk goods into sacks, which comprises at least one filling module with at least one filling spout and at least one such displacement device with at least one handling device.

In many machines, components and in particular tools or other processing and/or handling modules are moved back and forth between different positions in order to carry out processing and/or to convey objects or products from one position to another.

For example, in automatic and / or semi-automatic packaging machines z. B. for filling bulk material into sacks, depending on the design, for example, an empty sack is taken from a supply by a gripper device and attached to a filling spout.

It is the case here that the device has an extremely high mass in comparison to the transporting empty sack. As a result, the energy required to transport the empty sack is disproportionately high.

Depending on the design, the filled sack can then be moved by the gripper device, e.g. B. be transported to a closure station or the like.

Depending on the design of the packaging machine and/or depending on the arrangement of the individual assemblies relative to one another, it is often necessary to move the gripper device or the gripper arm back and forth.

In particular, when the bag to be transported is full, considerable forces act on the displacement mechanism. In this case, force maxima occur in particular at the end points of the movement, so that starting the movement requires a great deal of effort. The large acting forces lead to increased wear and relatively large motors are required for the drive.

The object of the present invention is to improve the disadvantages described above.

This object is achieved by a shifting device with the features of claim 1, by a method for shifting a handling device with the features of claim 11 and by a packaging machine with the features of claim 12. Preferred developments of the invention are the subject matter of the dependent claims. Further advantages and features of the present invention result from the general description and the description of the exemplary embodiment.

The shifting device according to the invention is suitable for shifting or moving at least one handling device, in particular for shifting a gripper device with at least one gripper arm of a packaging machine. In particular, at least one handling device is accommodated on the displacement device. The displacement device comprises at least one joint mechanism on which the handling device is accommodated, the handling device being displaceable between at least a first position and at least a second position by means of the joint mechanism. At least one preloading device is operatively connected to the joint mechanism and/or handling device in order to at least partially and at least partially absorb the weight of the joint mechanism and/or the handling device during the displacement of the handling device between the first position and the second position.

The handling device is preferably in particular a processing device such as a machine, a tool, a gripper, a handling module and/or another component.

The weight of the joint mechanism and/or the handling device is particularly intercepted, absorbed or relieved by the preloading device, as a result of which a particularly simple and smooth back and forth movement of the handling device can be achieved by means of the joint mechanism.

Preferably, the pre-loading device is attached to or connected to the linkage mechanism in order to reduce the load on the entire linkage mechanism, ie the load caused by the weight the force acting on the handling device, i.e. to absorb the dead load and the payload, i.e. the weight of the bag. In other configurations, however, the pre-loading device can also be attached to or attached to the handling device, so that the weight of the handling device and the joint mechanism and the payload is also absorbed or relieved.

The pre-loading device is designed in particular as a spring or spring-like or as a spring-like element, with hydraulic and/or pneumatic pre-loading devices in particular being expediently used.

The preloading device is in particular articulated. In this case, the preloading device is accommodated in an articulated manner on both sides, in particular, so that it can move in a suitable manner when the handling device or the joint mechanism is displaced. As already explained above, the handling device can be accommodated in particular on one side on the joint mechanism and/or the handling device. The other side is preferably attached to a housing device, a boom, a cantilever, a wall and/or a ceiling or the like.

The gripper device is preferably accommodated via the joint mechanism on a housing device or, in the exemplary embodiments described later, on the base body or the column or on a frame.

A gripper device, which according to the invention is understood as a handling device, can preferably be pivoted back and forth via the joint mechanism, with the weight of the gripper device and the joint mechanism being relieved by the preloading device.

In advantageous developments, the maximum force of the preloading device also leads to damping of the movement in the end positions, in which case the joint mechanism would otherwise fall unbraked into the end positions. Depending on the configuration, however, buffers or other stops can also be provided.

The displacement device according to the invention offers many advantages. A significant advantage is that by relieving the joint mechanism and/or handling device by the preloading device, it is possible to move the joint mechanism and thus the handling device weightlessly, so to speak. In this way, the handling device can be shifted back from the first to the second position particularly easily by a user, either manually or by means of a motor.

As a result, on the one hand, a particularly uniform and flowing movement can be achieved, which in particular is subject to very little wear, since it is not necessary to work against large forces. In addition, it is also possible, especially if an automatic or motorized displacement is provided, to use significantly smaller motors in order to move the handling device back and forth.

This is particularly advantageous when the shifting device is used, for example, in a machine for filling bulk goods, the handling device then e.g. B. is designed as a gripper device for attaching empty sacks and for removing filled sacks from a filling spout. Then, when the full sack is removed, the preloading device relieves not only the joint mechanism and the handling device, but also the filled sack hanging from the handling device, so that a largely relieved or low-force and particularly even and easy movement can take place here.

Preferably, the biasing means is articulated. In this case, the preloading device is in particular articulated on both sides, so that a suitable movement of the joint mechanism and/or the handling device is available.

The preloading device is preferably arranged above and/or below the joint mechanism or the handling device, so that the force is essentially intercepted from above and/or intercepted or supported from below.

The displacement from the first position to the second position particularly preferably takes place essentially along an arcuate path, in particular a circular path. This can be achieved by a corresponding design of the joint mechanism.

In expedient developments, the biasing device has the minimum effect at the apex of the arcuate path. In particular, the preloading device is relieved or essentially relieved at the apex of the curved path. This can be achieved in particular by appropriate positioning of the preloading device relative to the joint mechanism and/or handling device, depending on where the preloading device acts.

In particular, the preloading device is set or provided in such a way that the handling device remains in the end positions under its own weight and does not lift off or is shifted back towards the other position.

The preloading device preferably comprises at least one pneumatic device. It is provided in particular that the preloading device comprises at least one pneumatic cylinder, which causes the preloading.

The maximum deflection of the preloading device preferably defines at least one stop for the deflection of the gripper device. For example, in the case of a spring, the spring deflection or, in the case of a pneumatic cylinder, the maximum or set maximum deflection can define the end positions. As a result, the range of motion can be limited effectively and reliably.

Depending on the configuration, buffers or the like can also be provided additionally or exclusively for defining end points, into which the joint mechanism runs or is deposited in the end positions.

The joint mechanism is particularly preferably designed in the manner of a linkage. A particularly advantageous movement sequence can be achieved by such a configuration in conjunction with the preloading device.

In expedient developments, the linkage mechanism comprises at least one four-bar linkage chain. At least two four-bar chains, which are connected to one another, are preferably provided parallel to one another. A particularly stable joint mechanism can thus be made available, which ensures a particularly advantageous movement sequence.

The handling device is preferably designed as a gripper device with at least one gripper arm, the gripper arm being accommodated on the gripper device in a height-adjustable manner. In this case, the height adjustment can in particular ensure that sacks can be attached to and removed from a filling spout in a particularly reliable manner. It is also possible, in particular depending on the design, if the handling device z. B. is designed as a gripper device for gripping sacks, so that during the movement of the joint mechanism the sack is first lowered a little by tilting the gripper and when pivoting back into the end position when the grippers are horizontal again, a vertical movement is again superimposed, with which the grippers then transfer the sack to a stationary filling station.

In addition, when a handling device is configured as a gripper device with at least one gripper arm, the preloading device also relieves the load on the goods conveyed by the gripper arm or by the gripper device, for example empty and/or filled sacks.

At least one actuator device is preferably provided for displacing the handling device or the joint mechanism. In this case, the actuator device acts in particular on the joint mechanism. However, it can also transfer the force to the handling device, depending on which configuration is sensible and advantageous depending on the installation situation. The handling device can be automatically moved back and forth from the first position to the second position by a motor device for displacing the handling device or for displacing the joint mechanism. An actuator device can in particular include at least one motor device or at least one motor or be made available by such. Depending on the configuration, however, the actuator device can also additionally or exclusively include at least one pneumatic device or at least one pneumatic cylinder or be made available as a result.

The method according to the invention is suitable for shifting a handling device by means of a shifting device, as has been described above. The preloading device at least partially relieves the weight of the handling device and/or the articulation mechanism during displacement at least in sections between the first position and the second position, so that an essentially continuous and reduced application of force is necessary to move the handling device or the articulation mechanism.

The method according to the invention also offers the advantages already mentioned. In particular, it is possible, depending on the design, to move the displacement device with less or even with almost no force or effort, regardless of the weight attached to the joint mechanism or to the handling device. In particular, smaller motors can also be used for the automatic or automated displacement of the handling device or the joint mechanism, since less force is required. In addition, these are also more durable, since less force acts on the individual components, so that z. B. the engine is subject to less wear.

The packaging machine according to the invention is suitable for filling product and in particular bulk goods into sacks and comprises at least one filling module with at least one filling spout and at least one displacement device with at least one handling device, as previously described.

The packaging machine according to the invention also offers the advantages already mentioned.

Further advantages and features of the present invention result from the exemplary embodiment, which is explained below with reference to the enclosed figures.

• 1 eine rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer perspektivischen Ansicht;
• 2 eine weitere rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer perspektivischen Ansicht;
• 3 eine nächste rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer perspektivischen Ansicht;
• 4 eine rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer Ansicht von vorne;
• 5 eine rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer Ansicht von der Seite des Sackabtransports aus;
• 6 eine weitere rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer Ansicht von der Seite des Sackabtransports aus;
• 7 eine nächste rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer Ansicht von der Seite des Sackabtransports aus;
• 8 eine andere rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer Ansicht von der Seite des Sackabtransports aus;
• 9 eine rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer Ansicht von der Seite des Sackvorrats aus;
• 10 eine rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer Ansicht von der Seite des Sackabtransports aus;
• 11 eine weitere rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Packmaschine in einer Ansicht von der Seite des Sackabtransports aus;
• 12 die Ansicht gemäß 11 mit ausgezogener Transfereinrichtung;
• 13 eine rein schematische Darstellung eines Ausführungsbeispiels einer Transfereinrichtung;
• 14 eine Vergrößerung gemäß 13;
• 15 eine weitere rein schematische Darstellung eines Ausführungsbeispiels einer Transfereinrichtung;
• 16 eine Vergrößerung gemäß 15;
• 17 eine perspektivische Ansicht gemäß der Ansicht aus 15;
• 18 eine Vergrößerung gemäß 17;
• 19 eine rein schematische Ansicht auf ein Ausführungsbeispiel einer Transfereinrichtung mit einer erfindungsgemäßen Reinigungsvorrichtung;
• 20 eine rein schematische Darstellung einer erfindungsgemäßen Reinigungsvorrichtung in einer perspektivischen Ansicht;
• 21 eine weitere rein schematische Darstellung einer erfindungsgemäßen Reinigungsvorrichtung in einer perspektivischen Ansicht;
• 22 eine nächste rein schematische Darstellung einer erfindungsgemäßen Reinigungsvorrichtung in einer perspektivischen Ansicht;
• 23 eine andere rein schematische Darstellung einer erfindungsgemäßen Reinigungsvorrichtung in einer perspektivischen Ansicht;
• 24 eine weitere rein schematische Darstellung einer erfindungsgemäßen Reinigungsvorrichtung in einer perspektivischen Ansicht;
• 25 eine rein schematische Darstellung eines Ausführungsbeispiels einer Transfereinrichtung und eines Sackabtransports in einer Frontansicht;
• 26 eine weitere rein schematische Darstellung eines Ausführungsbeispiels einer Transfereinrichtung und eines Sackabtransports in einer Frontansicht;
• 27 eine nächste rein schematische Darstellung eines Ausführungsbeispiels einer Transfereinrichtung und eines Sackabtransports in einer Frontansicht;
• 28 Ausschnitte aus den 26, 27 und 28;
• 29 ein nächstes Ausführungsbeispiel einer erfindungsgemäßen Packmaschine in einer perspektivischen Ansicht;
• 30 das Ausführungsbeispiel gemäß 29 in einer Frontansicht;
• 31 das Ausführungsbeispiel gemäß 29 in einer Rückansicht;
• 32 das Ausführungsbeispiel gemäß 29 in einer Draufsicht;
• 33 das Ausführungsbeispiel gemäß 29 in einer Seitenansicht;
• 34 eine rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Verlagerungsvorrichtung in Ansicht von der Seite;
• 35 eine vergrößerte Darstellung des Ausführungsbeispiels gemäß 34;
• 36 eine rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Verlagerungsvorrichtung in perspektivischen Ansicht;
• 37 eine rein schematische Darstellung des Ausführungsbeispiels gemäß 36 in einer anderen perspektivischen Ansicht;
• 38 eine rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Verlagerungsvorrichtung in Ansicht von der Seite;
• 39 eine vergrößerte Darstellung des Ausführungsbeispiels gemäß 38;
• 40 eine rein schematische Darstellung eines Ausführungsbeispiels einer erfindungsgemäßen Verlagerungsvorrichtung in Ansicht von der Seite; und
• 41 eine vergrößerte Darstellung des Ausführungsbeispiels gemäß 40.

In the figures show:

• 1 a purely schematic representation of an embodiment of a packaging machine according to the invention in a perspective view;
• 2 a further purely schematic representation of an embodiment of a packaging machine according to the invention in a perspective view;
• 3 a next purely schematic representation of an embodiment of a packaging machine according to the invention in a perspective view;
• 4 a purely schematic representation of an embodiment of a packaging machine according to the invention in a view from the front;
• 5 a purely schematic representation of an embodiment of a packing machine according to the invention in a view from the side of the sack transport;
• 6 a further purely schematic representation of an embodiment of a packing machine according to the invention in a view from the side of the bag transport;
• 7 a next purely schematic representation of an embodiment of a packing machine according to the invention in a view from the side of the sack transport;
• 8th another purely schematic representation of an embodiment of a packing machine according to the invention in a view from the side of the sack transport;
• 9 a purely schematic representation of an embodiment of a packing machine according to the invention in a view from the side of the sack store;
• 10 a purely schematic representation of an embodiment of a packing machine according to the invention in a view from the side of the sack transport;
• 11 a further purely schematic representation of an embodiment of a packing machine according to the invention in a view from the side of the bag transport;
• 12 according to the view 11 with extended transfer device;
• 13 a purely schematic representation of an embodiment of a transfer device;
• 14 an enlargement according to 13 ;
• 15 a further purely schematic representation of an embodiment of a transfer device;
• 16 an enlargement according to 15 ;
• 17 a perspective view according to the view 15 ;
• 18 an enlargement according to 17 ;
• 19 a purely schematic view of an embodiment of a transfer device with a cleaning device according to the invention;
• 20 a purely schematic representation of a cleaning device according to the invention in a perspective view;
• 21 a further purely schematic representation of a cleaning device according to the invention in a perspective view;
• 22 a next purely schematic representation of a cleaning device according to the invention in a perspective view;
• 23 another purely schematic representation of a cleaning device according to the invention in a perspective view;
• 24 a further purely schematic representation of a cleaning device according to the invention in a perspective view;
• 25 a purely schematic representation of an embodiment of a transfer device and a bag transport in a front view;
• 26 a further purely schematic representation of an embodiment of a transfer device and a bag transport in a front view;
• 27 a next purely schematic representation of an embodiment of a transfer device and a bag transport in a front view;
• 28 Excerpts from the 26 , 27 and 28 ;
• 29 a next embodiment of a packaging machine according to the invention in a perspective view;
• 30 the embodiment according to 29 in a front view;
• 31 the embodiment according to 29 in a rear view;
• 32 the embodiment according to 29 in a plan view;
• 33 the embodiment according to 29 in a side view;
• 34 a purely schematic representation of an embodiment of a displacement device according to the invention in a view from the side;
• 35 an enlarged view of the embodiment according to FIG 34 ;
• 36 a purely schematic representation of an embodiment of a displacement device according to the invention in a perspective view;
• 37 a purely schematic representation of the embodiment according to FIG 36 in another perspective view;
• 38 a purely schematic representation of an embodiment of a displacement device according to the invention in a view from the side;
• 39 an enlarged view of the embodiment according to FIG 38 ;
• 40 a purely schematic representation of an embodiment of a displacement device according to the invention in a view from the side; and
• 41 an enlarged view of the embodiment according to FIG 40 .

In 1 a packaging machine 1 according to the invention is shown in a perspective view. The packing machine 1 in the exemplary embodiment shown here comprises a sack store 2, a sack transport 3 and a transfer device 4 arranged between them. The sack store 2, the sack transport 3 and the transfer device 4 are arranged in a line 12.

Pulled out of the line 12 and arranged next to the transfer device 4 in the exemplary embodiment shown here, a filling module 100 is provided. In the exemplary embodiment shown here, empty sacks are fed from the sack store 2 to the filling module 100 by means of the transfer device 4 . The sack fed to the filling module 100 in this way is attached to the filling spout 101 of the filling module 100 and filled, and guided back into the line 12 by the transfer device 4 and fed to the sack transport 3 .

By arranging the filling module 100 aside or pulling it out of the line 12 , almost any filling module 100 can be used together with the modules or assemblies of the packaging machine 1 arranged in the line 12 . In particular, standard modules can also be used so that no special configuration of a filling module 100 has to be provided for the packaging machine according to the invention, preferably modules for filling open-mouth bags regardless of the filling technology.

In the exemplary embodiment shown here, the packaging machine 1 is provided in an encapsulated form, for which purpose the individual subassemblies or modules are provided in housing devices 11, 102. In the exemplary embodiment shown here, the assemblies arranged in line 12 , namely the sack supply 2 , the sack transport 3 and the transfer device 4 are provided in a common housing device 11 . In the exemplary embodiment shown, the filling module 10 is provided in its own housing device 102 .

By arranging the individual subassemblies or modules in housing devices 11, 102, it is also possible to seal off the filling process hermetically, depending on the design, so that dangerous or sensitive substances can also be filled using the packaging machine 1. In particular, a negative pressure can also be applied in the packaging machine 1 or in the housing devices 11, 102 or suction can take place, so that product escaping during filling does not escape into the environment but can be safely disposed of or even recycled.

In the exemplary embodiment shown here, the sack supply 2 also includes a sack production 13 , for which purpose sacks are produced from a film supply 14 and made available to the transfer device 4 .

In the exemplary embodiment shown here, the sack transport 3 comprises a closing device 15, by means of which the filled and still open sacks can be closed, and a conveyor belt 16 for transporting away the filled and closed sacks.

The fact that the sack supply 2, the sack transport 3 and the transfer device are arranged in a line 12 and the filling module 100 from the If this line 112 is pulled out, the packing machine 1 according to the invention is arranged in a T-shape.

As previously stated, this offers many advantages. One advantage is that by subordinating the filling module 100 or by pulling the filling module 100 out of the line 12, almost any (standard) filling module can be used. As a result, existing filling modules 100 can be used on the one hand. On the other hand, due to the secondary arrangement, a filling module can also be changed or exchanged quickly without too much effort. In known inline systems, ie systems in which everything is arranged in one line, it can be difficult for reasons of space to arrange the filling technology, in particular in the exemplary embodiment shown air filling module 105 with pressure chamber 106, in line. In addition, the operability and maintainability would be more difficult.

Another advantage is that the T-shaped configuration or arrangement of the packaging machine makes a particularly compact design possible.

In the 2 until 4 For a better illustration of the packaging machine 1, two perspective views and a front view of the packaging machine 1 are shown, the housing panels 17, 103 of the housing devices 11, 102 not being shown in order to provide overview views of the interior of the packaging machine 1 and of the different modules or .to grant assemblies.

In the 5 and 6 the view of the transfer device 4 from the side of the bag transport 3 is shown once in an overview and once in an enlarged representation.

In this view, it can be seen that the filling module 100 is provided or arranged next to the transfer device 4, wherein the filling spout 101 of the filling module 100 can also be seen in this view. Here you can also see the inlet hopper 104 of the filling module 100, which is connected to a silo, not shown, located above it for the product to be filled. Product is fed into the pressure chamber 106 within the filling module 100 or here the air filling module 105 via the inlet funnel 104 to the filling nozzle 101 .

In this view it can be seen that the transfer device comprises a first gripper device 5 and a second gripper device 6 which are accommodated on different sides 7 , 8 of the transfer device 4 or on a base body 18 of the transfer device 4 .

It is shown here that the base body 18 of the transfer device 4 is designed in the manner of a column and is provided in a hanging manner in the exemplary embodiment shown here. In the exemplary embodiment shown, the base body 18 hangs on rails 19, as a result of which the base body 19 with the gripping devices 5, 6 can be pulled out of the line 12 to the left in this view. This relocatability of the transfer device 4 will be shown and described in more detail later.

In addition to the displaceability of the transfer device 4 or the base body 18 of the transfer device 4, the base body 18 can also be rotated back and forth by 90° in the exemplary embodiment shown here. By rotating the base body 18 of the transfer device 4 back and forth and by arranging the first gripper device 5 on one side 7 of the base body 18 and arranging the second gripper device 6 on the side 8 of the base body 18, a 90° back and forth By rotating the base body 18, a sack from the sack supply 2 can be fed by means of the transfer device 4 out of the line 12 to the filling module 100 or the filling nozzle 101. If the base body 18 or the transfer device 4 rotates back, the second gripper device 6 comes into contact with the now filled sack at the filling spout 101 and can pick it up and, when the base body 18 is rotated forward or rotated again, guided it back to the line 12 and the sack transport be supplied.

In the enlargement in 6 the first gripper device 5 and the second gripper device 6 can be seen on different sides 7, 8 of the base body 18 of the transfer device 4. One of the two gripper arms 9 of the first gripper device 5 can also be seen here.

As can be seen in more detail in the following figures, the gripper device 5 in the exemplary embodiment shown here comprises two gripper arms 9, which can be moved relative to one another, so that they serve as a type of spreader. It is thus possible for the gripping arms 9 of the first gripping device 5 to pick up an open sack from the sack store 2 or the sack production and attach it to the filling spout 101 . For this purpose, the first gripping device 5 or the gripping arms 9 can also be moved forward and pulled back again in the exemplary embodiment shown here, which is reflected in the 7 and 8th is shown purely schematically.

In 9 the view of the transfer device 4 and the filling module 100 from the direction of the sack supply 2 is shown purely schematically. The base body 18 of the transfer device 4 is such rotated so that the second gripper device 6 is aligned in the direction of the filling spout 101 of the filling module 100 . In this position, the first gripper device 5 is aligned in such a way that it can pick up an empty sack from the sack store 2 .

In 10 1 is a purely schematic view of the transfer device 4 and the filling module 100 from the side of the bag transport 3 .

It can be seen here that the second gripper device 6 is provided so that it can be displaced, so that the second gripper device 6 in the exemplary embodiment shown can be pivoted or displaced forwards in the direction of the filling spout 101 via a parallelogram-like structure 20 . Thus, the clamping devices 10 of the second gripping device 6 can press together the still open sack walls of the filled sack and then move the sack back in the direction of the base body 18 .

The base body 18 can then be rotated clockwise by 90° here, so that the full sack can be shifted back to the line 12 and then fed to the sack sack transport. At the same time, while the full sack is being removed by the second gripper device 6, a new empty sack can be picked up by the first gripper device 5. When the full sack is advanced into the line 12, a new empty sack is then simultaneously moved out of the line 12 and fed to the filling spout 101.

In 10 It can also be seen that a cleaning device 50 according to the invention is provided above the second gripper device 6, which will be explained in detail in the later figures.

In the 11 and 12 a side view of the packing machine 1 or of the transfer device 4 and the filling module 100 from the direction of the bag transport 3 is again shown purely schematically. A comparison of this view shows that the transfer device 4 or the base body 18 together with the gripper devices 5, 6 attached thereto can be moved or extended.

For this purpose, as already explained above, in the exemplary embodiment shown here, the base body 18 is suspended in an upper area and can be displaced via a rail 19 or a rail system 19 . Other technical components or components for moving the base body 18 can also be used analogously.

The fact that in the exemplary embodiment shown here the transfer device 4 or the base body 18 of the transfer device 4 can be pulled out transversely to the line 12, sufficient space is made available for maintenance personnel for maintenance of the packaging machine 1, for example.

When the base body 18 is in the extended state, it is possible in particular to comfortably reach all the assemblies of the packaging machine 1 in the exemplary embodiment shown here. In particular, the filling module 100 can also be reached from the side of the filling spout 101 . However, the sack store 2, the sack transport and also the otherwise inaccessible side of the transfer device can be serviced and/or repaired.

In the 13 and 14 the transfer device 4 or the base body 18 of the transfer device 4 of the packaging machine 1 is shown in an overview and a detailed view.

The first gripper device 5 and the second gripper device 6 are offset by 90° on the different sides 7, 8 in this exemplary embodiment. This arrangement ensures that the empty sack and full sack transfer or transport function is superimposed.

A cleaning device 50 is provided above the second gripper device 6, which comprises a housing device 64, a pivotable housing element 65 or a pivotable flap 66 being provided in the exemplary embodiment shown here. The cleaning device 50 is explained in more detail in subsequent figures.

It can also be seen that the first gripper device 5 is arranged on the side 7 of the base body 18, which in the exemplary embodiment shown here comprises two gripper arms 9, which can be moved relative to one another or pivoted or moved outwards. The gripping arms act as spreaders and can pick up an empty sack from the sack store 2 or take it over from this.

Furthermore, as can already be seen in the figures above, the first gripper device 5 is pivotable, so that it can be displaced forwards in the direction of the filling spout 101 and also in the direction of the sack store 2 . Depending on the design, telescoping gripping arms 9 or other components of the first gripping device 5 can also be provided, for example.

In the 15 and 16 the base body of the transfer device 4 is rotated in such a way that the first gripper device 5 is aligned in the direction of the filling spout 101 of the filling module 100 . In this position, an open bag (not shown) is held on the gripper arms 9 in the exemplary embodiment shown here by the spreading of the two gripper arms 9 , with the gripper device 5 being shifted forward in order to attach the bag held open to the filling spout 101 . You can also see the second gripper device 6 with the clamping devices 10.

In the 17 and 18 is the side view from the 15 and 16 shown again in a slightly perspective view obliquely from above, with the cleaning device 50 also being hidden above the second gripper device 6 in order to get a better impression of the clamping devices 10 of the second gripper device 6 .

In the 19 until 24 the cleaning device 50 according to the invention, which is provided above the second gripper device 6 in the exemplary embodiment shown here, and its mode of operation are described in detail.

In the exemplary embodiment shown here, the cleaning device 50 according to the invention is provided for cleaning the so-called top seam area of a bag to be closed with the aid of blown air.

In addition to the application of the cleaning device 50 according to the invention presented here, it can also clean any other work section, in particular with regard to the packaging machine 1 described here.

In 19 an overview view of the transfer device 4 of the packaging machine 1 according to the invention is shown purely schematically, with the cleaning device 50 according to the invention being arranged above the second gripper device 6 in the exemplary embodiment shown here.

In this exemplary embodiment, the cleaning device 50 comprises two blowing bars 51, which 19 are not recognizable. In the exemplary embodiment shown here, the cleaning device 50 is provided encapsulated in a housing device 64 . This makes it possible for a hermetic seal to be achieved between the blower strips 51 and the working section to be cleaned. In order to feed the work section or the sack to be cleaned to the cleaning device 50, the housing device 64 comprises a movable or here pivotable housing element 65 or a flap 66, which is shown in the closed state in the view shown.

In 20 shows a perspective view of a cleaning device 50 according to the invention, the movable housing element 65 or the flap 66 being shown in the open state. This gives a clear view of the two blower strips 51 located within the housing device 64, which are shown here as an example.

In 21 the assembly of the cleaning device 50 is again shown separately in a perspective view in a perspective view. Here, too, the flap 66 or the pivotable housing element 65 is shown in the open state, so that the two blower bars 51 provided in the exemplary embodiment shown here can be seen.

In the exemplary embodiment shown here, the blowing strips 51 each comprise a multiplicity of first nozzle devices 52, second nozzle devices 53 and third nozzle devices 54, which are arranged in rows 60, 61, 62 here.

The three rows 60, 61, 62 provided here can be differently exposed to air from the first nozzle devices 52, the second nozzle devices 53 and the third nozzle devices 54, so that a moving air wave is blown out over the work section to be cleaned.

This is achieved in that the first nozzle devices 52 or the first row 60 of first nozzle devices 52 each have a first blow-out direction 55, which differs from the blow-out directions 56, 57 of other nozzle devices 53, 54 or rows 61, 62 of nozzle devices 53, 54 differs.

In particular, it is preferred and also provided in this exemplary embodiment that the first nozzle devices 52, the second nozzle devices 53 and the third nozzle devices 54 each have a blow-out device 50, 56, 57, which are different from one another.

Furthermore, a control device 58, not shown in detail in the figures, is provided, which is suitable and designed to control the nozzle devices 52, 53, 54 at least at times with a time offset.

For this purpose, it is provided in the exemplary embodiment shown that separate air supply lines 59 are provided inside the blowing strips 51 for the three rows 60 , 61 , 62 of nozzle devices 52 , 53 , 54 . This is here for both air bars 51 provided and in 22 purely schematically recognizable by the hiding of the left blowing bar 51. By hiding one blower bar 51, the separate air supply lines 59a and the connections for the air supply lines 59 of the blower bar 51 located outside of the blower bar 51 can be seen.

In the 23 and 24 shows purely schematically that a suction device 63 can also be provided in order to suck off the air ejected through the blower bars 51 or also another fluid together with the whirled up particles.

For this purpose, the suction device 63 in the exemplary embodiment shown here is in operative connection with the interior of the housing device 64 via an opening 67 in the housing device 64 .

In the exemplary embodiment shown, a suction pipe 68 is provided which is connected to this opening 67 . Depending on the configuration, a further suction pipe 68 can also be provided on the left-hand side, for example, with the opening 67 on the left-hand side being closed by a cover 69 here.

In the exemplary embodiment shown, as already described above, it is provided that the closing of the movable housing element 65 or the flap 66 of the housing device 64 results in a cleaning chamber that is essentially hermetically sealed. Depending on the application, the suction device is then set in such a way that at least the volume of air or, in general, the volume that is blown into the housing 64 by the blower bars 51 is sucked off. In particular, it is preferred that at least so much is sucked off that at least a slight negative pressure is created within the housing device 64 . This is particularly important for systems that are used in hazardous dust areas. In non-critical working environments or in general, a non-hermetically sealing housing device 64 or no housing device 64 can also be provided.

In the 23 and 24 It can also be seen once again that the different rows 60 , 61 , 62 of the first, second and third nozzle devices 52 , 53 , 54 are connected via different air supply lines 59a per blowing strip 51 .

Thus, the different activation of the individual nozzle devices 52, 53, 54 or the individual rows 60, 61, 62 of these nozzle devices 52, 53, 54 is also possible differently for each blowing strip 51. In the exemplary embodiment shown, an air wave or a moving air flow can be generated over the entire length and also over the width of the work section to be cleaned, which in particular imitates the outlet pattern of a pendulum nozzle without using moving parts. With the blow-out pattern of a pendulum nozzle, the sack walls to be connected later are blown apart during the cleaning of the sack section for the subsequent top seam, so that the product located between the sack walls is removed.

In particular, an oscillating jet of air ensures that when the edge of the sack mouth is cleaned before the filled sack is closed or welded by the moving air flow, the sack walls or layers of film lying on top of each other are opened by the acting air jet, so that the air jet hits the inner surfaces, which means that here the adhering dust or dirt particles are removed. By changing the air jet, the layers of the side folds are also separated from one another with a corresponding design of the sack, so that this area is also cleaned. The individual film layers are peeled open one after the other by the moving or oscillating air flow and cleaned by the air flow that penetrates them.

In the 25 until 28 the transfer of a filled sack by the transfer device 4 to the sack transport 3 is shown purely schematically.

A parallelogram-like structure 20 is provided, on which the second gripper device 6 with the clamping devices 10 is provided. This structure 20 is also used to remove the full sack from the filling spout 101 or to bring the second gripper device 6 into contact with the filled sack.

In the basic state, the second gripper device 6 rests relatively close to the base body 18 of the transfer device 4 . In the following 26 and 27 it can be seen how the second gripper device 6 moves forward in the direction of the bag transport 3 by shifting the parallelogram-like structure 20 .

The closure device 15 can also be seen here, which is designed as a welding station 21 in the exemplary embodiment shown here.

In 28 is shown purely schematically by the side-by-side representation of the individual positions of the parallelogram-like structure 20, that due to the special configuration of this parallelogram-like structure 20 the filled sack by means of Gripper device 6 of the transfer device 4 approximately on a line or approximately in a straight line to which the sack transport 3 is transferred.

In the 29 until 33 a further exemplary embodiment of a packaging machine 1 according to the invention is shown purely schematically. The configuration of this exemplary embodiment essentially corresponds to the exemplary embodiment already described above.

In particular, the sack store 2, the transfer device 4 and the sack transport 3 are arranged in a line 12. In contrast to the exemplary embodiment shown above, a filling module 100 is not pulled out of the line 12 and arranged next to the transfer device 4, but two filling modules 100 are arranged outside the line 12 next to one another.

In order to select which of the two filling modules 100 is used, the transfer device 4 is provided in the exemplary embodiment shown here so that it can be moved, so that it can be arranged either in front of one or the other filling module 100 . For example, a quick product change or the maintenance of a filling module 100 can take place, for which purpose the transfer device 4 can be pushed or moved in front of the filling module 100 that is to be used or not to be maintained.

Parallel to the fact that the transfer device 4 can be displaced in the line 12 , depending on the configuration, the transfer device 4 can also be moved or shifted transversely to the line 12 , as in the exemplary embodiments shown above.

In order to ensure reliable picking up of sacks from the sack store 2 and reliable delivery of the filled sacks by the transfer device 4 to the sack transport 3, the individual components of the transfer device 4 can be provided in a correspondingly displaceable manner.

Depending on the design, however, the sack store 2 and/or the sack transport 3 can also be shifted, so that there are always optimum distances between the individual assemblies.

In 34 a purely schematic side view of a displacement device 200 according to the invention is shown, which is integrated into the packaging machine 1 according to the invention. A handling device 250 , which is the first gripper device 5 in the exemplary embodiment shown, is accommodated on the displacement device 200 . In the exemplary embodiment shown here, the gripper device 5 comprises two gripper arms 9, by means of which an empty sack can be picked up from the sack manufacture 13 and fed to the filling spout 101 of the filling module 100.

In the exemplary embodiment shown here, the displacement device 200 comprises a joint mechanism 201 and a preloading device 204, wherein the handling device 250 can be displaced from a first position 202 or a basic position 211 into a second position 203 or an extended position 212 by means of the joint mechanism 201 .

In the exemplary embodiment shown here, the preloading device 204 is arranged above the joint mechanism 201 or the handling device 250 and here comprises a pneumatic device 207 with a pneumatic cylinder 213.

Depending on the configuration, the displacement device 200 can also or exclusively be connected to the joint mechanism 201 or the handling device 250 from below.

The biasing means 204 is here hingedly connected to the housing means 11 at the upper free end, the other end being hingedly connected to the hinge mechanism 201 in the embodiment shown.

In 35 is an enlarged representation of the displacement device 200 according to the invention in the first position 202 according to FIG 34 shown from the side.

In the exemplary embodiment shown here, the dotted double arrow indicates that the gripping device 5 or the gripping arms 9 are height-adjustable, so that the gripping arms 9 can be moved up and down, in particular in order to attach the sack to the filling spout 101 .

It can also be seen that the linkage mechanism 201 is designed as a linkage 208 or four-bar linkage chain 209, as a result of which a particularly suitable displacement of the handling device 250 is made possible.

The preloading device 204 is intended to absorb the weight of the handling device 250 and the link mechanism 201 so that the coupled operation or the four-bar chain 209 can be shifted particularly smoothly and evenly, with most of the weight being carried by the preloading device 204 or in the one shown here example is intercepted by the pneumatic device 207 or the pneumatic cylinder 213.

It is thus possible, in particular, to move the handling device 250 easily by hand and/or also pneumatically and/or also by a motor. In particular, it is possible to design an actuator device 210 (not shown in detail in the figures) to be relatively small and in particular smaller than in conventional displacement devices 200. For example, a motor device or a motor and/or a pneumatic device or at least one pneumatic cylinder can then be provided with appropriate dimensions.

In the 36 and 37 An exemplary embodiment of a displacement device 200 according to the invention without a preloading device 204 is shown in two different perspective views.

It can also be seen here that the handling device 250 or the first gripper device 5 with the two gripper arms 9 is arranged on the joint mechanism 201 .

where is in 37 It is easy to see that the link mechanism 201 in the exemplary embodiment shown here comprises two linkages 208 or four-bar chains 209 arranged in parallel, which are connected to one another or synchronized. In 38 a displacement device 200 according to the invention is shown, with the joint mechanism 201 being in an intermediate position 215 here.

An enlarged representation of the displacement device 200 according to FIG 38 is in 39 shown purely schematically. where is in 39 indicated purely schematically by the dashed line that the link mechanism 201 or the linkage 208 or the four-bar linkage chain 209 moves along an arcuate path 205, so that the handling device 250 is also displaced in an arcuate or somewhat circular or approximately semicircular movement . You can 39 the individual links 216 and the coupling 217 of the coupling operation 208 or the four-bar chain 209 can be seen particularly well.

In the exemplary embodiment of a displacement device 200 shown here, the preloading device 204 or the pneumatic device 207 or the programmatic cylinder 213 is designed in such a way that the effect or the preloading effect at the apex 206 of the curved path 205 is minimal.

The links 216 of the linkage 208 are essentially vertical in this position, so that the handling device 250 rests in this position, essentially unloaded, on the links 216 or is supported by them, whereby relief is achieved and a minimal effect of the preloading device 214 is harmless is.

In the end positions or in the first position 202 and/or the second position 203, the effect of the preloading device 204 can be maximum and/or limit the movement, so that a type of stop is created.

In the exemplary embodiment shown, however, buffers 218 are provided, on which in the exemplary embodiment shown here the left-hand link 216 or the joint mechanism 201 rest in the end positions.

In the 40 and 41 shows an embodiment of a displacement device 200 according to the invention with the handling device 250 or the gripper device 5 with the gripper arms 9 in the other end position, namely the second position 203 or the extended position 212, in a side view and an enlarged view.

In this position, the left link 216 of the coupled operation 208 rests on the right buffer 218 . Then the handling device 250 has moved all the way to the right, so that in the exemplary embodiment shown here the gripper device 5 or the gripper arms 9 can attach an empty sack to the filling spout 101 .

Here you can also see that the preloading device 204 in the exemplary embodiment shown here acts at the point 214 between the two linkages 208 or four-bar chains 209 . For this purpose, the pneumatic device is attached to a carrier between the two couplings 217 of the two coupling gears 208 here.

Depending on the configuration, the weight of the filled sack can also be absorbed by the preloading device 204 when the sack is removed from the filling nozzle 101 . In the exemplary embodiment shown here, however, the full sack is removed from the second gripper device 6 , then closed and fed to the sack discharge or the conveyor belt 16 .

In particular, the displacement device 200 according to the invention ensures that the movement of the handling device 250 and in this case the first gripper device 5 in Can be carried out with essentially no force, since the weight of the handling device 250 is intercepted or relieved by the pre-loading device 204 and the special configuration of the joint mechanism 201 .

Reference List

1

packing machine

2

sack stock

3

sack transport

4

transfer facility

5

first gripper device

6

second gripper device

7

side

8th

side

9

gripper arm

10

clamping device

11

housing facility

12

line

13

bag making

14

foil stock

15

locking device

16

conveyor belt

17

housing bezel

18

body

19

rail

20

parallelogram-like structure

21

welding station

50

cleaning device

51

air bar

52

first nozzle device

53

second nozzle device

54

third nozzle device

55

discharge direction

56

discharge direction

57

discharge direction

58

control device

59

air supply

59a

air supply

60

Row

61

Row

62

Row

63

suction device

64

housing facility

65

housing element

66

flap

67

opening

68

suction pipe

69

cover

100

filling module

101

filler neck

102

housing facility

103

housing bezel

104

inlet funnel

105

air filling module

106

pressure chamber

200

displacement device

201

joint mechanism

202

first position

203

second position

204

preload device

205

arcuate path

206

apex

207

pneumatic device

208

linkage

209

four-bar chain

210

Actuator device, pneumatic cylinder

211

initial position

212

extended position

213

pneumatic cylinder

214

Job

215

intermediate position

216

handlebars

217

paddock

218

buffer

250

handling device

Claims (12)

Shifting device (200) for at least one handling device (250), in particular for a gripper device (5) with at least one gripper arm (9) of a packaging machine (1), comprising at least one joint mechanism (201) on which the handling device (250) is accommodated, the handling device (250) being displaceable between at least one first position (202) and at least one second position (203) by means of the joint mechanism (201), characterized in that at least one preloading device (204) is operatively connected to the joint mechanism ( 201) and/or the handling device (250) to support the weight of the joint mechanism and/or the handling device (250) during the displacement of the handling device (250) at least partially and at least in sections between the first position (202) and the second position ( 203) intercept. Shifting device (200) after claim 1 wherein the biasing means (204) is articulated. Shifting device (200) according to any one of the preceding claims, wherein the shifting from the first position (202) to the second position (203) takes place substantially along an arcuate path (205). The displacement device (200) of the preceding claim, wherein the biasing means (204) has the minimum effect at the apex (206) of the arcuate path (205). Shifting device (200) according to one of the preceding claims, in which the preloading device (204) comprises at least one pneumatic device (207). Shifting device (200) according to one of the preceding claims, in which the maximum deflection of the preloading device (204) defines at least one stop for the deflection of the handling device (250). Shifting device (200) according to one of the preceding claims, wherein the link mechanism (201) is designed in the manner of a linkage (208). Shifting device (200) according to any one of the preceding claims, wherein the link mechanism (201) comprises at least one four-bar linkage chain (209). Shifting device (200) according to one of the preceding claims, wherein the handling device (250) is designed as a gripper device (5) with at least one gripper arm (9), the gripper arm (9) being accommodated on the gripper device (5) in particular in a height-adjustable manner. Shifting device (200) according to one of the preceding claims, wherein at least one actuator device (210) is provided for shifting the handling device (250). Method for shifting a handling device (250) by means of a shifting device (200) according to one of the preceding claims, characterized in that the preloading device (204) the weight of the handling device (250) when shifting at least in sections between the first position (202) and the second Position (203) at least partially relieved, so that a substantially continuous and reduced application of force to move the handling device (250) is necessary. Packing machine (1) for filling product and in particular bulk goods into sacks, comprising at least one filling module (100) with at least one filling spout (101), at least one displacement device (200) according to one of Claims 1 until 10 and at least one handling device (250).

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