DE102021127483B4 - Packaging machine - Google Patents

Abstract

The invention relates to a packaging machine for food products with a plurality of work stations arranged one behind the other along a transport direction for producing packages, each of which consists of at least one lower package component and at least one upper package component, which enclose at least one product area of a respective package, and with a transport device with which the package components are transported through the work stations in the transport direction during operation, wherein a work station is an insertion station for inserting or placing products in or on one or more package components, wherein the insertion station comprises: a support frame which is supported on the floor in the set-up operating state and which comprises a plurality of interconnected support elements, at least one handling device carried by the support frame, in particular a robot, for inserting or placing the products in or on one or more package components, and a plurality of frame elements which are each connected to the support frame at at least one connection point and to which at least one assembly of the packaging machine is attached, so that the assembly is not attached directly to the support frame, but indirectly via one or more frame elements, wherein each Connection point is formed by a mechanical bearing which, in a released state, allows an alignment movement relative to the support frame, and wherein the bearings can each be transferred from the released state into a fixed state preventing the alignment movement in order to fix the frame elements in an assembly configuration in which the frame elements are aligned in a predetermined manner relative to one another.

Description

The invention relates to a packaging machine for food products, in particular a thermoformer or a tray sealer, with a plurality of work stations arranged one behind the other along a transport direction for producing packages, each from at least one lower package component, in particular a lower film or a prefabricated package component, and at least one upper package component, in particular an upper film, which enclose at least one product area of a respective package, and with a transport device with which the package components are transported through the work stations in the transport direction during operation, wherein a work station is an introduction station for inserting or placing products in a package component or in the package components or on a package component or on the package components.

Such packaging machines are generally known. The products can be inserted or placed on top in different ways, i.e. different types of insertion stations are known.

A known type of insertion station uses one or more handling devices, each of which is formed in particular by a robot, for example a so-called pick-and-place robot, which is also simply referred to as a picker. Such robots require a stable base. In practice, solid support frames are therefore used for such robots, which are manufactured as welded structures from a plurality of support elements welded together. These welded structures are also referred to as robot cells, since the robot or robots are located inside the support frame formed by the individual support elements. Depending on the number of robots used, single or multiple cells are known, for example double cells with two robots arranged one behind the other in the transport direction and supported by a common support frame.

The arrangement of a robot cell on or in a packaging machine or the integration of a robot cell into a packaging machine can also be done in different ways. For example, it has long been known to design a robot cell designed as a separate machine so large that the packaging machine can be guided through the robot cell. The robot cell is thus, in a sense, placed over the packaging machine. This concept is associated with a number of disadvantages. In particular, such a robot cell requires a lot of space, i.e. the packaging machine is considerably widened in the area of the robot cell. Furthermore, many elements of the supporting structure are in principle duplicated.

It is also known to place the robot cell on the frame of the packaging machine and thus form a common support frame for the packaging machine and the robot in the area of the robot(s). Such a concept is known, for example, from EN 10 2017 122 703 A1 known.

It is also known to divide the packaging machine in the transport direction and to place the robot cell between an upstream part of the packaging machine and a downstream part. Such a concept basically has the advantage that the packaging machine is not unnecessarily widened and no excessive use of material is necessary. However, the robot cell requires input and output connections for the parts of the packaging machine, and it must also be ensured that the transport device can be guided through the robot cell. In this context, it should be noted that the transport device of a packaging machine is a continuous device that essentially extends along the entire packaging machine in the transport direction and must move the packaging components through the individual work stations and thus also through the robot cell, which means that it would not be enough to simply divide the packaging machine and the transport device in order to integrate the robot cell. This would be extremely difficult, if not practically impossible, in any case with packaging machines such as those known as classic thermoformers, in which the packaging components are formed in the form of recesses in a film web by thermoforming and are thus still connected in the area of the robot cell where the products are placed in the recesses, since the film web with the recesses formed in it is moved through the robot cell and the packaging components are only separated downstream of the robot cell.

Both the connection of the two parts of the packaging machine to the robot cell and the positioning and attachment of the section of the transport device that passes through the robot cell require a very high level of precision, which must be provided by the robot cell in order to ensure the functionality of the packaging machine and in particular the transport facility is not affected.

In practice, this required position accuracy is around a tenth of a millimeter. The welded structures for robot cells in question here can only be manufactured with an accuracy of around one millimeter. These manufacturing tolerances are too high, particularly with regard to the overall length in the transport direction, the angular accuracy of the required connection surfaces and the heights to be maintained for the modules to be connected to the robot cell. Therefore, after the welding work, the robot cell is additionally machined in those places where a connection is required, which in practice is usually done by milling. Such additional machining - especially on relatively large components - is expensive and usually has the further disadvantage that it has to be carried out externally as contract work, which slows down the production process and disrupts the production flow.

Another disadvantage of the usual welded constructions is that standard components of packaging machines cannot be assembled without complex additional measures in the area of the robot cell. These standard components include, for example, loading forms, vibrating tables, vacuum pump holders, product supports, insertion templates, control cabinets, support plates, mold plate changing aids, cutting and punching devices, roller conveyors and various small parts such as side panel hinges, magnetic switches, cable ducts, etc. This is because the standard elements such as frame profiles, in particular, which are installed as standard in a packaging machine, cannot be used for assembly.

Apart from the fact that the required positioning accuracy would not be achieved even if such standard elements were used in a welded construction, their use is also ruled out if additional stability requirements exist, which is particularly important in practice if the robot cell also has to support a product feed, for example in the form of a so-called feed belt. The product feed should be as close as possible to the transport device of the packaging machine so that a respective robot or its gripper has the shortest possible working path when it takes products from the product feed and feeds them to the packaging components. In practice, it is therefore common practice not to place the product feed as a separate machine next to the robot cell. Instead, the product feed is directly connected to the robot cell, namely by means of a plurality of support arms attached to the support frame, projecting laterally and extending perpendicular to the transport direction. The product feed can be plugged onto these support arms, for example. This obviously requires particularly high stability of the element of the support frame to which the support arms mentioned are attached. The required stability cannot be provided by standard profiles of a packaging machine. In practice, special supports, for example in the form of flat steel, are integrated into the welded construction forming the robot cell on the side intended for connecting the product feed. These are welded to the other supporting elements of the welded construction and are designed in such a way that they can hold the cantilevered support arms and the product feed supported on them.

Because of these special supports, the robot cell lacks the standardized attachment features, such as rows of holes, that are formed on the usual frame elements of the packaging machine. This is the reason why a simple, standard attachment of the usual components of packaging machines to the robot cell is not possible, which must therefore be modified. In practice, therefore, only the connections, such as holes, that are absolutely necessary for the respective configuration are made in order to keep effort and costs as low as possible. Nevertheless, high additional costs arise and producing only the absolutely necessary connections significantly reduces flexibility compared to the wide range of attachment options offered by using conventional standard elements of packaging machines.

The object of the invention is therefore to enable the integration of an insertion station into a packaging machine of the type mentioned above without the disadvantages mentioned above.

This object is achieved by the features of claim 1. According to the invention, the introduction station comprises: a support frame which is supported on the ground in the set-up operating state and which comprises a plurality of interconnected support elements, at least one handling device carried by the support frame, in particular a robot for placing or placing the products in or on one or more packaging components, and a plurality of frame elements which are each connected to the support frame at at least one connection point and to which at least one assembly of the packaging machine is attached, so that the assembly is not directly, but indirectly via one or more Frame elements are attached to the support frame, each connection point being formed by a mechanical bearing which, in a released state, allows an alignment movement relative to the support frame, and the bearings can each be transferred from the released state into a fixed state which prevents the alignment movement in order to fix the frame elements in an assembly configuration in which the frame elements are aligned relative to one another in a manner predetermined in particular by the respective assembly to be attached.

The frame elements are therefore only indirectly attached to the support frame, namely via the mechanical bearings, which can be aligned relative to the support frame in order to achieve the required positioning accuracy without complex post-processing of the support frame.

The invention is based, among other things, on the realization that conventional support frames are generally more stable than necessary and, consequently, the integration of the frame elements connected via the bearings does not represent a relevant weakening, whereby the frame elements also contribute to the overall stability of the support frame with fixed bearings. According to the invention, fixed connection points are replaced by adjustable and fixable connection points - namely the mechanical bearings. Unlike, for example, connection elements that can be deformed within certain limits, such as rubber buffers or similar, which cannot ensure sufficient overall stability of the support frame, according to the invention the mechanical bearings can be fixed after alignment and thus offer sufficient mechanical stability.

The frame elements together form a frame - integrated into the support frame - to which the respective standard components of the packaging machine can be mounted in the usual way. Consequently, not only can the usual frame elements of the packaging machine with the normal attachment features (e.g. rows of holes, etc.) be used, but these frame elements can also be correctly aligned relative to one another and relative to the parts of the packaging machine located in front of and behind the feed station with relatively little effort due to the mechanical bearings.

In other words, the introduction station according to the invention with the precisely aligned frame elements does not represent a “break” within the packaging machine, which - as mentioned - is particularly important for the continuous transport device.

However, a specific orientation of this inner frame, which is integrated into the support frame and is formed by the frame elements, relative to the support frame is not important, since possible misalignments are comparatively small and can be easily compensated for by the handling device, for example by teaching a robot forming the handling device.

Correct alignment of the bearings relative to one another and to the packaging machine, of which the support frame is later to be a part, can be achieved, for example, by using suitable aids (e.g. templates, adapter elements, etc.) which serve as a reference during the assembly process before the actual frame elements are attached and to a certain extent "simulate" the packaging machine, which is consequently not required when assembling the insertion station according to the invention. The actual assembly method for aligning the bearings is not itself a separately claimed subject of the invention, so that it will not be discussed in more detail here.

The ability to align the bearings and thus ultimately the frame elements relative to the support frame makes it possible to dispense with costly and time-consuming machining operations such as the aforementioned milling of the support frame, since the use of the bearings creates an alignment option for those components, namely the frame elements, which require precise alignment relative to one another and relative to the sections of the packaging machine located in front of and behind the support frame.

This concept eliminates the need for additional steps and external contract work and thus reduces costs and effort in assembling the packaging machine, which includes the insertion station and the support frame.

Further embodiments of the invention are specified in the dependent claims, the following description and the drawing.

According to some embodiments, it can be provided that the frame elements define a transport passage for the transport device moving through the introduction station during operation.

The frame elements can each form a side part of the packaging machine.

Preferably, the frame elements each have an elongated shape.

The frame elements can be designed as profiles, in particular as single or multiple angled profiles.

The frame elements can each extend in the transport direction.

Furthermore, in some embodiments it can be provided that at least one frame element located within the support frame is aligned with at least one frame element of the packaging machine located in front of or behind the support frame in the transport direction. This is particularly advantageous if the aligned frame elements are used to attach a guide device for the transport device of the packaging machine that runs through the introduction station, in particular a guide device for circulating transport chains of the transport device.

Furthermore, it can be provided that the frame elements each extend in a region between two vertically extending support elements of the support frame that are spaced apart from one another in the transport direction.

Furthermore, according to some developments of the invention, it can be provided that at least one pair of frame elements is provided which run in the same vertical position parallel to each other in the transport direction and transversely to the transport direction at a distance from each other.

At least two such pairs of frame elements can be provided, which are located in different vertical positions. Upper frame elements can, as already mentioned above, serve in particular for attaching guide devices for the transport device, in particular circulating transport chains, of the packaging machine, whereas lower frame elements can serve to attach other components of the packaging machine. Depending on the specific design of the components, these can either be attached only to the lower frame elements or to both the upper and lower frame elements.

In addition, the stability of the support structure is further increased by frame elements provided in different vertical positions.

Furthermore, according to some embodiments, it can be provided that the frame elements are each provided with at least one mechanical attachment feature, in particular with at least one row of holes. The attachment feature can in particular correspond to one that is formed on corresponding elements of the parts of the packaging machine arranged in front of and/or behind the introduction station, and in particular form a continuation of this attachment feature or can itself be continued by this attachment feature.

As already mentioned, a respective assembly attached to the frame elements may be a guide device for the transport device of the packaging machine, but it may also be another assembly.

The assembly can be arranged between an input side of the support frame, at which the transport device enters the support frame, and an output side of the support frame, at which the transport device exits the support frame.

However, it is also possible for a respective assembly to be arranged in front of or behind the support frame in the transport direction.

As already mentioned, in some developments of the invention it can be provided that the assembly is a guide device for the transport device of the packaging machine, in particular for two transport chains spaced apart from one another transversely to the transport direction, each for laterally holding a web-shaped packaging component, in particular a bottom film.

The specific design of a particular bearing defines the number of degrees of freedom for the respective alignment movement. Depending on the respective requirements, the specific selection of the bearings can therefore determine which alignment movements are possible.

One or more screw connections can be provided to fix and loosen each bearing.

Preferably, each bearing is a combination of at least one rotary bearing and at least one linear bearing.

According to some preferred embodiments of the invention, a respective bearing allows an alignment movement with six degrees of freedom. These six degrees of freedom are three rotations about three axes that are perpendicular to each other in pairs and three translations along or parallel to these axes.

According to some preferred embodiments of the invention, a respective bearing comprises two bearing parts, preferably at least partially C-shaped, interlocking bearing parts, one of which is connected to a respective frame element and the other to the support frame. In particular, it can be provided that a first rotation about a first, in particular vertical, axis of rotation is possible between the two bearing parts, wherein in particular the rotation about the first axis of rotation is made possible by a detachable and fixable screw connection between the two bearing parts.

Furthermore, according to some embodiments, it can be provided that between the one bearing part and a respective frame element and between the other bearing part and the support frame, a rotation about a second or a third axis of rotation and at least one translation perpendicular to the second or third axis of rotation is possible. The second axis of rotation and the third axis of rotation can run perpendicular to one another and horizontally.

Furthermore, according to some embodiments of the invention, it can be provided that the rotation and the at least one translation are made possible by two pin/slot arrangements, in particular two detachable and fixable screw connections, which in particular comprise two connecting pins, preferably screws, running parallel to the respective axis of rotation and each through at least one slot extending perpendicular to the respective axis of rotation. It is preferably provided that the pin diameter is smaller than the slot width.

According to the invention, it is not essential that each connection point has a single mechanical bearing. It can be provided that at least one additional fastening element, preferably designed as a tab, is provided for at least one connection point, via which the respective frame element is connected to the support frame.

The further fastening element can also be designed as a mechanical bearing which, in a released state, allows an alignment movement relative to the support frame and, starting from the released state, can be transferred into a fixed state which prevents the alignment movement in order to fix the respective frame element in the assembly configuration.

Regardless of whether the additional fastening element is also designed as such a mechanical bearing or not, this fastening element increases the stability of the overall construction, since an additional fastening for the frame element to the support frame is created at the relevant connection point. The fastening element can be designed in such a way that it allows the fastening of the frame element in different orientations that the bearing of this connection point enables. If the fastening element is also designed as a mechanical bearing that allows an alignment movement when released, this can further simplify and improve the alignment and subsequent fixing of the frame elements in the assembly configuration.

According to some embodiments of the invention, the support frame is a welded construction.

The bearings can each be connected on the support frame side to a vertically running support element, in particular to a support column. In particular, it can be provided that the vertically running support element has a widening in the transport direction at the height of the bearing.

As already mentioned elsewhere, according to some embodiments of the invention, it can be provided that the transport device comprises two transport chains spaced apart from one another transversely to the transport direction, each for laterally holding a web-shaped packaging component, in particular a bottom film.

The handling device can be designed as a pick-and-place robot.

The support frame can be designed in such a way that it has only one handling device. Alternatively, two or more than two handling devices can be provided on the support frame next to one another and/or one behind the other in the transport direction. Preferably, two robots are provided on the support frame, one after the other in the transport direction. Such a support frame or the insertion station comprising this support frame is also referred to as a double cell.

According to some embodiments, it can be provided that the introduction station comprises a connection for a product feed, in particular an introduction belt, wherein a working area of the handling device carried by the support frame covers an introduction area for inserting or placing the products in or on one or more packaging components and a removal area located laterally next to the introduction area and provided by the product feed for products fed by means of the product feed and to be packaged by the packaging machine, and wherein the connection for the product supply is supported exclusively on the support frame or is formed exclusively by the support frame.

The frame elements are therefore not required for connecting the product feed. Rather, it is only the support frame that supports the product feed by means of the connection or which forms the connection to support the product feed.

The insertion area is therefore located inside the support frame, whereas the removal area is located outside the support frame, i.e. to the side of the support frame.

If one or more widenings, as mentioned above, are provided, then the connection of the product supply can be supported on them or the one widening or the several widenings can form the connection of the product supply.

According to some embodiments, it can be provided that the connection comprises a plurality of support arms which are attached to the support frame, project laterally and extend perpendicular to the transport direction and on which the product feed is supported. In particular, the product feed can be plugged onto the support arms, with this plugging preferably taking place by means of supports of an input belt forming the product feed.

• 1 schematisch in einer Seitenansicht eine Verpackungsmaschine gemäß dem Stand der Technik mit einer nicht gemäß der Erfindung ausgebildeten Einbringstation, wobei eine solche bekannte Verpackungsmaschine jedoch stattdessen mit einer erfindungsgemäßen Einbringstation versehen sein und somit eine erfindungsgemäße Verpackungsmaschine bilden kann,
• 2 eine als Doppel-Roboterzelle ausgebildete Einbringstation gemäß dem Stand der Technik, und
• 3 bis 12 verschiedene Ansichten einer erfindungsgemäßen, als Doppel-Roboterzelle ausgebildeten Einbringstation.

The invention is described below by way of example with reference to the drawing.

• 1 schematically shows a side view of a packaging machine according to the prior art with an insertion station not designed according to the invention, whereby such a known packaging machine can, however, instead be provided with an insertion station according to the invention and thus form a packaging machine according to the invention,
• 2 a double robot cell designed as a state-of-the-art insertion station, and
• 3 to 12 different views of an insertion station according to the invention designed as a double robot cell.

In the 1 The packaging machine V shown in FIG. 1 and working in a transport direction T comprises a machine frame 47. A transport chain 27, shown here only schematically at the upstream end of the machine, is guided on a left side frame and a right side frame of the machine frame 47. The two transport chains 27 together form a transport device for a bottom film 23 pulled off a supply roll 23a.

The machine comprises a plurality of work stations following one another in the transport direction T, namely a forming station 11, also referred to as a deep-drawer or thermoformer, an insertion station 13 for products 10 to be packaged, a feed station 14 for a top film 25 pulled off a supply roll 25a, a labeling and/or printing station 16, a transverse cutting station 17 and a longitudinal cutting station 19.

The products 10 to be packaged are, for example, food products, here in the form of so-called portions, each of which comprises several slices that were previously separated from a loaf or bar-shaped food such as sausage, cheese, ham or meat using a food slicer (not shown). The slicer and the packaging machine can form a continuous production line or be central components of such a production line.

The operation of the packaging machine V including the mentioned work stations is controlled by a central control device 41. This can also control the slicer or be connected to a control device of the slicer. In addition, the packaging machine V is preferably provided with an operating device 45 which, for example, comprises a touchscreen on which all the necessary information can be displayed to an operator and the operator can make all the necessary settings before and during operation of the machine.

The structure and functionality of the workstations mentioned are generally known to the expert, so they will not be discussed in detail here.

At the forming station 11, which comprises an upper tool 11a and a lower tool 11b, depressions 29, also referred to as troughs, are formed in the lower film 23 in a deep-drawing process. The portions 10 mentioned are placed in these depressions 29 at the insertion station 13. The insertion station 13 here comprises a so-called inserter, of which two endless conveyor belts 13a, 13b are shown. Alternatively or additionally, the insertion station 13 can comprise a robot 50, also shown schematically here, e.g. in the form of a so-called "picker", which can be designed as a delta robot with a gripper that comprises two shovels that each hold a portion 10 together. Such robots The use of these devices in handling foodstuffs, in particular when placing portions in recesses in packaging, is generally known to those skilled in the art, which is why further explanations are not required here.

The bottom film 23 provided with the filled recesses 29 and the top film 25 are then fed to the sealing station 15, which comprises an upper tool 15a and a lower tool 15b. The top film 25 and the bottom film 23 are connected to one another by means of these tools 15a, 15b. This seals the recesses 29 and thus the packages 21 formed by the top film 25 and the bottom film 23. In 1 Sealing points 43 running transversely to the transport direction T, also referred to as sealing seams, are indicated schematically.

Following the sealing station 15, the packages 21 are still connected by the top film 25 and the bottom film 23, so they still have to be separated. In the embodiment shown here, the packages 21 are provided with labels and/or printed at the labeling and/or printing station 16 before being separated. The labeling and printing can also be done in separate stations.

Downstream of the separation stations 17, 19, further conveyor belts and/or work stations can be provided, for example a scale for checking the weight of the packaging 21.

Applications can differ from one another, for example, in terms of the type of products 10 to be packaged, the size/shape of the recesses 29 in the longitudinal and/or transverse direction, or in terms of a format set. A format set here generally refers to a group of items, in particular both portions 10 and recesses 29 or packaging 21, which are handled as a whole - i.e. in format sets - and differ from one another in particular in terms of the number and spacing of items in the longitudinal and transverse directions.

For example, per work cycle of the packaging machine, a packaging format or format set of 3 x 4 (3 in the transverse direction and 4 in the longitudinal direction) recesses 29 or other types of product receptacles can be formed in the forming station 11, a format set of 3x4 correspondingly arranged products 10 can be introduced into a respective format set of recesses 21 at the insertion station 13, and a respective format set of 3 x 4 recesses 29 filled with products 10 can be sealed at the sealing station 15. The same applies to the labeling and/or printing station 16.

In principle, an arbitrarily dimensioned N x M format set can be created, with N >= 2 and M >= 1.

The operation of the packaging machine with regard to detection, analysis and elimination or reduction of packaging errors can be monitored using data or measurement results from measuring devices (not shown) and adjusted if necessary. The measurement results are fed to the control device 41 for this purpose.

For example, a measurement of the packaging 21 being produced can be planned immediately after each of the work stations. This concept can also be implemented with only a selection of work stations, i.e. with this concept it is not mandatory that the packaging 21 is measured after each work station. A final inspection can also be carried out after the packaging 21 has been separated.

After analysis of the measurement results, the operation of one or more work stations can be intervened in - preferably automatically - in order to counteract the occurrence of filling and/or packaging errors. According to an alternative concept, the control device 41, for example on the operating device 45, can display information on the basis of which an operator can intervene in the operation of one or more respective work stations.

The intervention in the operation of a workstation, i.e. the control of the operation of a workstation, can in particular include a change in the position of the workstation or of a work tool of the workstation, for example a change in position in the transport direction T.

As mentioned, this known packaging machine can be equipped with another insertion station, namely with a robot cell comprising a support frame, which is connected on the input side and output side to a frame or rack of a corresponding part of the packaging machine. A robot cell known from the prior art shows 2 , wherein an introduction station according to the invention is then described using the example of a double robot cell with the aid of the further figures.

The introduction station known from the state of the art according to 2 differs from the introduction station according to the invention (see e.g. the illustrations of the 3 and 11 ) in that elements extending in the transport direction T, namely support elements 53 located on the right side in the transport direction and on the The supports 73 on the left side, which are provided here in the form of two parallel flat steels, are integral components of the support frame 51 designed as a welded construction, which also comprises a large number of further support elements 53 welded together, which extend in the transport direction T, transversely thereto and vertically.

Thus, the mentioned elements 53 extending in the transport direction T and the flat steels 73 are welded to vertical support elements 53. This results in the requirement, explained in detail in the introductory section, to attach this welded construction to 2 to machine the points designated by the reference symbol "F" by milling in order to provide precise interfaces machined with the required accuracy of approximately one tenth of a millimeter for connecting components of the parts of the packaging machine not shown here, between which the support frame 51 is located in the fully assembled state of the packaging machine.

The introduction station 113 according to the invention differs from that of the 2 by omitting the elements running in the middle and lower area in the transport direction T and welded to the other support elements 53 of the support frame and instead using frame elements 55 (see in particular 11 ) are provided which are not welded to the support elements 53 of the support frame 51, but are connected via mechanical bearings 57 and in some cases further fastening elements 67. In the embodiment described here, these further fastening elements 67 are also mechanical bearings, so that in the following the term "bearing" is used for both the bearings 57 and the fastening elements 67 in order to simplify the explanation.

These bearings, which can be transferred from a released state to a fixed state, can be adjusted in the released state relative to the support elements 53 such that after the fixing of the bearings and fastening of the frame elements 55 to the fixed bearings following the adjustment, the frame elements 55 are fastened to the support elements 53 in a desired orientation achieved by adjusting the bearings.

As mentioned above, the bearings are adjusted when the frame elements 55 have not yet been attached (see 3 ) with the aid of adjustment aids (not shown) (e.g. templates, adapter elements, etc.), which in particular simulate the packaging machine to a certain extent, wherein after the attachment of the frame elements 55 to the at least pre-set bearings (cf. 11 ) if necessary, a final alignment of the frame elements 55 can be carried out by means of further aids such as spirit levels and distance gauges, etc.

Such an assembly concept for the frame elements 55 has proven to be simple, reliable and efficient. Alternatively, it is also possible to first connect the frame elements 55 to the bearings and to carry out the alignment using suitable tools when the frame elements 55 are connected to the bearings.

Irrespective of the specific assembly concept, which itself is not the subject of the invention, it is the bearings provided according to the invention between the support elements 53 of the support frame 51 and the frame elements 55 that make it, unlike in the prior art according to 2 make it possible to create a perfectly aligned inner frame with the frame elements 55 within the support frame 51 and thus the insertion station 113, which is designed here as a double robot cell, in particular in terms of extremely high precision. The support frame 51 gives this inner frame the necessary stability, and the inner frame itself also contributes to the overall stability of the support frame 51. The frame elements 55 can be designed according to the components of the parts of the packaging machine located in front of and behind the insertion station 113 and in particular with attachment features such as rows of holes 59 (cf. 12 ). This allows the parts of the packaging machine to be connected to the feed station 113 with high positioning accuracy on the input and output sides and components of the packaging machine, in particular the guide devices for the transport chains of the packaging machine that lead through the robot cell, can be mounted on the frame elements 55 - in a way "as usual". The guides required for such transport chains are basically known, so that there is no need to go into them in more detail here.

With regard to the attachment of components of the packaging machine, the insertion station 113 according to the invention thus behaves like a part of the packaging machine and therefore does not represent a break within the packaging machine.

How 3 shows, in the lower area of the feed station 113, the bearings 57 are mounted on both sides of vertical support elements 53. In a higher vertical position, namely approximately at the level of the packaging components passed through the feed station 113 during operation, the vertical support elements 53 are provided with widenings 69 in the transport direction T, and on both Bearings 57 and the additional fastening elements 67 mentioned above, which in this embodiment are also designed as bearings, are also attached to the sides of these extensions 69.

4 shows on the left enlarged the middle vertical support element 53 on the left side of the support frame 51 in the transport direction T, with the right in 4 this middle support element 53 is shown from the right side in the transport direction T and there also a bearing 57 and a further fastening element 67 in the raised vertical position as well as a bearing 57 in the lower area are shown, which are attached to a vertical support element 53 not provided with an extension.

Corresponding views, only with frame elements 55 already attached to the bearings, are shown in 12 .

Bearings 57, 67 are also mounted on the upstream and downstream sides of the vertical support elements 53, i.e. on the input side and output side of the support frame 51, which serve to connect the sections of the packaging machine (not shown) into which the introduction station 113 according to the invention is integrated.

The structure of the bearings 57 and other fastening elements 67 are shown in the 5 to 10 .

Camp 57 according to 5 and 6 on the one hand and camp 57 according to 7 and 8th on the other hand, differ from each other only in that the one bearing part 65 in one case ( 5 and 6 ) is constructed in one piece and is formed only by a C-shaped part which is screwed directly to a support element 53 (cf. 9 ), namely with a front plate running perpendicular to the transport direction T of a respective widening 69 of a vertical support element 53, and in the other case ( 7 and 8th ) this bearing part 65 is designed in several parts and has a C-shaped part 65a and a plate 65b, which are connected to one another via a projection 79 on the part 65a and a matching recess 77 on the plate 65b, wherein these bearings 57 are each mounted in the lower region of a respective vertical support element 53.

At camp 57 according to 5 and 6 The two bearing parts 63, 65 are each C-shaped and engage with each other. The two parts 63, 65 are connected to each other and to a support element 53 of the support frame 51 or a frame element 55 by means of screw connections 61 (cf. 9 and 12 ). In particular, 6 shows, the two parts 63, 65 can be rotated relative to one another about a vertical axis D1, which is defined by the shaft 61 a of a screw that is inserted precisely through cylindrical holes 61c in the bearing parts 63, 65 and screwed to the bearing part 63. This screw connection 61 only realizes this one degree of freedom (rotation about the axis D1).

Two further degrees of freedom are realized by the bearing part 65. This is connected to the support element 53 ( 9 ). For this purpose, elongated holes 61b are formed in the mentioned front plate of the widening 69, which on the one hand allow a horizontal translation perpendicular to the transport direction T. On the other hand, since the shafts 61a of the screws have a diameter that is smaller than the width of the respective elongated hole 61b, this connection of the bearing part 65 to the front plate of the support element 53 allows a limited rotation about an axis D2 running parallel to the transport direction T when the screw connections 61 are released. The bearing part 65 can therefore be moved and rotated relative to the support element 53.

The other bearing part 63 also allows rotation and translation as well as further translation by cooperation with the frame element 55, as will be explained in more detail below.

This bearing part 63 is not screwed to one of the support elements 53 of the support frame 51, but to a respective frame element (see especially on the right in 12 ). For this purpose, the bearing element 63 is provided with two vertical elongated holes 61 b, through each of which a shaft 61 a of a screw is passed, the diameter of which is in turn smaller than the width of the elongated hole 61 b. This allows the frame element 55 to be moved in the vertical direction relative to the bearing part 63 and thus to the bearing part 65 and consequently to the support frame 51. In addition, the two screw connections 61 in the released state in turn enable a limited rotation about an axis D3 which runs in the horizontal direction perpendicular to the transport direction T. The shafts 61a of the two screws extend through elongated holes formed in the respective frame element 55 (not shown separately), which run parallel to the longitudinal extension of the frame element 55 and thus allow the frame element 55 to be moved parallel or approximately parallel to the transport direction T relative to the bearing part 63 and thus to the bearing part 65 and consequently to the support frame 51 when the screw connections 61 are released.

In this way, this bearing 57 according to the invention realizes six degrees of freedom for producing a desired position and orientation, i.e. a desired alignment, of the respective frame element 55 in space.

The other camp 57 ( 7 and 8th ) realizes the six degrees of freedom in an analogous manner. However, the horizontal displacement perpendicular to the transport direction T is not provided by the slots provided in the respective support frame 53, but by slots 61b in the plate 65b (see also 10 ).

It should be noted that in the representations of the 9 and 10 with the exception of bearing parts 63, 65 ( 9 ) or components 63, 65a, 65b ( 10 ), which are shown prominently for better illustration, all other components are shown in a position which they occupy relative to each other when assembled.

Also attached to a respective front plate of the widening 69 is the already mentioned further fastening element 67, which in 9 again shown in a detached state for better illustration. This fastening element 67 is a fastening tab with two sections running at right angles to one another. One section is provided with an elongated hole 67a through which, in the assembled state, the shafts of two screws 67d are passed, for which two elongated holes 67a are also formed in the front plate of the widening 69, wherein these elongated holes 67a extend horizontally transversely to the transport direction T. The fastening element 67 can therefore be moved both horizontally and vertically, each perpendicular to the transport direction T, when the screw connections are loosened. In addition, since the shafts of the screws 67d have a diameter that is smaller than the width of the elongated holes 67a, the fastening element 67 can be rotated to a limited extent about an axis running parallel to the transport direction T. The fastening of the frame element 55 to the further fastening element 67 takes place via the other section of the fastening element 67, which is provided with a cylindrical hole 67b through which the shaft of a screw 67c is passed.

In particular 12 shows, the frame elements 55 are designed as angle profiles, wherein a section of a respective frame element 55 is screwed to the further fastening element 67, which runs at an angle other than zero to that section of the frame element 55 which is screwed to the bearing part 63 of the other bearing 57.

At the extensions 69 of the vertical support elements 53, each connection point between frame element 55 and support element 53 has two bearings, thus enabling an extremely stable connection between the respective frame element 55 and support element 53 of the support frame 51, which at the same time offers all the necessary adjustment options for alignment with all degrees of freedom.

For the shaft of the screw 67c, the relevant section of the frame element 55 is provided with an elongated hole (not shown separately) which runs in the direction of the longitudinal extension of the frame element 55 in order to also provide a degree of freedom for the orientation of the frame element 55 in this respect.

As shown on the right in 4 is also provided on the right-hand side in the transport direction T in addition to the already described bearing 57 for a respective frame element 55 (see also right in 12 ) a further fastening element 67 is provided, which is designed as a simple, non-angled tab.

This fastening element 67 is screwed to a respective vertical support element 53 via two screw connections which lie vertically one above the other and for which a horizontal elongated hole (not shown separately) running transversely to the transport direction T is provided in the support element 53. This enables a corresponding displacement of the fastening element 67 and, since the shafts of the screws have a diameter which is smaller than the width of the respective elongated hole, a limited rotation about an axis running parallel to the transport direction T.

In addition, for the attachment to the frame element 55 (see also right in 12 ) provided screw 67e in the fastening element 67, so that the frame element 55 can be moved in the vertical direction relative to the fastening element 67 and thus to the support element 53. Furthermore, an elongated hole is again formed for the screw 67e in the respective frame element 55, which runs in the direction of the longitudinal extension of the frame element 55, thus providing a corresponding possibility of displacement of the frame element 55 relative to the fastening element 67 and thus to the support element 53.

As in 11 As shown, the handling devices, each designed as a pick-and-place robot, for which the robot cell formed by the support frame 51 is provided and which are each designated by a circled "R", are mounted in the upper area of the support frame 51. As already mentioned, the support frame 51 is a double robot cell. The two robots R are arranged one after the other in the transport direction T. The arrangement of such robots R and their design are fundamentally known, so it will not be discussed in more detail here.

The robots R are used to feed the product P into the 11 is only indicated schematically by an arrow, to pick up supplied products and to place them in packaging components or to place them on packaging components which are transported into the introduction station 113 by means of the transport device 27. In particular, the packaging components are depressions previously produced in a bottom film in the upstream part of the packaging machine by means of a deep-drawing station, wherein the bottom film is transported along the packaging machine in the transport direction T by means of transport chains 27 spaced transversely to the transport direction T and thus also moved through the introduction station 113.

Within the introduction station 113, these packaging components formed by the recesses are located in an introduction area, with a removal area formed by the product feed P located laterally next to the support frame 51. In particular, the removal area is formed by the support surface of an endless belt, also referred to as an insertion belt, which runs parallel to the transport direction T in the area of the introduction station 113 and which represents the product feed P in this example.

In order to keep the working paths for the robots R or their grippers as short as possible, it is advantageous if the aforementioned removal area is as close as possible to the insertion area between the two transport chains 27. The transport chains 27 are guided in guide devices (not shown here) which are each attached to the inside of the frame elements 55. The working paths for the robots R are therefore shorter the closer the removal area is to the outside of the left-hand frame elements 55 in the transport direction T. For this purpose, openings 75 (cf. 4 and 12 ) through which not shown here and in 11 dashed support arms 71 are inserted, which, when inserted, are also fastened to the extensions 69.

How 11 shows, these support arms 71, which extend horizontally perpendicular to the transport direction T, project laterally so that the product feed P can be supported on these support arms 71. As already mentioned elsewhere, the product feed P, for example an infeed belt, can have corresponding supports by means of which the infeed belt can be attached laterally to the support arms 71.

This means that the product supply P - unlike the state of the art according to 2 - not attached to side parts of the support frame 51 extending in the transport direction T, but to vertical support arms 53 of the solid support frame 51, ie the frame elements 55 themselves do not serve directly to support the product feed P.

This means that two functions of the insertion station 113 are divided into different components: The solid support frame 51 is the basis for the robots R and for the cantilevered support arms 71 and thus the product feed P. This function requires a high mass and a high level of stability, which is readily provided by the support frame 51, although a high level of positioning accuracy is not necessary, since any inaccuracies are comparatively small and can therefore be easily compensated for by the working movements of the robots R. The frame elements 55 of the insertion station 113, which are aligned with high accuracy thanks to the invention, also contribute to the stability of the overall construction with fixed bearings 57, 67 and additionally - as a further function of the insertion station 113 - represent a continuation of the frame or frame of the packaging machine through the insertion station 113 thanks to the exact alignment made possible by the invention. This ensures that without additional processing effort, as is the case in the prior art according to 2 It is necessary to enable simple, uncomplicated and precise attachment of components of the packaging machine, in particular the transport device comprising, for example, transport chains 27.

List of reference symbols

10

product

11

Forming station

11a

Upper tool of the forming station

11b

Lower tool of the forming station

13

Feeding station

13a

Conveyor belt

13b

Conveyor belt

14

Feed station

15

Sealing station

15a

Upper part of the sealing station

15b

Lower part of the sealing station

16

Labeling station

17

Separation station (transverse direction)

19

Separation station (longitudinal direction)

21

pack

23

Bottom film

23a

Supply roll

25

Top film

25a

Supply roll

27

Transport device (transport chain for bottom film)

29

deepening

31

upper area

33

lower area

35

Vacuum pump

37

Shielding gas source

41

Control device

43

Sealing seam

45

Control unit

47

Machine frame

50

robot

51

Support frame

53

Supporting element

55

Frame element

57

camp

59

Attachment feature, hole row

61

Screw connection

61a

Screw shaft

61b

Long hole

61c

Hole

63

Bearing part on the frame element

65

Bearing part on the support frame

65a

C-shaped part

65b

plate

67

additional fastening element, bearing

67a

Long hole

67b

Hole

67c

screw

67d

screw

67e

screw

69

Widening

71

Connection, support arm

73

Beams, flat steel

75

opening

77

Recess

79

head Start

113

Delivery station

V

Packaging machine

T

Transport direction

R

Handling device, robot

E

Entrance page

A

Exit side

P

Product feed

F

Milling point

D1

first axis of rotation

D2

second axis of rotation

D3

third axis of rotation

Claims (27)

Packaging machine (V) for food products (10), in particular a thermoformer or tray sealer, with a plurality of work stations arranged one behind the other along a transport direction (T) for producing packages (21), each from at least one lower package component (23), in particular a lower film or a prefabricated package component, and at least one upper package component (25), in particular an upper film, which enclose at least one product area of a respective package (21), and with a transport device (27) with which the package components (23, 25) are transported through the work stations in the transport direction (T) during operation, wherein one work station is an insertion station (113) for inserting or placing products (10) in or on one or the package components (23, 25), wherein the insertion station (113) comprises: - a support frame (51) which is supported on the ground in the erected operating state and which comprises a plurality of support elements (53) connected to one another, - at least one of the support frame (51) carried handling device (R), in particular a robot, for inserting or placing the products (10) in or on one or the packaging components (23, 25), and - a plurality of frame elements (55), each of which is connected to the support frame (51) at at least one connection point and to which at least one assembly of the packaging machine (V) is attached, so that the assembly is not attached directly to the support frame (51), but indirectly via one or more frame elements (55), each connection point being connected by a mechanical bearing (57) is formed which, in a released state, allows an alignment movement relative to the support frame (51), and wherein the bearings (57) can each be transferred from the released state into a fixed state which prevents the alignment movement in order to fix the frame elements (55) in an assembly configuration in which the frame elements (55) are aligned relative to one another in a manner predetermined, in particular by the respective assembly to be attached. Packaging machine according to Claim 1 , wherein the frame elements (55) define a transport passage for the transport device (27) moving through the introduction station (113) during operation. Packaging machine according to one of the Claims 1 or 2 , whereby the frame elements each form a side part of the packaging machine. Packaging machine according to one of the preceding claims, wherein the frame elements (55) each have an elongated shape. Packaging machine according to one of the preceding claims, wherein the frame elements (55) each extend in the transport direction (T). Packaging machine according to one of the preceding claims, wherein at least one frame element (55) located within the support frame (51) is aligned with at least one frame element (55) of the packaging machine (V) located in front of or behind the support frame (51) in the transport direction (T). Packaging machine according to one of the preceding claims, wherein the frame elements (55) each extend in a region between two vertically extending support elements (53) of the support frame (51) which are spaced apart from one another in the transport direction (T). Packaging machine according to one of the preceding claims, wherein at least one pair of frame elements (55) is provided which run in the same vertical position parallel to each other in the transport direction (T) and transversely to the transport direction (T) at a distance from each other. Packaging machine according to Claim 8 , wherein at least two such pairs of frame elements (55) are provided, which are located in different vertical positions. Packaging machine according to one of the preceding claims, wherein the frame elements (55) are each provided with at least one mechanical attachment feature (59), in particular with at least one row of holes. Packaging machine according to one of the preceding claims, wherein the assembly is arranged between an input side (E) of the support frame (51), at which the transport device (27) enters the support frame (51), and an output side (A) of the support frame (51), at which the transport device (27) exits the support frame (51). Packaging machine according to one of the preceding claims, wherein the assembly is arranged in front of or behind the support frame (51) in the transport direction (T). Packaging machine according to one of the preceding claims, wherein the assembly is a guide device for the transport device (27) of the packaging machine (V), in particular for two transport chains spaced apart from one another transversely to the transport direction (T), each for laterally holding a web-shaped packaging component (23), in particular a bottom film. Packaging machine according to one of the preceding claims, wherein one or more screw connections (61) are provided for fixing and releasing a respective bearing (57). Packaging machine according to one of the preceding claims, wherein a respective bearing (57) is a combination of at least one rotary bearing and at least one linear bearing. Packaging machine according to one of the preceding claims, wherein a respective bearing (57) allows an alignment movement with six degrees of freedom Packaging machine according to one of the preceding claims, wherein a respective bearing (57) comprises two, preferably at least partially C-shaped, interlocking, bearing parts (63, 65), of which one is connected to a respective frame element (55) and the other to the support frame (51), in particular wherein a first rotation about a, in particular vertically extending, first axis of rotation (D1) is possible between the two bearing parts (63, 65), in particular wherein the rotation about the first axis of rotation (D1) is made possible by a detachable and fixable screw connection (61) between the two bearing parts (63, 65). Packaging machine according to Claim 17 , wherein between the one bearing part (63) and a respective frame element (55) and between the other bearing part (65) and the support frame (51) a rotation about a second (D2) or a third axis of rotation (D3) and at least one translation perpendicular to the second (D2) or third axis of rotation (D3) is possible, in particular wherein the second axis of rotation (D2) and the third axis of rotation (D1) run perpendicular to one another and each run horizontally. Packaging machine according to Claim 18 , wherein the rotation and the at least one translation are each made possible by two pin/slot arrangements, in particular two detachable and fixable screw connections (61), which in particular comprise two connecting pins (61a), preferably screws or screw shafts, running parallel to the respective axis of rotation (D2, D3) and each through at least one slot (61b) extending perpendicular to the respective axis of rotation (D2, D3). Packaging machine according to one of the preceding claims, wherein at least one fastening element (67), preferably designed as a tab, is additionally provided for at least one connection point, via which the respective frame element (55) is connected to the support frame (51). Packaging machine according to Claim 20 , wherein the fastening element (67) is designed as a mechanical bearing which, in a released state, allows an alignment movement relative to the support frame (51) and, starting from the released state, can be transferred into a fixed state which prevents the alignment movement in order to fix the respective frame element (55) in the assembly configuration. Packaging machine according to one of the preceding claims, wherein the support frame (51) is a welded construction. Packaging machine according to one of the preceding claims, wherein the bearings (57) are each connected on the support frame side to a vertically extending support element (53), in particular to a support column, in particular wherein the vertically extending support element (53) has a widening (69) in the transport direction (T) at the level of the bearing (57). Packaging machine according to one of the preceding claims, wherein the transport device (27) comprises two transport chains spaced apart from one another transversely to the transport direction (T), each for laterally holding a web-shaped packaging component (23), in particular a bottom film. Packaging machine according to one of the preceding claims, wherein the handling device (R) is designed as a pick-and-place robot. Packaging machine according to one of the preceding claims, wherein the introduction station (113) comprises a connection (71) for a product feed (P), in particular an introduction belt, wherein a working area of the handling device (R) carried by the support frame (51) covers an introduction area for inserting or placing the products (21) in or on one or the packaging components (23, 25) and a removal area located laterally next to the introduction area and provided by the product feed (P) for products (21) fed by means of the product feed (P) and to be packaged by the packaging machine (V), and wherein the connection (71) for the product feed (P) is supported exclusively on the support frame (51) or is formed exclusively by the support frame (51). Packaging machine according to Claim 26 , wherein the connection comprises a plurality of support arms (71) fastened to the support frame (51), projecting laterally and extending perpendicular to the transport direction (T), on which the product feed (P) is supported, in particular wherein the product feed (P) can be plugged onto the support arms (71), preferably with supports of an input belt forming the product feed (P).

Images