DE202012000940U1 - Swivel unit: Synchronous swiveling with gripping unit - Google Patents

Swivel unit: Synchronous swiveling with gripping unit Download PDF

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Publication number
DE202012000940U1
DE202012000940U1 DE201220000940 DE202012000940U DE202012000940U1 DE 202012000940 U1 DE202012000940 U1 DE 202012000940U1 DE 201220000940 DE201220000940 DE 201220000940 DE 202012000940 U DE202012000940 U DE 202012000940U DE 202012000940 U1 DE202012000940 U1 DE 202012000940U1
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DE
Germany
Prior art keywords
unit
gripping
swivel
gripping unit
components
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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DE201220000940
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German (de)
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Individual
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Individual
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Publication date
Application filed by Individual filed Critical Individual
Priority to DE201220000940 priority Critical patent/DE202012000940U1/en
Publication of DE202012000940U1 publication Critical patent/DE202012000940U1/en
Priority to DE102012107984.6A priority patent/DE102012107984B4/en
Priority to ES13151165.1T priority patent/ES2558833T3/en
Priority to PL13151165T priority patent/PL2620377T3/en
Priority to EP13151165.1A priority patent/EP2620377B1/en
Priority to DK13151165.1T priority patent/DK2620377T3/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B69/00—Unpacking of articles or materials, not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

Schwenkeinheit (4), dadurch gekennzeichnet, dass sie drehbar gelagert ist und mit dem Behältnis (3) synchron zur Greifeinheit (1) geschwenkt werden kann.Swivel unit (4), characterized in that it is rotatably mounted and can be swiveled with the container (3) synchronously with the gripping unit (1).

Description

Die Entnahme von lose, senkrecht gestapelten Komponenten, wie Faltschachtelkartonagen, Papiere, Karten u. ä. aus Behältnissen ist üblicherweise nur sehr schwer vollautomatisiert zu lösen, weil das Einführen und das Positionieren eines Greifers direkt von oben nicht funktionssicher möglich ist (2). Die in die Industrie übliche Verfahrensweise ist die manuelle Entnahme durch Personen.The removal of loose, vertically stacked components, such as folding carton boxes, papers, cards u. Ä. From containers is usually very difficult to solve fully automated, because the insertion and positioning of a gripper directly from above is not possible functionally reliable ( 2 ). The usual procedure in the industry is the manual removal by persons.

Dieses Problem wird durch die in Schutzanspruch 1 beschriebene Einheit gelöst.This problem is solved by the protection described in claim 1 unit.

Die entwickelte Schwenkeinheit (4) dient zur Entnahme von lose senkrecht gestapelten Komponenten (2) aus rechteckigen Behältnissen (3) mit Hilfe einer Greifeinheit (1). Die Komponenten können dabei auch mehrlagig gestapelt sein (8). Der vollautomatisierte Ablauf bedingt, dass durch einen geeigneten Bewegungsablauf innerhalb des Behältnisses Platz für den Eingriff der Greifvorrichtung geschaffen wird. Dies wird durch eine drehbar gelagerte Schwenkeinheit im Zusammenspiel mit einer synchronisierten Greiferbewegung realisiert. Das Behältnis wird dabei in der Schwenkeinheit für den Ablauf automatisch fixiert.The developed swivel unit ( 4 ) is used to remove loose vertically stacked components ( 2 ) of rectangular containers ( 3 ) by means of a gripping unit ( 1 ). The components can also be stacked in multiple layers ( 8th ). The fully automated process requires that space for the engagement of the gripping device is created by a suitable movement within the container. This is realized by a rotatably mounted pivot unit in interaction with a synchronized gripper movement. The container is automatically fixed in the swivel unit for the process.

Beim Schwenkvorgang macht man sich die auf die Komponenten wirkende Schwerkraft zunutze. Im geschwenkten Zustand schieben sich die Komponenten zusammen und geben an der oberen Kante einen Spalt frei, der zum Eingriff der Greifeinheit auf der ersten Seite dient (3). Nachfolgend wird das Behältnis synchron mit der sich im Eingriff befindlichen Greifeinheit zur anderen Seite geschwenkt (4 und 5). Die Schwerkraft drückt die Komponenten erneut zusammen und ermöglich es nun die Greifeinheit auch auf der anderen Seite für den Greifvorgang zu positionieren (6). Nach dem synchronen Zurückschwenken in die Ausgangslage können die Komponenten nach oben entnommen werden. (7)During the pivoting process, one makes use of the gravitational force acting on the components. In the pivoted state, the components slide together and release a gap at the upper edge, which serves to engage the gripping unit on the first side ( 3 ). Subsequently, the container is pivoted synchronously with the engaged gripping unit to the other side ( 4 and 5 ). Gravity forces the components together again and now makes it possible to position the gripping unit on the other side for the gripping process ( 6 ). After the synchronous swinging back to the starting position, the components can be removed upwards. ( 7 )

Claims (3)

Schwenkeinheit (4), dadurch gekennzeichnet, dass sie drehbar gelagert ist und mit dem Behältnis (3) synchron zur Greifeinheit (1) geschwenkt werden kann.Swivel unit ( 4 ), characterized in that it is rotatably mounted and with the container ( 3 ) synchronously with the gripping unit ( 1 ) can be swiveled. Schwenkeinheit nach Anspruch 1, dadurch gekennzeichnet, dass die Greifeinheit (1) während des Schwenkvorganges auch ein- oder beidseitig im Behältnis (3) im Eingriff an den Komponenten (2) ist. Der Vorgang lässt sich für mehrere Lagen wiederholen (8).Rotary unit according to claim 1, characterized in that the gripping unit ( 1 ) during the pivoting process also one or both sides in the container ( 3 ) in engagement with the components ( 2 ). The process can be repeated for several layers ( 8th ). Schwenkeinheit nach Anspruch 1, dadurch gekennzeichnet, dass die Greifeinheit in allen Achsen beweglich ist und der Vorgang sich für mehrere Lagen wiederholen (8) lässt.Rotary unit according to claim 1, characterized in that the gripping unit is movable in all axes and the process is repeated for several layers ( 8th ) leaves.
DE201220000940 2012-01-28 2012-01-28 Swivel unit: Synchronous swiveling with gripping unit Expired - Lifetime DE202012000940U1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DE201220000940 DE202012000940U1 (en) 2012-01-28 2012-01-28 Swivel unit: Synchronous swiveling with gripping unit
DE102012107984.6A DE102012107984B4 (en) 2012-01-28 2012-08-29 Method for removing folded cartons from an outer packaging
ES13151165.1T ES2558833T3 (en) 2012-01-28 2013-01-14 Procedure for the extraction of folded boxes placed together outside an outer packaging
PL13151165T PL2620377T3 (en) 2012-01-28 2013-01-14 Method for removing folded boxes from an outer packaging
EP13151165.1A EP2620377B1 (en) 2012-01-28 2013-01-14 Method for removing folded boxes from an outer packaging
DK13151165.1T DK2620377T3 (en) 2012-01-28 2013-01-14 A process for the removal of accumulated folding cartons from a second container

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201220000940 DE202012000940U1 (en) 2012-01-28 2012-01-28 Swivel unit: Synchronous swiveling with gripping unit

Publications (1)

Publication Number Publication Date
DE202012000940U1 true DE202012000940U1 (en) 2012-03-23

Family

ID=45999313

Family Applications (1)

Application Number Title Priority Date Filing Date
DE201220000940 Expired - Lifetime DE202012000940U1 (en) 2012-01-28 2012-01-28 Swivel unit: Synchronous swiveling with gripping unit

Country Status (1)

Country Link
DE (1) DE202012000940U1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020200080A (en) * 2019-06-11 2020-12-17 大森機械工業株式会社 Transfer device and transfer method
DE102020124945A1 (en) 2020-09-24 2022-03-24 Iwk Verpackungstechnik Gmbh Filling device for a folding box store of a packaging machine and method for filling a folding box store
FR3116523A1 (en) * 2020-11-25 2022-05-27 Velec Systemes Robotic case loading process

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020200080A (en) * 2019-06-11 2020-12-17 大森機械工業株式会社 Transfer device and transfer method
JP7349700B2 (en) 2019-06-11 2023-09-25 大森機械工業株式会社 Transfer device and method
DE102020124945A1 (en) 2020-09-24 2022-03-24 Iwk Verpackungstechnik Gmbh Filling device for a folding box store of a packaging machine and method for filling a folding box store
FR3116523A1 (en) * 2020-11-25 2022-05-27 Velec Systemes Robotic case loading process
EP4005937A3 (en) * 2020-11-25 2022-07-27 Velec Systemes Robotized case loading process
US11975875B2 (en) 2020-11-25 2024-05-07 Velec Systemes Robotic method for loading cases

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Date Code Title Description
R207 Utility model specification

Effective date: 20120516

R156 Lapse of ip right after 3 years