DE2636320C2 - Device for the automatic palletizing of objects, in particular bottles - Google Patents

Description

The invention relates to a device according to the preamble of claim 1.

Although fully automatic palletizing machines are known, they have a complicated structure

as well as control effort and are therefore extremely expensive to purchase. For this Semi-automatic palletizing devices are often used for this reason, although there is a problem with them consists in the fact that these mostly still require numerous additional manual operations, to effect the packaging.

The palletizing devices, which stack complete layers of several objects, work predominantly with a collecting table on which the items to be palletized are put together in one layer will. There are two different systems for the transfer to the stacking station a system for the transfer by shifting the position from the collecting table to the stacking station and at

the other system is transferred by means of a so-called gripping head. The shifting palletizing devices use push rods or slides to transfer the item from the collecting table to a pallet to be loaded. Such palletizing devices have the advantage of a high palletizing capacity and they can be used for different types of objects without the various device parts having to be modified. The advantages of the palletizing devices equipped with gripping heads are that during the palletizing process a certain amount of packaging of the object rings can take place at the same time.
In a known manner, palletizing devices operating with a gripping head comprise a collecting table, the stacking station in which the pallet is loaded, the gripping head and a centering frame that can be moved up and down. In a known palletizing device (DE-GM 71 13 982) an opened carton is loaded through a centering frame by means of a gripping head for a group of bottles with the bottles gripped by the gripping head. The function of the centering frame is to correctly insert the group of bottles picked up by the gripping head into the carton and to keep the side flaps of the carton open so that the gripping head can access the inside of the carton. In order to facilitate this access, the centering frame is designed with a slope on its lower surface so that the side covers of the carton can be folded away outwards. Approximately in the middle of the centering frame there is a fork-like bracket, which, in the case of cardboard boxes arranged next to one another, the one arranged in abutment with one another

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Side cover in its vertical position holds kungmaterials is accomplished.

Prepares the introduction of automation according to an expedient embodiment of the invention Objects in an already erected and manure is the shaping die by inflatable comparatively stiff cardboard generally no bulges formed, which in recesses of the centering difficulties, However, this results in a different framework being included, so that the facts If it applies, several object storage packaging material against the outer objects on top of one another be pressed with a semi-rigid, thin packer of the object layer and thus a packaging material, with the objects being packed close to the contour between the two, To arrange intermediate layers for individual object layers It is irrelevant which shape the individual objects are are. With such larger stacks it is essential to have 10 objects, so that the centering frame that the packaging material is not adapted to the outside of the objects to be packaged bulges, but rather as close to the contour as possible.

packaged objects, such as bottles, are useful further developments of the invention

about it on the one hand the holder of the external one contained in the dependent claims 3 to 11

To increase bottles and, on the other hand, to mark an um- 15 characteristics

propose the stack in a larger packaging container. Proverb 4 it is pointed out that it is already known in principle (FR-PS 20 62 674) that the object-centering frame is used to align the position on the pallet in the case of packaging in the manner of an endless group of bottles : been used where- 20 hose as a stamp,
when the gripping head engages through the centering frame and an embodiment of the invention bottle group below the centering frame is explained in more detail with reference to the drawing. 1 shows a schematic longitudinal section through a work cycle, the intermediate layer is then placed on the conventional palletizing device with a gripping head;
abandoned bottle group, which mostly 25 F i g. 2 shows a perspective view of an automatic palletizing device according to the invention, carried out manually by an operator;
the centering frame must first be moved upwards or F i g. 3 is a perspective view of the movable element being moved in order to have access to the centering frame of the palletizing device placed on the pallet according to the position of objects. After filing F i g. 2;

The centering frame is then again 30 F i g of the intermediate layer. 4 a vertical section through the centering

has been returned, so that with the next frame according to FIG. 3, above which a layer

Beitstakt the gripper head the new position on the pallet bottles is shown, which is carried by the gripper head

can put on through the centering frame. will;

However, this handling is F i g for high numbers of packs. 5 and 6 are schematic sectional views showing

not suitable because the movements of the centering frame 35 the principle of the functioning of the in the F i g. 3 and 4

mens to apply the intermediate layer and explain the centering frame shown;

ϊ separate application of the intermediate layer in comparison to FIG. 7 is a perspective view of a means

(V needed a lot of time, each of which generated a temporary one of the Zenirierframes according to FIGS. 3 and 4

\ 'i Standstill of the gripper head movement requires that the box;

! there are comparatively long packing times of the conventional palletizing devices 40 Fig. 8, 9 and 10 schematic views of the pallet. animal device according to FIG. 2, the three essential phases, the object of the invention is to create a device for the operation of this palletizing device for j ί palletizing of objects, which show the case that the blank stack has a greater rj fully automatic operation with high packing numbers he height abgesetz- the stack already on the pallet ΐ · enables and simultaneously a conformal package 45 has ten objects of; and

! of objects allowed. Figures 11, 12 and 13 correspond to Figures 8-10

! This object is achieved according to the invention by the representations in the event that the stack of blanks is a

j λ characterizing part of claim 1 contains lower height than the stack of already on the pallet

μ; features solved. has attached objects.

According to the invention, the centering frame 50 is first of all shown in FIG. 1 received. The therein darmit the feed device for the intermediate layers or provided conventional palletizing device 1 comprises the packaging material coupled or represents the center essentially a frame 2 on which on the one hand a trier frame is the holder for the feed device, gripping head 4 in the direction of arrow 3 horizontally and which in a guideway of the carrier, on the other hand a movable centering frame 5, formed as a slide, can be moved right between a stack of the package 55. The centering frame 5 materials and the center aligned on the pallet is located vertically above a stacking station β in which the trier frame can be moved. This allows a pallet 7 to be loaded. Initially, in the return movement of the gripping head for the articles stacking station, there is only an empty pallet, on which one of the pallets feed the packaging material, where the sealing layer 8 is arranged.
during the up and down movements of the centering frame to the gripping head 4 is designed so that it is coupled to those of the feed device or the carriage for a hinge connection 9, for example a double the packaging material. This means that parallelogram linkage, in addition to a horizontal movement, a palletizing device with short packing times can also carry out a vertical movement. Another advantage here is that the centering can. The gripping head 4 can therefore on a collecting frame at the same time a shaping die for the table 12 represents collected objects, for example packaging material, so that when it is brought in, grasp 11. and then set it down on the pallet 7, the packaging material on the stack through the after they have previously been centered by the centering frame 5 in a suitable centering frame at the same time the shape of the packaging manner. If the to

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The objects to be palletized are bottles 11. a feeler 24, which is the height of the last counter It is important that these bottles f I are fixed on the collecting stand layer or bottle layer 11 on the pallet 7 ! 2 are arranged in a zigzag offset so that.

the gripping head 4 can grasp them correctly. To this With reference to the F i g. 3 and 4 will be

Purpose is preferably at the rear end of the 5 ends the shaping device described, with Collecting table a corrugated profile strip 13, which is the first of the movable centering frame 5 is provided. the Row of bottles 11 and thus all the rest of the present time for the production of intermediate packaging

hen correctly arranges. or intermediate packaging layers made of finely ribbed

The operation of the palletizing device described, formable and foldable material device used 1 generally agrees with that of the work on the ios already above, either according to the spelling of the prior art explained pallet conventional methods with punch and die or animal device match, so that a new one according to the so-called "wrap-around" method. at Description of the working method superfluous this process is carried out with packaging

In Fig. 2 is an embodiment of an invention which is wrapped around the position around at least one axis.

according to the automatic palletizing device is shown. In this process, therefore, come in handy

Its basic structure corresponds to that of no difficulties due to the folding resistance or

Palletizing device shown in Fig. 1 1. Off the inherent elasticity. If, on the other hand, a box

For the sake of clarity, the palletizer d. H. a structure with bottom and side walls, according to

according to FIG. 2 only shows the area in which the die process is formed, occur due to

Layers separated from the objects, packaged and the elasticity difficulties. These are still larger

be stacked on the pallet 7. The collecting table 12 ßer, if you work with compact cardboard,

and the gripping head 4 are shown in FIG. 2 not shown The side walls of the box have the tendency to

For the palletizing device according to FIG. 2 belongs to an outward howl, and the entire box is in Centering frame 5, the positioning of which is automatically wider and wider in its open upper area,

runs in a controlled manner and which is used, for example, by means of a 2s

Electric wire rope hoist 14 with two different speed side inner surfaces at the same time as shaping

can be proceeded. trize. This lateral inner surface therefore includes in their

A movable frame holder 15 for the Zen upper area has a double bevel 27, which for

trier frame 5, which simultaneously acts as a die for centering molding and for gradually folding a feed

and folds are used for the packaging material of the bottle holder, as well as a shape in its lower region

gene is used as a holder for a feed device 28, which corresponds to the shape of the desired box or container

Used for packaging material that corresponds to the one shown.

The pressing of the packaging material, d. H. the status cuts in the illustrated embodiment is

This feed device has, as an essential part, the position of objects 11 shown in FIG

constituent part of a horizontal carrier 17, carried out by the Raschen case, carried by the gripping head 4

one side to the other side of the stacking station. So that the side walls of the blank 16

in which the pallet 7 is loaded. do not bend outwards due to their elasticity.

This carrier 17, which is thus fixed to the centering frame, has the shape 28 of the lateral inner surface of the center

Men 5 is connected serves as a track for an operating frame 5 a circumferential recess 29,

movable carriage 18, the rails and rollers through which an inflatable, circumferential bead 31 after

is guided and can penetrate inside by means of an electric motor, which is opposite the recess 29

Chain is driven. is supported by a reaction surface 32.

The carriage 18 carries an arm 19, which in turn The F i g. 5, 6 and 7 serve to explain the funkein Gripping member 21 in the form of suction nozzles and something 45 tion principle of the Formgeum described above an axis 20 can be pivoted upwards. exercise device.

The negative pressure in the suction nozzles can either be first of all shown on Fig. 5 received. As already Compressed air with the help of Venturidfisen or directly through, a blank 16 is made of cardboard Connection to a negative pressure network or by its own or from another semi-rigid packaging mate pump be generated. so rial in a position above the centering frame 5

The suction nozzle, which is used as a die during shaping, can thus be displaced by the slide 18
senarm 19 angeord- the stack of blanks 16 supported by the gripping head 4 layer of bottles are net, which are used for packaging, this or other objects 11, which serves as a stamp stack is arranged on one side of the stacking station 6 is lowered and pressed Then the suction nozzle arm 19 with the blank 16 forming the carrier is formed downwards, the cut 16 being sunk so that it can grasp a blank 16 (see FIG. 6).
raised again and moved into the stacking station 6. When the bottom of the Kawo produced in this way, the blank 16 is discharged. Finally, at least 33, a little below the center line of the bead, the suction nozzle arm has arrived in a rest position on the other or the bead 31, these are brought to the side of the stacking station 6 eo blown so that they are in the up to the bottles or

So that the palletizing device completely automa- other objects existing gaps

can work table, the support 17 are two feelers penetrate and thereby complete the folding

assigned, namely a feeler 22, the height of and at the same time the edge of the box slightly wave, the

Stacks of packaging material, d. H. Blanks 16 is forced to follow the contour of the object

as well as a feeler 23, which determines whether the situation is to be taken care of instead of being exploited to the outside world.

Suction nozzle arm 19 in its upper or lower position- During the inflation of the bulges, what no more than

Furthermore, the centering frame 5, which lasts a few seconds, could be the corners of the box

The packaging material is also used to form the 33 glued, folded or stapled.

7 8

After that, the pack can then take several blanks with it from the centering frame at the same time be separated. This can be done, for example, by doing this. The risk of this is due to the Schehen that the object position further lowered folding the flaps or side walls required or that a movable floor 34 is raised incisions, but is cut by the described one or that the centering frame 5 eliminates upward movement. Then the slide 18 with if the pack is to stay in place. its "load" moved over the centering frame 5

After that, the shaping device is for a bit (see I-i g. 10). Controlled by another sensor 26,

more work cycle ready. the carriage 18 is in an intermediate position in the

In Fig. 7, a finished pack in the manner of a box stacking station 6 is stopped. This sensor also controls

33 shown, the side edges of which are slightly corrugated io the lowering of the assembly from the centering frame

and the shape of the contour of the subject layer, d. H. the 5 and carriage 18 at high speed.

Bottles 11, have accepted. From the sensor 24 the upper limit of the previous The device thus enables the processing of the remote object position determined and causes

of semi-rigid, thin packaging material with one that is the assembly of the centering frame 5 and carriage

Of a certain toughness, the use of which is not reduced further with application 18 and that the supply

known shaping processes, for example the suction nozzles with negative pressure is canceled, so

when processing with conventional stamps and that the packaging material or the blank 16

Matrices, currently severe restrictions, can drop a few centimeters,

lies. After a certain delay after the exit

8, 9 and 10 show the mode of operation of the parameters of the blank, the carriage 18 returns to its ruleting device in the event that the amount of the on the production back. Then a new work pallet can then be created 7 stacked stacks smaller than the height of the game begin.

Stacks of packaging material, d. H. from blanks The F i g. 11, 12 and 13 explain how it works

16, or this height is the palletizing device in the event that the stack is on

First of all, reference is made to FIG. 8 received. After the 25 of the pallet 7 is higher than the stack of packaging Gripping head 4 of the palletizing device is a layer on the material 16. Pallet 7 has deposited, it moves up again and over As has already been described, the gripper head 4 is set

the collecting table, which the collecting table 12 according to FIG. At the beginning of a work cycle on an object position

1 corresponds to the pallet 7 from, after which it is raised and over

The carriage 18 and the associated suction nozzle arm 30 return to the collecting table 12 (see Fig. 11).

19 are in the rest position, which in FIG

the left side of the stacking station 6 is the assembly of the centering frame 5 and carrier

The centering frame 5 is at the height of the too 17 quickly raised until the sensor 24 is at the height of the

last item set. upper edge of the last item load

During the return of the gripping head 4, the 35 ge is arranged. It then causes the slide 18 assembly of the centering frame 5 and carrier 17 to be moved quickly to the stack of packaging material,
raised until the sensor 24 has reached the upper limit of the object position when the carriage 18 has reached the end of its movement. When the web has reached, the assembly of centering frame packaging material stack higher than the stack of items 5 and carrier 17 is quickly shut down. The objects placed on the pallet 7, the sensor 22 then controls the transition to the slow sensor 22 to ensure that the said assembly continues to move at the speed of the approach of the suction nozzles, and it searches for the upper limit of the packaging material 16. The sensor 23 causes stacks of material. If, however, both heights are then the completion of the pivoting movement of the suction level, the assembly of the centering frame 5 nozzle arm 19 and the application of negative pressure to the carrier 17 is not moved any further upwards. 45 suction nozzles (see Fig. 12).

Because the said height is reached, the As soon as under control by a so-called Va-

vertical movement is ended and the displacement kuostaten the desired negative pressure is reached

of the carriage 18 initiated, which from its rest position the assembly together with the packaging material

(see FIG. 8) quickly moved up to a position above the packaging al until the sensor 24 reaches the upper one

material stack is moved. 50 determines the limit of the stack on pallet 7.

When the assembly reaches this upper position, control then takes place by means of an end contact

tion in such a way that the Saugdüser.am J9 has slowly, the chute 18 with the packaging material

is lowered somewhat, whereby the suction nozzles are moved into the centering frame 5 in Kon. The feeler 26

be brought clock with the blank 16. causes the carriage 18 to stop and the loading

The lowering of the suction nozzle arm 19, ie. whose movement of the suction nozzles is terminated with negative pressure, see above Pivoting movement is terminated by the sensor 23, which shows that the blank 16 of packaging material by some

serves to control the position of the suction nozzle arm and falls ge centimeters

which then also applies negative pressure to the suction nozzles. After a certain time delay, then

(Fig. 9). finally the slide 18 moved to its rest position

If the negative pressure is under control by a 60 ren (see Figs. 8 and 11).

It can be seen that when the gripping head 4

has enough, the assembly of the centering frame 5 is larger than the centering frame 5 has

and carrier 17 again quickly moved up until the guiding gripper head does not pass through the centering frame.

ler 22 again the upper limit of the packaging material fits. Accordingly, an additional control of the

This movement is provided by the gripping head 4 in which the centering frame 5

Intentional meaning: Because of its speed it enables. is adjustable during weaning for the

the packaging material and especially blanks cases in which the centering frame 5 has a greater thickness

to separate from each other and prevents, for example, as the height of the objects to be palletized 11

ίο

has so that these can be discontinued without them
have to fall free.

The pressing force can be dosed by pressing on the
Bead 31 given pressure is controlled accordingly
thereby taking into account the nature of the objects 11 which form the stack. Consequently
the device can therefore also be used to
Tighter pack objects U that are in
soft packaging.

In addition 6 sheets of drawings

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Claims (11)

Patent claims: 1. Device for the automatic palletizing of objects, in particular bottles, by means of a semi-automatic palletizing machine with a collecting table, a stacking station for loading a pallet, a horizontally and vertically movable gripping head for picking up the bottles from Collecting table, a feed device for the packaging material and with a centering frame that can be moved up and down to center the stacked goods, characterized in that the centering frame (5) is received on a carrier (17) which is the feed device for the packaging material carries, by a slide in the carrier (17) guided slide (18) with a Gripping member (21) for the packaging material (16) is formed, and that the centering frame (S) a Forming die for the packaging material (16) forms 2. Device according to Claim 1, characterized in that the shaping die is formed by inflatable beads (31) which are received in recesses (29) in the centering frame (5). 3. Apparatus according to claim 1 or 2, characterized in that the centering frame (5) has a Has gluing or stapling device for fastening the folded packaging material (16). 4. Device according to one of claims 1 to 3, characterized in that the gripping head (4) The transported object lsge forms the punch for the shaping die 5. Device according to one of the preceding claims, characterized in that the centering frame (S) has a lateral inner surface which slopes outwards in its upper area (27) and which has a shape (28) in its lower region, the dimensions of which are those of the one to be produced corresponds to box-shaped container and the recess (29), the bottom of which has a reaction surface (32) for the inflatable bead (31) 6. Device according to one of the preceding claims, characterized in that the collecting table (12) at its rear end has a corrugated profile strip (13) which is zigzag-shaped Allows division and arrangement of the bottles. 7. Device according to one of the preceding claims, characterized in that the carrier (17) a sensor (22) for the height of the packaging material stack and on the centering frame (5) a sensor (24) for the upper limit of the last Object position on the pallet (7) is located in such a way that the centering frame (5) with the Feed device for the packaging material moved up to the opening of the sensors (22,24) is, and that the return of the centering frame (5) and the feed device to the opening of the sensor (24) takes place. 8. Device according to one of the preceding claims, characterized in that the carrier (17) a sensor (26) is assigned to the carriage (18) in an intermediate position above the Centering frame (5) and the pallet (7) stops. 9. Device according to one of the preceding Claims, characterized in that the centering frame (5) by means of an electric grid (14) in can be moved at two speeds 10. Device according to one of the preceding claims, characterized in that the gripping member (21) the feed device and the carriage (18) together via a pivotable arm (i9) are connected 11. The device according to claim 10, characterized by a sensor (23) which determines the position of the pivotable arm (19)