DE29901886U1 - Device for removing the strapping element of a strapping from a stack of goods, in particular a bottle crate stack - Google Patents

Description

PAT*ENT LAWYERS

Dipl.-Ing. A. Wasmeier Dipl.-Ing. H. Graf

Authorized before the European Patent Office + Trade Mark Office · Professional Representatives before the European Patent Office + Trade Mark Office

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Date
03 February 1999
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Applicant:

RST Robot System Technology GmbH

Borsigstrasse 5

93092 Barbing/Unterheising

Title:

Device for removing the strapping element of a strapping from a stack of goods, in particular bottle crate stack

Accounts: Bayerische Vereinsbank (bank code 750 200 73) 5 839 Postgiroamt München (bank code 700 100 80) 893 69-801

Place of jurisdiction Regensburg A18387.DOC

Device for removing the strapping element of a strapping from a stack of goods, in particular a stack of bottle crates

For example, in the drinks industry it is common practice to stack (palletize) the bottle crates intended for shipment from the drinks manufacturer to a customer, for example a drinks market, and filled with full drinks bottles on pallets and to deliver them to the customer in this form. In order to prevent the stack of crates from falling apart on the respective pallet, it is also common practice to provide a strapping on the topmost crate of the crate stack, namely in the form of a self-contained strapping element that encloses the crates there, for example a plastic band. Since the crates in one layer of the crate stack each extend with their base into the opening of the crates in the layer below, the strapping also prevents the crate stack as a whole from falling apart.

Appropriate security is also necessary when returning the empties (bottle crates with empty bottles) to the beverage manufacturer. It is therefore usual for the recipient to keep the strapping in its original, closed form and then re-attach it to the top layer of the palletized empties.

Before the empties are processed further by the beverage manufacturer, the strapping must first be removed. Up to now, devices with a knife have been common, which is moved vertically along the respective stack of goods from top to bottom in order to cut an existing strapping or its strapping element (for example, cord or tape). The knife has a suction nozzle connected to a vacuum suction device, through which the severed strapping element is to be sucked away. One problem here is that the plastic straps, which are increasingly used for strapping, are relatively rigid and cannot be removed by suction.

This creates the risk, for example, that such straps or other materials used for strapping fall onto the pallet conveyor used to move the empties and are carried into the system, where such cords, straps, etc. then lead to operational disruptions, for example on shafts, rollers, gears, chain drives, etc.

The aim of the innovation is to show a device (unbinding device) with which a reliable unbinding, i.e. removal of the binding element forming the binding, is possible. To solve this problem, a device is designed in accordance with claim 1.

In a preferred embodiment of the innovation, at least one clamping or holding tool is provided on the robot or on a tool carrier there, in addition to the cutting tool, which is controlled in such a way that the strapping element is grasped and held with this clamping and holding tool at least before the final cutting or severing. The strapping element held on the robot or on the at least one clamping tool there and removed from the stack of goods can then be reliably disposed of with the robot, so that there is no risk of disruption to the treatment system due to strapping elements getting into it.

In one embodiment, the strapping element of the respective strapping is severed at least twice, first on one side and then on another side of the stack of goods, with the strapping element on the other side of the stack of goods being fixed in its original position by a fixing element or a counterholder until it is severed there and grasped with clamping and holding tools. In this case, the strapping is severed on one side of the stack of goods in a first step. In a second step, the strapping element, which is held securely in position by the counterholder, is then grasped on the other side by the clamping tools on both sides of the interface.

Only then is the strapping element severed at this interface and finally, after the counterholder has been moved back, the two short lengths of the strapping element created by the two-fold severing are taken to a receptacle or to a container for disposal.

The advantages of the new device include: Defined detection and cutting;

- after separation, short lengths of the strapping element that can be easily pulled off the stack of goods;

- proper disposal of the removed strapping,

- Avoid particularly long lengths of the strapping element (e.g. bands or cords), which could lead to disruptions in the overall system.

Further developments of the innovation are the subject of the subclaims. The innovation is explained in more detail below using the figures and an exemplary embodiment.

Show it:

Fig. 1 shows a simplified representation and a side view of a debinder according to the innovation;

Fig. 2 is a plan view of the debinder of Fig. 1.

Fig. 3 shows a simplified representation of a tool carrier for use with the unbinding device of Figure 1;

Fig. 4 shows a schematic representation and a top view of a bottle crate stack to explain another embodiment;

Fig. 5 in a similar representation to Figure 3 a tool carrier for use in the embodiment of Figure 4;

Fig. 6 shows a simplified representation and a horizontal section of two retaining strips in another possible embodiment of the invention; Fig. 7 shows an enlarged representation and a side view of a cutting hook to be provided on the tool carrier in another possible embodiment of the innovation.

The debinder, generally designated 1 in the figures, consists, among other things, of a gate-like support frame 2, which is arranged at a debinder position 3' above a conveyor 3. The conveyor 3 is used to transport empties in the form of bottle crates 5' stacked or palletized on pallets 4, which contain empty drinks bottles (not shown), for example beer bottles. In order to prevent the stack 5 of bottle crates 5' from falling apart, the upper layer of these bottle crates 5' is secured with a circumferential band 6 forming a ring anchor or strapping, which also prevents the entire bottle crate stack 5 from moving apart or gaping apart, namely because the bottle crates 5' of each layer engage with their base in the opening of the bottle crates 5' of the layer below.

The bottle crates 5' with the empty bottles stacked on the pallet 4 are returned in this form by a large beverage buyer as empties. In order to process the empties further, it is necessary to remove the belt 6 and dispose of it in such a way that this belt 6 or parts of it are not carried along with the empties on the conveyor 3. The debinder 1 shown in the figures is used to remove the belt 6.

In the embodiment shown, several video cameras 7 are provided on the support frame 2, which are connected to a central control device 8 with an image evaluation device, which also contains a computer, for example. The bottle crate stack 5 conveyed to the debinder 1 on the conveyor 3 is captured on several sides using these cameras 7, namely in the embodiment shown on the two sides 9 and 10 running parallel to the transport direction A of the conveyor 3, and specifically also in the area of the two upper layers of the bottle crates 5', where the belt 6 is assumed to be. In the control device 8, the image information supplied by the cameras 7 is evaluated according to special criteria defining the belt 6 and its position, so that the exact position of the belt 6 on the two sides 9 and 10 is defined in the control device 8 when the respective bottle crate stack 5 is in the position 9 and 10 after passing the video

Cameras 7 have reached the delivery position 3'.

As soon as the box stack 5 has reached the unbinding position 3', the transport device 3 is stopped and a band holder 11 or its counter holder or holding strips 12 are pressed against the side 10 of the box stack 5 in the area of the upper box layers under the control of the control device 8. The two holding strips 12 are each oriented in the vertical direction and spaced apart from one another, so that when the band holder 11 is pressed against the side 10, a partial length of the band 6 extends between the two holding strips 12.

At the unbinding position 3', a robot, generally designated 13 in the figures, is provided on the top of the support frame 2, the arm 14 of which can be moved in several axes and, due to the arrangement of the robot 13 above the conveyor 3, can also reach all sides, and in particular the sides 9 and 10, of the bottle crate stack 5 positioned at the unbinding position 3'. A tool carrier 15 is pivotably provided on the arm 14, which, according to Figure 3, has a cutting pliers 17 on one side and two band clamps 16 on the opposite side and a cutting pliers 18 in between. The cutting pliers 17 and 18 as well as the band clamps 16 can each be individually actuated by a drive, for example a pneumatic drive.

To remove the band 6, the band holder 11 is first activated under the control of the control device 8, so that its holding strips 12 clamp or fix the band 6 between itself and the stack of boxes 5. Then, under the control of the control device 8 or the data determined by this control device about the course of the band 6 on the sides 9 and 10, the robot 13 and the tools provided on the tool carrier 15 are controlled in such a way that the band 6 is first cut approximately in the middle of the side 9 with the cutting pliers 17. Then the arm 14 with the tool carrier 15 is moved to the side 10. The band 6 is then grasped with the clamps 16 approximately in the middle of the side 10 in two areas separated from each other by the spatial distance of the clamps 16 and with

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clamped to these clamps 16. The pliers 18 are then operated and the band 6 is then also cut on the side 10 between the two clamps 16. The band is still held to the clamps 16.

After the band 6 has been severed on the side 10, the band holder 11 is moved back to its starting position while the band 6 is still held on the clamps 16, so that the band 6 or the two band parts are also released on the side 10 and can be pulled off the bottle crate stack 5 by the robot 13, held on the clamps 16, and placed in a disposal container 19 provided on the side of the conveyor 3.

In the figures, 20 indicates lamps that ensure sufficient illumination of the bottle crate stacks 5 on the sides 9 and 10 as they move past the cameras 7.

In the described embodiment, it was assumed that the cameras 7 are stationary or essentially stationary on the support frame 2 in the transport direction in front of the unbinding position 3'. It is also possible to provide at least one video camera 7 on the robot 13 or on its working arm 14.

Furthermore, in the embodiment shown, it was assumed that the band 6 is only cut on two opposite sides 9 and 10 of the bottle crate stack 5. In principle, it is also possible to cut the band 6 more than twice, for example on all four sides 9, 9', 10 and 10' of the bottle crate stack 5. In this case, in order to fix the band 6 in its position defined by the optical position determination, it is then necessary to provide band holders 11 not only on side 10, but for example on all four sides, the holding strips or holding elements 12 of which can be individually controlled. Furthermore, several tool groups consisting of a band clamp 16 and a cutting pliers 17 are required on the tool carrier 15.

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The operation then takes place according to Figure 4, e.g. progressively in a circumferential direction B, in such a way that before the band 6 is cut, it is fixed on all sides of the bottle crate stack 5 by the band holders 11. The band 6 is cut, for example, initially on side 9 between the holding elements 12 of the band holder 11 there, with one side of the band 6 already being held by a clamp 16 before it is cut, in an area of the band 6 that is offset in the direction of arrow B relative to the cut to be made, i.e. follows the position of the cutting point. The band holder 11 is then deactivated on side 9 and the band 6 is thus released on this side.

The arm 14 is then moved further to the side 10', whereby the length of tape already held on the clamp 16 is carried along. On the side 10', the tape 6 is then first grasped between the holding elements 12 of the tape holder 11 there with another tape clamp 16 and then severed. After the tape 6 has been severed on the side 10', the tape holder 11 there is deactivated so that two ends of the tape 6 are now held on two clamps 16 of the tool carrier 15'. The tape 6 is then severed in the same way on the side 10 and then on the side 9', so that finally four partial lengths of the original tape 6 are held on four tape clamps 16 and can be disposed of via the container 20.

What all designs have in common is that the activated tape holder 11 holds the tape 6 on the respective side of the bottle crate stack 5 at least until the tape on the respective side is gripped by the associated tape clamp on the robot arm 14 or on the tool carrier there.

Figure 6 shows, in an enlarged view and in horizontal section, two more retaining strips 12a, which are part of a band holder not otherwise shown, and which, at their position against the bottle crate stack for holding the band 6,

it· · ·

side are provided with an elastic or flexible support 21.

Furthermore, each holding strip 12a has a knife 22 with a cutting edge 23 on its side facing the bottle crate stack 5, which is located to the side of the support 21 and extends in the longitudinal direction of the holding strip 12a, for example over the entire length of this holding strip. In the normal state of the support 21, the respective knife 22 with the cutting edge 23 does not protrude beyond the front of the support.

The two knives 22 are located on the facing longitudinal sides of the holding strips 12a.

If a band 6 cannot be pulled off the bottle crate stack 5 despite the previously described cutting by means of the cutting pliers 17 or 18 with the band clamp 16 because the band 6 is, for example, knotted or otherwise attached to the bottle crate or to the empties (bottles), this band 6 is stretched over the flexible supports 21 and the then exposed blades 22 with the clamping pliers 16 moving away from the bottle crate stack 5 (arrow B in Figure 6) and with the holding elements 12a initially remaining on the bottle crate stack in such a way that the band 6 is cut off at the blades 22 or their cutting edges 23, so that at least a large part of the band 6 is removed from the bottle crate stack 5 and the remaining part no longer poses a risk of disruption to subsequent equipment (conveyors, etc.).

It is often usual for the bottle crates stack 5 returned on the pallet 4 as empties to be secured not with the tape 6, but with an adhesive tape enclosing the bottle crates of an upper layer of the crate stack, as indicated in Figure 1 with broken lines at 6a. Such self-adhesive tapes are also known as package tapes.

Cutting through such an adhesive tape 6a with a scissor-like

It is not possible to use a cutting tool or scissor-type cutting pliers.

In order to be able to untie or unsecure bottle crate stacks 5 that are secured with adhesive tapes 6a in individual cases, additional hooks 24 are provided on the clamping pliers 17 and 18, one of which is shown in Figure 7. These hooks 24 serve, on the one hand, to grasp the usually used tapes 6 with the hook end 24' before they are severed with the cutting pliers 17 or 18, to move them away from the bottle crate stack 5 (arrow C in Figure 7) and to move them into the respective cutting or separating tool for separation. By appropriately controlling the robot 13 or the tool carrier 15, 15', the hook 24 with the hook end 24' is inserted, for example from below, between the respective bottle crate and the tape 6 in order to grasp the tape 6.

In order to be able to cut through the adhesive tapes 6a, which are only used occasionally, the respective hook 24 has a cutting edge 25 on the front below the hook end 24' and where this hook end merges into the remaining hook 24. As soon as the control device recognizes an adhesive tape 6a based on the image signal supplied by the respective video camera 7 due to its larger width, the robot 13 is controlled so that this adhesive tape is cut through several times with the help of the cutting edge 25, in each case in the connection area between two adjacent bottle crates 5'. For this purpose, the tool carrier 15 or 15' is moved in such a way that the hook 24 with the cutting edge 25 carries out a cutting movement in the vertical direction in the gap formed between two adjacent bottle crates, for example from top to bottom.

List of reference symbols Debinder 1 Support frame 2 carrier 3 palette 4 Bottle crate stack 5 Bottle crate 5' tape 6 Video camera 7 Control device 8th Side of the bottle crate stack 9.9' Side of the bottle crate stack 10, 10' Band holder 11 Holding element or holding strip 12 robot 13 Robot arm 14 Tool carrier 15, 15' Band clamp 16 Cutting pliers 17, 18 Disposal container 19 lamp 20 Edition 21 Knife 22 Cutting 23 Hook 24 Hook end 24' Cutting 25

A18387.DOC

Claims (16)

• · m · Protection claims 1. Device for removing the strapping element (6) of a strapping from a stack of goods, in particular a bottle crate stack (5), characterized by an electronic control device (8) with at least one optoelectronic sensor (7) for detecting the position of the strapping element (6) on at least one side of the stack of goods, and by a robot (13) with a working arm (14) which can be moved in several axes under the control of the control device (8) and has a tool carrier (15, 15') also controlled by the control device (8) with at least one separating or cutting tool (17, 18) for separating the strapping element (6), wherein the control device (8) is designed such that it detects the position of the strapping element (6) on at least one side (9, 9', 10, 10') of the stack of goods and controls the robot (13) to separate the binding element (6) on this at least one side (9, 9', 10, 10') of the stack of goods. 2. Device according to claim 1, characterized in that the at least one opto-electrical sensor is an opto-electronic scanning device, preferably a scanning device operating with laser light. 3. Device according to claim 1 or 2, characterized in that the at least one opto-electronic sensor has at least one video camera (7) or is formed by at least one video camera (7). 4. Device according to one of the preceding claims, characterized in that the control device (8) has at least one image processing device for determining the position of the strapping element (6) on the at least one stack side. 5. Device according to one of the preceding claims, characterized in that the robot (13) is arranged in an unbinding position ( ³¹ ) above the stack of goods (5). 6. Device according to claim 5, characterized in that the robot (13) is arranged on the top of a support frame, preferably a gate-like support frame (2). 7. Device according to one of the preceding claims, characterized in that the at least one opto-electronic sensor (7) is provided on a frame of the device. 8. Device according to one of the preceding claims, characterized in that the at least one opto-electronic sensor (7) is provided on the robot (13) or on the working arm (14) of the robot (13). 9. Device according to one of the preceding claims, characterized in that at least one fixing element (11) is provided, which fixes the strapping element (6) on at least one stack side (9, 9', 10, 10') in the position detected by the opto-electronic sensor until it is severed on this side. 10. Device according to one of the preceding claims, characterized in that at least one clamping or holding tool, preferably in the form of a holding clamp or a holding pliers (16) is provided on the tool carrier (15, 15'), with which the strapping element (6) is grasped and held at least on one side of the cutting or separating point, controlled by the control device. 11. Device according to claim 10, characterized in that on the tool carrier (15, 15') at least two holders (16) for holding or grasping the Strapping elements (6) are provided on both sides of the respective separation point. 12. Device according to one of the preceding claims, characterized in that the at least one fixing element (11) has a preferably strip-like holding element (12, 12a) with which the strapping element (6) is held or fixed until it is severed by pressing it onto the stack side (9, 9', 10, 10'). 13. Device according to claim 12, characterized in that an additional cutting or separating knife (22) is provided on the holding element. 14. Device according to claim 13, characterized in that the additional cutting or separating knife (22) has a cutting edge (23) which is only exposed or effective when a pull is exerted on the strapping element (6). 15. Device according to one of the preceding claims, characterized in that a hook (24) for engaging behind the strapping element (6) is provided on the respective separating or cutting tool (17, 18). 16. Device according to claim 15, characterized in that a cutting edge (25) is provided on the hook (24) for cutting through a strapping element (6a) fixed to the stack of goods, for example fixed by gluing.