DE60024523T2 - Method and apparatus for making and applying a flexible heat-shrinkable hood to a palletized load - Google Patents

Description

technical Field of the invention

The The invention relates to a method for shaping and applying an elastic, heat-shrinkable cover on a palletized or palletized cargo, which cover from a bellows hose or a hose with gussets consists. The packaging of palletized cargoes under heat-shrinkable Films are particularly interesting with the appearance of shrink films become, which is a unrolling of the film of coils, the manufacture a dense shell by making a transverse weld and a transverse Section as well as the mechanization of the opening of this shell by Spread the four ends of the gussets of the hose apart enable.

State of technology

The Most of the known machines have a device for opening the above palletized cargo arranged hose, these being accordingly an automated, sequential cycle by means of a roller or chain conveyor in the machine is driven.

at These machines are a unwinding reel for the heat shrinkable hose on Positioned floor and its axis extends parallel to the conveying device the palletized cargo. The unrolled hose will go along brought the machine vertically upwards, so that its opening in about three to four meters above is positioned to the ground. When attaching the case to Replacing the coil requires operator to manually wrap the case in the roles of the opening system introduce. Through this complicated Process and the equally elaborate Maintenance of the opening device of Hose is the presence of guardrails and access ladders required, which increases the dimensions and costs of the system.

at Another type of machine is the hose from a vertical Spool unrolled on the bottom and moved horizontally by placing the welded piece of tubing on his full height open and over the palletized cargo is positioned.

A such arrangement is for low loads, but is not suitable for palletized Charges of two to two and a half meters in height, as they are often in meets the industry; the opening of the hose, which can be up to three meters long, is at this Arrangement practically impossible and the machine would need a height of about six meters, which coincides with the heights of the buildings in which these facilities be set up frequently is not compatible.

Finally will previously used a third type of machines; he includes one Film spool hanging at the bottom near a foil opening, welding and cutting device is arranged. The hose will be in position with the opening pointing upwards and within the tube is a forming device held to an accurate positioning and in advance an adequate opening too guarantee.

One Gripper arm grips the hose at the four ends of the gussets and roll it vertically from the bottom up; after attachment of the Weld and Separating the envelope thus formed guides the gripper arm an opening, upward and rotational movement around the palletized positioned in its vicinity Cover cargo.

The Document EP-A-92922 describes a machine for applying a elastic shell on a palletized cargo. The unwinding reel of the plastic film the shell is not placed on the ground, but on the upper part of the machine frame appropriate. The foil stored on the coil is already welded at regular intervals to closed Floors too and further includes transverse severing lines around pouches to arise with a fixed volume. There is no mechanism for automatic opening of the hose.

object the invention

Of the The invention relates to the shaping and the Method for applying the heat-shrinkable cover to improve, thereby on access bars and stairs for the attitude and maintenance of the mechanical parts to be able to do without and To facilitate the attachment of the tube when replacing the coil.

• – den Schlauch auf einer Lagerungsspule anzuordnen, die auf einer Abrollhaspel nahe dem Boden platziert ist,
• – den Schlauch von der Abrollhaspel abzurollen, wobei sie mit den durch ein Positionierungselement in Abstand gezogenen Falten in vertikaler Position gehalten wird,
• – einen Teil des Schlauchs auf eine Speichertrommel aufzurollen, die fest mit einem Transportarm eines Greifroboters verbunden ist,
• – den Schlauch auf eine vorbestimmte Länge zuzuschneiden und den mittleren Bereich des Schlauchs mittels einer Schweißmaschine zu verschweißen, um eine Schutzhülle mit dichtem Boden zu erhalten,
• – und die auf die Speichertrommel aufgerollte Schutzhülle zu einer Umhüllungsstation zu befördern.

The steps of the method according to the invention are

• - place the hose on a storage spool placed on a decoiler close to the ground,
• To unroll the hose from the uncoiler, keeping it in a vertical position with the pleats drawn by a positioning element,
• To roll up a part of the hose onto a storage drum fixedly connected to a transporting arm of a picking robot,
• To cut the hose to a predetermined length and to weld the middle portion of the hose by means of a welding machine to obtain a protective cover with a dense bottom;
• - And to transport the rolled up on the storage drum protective cover to a wrapping station.

Of the uncoiled part of the protective cover is during transport to the wrapping station open. The protective cover is during the reeling of the tube around the storage drum, which during the downward movement to smoothly wrap the palletized cargo takes place at the four corners of the quadrangular, not welded Ended open.

The Procedure is from a coil at the bottom of the hose To position by means of a with a separating device equipped welding machine welded has been. All mechanical parts are located on the ground, and the ergonomics of the Station to which the hose is applied, when changing the bobbin is optimal because this procedure is very fast. The transverse weld the hose is running in the background long before opening the case and is When opening the shell before cooling very resistant. In the production waiting position, a few minutes or more Can last hours, the interior of the hose is through the Weld protected, so that any ingress of airborne dust prevents becomes; This is particularly beneficial in glassworks where the packaged Products must be protected from this dust because they do not fill getting cleaned.

• – eine Lagerungsspule für den Schlauch,
• – Schweiß- und Schneidvorrichtungen für den Schlauch zur Herstellung der Schutzhülle,
• – einen Mechanismus zum Auseinanderspreizen des Schlauchs während der Abwärtsbewegung in Richtung auf die Ladung,
• – eine motorbetriebene Speichertrommel, auf die ein Teil des durch eine Rückhalteklammer bzw. -klaue gehaltenen Schlauchs aufgerollt wird,
• – und einen Transportarm der Speichertrommel zwischen einer ersten Aufroll- und Schneide- bzw. Abtrennposition des Schlauchs und einer zweiten Position, in der die Schutzhülle auf die palettisierte Ladung aufgezogen wird.

The gripping robot of the forming and wrapping apparatus according to the invention comprises:

• A storage coil for the hose,
• - welding and cutting devices for the hose for the production of the protective cover,
• A mechanism for spreading the hose apart during the downward movement in the direction of the charge,
• A motor-driven storage drum on which a part of the tube held by a retaining clamp or claw is rolled up,
• And a transport arm of the storage drum between a first roll-up and cut-off position of the hose and a second position in which the protective cover is mounted on the palletized load.

Of the Transport arm is in horizontal translation on a carriage mounted in a vertical direction along a fixed Frame is movable. The spreader of the hose is equipped with four rocker arms, with wheels for gripping the rolled up hose in the first position and to open the Hose are equipped in the second position.

To a feature of the invention is a movable in the vertical direction Arm arranged under the rocker arms and with shaping and Grip fingers for gripping the hose at the four corners when wrapping the Charge provided.

One Hot air shrinkage frame is above that Ablegearm arranged and suitable to move in the vertical direction move while allowing an inner rebound of the rocker arms, when the removal arm grips the hose for wrapping the charge.

Of the Gripping robot can move the protective cover over the palletized load 90 ° to one Swivel the vertical axis. Thanks to this possibility the machine can from a station with two or three coils on the essential more difficult rotation of the palletized charges are waived, their dimensions relative to the feed direction of the conveyor not with the given dimensions of width and folds of the hose do not fit; this is often the case Case in the liquid food sector, in which the dimensions of the pallets are 1000 × 1200 mm and 1000 × 600 mm on one and the same production line. The length of the Load on the conveyor is 1200 or 600 mm; and the second format is generally under the Machine turned 90 °, the longer one Side of the load parallel to the axis of the conveyor and parallel to the axis of the coil.

Summary the figures

1 shows a schematic view of the device for shaping and mounting an elastic, heat-shrinkable protective cover according to the invention, wherein the palletized cargo is driven just below the wrapping station;

2 shows the following step during the lowering of the envelope around the palletized charge 1 ;

the 3 . 1.4 . 2.4 . 3.4 and 5 show the individual phases of gripping and winding the film by the robot prior to transport to the wrapping station;

6 Fig. 11 is a plan view of the gripper robot in the case roll-up and-disconnect position A and then in the position B in which the envelope is mounted on the palletized load after vertical and horizontal movement;

7 is one with 6 identical view of a variant embodiment;

1.8 shows the serving station with egg a hot air shrink frame 19 ;

2.8 shows a detail of 1.8 in which the charge 1 placed on the conveyor equipped with a lifting table for forming a fold of the shrunken film under the support plane of the load;

3.8 is one with 2.8 identical view of an embodiment variant in which the charge is deposited on an envelope pallet, wherein between plastic and pallet a plastic film is provided.

description a preferred embodiment

In 1 becomes the palletized charge 1 just underneath the serving station and from a chain or roller table 3 carried. A storage coil 4 for a heat-shrinkable tube or a heat-shrinkable protective cover 2 is provided at the level of the ground on a uncoiler, next to a support frame 7 a gripping robot R. The corrugated hose 2 is after rolling up on the spool 4 folded flat and then by means of a positioning device 6 unrolled and held in a vertical position, the folds are pulled apart to open. A thermal welding connection 5 of the hose 2 is on the positioning device 6 arranged.

A welding machine 15 is formed by two jaws, which are horizontal and symmetrical to the positioning device 6 move. The upper part of the welding machine 15 includes a linear cutter 16 comprising an actuating cylinder and a straight cutting blade.

The gripping robot R has a transport arm 8th on top of a vertical on the support frame 7 translationally movable carriages 30 is held, a motor-driven storage drum 9 that with an inner retention claw 10 is provided, as well as a system of rocking levers 11 , each with four gripping rollers 12 are provided. The spreading of the rocker arms 11 is done by two pneumatic cylinders with hydraulic locking devices and engaging elbows 14 interact, the synchronized Abspreiz- and approaching movements of the rocker arm 11 enable.

A removal arm 18 for the shell 2 can also be along the support frame 7 slide and carry four fingers 17 for shaping and gripping the hose 2 , While feeding the cargo 1 The pre-prepared casing over the wrapping station is released from the rocking levers 11 kept open. The Ablegearm 18 is in a position for receiving the protective cover by the fingers 17 ,

The storage coil 4 of the heat-shrinkable tube 2 is in waiting position on the uncoiler; and the unrolled hose 2 is from the positioning device 6 kept centered to separate the wrinkles. The welding machine 15 has the transverse weld 5 of the hose 2 attached to the positioning device 6 rests and the waiting hose 2 precise holds.

The detail A of the 1 is a cross section of the slightly open tube 2 ; the detail B of the 1 is a cross section of the protective cover in the open position.

2 shows the next step during the lowering of the protective cover around the palletized load 1 around. The finger 17 of the storage arm 18 keep the protective cover open and the gripping rollers 12 the rocker arm 11 keep the open state continuously upright, to avoid friction of the film 2 at the top corners of the palletized cargo 1 to prevent.

At this step, the storage drum 9 motor driven in the unwinding direction, and the retaining claw 10 is open to the engagement area of the film 2 at the level of the thermal weld 5 release. After release of the engagement area of the storage drum 9 spread the gripping rollers 12 to release the protective cover and thus allow their further downward movement until they rest on the palletized charge 1 ,

At the in 3 The step shown is the Ablegearm 18 the protective cover at the end of its downstroke. The conveyor table for the palletized load 1 can with a lifting device 32 be equipped to optimize the positioning of the protective cover in the lower area of the carrying pallet. In general, a supernatant is 2 of the hose, which is then pressed under the lower plane of the support pallet during the shrinkage of the film to the charge 1 firmly connect to the support pallet.

Once the protective cover the gripping rollers 12 left, makes the arm 8th of the gripper robot R a first horizontal translational movement and then a second movement in which it is moved downwards, thus preparing the protective cover, which is intended for the next pallet. The height of this pallet and the corresponding length of the protective cover are measured by means of an additionally provided measuring device. The rocker arms 11 are in this transport phase in an approximate state.

In the storage drum 9 is an opening for positioning the engagement area of the thermal weld 5 in the retention claw 10 after Alignment by rotation of the drum 9 intended. In this phase are the gripping rollers 12 on both sides of the positioning device 6 spreads and sits the thermal weld 5 in the claw 10 firmly.

In 1.4 the gripper robot R is positioned so as to prevent the introduction of the gripping rollers 12 the rocker arm 11 between the gussets of the hose 2 allows. 2.4 is a horizontal section on the plane of the gripping rollers 12 and 3.4 shows the gussets of the hose 2 that of the gripping rollers 12 be recorded. The Ablegearm 18 returns to its original raised position and is ready for a new wrapping process.

5 shows the welding and separation process of the hose 2 after being rolled up around the storage drum 9 and the vertical movement of the transport arm 8th up. Once the jaws of the welding machine 15 for the production of the thermal welding seam 5 Approaching each other, the cut is made by moving the knife 16 , The gripper robot R then transports the protective cover over the wrapping station without waiting for the end of the welding cycle.

During the phase of horizontal displacement of the transport arm 8th About the wrapping station are the rocker arms 11 moved in the direction of their splayed state to make the opening of the non-welded part of the protective cover.

By the return of the gripping robot R in the position of 1 can the fingers 17 of the Ablegearms 18 Grasp the protective cover at the four ends of the spread side gussets. At the same time, the wrapped palletized cargo 1 removed by the transport table and a new load is brought under the machine.

6 is a plan view of the gripping robot R in the rolled-up and severed position A of the protective cover, then in the position B, in which the envelope after vertical and horizontal movement on the palletized charge 1 is pulled up to the open protective cover over the cargo 1 to position. This figure case corresponds to one on the conveyor 3 brought cargo 1 , wherein the length of the pallet in the feed direction of the conveyor 3 is arranged.

7 is one with 6 identical view in case of one on the conveyor 3 brought cargo 1 , wherein the length of the pallet is arranged transversely to the feed direction of the conveyor. In this case, the gripper robot R pivots during its conveying movement by 90 ° from the position A to the position B.

You can see that the 1 to 7 show only the wrapping phase, wherein the shrinkage of the heat-shrinkable film takes place in a station that is located in front of the Umverpackungsstation. The working cycle of a machine according to the 1 to 7 can be up to 200 palletized loads per hour; Instead of palletized cargoes, any other types of products, such as household appliances, can be enclosed.

The 1.8 to 3.8 show a complete machine that performs the wrapping and shrinking at one and the same station. A hot air shrink frame 19 is positioned over it and moves parallel to the Ablegearm 18 of the hose 2 , The rocker arms 11 of the gripper robot R for opening position the open part of the protective cover within the shrink frame 19 , so that the Ablegearm 18 Grasp them and then cover the cargo. If the protective cover on the cargo 1 rests, the frame provides 19 for shrinking the heat shrinkable film by giving it a horizontal hot air jet against the film 2 is blown, in two different cycles:
In 2.8 becomes the charge 1 on the conveyor 3 placed, which is equipped with a lifting table, which allows the formation of a fold of the shrunken film under the support plane of the charge. The Ablegearm 18 bring the protective cover 2 after lifting the cargo 1 on, and the shrinking frame 19 shrinks first the lower part of the protective cover and then the vertical sides of the protective cover during gradual startup.
3.8 shows the case of a protective cover 2 on a cargo 1 is placed on an envelope pallet itself 21 rests. Between the cargo 1 and the carrying pallet 21 is a plastic film 20 intended. The Ablegearm 18 stays in the lower position, and the four fingers 17 ensure the positioning of the protective cover. The shrinkage frame 19 causes a shrinkage of the film 2 from top to bottom and thus shrinks the first side surfaces, positioned in the lower part of the Ablegearm 18 to the protective cover equal to the upper level of the pallet 21 to shrink. The protective cover and the outer part of the foil format projecting beyond the pallet are sealed together under the effect of heat. The Ablegearm 18 then releases downward or sideways to complete the shrinkage of the lower part of the protective cover. This application often results in the packaging of cargoes consisting of glass containers, for example bottles, where the shell formed must be tight on the six sides of the load. Shrinking from below to above, as in the previous case, would entail an air volume in the thermo-sealed protective wrapper which would normally be restricted by the packing would compromise the stability of the cargo.

The working cycle in the type of machines after 1.8 to 3.8 can be up to 120 palletized loads per hour with reduced footprint.

Claims (10)

Method of forming and applying an elastic, heat-shrinkable protective cover to a palletized load ( 1 ), which protective cover consists of a bellows hose, characterized by the following steps - arranging the hose ( 2 ) on a storage spool ( 4 ), which is placed on a decoiler near the ground, - unrolling of the hose ( 2 ) of the uncoiler, this with the by a positioning element ( 6 ) spaced bellows is held in a vertical position, - rolling up a part of the hose ( 2 ) on a storage drum ( 9 ) fixed with a transport arm ( 8th ) of a gripper robot (R), - cutting the hose to a predetermined length and welding the middle region of the hose ( 2 ) by means of a welding machine in order to obtain a protective cover with a dense bottom, and transporting it onto the storage drum ( 9 ) rolled-up protective cover to a station in which it is placed on the load ( 1 ) is applied. Method according to claim 1, characterized in that that the unrolled part of the protective cover during transport to the station, in which it is applied is open. A method according to claim 1 or 2, characterized in that the horizontal on the storage drum ( 9 ) rolled-up protective cover during transport to the application station by a quarter turn. Method according to one of claims 1 to 3, characterized in that the protective cover during the process of reeling of the hose on the storage drum ( 9 ) which, during the downward movement, smoothly applies to the palletized load ( 1 ) is held open at the four corners of the square, non-welded end. Device for shaping and applying an elastic, heat-shrinkable protective cover to a pallet-wrapped load ( 1 ), which protective cover of a bellows hose ( 2 ) formed on a palletized load ( 1 ) is applied by means of a gripping robot (R), which device comprises: - a storage coil ( 4 ) for the hose ( 2 ), - welding and cutting devices for the hose for the production of the protective cover, - and a hose expander mechanism during the downward movement towards the load ( 1 ), characterized in that the gripping robot (R) further comprises - a motor-driven storage drum ( 9 ), to which a part of the by a retaining clip ( 10 ) is rolled up, - and a transport arm ( 8th ) the storage drum ( 9 ) between a first roll-up and cut-off position of the hose and a second position in which the protective cover is placed on the palletized load ( 1 ) is reared. Apparatus according to claim 5, characterized in that the transport arm ( 8th ) in horizontal transverse movement on a carriage ( 30 ) which is vertically translatable along a fixed frame ( 7 ), and that the Abspreizmechanismus of the gripper robot (R) can pivot by 90 °, depending on the positioning of the carrier pallet on the conveyor ( 3 ). Apparatus according to claim 5 or 6, characterized in that the spreading device of the hose with four rocker arms ( 11 ) provided with rollers for gripping ( 12 ) of the rolled-up tube in the first position and for opening the tube in the second position. Apparatus according to claim 7, characterized in that a vertically movable arm ( 18 ) for applying the shell under the rocker arms ( 11 ) and with gripping and shaping fingers ( 17 ) for receiving the hose ( 2 ) at the four corners when applied to the load ( 1 ) is provided. Apparatus according to claim 8, characterized in that a hot air shrink frame ( 19 ) over the arm ( 18 ) is arranged for application and is adapted to move in the vertical direction and thereby an inner rebound of the rocker arm ( 11 ), when the arm ( 18 ) for applying the hose ( 2 ) for application to the load ( 1 ) takes. Apparatus according to claim 9, characterized in that the hot air shrink frame ( 19 ) then becomes active for shrinkage when the hose ( 2 ) through the arm ( 18 ) is positioned for application, either from the bottom to the top after release of this arm or from top to bottom while holding the tube by the arm to the end of the shrinkage of the lower portion of the hose.