DK2620377T3

DK2620377T3 - A process for the removal of accumulated folding cartons from a second container

Info

Publication number: DK2620377T3
Application number: DK13151165.1T
Authority: DK
Inventors: Thomas Goldfuss
Original assignee: Thomas Goldfuss
Priority date: 2012-01-28
Filing date: 2013-01-14
Publication date: 2015-12-07
Also published as: EP2620377A2; DE102012107984B4; EP2620377B1; ES2558833T3; PL2620377T3; DE102012107984A1; EP2620377A3

Description

The invention relates to a method of removing flat articles, and in particular collapsed folding boxes, which are arranged loose, next to one another, and upright in outer packaging at least in one layer, from the outer packaging. A method of this kind is known from US 2003/0120387 A1.

In the packaging industry, there are as yet no known automated removal systems for collapsed folding boxes stacked in cardboard packing boxes. The packaging lines for filling the folding boxes are therefore supplied manually. To do this, the outer packaging, which is generally cardboard boxes, is opened, the folding boxes are removed, and are put into the packaging system, all by hand. The folding boxes, which are usually upright and stacked in more than one layer, are not in any regular positions nor are the individual layers of a constant height, due to folding boxes being obliquely located, and because of this easy removal by machine is not possible. Similar problems arise when other flat articles such as cards and sheets or the like are being removed from outer packaging.

With folding boxes, the additional problem arises that their walls have a tendency to spread apart. There is therefore, as a rule, no gap into which a gripper can be introduced between the first and last folding boxes in a layer and the side-walls of the outer packaging. At the moment, it is only the human hands which provide a possible way of gaining access in order to grip and remove a layer of folding boxes. If the surface of the folding boxes is relatively smooth, it is also frequently impossible for a complete layer to be removed all in one go. The folding boxes therefore have to be removed in individual blocks one after another.

The object underlying the present invention is to provide a possible way of removing collapsed folding boxes or other flat articles from outer packaging by machine. The object is achieved by a method of removing flat articles, and in particular collapsed folding boxes, which are arranged loose, next to one another, and upright in outer packaging at least in one layer, from the outer packaging with the help of a gripping means, which method is characterised by the following steps: a) moving the outer packaging such that the articles slide towards one of the side-walls of the outer packaging and a gap comes into being between the opposite side-wall and the first article, b) introducing a gripping jaw of the gripping means into this gap, c) moving the outer packaging, together with the gripping jaw, in the opposite direction such that the articles slide towards the gripping jaw and a gap comes into being between the opposite side-wall from the gripping jaw and the last article, d) introducing a second gripping jaw of the gripping means into the gap, e) moving the gripping jaws together and removing the articles from the outer packaging.

Hence, in the method according to the invention, it is ensured that the articles slide within the outer packaging in such a way that first of all a gap forms between the first article in a layer and one side-wall of the outer packaging and then a gap forms between the last article and the opposite side-wall. Respective gripping jaws are introduced into these gaps and it is then possible for the articles to be removed with the help of these jaws.

To produce such sliding of the articles in the outer packaging, the outer packaging can be pivoted on a transverse axis in steps a) and c), the articles thus sliding, due to the force of gravity, first towards the side-wall and then, in the opposite direction, towards the gripping jaw. Because what is being used is the force of gravity, the pivoting movement of the outer packaging is able to take place relatively slowly.

It is however equally possible in principle for the outer packaging to be accelerated in a straight line and stopped, the articles thus sliding towards the side-wall and, when the movement is in the opposite direction, towards the gripping jaw, due to their inertia. The gaps required for the introduction of the gripping jaws can also be produced by accelerating the outer packaging in a straight line in this way and stopping it. However, with this procedure higher accelerations of the outer packaging are required.

If a plurality of layers of articles are in store in the outer packaging, then a dividing sheet which is situated between the layers can be removed by the gripping means after step e) and steps a) to e) can then be repeated for the next layer until all the layers of articles have been removed from the outer packaging.

In an advantageous refinement of the method, the outer packaging can be opened by the gripping means before step a), which means that this step in the operation likewise no longer has to be performed manually. The gripping means may be fitted with a knife for this purpose. A further increase in the degree of automation can be achieved by having the outer packaging disposed of by the gripping means after said outer packaging has been completely emptied. If the outer packaging is a cardboard box, this can be collapsed by the gripping means and stacked clear of these means.

The invention also relates to an apparatus for carrying out a method according to the invention, having a receptacle for outer packaging which can be moved in a rocking motion at least between two end positions, and having a gripping means having at least two gripping jaws which are movable with the receptacle and are movable towards and away from the latter, and which are adjustable relative to one another.

Because of the possibility of having the gripping jaws follow the movement of the receptacle, the gripping jaws can be introduced into the gaps which, due to the movement of the receptacle, form between the first and last articles and the side-walls of the outer packaging. If the gripping jaws are arranged to the left and right of the layer of articles in the outer packaging, they can be moved together to apply the desired pressure and can thereby clamp the layer of articles and lift it out of the outer packaging.

In a first embodiment the receptacle and the gripping means may each have a means for pivoting. The articles can then be removed from the outer packaging by using the effect of the force of gravity on the layer of articles, which effect creates the gaps required for the introduction of the gripping jaws.

Alternatively or in addition, the receptacle and/or the gripping means may have a linear drive. The gaps required for the gripping jaws can be produced in this way too. What is more, the gripping means may include a linear drive for bringing the gripping jaws up to the outer packaging and taking them away therefrom.

There are particular advantages which result if the gripping means is arranged on a robot arm. The layer of articles which is picked up can then be transferred by the gripping means to, for example, a packaging machine or some other place. The gripping jaws may also be actuated separately and/or may be arranged on separate robot arms.

There are further advantages which result if a suction means for the articles to be removed is arranged on the gripping means, between the gripping jaws. This is an advantage particularly with long layers of articles. The articles are then not only clamped-in between the gripping jaws but are held in addition by the suction means. In this way, even a large number of smooth-surfaced articles which have only a small amount of mutual friction can be removed from outer packaging all in one go.

To allow a match to be made to different contours which the articles to be removed may have, the gripping jaws may preferably be arranged to be jointed to the gripping means. They can thus be brought up against the articles to be gripped obliquely for example. Even greater flexibility can be achieved if the gripping jaws are each formed by two gripping plates which are jointed together. In this way the shape of the gripping jaws can be matched even more satisfactorily to the contours of the articles to be gripped.

It is particularly advantageous in this case if the angular position of the gripping jaws to the gripping means and/or of the two gripping plates of each gripping jaw to one another can be set as a function of the contours of the articles to be removed and/or of the surface characteristics of the articles. If for example the surface of the articles is very sensitive to pressure, then it is preferable for the gripping jaws to be applied to the articles over an area. On the other hand, if the gripping jaws are brought up against the articles obliquely the removal of the articles can take place with a lower force of applied pressure.

It is also useful for the gripping means to have a force-measuring means. Depending on the coefficient of friction which the articles have between themselves, and on the surface characteristics of the articles, the applied pressure from the gripping jaws can then be selected to be just high enough to remove the articles from the outer packaging but not high enough to injure the surface of the articles. If the apparatus according to the invention is to be used particularly for removing collapsed folding boxes, it is also an advantage for the gripping means to have an optical monitoring means, such as a camera for example. The folding boxes, which are not stable in themselves, may be arranged in the outer packaging at different inclinations. The optical monitoring means can therefore be used to detect the contours of the first and last articles before the gripping jaws are introduced into the gaps between the articles and the outer packaging and are brought up against the layer of articles.

In what follows, an example of a method according to the invention will be more closely described, in outline, by reference to the drawings.

Specifically, in the drawings:

Figs. 1 - 6 are schematic views of a receptacle for outer packaging and a gripping means, in different steps of a method according to the invention.

Fig. 7 is a detail view of a second gripping means.

Fig. 8 is a schematic view of the gripping means shown in Figs. 1 - 6 when removing articles from outer packaging which contains two layers of articles.

Figs. 1 - 6 show, in schematic form, a gripping means 10 and a receptacle 11 for outer packaging 12 for articles 13 to be removed, which are collapsed folding boxes in this case. The gripping means 10 has two gripping jaws 14, 15 which are both angled inwards. The articles 13 are arranged loose in the outer packaging 12 and are thus able to slide in the outer packaging 12 in the directions indicated by the double-headed arrow. On the other hand, the walls of the folding boxes 13 have a tendency to spread apart, which means that the folding boxes 13 bear against the two side-walls 12.1 and 12.2 of the outer packaging 12 when the outer packaging 12 is in the rest position shown in Fig. 1. Therefore, it is not possible for the articles 13 to be removed from the outer packaging 12 by the gripping means 16 in the situation shown in Fig. 1.

Because of this, as Fig. 2 shows, the receptacle 11 is pivoted on an axis of pivot 18 in the direction indicated by arrow 17. The rectangular outer packaging 12 as well thus tilts in the longitudinal direction and the articles 13 slide towards the side-wall 12.2 in the direction indicated by arrow 19. A gap 20 thus comes into being between the opposite side-wall 12.1 of the outer packaging 12 and the articles 13. The gripping jaw 14 can be introduced into this gap 20. For this purpose, the gripping means 10 is moved towards the receptacle 11 and at the same time is pivoted in the direction indicated by arrow 21. In Fig. 3, the receptacle 11 is then brought back into a horizontal position by pivoting it in the direction indicated by arrow 22. The gripping means 10 pivots with it, whereby the articles 13 then come to rest against the gripping jaw 14.

The receptacle 11 is then pivoted in the opposite direction, i.e. in the direction indicated by arrow 23. The gripping means 10 as well is carried along in this pivoting movement. The articles 13 thereby slide towards the gripping jaw 14 in the direction indicated by arrow 24 due to the force of gravity and a gap 25 forms between the side-wall 12.2 of the outer packaging 12 and the articles 13. The second gripping jaw 15 can then be introduced into this gap 25 by pivoting the gripping means 10 in the direction indicated by arrow 26. The gripping jaws 14, 15 are then moved somewhat further into the outer packaging 12 and are also moved towards one another in the direction indicated by arrows 28, 29. The arti cles 13 are now clamped-in between the gripping jaws 14 and 15.

In Fig. 6, the receptacle 11 is then pivoted back into a horizontal position and the articles 13 are lifted out of the outer packaging 12 by the gripping means 10 in the direction indicated by arrow 30.

Fig. 7 shows a further gripping means 10’, whose gripping jaws 14’, 15’ are connected to the means 10’ at joints 31, 32. Also, the jaws 14’, 15’ are each formed by two members in plate-form which are connected at respective joints 33, 34. Arranged between the jaws 14’, 15’ is a suction means 35 which, together with the gripping jaws 14’, 15’, holds the articles 13 in the means 10’. What is more, the gripping means 10’ has an optical monitoring means 36 for sensing the contours of the articles 13 and two angle-measuring means 37, 38 for the positions of the gripping jaws 14’, 15’. Also provided is a force-measuring means 39 for determining the forces acting on the articles 13 due to the gripping means 10’. Different articles 13, including ones having a sensitive surface and a surface having only low coefficients of friction, can be handled with the gripping means 10’.

Fig. 8 makes it clear how a plurality of layers of articles 13, which are two layers 13a, 13b in the present case, can be removed from outer packaging 12 by the gripping means 10. The two layers 13a, 13b of articles 13 are separated from one another by a dividing sheet 40 and, once the first layer 13a has been removed, this likewise has to be removed by the gripping means 10 before the second layer 13b can be removed in the way shown in Figs. 1 - 6.

Claims

A method of removing flat articles (13), in particular folded folding boxes arranged loosely adjacent to one another in a package (12) at least in one layer (13a, 13b), from the package (12) by means of a gripper (10, 10 '), characterized by the following steps: a) moving the package (12) such that the articles (13) slide against one (12.2) of the side walls of the package (12) so that a space (20) (b) inserting a gripping jaw (14) of the gripping means (10, 10 ') into this space (20); (c) moving the package (12) together with the gripping member (10) in the opposite direction such that the articles (13) slide against the gripping jaw (14) so that a gap is formed between the opposing side wall (12.2) of the gripping jaw (14) and the last article (13); a second gripping jaw (15) of the gripping means (10) in the gap (25); e) joining the gripping jaws (14, 15) and removing of the articles (13) from the package (12).

Method according to claim 1, characterized in that the package (12) in steps a) and c) is pivoted about a transverse axis (18) such that the articles (13) slide against the side wall (12.2) or the grip jaw (14) due to gravity.

Method according to claim 1, characterized in that the package (12) in steps a) and c) is jerked linearly longitudinally in the longitudinal direction and stopped, so that the articles (13) slide against the side wall (12.1, 12.2) and / or the grab jaw (14). , 15) because of their inertia.

Method according to any of the preceding claims, characterized in that when there is a plurality of layers (13a, 13b) of articles (13) in the package (12), a separating sheet (40) is removed between the layers (13a, 13b). with the gripper (10) after step e) and steps a) to e) are then repeated.

Method according to any one of the preceding claims, characterized in that the package (12) is opened with the gripper (10, 10 ') before step a).

Method according to any one of the preceding claims, characterized in that after the package (12) has been completely emptied, the package (12) is disposed of with the gripping means (10, 10 ').

Apparatus for carrying out a method according to one of claims 1 to 6, with a container (11) for wrapping (12) which can be moved back and forth at least between two end positions and having a gripping means (10, 10) ') with at least two gripping jaws (14, 15; 14', 15 ') which can be moved with the container (11) and moved on and away from it and which can be adjusted relative to each other.

Apparatus according to claim 8, characterized in that the container (11) and / or the gripping means (10, 10 ') each have a pivoting device.

Apparatus according to claim 7 or 8, characterized in that the container (11) and / or the gripping means (10, 10 ') have a linear drive.

Apparatus according to one of claims 7 to 9, characterized in that the gripping means (10, 10 ') is arranged on a robot arm.

Apparatus according to one of claims 7 to 10, characterized in that a suction device (35) for the articles (13) to be removed is arranged on the gripping means (10 ') between the gripping jaws (14, 15; 14', 15 ' ).

Apparatus according to one of claims 7 to 11, characterized in that the gripping jaws (14 ', 15') are arranged jointly connected to the gripping means (10 ').

Apparatus according to one of claims 7 to 12, characterized in that the gripping jaws (14 ', 15') are each formed by two gripping plates which are jointly connected.

Apparatus according to claim 12 or 13, characterized in that the angular position of the gripping jaws (14 ', 15') relative to the gripping means (10 ') and / or of the two gripping plates of each gripping jaw (14', 15 ') relative to each other can be adjusted depending on the contour of the articles (13) to be removed and / or the surface nature of the articles (13).

Apparatus according to one of claims 7 to 14, characterized in that the gripping means (10 ') has a force measuring device (39).

Apparatus according to one of claims 7 to 15, characterized in that the gripping means (10 ') has an optical monitoring device (36).