EP0253229A2 - Installation for palletizing containers made of magnetically seizable material - Google Patents

Installation for palletizing containers made of magnetically seizable material Download PDF

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Publication number
EP0253229A2
EP0253229A2 EP87109578A EP87109578A EP0253229A2 EP 0253229 A2 EP0253229 A2 EP 0253229A2 EP 87109578 A EP87109578 A EP 87109578A EP 87109578 A EP87109578 A EP 87109578A EP 0253229 A2 EP0253229 A2 EP 0253229A2
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EP
European Patent Office
Prior art keywords
containers
belt
cans
feed belt
setting
Prior art date
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.)
Granted
Application number
EP87109578A
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German (de)
French (fr)
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EP0253229B1 (en
EP0253229A3 (en
Inventor
Karl Heinz Bullinger
Ewald Hölderle
Ewald Fallenstein
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Staehle Blechpackungen GmbH
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Staehle Blechpackungen GmbH
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Publication of EP0253229A2 publication Critical patent/EP0253229A2/en
Publication of EP0253229A3 publication Critical patent/EP0253229A3/en
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    • 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/54—Feeding articles along multiple paths to a single packaging position
    • 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
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles

Definitions

  • the invention relates to a device for palletizing containers made of magnetically detectable material, in particular containers, the height of which is a multiple of the diameter.
  • Portal robots are used for loading pallets, boxes and the like, in which a gripper is held on a portal frame, which grips in several directions is movable.
  • these known machines can only be used for packaged goods that are stable in themselves and are provided with straight-walled surfaces in all three levels. These packaged goods must therefore have good stability.
  • Another disadvantage of these known gantry robots is the low speed in relation to the ejection speed of high-performance production lines, as are usually found for the production of round cylindrical cans.
  • the invention has for its object to design a device of the type mentioned in such a way that the containers in question are automatically unloaded into boxes.
  • an at least one feed belt spanning portal frame is provided, on which a transversely to the feed belt and vertically movable setting head is arranged with a lifting and lowering magnetic bar for detecting a number of containers that at the end of the feed belt a stop and movable side guides are provided, at least one packing station being arranged next to the end of the infeed conveyor, and in that the containers' entry into the end of the infeed conveyor, the movement and lowering of the setting head or the magnetic bar, and the removal of the filled cartons via computer-controlled single-axis positioning controls (CNC) is provided, with a higher-level coordination via a programmable logic controller (PLC).
  • CNC computer-controlled single-axis positioning controls
  • An advantageous embodiment is that the feed belt ends in two parallel belt parts and between the belt parts two packing stations are provided and that a set head is assigned to each band part.
  • Such a device has an output of about 300 cans per minute. This output can be increased to 500 cans per minute in that the tape part has two parallel tapes running directly next to one another, two setting heads with their respective magnetic strips being provided for two rows of cans.
  • stop is movable and controllable by means of the control device in order to achieve a row offset of the containers.
  • a switch controlled by the control device is provided at the transition of the feed belt into the belt parts and that the inflow of the containers to the ends of the belt parts can be regulated by means of allotment stars.
  • horizontal guide rods are arranged on the portal frame, on which a carrier plate is guided with the setting head and that the carrier plate is driven by means of a ball screw.
  • the setting head be attached to a vertically arranged driven ball screw.
  • the invention has the advantage that the containers are guided in the entire machine at the end of the production line so that the cans cannot tip over.
  • the control and holding devices are designed in such a way that, when the can stream is stopped and restarted, a single can or an entire row of cans cannot tip over.
  • a high volume capacity can be achieved by not picking up individual cans, but rather a whole row of a layer image and placing them in the carton. Here, too, the row of cans is forced into place until it is securely placed in the box and remains there.
  • the packing picture d. H. You can choose whether the cans are in rows next to each other or on gaps. Furthermore, the device can be adjusted to the size and the number (selection buttons)
  • Another feature of the invention is the feeding of the cardboard boxes (trays) to the two packing stations arranged between the belt parts. These boxes are brought into the machine via feed belts in the cycle of the machine or the loading process, fed to the two packing stations and aligned there in two directions in the horizontal plane.
  • Another advantage of the machine is that the basic principle of the work flow of the machine is reversible by another programming of the CNC control. Then the machine can be used as an unloader for the boxes, e.g. B. for loading filling lines, as they are usually used for filling aerosol cans.
  • FIG. 1 shows a top view of the entire device, the containers 1 coming from the production line being fed via a feed belt 2.
  • a switch 3 which divides the feed belt into two belt parts 4, 5.
  • the switch 3 is set with the aid of the counting star 28.
  • the control takes place essentially via light barriers 6.
  • Packing tapes 10 are provided parallel to the tape parts 4, 5.
  • the empty boxes are inserted with the aid of sliding cylinders 11.
  • movable side guides 12 are provided, the spacing of which can be changed with the aid of pressure cylinders 13. These side guides 12 serve to align the counted row of cans. The distance to the row of cans is chosen so that there is little play. Furthermore, at the end of the band parts 4, 5 there is a movable stop 14, which enables the rows of cans to be offset in the packing station 7. This stop 14 is provided with a pressure cylinder drive 15 (Fig. 5). The filled boxes 16 are then conveyed away via the belt 10.
  • setting heads 17 For gripping and moving a row of cans at the end of the band parts 4, 5 are used setting heads 17 which are arranged on a portal frame 18 so as to be displaceable. Each setting head 17 is provided with a magnetic strip (27), the length of which corresponds to the length of the row of cans to be detected.
  • the setting head 17 is in this case fastened to a vertical guide bushing 21 which in turn is held on a carrier plate 19.
  • the vertical guide bushing 21 receives a drive motor with a spindle in order to change the height of the setting head.
  • the carrier plate 19 is slidably arranged on horizontal guide rods 20, the guide rods 20 being supported on the portal frame 18.
  • the two spindles for the horizontal and vertical displacement are driven by disc-type motors in order to be able to precisely maintain the required displacement.
  • a safety device is provided in the setting head 17 in the event of malfunctions, for example when the height changes due to falling containers.
  • the setting head 17 is supported by a spring 23 and as soon as the position changes, the machine is switched off via corresponding limit switches.
  • the device operates as follows.
  • the containers or cans 1 coming from the production line via the feed belt 2 are distributed by means of the switch 3 to the two belt parts 4, 5 depending on the fill level.
  • the respective metering star 24 counts the corresponding quantity of cans onto the respective belt part 4, 5.
  • the over the control preselected row offset is achieved by means of the movable stop 14. If there is an empty carton 9 in the packing station 7, the counted row of cans in the belt part 4 or 5 is aligned by the movable side guides 12. From the row of cans thus aligned, the setting head 17 located on the vertical axis 21 moves down to the corresponding can height.
  • the magnetic bar 27 located in the setting head 17 is switched down.
  • the aligned row of cans is magnetically picked up by the setting head 17.
  • the row of cans located on the setting head 17 is moved upwards over the vertical axis corresponding to the guide bushing 21 until a command sets the horizontal axis in motion in accordance with the horizontal guide 22.
  • two mutually independent functions are triggered. First, the respective band part 4, 5 is free and is available for a new counting process, which is triggered immediately. Second, the setting head 17 moves down to the pack level. When the respective spindles have reached the packing level and report "target reached", the magnetic bar 27 located in the setting head 17 is switched upwards.
  • the packaged goods are released and stand on the cardboard in the packing station 7. Both setting heads 17 move into the starting position in order to pick up the next row of cans provided. This process is repeated until the box is filled.
  • the packing process is stopped.
  • the corresponding lock for the filled carton is opened and runs on a take-off belt, from where the carton in question can be placed on a pallet by hand.
  • After passing A light barrier releases the next empty box 9, which runs into the machine and is brought into the appropriate position in the packing station 7 or in front of the packing station 7. Then a new packing process is initiated.
  • the two machine halves work independently of each other.
  • the binary input signals coming from the process and from the CNC axis cards are processed sequentially by the central unit according to a program that is located in the program memory.
  • the central unit receives the binary input signals from the process and from the CNC axis cards and processes the binary input signals from the process and from the CNC axis cards.
  • the central unit processes sequentially by the central unit according to a program that is located in the program memory.
  • the associated binary outputs valves, contactors, lamps, etc.
  • All data for the changeover to a different product dimension are contained in the PLC and can be selected using the decade switch.
  • the single-axis positioning control is used for position control and for moving a motor-driven ball screw 22 into a specific position.
  • a certain number of positioning blocks with information on the traversing speed and the next traversing block to be processed is loaded into the memory of the CNC control using the programming and operating device.
  • the CNC control can connect to the PLC via two input / output interfaces. All functions of the CNC control are specified and controlled in the normal operating sequence by the PLC.
  • An analog interface controls the downstream pulse-width-modulated three-phase servo amplifier to control the motor.
  • the actual position of the ball screw 22 is detected by the incremental angle encoder, reported to the CNC control and evaluated there accordingly. This creates a closed position control loop that guarantees that the spindle is held precisely in the programmed position.
  • the control of the vertical circulation spindles 21 is carried out analogously.
  • the servo frequency converter has the task of converting the small analog signal coming from the CNC control into a large current for generating a rotary movement of the motor proportional to the analog signal.
  • the tachometer generator which is rigidly coupled to the motor, returns the output signal corresponding to the speed to the amplifier and ensures that the travel speed specified by the CNC is maintained.
  • the rotor position encoder built into the motor reports the respective rotor back to the frequency converter and ensures the correct energization of the three windings contained in the synchronous motor.
  • the programming and operating device enables various inputs to the CNC single-axis positioning controls. All commands required for handling are sent to the individual axes with the control unit.
  • FIG. 6 to 8 show a further embodiment of the device, the same parts being provided with the same reference numerals.
  • the band part 4, 5 is divided into two parallel belts 4 ⁇ , 4 ⁇ and 5 ⁇ , 5 ⁇ in its end region.
  • a stop 14 and side guides 12 for aligning the counted rows of cans 25 and 26, respectively.
  • set heads 17 with two magnetic strips 27, which can be moved relative to one another, are used.
  • These magnetic strips 27 capture the rows of cans End of the belts 4 ⁇ , 4 ⁇ or 5 ⁇ , 5 ⁇ and transport them into the empty cardboard boxes 9.
  • the setting head located on the outside is shifted towards the other setting head, so that the corresponding packing image is generated in the box.
  • FIG. 7 shows in the left part of the device the moment at which the rows of cans are gripped by the magnetic strips 27, while the right part of the figure shows the rows of cans in a packaging position.
  • the movable side guides 12 are located on the outside in each case. It has also proven to be advantageous in the area between the counter star 24 and the end of the belts 4, 5 or 4 4, 5 ⁇ or 4 ⁇ , 5 ⁇ instead of a conveyor belt for the containers 1 Provide drive chains.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Specific Conveyance Elements (AREA)
  • Wrapping Of Specific Fragile Articles (AREA)

Abstract

The installation is provided for palletising containers 1, preferably cans, whose height is a multiple of the diameter, the containers 1 consisting of a magnetically seizable material. The cans are guided by means of a feed belt 2 into two parallel-running belt parts 4, 5, between which packing stations 7 are provided. The packing stations 7 are bridged by a portal frame 18 on which an elongate setting-down head 17 which covers a setting-down row is arranged transversely with respect to the longitudinal direction of the belt parts 4, 5 and vertically displaceably. Situated at the end of the belt parts 4, 5 is an adjustable stop 14 and also movable lateral guides 12. The entry of the containers 1 into the belt parts 4, 5, the movement and lowering of the setting-down hat 17 or the magnetic strip takes place via a computer-controlled CNC control, a master coordination being effected by means of PC. The same control also feeds the empty cartons to the packing stations 7 via a feed belt 8 and by means of stops and insertions, and the ejection of the filled cartons 16 takes place synchronously with the loading cycle at the packing stations. <IMAGE>

Description

Die Erfindung betrifft eine Vorrichtung zum Palettieren von Behältnissen aus magnetisch erfaßbarem Material, ins­besondere von Behältnissen, deren Höhe ein Mehrfaches des Durchmessers beträgt.The invention relates to a device for palletizing containers made of magnetically detectable material, in particular containers, the height of which is a multiple of the diameter.

Bei diesen Behältnissen handelt es sich überwiegend um Aerosoldosen, die üblicherweise auf schnell laufenden Fertigungsstraßen hergestellt werden, deren Ausstoß bis etwa 300 Dosen pro Minute beträgt. Im Gegensatz zu der Produktion von Konservendosen der Getränkedosen ist das Palletieren derartiger Aerosoldosen problematisch, weil diese sehr schlank, hoch und kopflastig sind und daher die Standfe­stigkeit extrem gering ist. Bei der geringsten Erschüt­terung fallen diese Dosen um, so daß das Verpacken in Kartons von Hand vorgenommen wurde. Hierbei wurden re­chenartige Hilfsgeräte benutzt, bestehend aus einer An­zahl von nebeneinander befindlichen Stangen, auf denen die einzelnen Dosen aufgefädelt wurden. Um mit dem Aus­stoß Schritt zu halten, mußte eine entsprechende Anzahl von Personen eingesetzt werden. Hierbei handelt es sich um eine äußerst monotone Arbeit und es wird der Arbeits­takt der Fertigungslinie den arbeitenden Personen aufge­zwungen.These containers are predominantly aerosol cans, which are usually manufactured on fast-running production lines, the output of which is up to about 300 cans per minute. In contrast to the production of cans for beverage cans, the palletizing of such aerosol cans is problematic because they are very slim, high and top-heavy and therefore the stability is extremely low. At the slightest vibration, these cans fall over, so that packing in boxes was done by hand. In this case, rake-like auxiliary devices were used, consisting of a number of rods located next to one another, on which the individual cans were threaded. A corresponding number of people had to be deployed to keep up with the emissions. This is extremely monotonous work and the work cycle of the production line is forced on the working people.

Zum Beladen von Paletten, Kartons und dergleichen werden Portalroboter eingesetzt, bei denen an einem Portalrahmen ein Greifer gehaltert ist, der in mehreren Richtungen verschiebbar ist. Diese bekannten Maschinen sind jedoch nur für Packgüter verwendbar, die in sich stabil und in allen drei Ebenen mit geradwandigen Flächen versehen sind. Diese Packgüter müssen demnach eine gute Standfestigkeit aufweisen. Ein weiterer Nachteil dieser bekannten Portalroboter be­steht in der geringen Geschwindigkeit im Verhältnis zur Ausstoßgeschwindigkeit von Hochleistungsfertigungsstraßen, wie sie üblicherweise für die Fertigung runder zylindrischer Dosen anzutreffen sind.Portal robots are used for loading pallets, boxes and the like, in which a gripper is held on a portal frame, which grips in several directions is movable. However, these known machines can only be used for packaged goods that are stable in themselves and are provided with straight-walled surfaces in all three levels. These packaged goods must therefore have good stability. Another disadvantage of these known gantry robots is the low speed in relation to the ejection speed of high-performance production lines, as are usually found for the production of round cylindrical cans.

Der Erfindung liegt die Aufgabe zugrunde, eine Vorrichtung der eingangs genannten Art so auszubilden, daß die betref­fenden Behältnisse automatisch in Kartons abgeladen werden.The invention has for its object to design a device of the type mentioned in such a way that the containers in question are automatically unloaded into boxes.

Diese Aufgabe wird nach der Erfindung dadurch gelöst, daß ein wenigstens ein Zuführband überspannender Portal­rahmen vorgesehen ist, an dem ein quer zum Zuführband und vertikal verfahrbarer Setzkopf mit einer heb- und senkbaren Magnetleiste zum Erfassen einer Reihe von Be­hältnissen angeordnet ist, daß am Ende des Zuführbandes ein Anschlag sowie bewegliche Seitenführungen vorge­sehen sind, wobei neben dem Zuführbandende wenigstens eine Packstation angeordnet ist, und daß der Einlauf der Behältnisse in das Zuführbandende, das Verfahren und Absenken des Setzkopfes bzw. der Magnetleiste und das Abnehmen des gefüllten Kartons über computer­gesteuerte Einachspositioniersteuerungen (CNC) vorgesehen ist, wobei eine übergeordnete Koordination über eine speicherprogrammierbare Steuerung (SPS) erfolgt.This object is achieved according to the invention in that an at least one feed belt spanning portal frame is provided, on which a transversely to the feed belt and vertically movable setting head is arranged with a lifting and lowering magnetic bar for detecting a number of containers that at the end of the feed belt a stop and movable side guides are provided, at least one packing station being arranged next to the end of the infeed conveyor, and in that the containers' entry into the end of the infeed conveyor, the movement and lowering of the setting head or the magnetic bar, and the removal of the filled cartons via computer-controlled single-axis positioning controls (CNC) is provided, with a higher-level coordination via a programmable logic controller (PLC).

Eine vorteilhafte Ausführungsform besteht darin, daß das Zuführband in zwei parallel verlaufenden Bandteilen endet und zwischen den Bandteilen zwei Packstationen vorgesehen sind und daß jedem Bandteil ein Setzkopf zugeordnet ist.An advantageous embodiment is that the feed belt ends in two parallel belt parts and between the belt parts two packing stations are provided and that a set head is assigned to each band part.

Eine derartige Vorrichtung hat eine Leistung von etwa 300 Dosen pro Minute. Diese Leistung läßt sich auf 500 Dosen pro Minute dadurch erhöhen, daß das Bandteil zwei parallele, unmittelbar nebeneinander verlaufende Bänder aufweist, wobei zwei Setz­köpfe mit ihren jeweiligen Magnetleisten für zwei Dosenreihen vorgesehen sind.Such a device has an output of about 300 cans per minute. This output can be increased to 500 cans per minute in that the tape part has two parallel tapes running directly next to one another, two setting heads with their respective magnetic strips being provided for two rows of cans.

Vorteilhaft geht man hierbei so vor, daß die Setzköpfe einer Einheit gegeneinander verschiebbar sind.It is advantageous to proceed in such a way that the setting heads of a unit can be moved relative to one another.

Es ergibt sich somit eine wesentliche Leistungsstei­gerung ohne besonderen baulichen Mehraufwand. Unter Beibehaltung der Leistung von 300 Dosen pro Minute kann die Vorrichtung nur halbseitig gebaut werden, was zu einer Reduzierung der Herstellungskosten auf etwa 60 % führt.This results in a significant increase in performance without any special additional construction work. While maintaining the output of 300 cans per minute, the device can only be built on one side, which leads to a reduction in the production costs to approximately 60%.

Weiterhin ist es vorteilhaft, daß zum Erzielen eines Rei­henversatzes der Behältnisse der Anschlag beweglich und mittels der Steuereinrichtung steuerbar ist.It is also advantageous that the stop is movable and controllable by means of the control device in order to achieve a row offset of the containers.

Es wird weiterhin vorgeschlagen, daß am Übergang des Zu­führbandes in die Bandteile eine über die Steuereinrich­tung gesteuerte Weiche vorgesehen ist und daß der Zulauf der Behältnisse zu den Enden der Bandteile mittels Zuteil­sternen regelbar ist.It is further proposed that a switch controlled by the control device is provided at the transition of the feed belt into the belt parts and that the inflow of the containers to the ends of the belt parts can be regulated by means of allotment stars.

Es ist vorteilhaft, daß auf dem Portalrahmen waagerechte Führungsstangen angeordnet sind, an denen eine Trägerplatte mit dem Setzkopf geführt ist und daß die Trägerplatte mit­tels einer Kugelumlaufspindel angetrieben ist.It is advantageous that horizontal guide rods are arranged on the portal frame, on which a carrier plate is guided with the setting head and that the carrier plate is driven by means of a ball screw.

Schließlich wird vorgeschlagen, daß der Setzkopf an einer vertikal angeordneten angetriebenen Kugelumlaufspindel an­gebracht ist.Finally, it is proposed that the setting head be attached to a vertically arranged driven ball screw.

Die Erfindung bringt den Vorteil, daß die Behältnisse am Ende der Fertigungsstraße beim Weiterlaufen in der gesam­ten Maschine so geführt sind, daß ein Umkippen der Dosen nicht möglich ist. Die Steuerungs- und Halteeinrichtungen sind so gestaltet, daß beim Anhalten und Wiederanlaufen des Dosenstromes kein Umkippen einer einzelnen Dose oder einer ganzen Dosenreihe erfolgen kann. So erfolgt dazu ein diskontinuierlicher Verfahrensablauf, in dem der Setz­kopf langsam auf die zu erfassenden Dosenreihe aufsetzt, nach dem Erfassen auf Höchstgeschwindigkeit beschleunigt und beim Absetzen wieder abgebremst wird.The invention has the advantage that the containers are guided in the entire machine at the end of the production line so that the cans cannot tip over. The control and holding devices are designed in such a way that, when the can stream is stopped and restarted, a single can or an entire row of cans cannot tip over. For this purpose, there is a discontinuous process sequence in which the setting head slowly attaches to the row of cans to be recorded, accelerates to maximum speed after recording and is decelerated again when it is set down.

Es läßt sich eine hohe Mengenkapazität dadurch erreichen, daß nicht einzelne Dosen, sondern jeweils eine ganze Reihe eines Lagenbildes erfaßt und in den Karton gesetzt wird. Auch hierbei ist eine Zwangshalterung der Dosenreihe vorgesehen, bis sie im Karton sicher abgesetzt ist und stehen bleibt. Das Packbild, d. h. ob die Dosen in nebeneinander stehenden Reihen oder auf Lücke stehen, ist frei wählbar. Weiterhin läßt sich die Vor­richtung auf die Größe und auch die Anzahl einstellen (Wahltasten)A high volume capacity can be achieved by not picking up individual cans, but rather a whole row of a layer image and placing them in the carton. Here, too, the row of cans is forced into place until it is securely placed in the box and remains there. The packing picture, d. H. You can choose whether the cans are in rows next to each other or on gaps. Furthermore, the device can be adjusted to the size and the number (selection buttons)

Ein weiteres Merkmal der Erfindung ist das Zuführen der die Dosen aufnehmenden Kartons (Trays) zu den zwei zwischen den Bandteilen angeordneten Packstationen. Hierbei werden diese Kartons im Ab­lauftakt der Maschine bzw. des Beladevorganges über Zuführ­bänder in die Maschine eingebracht, den beiden Packstationen zugeführt und dort in der horizontalen Ebene nach zwei Rich­tungen ausgerichtet.Another feature of the invention is the feeding of the cardboard boxes (trays) to the two packing stations arranged between the belt parts. These boxes are brought into the machine via feed belts in the cycle of the machine or the loading process, fed to the two packing stations and aligned there in two directions in the horizontal plane.

Ein weiterer Vorteil der Maschine besteht darin, daß das Grund­prinzip des Arbeitsablaufes der Maschine reversierbar ist, in­dem eine andere Programmierung der CNC-Steuerung erfolgt. Dann ist die Maschine als Entlader für die Kartons verwendbar, z. B. zur Beschickung von Abfüllinien, wie sie überlichweise zum Be­füllen von Aerosoldosen verwendet werden.Another advantage of the machine is that the basic principle of the work flow of the machine is reversible by another programming of the CNC control. Then the machine can be used as an unloader for the boxes, e.g. B. for loading filling lines, as they are usually used for filling aerosol cans.

Die Erfindung wird in der nachfolgenden Beschreibung anhand von in den Zeichnungen dargestellten Ausführungsbeispielen näher erläutert. Es zeigen,

  • Figur 1 eine Draufsicht auf eine Ausführungsform der Vorrichtung,
  • Figur 2 eine Seitenansicht der Vorrichtung gemäß Figur 1,
  • Figur 3 eine Vorderansicht der Vorrichtung an der Pack­station,
  • Fig. 4 eine Ansicht der beweglichen Seitenführung zum Ausrichten der Dosenreihe,
  • Fig. 5 eine Ansicht des beweglichen Anschlages,
  • Fig. 6 eine Draufsicht auf die Vorrichtung gemäß einer weiteren Ausführungsform,
  • Fig. 7 eine Seitenansicht der Figur gemäß Fig. 6,
  • Fig. 8 eine Ansicht der beweglichen Seitenführung zum Ausrichten der Dosenreihe gemäß der Aus­führungsform nach den Fig. 6 und 7 und
  • Fig. 9 ein Blockschaltbild für die Steuerungs­einrichtung.
The invention is explained in more detail in the following description with reference to exemplary embodiments shown in the drawings. Show it,
  • FIG. 1 shows a top view of an embodiment of the device,
  • FIG. 2 shows a side view of the device according to FIG. 1,
  • FIG. 3 shows a front view of the device at the packing station,
  • 4 is a view of the movable side guide for aligning the row of cans,
  • 5 is a view of the movable stop,
  • 6 is a plan view of the device according to a further embodiment,
  • 7 is a side view of the figure of FIG. 6,
  • Fig. 8 is a view of the movable side guide for aligning the row of cans according to the embodiment of FIGS. 6 and 7 and
  • Fig. 9 is a block diagram for the control device.

Die Fig. 1 zeigt in der Draufsicht die gesamte Vorrich­tung, wobei die aus der Fertigungslinie kommenden Be­hältnisse 1 über ein Zuführband 2 zugeführt werden. Am Ende des Zuführbandes 2 befindet sich eine Weiche 3, die das Zuführband in zwei Bandteile 4, 5 aufteit. Je nach Füllstand der Bandteile 4, 5 wird die Weiche 3 mit Hilfe des Zählsternes 28 eingestellt. Die Steuerung erfolgt im wesentlichen über Lichtschranken 6. Zwischen den beiden parallel verlaufenden Bandteilen 4, 5 befinden sich zwei Packstationen 7, wobei vor den Packstatio­nen 7 ein quer verlaufendes Zuführungsband 8 für leere Kartons 9 vorgesehen ist. Zum Längstransport der Kar­tons, d.h. parallel zu den Bandteilen 4, 5 sind Pack­bänder 10 vorgesehen. Der Einschub der leeren Kartons erfolgt mit Hilfe von Schiebezylindern 11. Seitlich von den Bändern 2, 4, 5 befinden sich Führungsstangen 29, deren Absand verstellbar ist.1 shows a top view of the entire device, the containers 1 coming from the production line being fed via a feed belt 2. At the end of the feed belt 2 there is a switch 3 which divides the feed belt into two belt parts 4, 5. Depending on the level of the belt parts 4, 5, the switch 3 is set with the aid of the counting star 28. The control takes place essentially via light barriers 6. Between the two parallel belt parts 4, 5 there are two packing stations 7, a transverse conveyor belt 8 for empty boxes 9 being provided in front of the packing stations 7. For longitudinal transport of the boxes, i.e. Packing tapes 10 are provided parallel to the tape parts 4, 5. The empty boxes are inserted with the aid of sliding cylinders 11. To the side of the belts 2, 4, 5 there are guide rods 29, the sanding of which is adjustable.

Am Ende der Bandteile 4, 5, d.h. im Bereich der Packsta­tion 7 sind bewegliche Seitenführungen 12 vorgesehen, de­ren Abstand mit Hilfe von Druckzylindern 13 veränderbar ist. Diese Seitenführungen 12 dienen zum Ausrichten der eingezählten Dosenreihe. Der Abstand zur Dosenreihe wird so gewählt, daß ein geringes Spiel verbleibt. Weiterhin befindet sich am Ende der Bandteile 4, 5 ein beweglicher Anschlag 14, der einen Versatz der Dosenreihen in der Pack­station 7 ermöglicht. Dieser Anschlag 14 ist mit einem Druckzylinderantrieb 15 versehen (Fig. 5). Die gefüllten Kartons 16 werden dann über das Band 10 wegbefördert.At the end of the band parts 4, 5, ie in the area of the packing station 7, movable side guides 12 are provided, the spacing of which can be changed with the aid of pressure cylinders 13. These side guides 12 serve to align the counted row of cans. The distance to the row of cans is chosen so that there is little play. Furthermore, at the end of the band parts 4, 5 there is a movable stop 14, which enables the rows of cans to be offset in the packing station 7. This stop 14 is provided with a pressure cylinder drive 15 (Fig. 5). The filled boxes 16 are then conveyed away via the belt 10.

Zum Ergreifen und Versetzen einer Dosenreihe am Ende der Bandteile 4, 5 dienen Setzköpfe 17, die an einem Portal­rahmen 18 verschiebbar angeordnet sind. Jeder Setz­kopf 17 ist mit einer Magnetleiste (27) versehen, deren Länge der Länge der zu erfassenden Dosenreihe entspricht.For gripping and moving a row of cans at the end of the band parts 4, 5 are used setting heads 17 which are arranged on a portal frame 18 so as to be displaceable. Each setting head 17 is provided with a magnetic strip (27), the length of which corresponds to the length of the row of cans to be detected.

Der Setzkopf 17 ist hierbei an einer vertikalen Führungsbuchse 21 befe­stigt, die ihrerseits an einer Trägerplatte 19 gehaltert ist. Die vertikale Führungsbuchse 21 nimmt einen Antriebs­motor mit Spindel auf, um die Höhe des Setzkopfes zu ver­ändern. Die Trägerplatte 19 ist auf waagerechten Führungs­stangen 20 verschiebbar angeordnet, wobei die Führungsstan­gen 20 auf dem Portalrahmen 18 abgestützt sind. Auf den Portalrahmen 18 ist weiterhin eine waagerechte parallel zu den Führungsstangen 20 verlaufende Führung 22 angeord­net, die eine Antriebsspindel für das Querverschieben des Setzkopfes 17 aufweist. Der Antrieb der beiden Spindeln für die waagerechte und vertikale Verschiebung erfolgt durch Scheibenläufermotore, um den erforderlichen Verschie­beweg genau einhalten zu können.The setting head 17 is in this case fastened to a vertical guide bushing 21 which in turn is held on a carrier plate 19. The vertical guide bushing 21 receives a drive motor with a spindle in order to change the height of the setting head. The carrier plate 19 is slidably arranged on horizontal guide rods 20, the guide rods 20 being supported on the portal frame 18. A horizontal guide 22, which runs parallel to the guide rods 20 and has a drive spindle for the transverse displacement of the setting head 17, is also arranged on the portal frame 18. The two spindles for the horizontal and vertical displacement are driven by disc-type motors in order to be able to precisely maintain the required displacement.

Im Setzkopf 17 ist eine Sicherung bei auftretenden Störun­gen, beispielsweise bei Verändern der Höhe durch umgefal­lene Behältnisse, vorgesehen. Hierbei ist der Setzkopf 17 über eine Feder 23 gelagert und sobald sich die Lage ver­ändert, wird die Maschine über entsprechende Endschalter abgeschaltet.A safety device is provided in the setting head 17 in the event of malfunctions, for example when the height changes due to falling containers. Here, the setting head 17 is supported by a spring 23 and as soon as the position changes, the machine is switched off via corresponding limit switches.

Die Arbeitsweise der Vorrichtung ist wie folgt. Die aus der Fertigungslinie über das Zuführband 2 kommenden Behält­nisse bzw. Dosen 1 werden mittels der Weiche 3 auf die zwei Bandteile 4, 5 je nach Füllstand verteilt. Der jeweilige Zuteilstern 24 zählt bei ausreichendem Füllstand im Zuführ­band 2 bzw. den Bandteilen 4, 5 der Packreihe die entsprechende Dosenmenge auf das jeweilige Bandteil 4, 5 ein. Der über die Steuerung vorgewählte Reihenversatz wird mittels des beweglichen Anschlages 14 erreicht. Wenn sich ein leerer Karton 9 in der Packstation 7 befindet, wird die einge­zählte Dosenreihe im Bandteil 4 bzw. 5 durch die beweg­lichen Seitenführungen 12 ausgerichtet. Aus die so ausge­richtete Dosenreihe fährt der an der Vertikalachse 21 befindliche Setzkopf 17 bis auf die entsprechende Dosen­höhe nach unten. Nach dem Signal "Ziel erreicht", wird die sich im Setzkopf 17 befindliche Magnetleiste 27 nach un­ten geschaltet. Die ausgerichtete Dosenreihe wird so mag­netisch vom Setzkopf 17 aufgenommen. Die am Setzkopf 17 befindliche Dosenreihe wird über die Vertikalachse ent­sprechend der Führungsbuchse 21 so weit nach oben gefahren, bis ein Befehl die Horizontalachse entsprechend der hori­zontalen Führung 22 in Bewegung setzt. Nach einem von dem Programm festgelegten Verfahrweg in Horizontalrichtung werden zwei voneinander unabhängige Funktionen ausgelöst. Erstens ist das jeweilige Bandteil 4, 5 frei und steht für einen neuen Einzählvorgang zur Verfügung, der sofort ausgelöst wird. Zweitens fährt der Setzkopf 17 auf Pack­niveau nach unten. Wenn die jeweiligen Spindeln das Pack­niveau erreicht haben und "Ziel erreicht" melden, wird die sich im Setzkopf 17 befindliche Magnetleiste 27 nach oben geschaltet. Das Packgut wird freigegeben und steht auf dem Karton in der Packstation 7. Beide Setzköpfe 17 fahren in die Ausgangsposition, um die nächste bereitgestellte Do­senreihe aufzunehmen. Dieser Vorgang wiederholt sich, bis der Karton gefüllt ist. Bei Erreichen des Zustandes "Karton gefüllt", wird der Packvorgang gestoppt. Die entsprechende Sperre für den gefüllten Karton wird geöffnet und läuft auf ein Abnahmeband, von wo der betreffende Karton auf eine Palette von Hand gesetzt werden kann. Nach Passieren einer Lichtschranke gibt eine Sperre den nächsten leeren Karton 9 frei, der in die Maschine einläuft und in die entsprechende Position in der Packstation 7 bzw. vor der Packstation 7 gebracht wird. Danach wird ein neuer Pack­vorgang eingeleitet. Die beiden Maschinenhälften arbeiten hierbei unabhängig voneinander.The device operates as follows. The containers or cans 1 coming from the production line via the feed belt 2 are distributed by means of the switch 3 to the two belt parts 4, 5 depending on the fill level. When the fill level in the feed belt 2 or the belt parts 4, 5 of the pack row is sufficient, the respective metering star 24 counts the corresponding quantity of cans onto the respective belt part 4, 5. The over the control preselected row offset is achieved by means of the movable stop 14. If there is an empty carton 9 in the packing station 7, the counted row of cans in the belt part 4 or 5 is aligned by the movable side guides 12. From the row of cans thus aligned, the setting head 17 located on the vertical axis 21 moves down to the corresponding can height. After the signal "target reached", the magnetic bar 27 located in the setting head 17 is switched down. The aligned row of cans is magnetically picked up by the setting head 17. The row of cans located on the setting head 17 is moved upwards over the vertical axis corresponding to the guide bushing 21 until a command sets the horizontal axis in motion in accordance with the horizontal guide 22. Following a travel path determined by the program in the horizontal direction, two mutually independent functions are triggered. First, the respective band part 4, 5 is free and is available for a new counting process, which is triggered immediately. Second, the setting head 17 moves down to the pack level. When the respective spindles have reached the packing level and report "target reached", the magnetic bar 27 located in the setting head 17 is switched upwards. The packaged goods are released and stand on the cardboard in the packing station 7. Both setting heads 17 move into the starting position in order to pick up the next row of cans provided. This process is repeated until the box is filled. When the "carton filled" state is reached, the packing process is stopped. The corresponding lock for the filled carton is opened and runs on a take-off belt, from where the carton in question can be placed on a pallet by hand. After passing A light barrier releases the next empty box 9, which runs into the machine and is brought into the appropriate position in the packing station 7 or in front of the packing station 7. Then a new packing process is initiated. The two machine halves work independently of each other.

Eine Steuereinrichtung mit diesen Merkmalen ist in Fig. 9 als Blockschaltbild dargestellt. Hierbei glie­dert sich die Steuerung in folgende Teilbereiche:

  • 1) Eine speicherprogrammierbare Steuerung (SPS) (30)
  • 2) vier Einachspositioniersteuerungen (CNC) (31)
  • 3) vier Servo Frequenzumrichter mit Gleich­stromzwischenkreis (32)
  • 4) vier Mal die Kombination eines Servomotors mit Tachogenerator und Inkrementalen Drehwinkelgeber (33)
  • 5) ein CNC Programmier- und Bediengerät und (34)
  • 6) binaere Ein- und Ausgänge. (35)
A control device with these features is shown in FIG. 9 as a block diagram. The control system is divided into the following sub-areas:
  • 1) A programmable logic controller (PLC) (30)
  • 2) four single-axis positioning controls (CNC) (31)
  • 3) four servo frequency inverters with DC link (32)
  • 4) four times the combination of a servo motor with tachometer generator and incremental rotary encoder (33)
  • 5) a CNC programming and operating device and (34)
  • 6) binary inputs and outputs. (35)

Die vom Prozeß und von den CNC Achskarten kommenden binären Eingangssignale (von Schaltern, Tastern, Sen­soren u.a.) werden nach einem Programm, das sich im Programmspeicher befindet, von der Zentraleinheit se­quentiell bearbeitet. Am Ende eines jeden Bearbeitungs­zyklus wird, wenn das Ergebnis der Operation den Vor­gaben vom Programm entspricht, die zugehörigen binären Ausgänge (Ventile, Schütze, Lampen u.a.) angesteuert. Der gesamte Funktionsablauf sowie die Koordination und Kommunikation mit den einzelnen CNC Achskarten wird von der SPS nach Programm über die binäre Ein- und Aus­gabeebene gesteuert. Sämtliche Daten für die Umstellung, auf eine andere Produktabmessung sind in der SPS ent­halten und können per Dekadenschalter angewählt werden.The binary input signals coming from the process and from the CNC axis cards (from switches, buttons, sensors etc.) are processed sequentially by the central unit according to a program that is located in the program memory. At the end of each machining cycle, if the result of the operation corresponds to the program specifications, the associated binary outputs (valves, contactors, lamps, etc.) are activated. The entire functional sequence as well as the coordination and communication with the individual CNC axis cards is controlled by the PLC according to the program via the binary input and output level. All data for the changeover to a different product dimension are contained in the PLC and can be selected using the decade switch.

Die Einachspositioniersteuerung dient zur Lage­regelung und zum Verfahren einer motorisch ange­triebenen Kugelumlaufspindel 22 in eine bestimmte Position. Eine bestimmte Anzahl von Positionier­sätzen mit Angabe von der Verfahrgeshwindigkeit und des nächsten zu verarbeitenden Verfahrsatzes wird mit Hilfe des Programmier- und Bediengerätes in den Speicher der CNC Steuerung geladen. Über zwei Ein/Ausgangsschnittstellen kann die CNC Steuerung mit der SPS in Verbindung treten. Sämt­liche Funktionen der CNC Steuerung werden im nor­malen Betriebsablauf von der SPS vorgegeben und kontrolliert. Eine analoge Schnittstelle steuert den nachgeschalteten pulsbreitenmodulierten Dreh­stromservoverstärker zur Ansteuerung des Motors. Die Istwertposition der Kugelumlaufspindel 22 wird von dem inkrementalen Winkelgeber erfaßt, an die CNC Steuerung gemeldet und dort entspre­chend ausgewertet. Somit entsteht ein geschlos­sener Lageregelkreis, der ein genaues Halten der Spindel in der programmierten Position garantiert. Die Ansteuerung der senkrechten Umlaufspindeln 21 erfolgt analog. Der Servo Frequenzumrichter hat die Aufgabe, das von der CNC Steuerung kommende kleine Analogsig­nal in einen großen Strom zum Erzeugen einer dem Analogsignal proportionalen Drehbewegung des Mo­tors umzuwandeln. Der mit dem Motor starr gekop­pelte Tachogenerator liefert das der Drehzahl ent­sprechende Ausgangssignal an den Verstärker zurück und sorgt für die Einhaltung der von der CNC vor­gegebenen Verfahrgeschwindigkeit. Der im Motor ein­gebaute Rotorlagegeber meldet die jeweilige Rotor­ lage an den Frequenzumrichter zurück und sorgt für die richtige Bestromung der drei im Synchronmotor enthaltenen Wicklungen.The single-axis positioning control is used for position control and for moving a motor-driven ball screw 22 into a specific position. A certain number of positioning blocks with information on the traversing speed and the next traversing block to be processed is loaded into the memory of the CNC control using the programming and operating device. The CNC control can connect to the PLC via two input / output interfaces. All functions of the CNC control are specified and controlled in the normal operating sequence by the PLC. An analog interface controls the downstream pulse-width-modulated three-phase servo amplifier to control the motor. The actual position of the ball screw 22 is detected by the incremental angle encoder, reported to the CNC control and evaluated there accordingly. This creates a closed position control loop that guarantees that the spindle is held precisely in the programmed position. The control of the vertical circulation spindles 21 is carried out analogously. The servo frequency converter has the task of converting the small analog signal coming from the CNC control into a large current for generating a rotary movement of the motor proportional to the analog signal. The tachometer generator, which is rigidly coupled to the motor, returns the output signal corresponding to the speed to the amplifier and ensures that the travel speed specified by the CNC is maintained. The rotor position encoder built into the motor reports the respective rotor back to the frequency converter and ensures the correct energization of the three windings contained in the synchronous motor.

Das Programmier- und Bediengerät ermöglicht ver­schiedene Eingaben an die CNC Einachspositionier­steuerungen. Mit dem Bediengerät werden alle zur Handhabung erforderlichen Befehle an die einzelnen Achsen geschickt.The programming and operating device enables various inputs to the CNC single-axis positioning controls. All commands required for handling are sent to the individual axes with the control unit.

Die Figuren 6 bis 8 zeigen eine weitere Ausführungs­form der Vorrichtung, wobei die gleichen Teile mit den gleichen Bezugszeichen versehen sind. Das Band­teil 4, 5 wird in seinem Endbereich in zwei paral­lele, unmittelbar nebeneinander verlaufende Bänder 4ʹ, 4ʺ bzw. 5ʹ, 5ʺ aufgeteilt. Am Ende befindet sich jeweils ein Anschlag 14 sowie Seitenführungen 12 zum Ausrichten der eingezählten Dosenreihen 25 bzw. 26. Zum Erfassen dieser Dosenreihen 25, 26 dienen zu einer Einheit zusammengefaßte, gegeneinander verschiebbare Setzköpfe 17 mit zwei Magnetleisten 27. Diese Magnetleisten 27 erfassen die Dosenreihen am Ende der Bänder 4ʹ, 4ʺ bzw. 5ʹ, 5ʺ und transportieren diese in die leeren Kartons 9. Während dieser Bewegung wird der jeweils außen befindliche Setzkopf zum anderen Setzkopf hin verschoben, so daß in dem Karton das ent­sprechende Packbild erzeugt wird. In Fig, 7 ist im lin­ken Teil der Vorrichtung der Moment dargestellt, bei dem die Dosenreihen von den Magnetleisten 27 erfaßt wer­den, während der rechte Teil der Figur die Dosenreihen in einer Verpackungsposition zeigt.Figures 6 to 8 show a further embodiment of the device, the same parts being provided with the same reference numerals. The band part 4, 5 is divided into two parallel belts 4ʹ, 4ʺ and 5ʹ, 5ʺ in its end region. At the end there is a stop 14 and side guides 12 for aligning the counted rows of cans 25 and 26, respectively. To capture these rows of cans 25, 26, set heads 17 with two magnetic strips 27, which can be moved relative to one another, are used. These magnetic strips 27 capture the rows of cans End of the belts 4ʹ, 4ʺ or 5ʹ, 5ʺ and transport them into the empty cardboard boxes 9. During this movement, the setting head located on the outside is shifted towards the other setting head, so that the corresponding packing image is generated in the box. FIG. 7 shows in the left part of the device the moment at which the rows of cans are gripped by the magnetic strips 27, while the right part of the figure shows the rows of cans in a packaging position.

Die Fig. 8 stellt die Ausrichtvorrichtung am Ende der Bänder 4ʹ, 4ʺ bzw. 5ʹ, 5ʺ dar, wobei zwischen den beiden Dosen 1 ein fester Anschlag 36 angeord­net ist. Außen befinden sich jeweils die beweglichen Seitenführungen 12. Es hat sich weiterhin als vor­teilhaft erwiesen, in dem Bereich zwischen dem Zählstern 24 und dem Ende der Bänder 4, 5 bzw. 4ʹ, 5ʹ, bzw. 4ʺ, 5ʺ anstelle eines Förderbandes für die Behältnisse 1 Antriebsketten vorzusehen.8 shows the alignment device at the end the tapes 4ʹ, 4ʺ or 5ʹ, 5ʺ, with a fixed stop 36 being arranged between the two cans 1. The movable side guides 12 are located on the outside in each case. It has also proven to be advantageous in the area between the counter star 24 and the end of the belts 4, 5 or 4 4, 5ʹ or 4ʹ, 5ʹ instead of a conveyor belt for the containers 1 Provide drive chains.

Claims (8)

1) Vorrichtung zum Palettieren von Behältnissen aus magnetisch erfaßbarem Material, insbesondere von Behältnissen, deren Höhe ein Mehrfaches des Durch­messers beträgt, dadurch gekennzeichnet, daß ein wenigstens ein Zuführband (2) überspannender Portal­rahmen (18) vorgesehen ist, an dem ein quer zum Zu­führband (2) und vertikal verfahrbarer Setzkopf (17) mit einer heb- und senkbaren Magnetleiste (27) zum Erfassen einer Reihe von Behältnissen (1) angeord­net ist, daß am Ende des Zuführbandes (2) ein An­schlag (14) sowie bewegliche Seitenführungen (12) vorgesehen sind, wobei neben dem Zuführbandende we­nigstens eine Packstation (7) angeordnet ist, und daß der Einlauf der Behältnisse (1) in das Zuführ­bandende, das Verfahren und Absenken des Setzkop­fes (17) bzw. des Magnetleiste (27) und das Ab­nehmen des gefülltes Kartons (16) über com­putergesteuerte Einachspositioniersteuerungen (CNC) vorgesehen ist, wobei eine übergeordnete Koordina­tion über eine speicherprogrammierbare Steuerung (SPS) erfolgt.1) Device for palletizing containers made of magnetically detectable material, in particular containers whose height is a multiple of the diameter, characterized in that an at least one feed belt (2) spanning portal frame (18) is provided, on which a transversely to the feed belt ( 2) and vertically movable setting head (17) with a magnetic bar (27) that can be raised and lowered to hold a row of containers (1), that a stop (14) and movable side guides (12) at the end of the feed belt (2) are provided, wherein at least one packing station (7) is arranged next to the feed belt end, and that the entry of the containers (1) into the feed belt end, the movement and lowering of the setting head (17) or the magnetic strip (27) and the removal of the filled Cartons (16) via computer-controlled single-axis positioning controls (CNC) is provided, with a higher-level coordination via a programmable logic controller (SP S) takes place. 2) Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß das Zuführband (2) in zwei parallel verlau­fenden Bandteilen (4, 5) endet und zwischen den Bandteilen (4, 5) zwei Packstationen (7) vorge­sehen sind und daß jedem Bandeil (4, 5) ein Setz­kopf (17) zugeordnet ist.2) Device according to claim 1, characterized in that the feed belt (2) ends in two parallel belt parts (4, 5) and between the belt parts (4, 5) two packing stations (7) are provided and that each belt part (4, 5) a setting head (17) is assigned. 3) Vorrichtung nach Anspruch 1 und 2, dadurch gekenn­zeichnet, daß das Bandteil (4, 5) zwei parallele, unmittelbar nebeinander verlaufende Bänder (4ʹ, 4ʺ, 5ʹ, 5ʺ) aufweist, wobei zwei Setzköpfe (17) mit zwei Magnetleisten (27) für zwei Dosenreihen (25, 26) zu einer Einheit zusammengefaßt sind.3) Device according to claim 1 and 2, characterized in that the band part (4, 5) has two parallel, immediately adjacent bands (4ʹ, 4ʺ, 5ʹ, 5ʺ), two setting heads (17) with two magnetic strips (27) for two rows of cans (25, 26) are combined into one unit. 4) Vorrichtung nach Anspruch 3, dadurch gekennzeich­net, daß die Setzköpfe (17) der Einheit gegenein­ander verschiebbar sind.4) Device according to claim 3, characterized in that the setting heads (17) of the unit are mutually displaceable. 5) Vorrichtung nach Anspruch 1 bis 4, dadurch gekenn­zeichnet, daß zum Erzielen eines Reihenversatzes der Behältnisse (1) der Anschlag (14) beweglich und mittels der Steuereinrichtung steuerbar ist.5) Device according to claim 1 to 4, characterized in that to achieve a row offset of the containers (1) the stop (14) is movable and controllable by means of the control device. 6) Vorrichtung nach Anspruch 1 bis 5, dadurch gekenn­zeichnet, daß am Übergang des Zuführbandes (2) in die Bandteile (4, 5) eine über die Steuereinrich­tung gesteuerte Weiche (3) vorgesehen ist und daß der Zulauf der Behältnisse (1) zu den Enden der Bandteile (4, 5) mittels Zuteilsternen (24) regel­bar ist.6) Device according to claim 1 to 5, characterized in that at the transition of the feed belt (2) into the belt parts (4, 5) a switch (3) controlled via the control device is provided and that the inlet of the containers (1) to the The ends of the band parts (4, 5) can be regulated by means of allocation stars (24). 7) Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß auf dem Portalrahmen (18) waage­rechte Führungsstangen (20) angeordnet sind, an de­nen eine Trägerplatte (19) mit dem Setzkopf (17) geführt ist und daß die Trägerplatte (19) mittels einer Kugelumlaufspindel angetrieben ist.7) Device according to one of claims 1 to 6, characterized in that on the portal frame (18) horizontal guide rods (20) are arranged, on which a carrier plate (19) with the setting head (17) is guided and that the carrier plate (19th ) is driven by a ball screw. 8) Vorrichtung nach Anspruch 1 bis 7, dadurch gekenn­zeichnet, daß der Setzkopf (17) an einer vertikal angeordneten angetriebenen Kugelumlaufspindel an­gebracht ist.8) Device according to claim 1 to 7, characterized in that the setting head (17) is attached to a vertically arranged driven ball screw.
EP87109578A 1986-07-11 1987-07-03 Installation for palletizing containers made of magnetically seizable material Expired - Lifetime EP0253229B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3623342 1986-07-11
DE19863623342 DE3623342A1 (en) 1986-07-11 1986-07-11 DEVICE FOR PALLETIZING CONTAINERS OF MAGNETICALLY DETECTABLE MATERIAL

Publications (3)

Publication Number Publication Date
EP0253229A2 true EP0253229A2 (en) 1988-01-20
EP0253229A3 EP0253229A3 (en) 1989-10-04
EP0253229B1 EP0253229B1 (en) 1992-04-08

Family

ID=6304907

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87109578A Expired - Lifetime EP0253229B1 (en) 1986-07-11 1987-07-03 Installation for palletizing containers made of magnetically seizable material

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Country Link
EP (1) EP0253229B1 (en)
JP (1) JPS6327322A (en)
DE (2) DE3623342A1 (en)

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CN106043822A (en) * 2016-06-29 2016-10-26 苏州市盛百威包装设备有限公司 Automatic loading device for packaging hoses
CN106241408A (en) * 2016-08-31 2016-12-21 中冶华天工程技术有限公司 The high speed piling system of rearmounted driving
DE102015118248A1 (en) * 2015-10-26 2017-04-27 Krones Aktiengesellschaft Plant for carrying out sequences of transactions with articles
CN107117454A (en) * 2017-06-21 2017-09-01 浙江亿诺自动化有限公司 Logistics delivery band pusher
CN107444690A (en) * 2017-09-08 2017-12-08 贵州科伦药业有限公司 A kind of novel plastic bottle fixture and control method
CN112591429A (en) * 2020-11-30 2021-04-02 重庆檬泰生物科技有限公司 Fruit and vegetable separating device
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DE4433808A1 (en) * 1994-09-22 1996-03-28 Focke & Co Method and device for handling cylindrical objects, in particular biscuit rolls
DE29807325U1 (en) * 1998-04-23 1999-09-16 Certus Maschbau Gmbh Device for collecting and palletizing bottles
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EP0305896A2 (en) * 1987-09-02 1989-03-08 Henkel Kommanditgesellschaft auf Aktien Method for positioning sticks in a tray, and device for carrying out the method
EP0305896B1 (en) * 1987-09-02 1992-05-27 Henkel Kommanditgesellschaft auf Aktien Method for positioning sticks in a tray, and device for carrying out the method
BE1013117A3 (en) * 1995-09-06 2001-10-02 Matsushita Electric Ind Co Ltd METHOD AND DEVICE FOR STORING CELLS IN BOXES.
FR2768404A1 (en) * 1997-09-17 1999-03-19 Ouest Conditionnement Packaging machine for batched products
EP1584561A1 (en) * 2004-03-31 2005-10-12 Jacob White (Packaging) Limited Packaging apparatus provided with a plurality of packaging lanes.
US7219485B2 (en) 2004-05-31 2007-05-22 Packservice S.R.L. Semi-automatic boxing machine
EP1602580A1 (en) * 2004-05-31 2005-12-07 Packservice S.r.l. Semiautomatic boxing machine
CN102992030A (en) * 2011-09-09 2013-03-27 中国国际海运集装箱(集团)股份有限公司 Automatic feeding system of container panel
CN102992030B (en) * 2011-09-09 2015-04-29 中国国际海运集装箱(集团)股份有限公司 Automatic feeding system of container panel
DE102014221218A1 (en) * 2014-10-20 2016-04-21 Krones Aktiengesellschaft Device and method for handling articles
US10604291B2 (en) 2014-10-20 2020-03-31 Krones Aktiengesellschaft Apparatus and method for handling articles
CN105035704A (en) * 2015-06-08 2015-11-11 杭州娃哈哈集团有限公司 Steering positioning device
CN105035704B (en) * 2015-06-08 2017-04-19 杭州娃哈哈集团有限公司 Steering positioning device
DE102015118248A1 (en) * 2015-10-26 2017-04-27 Krones Aktiengesellschaft Plant for carrying out sequences of transactions with articles
CN105966682A (en) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 Automatic pipe feeding device for filling and sealing tail of metal hose
CN105966653B (en) * 2016-06-29 2018-03-06 徐挺 A kind of flexible tube filling machine with auto tube feeding device
CN105966683A (en) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 Packaging metal tube lifting and sealing machine
CN105966653A (en) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 Hose filling machine with automatic pipe feeding device
CN105966670A (en) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 Packaging tube automatic lifting and sealing device
CN105966670B (en) * 2016-06-29 2018-07-27 中山市港清包装机械有限公司 A kind of packaging tube auto tube feeding closing device
CN105966682B (en) * 2016-06-29 2018-07-20 泉州市易智通智能设备有限公司 Automatic pipe feeding device for filling and sealing tail of metal hose
CN106043822A (en) * 2016-06-29 2016-10-26 苏州市盛百威包装设备有限公司 Automatic loading device for packaging hoses
CN106043822B (en) * 2016-06-29 2018-05-08 湖北丽美药用包装有限公司 A kind of packaging tube auto tube feeding device
CN105966683B (en) * 2016-06-29 2018-07-06 王茜南 A kind of mental package hose upper tube sealing machine
CN106241408B (en) * 2016-08-31 2019-05-03 中冶华天工程技术有限公司 The high speed piling system of postposition driving
CN106241408A (en) * 2016-08-31 2016-12-21 中冶华天工程技术有限公司 The high speed piling system of rearmounted driving
CN107117454A (en) * 2017-06-21 2017-09-01 浙江亿诺自动化有限公司 Logistics delivery band pusher
CN107444690A (en) * 2017-09-08 2017-12-08 贵州科伦药业有限公司 A kind of novel plastic bottle fixture and control method
US11660762B2 (en) 2018-05-11 2023-05-30 Mp Zenrobotics Oy Waste sorting robot
CN112591429A (en) * 2020-11-30 2021-04-02 重庆檬泰生物科技有限公司 Fruit and vegetable separating device

Also Published As

Publication number Publication date
EP0253229B1 (en) 1992-04-08
DE3778077D1 (en) 1992-05-14
DE3623342A1 (en) 1988-01-21
EP0253229A3 (en) 1989-10-04
JPS6327322A (en) 1988-02-05

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