EP0878399A1 - Befüll- und Entnahmeeinrichtung für flache Güter sowie Greifersystem und Betriebsverfahren hierfür - Google Patents
Befüll- und Entnahmeeinrichtung für flache Güter sowie Greifersystem und Betriebsverfahren hierfür Download PDFInfo
- Publication number
- EP0878399A1 EP0878399A1 EP98108770A EP98108770A EP0878399A1 EP 0878399 A1 EP0878399 A1 EP 0878399A1 EP 98108770 A EP98108770 A EP 98108770A EP 98108770 A EP98108770 A EP 98108770A EP 0878399 A1 EP0878399 A1 EP 0878399A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- belt
- filling
- flat
- transport packaging
- goods
- 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
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Classifications
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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
- B65B25/00—Packaging other articles presenting special problems
- B65B25/14—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form
- B65B25/141—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form packaging flat articles in boxes
- B65B25/143—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form packaging flat articles in boxes by introducing successive articles
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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
- B65B35/36—Arranging and feeding articles in groups by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H31/00—Pile receivers
- B65H31/30—Arrangements for removing completed piles
- B65H31/3036—Arrangements for removing completed piles by gripping the pile
- B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/42—Piling, depiling, handling piles
- B65H2301/422—Handling piles, sets or stacks of articles
- B65H2301/4224—Gripping piles, sets or stacks of articles
- B65H2301/42242—Gripping piles, sets or stacks of articles by acting on the outermost articles of the pile for clamping the pile
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
- B65H2515/30—Forces; Stresses
Definitions
- the invention relates to a filling and / or removal device for filling and / or removing flat, goods lying in rows or scales, especially pre-glued, flat-lying folding boxes in one or from a transport packaging, in particular one Cardboard box, with a conveyor for feeding the flat Goods for transport packaging or for removal from the Transport packaging away, a particularly suitable for this Gripper system and a corresponding operating procedure.
- a filling device with the features mentioned above is known for example from US-A 4,538,511.
- Pre-glued, flat-lying folding boxes come in large Quantities in various branches of industry, in particular in the pharmaceutical industry, but also in the cosmetics industry, the food industry and other fields used. Such pre-glued with bending lines, creases and the like prefabricated folding boxes may with your Transport is not exposed to excessive pressure, because otherwise it would be very difficult, at least not anymore automatic and easy to fill up to its final shape leave because their elasticity is lost.
- About Shipping such pre-glued, flat-lying folding boxes is therefore usually a manual filling in transport packaging, which usually consist of cardboard boxes, preferred. This manual filling is done by a conveyor belt the boxes lying in shingled form by an operator manually with both hands in one picked out about the right amount and one rod-shaped rows of folding boxes are formed, with which they are filled into the outer carton.
- this manual method is disadvantageous on the one hand the lack of accuracy in the number of in the outer carton, on the other hand also no exact sampling according to a sampling plan, So according to a predetermined, statistically changing Number of packed folding boxes possible. At best can arbitrarily pack any folded box pulled from the outer packaging and the sample inspection be fed. This can then either be returned or replaced by another, similar folding box the number of folding boxes in the outer carton again roughly true.
- the manual method is also the monotonous and ultimately inhumane burden on the operator due to the constant, described work process of picking out a stick of folding boxes and manual insertion in the outer carton needs improvement.
- the object of the present invention is a To present the system with the characteristics described at the beginning, which are principally both for fully automatic filling the transport packaging as well as for automatic Suitable for removing flat goods from the transport packaging, being a gentle and safe transport bracket for the rod formed from the flat goods during the gripping process achieved and especially an excessive side print against flat goods, thereby avoiding their Elasticity is retained.
- a filling and / or Withdrawal device with the above Features achieved in which a gripper system is provided is with the flat goods in a along a y direction aligned, rod-like stringing over a stationary vertical station from the conveyor removed and filled in or out of the transport packaging removed from the transport packaging and the conveyor can be supplied, the gripper system being part of a automatic handling system with electronic control and positioning system and drive and guide elements for a holding device in the y direction and in at least one direction perpendicular to the y direction Force on the string-like, can exercise flat goods, comprising, the holding device a flat suction unit with perpendicular in a z-direction has negative pressure generation acting in the y direction.
- the Part of a robot system with electronically controlled positioning systems can be packed in the event of format changes Goods the set-up time compared to known devices can be reduced to a minimum.
- the gripper system as a suction gripper can be a particularly gentle, safe transport bracket the rod formed from the flat goods to reach.
- automatic control of the negative pressure generated and thus the current holding force can for example when packing or unpacking preformed Folding boxes an excessive side pressure can be avoided which increases the elasticity of the flat-lying folding boxes remains, which is an unconditional requirement for their later Further processing when erecting and filling is.
- this Gripper system a base unit with pivotable mechanical, energetic and possibly sensory coupling possibility to the positioning system on the one hand and to the stationary one Vertical station on the other hand. This allows the Filling or removal in any spatial direction respectively.
- the gripper system can be used against another be replaced, creating different formats of Fill goods are easier to process. It follows the possibility of using a tandem process at from which an already filled gripper is unloaded while at the same time, an empty one is filled, causing more Allow cycle time gains.
- Gripper systems are provided, of which at least in operation one mechanically and energetically to the positioning system is coupled and at least one is uncoupled. Thereby you can change the gripper systems fully automatically cause.
- the gripper system together with the mechanical coupling can also be energetically coupled to the stationary vertical station. This eliminates the need for electricity or compressed air supply lines, which the gripper system continuously with the positioning system connect and severely restrict its mobility would.
- the holding device advantageously comprises pairs of opposing ones Holding jaws that exert a force on flat goods can exercise in the y direction, as well as pairs of opposite Holding jaws that have a force in an x-direction perpendicular can exercise to the y direction.
- Such a construction is technically particularly easy to implement and In addition to the holding function, there are also options for Alignment of the externally formed rod.
- another training course includes a Actuator for remote controlled, especially regulated adjustment the minimum distance between those acting in the x direction Holding jaws of a pair provided from each other, whereby at Change of format the set-up time compared to the one described above simpler embodiment can be minimized can.
- An embodiment of the invention is very particularly preferred Filling device with another gripper system for the automatic erection and assembly of the transport packaging. This allows the entire filling process to be included Erection of the outer carton fully automated will.
- a preferred development of this embodiment provides before that the further gripper system with a base unit two mutually displaceable base plates to the central one Format adjustment for different transport packaging sizes has, on the foldable gripping wings for simultaneous Erecting opposite side faces of the Transport packaging assembled from a flat blank are.
- Such a "butterfly-like" one more In addition to the automatic processing of the Transport packaging in the filling system also as Drive for the assembly of intermediate layers in the transport packaging can be used without loss of cycle time.
- the further gripper system is mechanically, energetically and possibly sensory to the positioning system is coupled so that power or compressed air supply lines completely saved or minimized in length can be.
- a very particularly preferred embodiment of the invention Filling device is characterized by that the conveyor for feeding the flat goods to Transport packaging is essentially a conveyor belt system horizontal conveyor belt for transporting the flat Goods in a stream of shingles e.g. from a gluing machine and to buffer the flat goods with a time the dam band connecting, conveying upwards and by one horizontal swivel axis approximately at the height of the jam belt includes pivoting lock belt.
- the conveyor for feeding the flat goods to Transport packaging is essentially a conveyor belt system horizontal conveyor belt for transporting the flat Goods in a stream of shingles e.g. from a gluing machine and to buffer the flat goods with a time the dam band connecting, conveying upwards and by one horizontal swivel axis approximately at the height of the jam belt includes pivoting lock belt.
- the jam band comprises and the turnout belts each have a twin belt with two parallel, spaced apart from one another transversely to the conveying direction Conveyor tracks, which is a high security against slipping out of the transported flat goods during the promotion on the hinge system offers a toothing to the lock hinge enables un when changing the format of the transported goods makes adaptation unnecessary.
- Another improvement provides that in the area between the conveyor tracks at the end of the sluice belt on the soft belt side and at the ends of the turnout belts on the sluice belt a device for coupling the lock belt the respective switch band or vice versa is provided. In order to can be a safe after changing the switch band Connect to the lock belt.
- the filling device according to the invention is in the connection to the ends of the turnout belts facing away from the lock belt a stationary vertical station for receiving the the respective turnout belt provided for flat goods is. This collects the goods conveyed by the turnout belt at the end of each tape and save them in a suitable manner.
- the vertical station preferably contains one that can be connected and disconnected Gripper system in which the picked up flat goods can be stored in magazines and transported further.
- One is particularly preferred in the area of the lock belt Counting device for counting the conveyed over the lock belt flat goods provided to the each of the exact amount to be filled in the transport packaging to adhere to.
- a device for targeted sampling individual flat goods in the swung open state of the Lock belt is provided.
- a development of the embodiment has a magazine in which the samples taken, preferably in stacked vertically, can be stored and thus for a documentation or a proof of error in suitable form are available.
- An embodiment of the invention is preferred Removal device, which is characterized in that pivotable Parting finger to form a gap between the two y-sided ends of a packed rod of flat Goods and the adjacent wall of the transport packaging are provided. It will be an automatic Removal of the entire bar of flat goods from the Transport packaging enables.
- a method for filling and / or for is also advantageous Removal of flat, row or scale-like shapes lying goods, especially pre-glued, flat lying Folding boxes in or out of a transport packaging, especially a carton in which the flat goods over a conveyor for transport packaging supplied or be carried away from the transport packaging at which the flat goods are aligned in a y direction, rod-shaped stringing together using a gripper system removed from the conveyor and into the Transport packaging filled or from the transport packaging removed and fed to the conveyor, being from a holding device that is part of the gripper system is in the y direction and in at least one direction perpendicular to the y-direction a defined force on the rod-shaped strung together, flat goods is exercised, and an automatic positioning of the gripper system relative to the conveyor via an electronic controlled positioning system to which the Gripper system mechanical, energetic and possibly sensory is coupled.
- the conveyed in the conveying direction are preferably used flat goods are counted by means of a counting device.
- the samples taken are preferably automatic magazine and for example via electronic information storage documented so that unauthorized manipulation sampling can almost be excluded.
- a particularly preferred process variant provides that the flat goods in a stream of shingles with the accumulation belt e.g. are continuously removed from a gluing machine, and that the continuous stream of shingles is either at the sluice belt swung down onto one of the turnout belts promoted and at the end of a stationary Vertical station fed or with the sluice belt swung up pent up at the sluice belt end and thereby formed a rod of flat goods becomes.
- the accumulation band acts as a removal device, other side but also as "temporal storage" for the removed goods.
- An advantageous development of this method variant is characterized in that with the sluice belt swung up the parallel switch belts transverse to their conveying direction be moved, another switch band on the corresponding end of the lock belt is positioned and with the sluice belt swung down, the one from it picks up and promotes the shed flow of flat goods, whereby an arbitrarily controllable distribution of Subsets of the shingled stream of flat goods to different Transport routes is made possible.
- the sluice belt is conveyed after a preselected number of flat goods swung up so either sampling at a predetermined location or only by a certain, counted amount on flat goods to get to the respective turnout belt then a band change or emptying of the filled switch band can take place.
- this can be loaded Gripper system either automatically against such be replaced with a suitable holding device or the used holding device of the gripper system to be filled also automatically by regulated adjustment of the minimum distance from holding jaws acting in the x direction can be adapted to the new format without time-consuming and conversions requiring mechanical training are necessary.
- the inventive method can be particularly advantageous insert if the transport packaging comes from a cardboard box exists that automatically by means of another gripper system is erected and assembled.
- a particularly preferred method variant is distinguished characterized in that a tray blank for a carton with taken from the magazine of a further gripper system and through a transverse movement of the further gripper system into an assembly position brought that during this transverse movement gripper wings of the further gripper system, which are located in pairs can be folded up by about 90 ° while doing so Edge areas of the tray cut up, that then the side parts of the outer box are assembled and the tray cut be glued, and that the partially assembled carton in one Assembly station is pressed to get its final shape.
- the filling device 10 shown in FIG. 1 is used for filling from flat, row or scale-like, especially pre-glued, flat-lying folding boxes in a transport packaging, especially one Outer carton.
- the accumulation belt 3 promotes pre-glued, flat-lying folding boxes in a stream of shed to a lock belt 4 on which a counting device 5 for counting the funded boxes and one not shown in detail in the drawing Device 6 for targeted sampling of individual Folding boxes is provided.
- the interchangeable gripper systems 9, 9 ' according to Filled with folding box or other flat goods from the respective stationary vertical station 8, 8 'by means of a positioning system provided in a robot cell 11 undocked and pivoted to a filling station 12 where them in a ready transport packaging 13 from above be filled in the form of a rod.
- Via a discharge roller belt 14 the filled transport packaging 13 then fed to a central conveyor belt 15 which it transported to a palletizer not shown in the drawing.
- a butterfly-like another gripper system 17 which has an automatic, central format adjustment, die cuts taken from a magazine 18 and for mounting on the Station 16 swiveled.
- the fully assembled transport packaging 13 is then with the further gripper system 17 Filling station 12 supplied.
- intermediate layers can be on a cassette tape 19 provided and the assembly station 16 for further processing are supplied if several in the outer carton 13 rod-shaped layers of folding boxes packed up and apart should be separated.
- the filling device 10 is used for automation and Humanization of operations related to a folder gluer 1, namely counting, sampling and fully automatic packaging of folding boxes.
- a robot cell 11 is used here, which acts with two main functional groups:
- a first axis system takes a blank from the magazine 18 for a tray. With the help of the butterfly claw 17 the side and front parts are assembled. The gluing and erecting a reinforcement front then happens in the Assembly station 16. The finished tray is then opened the filling station 12, which is also the second functional group can be assigned.
- the empty magazine gripper is in the second function group 9 or 9 'covered and by the now filled second magazine gripper 9 'or 9 replaced so that by the filling process of the outer carton 13 no loss of cycle time arise.
- a removal device according to the invention is shown schematically in FIG 20 for automatic removal of folding boxes, the delivered in a carton 13 as described above are shown.
- the removal device 20 in turn comprises a robot cell 21, which has two main functional circuits acts:
- the outer packaging is on a pallet by a pallet station 22, which is leveled by a Scissor lift table or a telescopic vertical axis and for Euro pallets with the cross-sectional dimensions 800 x 1200 mm is suitable in the work area of a first axis system brought.
- a suction gripper 27 grips an outer packaging and sets them down on an L-band system 23, which consists of two Belts exist, which are in L-shape for transporting the full Cartons are arranged.
- the tray runs through one carton two separating knife systems consisting of two times two stationary knives 24 with automatic height and Width adjustment that detaches the top of the tray. This Upper part is lifted by the suction pad 27 and to Hand over disposal to a discharge conveyor 25.
- the removal device 20 with the second axis system start emptying the outer packaging.
- a three-dimensional Gripper system 29 initially pivots in the drawing Separating fingers, not shown, between the packaged Folding box bar and the outer packaging and thereby forms each have a gap between the end faces of the rod and the outer packaging.
- the actual gripper can easily Dip into the packaging, a folding box bar completely grasp and on a feed belt 26 to a Put on the packaging machine.
- the suction gripper 27 mentioned above comes into action again. This also applies if the outer packaging is completely empty is. The suction gripper 27 then moves, which grips empty tray and transports it to the exit conveyor 25, where it is supplied to a disposal system.
- the removal device 26 contains the same device according to the invention Technology like the filling device 10. In Both cases are fully automatic with a gripper system a bar-shaped layer of precisely counted folding boxes recorded and moved, either for filling transport packaging or for removal from the same.
- FIGS. 3a to 3c 30 The mode of operation of a conveyor belt system is shown in FIGS. 3a to 3c 30 is shown, which is a storage belt 33, a Lock belt 34 and two horizontally across their conveying direction Slidable switch bands 37, 37 'comprises.
- the folding boxes leave according to Fig. 1 in the shingled stream the gluing machine 1 on an intermediate belt 2 with her Adhesive seam along or preferably across the direction of transport. From the intermediate belt 2 they then reach the storage belt 3, 33, where they are buffered in time or space. At the end of the storage belt 33, the folding boxes run against it Lock belt 34 at where it is jammed and pulled upwards will.
- the lock belt 34 is generated from the tightly closed Folding boxes an exact stream of shingles.
- the Folding boxes in the shingled stream are made using the counting device 35 automatically counted individually.
- Fig. 3a the lock belt 34 is pivoted down State shown in which the tightly folded boxes, the upper edges of which are moved vertically Top plate 32 are kept at the same height from the stowage belt 33 deducted and with the help of an upper take-off belt 31 the turnout belt 37 are fed.
- Sampling by means of device 36 is in progress according to the same scheme. From a control device comes the message that a folding box with a certain Number X should be taken as a sample. The sluice band 34 then stops the carton shingled stream and pivots, as shown in Fig. 3c, so that the corresponding Folding box with the number X is released. This is then from an upper band of the device 36 Sampling that is in the pivoted position of the sluice belt 34 directly adjoins this, deducted and in a not shown in the drawing Magazine filed where the sample is processed further or can be examined. Also a documentary, in particular by means of electronic data acquisition conceivable.
- the counter 35 can, for example, be a laser copy counter be like him specifically for newspaper counting, Magazines or single sheets in a stream of shingles come across, was developed. Such a counter is characterized by a large measuring range of approx. 70mm, the detection of the finest edges in the range 0.1 mm and a high processing speed. Analog electronics is trimmed to the high processing speed. In a prototype of the conveyor belt system according to the invention could count over 360,000 copies per hour, what corresponds to a counting rate of 100 folding boxes per second. A built-in microprocessor monitors the counting process and can produce unwanted double or multiple impulses, such as occur with a pre-fold, suppress.
- the accumulation belt 35 in the conveyor belt system 30 consists of a Twin ribbon, as well as the Leiden turnout ribbons 37 and 37 ', which on a base frame with linear guide and drive for Lane changes are established.
- the lock band 34 includes one Timing belt with central drive, which is about 20 ° in height is pivotable.
- the trigger belt 31 as well as the upper belts for sampling in the device 36 twin belts with two parallel conveyor tracks.
- FIG. 4a is the further way of Scale flow of packaged, pre-glued and flat-lying Folding boxes over the switch belt 47 shown.
- Fig. 4a is a stationary vertical station 48 from the switch belt 47 filled with folding boxes from below. While of the filling process, the vertical station 48 lowers automatically, for example weight controlled or due to a Count pulse from the counter device 35 in the direction of the arrow downwards.
- the turnout belt stops 47 on and an arm of a positioning system 41 pivots and, as indicated in FIG. 4b, docks onto the gripper system 49 via a base unit 49 '' mechanically, energetically and possibly sensory.
- FIG. 4c shows a gripping movement of the gripper system 49 Movement of its two gripper jaws 49 'in the direction of the arrow up or down to the stacked folding boxes in a rod shape along the rod axis (y-direction) to hold on with defined force. Then pulls Positioning system 41, the gripper system 49 together with the Folding carton bar from the stationary vertical station 48 out and conveys it to the filling station 12, the Base unit 49 '' of the gripper system 49 mechanically and energetically is decoupled from the vertical station 48.
- FIGS. 4d and 4e of the gripper system 39 shows that Gripper system 39 in a sectional view in the zx plane without Filling material, while Fig. 4e the gripper system 39 in the filled State illustrated with a view in the z direction.
- the Holding device of the gripper system 39 according to the invention comprises in this embodiment a pair of opposing ones Holding jaws 42, 42 'which exert a force on the flat Goods in the direction of the bar (y direction) or in the corresponding direction Can exercise the opposite direction, as indicated by the arrows is indicated in Fig. 4e.
- the holding device comprises a pair of opposing holding jaws 43, 43 ', a force in the x direction perpendicular to the y direction or in the corresponding opposite direction to the flat goods in can exercise the holding device.
- the minimum distance the holding jaws 43, 43 'acting in the x direction from one another, which is determined by the length of the flat goods to be gripped can, either mechanically, for example by hand or be adjusted pneumatically or by one in the Remote control drawing, not shown, in particular be adjusted in a regulated manner.
- Fig. 4d there is also one in the direction the z-axis displaceable surface suction unit 44 with Suction cups 45 are provided with which the goods to be held in the holding device of the gripper system 39 in the direction of Z-axis sucked in particularly gently and without harmful deformation can be held.
- the suction cups 45 are on a system for production not shown in the drawing connected by negative pressure.
- FIGS 5a and 5b show a special embodiment a butterfly gripper 50 with two displaceable against each other Base plates 51, 51 'for central format adjustment for different transport packaging sizes.
- On the base plates 51, 51 ' close on the edge pairs of opposite, foldable and / or pivotable Gripping wings 52, 52 '; 53, 53 '; 54, 54 ', which for simultaneous Erecting opposite side faces of the Serve transport packaging from a flat blank.
- the butterfly gripper 50 according to FIG. 5a is of the side shown, the gripper wing pairs 54, 54 'both in an upright as well as folded down position you can see.
- a transverse adjustment device 56 effects the format adjustment of the butterfly claw 50.
- FIGS 6a to 6d show an embodiment of the Butterfly gripper 60 in various operating positions.
- the butterfly gripper 60 is intended as a tray erector accomplish the assembly of die cuts as well as intermediate layers.
- the butterfly gripper 60 is in a schematic Top view in the "unfolded" state shown for removing a tray blank. Recognizes in the center one again the transverse adjustment device 66, the for the purpose of format adjustment the base plates 61, 61 ' can move against each other. In the basic areas are the gripper wing pairs 62, 62 '; 63, 63 '; 64, 64 'flat on the Tray blank 68 shown with reinforced lines.
- the gripper wing pairs 63, 63 'and 64, 64' are around Folded up 90 ° to raise the front walls of the tray, while the gripper wings 62, 62 'are still flat lies.
- the folding movement and the resulting erection the front parts of the tray blank can already be Swiveling movement following the removal of the tray blank 6a from a magazine while still the butterfly gripper 60 on its way to the assembly station 16 is as shown in FIG. 1.
- a butterfly gripper 70 with a central one Transverse adjustment device 76 pivoted onto a joining device 71, from in the direction of the curved arrows the tops of the front reinforcement flaps 79, 79 'adhesive is applied.
- the butterfly gripper 70 is then included the partially assembled tray in the direction of the central arrow pressed down into the joining device 71, whereby the Front reinforcement flaps 79, 79 'set up and glued to the already erected front walls of the tray will.
- FIG. 8a shows the cutting of an intermediate layer 80 with two base areas 81, 81 ', two middle surfaces 82, 82' and four small edge surfaces 83 lying flat from above.
- FIG. 9 the assembly of an intermediate layer is included With the help of a butterfly gripper 50 with transverse adjustment device 56 shown schematically from the side. Of the Liner cutting is done by suction cups 55 des Butterfly gripper 50 through the base plate pair to the Base surfaces 81, 81 'gripped and with the help of the transverse adjustment device 56, which the gripping wing pair 54, 54 ' as well as the corresponding opposite gripper wing pairs contracts laterally in the direction of the simple arrows, assembled. So that the middle tab from the two middle surfaces 82, 82 'in the right direction this process takes place via an assembly aid 90. if the Edge surfaces 83 should not yet be erected also when retracting the pre-assembled intermediate layer the tray can be erected.
- the butterfly claw 50 is both the job of a Trayformer as well as that of an intermediate layer gripper, There are no cycle conflicts as there are intermediate layers and trays are never used and assembled at the same time. This allows the butterfly gripper according to the invention particularly flexible, profitable and in one space use a compact environment.
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Abstract
Description
- Fig. 1
- eine schematische Draufsicht von oben auf eine Ausführungsform der erfindungsgemäßen Befülleinrichtung;
- Fig. 2
- eine schematische Draufsicht von oben auf eine Ausführungsform der erfindungsgemäßen Entnahmeeinrichtung;
- Fig. 3a
- eine schematische Seitenansicht eines Förderbandsystems für eine erfindungsgemäße Befülleinrichtung mit herabgeschwenktem Schleusenband;
- Fig. 3b
- das Förderbandsystem nach Fig. 3a schematisch von oben;
- Fig. 3c
- das Förderbandsystem nach Fig. 3a mit hochgeschwenktem Schleusenband;
- Fig. 4a
- eine schematische Seitenansicht einer stationären Vertikalstation mit angekoppeltem Wechselgreifersystem beim Befüllen;
- Fig. 4b
- ein Positioniersystem beim Andocken an das Wechselgreifersystem nach Fig. 4a;
- Fig. 4c
- das Wechselgreifersystem nach Fig. 4b mit angedocktem Positioniersystem beim Ausführen einer Greifbewegung und Abdocken von der stationären Vertikalstation mit Hilfe des Positioniersystems;
- Fig. 4d
- eine schematische Schnittansicht einer Ausführungsform des erfindungsgemäßen Greifersystems in der zx-Ebene;
- Fig. 4e
- das befüllte Greifersystem nach Fig. 4d schematisch von der Seite in Blickrichtung der z-Achse;
- Fig. 5a
- eine Ausführungsform eines weiteren Greifersystems zur automatischen Aufrichtung und Montage einer Transportverpackung in schematischer Ansicht von oben;
- Fig. 5b
- das weitere Greifersystem nach Fig. 5a in Seitenansicht mit abgeklappten Greifflügeln;
- Fig. 6a
- eine Ausführungsform eines weiten Greifersystems in schematischer Ansicht von oben beim Entnehmen eines Trayzuschnitts;
- Fig. 6b
- das weitere Greifersystem nach Fig. 6a mit hochgeklappten Frontteilen;
- Fig. 6c
- das weitere Greifersystem nach Fig. 6b mit hochgeklappten Seitenteilen;
- Fig. 6d
- das weitere Greifersystem nach Fig. 6c mit hochgeklappten Fügehilfen;
- Fig. 7a
- eine schematische Seitenansicht einer Fügehilfe beim Leimauftrag vor der Frontverstärkung eines teilmontierten Trays;
- Fig. 7b
- die Fügehilfe nach Fig. 7a beim Fügevorgang der Verstärkungsklappen; und
- Fig. 8a
- eine schematische Ansicht eines Zwischenlagenzuschnitts von oben;
- Fig. 8b
- der Zwischenlagenzuschnitt nach Fig. 8a schräg von oben mit senkrechter Längsausknickung und vier kleinen Querausknickungen an den Rändern;
- Fig. 9
- eine schematische Seitenansicht eines weiteren Greifersystems beim Vormontieren einer Zwischenlage.
Claims (9)
- Befüll- und/oder Entnahmeeinrichtung zum Befüllen und/oder zur Entnahme von flachen, reihen- oder schuppenförmig aneinander liegenden Gütern, insbesondere vorgeklebten, flachliegenden Faltschachteln in eine bzw. aus einer Transportverpackung (13), insbesondere einem Umkarton, mit einer Fördervorrichtung zum Zuführen der flachen Güter zur Transportverpackung (13) bzw. zum Abführen von der Transportverpackung (13) weg, bei der ein Greifersystem (9, 9'; 29; 49) vorgesehen ist, mit dem die flachen Güter in einer längs einer y-Richtung ausgerichteten, stangenförmigen Aneinanderreihung über eine stationäre Vertikalstation (8, 8'; 48) von der Fördervorrichtung entnommen und in die Transportverpackung (13) eingefüllt bzw. aus der Transportverpackung (13) entnommen und der Fördervorrichtung zugeführt werden können, wobei das Greifersystem (9, 9'; 29; 49) Teil eines automatischen Handhabungssystems mit elektronischer Steuerung und Positioniersystem (41) ist und Antriebs- und Führungselemente für eine Halteeinrichtung, die in y-Richtung und in mindestens einer Richtung senkrecht zur y-Richtung eine definierte Kraft auf die stangenförmig aneinander gereihten, flachen Güter ausüben kann, umfaßt, wobei die Halteeinrichtung eine flächige Saugeinheit mit in einer z-Richtung senkrecht zur y-Richtung wirkenden Unterdruckerzeugung aufweist.
- Befüll- und/oder Entnahmeeinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß das Greifersystem (9, 9'; 29; 49) eine Basiseinheit (49') mit verschwenkbarer mechanischer, energetischer und ggf. sensorischer Ankopplungsmöglichkeit an das Positioniersystem (41) einerseits und an die stationäre Vertikalstation mit (8, 8'; 48) andererseits aufweist.
- Entnahmeeinrichtung oder kombinierte Befüll- und Entnahmeeinrichtung nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, daß einschwenkbare Trennfinger zur Bildung eines Spaltes zwischen den beiden y-seitigen Enden einer verpackten Stange von flachen Gütern und der jeweils benachbarten Wand der Transportverpackung (13) vorgesehen sind.
- Befülleinrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß ein weiteres Greifersystem (17; 50; 60; 70) zur automatischen Aufrichtung und Montage der Transportverpackung (13) vorgesehen ist, welches eine Basiseinheit mit zwei gegeneinander verschiebbaren Basisplatten (51, 51'; 61, 61') zur zentralen Formatverstellung für unterschiedliche Transportverpackungsgrößen aufweist, an denen abklappbare und/oder verschwenkbare Greifflügel (52, 52', 53, 53', 54, 54'; 62, 62', 63, 63', 64, 64') zum simultanen Aufrichten von gegenüberliegenden Seitenflächen der Transportverpackung (13) aus einem flachliegenden Zuschnitt (68) montiert sind, wobei zumindest einige der Greifflügel (52, 52', 53, 53', 54, 54'; 62, 62', 63, 63', 64,64') und/oder der Basisplatten (51, 51'; 61, 61') an ein System zur Erzeugung von Unterdruck angeschlossen sind und Teile der Transportverpackung (13) ansaugen können.
- Befülleinrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Fördervorrichtung zum Zuführen der flachen Güter zur Transportverpackung (13) ein Förderbandsystem (30) mit einem im wesentlichen horizontalen Stauband (3; 33) zum Transport der flachen Güter in einem Schuppenstrom z.B. aus einer Klebemaschine (1) und zur zeitlichen Pufferung der flachen Güter, mit einem an das Stauband (3; 33) anschließenden, nach oben fördernden und um eine horizontale Schwenkachse etwa auf der Höhe des Staubandes (3; 33) verschwenkbaren Schleusenband (4; 34) umfaßt, und daß im Bereich des Schleusenbandes (4; 34) eine Vorrichtung (6; 36) zur gezielten Stichprobenentnahme einzelner flacher Güter im aufgeschwenkten Zustand des Schleusenbandes (4; 34) vorgesehen ist.
- Befüll- und/oder Entnahmeeinrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Fördervorrichtung, vorzugsweise im Bereich des Schleusenbandes (4; 34), eine Zählvorrichtung (5; 35) zur Abzählung der geförderten flachen Güter aufweist.
- Greifersystem (9, 9'; 29; 49) zum Einsatz in einer Befüll- und/oder Entnahmeeinrichtung nach einem der vorhergehenden Ansprüche.
- Verfahren zum Betrieb einer Befülleinrichtung nach Anspruch 6, dadurch gekennzeichnet, daß die flachen Güter in einem Schuppenstrom mit dem Stauband (3; 33) z.B. aus einer Klebemaschine (1) kontinuierlich entnommen werden, und daß der kontinuierliche Schuppenstrom entweder bei heruntergeschwenktem Schleusenband (4; 34) weitergefördert oder bei hochgeschwenktem Schleusenband (4; 34) am schleusenbandseitigen Ende des Staubandes (3; 33) aufgestaut und dadurch eine Stange von flachen Gütern gebildet wird, daß das Schleusenband (4; 34) nach Förderung einer vorgewählten Anzahl von flachen Gütern hochgeschwenkt wird, und daß bei hochgeschwenktem Schleusenband (4; 34) nach einem Stichprobenplan eine automatische Stichprobenentnahme aus dem vom Stauband (3; 33) geförderten Schuppenstrom flacher Güter erfolgt.
- Verfahren nach Anspruch 8, dadurch gekennzeichnet, daß die entnommenen Stichproben automatisch magaziniert und, vorzugsweise über elektronische Informationsspeicherung, dokumentiert werden.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29708778U DE29708778U1 (de) | 1997-05-16 | 1997-05-16 | Greifersystem für eine Befüll- und Entnahmeeinrichtung für flache Güter |
DE29708765U DE29708765U1 (de) | 1997-05-16 | 1997-05-16 | Befüll- und Entnahmeeinrichtung für flache Güter |
DE29708778U | 1997-05-16 | ||
DE29708765U | 1997-05-16 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0878399A1 true EP0878399A1 (de) | 1998-11-18 |
EP0878399B1 EP0878399B1 (de) | 2002-10-09 |
Family
ID=26060330
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98108770A Expired - Lifetime EP0878399B1 (de) | 1997-05-16 | 1998-05-14 | Greifersystem für eine Befüll- und Entnahmeeinrichtung für flache Güter sowie Betriebsverfahren hierfür |
Country Status (2)
Country | Link |
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EP (1) | EP0878399B1 (de) |
DE (1) | DE59805865D1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1927546A1 (de) * | 2006-11-30 | 2008-06-04 | Mag Systèmes | Verfahren und Vorrichtung zur Bestimmung des Füllpegels eines Behälters mit gefüllten Briefumschlägen |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4161092A (en) * | 1976-02-18 | 1979-07-17 | Gard, Inc. | Flat article handling system |
US4943206A (en) * | 1988-06-16 | 1990-07-24 | Konica Corporation | Automatic carton supply method |
WO1996020869A1 (en) * | 1995-01-04 | 1996-07-11 | Oy Jopamac Ab | An apparatus for packaging paper goods forming a stack |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2261416C3 (de) * | 1972-12-15 | 1975-12-18 | Jagenberg-Werke Ag, 4000 Duesseldorf | Vorrichtung zum Einbringen von Faltschachtelzuschnitten od. dgl. in Versandkartons |
CH630860A5 (fr) * | 1979-05-18 | 1982-07-15 | Bobst Sa | Dispositif pour recevoir et empaqueter des boites pliantes confectionnees par une plieuse-colleuse. |
US4538511A (en) * | 1983-08-24 | 1985-09-03 | Harris Graphics Corporation | Signature handling apparatus |
-
1998
- 1998-05-14 EP EP98108770A patent/EP0878399B1/de not_active Expired - Lifetime
- 1998-05-14 DE DE59805865T patent/DE59805865D1/de not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4161092A (en) * | 1976-02-18 | 1979-07-17 | Gard, Inc. | Flat article handling system |
US4943206A (en) * | 1988-06-16 | 1990-07-24 | Konica Corporation | Automatic carton supply method |
WO1996020869A1 (en) * | 1995-01-04 | 1996-07-11 | Oy Jopamac Ab | An apparatus for packaging paper goods forming a stack |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1927546A1 (de) * | 2006-11-30 | 2008-06-04 | Mag Systèmes | Verfahren und Vorrichtung zur Bestimmung des Füllpegels eines Behälters mit gefüllten Briefumschlägen |
FR2909360A1 (fr) * | 2006-11-30 | 2008-06-06 | Mag Systemes Soc Par Actions S | Procede et dispositif de determination du degre de remplissage d'un contenant en enveloppes pleines |
US8295976B2 (en) | 2006-11-30 | 2012-10-23 | Mag Systemes S.A.S. | Method and device for determining the degree of filling of a container with filled envelopes |
Also Published As
Publication number | Publication date |
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DE59805865D1 (de) | 2002-11-14 |
EP0878399B1 (de) | 2002-10-09 |
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