EP0878401B1 - Greifersystem und Verfahren zur automatischen Aufrichtung und Montage einer Transportverpackung - Google Patents
Greifersystem und Verfahren zur automatischen Aufrichtung und Montage einer Transportverpackung Download PDFInfo
- Publication number
- EP0878401B1 EP0878401B1 EP98108772A EP98108772A EP0878401B1 EP 0878401 B1 EP0878401 B1 EP 0878401B1 EP 98108772 A EP98108772 A EP 98108772A EP 98108772 A EP98108772 A EP 98108772A EP 0878401 B1 EP0878401 B1 EP 0878401B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripping system
- gripping
- blank
- transport packing
- carton
- 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.)
- Expired - Lifetime
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Classifications
-
- 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
- B65B5/02—Machines characterised by incorporation of means for making the containers or receptacles
- B65B5/024—Machines characterised by incorporation of means for making the containers or receptacles for making containers from preformed blanks
- B65B5/026—Machines characterised by incorporation of means for making the containers or receptacles for making containers from preformed blanks for making trays
Definitions
- the invention relates to a gripper system for automatic Erection and assembly of a transport packaging for each other lying goods from a flat, unfolded blank, the gripper system being connected to a production system of negative pressure and parts of the transport packaging can suck, and wherein a joining device is provided is, which has joining aids with which parts of the blank can be set up as well as a particularly suitable Operating procedures.
- Such a gripper system is known from the DE 39 26 650 A1.
- the known device is used for erection of cardboard-like containers and for layers Use of lumped piece goods, in particular Bottles.
- a filling device for filling flat, row or goods lying in a scale-like manner, in particular pre-glued, flat-lying folding boxes in one Transport packaging, namely a cardboard box, is for example known from DE 38 01 279 C1.
- 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.
- DE 34 17 154 A1 describes a packaging machine known from mass articles, in which a gripper with his suction cups recorded a flat cut on the bottom part.
- the gripper is part of a wrap-around machine and instructs a single swiveling base unit Gripper wing on. A simultaneous erection of opposing ones Tab of the blank or even more complicated However, box shapes are not possible.
- Such a passive erection of the shipping carton the flat cut is also from the above DE 39 26 650 A1 known.
- a gripper head grips with several suction heads the cut on top a stack of blanks and pulls the gripped one Cut upwards through a rigid folding frame. By the relative movement between that guided by the suction heads The blank and the rigid folding frame becomes the blank bent over in its edge areas and into its cardboard-shaped Final shape erected.
- Partial gluing can also occur in the edge area of the folding frame from the flaps of the outer carton.
- a disadvantage of this known device is that the cut relatively coarse and undefined due to the rigid Folding frame is bent. Some erection aid can here at most relatively deep into the material of the blank incised fold lines give the unfolding process at least design something more defined.
- the object of the present invention is a To present the gripper system with the features described at the beginning, a fully automatic erection, assembly and positioning of the transport packaging enables, and with which a material-saving and defined active erection the cut from the inside of the later Transport packaging becomes possible.
- the blank comprises an essentially rectangular base part, where on two opposite sides a pair of Front reinforcement flaps and on the other two sides a pair of opposite side flaps is hinged, being on the two opposite, not on the bottom part a pair on each side of the two side flaps is articulated from opposite bonnet halves, that the gripper system is a substantially rectangular base unit has, on two opposite sides foldable and / or pivotable, essentially rectangular gripping wings for simultaneous erection of opposing ones Side surfaces of the transport packaging installed are, the base unit, the base part and the gripper wings the opposite side flaps of the blank suck on the inside of the transport packaging can, and being on the two opposite, not on sides of the two gripper wings each a pair of opposing gripper wings is hinged and / or swivel mounted, this can suck in the corresponding bonnet halves, and that the transport packaging after the assembly process the gripper system has the spatial shape of an open
- the gripper system according to the invention which is part of a robot system with electronically controlled positioning systems can be in a filling system, a particularly gentle defined active erection of the special blank for transport packaging from the inside. Only the front reinforcement flaps are in the Passive gripper system according to the invention, that is, by a Set of rigid joining aids erected. Because this one But do not share with the interior of the to be erected Transport packaging can come into contact here can be a certain one Inaccuracy when erecting can be tolerated.
- Such a "butterfly-like" gripper system can in addition to the automatic processing of the transport packaging in the filling system also as a drive for assembly of intermediate layers in the transport packaging without loss of cycle time be used. By erecting the transport packaging by means of negative pressure from the inside, in particular cause a much easier format adjustment.
- the gripper system according to the invention mechanically, energetically and possibly sensory to one Robot cell is coupled, so that power or compressed air supply lines completely saved or minimized in length can be.
- An embodiment of the invention is particularly preferred Gripper system, which also connects to the robot cell Interchangeable gripper system for the automatic filling of the transport packaging, especially with flat goods, mechanically, can be coupled energetically and, if necessary, by sensors. Thereby can a positioning system of the robot cell simultaneously with the Positioning the gripper system according to the invention as well another gripper system can be used, which the actual filling process of the transport packaging is used. There the filling can only take place when one is ready assembled transport packaging positioned on the filling station is, the two gripper systems come in time not in the way.
- the Joining device a picked up with the gripper system, partially erected blank for transport packaging pressed in and thereby the front reinforcement flaps of the Transport packaging must be set up.
- the Joining device for applying adhesive on the tops of the front reinforcement flaps fully automatic gluing of the front reinforcement flaps on the corresponding front of the transport packaging can be effected.
- An embodiment is also preferred in which an assembly aid for forming a middle flap from middle surfaces when erecting an intermediate layer for insertion in the Transport packaging is provided.
- the Assembly aid consisting essentially of a cylindrical or prismatic rod or tube around which the erection the middle surfaces to a middle flap.
- the transport packaging is that with the invention Gripper system automatically erected and assembled is, for flat, row or scale together adjacent goods, for example pre-glued, laid flat Folding boxes determined.
- a method also falls within the scope of the present invention for operating a gripper system as described above kind, the transport packaging from a cardboard box exists that by means of a gripper system according to the invention is erected and assembled automatically. So that at Also needs one or more intermediate layers in the transport packaging be assembled, with a separate erection and assembly equipment is saved.
- a particularly preferred method variant is distinguished characterized in that a tray blank for a carton with taken from a magazine from the gripper system according to the invention and by a transverse movement of the gripper system into an assembly position brought that during this transverse movement gripper wings of the gripper system that are opposite each other in pairs can be folded upwards by about 90 ° and marginal areas of the tray cut up, then the side panels of the outer carton assembled and the tray blank glued and that the partially assembled cardboard box in an 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 gripper system 17 according to the invention, the over has an automatic, central format adjustment, Stamped blanks taken from a magazine 18 and for assembly pivoted to station 16.
- the fully assembled Transport packaging 13 is then with the butterfly Gripper system 17 fed to the filling station 12.
- 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.
- FIGS 2a and 2b 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. 2a 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 3a to 3d 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 3a from a magazine, while still the butterfly gripper 60 on its way to the assembly station 16 is as shown in FIG. 1.
- FIGS. 4a and 4b In a joining device with the help of in the direction the arrows 67, 67 'in FIG reinforcement flaps 69, 69 'of placed on the outside of the upright front of the tray. This The process is explained in more detail with reference to FIGS. 4a and 4b:
- FIG. 4a is 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 by means of a device 75, 75 'on the top of the Front reinforcement flaps 79, 79 'adhesive applied becomes.
- 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 become.
- FIG. 5a 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.
- the intermediate layer 80 is mounted obliquely from above State shown, each with the edge surfaces 83 are set up as small cross bends and the central surfaces 82, 82 'in the form of a large vertical Longitudinal buckling are also erected.
- the transverse buckling of the edge surfaces 83 an insertion aid, while the longitudinal buckling of the central surfaces 82, 82 'a spatial separation of two folding box bars in horizontal cause direction.
- FIG. 6 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.
- 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.
Description
- Fig. 1
- eine schematische Draufsicht von oben auf eine automatische Befülleinrichtung mit dem erfindungsgemäßen Greifersystem;
- Fig. 2a
- eine Ausführungsform des erfindungsgemäßen Greifersystems zur automatischen Aufrichtung und Montage einer Transportverpackung in schematischer Ansicht von oben;
- Fig. 2b
- das Greifersystem nach Fig. 2a in Seitenansicht mit abgeklappten Greifflügeln;
- Fig. 3a
- eine Ausführungsform des Greifersystems in schematischer Ansicht von oben beim Entnehmen eines Trayzuschnitts;
- Fig. 3b
- das Greifersystem nach Fig. 3a mit hochgeklappten Frontteilen;
- Fig. 3c
- das Greifersystem nach Fig. 3b mit hochgeklappten Seitenteilen;
- Fig. 3d
- das Greifersystem nach Fig. 3c mit hochgeklappten Fügehilfen;
- Fig. 4a
- eine schematische Seitenansicht einer Fügehilfe beim Leimauftrag vor der Frontverstärkung eines teilmontierten Trays;
- Fig. 4b
- die Fügehilfe nach Fig. 4a beim Fügevorgang der Verstärkungsklappen; und
- Fig. 5a
- eine schematische Ansicht eines Zwischenlagenzuschnitts von oben;
- Fig. 5b
- der Zwischenlagenzuschnitt nach Fig. 5a schräg von oben mit senkrechter Längsausknickung und vier kleinen Querausknickungen an den Rändern;
- Fig. 6
- eine schematische Seitenansicht einer Ausführungsform des erfindungsgemäßen Greifersystems beim Vormontieren einer Zwischenlage.
Claims (10)
- Greifersystem (17; 50; 60; 70) zur automatischen Aufrichtung und Montage einer Transportverpackung (13) für aneinander liegende Güter aus einem flachen, ungefalteten Zuschnitt (68), wobei das Greifersystem (17; 50; 60; 70) an ein System zur Erzeugung von Unterdruck angeschlossen ist und Teile der Transportverpackung (13) ansaugen kann, und wobei eine Fügevorrichtung (71) vorgesehen ist, die Fügehilfen aufweist, mit denen Teile (69, 69'; 79, 79') des Zuschnitts (68) aufgestellt werden können,
dadurch gekennzeichnet,daß der Zuschnitt (68) ein im wesentlichen rechteckiges Bodenteil umfaßt, bei dem an zwei gegenüberliegenden Seiten ein Paar von Frontverstärkungsklappen (69, 69'; 79, 79') und an den beiden anderen Seiten ein Paar von gegenüberliegenden Seitenklappen angelenkt ist, wobei an den beiden gegenüberliegenden, nicht am Bodenteil anliegenden Seiten der beiden Seitenklappen jeweils ein Paar von gegenüberliegenden Frontklappenhälften angelenkt ist,daß das Greifersystem (17; 50; 60; 70) eine im wesentlichen rechteckige Basiseinheit aufweist, bei der an zwei gegenüberliegenden Seiten abklappbare und/oder verschwenkbare, im wesentlichen rechteckige Greifflügel (52, 52'; 62, 62') zum simultanen Aufrichten von gegenüberliegenden Seitenflächen der Transportverpackung (13) montiert sind, wobei die Basiseinheit das Bodenteil und die Greifflügel (52, 52'; 62, 62') die gegenüberliegenden Seitenklappen des Zuschnitts (68) auf der späteren Innenseite der Transportverpackung (13) ansaugen können, und wobei an den beiden gegenüberliegenden, nicht an der Basiseinheit anliegenden Seiten der beiden Greifflügel (52, 52'; 62, 62') jeweils ein Paar von gegenüberliegenden weiteren Greifflügeln (53, 53' und 54, 54' bzw. 63, 63' und 64, 64') abklappbar und/oder verschwenkbar montiert ist, das die entsprechenden Frontklappenhälften ansaugen kann,und daß die Transportverpackung (13) nach dem Montagevorgang durch das Greifersystem (17; 50; 60; 70) die räumliche Form eines nach oben offenen Quaders besitzt, wobei die Frontverstärungsklappen (69, 69'; 79, 79') die entsprechenden Frontklappenhälften zumindest teilweise überdecken. - Greifersystem nach Anspruch 1, dadurch gekennzeichnet, daß das Greifersystem (17; 50; 60; 70) mechanisch, energetisch und ggf. sensorisch an eine Roboterzelle (11) angekoppelt ist, und daß an die Roboterzelle (11) auch ein Wechselgreifersystem (9, 9') zur automatischen Befüllung der Transportverpackung (13), insbesondere mit flachen Gütern, mechanisch, energetisch und ggf. sensorisch ankoppelbar ist.
- Greifersystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Basiseinheit zwei gegeneinander verschiebbaren Basisplatten (51, 51'; 61, 61') zur zentralen Formatverstellung für unterschiedliche Transportverpackungsgrößen aufweist.
- Greifersystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß in die Fügevorrichtung (71) ein mit dem Greifersystem (17; 50; 60; 70) aufgenommener, teilaufgerichteter Zuschnitt (68) für eine Transportverpackung (13) eingepreßt werden kann und dadurch die Frontverstärkungsklappen (79, 79') der Transportverpackung (13) nach oben aufgestellt werden können.
- Greifersystem nach Anspruch 4, dadurch gekennzeichnet, daß die Fügevorrichtung (71) eine Einrichtung (75, 75') zum Auftrag von Klebemittel auf die Oberseiten der Frontverstärkungsklappen (79, 79') aufweist.
- Greifersystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß eine Montagehilfe (90) zur Ausformung einer Mittellasche aus Mittelflächen (82, 82') beim Aufrichten einer Zwischenlage (80) zum Einlegen in die Transportverpackung (13) vorgesehen ist.
- Greifersystem nach Anspruch 6, dadurch gekennzeichnet, daß die Montagehilfe (90) i. w. aus einer zylindrischen oder prismatischen Stange oder Röhre besteht.
- Verfahren zum Betrieb eines Greifersystems nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Transportverpackung (13) ein Umkarton ist, der mittels des Greifersystems (17; 50; 60; 70) automatisch aufgerichtet und montiert wird, und daß mit dem Greifersystem (17; 50; 60; 70) bei Bedarf auch Zwischenlagen (80) in der Transportverpackung (13) montiert werden.
- Verfahren nach Anspruch 8, dadurch gekennzeichnet, daß ein Trayzuschnitt (68) für einen Umkarton (13) mit dem Greifersystem (17; 50; 60; 70) einem Magazin (18) entnommen und durch eine Querbewegung des Greifersystems (17; 50; 60; 70) in eine Montageposition gebracht wird, daß während dieser Querbewegung paarweise gegenüberliegende Greifflügel (52, 52', 53, 53', 54, 54'; 62, 62', 63 63', 64, 64') des Greifersystems (17; 50; 60; 70) um etwa 90° nach oben geklappt werden und dabei Randbereiche des Trayzuschnitts (68) aufrichten, daß anschließend die Seitenteile des Umkartons montiert und der Trayzuschnitt (68) verleimt werden, und daß der teilmontierte Umkarton (13) in eine Montagestation gepreßt wird.
- Verfahren nach einem der Ansprüche 8 oder 9, dadurch gekennzeichnet, daß zur Montage einer Zwischenlage (80) ein flacher Zwischenlagenzuschnitt mit dem Greifersystem (17; 50; 60; 70) einem Magazin entnommen und mittels einer Querverstellungseinrichtung (56; 66; 76), die bei der Montage eines Umkartons (13) zur Formatverstellung dient, montiert wird und die Querfalzteile (83) der Zwischenlage durch Eintauchen in den Umkarton (13) gefügt werden.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29708779U DE29708779U1 (de) | 1997-05-16 | 1997-05-16 | Greifersystem zur automatischen Aufrichtung und Montage einer Transportverpackung für flache Güter |
DE29708779U | 1997-05-16 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0878401A1 EP0878401A1 (de) | 1998-11-18 |
EP0878401B1 true EP0878401B1 (de) | 2001-10-24 |
Family
ID=8040481
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98108772A Expired - Lifetime EP0878401B1 (de) | 1997-05-16 | 1998-05-14 | Greifersystem und Verfahren zur automatischen Aufrichtung und Montage einer Transportverpackung |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP0878401B1 (de) |
DE (2) | DE29708779U1 (de) |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3417154A1 (de) * | 1984-05-09 | 1985-11-21 | Max Kettner Verpackungsmaschinenfabrik GmbH & Co KG, 8000 München | Maschine zum verpacken von massenartikeln |
US5024641A (en) * | 1987-03-06 | 1991-06-18 | Vega Automation | Programmable dynamically adjustable plunger and tray former apparatus |
IT1224940B (it) * | 1988-09-30 | 1990-10-29 | Verpac Spa | Macchina automatica per la piegatura a forma tubolare di fustellati piatti e dotati di linee di prepiegature od articolazioni |
-
1997
- 1997-05-16 DE DE29708779U patent/DE29708779U1/de not_active Expired - Lifetime
-
1998
- 1998-05-14 DE DE59801836T patent/DE59801836D1/de not_active Expired - Fee Related
- 1998-05-14 EP EP98108772A patent/EP0878401B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DE29708779U1 (de) | 1997-07-17 |
EP0878401A1 (de) | 1998-11-18 |
DE59801836D1 (de) | 2001-11-29 |
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