EP0878401B1 - Système et procédé de préhension pour ériger et monter des emballages de transport - Google Patents

Système et procédé de préhension pour ériger et monter des emballages de transport Download PDF

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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
Application number
EP98108772A
Other languages
German (de)
English (en)
Other versions
EP0878401A1 (fr
Inventor
Hermann Müller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
A Landerer & Co KG GmbH
Artur Theis & Co Kg Faltschachtelfabrik GmbH
August Faller GmbH and Co
Carl Edelmann GmbH and Co KG
Original Assignee
A Landerer & Co KG GmbH
Artur Theis & Co Kg Faltschachtelfabrik GmbH
August Faller GmbH and Co
Carl Edelmann GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by A Landerer & Co KG GmbH, Artur Theis & Co Kg Faltschachtelfabrik GmbH, August Faller GmbH and Co, Carl Edelmann GmbH and Co KG filed Critical A Landerer & Co KG GmbH
Publication of EP0878401A1 publication Critical patent/EP0878401A1/fr
Application granted granted Critical
Publication of EP0878401B1 publication Critical patent/EP0878401B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Making Paper Articles (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Manipulator (AREA)
  • Basic Packing Technique (AREA)

Claims (10)

  1. Système de préhension (17 ; 50 ; 60 ; 70) pour le dressage et le montage automatique d'un emballage de transport (13) pour des produits posés les uns sur les autres, à partir d'un flan plat et non plié (68), ledit système de préhension (17 ; 50 ; 60 ; 70) étant raccordé à un système destiné à produire une dépression et capable d'aspirer des parties de l'emballage de transport (13), et dans lequel il est prévu un dispositif de jointure (71) qui comporte des auxiliaires de jointure au moyen desquels des parties (69, 69' ; 79, 79') du flan (68) peuvent être dressées,
    caractérisé en ce que
    le flan (68) comprend une partie de fond sensiblement rectangulaire, dans laquelle, sur deux côtés opposés sont articulés une paire de volets de renforcement frontaux (69, 69' ; 79, 79'), et sur les deux autres côtés sont articulés une paire de volets latéraux opposés, et sur les deux côtés opposés, non raccordés à la partie de fond, des deux volets latéraux sont articulées respectivement une paire de moitiés de volets frontaux opposées,
    le système de préhension (17 ; 50 ; 60 ; 70) comprend une unité de base sensiblement rectangulaire dans laquelle sur deux côtés opposés sont montées des ailes de préhension (52, 52' ; 62, 62') capables de basculer et/ou de pivoter, sensiblement rectangulaires, pour le dressage simultané de surfaces latérales opposées de l'emballage de transport (13), ladite unité de base, la partie de fond et les ailes de préhension (52, 52' ; 62, 62') étant capables d'aspirer les volets latéraux opposés du flan (68) sur le côté ultérieurement intérieur de l'emballage de transport (13) ; et sur les deux côtés opposés, non raccordés à l'unité de base, des deux ailes de préhension (52, 52' ; 62, 62') est montée une paire respective d'ailes de préhension supplémentaires opposées (53, 53' et 54, 54' ; 63, 63' et 64, 64') de manière à pouvoir être basculées ou pivotées, et capables d'aspirer les moitiés de volets frontaux correspondants, et
    l'emballage de transport (13) possède après l'opération de montage par le système de préhension (17 ; 50 ; 60 ; 70) la forme dans l'espace d'un cube ouvert vers le haut, dans lequel les volets de renforts frontaux (69, 69' ; 79, 79') recouvrent au moins partiellement les moitiés de volets frontaux correspondantes.
  2. Système de préhension selon la revendication 1, caractérisé en ce que le système de préhension (17 ; 50 ; 60 ; 70) est accouplé à une cellule d'automate (16) sur le plan mécanique, énergétique et le cas échéant sensoriel, et en ce qu'un système de préhension alternatif (9, 9') destiné au remplissage automatique de l'emballage de transport (13), en particulier avec des produits plats, est susceptible d'être accouplé à la cellule d'automate (11) sur le plan mécanique, énergétique et le cas échéant sensoriel.
  3. Système de préhension selon l'une des revendications précédentes, caractérisé en ce que l'unité de base comprend deux plaques de base (51, 51' ; 61, 61') susceptibles d'être déplacées l'une par rapport à l'autre, pour le réglage centralisé du format pour des tailles d'emballage de transport différentes.
  4. Système de préhension selon l'une des revendications précédentes, caractérisé en ce que dans le dispositif de jointure (71), peut être pressé le flan (68) pour un emballage de transport (13), partiellement dressé et saisi par le système de préhension (17 ; 50 ; 60 ; 70), et grâce à cela les volets de renfort frontaux (79, 79') de l'emballage de transport (13) peuvent être dressés vers le haut.
  5. Système de préhension selon la revendication 4, caractérisé en ce que le dispositif de jointure (71) comprend des moyens (75, 75') pour l'application de produit adhésif sur les faces supérieures des volets de renfort frontaux (79, 79').
  6. Système de préhension selon l'une des revendications précédentes, caractérisé en ce qu'il est prévu un auxiliaire de montage (90) pour la réalisation d'une patte médiane à partir des surfaces médianes (82, 82') lors du redressement d'une couche intermédiaire (80) pour la mise en place dans l'emballage de transport (13).
  7. Système de préhension selon la revendication 6, caractérisé en ce que l'auxiliaire de montage (90) est constitué pour l'essentiel par une tige ou un tube cylindrique ou prismatique.
  8. Procédé pour le fonctionnement d'un système de préhension selon l'une des revendications précédentes, caractérisé en ce que l'emballage de transport (13) est un carton d'emballage, que l'on dresse et que l'on monte automatiquement au moyen du système de préhension (17 ; 50 ; 60 ; 70), et en ce que l'on monte en cas de besoin également des couches intermédiaires (80) dans l'emballage de transport (13) avec le système de préhension (17 ; 50 ; 60 ; 70).
  9. Procédé selon la revendication 8, caractérisé en ce que l'on prélève un flan de plateau (68) pour un carton d'emballage (13) depuis un magasin (18) avec le système de préhension (17 ; 50 ; 60 ; 70) et on l'amène dans une position de montage par un déplacement transversal du système de préhension (17 ; 50 ; 60 ; 70), en ce que l'on rabat pendant ce mouvement transversal des ailes de préhension opposées par paires (52, 52', 53, 53', 54, 54' ; 62, 62', 63, 63', 64, 64') du système de préhension (17 ; 50 ; 60 ; 70) sur environ 90° vers le haut, et l'on dresse ici des régions de bordure du flan de plateau (68), en ce que l'on monte ensuite les parties latérales du carton d'emballage et l'on encolle le flan de plateau (68), et en ce que le carton d'emballage (13) partiellement monté est pressé dans une station de montage.
  10. Procédé selon l'une ou l'autre des revendications 8 et 9, caractérisé en ce que pour le montage d'une couche intermédiaire (80), on prélève d'un magasin un flan de couche intermédiaire plat au moyen du système de préhension (17 ; 50 ; 60 ; 70) et on le monte au moyen d'un dispositif de déplacement transversal (56 ; 66 ; 76) qui sert au réglage de format lors du montage d'un carton d'emballage (13), et ce que les parties de pliage latérales (83) de la couche intermédiaire sont jointes par enfoncement dans le carton d'emballage (13).
EP98108772A 1997-05-16 1998-05-14 Système et procédé de préhension pour ériger et monter des emballages de transport Expired - Lifetime EP0878401B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29708779U 1997-05-16
DE29708779U DE29708779U1 (de) 1997-05-16 1997-05-16 Greifersystem zur automatischen Aufrichtung und Montage einer Transportverpackung für flache Güter

Publications (2)

Publication Number Publication Date
EP0878401A1 EP0878401A1 (fr) 1998-11-18
EP0878401B1 true EP0878401B1 (fr) 2001-10-24

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Application Number Title Priority Date Filing Date
EP98108772A Expired - Lifetime EP0878401B1 (fr) 1997-05-16 1998-05-14 Système et procédé de préhension pour ériger et monter des emballages de transport

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EP (1) EP0878401B1 (fr)
DE (2) DE29708779U1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
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

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Publication number Publication date
DE59801836D1 (de) 2001-11-29
DE29708779U1 (de) 1997-07-17
EP0878401A1 (fr) 1998-11-18

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