EP0976657A1 - Arrangement for removing the binding element from a staple of goods, in particular of bottle crates - Google Patents

Abstract

An electronic controller (8) operates a multi-axial robot (13) arm (14), with tool holder (15) for a parting or cutting tool (17, 18). An opto-electronic sensor (7) relays the strap (6) location on the side(s) of the stack, to the controller, enabling it to be cut.

Description

For example, in the beverage industry, it is common for shipping from Determine beverage manufacturers to a customer, for example beverage market and stack bottle crates filled with the full beverage bottles on pallets (to be palletized) and to be delivered to the customer in this form. To a It is to prevent the stack of boxes from falling apart on the respective pallet still common, a strapping at the top box layer of the box stack to be provided, namely in the form of a surrounding the boxes there, in itself closed strapping element, for example plastic tape. Since the Boxes of a layer of the box stack each with their bottom in the opening of the boxes The strapping continues to extend into the underlying layer the stack of boxes as a whole is secured against falling apart.

Appropriate security is also provided when returning the empties (Bottle crates with empty bottles) to the beverage manufacturer. It is therefore usual that the customer, the strapping in its original, closed Form kept and then at the top layer of the palletized empties again is provided.

Before the empties are processed further at the beverage manufacturer, the Strapping to be removed. Devices with a knife have so far been customary, which in the vertical direction along the respective stack of goods from top to top is moved down, so as to an existing tying or its To cut the tying element (e.g. cord or ribbon). At the knife a suction port connected to a vacuum suction device is provided, via which the severed strapping element is to be suctioned off. One problem with this is that especially those used for strapping in increasing measure Plastic tapes are relatively rigid and cannot be removed by suction.

This, for example, there is a risk that such tapes or others for Strapping materials used on the pallet conveyor for Continue moving the empties and drop them into the system, where then such cords, tapes, etc. lead to malfunctions, for example Shafts, rollers, gears, chain drives, etc.

The object of the invention is to demonstrate a device (binder) with which a reliable delivery, i.e. Removal of the strapping Strapping element is possible. There is a facility to solve this problem trained according to protection claim 1.

In a preferred embodiment of the invention is on the robot or on one there tool carrier in addition to the cutting tool at least one clamping or Holding tool provided, which is controlled so that with this clamping and Holding tool the strapping element at least before the final one Cutting or cutting is detected and held. That on the robot or on the at least one clamping tool held there, removed from the stack of goods The strapping element can then be reliably disposed of with the robot that the risk of malfunctions in the treatment plant due to it getting into it Strapping elements do not exist.

In one embodiment, the Constriction element of the respective constriction, first of all on one Side and then on another side of the stack of goods, the Tying element on the further side of the stack of goods up to the one there Cut and grasp with clamping and holding tools using a fixing element or a counterholder is fixed in the original position. So in this case in a first step on one side of the stack of goods cutting the Strapping. In a second step, this is done on the other side Grasp the position held there with the counter holder Constriction element by the clamping tools on both sides of the interface.

Only then is the strapping element cut at this interface and finally, after moving the counter holder back, carrying the two, short lengths of the Constriction element to a receptacle or to a container for disposal.

• Definiertes Erkennen und Schneiden;
• nach dem Trennen kurze Längen des Umschnürungselementes, die sich leicht von dem Güterstapel abziehen lassen;
• einwandfreie Entsorgung der entfernten Umschnürung,
• Vermeidung von insbesondere großen Längen des Umschnürungselementes (z.B. Bänder oder Schnüre), die zu Störungen in der Gesamtanlage führen könnten.

The advantages of the device according to the invention include:

• Defined recognition and cutting;
• after separation, short lengths of the strapping element, which can be easily pulled off the stack of goods;
• flawless disposal of the removed strapping,
• Avoidance of particularly long lengths of the strapping element (eg tapes or cords), which could lead to faults in the overall system.

Developments of the invention are the subject of the dependent claims. The invention is explained in more detail below with reference to the figures using an exemplary embodiment.

Fig. 1 in vereinfachter Darstellung und in Seitenansicht einen Entbinder gemäß der Erfindung;

Fig. 2 eine Draufsicht auf den Entbinder der Fig. 1.

Fig. 3 in vereinfachter Darstellung einen Werkzeugträger zur Verwendung bei dem Entbindegerät der Figur 1;

Fig. 4 in schematischer Darstellung und in Draufsicht einen Flaschenkastenstapel zur Erläuterung einer weiteren Ausführungsform;

Fig. 5 in einer ähnlichen Darstellung wie Figur 3 einen Werkzeugträger zur Verwendung bei der Ausführung der Figur 4;

Fig. 6 in vereinfachter Darstellung und im Horizontalschnitt zwei Halteleisten bei einer weiteren möglichen Ausführungsform der Erfindung;

Fig. 7 in vergrößerter Darstellung und in Seitenansicht einen am Werkzeugträger vorzusehenen Schneid-Haken bei einer weiteren möglichen Ausführungsform der Erfindung.

Show it:

Figure 1 in a simplified representation and in side view a binder according to the invention.

FIG. 2 is a top view of the debinder of FIG. 1.

3 shows a simplified representation of a tool carrier for use in the delivery device of FIG. 1;

4 shows a schematic representation and a top view of a bottle crate stack to explain a further embodiment;

5 shows a tool carrier for use in the embodiment of FIG. 4 in a representation similar to FIG. 3;

Fig. 6 in a simplified representation and in horizontal section two retaining strips in a further possible embodiment of the invention;

Fig. 7 in an enlarged view and in side view of a cutting hook to be provided on the tool carrier in a further possible embodiment of the invention.

The debinder, generally designated 1 in the figures, consists inter alia of from a gate-like support frame or support frame 2, at a binder position 3 ' a conveyor 3 is arranged. The transporter 3 is used to transport Empties in the form of bottle crates 5 'stacked or palletized on pallets 4 Empty beverage bottles, not shown, for example, contain beer bottles. Around The upper one is to prevent the stack 5 from falling apart from bottle crates 5 ' Location of these bottle crates 5 'with a ring anchor or a strapping forming circumferential band 6, which also move apart or Divergence of the entire bottle crate 5 prevented, namely characterized in that the bottle crates 5 'each layer with its bottom in the opening the bottle crates 5 'of the underlying layer.

The bottle crates 5 'stacked on the pallet 4 with the empty bottles are in this form returned by a bulk beverage consumer as empties. For Further processing of the empties, it is necessary to remove the tape 6 and also to be disposed of in such a way that this tape 6 or parts thereof do not contain the empties be carried along with the transporter 3. To remove the tape 6 in the Debinder 1 shown in the figures.

In the embodiment shown, there are a plurality of video cameras 7 on the support frame 2 provided that with a central, having an image evaluation device Control device 8, which for example also contains a computer, are connected. With these cameras 7, the on the conveyor 3 to the binder 1 advanced bottle crate 5 detected on several sides, at the embodiment shown on the two parallel to the transport direction A of Transporter 3 extending pages 9 and 10, specifically in the area of two upper layers of the bottle crates 5 'on which the band 6 is suspected. In the Control device 8 follows the image information supplied by cameras 7 special, the band 6 and its location defining criteria evaluated so that in the control device 8 the exact position of the belt 6 on the two sides 9 and 10 is defined when the respective bottle crate 5 after passing through the video cameras 7 has reached the delivery position 3 '.

As soon as the box stack 5 has reached the delivery position 3 ', the Transport device 3 stopped and controlled by the control device 8 Band holder 11 or its counter-holder or retaining strips 12 against the side 10 of the Box stack 5 pressed in the area of the upper box layers. The two Holding strips 12 are each oriented in the vertical direction and from each other spaced so that when pressed against the side 10 band holder 11 Part length of the band 6 extends between the two retaining strips 12.

At the delivery position 3 'is on the top of the support frame 2 in the figures robot generally designated 13, the arm 14 in several Is movable and by the arrangement of the robot 13 above the Transporter 3 also all pages and in particular pages 9 and 10 of the bottle stack 5 positioned at the delivery position 3 '. At the Arm 14 is a tool carrier 15 pivotally provided, which corresponds to the figure 3 a cutting pliers 17 on one side and two on the opposite side Has band clamps 16 and a pliers 18 in between. The Cutting pliers 17 and 18 and the band clamps 16 are each by a Drive, for example a pneumatic drive can be operated individually.

For the removal of the tape 6 is controlled by the control device 8 first the band holder 11 is activated so that its holding strips 12 the band 6 between them and clamp or fix the stack of boxes 5. Then be controlled by the Control device 8 or by the data determined by this control device over the course of the belt 6 on the sides 9 and 10 of the robot 13 and the am Tool carrier 15 provided tools controlled so that the tape 6th is cut approximately in the mine of page 9 with the cutting pliers 17. Subsequently the arm 14 is moved to the side 10 with the tool carrier 15. With the Clamps 16 is then the band 6 approximately in the middle of the page 10 at two through the spatial distance of the terminals 16 from each other and detected with these terminals 16 clamped. The pliers 18 are then actuated and thereby the band 6 on the side 10 between the two terminals 16 severed. The tape is still held at terminals 16.

After cutting the tape 6 on the side 10 will continue to the Clamps 16 held band 6 of the band holder 11 in its initial position moved back so that the band 6 or the two band parts also on the side 10 free and held by the robot 13 at the terminals 16 Bottle crate stack 5 withdrawn and into a side of the transporter 3rd provided disposal container 19 can be introduced.

In the figures, 20 denotes lamps which are sufficient Illumination of the bottle crate 5 on the sides 9 and 10 when moving past worry about the cameras 7.

In the described embodiment, it was assumed that the Cameras 7 stationary or essentially stationary on the support frame 2 in Transport direction are in front of the delivery position 3 '. There is also Possibility of at least one video camera 7 on the robot 13 or on the robot 13 Provide working arm 14.

Furthermore, it was assumed in the illustrated embodiment that the Volume 6 only on two opposite sides 9 and 10 of the Bottle crate 5 is separated. Basically there is also the possibility cut the tape 6 more than twice, for example on all four sides 9, 9 ', 10 and 10 'of the bottle crate stack 5. In this case, it is then to fix the Band 6 in its position defined by the optical position determination necessary, not only on page 10, but e.g. on all four sides To provide band holder 11, the holding strips or holding elements 12 individually are controllable. Furthermore, there are several tool groups on the tool carrier 15 consisting of a band clamp 16 and a cutting pliers 17 necessary.

The operation then takes place according to Figure 4 e.g. progressing in one Circumferential direction B, in such a way that before the tape 6 is cut this is fixed on all sides of the bottle crate 5 by the band holder 11 becomes. The tape 6 is first cut, for example, on the side 9 between the holding elements 12 of the band holder 11 there, one side of the Band 6 is held before the cutting by a terminal 16, namely an area of the band 6 which is in relation to the separating cut to be carried out in Is offset in the direction of arrow B, i.e. follows the position of the separation point. in the Following this, the tape holder 11 on the side 9 is deactivated and thus the Volume 6 released on this page.

The arm 14 is then moved further to the side 10 ′, the one at the clamp 16 already held tape length is carried. Then takes place on the side 10 'again between the holding elements 12 of the band holder 11 there first the detection of the band 6 with a further band clamp 16 and the subsequent cutting. After cutting the tape 6 on the side 10 ′, the tape holder 11 there becomes deactivated, so that now two ends of the band 6 at two terminals 16 of the Tool carrier 15 'are held. The separation of the Volume 6 on the side 10 and then on the side 9 ', so that finally four Band clamps 16 are held four part lengths of the original band 6 and over the container 20 can be disposed of.

All versions have in common that the activated tape holder 11 Band 6 on the respective side of the bottle crate 5 at least as long is held until the band on the relevant side of the associated band clamp is detected on the robot arm 14 or on the tool carrier there.

FIG. 6 shows two in an enlarged representation and in horizontal section Holding strips 12a, which are part of a band holder, not otherwise shown and against their against the bottle crate to hold the band 6 Side are provided with an elastic or resilient pad 21.

Furthermore, each retaining strip 12a has the bottle crate stack 5 on it facing side a knife 22 with a cutting edge 23 which is laterally from the Pad 21 is located and extends in the longitudinal direction of the retaining bar 12a for example over the entire length of this retaining strip. In the normal state of Pad 21, the respective knife 22 with the cutting edge 23 is not above the Front of the edition.

The two knives 22 are located on the mutually facing longitudinal sides of the Holding strips 12a.

Can a band 6 despite the cutting described above by means of the pliers 17th or 18 with the band clamp 16 not pulled off the bottle crate 5 because the band 6, for example on the bottle crates or on the empties (Bottles) is knotted or fastened in some other way, this tape 6 will be by itself the bottle crate 5 moving away pliers 16 (arrow B of Figure 6) and with retaining elements 12a initially remaining on the bottle crate stack via the resilient pads 21 and the then exposed knife 22 so stretched that cutting the tape 6 on the knives 22 or cutting 23 takes place, so that at least a large part of the band 6 is removed from the bottle crate 5 and by the rest of the rest the risk of disturbing subsequent ones Facilities (transporters, etc.) no longer exist.

In many cases it is common for the product to be returned on the pallet 4 as empties Bottle crate 5 not in the band 6, but by one of the bottle crates an upper layer of the box stack surrounding adhesive tape is secured, as in 1 is indicated by broken lines at 6a. Such self-adhesive Adhesive tapes are also known as package tapes.

Cutting such an adhesive tape 6a with a scissor-like one Cutting tools or scissors-like cutting pliers are not possible.

This also applies to such bottle crate stacks 5 secured in individual cases with adhesive tapes 6a to be able to release or release the safety catches are on the clamp pliers 17 and 18 additional hooks 24 are provided, one of which is shown in FIG. 7. These hooks 24 serve, on the one hand, for the tapes 6 that are usually used cutting with the pliers 17 or 18 with the hook end 24 ' capture, move away from the bottle crate 5 (arrow C of Figure 7) and into that to move the respective cutting or separating tool for cutting. By appropriate control of the robot 13 or the tool carrier 15, 15 'becomes Detect the band 6 of the hooks 24 with the hook end 24 ', for example from below forth between the respective bottle crate and the band 6 introduced.

In order to also cut through the adhesive tapes 6a, which are used only occasionally can, the respective hook 24 has on the front below the hook end 24 'and where this hook end merges into the remaining hooks 24, a cutting edge 25 on. As soon as the control device uses the data from the respective video camera 7 supplied image signal recognizes an adhesive tape 6a due to the greater width the robot 13 is controlled so that with the aid of the cutting edge 25 this tape is used several times is severed, in each case in the connection area between two adjacent ones Bottle crates 5 '. For this purpose, the tool carrier 15 or 15 'is moved such that the hook 24 with the cutting edge 25 in between two adjacent bottle crates formed joint performs a cutting movement in the vertical direction, for example from top to bottom.

Reference list

1

Debinder

2nd

Support frame

3rd

carrier

4th

palette

5

Bottle crate stack

5 '

Bottle crate

6

tape

7

Video camera

8th

Control device

9, 9 '

Side of the bottle crate stack

10, 10 '

Side of the bottle crate stack

11

Tape holder

12th

Holding element or holding bar

13

robot

14

Robotic arm

15, 15 '

Tool carrier

16

Band clamp

17, 18

Cutting pliers

19th

Disposal container

20th

lamp

21

Edition

22

knife

23

Cutting edge

24th

hook

24 '

Hook end

25th

Cutting edge

Claims (10)

Device for removing the strapping element (6) of a strapping from a stack of goods, in particular a bottle crate stack (5), characterized by an electronic control device (8) with at least one opto-electronic sensor (7) for detecting the position of the strapping element (6) on at least one Side of the stack of goods, as well as by a robot (13) with a working arm (14) which can be moved in several axes controlled by the control device (8) and a tool holder (15, 15 ') also controlled by the control device (8) with at least a cutting or cutting tool (17, 18) for severing the strapping element (6), the control device (8) being designed such that it detects the position of the strapping element on the basis of the signal supplied by the at least one optoelectronic sensor (7) (6) on at least one side (9, 9 ', 10, 10') of the stack of goods and the robot (13) for separating the goods Chürungselementes (6) on this at least one side (9, 9 ', 10, 10') controls the stack of goods. Device according to claim 1, characterized in that the at least one opto-electrical sensor, an opto-electronic scanning device, preferably is a scanning device working with laser light and / or at least one Has video camera (7) or is formed by at least one video camera (7). Device according to one of the preceding claims, characterized in that the control device (8) at least one image or Image processing device for determining the position of the Has tying element (6) on the at least one stack side. Device according to one of the preceding claims, characterized in that the robot (13) in a delivery position (3 ') above the stack of goods (5) is arranged and that e.g. the robot (13) on the top of a support frame, preferably a gate-like support frame (2) is arranged. Device according to one of the preceding claims, characterized in that the at least one opto-electronic sensor (7) on a frame of Facility is provided. Device according to one of the preceding claims, characterized in that the at least one opto-electronic sensor (7) on the robot (13) or on the working arm (14) of the robot (13) is provided. Device according to one of the preceding claims, characterized in that at least one fixing element (11) is provided, which on at least one Stack side (9, 9 ', 10, 10') the strapping element (6) up to it Cut through on this side in the detected by the opto-electronic sensor Fixed location. Device according to one of the preceding claims, characterized in that at least one clamping or holding tool on the tool carrier (15, 15 '), preferably in the form of a holding clamp or holding pliers (16) with which the tying element (6) is controlled by the control device detected and held at least on one side of the interface or separation point , preferably at least two holders on the tool carrier (15, 15 ') (16) for having or grasping the strapping element (6) on both sides of the respective separation point are provided. Device according to one of the preceding claims, characterized in that the at least one fixing element (11) is preferably a strip-like Holding element (12, 12a) with which the strapping element (6) to to cut it by pressing on the stack side (9, 9 ', 10, 10') is held or fixed, preferably an additional on the holding element Cutting or cutting knife (22) is provided, the cutting edge (23) for example, only when a pull is exerted on the strapping element (6) is exposed or becomes effective. Device according to one of the preceding claims, characterized in that on the respective cutting or cutting tool (17, 18) a hook (24) for Reaching behind the strapping element (6) is provided, preferably on the hook (24) a cutting edge (25) for severing one on the stack of goods fixed, for example fixed by gluing strapping element (6a) is provided.

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