EP0976657A1 - Dispositif pour retirer un lien d'une pile d'objets, en particulier de casiers à bouteilles - Google Patents

Dispositif pour retirer un lien d'une pile d'objets, en particulier de casiers à bouteilles Download PDF

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Publication number
EP0976657A1
EP0976657A1 EP99112994A EP99112994A EP0976657A1 EP 0976657 A1 EP0976657 A1 EP 0976657A1 EP 99112994 A EP99112994 A EP 99112994A EP 99112994 A EP99112994 A EP 99112994A EP 0976657 A1 EP0976657 A1 EP 0976657A1
Authority
EP
European Patent Office
Prior art keywords
stack
strapping
cutting
goods
robot
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.)
Ceased
Application number
EP99112994A
Other languages
German (de)
English (en)
Inventor
Georg Dipl.-Ing. Gau
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.)
R S T Roboter-System-Technik GmbH
Original Assignee
R S T Roboter-System-Technik GmbH
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
Priority claimed from DE29812774U external-priority patent/DE29812774U1/de
Priority claimed from DE19926053A external-priority patent/DE19926053A1/de
Application filed by R S T Roboter-System-Technik GmbH filed Critical R S T Roboter-System-Technik GmbH
Publication of EP0976657A1 publication Critical patent/EP0976657A1/fr
Ceased 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
    • B65B69/00—Unpacking of articles or materials, not otherwise provided for
    • B65B69/0025—Removing or cutting binding material, e.g. straps or bands

Definitions

  • 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.
  • 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.
  • the strapping element 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 '.
  • 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.
  • 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.
  • Bottle crate stack 5 withdrawn and into a side of the transporter 3rd provided disposal container 19 can be introduced.
  • 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.
  • the Volume 6 only on two opposite sides 9 and 10 of the Bottle crate 5 is separated.
  • the holding strips or holding elements 12 individually are controllable.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 '.
  • 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.
EP99112994A 1998-07-20 1999-07-06 Dispositif pour retirer un lien d'une pile d'objets, en particulier de casiers à bouteilles Ceased EP0976657A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
DE29812774U DE29812774U1 (de) 1998-07-20 1998-07-20 Einrichtung zum Entfernen des Umschnürungselementes einer Umschnürung von einem Güterstapel, insbesondere Flaschenkastenstapel
DE29812774U 1998-07-20
DE29901886U DE29901886U1 (de) 1998-07-20 1999-02-04 Einrichtung zum Entfernen des Umschnürungselementes einer Umschnürung von einem Güterstapel, insbesondere Flaschenkastenstapel
DE29901886U 1999-02-04
DE19926053 1999-06-08
DE19926053A DE19926053A1 (de) 1998-07-20 1999-06-08 Einrichtung zum Entfernen des Umschnürungselementes einer Umschnürung von einem Güterstapel, insbesondere Flaschenkastenstapel

Publications (1)

Publication Number Publication Date
EP0976657A1 true EP0976657A1 (fr) 2000-02-02

Family

ID=27219177

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99112994A Ceased EP0976657A1 (fr) 1998-07-20 1999-07-06 Dispositif pour retirer un lien d'une pile d'objets, en particulier de casiers à bouteilles

Country Status (1)

Country Link
EP (1) EP0976657A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004028906A1 (fr) * 2002-09-24 2004-04-08 Voith Paper Patent Gmbh Procede d'enlevement de fils ou de bandes de balles de materiau brut pressees et dispositif d'enroulement de fils destine a la mise en oeuvre du procede
WO2019036929A1 (fr) * 2017-08-23 2019-02-28 深圳蓝胖子机器人有限公司 Procédé d'empilement de marchandises au moyen d'un robot, système de commande de robot pour empiler des marchandises, et robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0251414A1 (fr) * 1986-07-04 1988-01-07 Speciaal-Machinefabriek J.H. van Uitert B.V. Dispositif pour la coupe et l'écartement de bandes de liage d'un objet
EP0257563A2 (fr) * 1986-08-27 1988-03-02 Baumgarten GmbH Dispositif pour enlever les fils de balles
JPH09267816A (ja) * 1996-03-29 1997-10-14 Koutou Koki Seisakusho:Kk 結束バンドの切断処理装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0251414A1 (fr) * 1986-07-04 1988-01-07 Speciaal-Machinefabriek J.H. van Uitert B.V. Dispositif pour la coupe et l'écartement de bandes de liage d'un objet
EP0257563A2 (fr) * 1986-08-27 1988-03-02 Baumgarten GmbH Dispositif pour enlever les fils de balles
JPH09267816A (ja) * 1996-03-29 1997-10-14 Koutou Koki Seisakusho:Kk 結束バンドの切断処理装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
DATABASE WPI Section PQ Week 199751, Derwent World Patents Index; Class Q31, AN 1997-554383, XP002118693 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004028906A1 (fr) * 2002-09-24 2004-04-08 Voith Paper Patent Gmbh Procede d'enlevement de fils ou de bandes de balles de materiau brut pressees et dispositif d'enroulement de fils destine a la mise en oeuvre du procede
US7152634B2 (en) 2002-09-24 2006-12-26 Voith Paper Patent Gmbh Method for removing wires or tapes from pressed bales of raw material and wire coiling device for carrying out the method
AU2003260450B2 (en) * 2002-09-24 2009-06-11 Voith Paper Patent Gmbh Method for removing wires or tapes from pressed bales of raw material, and wire coiling device for carrying out said method
WO2019036929A1 (fr) * 2017-08-23 2019-02-28 深圳蓝胖子机器人有限公司 Procédé d'empilement de marchandises au moyen d'un robot, système de commande de robot pour empiler des marchandises, et robot

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