EP1586505A1 - Machine and method for orderly depositing flexible products in a container. - Google Patents

Machine and method for orderly depositing flexible products in a container. Download PDF

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Publication number
EP1586505A1
EP1586505A1 EP05008253A EP05008253A EP1586505A1 EP 1586505 A1 EP1586505 A1 EP 1586505A1 EP 05008253 A EP05008253 A EP 05008253A EP 05008253 A EP05008253 A EP 05008253A EP 1586505 A1 EP1586505 A1 EP 1586505A1
Authority
EP
European Patent Office
Prior art keywords
gripper
conveyor belt
piece
plate
packaging
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
Application number
EP05008253A
Other languages
German (de)
French (fr)
Other versions
EP1586505B1 (en
EP1586505B9 (en
Inventor
Joachim Schill
Hartmut Ilch
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.)
Maja Maschinenfabrik Hermann Schill GmbH and Co KG
Original Assignee
Maja Maschinenfabrik Hermann Schill 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 Maja Maschinenfabrik Hermann Schill GmbH and Co KG filed Critical Maja Maschinenfabrik Hermann Schill GmbH and Co KG
Publication of EP1586505A1 publication Critical patent/EP1586505A1/en
Publication of EP1586505B1 publication Critical patent/EP1586505B1/en
Application granted granted Critical
Publication of EP1586505B9 publication Critical patent/EP1586505B9/en
Active 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
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • B65B5/068—Packaging groups of articles, the groups being treated as single articles in trays
    • 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
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • 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
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers

Definitions

  • the invention is based on a device and a method for orderly placement of limp material in a package.
  • the pieces to be packaged are fed on a conveyor belt.
  • the Packaging is supplied by a packaging conveyor.
  • Pliable pieces arise, for example, in the production or Processing of food. These may be, for example, portions fresh grown meat, sausage or cheese pieces, fish fillets, Dough pieces, hot biscuits or pieces of broken fruit or vegetables act.
  • the packages may be, for example, trays, Trays or deep-drawn packaging act from the top by a Cover or a foil covered or closed. There the processing of food often by machine and at high speed It is desirable to add the pieces at the same speed packaging.
  • the limp pieces have, however, because of their consistency and their surface texture the disadvantage that they neither on the basis of Conveyor belt can be transferred directly into the packaging, nor implemented by known suction or finger grippers in the packaging can be.
  • the packaging is therefore in meat portions, which for example, by a device according to DE 297 23 638 U1 or DE 103 04 773 A1, by hand.
  • the packaging by hand has the disadvantage that it is time consuming and costly.
  • As an editor for Packaging needs a certain amount of time, at a correspondingly high level Cycle times several people wrap the pieces so that the manufacture or Processing of the pieces is not delayed by a slowed down packaging becomes.
  • the device according to the invention with the features of the claim 1 and the inventive method with the features of Claim 15 has the advantage that the packaging of the limp pieces can be done mechanically and in the same high cycle times as the Production or processing of the pieces. The process is not going through with it delayed a slow packing.
  • Each one on the conveyor belt Pieces fed in by a gripper, from the back to the piece is brought to the edge of the conveyor belt and from there to a Pushed plate. This can be either the lateral edge of the Conveyor belt or the rear edge of the seen in the transport direction Trade the conveyor belt near the pulley. Plate and grapple drive that Piece to a position above the position provided in the package of the piece.
  • the plate at high speed under the Pulled away piece and drives again to the conveyor belt, there to the to record next pieces.
  • the gripper remains in position above the packaging until the piece is either due to its Gravity falls by itself in the packaging or by a stamp of pressed into the top of the packaging.
  • the stamp has the advantage that the Process is accelerated. Then the gripper is returned to the Transport belt introduced to again a piece in the packaging convict.
  • the transfer of the piece from the conveyor to the plate can either at the lateral edge of the conveyor belt or in the direction of movement seen rear end of the conveyor belt done.
  • the movement of the Gripper must be adapted to the place of delivery. Will the piece on the Side of the conveyor belt pushed onto the plate, so the plate can be previously partially moved under the conveyor belt. At the time, to the the front end is pushed onto the plate, the plate is already moving and taking the piece with it. Will the piece at the end of the Transport belt pushed onto the plate, so the conveyor belt in his full length used. The rear section does not remain unused.
  • the length of the conveyor belt can therefore match exactly with the route that for the detection of the pieces with the gripper is necessary.
  • the plate is pulled away under the piece, so that the piece in the packaging may fall.
  • the movement of the plate must be so fast be executed that the piece is not due to its inertia on the plate sticks.
  • the plate is either rotated or in the radial direction postponed. The rotation is carried out by the disk drive. It will pulled the plate not only under the piece, but at the same time to the Starting position returned to the conveyor belt.
  • a second disk drive is provided at a shift the plate in the radial direction.
  • the translation movement is superimposed on the rotational movement of the plate, so that the plate returns to its starting position as soon as possible returns.
  • the piece does not have to be raised. This ensures a Acceleration of the process.
  • the piece is by the Gripper so gently transferred to the plate that it is neither damaged nor in its quality is impaired. It is important to ensure that the Surface of the conveyor belt due to their physical and Chemical properties of the lowest possible friction between the Piece and the conveyor belt causes.
  • the arrangement of the pieces deposited in the package is determined by the Packaging conveyor influenced.
  • the packaging conveyor may be either a linear conveyor or a rotary conveyor.
  • the packaging conveyor can be one or two axes and thus the Promote packaging in one or two directions.
  • the pieces can thus stored in one or more rows next to each other in a package become.
  • other types of transport of the packaging possible.
  • the packaging conveyor need only in terms of Cycle times are adapted to the implementation of each piece.
  • the Packaging is always at a given distance or one given angle transported when a piece has been stored. Once a package is completely filled with pieces, the stuffed Removed packaging and fed a still empty packaging.
  • the Depositing can for example be fan-shaped or rosette-shaped.
  • two fingers are provided on the gripper. It is one of the two fingers firmly connected to the gripper arm, while the other finger its position can change in the radial direction.
  • the fingers arranged radially inward, while the in Radial direction outer of the two fingers is slidably mounted.
  • To a further advantageous embodiment of the invention is a respect to the Axial of the gripper arm eccentrically arranged cam provided.
  • the variable finger is connected to a cam roller, which during a rotation of the gripper arm frictionally rolls on the stationary cam. there the finger changes its position in the radial direction depending on the Shape of the cam. This causes the outer finger to attach to the inner finger approaches as the gripper arm rotates above the conveyor. This ensures that a brought on the conveyor belt Piece is detected regardless of its position by the gripper.
  • One Lateral offset between the individual listed pieces is due the previously made editing or editing of the pieces possible.
  • Gripper arm rotates about its center. At the two opposite ends of the gripper arm is ever a gripper. In this way, the Cycle times are additionally reduced.
  • the two Finger of the gripper rounded or bevelled. That way they can adapted to the shape of the pieces to be converted.
  • the run Axle of Greiferarmantriebs and the axis of the disk drive coaxial to each other. Since the plate and the gripper arm different movements two separate drives are necessary.
  • the plate is just about an angle, which is typically less than or equal to 90 °, between a first position directly on the lateral edge of the conveyor belt and a second position above the packaging rotates back and forth.
  • the gripper arm on the other hand, it is only turned in one direction. Is the arm with two grippers equipped, he has to record and put down a piece by 180 ° to be turned around.
  • the Conveyor belt provided a photocell, which is passing the in Transport direction seen at the back end of the piece on a given Point determined.
  • the gripper arm becomes rotated, so that the gripper can be brought from behind the piece.
  • the gripper arm is rotated so that it reaches the piece when it reaches it is moved at approximately the same speed as the conveyor belt. This ensures that the piece by the gripper only laterally is moved. The piece is thus as little as possible relative to Surface of the conveyor belt moves.
  • Procedures can not only food pieces but also others In particular, pliable pieces are implemented and packaged.
  • FIG. 1 shows a device for the orderly depositing of limp Pieces in a package with a conveyor belt 1 on which the pieces 2 be supplied and a packaging conveyor 3, the packaging 4 feeds and further transported after dropping a piece.
  • the Transport direction of the conveyor belt is indicated by an arrow.
  • the Gripper 5 is arranged on a not visible in Figure 1 gripper arm. Of the Gripper arm is hidden by the housing 6 of the device.
  • the plate 9 takes the pieces 2 of the conveyor belt 1 and leads them over the intended position in a package 4.
  • FIG. 2 shows the gripper arm 7, the Greiferarmantrieb 8, the plate 9 and the Disk drive 10.
  • the gripper arm 7 two grippers 5 and 11 are arranged.
  • the gripper arm is rotated about an axis by means of the gripper arm drive 8, which runs through its middle. It is a servomotor.
  • the two grippers 5 and 11 each have two fingers 12 and 13.
  • the two in radially inward fingers 12 are fixed to the gripper arm connected. Their position changes during the rotation of the gripper arm not in the radial direction.
  • the two arranged in the radial direction outside Fingers 13 are attached to the gripper arm so that their position in radial Change direction. This happens because the fingers 13 with Cam rollers 22 are connected to the stationary cam 14th unroll forcefully.
  • the cam followers 22 follow the course of Cam. This movement is transmitted to the fingers 13.
  • Gripper 5 is pivoted about the conveyor belt 1 in Figure 1, so that he from approaches the back of a piece 2.
  • the finger 12 is located near the lateral edge of the conveyor belt 1, which the packaging conveyor. 3 is facing. Now begins the distance between the two fingers 12 and 13, as the outer finger 13 is pulled radially inward, while the gripper arm 7 rotates. The piece 2 is captured, regardless of which position it occupies on the conveyor belt.
  • the gripper arm 7 and the gripper disc 14 are by the Greiferarmantrieb 8 driven by a belt 16 and a pulley 17.
  • the Plate 9 is driven by the disc drive 10 via a belt 18 and a Pulley 19 driven.
  • the axes run around the Gripper arm on the one hand and the plate are driven on the other hand, coaxial.
  • the two drives are servomotors.
  • the width of the plate 9 is almost equal to the length of the two fingers 12 and 13 of the gripper 5 and 11 match.
  • two struts 20 and 21 are provided, which together with the plate 9 form a circle segment.
  • Figure 3 shows a section of the device according to Figure 1.
  • the conveyor belt 1 the packaging conveyor 3, the plate 9, the gripper 11 and the punch 15 recognizable. While in figure one perspective representation shown in the transport direction of the conveyor belt is, Figure 3 shows a representation opposite to the transport direction.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)

Abstract

The device has a conveyor belt (1) on which pieces (2) are fed, and a rotating gripper arm, whose axis of rotation runs vertical with respect to the belt. The arm pushes the pieces from the belt to a plate (9). A plate drive mechanism rotates the plate around an axis between a position on the belt and a position above a package (4). A package conveyor (3) transports one piece down so that the next piece can be placed. An independent claim is also included for a method for orderly storing flaccid and bendable pieces in a package.

Description

Die Erfindung geht aus von einer Vorrichtung und einem Verfahren zum geordneten Ablegen von biegeschlaffen Stücken in einer Verpackung. Dabei werden die zu verpackenden Stücke auf einem Transportband zugeführt. Die Verpackungen werden von einem Verpackungsförderer zugeführt.The invention is based on a device and a method for orderly placement of limp material in a package. there The pieces to be packaged are fed on a conveyor belt. The Packaging is supplied by a packaging conveyor.

Biegeschlaffe Stücke entstehen beispielsweise bei der Herstellung oder Verarbeitung von Lebensmitteln. Dabei kann es sich zum Beispiel um Portionen frischen gewachsenen Fleisches, Wurst- oder Käsestücke, Fischfilets, Teiglinge, heiße Gebäckstücke oder in Portionen zerlegtes Obst oder Gemüse handeln. Bei den Verpackungen kann es sich beispielsweise um Schalen, Tabletts oder Tiefziehverpackungen handeln, welche von oben durch einen Deckel oder eine Folie abgedeckt beziehungsweise verschlossen werden. Da die Bearbeitung der Lebensmittel häufig maschinell und mit hoher Geschwindigkeit erfolgt, ist es erwünscht, die Stücke mit derselben Geschwindigkeit zu verpacken. Die biegeschlaffen Stücke haben jedoch aufgrund ihrer Konsistenz und ihrer Oberflächenbeschaffenheit den Nachteil, dass sie weder anhand des Transportbandes direkt in die Verpackung überführt werden können, noch anhand von bekannten Saug- oder Fingergreifern in die Verpackung umgesetzt werden können. Die Verpackung erfolgt daher bei Fleischportionen, welche beispielsweise durch eine Vorrichtung gemäß DE 297 23 638 U1 oder DE 103 04 773 A1 hergestellt werden, von Hand. Die Verpackung von Hand hat jedoch den Nachteil, dass sie zeit- und kostenintensiv ist. Da ein Bearbeiter zum Verpacken eine bestimmte Zeit benötigt, müssen bei entsprechend hohen Taktzeiten mehrere Personen die Stücke verpacken, damit die Herstellung oder Bearbeitung der Stücke nicht durch eine verlangsamte Verpackung verzögert wird.Pliable pieces arise, for example, in the production or Processing of food. These may be, for example, portions fresh grown meat, sausage or cheese pieces, fish fillets, Dough pieces, hot biscuits or pieces of broken fruit or vegetables act. The packages may be, for example, trays, Trays or deep-drawn packaging act from the top by a Cover or a foil covered or closed. There the processing of food often by machine and at high speed It is desirable to add the pieces at the same speed packaging. The limp pieces have, however, because of their consistency and their surface texture the disadvantage that they neither on the basis of Conveyor belt can be transferred directly into the packaging, nor implemented by known suction or finger grippers in the packaging can be. The packaging is therefore in meat portions, which for example, by a device according to DE 297 23 638 U1 or DE 103 04 773 A1, by hand. However, the packaging by hand has the disadvantage that it is time consuming and costly. As an editor for Packaging needs a certain amount of time, at a correspondingly high level Cycle times several people wrap the pieces so that the manufacture or Processing of the pieces is not delayed by a slowed down packaging becomes.

Die Erfindung und ihre VorteileThe invention and its advantages

Demgegenüber haben die erfindungsgemäße Vorrichtung mit den Merkmalen des Anspruchs 1 und das erfindungsgemäße Verfahren mit den Merkmalen des Anspruchs 15 den Vorteil, dass die Verpackung der biegeschlaffen Stücke maschinell und in denselben hohen Taktzeiten erfolgen kann, wie die Herstellung oder Verarbeitung der Stücke. Der Vorgang wird damit nicht durch eine langsame Verpackung verzögert. Jedes der auf dem Transportband zugeführten Stücke wird durch einen Greifer, der von hinten an das Stück herangeführt wird, an den Rand des Transportbandes und von dort auf eine Platte geschoben. Dabei kann es sich entweder um den seitlichen Rand des Transportbandes oder um den in Transportrichtung gesehen hinteren Rand des Transportbandes nahe der Umlenkrolle handeln. Platte und Greifer fahren das Stück an eine Position oberhalb der in der Verpackung vorgesehenen Position des Stücks. Anschließend wird die Platte mit hoher Geschwindigkeit unter dem Stück weggezogen und fährt erneut an das Transportband heran, um dort das nächste Stücke aufzunehmen. Der Greifer verbleibt solange an der Position oberhalb der Verpackung, bis das Stück entweder aufgrund seiner Gewichtskraft von alleine in die Verpackung fällt oder durch einen Stempel von oben in die Verpackung gedrückt wird. Der Stempel hat den Vorteil, dass der Vorgang beschleunigt wird. Anschließend wird der Greifer erneut an das Transportband herangeführt, um erneut ein Stück in die Verpackung zu überführen.In contrast, the device according to the invention with the features of the claim 1 and the inventive method with the features of Claim 15 has the advantage that the packaging of the limp pieces can be done mechanically and in the same high cycle times as the Production or processing of the pieces. The process is not going through with it delayed a slow packing. Each one on the conveyor belt Pieces fed in by a gripper, from the back to the piece is brought to the edge of the conveyor belt and from there to a Pushed plate. This can be either the lateral edge of the Conveyor belt or the rear edge of the seen in the transport direction Trade the conveyor belt near the pulley. Plate and grapple drive that Piece to a position above the position provided in the package of the piece. Subsequently, the plate at high speed under the Pulled away piece and drives again to the conveyor belt, there to the to record next pieces. The gripper remains in position above the packaging until the piece is either due to its Gravity falls by itself in the packaging or by a stamp of pressed into the top of the packaging. The stamp has the advantage that the Process is accelerated. Then the gripper is returned to the Transport belt introduced to again a piece in the packaging convict.

Die Übergabe des Stücks von dem Transportband auf die Platte kann entweder am seitlichen Rand des Transportbandes oder am in Bewegungsrichtung gesehen hinteren Ende des Transportbandes erfolgen. Die Bewegung des Greifers muss an den Ort der Übergabe angepasst sein. Wird das Stück an der Seite des Transportbandes auf die Platte geschoben, so kann die Platte zuvor teilweise unter das Transportband bewegt werden. Zu dem Zeitpunkt, zu dem das vordere Ende auf die Platte geschoben wird, befindet sich die Platte bereits in Bewegung und nimmt das Stück mit. Wird das Stück dagegen am Ende des Transportbandes auf die Platte geschoben, so wird das Transportband in seiner vollen Länge genutzt. Der hintere Abschnitt bleibt nicht ungenutzt. Die Länge des Transportbandes kann daher exakt mit der Strecke übereinstimmen, die für die Erfassung der Stücke mit dem Greifer notwendig ist.The transfer of the piece from the conveyor to the plate can either at the lateral edge of the conveyor belt or in the direction of movement seen rear end of the conveyor belt done. The movement of the Gripper must be adapted to the place of delivery. Will the piece on the Side of the conveyor belt pushed onto the plate, so the plate can be previously partially moved under the conveyor belt. At the time, to the the front end is pushed onto the plate, the plate is already moving and taking the piece with it. Will the piece at the end of the Transport belt pushed onto the plate, so the conveyor belt in his full length used. The rear section does not remain unused. The length of the conveyor belt can therefore match exactly with the route that for the detection of the pieces with the gripper is necessary.

Sind Greifer und Platte mit dem Stück an der Position oberhalb der Verpackung angelangt, wird die Platte unter dem Stück weggezogen, so dass das Stück in die Verpackung fallen kann. Die Bewegung der Platte muss so schnell ausgeführt werden, dass das Stück nicht aufgrund seiner Trägheit an der Platte haften bleibt. Hierzu wird die Platte entweder rotiert oder in radialer Richtung verschoben. Die Rotation wird durch den Plattenantrieb ausgeführt. Dabei wird die Platte nicht nur unter dem Stück weggezogen, sondern gleichzeitig an die Ausgangsposition an dem Transportband zurückgeführt. Bei einer Verschiebung der Platte in radialer Richtung ist ein zweiter Plattenantrieb vorgesehen. Die Translationsbewegung wird der Rotationsbewegung der Platte überlagert, so dass die Platte möglichst schnell wieder in die Ausgangsposition zurückkehrt.Are gripper and plate with the piece in the position above the packaging reached, the plate is pulled away under the piece, so that the piece in the packaging may fall. The movement of the plate must be so fast be executed that the piece is not due to its inertia on the plate sticks. For this purpose, the plate is either rotated or in the radial direction postponed. The rotation is carried out by the disk drive. It will pulled the plate not only under the piece, but at the same time to the Starting position returned to the conveyor belt. At a shift the plate in the radial direction, a second disk drive is provided. The translation movement is superimposed on the rotational movement of the plate, so that the plate returns to its starting position as soon as possible returns.

Während des Umsetzens des Stücks von dem Transportband in die Verpackung, muss das Stück nicht angehoben werden. Dies sorgt für eine Beschleunigung des Vorgangs. Darüber hinaus wird das Stück durch den Greifer so behutsam auf die Platte überführt, dass es weder beschädigt noch in seiner Qualität beeinträchtigt wird. Dabei ist darauf zu achten, dass die Oberfläche des Transportbandes aufgrund ihrer physikalischen und chemischen Eigenschaften eine möglichst geringe Reibung zwischen dem Stück und dem Transportband bewirkt.During the transfer of the piece of the conveyor belt in the Packing, the piece does not have to be raised. This ensures a Acceleration of the process. In addition, the piece is by the Gripper so gently transferred to the plate that it is neither damaged nor in its quality is impaired. It is important to ensure that the Surface of the conveyor belt due to their physical and Chemical properties of the lowest possible friction between the Piece and the conveyor belt causes.

Die Anordnung der in der Verpackung abgelegten Stücke wird durch den Verpackungsförderer beeinflusst. Bei dem Verpackungsförderer kann es sich entweder um einen Linearförderer oder um einen Rotationsförderer handeln. Der Verpackungsförderer kann ein- oder zweiachsig sein und damit die Verpackungen in eine oder zwei Richtungen fördern. Die Stücke können somit in einer oder mehreren Reihen nebeneinander in einer Verpackung abgelegt werden. Darüber hinaus sind weitere Arten eines Transportes der Verpackungen möglich. Der Verpackungsförderer muss lediglich hinsichtlich der Taktzeiten an die Umsetzung der einzelnen Stücke angepasst werden. Die Verpackung wird immer dann um eine vorgegebene Strecke oder einen vorgegebenen Winkel weiter transportiert, wenn ein Stück abgelegt worden ist. Sobald eine Verpackung vollständig mit Stücken gefüllt ist, wird die gefüllte Verpackung abtransportiert und eine noch leere Verpackung zugeführt. Das Ablegen kann beispielsweise fächerförmig oder rosettenförmig erfolgen.The arrangement of the pieces deposited in the package is determined by the Packaging conveyor influenced. The packaging conveyor may be either a linear conveyor or a rotary conveyor. The packaging conveyor can be one or two axes and thus the Promote packaging in one or two directions. The pieces can thus stored in one or more rows next to each other in a package become. In addition, other types of transport of the packaging possible. The packaging conveyor need only in terms of Cycle times are adapted to the implementation of each piece. The Packaging is always at a given distance or one given angle transported when a piece has been stored. Once a package is completely filled with pieces, the stuffed Removed packaging and fed a still empty packaging. The Depositing can for example be fan-shaped or rosette-shaped.

Nach einer vorteilhaften Ausgestaltung der erfindungsgemäßen Vorrichtung sind an dem Greifer zwei Finger vorgesehen. Dabei ist einer der beiden Finger fest mit dem Greiferarm verbunden, während der andere Finger seine Position in radialer Richtung verändern kann. In einer bevorzugten Ausführungsform ist der in radialer Richtung weiter innen angeordnete Finger fest, während der in radialer Richtung äußere der beiden Finger verschiebbar gelagert ist. Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung ist eine bezüglich der Achse des Greiferarms exzentrisch angeordnete Kurvenscheibe vorgesehen. Der variable Finger ist mit einer Kurvenrolle verbunden, die bei einer Rotation des Greiferarms kraftschlüssig an der ortsfesten Kurvenscheibe abrollt. Dabei ändert der Finger seine Position in radialer Richtung in Abhängigkeit von der Form der Kurvenscheibe. Dies führt dazu, dass sich der äußere Finger an den inneren Finger annähert, wenn der Greiferarm über dem Transportband rotiert. Dadurch wird gewährleistet, dass ein auf dem Transportband herangeführtes Stück unabhängig von seiner Position von dem Greifer erfasst wird. Ein seitlicher Versatz zwischen den einzelnen herangeführten Stücken ist aufgrund der zuvor erfolgten Ver- oder Bearbeitung der Stücke möglich.According to an advantageous embodiment of the device according to the invention two fingers are provided on the gripper. It is one of the two fingers firmly connected to the gripper arm, while the other finger its position can change in the radial direction. In a preferred embodiment the fingers arranged radially inward, while the in Radial direction outer of the two fingers is slidably mounted. To a further advantageous embodiment of the invention is a respect to the Axial of the gripper arm eccentrically arranged cam provided. The variable finger is connected to a cam roller, which during a rotation of the gripper arm frictionally rolls on the stationary cam. there the finger changes its position in the radial direction depending on the Shape of the cam. This causes the outer finger to attach to the inner finger approaches as the gripper arm rotates above the conveyor. This ensures that a brought on the conveyor belt Piece is detected regardless of its position by the gripper. One Lateral offset between the individual listed pieces is due the previously made editing or editing of the pieces possible.

Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung wird ein Greiferarm um seine Mitte rotiert. An den beiden entgegen gesetzten Enden des Greiferarms befindet sich je ein Greifer. Auf diese Weise können die Taktzeiten zusätzlich verringert werden.According to a further advantageous embodiment of the invention is a Gripper arm rotates about its center. At the two opposite ends of the gripper arm is ever a gripper. In this way, the Cycle times are additionally reduced.

Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung sind die beiden Finger des Greifers abgerundet oder abgeschrägt. Auf diese Weise können sie an die Form der umzusetzenden Stücke angepasst werden.According to a further advantageous embodiment of the invention, the two Finger of the gripper rounded or bevelled. That way they can adapted to the shape of the pieces to be converted.

Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung verlaufen die Achse des Greiferarmantriebs und die Achse des Plattenantriebs koaxial zueinander. Da die Platte und der Greiferarm unterschiedliche Bewegungen ausführen, sind zwei getrennte Antriebe notwendig. Die Platte wird lediglich um einen Winkel, der typischerweise kleiner oder gleich 90° ist, zwischen einer ersten Position unmittelbar am seitlichen Rand des Transportbandes und einer zweiten Position oberhalb der Verpackung hin und her rotiert. Der Greiferarm wird dagegen nur in eine Richtung gedreht. Ist der Arm mit zwei Greifern ausgestattet, so muss er zum Aufnehmen und Ablegen eines Stücks um 180° gedreht werden. Da die Bewegungen des Greiferarms und der Platte aufeinander abgestimmt sein müssen und insbesondere zwischen der Position am Rand des Transportbandes und der Position oberhalb der Verpackung simultan und ohne seitliche Verschiebung erfolgen müssen, sind die koaxialen Achsen von Vorteil. Die beiden Achsen verlaufen senkrecht zum und neben dem Transportband. Als Antriebe für den Greiferarm und die Platte eignen sich insbesondere Servomotoren. According to a further advantageous embodiment of the invention, the run Axle of Greiferarmantriebs and the axis of the disk drive coaxial to each other. Since the plate and the gripper arm different movements two separate drives are necessary. The plate is just about an angle, which is typically less than or equal to 90 °, between a first position directly on the lateral edge of the conveyor belt and a second position above the packaging rotates back and forth. The gripper arm on the other hand, it is only turned in one direction. Is the arm with two grippers equipped, he has to record and put down a piece by 180 ° to be turned around. Because the movements of the gripper arm and the plate must be coordinated and especially between the position at the edge of the conveyor belt and the position above the packaging must be simultaneous and without lateral displacement, are the coaxial Axles of advantage. The two axes are perpendicular to and beside the conveyor belt. As drives for the gripper arm and the plate are suitable in particular servomotors.

Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung ist an dem Transportband eine Lichtschranke vorgesehen, welche das Passieren des in Transportrichtung gesehen hinteren Ende des Stücks an einem vorgegebenen Punkt ermittelt. Sobald das Stück diesen Punkt passiert hat, wird der Greiferarm rotiert, so dass der Greifer von hinten an das Stück herangeführt werden kann. Dabei wird der Greiferarm so rotiert, dass er bei Erreichen des Stücks annähernd mit derselben Geschwindigkeit bewegt wird wie das Transportband. Dadurch wird erreicht, dass das Stück durch den Greifer lediglich seitlich verschoben wird. Das Stück wird somit so wenig als möglich relativ zur Oberfläche des Transportbandes bewegt.According to a further advantageous embodiment of the invention is on the Conveyor belt provided a photocell, which is passing the in Transport direction seen at the back end of the piece on a given Point determined. Once the piece has passed this point, the gripper arm becomes rotated, so that the gripper can be brought from behind the piece. The gripper arm is rotated so that it reaches the piece when it reaches it is moved at approximately the same speed as the conveyor belt. This ensures that the piece by the gripper only laterally is moved. The piece is thus as little as possible relative to Surface of the conveyor belt moves.

Mit der erfindungsgemäßen Vorrichtung und dem erfindungsgemäßen Verfahren können nicht nur Lebensmittelstücke sondern auch andere insbesondere biegeschlaffe Stücke umgesetzt und verpackt werden.With the device according to the invention and the invention Procedures can not only food pieces but also others In particular, pliable pieces are implemented and packaged.

Weitere Vorteile und vorteilhafte Ausgestaltungen der Erfindung sind der Zeichnung, der nachfolgenden Beschreibung und den Ansprüchen zu entnehmen.Further advantages and advantageous embodiments of the invention are the Drawing, the following description and the claims remove.

Zeichnungdrawing

In der Zeichnung ist ein Ausführungsbeispiel einer erfindungsgemäßen Vorrichtung dargestellt. Dieses Ausführungsbeispiel ist im Folgenden näher beschrieben. Es zeigen:

Figur 1
Vorrichtung in perspektivischer Ansicht,
Figur 2
Greiferarm und Platte der Vorrichtung gemäß Figur 1 mit den zugehörigen Antrieben,
Figur 3
Ausschnitt aus der Vorrichtung gemäß Figur 1 mit Transportband, Greiferarm, Platte und Stempel.
In the drawing, an embodiment of a device according to the invention is shown. This embodiment is described in more detail below. Show it:
FIG. 1
Device in perspective view,
FIG. 2
Gripper arm and plate of the device according to FIG. 1 with the associated drives,
FIG. 3
Section of the device according to Figure 1 with conveyor belt, gripper arm, plate and punch.

Beschreibung des AusführungsbeispielsDescription of the embodiment

In Figur 1 ist eine Vorrichtung zum geordneten Ablegen von biegeschlaffen Stücken in einer Verpackung mit einem Transportband 1, auf dem die Stücke 2 zugeführt werden und einem Verpackungsförderer 3, der die Verpackungen 4 zuführt und nach dem Ablegen eines Stücks weiter transportiert. Die Transportrichtung des Transportbandes ist durch einen Pfeil angedeutet. Der Greifer 5 ist an einem in Figur 1 nicht erkennbaren Greiferarm angeordnet. Der Greiferarm ist durch das Gehäuse 6 der Vorrichtung verdeckt. Die Platte 9 übernimmt die Stücke 2 von dem Transportband 1 und führt sie bis über die vorgesehene Position in einer Verpackung 4.FIG. 1 shows a device for the orderly depositing of limp Pieces in a package with a conveyor belt 1 on which the pieces 2 be supplied and a packaging conveyor 3, the packaging 4 feeds and further transported after dropping a piece. The Transport direction of the conveyor belt is indicated by an arrow. Of the Gripper 5 is arranged on a not visible in Figure 1 gripper arm. Of the Gripper arm is hidden by the housing 6 of the device. The plate 9 takes the pieces 2 of the conveyor belt 1 and leads them over the intended position in a package 4.

Figur 2 zeigt den Greiferarm 7, den Greiferarmantrieb 8, die Platte 9 und den Plattenantrieb 10. An dem Greiferarm 7 sind zwei Greifer 5 und 11 angeordnet. Der Greiferarm wird anhand des Greiferarmantriebs 8 um eine Achse rotiert, welche durch seine Mitte verläuft. Dabei handelt es sich um einen Servomotor. Die beiden Greifer 5 und 11 weisen je zwei Finger 12 und 13 auf. Die beiden in radialer Richtung innen gelegenen Finger 12 sind fest mit dem Greiferarm verbunden. Ihre Position ändert sich während des Rotierens des Greiferarmes in radialer Richtung nicht. Die beiden in radialer Richtung außen angeordneten Finger 13 sind so am Greiferarm befestigt, dass sich ihre Position in radialer Richtung verändern kann. Dies geschieht dadurch, dass die Finger 13 mit Kurvenrollen 22 verbunden sind, die an der ortsfesten Kurvenscheibe 14 kraftschlüssig abrollen. Dabei folgen die Kurvenrollen 22 dem Verlauf der Kurvenscheibe. Diese Bewegung wird auf die Finger 13 übertragen. Bei einer Rotation des Greiferarmes um 180° befindet sich der äußere Finger 13 des Greifers 5 zu Beginn in einer Position, in der der Abstand zwischen den beiden Fingern 12 und 13 maximal ist. Mit diesem Abstand der beiden Finger wird der Greifer 5 über das Transportband 1 in Figur 1 geschwenkt, so dass er sich von hinten an ein Stück 2 annähert. Dabei befindet sich der Finger 12 nahe dem seitlichen Rand des Transportbandes 1, welcher dem Verpackungsförderer 3 zugewandt ist. Nun beginnt sich der Abstand zwischen den beiden Fingern 12 und 13 zu verkleinern, da der äußere Finger 13 radial nach innen gezogen wird, während der Greiferarm 7 rotiert. Dabei wird das Stück 2 eingefangen, unabhängig davon, welche Position es auf dem Transportband einnimmt. Darüber hinaus wird es durch den äußeren Finger 13 an den seitlichen Rand des Transportbandes 1 gezogen. Sobald es den Rand erreicht hat, wird es auf die Platte 9 geschoben, welche sich zu diesem Zeitpunkt nahe dem seitlichen Rand des Transportbandes 1 befindet. Anschließend werden die Platte 9 und der Greifer als Einheit mit derselben Geschwindigkeit bewegt. Dies ist in Figur 2 durch den zweiten Greifer 11 und die Platte 9 angedeutet. Die einheitliche Bewegung erfolgt solange, bis die Position oberhalb der Verpackung erreicht ist. Nun wird die Platte 9 mit hoher Geschwindigkeit in die entgegengesetzte Richtung bewegt, so dass sie wieder ihre Position nahe dem seitlichen Rand des Transportbandes 1 einnimmt. Das Stück 2 kann nun aufgrund seiner Gewichtskraft nach unten in die Verpackung fallen. Das Stück 2 und eine Verpackung sind in Figur 2 nicht dargestellt. Die nach unten gerichtete Bewegung wird durch einen Stempel 15 beschleunigt. Der Stempel 15 ist in Figur 3 dargestellt. Anschließend wird der Greiferarm weitergedreht, so dass der zweite Greifer ein weiteres Stück auf dem Transportband erfassen kann.Figure 2 shows the gripper arm 7, the Greiferarmantrieb 8, the plate 9 and the Disk drive 10. At the gripper arm 7 two grippers 5 and 11 are arranged. The gripper arm is rotated about an axis by means of the gripper arm drive 8, which runs through its middle. It is a servomotor. The two grippers 5 and 11 each have two fingers 12 and 13. The two in radially inward fingers 12 are fixed to the gripper arm connected. Their position changes during the rotation of the gripper arm not in the radial direction. The two arranged in the radial direction outside Fingers 13 are attached to the gripper arm so that their position in radial Change direction. This happens because the fingers 13 with Cam rollers 22 are connected to the stationary cam 14th unroll forcefully. The cam followers 22 follow the course of Cam. This movement is transmitted to the fingers 13. At a Rotation of the gripper arm by 180 ° is the outer finger 13 of Gripper 5 at the beginning in a position where the distance between the two Fingers 12 and 13 is maximum. With this distance of the two fingers is the Gripper 5 is pivoted about the conveyor belt 1 in Figure 1, so that he from approaches the back of a piece 2. In this case, the finger 12 is located near the lateral edge of the conveyor belt 1, which the packaging conveyor. 3 is facing. Now begins the distance between the two fingers 12 and 13, as the outer finger 13 is pulled radially inward, while the gripper arm 7 rotates. The piece 2 is captured, regardless of which position it occupies on the conveyor belt. In addition, it is by the outer finger 13 to the side edge pulled the conveyor belt 1. Once it reaches the edge, it will open pushed the plate 9, which at this time close to the side Edge of the conveyor belt 1 is located. Subsequently, the plate 9 and the gripper moves as a unit at the same speed. This is in FIG. 2 indicated by the second gripper 11 and the plate 9. The uniform Movement continues until the position reaches above the packaging is. Now, the plate 9 at high speed in the opposite Direction moves so that they regain their position near the side edge of the conveyor belt 1 occupies. The piece 2 can now due to his Gravity fall down into the packaging. The piece 2 and one Packaging are not shown in Figure 2. The downward Movement is accelerated by a stamp 15. The stamp 15 is in Figure 3 shown. Subsequently, the gripper arm is rotated further, so that the second gripper can grasp another piece on the conveyor belt.

Der Greiferarm 7 und die Greiferscheibe 14 werden durch den Greiferarmantrieb 8 über einen Riemen 16 und eine Riemenscheibe 17 angetrieben. Die Platte 9 wird durch den Plattenantrieb 10 über einen Riemen 18 und eine Riemenscheibe 19 angetrieben. Dabei verlaufen die Achsen um die der Greiferarm einerseits und die Platte andererseits angetrieben werden, koaxial. Bei den beiden Antrieben handelt es sich um Servomotoren. The gripper arm 7 and the gripper disc 14 are by the Greiferarmantrieb 8 driven by a belt 16 and a pulley 17. The Plate 9 is driven by the disc drive 10 via a belt 18 and a Pulley 19 driven. The axes run around the Gripper arm on the one hand and the plate are driven on the other hand, coaxial. The two drives are servomotors.

Die Breite der Platte 9 stimmt nahezu mit der Länge der beiden Finger 12 und 13 der Greifer 5 und 11 überein. Zur Stabilisierung der Platte sind zwei Streben 20 und 21 vorgesehen, die mit der Platte 9 zusammen ein Kreissegment bilden.The width of the plate 9 is almost equal to the length of the two fingers 12 and 13 of the gripper 5 and 11 match. To stabilize the plate are two struts 20 and 21 are provided, which together with the plate 9 form a circle segment.

Figur 3 zeigt einen Ausschnitt aus der Vorrichtung gemäß Figur 1. In dieser Darstellung sind das Transportband 1, der Verpackungsförderer 3, die Platte 9, der Greifer 11 und der Stempel 15 erkennbar. Während in Figur eine perspektivische Darstellung in Transportrichtung des Transportband dargestellt ist, zeigt Figur 3 eine Darstellung entgegen der Transportrichtung.Figure 3 shows a section of the device according to Figure 1. In this Representation are the conveyor belt 1, the packaging conveyor 3, the plate 9, the gripper 11 and the punch 15 recognizable. While in figure one perspective representation shown in the transport direction of the conveyor belt is, Figure 3 shows a representation opposite to the transport direction.

Sämtliche Merkmale der Erfindung können sowohl einzeln, als auch in beliebiger Kombination miteinander, erfindungswesentlich sein. All features of the invention can be used individually as well as in any combination with each other, be essential to the invention.

BezugszahlenlisteLIST OF REFERENCE NUMBERS

11
Transportbandconveyor belt
22
Stückpiece
33
Verpackungsfördererpackaging conveyor
44
Verpackungpackaging
55
Greifergrab
66
Gehäusecasing
77
Greiferarmgripper
88th
GreiferarmantriebGripper arm drive
99
Platteplate
1010
Plattenantriebdisk drive
1111
Greifergrab
1212
innerer Finger des Greifersinner finger of the claw
1313
äußerer Finger des Greifersouter finger of the gripper
1414
Kurvenscheibecam
1515
Stempelstamp
1616
Riemenbelt
1717
Riemenscheibepulley
1818
Riemenbelt
1919
Riemenscheibepulley
2020
Strebestrut
2121
Strebestrut
2222
Kurvenrollefollower

Claims (19)

Vorrichtung zum geordneten Ablegen von biegeschlaffen Stücken in einer Verpackung
mit einem Transportband (1), auf dem die Stücke (2) zugeführt werden, mit einem Greifer (5, 11) an einem rotierenden Greiferarm (7), dessen Rotationsachse senkrecht zum Transportband (1) verläuft, wobei der Greifer die Stücke von dem Transportband auf eine Platte (9) schiebt,
mit einem Greiferarmantrieb (8), der den Greiferarm (7) zur Rotation antreibt,
mit einer Platte (9), welche die Stücke von dem Transportband (1) übernimmt und bis über die vorgesehene Position in der Verpackung (4) führt, mit einem Plattenantrieb (10) zur Rotation der Platte (9) um eine Achse zwischen einer ersten Position unmittelbar an dem Transportband (1) und einer zweiten Position über der Verpackung (4),
mit einem Verpackungsförderer (3), der die Verpackungen (4) zuführt und nach dem Ablegen eines Stücks weitertransportiert um das nächste Stück ablegen zu können.Device for the orderly placement of limp material in a packaging
with a conveyor belt (1) on which the pieces (2) are fed, with a gripper (5, 11) on a rotating gripper arm (7) whose axis of rotation is perpendicular to the conveyor belt (1), wherein the gripper the pieces of the Moving conveyor belt to a plate (9),
with a gripper arm drive (8) which drives the gripper arm (7) for rotation,
with a plate (9), which takes over the pieces of the conveyor belt (1) and leads beyond the intended position in the package (4), with a disk drive (10) for rotation of the plate (9) about an axis between a first Position directly on the conveyor belt (1) and a second position above the package (4),
with a packaging conveyor (3), which feeds the packaging (4) and after transporting a piece further transported in order to store the next piece can. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass an dem Greifer (5, 11) zwei Finger (12, 13) vorgesehen sind. Device according to claim 1, characterized in that two fingers (12, 13) are provided on the gripper (5, 11). Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass einer der beiden Finger (13) in radialer Richtung verschiebbar oder variabel mit dem Greiferarm (7) verbunden ist und der andere Finger (12) fest am Greiferarm (7) befestigt ist.Apparatus according to claim 2, characterized in that one of the two fingers (13) in the radial direction is displaceably or variably connected to the gripper arm (7) and the other finger (12) fixedly attached to the gripper arm (7). Vorrichtung nach Anspruch 2 oder 3, dadurch gekennzeichnet, dass eine bezüglich der Achse des Greiferarms exzentrisch angeordnete Kurvenscheibe (14) vorgesehen ist, und dass einer der Finger (13) mit einer Kurvenrolle (22) verbunden ist, die bei einer Rotation des Greiferarms (7) kraftschlüssig an der Kurvenscheibe (14) abrollt.Device according to Claim 2 or 3, characterized in that a cam disc (14) arranged eccentrically with respect to the axis of the gripper arm is provided, and in that one of the fingers (13) is connected to a cam roller (22) which rotates when the gripper arm (Fig. 7) non-positively rolling on the cam (14). Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Greiferarm (7) um seine Mitte rotiert wird und dass an den beiden eingegengesetzten Enden des Greiferarms je ein Greifer (5, 11) angeordnet ist.Device according to one of the preceding claims, characterized in that the gripper arm (7) is rotated about its center and that a gripper (5, 11) is arranged at each of the two set ends of the gripper arm. Vorrichtung nach einem der Ansprüche 2 bis 5, dadurch gekennzeichnet, dass die beiden Finger (12, 13) des Greifers (5, 11) an ihren den Stücken zugewandten und/ oder dem Greiferarm (7) zugewandten Enden abgerundet oder abgeschrägt sind.Device according to one of claims 2 to 5, characterized in that the two fingers (12, 13) of the gripper (5, 11) are rounded or bevelled at their ends facing the pieces and / or the gripper arm (7) facing ends. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Breite der Platte (9) mit der Länge des Greifers (5, 11) insbesondere mit der Länge der Finger (12, 13) übereinstimmt oder breiter ist.Device according to one of the preceding claims, characterized in that the width of the plate (9) with the length of the gripper (5, 11) in particular with the length of the fingers (12, 13) coincides or is wider. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Achse, um die der Greiferarm (7) durch den Greiferarmantriebs (8) gedreht wird, und die Achse, um die die Platte(9) durch den Plattenantrieb (10) gedreht wird, koaxial zueinander verlaufen. Device according to one of the preceding claims, characterized in that the axis about which the gripper arm (7) is rotated by the Greiferarmantriebs (8), and the axis about which the plate (9) by the disk drive (10) is rotated, coaxial with each other. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein zweiter Plattenantrieb vorgesehen ist, der die Platte in radialer Richtung verschiebt.Device according to one of the preceding claims, characterized in that a second plate drive is provided, which shifts the plate in the radial direction. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass als Greiferarmantrieb (8) und/ oder Plattenantrieb (10) ein Servomotor vorgesehen ist.Device according to one of the preceding claims, characterized in that a servo motor is provided as gripper arm drive (8) and / or plate drive (10). Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass an dem Transportband (1) eine Lichtschranke vorgesehen ist, welche das Passieren des in Transportrichtung gesehen hinteren Endes des Stücks (2) an einem vorgegebenen Punkt ermittelt.Device according to one of the preceding claims, characterized in that on the conveyor belt (1) a light barrier is provided, which determines the passing of the rear end of the piece (2) seen in the transport direction at a predetermined point. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass oberhalb der Position, an der das Stück (2) in einer Verpackung (4) abgelegt werden soll, ein vertikal verschiebbarer Stempel (15) vorgesehen ist, der das Stück (2) von oben in die Verpackung (4) drückt, wenn die Platte (9) an ihre erste Position nahe dem seitlichen Rand des Transportbandes (1) zurückgefahren wird.Device according to one of the preceding claims, characterized in that above the position at which the piece (2) is to be stored in a package (4), a vertically displaceable punch (15) is provided which the piece (2) from above in the package (4) presses when the plate (9) is moved back to its first position near the lateral edge of the conveyor belt (1). Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass als Verpackungsförderer (3) ein Linearförderer vorgesehen ist, der die Verpackungen taktweise vorwärts transportiert.Device according to one of the preceding claims, characterized in that a linear conveyor is provided as packaging conveyor (3), which transports the packages cyclically forward. Vorrichtung nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, dass als Verpackungsförderer ein Rotationsförderer vorgesehen ist, der die Verpackungen taktweise um einen vorgegebenen Winkel rotiert.Device according to one of claims 1 to 12, characterized in that a rotary conveyor is provided as a packaging conveyor, which rotates the packages cyclically by a predetermined angle. Verfahren zum geordneten Ablegen von biegeschlaffen Stücken (2) in einer Verpackung (4) insbesondere unter Einsatz einer Vorrichtung nach einem der Ansprüche 1 bis 14, dadurch gekennzeichnet, dass die Stücke (2) auf einem Transportband (1) zugeführt werden,
dass jedes der Stücke mittels eines Greifers (5, 11) an den Rand des Transportbandes (1) geführt wird,
dass das Stück (2) am Rand des Transportbandes (1) durch den Greifer (5, 11) auf eine Platte (9) geschoben wird,
dass Greifer (5, 11) und Platte (9) das Stück über die in der Verpackung vorgesehene Position fahren,
dass die Platte (9) mit hoher Geschwindigkeit und starker Beschleunigung unter dem Stück weggezogen wird und an die Position nahe dem Transportband (1) zurückfährt, wodurch das Stück aufgrund seiner Gewichtskraft an der vorgesehenen Position in der Verpackung (4) fällt,
dass der Greifer (5, 11) in seine Ausgangslage zurückkehrt um erneut ein Stück von dem Transportband (1) aufzunehmen.Method for the orderly placement of limp material pieces (2) in a packaging (4), in particular using a device according to one of claims 1 to 14, characterized in that the pieces (2) are fed on a conveyor belt (1),
that each of the pieces is guided by means of a gripper (5, 11) to the edge of the conveyor belt (1),
that the piece (2) at the edge of the conveyor belt (1) by the gripper (5, 11) is pushed onto a plate (9),
that gripper (5, 11) and plate (9) drive the piece over the position provided in the packaging,
that the plate (9) is pulled away under high speed and with high acceleration under the piece and returns to the position near the conveyor belt (1), whereby the piece falls due to its weight force at the intended position in the package (4),
in that the gripper (5, 11) returns to its original position in order to pick up a piece of the conveyor belt (1) again. Verfahren nach Anspruch 15, dadurch gekennzeichnet, dass das Stück durch einen Stempel (15) von oben in die Verpackung gedrückt wird.A method according to claim 15, characterized in that the piece is pressed by a punch (15) from above into the packaging. Verfahren nach Anspruch 15 oder 16, dadurch gekennzeichnet, dass der Greifer (5, 11) und die Platte (9) um zwei Achsen gedreht werden, die koaxial zueinander verlaufen.A method according to claim 15 or 16, characterized in that the gripper (5, 11) and the plate (9) are rotated about two axes which are coaxial with each other. Verfahren nach einem der Ansprüche 15 bis 17, dadurch gekennzeichnet, dass der Greifer (5, 11) erst dann von hinten an ein Stück (2) auf dem Transportband (1) herangeführt wird, wenn das in Bewegungsrichtung gesehene hintere Ende des Stücks eine Lichtschranke passiert hat.Method according to one of claims 15 to 17, characterized in that the gripper (5, 11) is only brought from the back of a piece (2) on the conveyor belt (1) when viewed in the direction of movement rear end of the piece a light barrier happened. Verfahren nach einem der Ansprüche 15 bis 18, dadurch gekennzeichnet, dass der Greifer (5, 11), sobald er das Stück (2) auf dem Transportband (1) berührt, mit derselben Geschwindigkeit bewegt wird wie das Transportband (1).Method according to one of claims 15 to 18, characterized in that the gripper (5, 11) as soon as it touches the piece (2) on the conveyor belt (1) is moved at the same speed as the conveyor belt (1).
EP05008253A 2004-04-16 2005-04-15 Machine and method for orderly depositing flexible products in a container. Active EP1586505B9 (en)

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DK1586505T3 (en) 2007-11-05
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US7571590B2 (en) 2009-08-11
ATE367309T1 (en) 2007-08-15
US20060162293A1 (en) 2006-07-27
DE502005001030D1 (en) 2007-08-30
EP1586505B9 (en) 2007-10-31

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