EP1900665B1 - Détermination du centre d'un noyau de bobine dans un dispositif de manipulation de bobines - Google Patents

Détermination du centre d'un noyau de bobine dans un dispositif de manipulation de bobines Download PDF

Info

Publication number
EP1900665B1
EP1900665B1 EP07017719A EP07017719A EP1900665B1 EP 1900665 B1 EP1900665 B1 EP 1900665B1 EP 07017719 A EP07017719 A EP 07017719A EP 07017719 A EP07017719 A EP 07017719A EP 1900665 B1 EP1900665 B1 EP 1900665B1
Authority
EP
European Patent Office
Prior art keywords
bobbin
sensor
gripper
sensors
sensor group
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.)
Not-in-force
Application number
EP07017719A
Other languages
German (de)
English (en)
Other versions
EP1900665A1 (fr
Inventor
Arnd Meier
Günter Hamann
Thorsten Knepper
Thomas Flügge
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.)
Koerber Technologies GmbH
Original Assignee
Hauni Maschinenbau 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
Application filed by Hauni Maschinenbau GmbH filed Critical Hauni Maschinenbau GmbH
Priority to PL07017719T priority Critical patent/PL1900665T3/pl
Publication of EP1900665A1 publication Critical patent/EP1900665A1/fr
Application granted granted Critical
Publication of EP1900665B1 publication Critical patent/EP1900665B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
    • B65H19/123—Lifting, transporting, or inserting the web roll; Removing empty core with cantilever supporting arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
    • B65H67/064—Supplying or transporting cross-wound packages, also combined with transporting the empty core
    • B65H67/065—Manipulators with gripping or holding means for transferring the packages from one station to another, e.g. from a conveyor to a creel trolley

Definitions

  • the invention relates to a reel handling device, a machine of the tobacco processing industry with a reel handling device and two corresponding methods for operating a reel handling device.
  • packaging material e.g. Paper, aluminum foil, plastic film or laminate foil
  • These bobbins are brought by a Bobinenhandungsvorraum to a unwinding device and pushed onto this.
  • tobacco processing machines e.g. Cigarette making machines
  • reels with paper are needed.
  • EP-A-1 157 952 is a device for handling of wound material webs, in particular Hüllmaterialbahnen for products of the tobacco processing industry, formed bobbins known.
  • the bobbins are removed from a stack of bobbins, which is formed using intermediate layers, and transferred to a Bobinenfact.
  • a bobbin carrier is movably arranged on a portal relative to a bobbin stack provided on a pallet.
  • the bobbin carrier is equipped with jaws for grasping the bobbins.
  • a method and apparatus for feeding reels or reels to a machine are disclosed.
  • the rollers have a central hole, and it is determined whether at least one reference point of a gripping member or a handling device lies inside the hole of the roller.
  • the roll is received by means of a gripping member when the reference point lies inside the hole of the roll.
  • the reference point is determined, for example via a transmitting and receiving device on the gripping member.
  • three such transmitting and receiving devices are used to position the gripping member relative to the hole of the roller.
  • US-A-5,608,818 describes a method for automatically picking up objects, eg paper rolls, by a robot with gripping member on a controlled articulated arm.
  • a spatial coordinates determination of the object takes place by recording several images and then evaluating the frequency of the distribution of the pixels. From this, a theoretical center is determined, and the gripping member is correspondingly lowered onto the roller.
  • U1 discloses a device for unloading individual reels from a pad by means of a gripper, wherein on the base a plurality of bobbins in several rows next to each other and in several layers are stacked.
  • the gripper can be moved in a plane on a height-adjustable frame by means of linear drives extending at an angle of 90 ° to one another.
  • On the frame sensors are arranged, each detect the lying in a plane bobbins and control the height adjustment of the frame.
  • On the gripper sensors for aligning the gripper are arranged to be detected each bobbin.
  • the sensors consist of sensor pairs, of which one sensor has a smaller and the other sensor a greater distance from the central axis of the cylindrical housing of the gripper than the outer radius of the respective to be taken bobbin.
  • EP 0 577 986 A2 relates to a method and apparatus for gripping cylindrical objects, such as cylindrical core rolls.
  • a self-propelled suction head is moved to a position which is coaxial with the central axis of an object by successively determining three different points on the outer envelope of the object by means of photosensors on the suction head.
  • the linear movement of the suction head is stopped when a photosensor signals that it has detected the object, whereby the first point is fixed.
  • the suction head is rotated with the sensors and so moves the other photosensors at other points on the envelope.
  • the central axis of the object is calculated from the intersections
  • the object of the present invention is to improve the position detection of bobbins in a simple manner, so that it detects faster and more precisely, i. be taken.
  • a reel handling device in particular the tobacco-processing industry, comprising a gripper with elements for gripping a reel, arranged on the gripper sensor device with sensors, an evaluation and control device that receives signals from the sensor device and processed, and a positioning device, of the evaluation and Control device is driven and moves the gripper with the sensor device via a Bobinenkern, wherein the evaluation and control device is designed to determine from the signals received from the sensor device a Bobinenkernmitte B, wherein the Bobinenhandhabungsvorraum is characterized in that the sensors spatially separated are arranged one another in sensor group modules, wherein exactly two sensor group modules are each provided with four sensors, wherein the sensor group modules are arranged around the elements for gripping the bobbin that when crossing a bobbin core of signal change n the sensors of at least one sensor group module location coordinates of four points on a circle with respect to a plane that is parallel to the end face of the reel, can be determined.
  • a sensor group module is used for distance measurement, which supplies usable signals for the position determination of a reel during the movement of the gripper.
  • the sensor group modules are identical
  • the elements for gripping the reel are in particular designed as clamping jaws, which are arranged rotationally symmetrical and are moved in the radial direction.
  • a cylindrical cylindrical bobbin in its outer dimensions can be particularly easily detected by the clamping jaws are moved either from the outside against the outer cylindrical surface of the reel or from the inside against the inner cylindrical surface of the reel and thereby moved so far in that the clamped bobbin can be lifted in this way.
  • the object is also achieved by a machine of the tobacco processing industry comprising a reel handling apparatus according to the invention.
  • the Sensor moved back and forth along the line or moved several times, so that the signal changes in question are multiple, and the sensor is an associated Bobinenkernmitte B s determined from the average values of the respective signal changes.
  • the bobbin is difficult to access, e.g. is applied to a laterally delimiting wall, it is possible by the arrangement of different sensor group modules to a gripper to select a sensor group module so that when moving the gripper drive the sensors of the respective sensor group module on the bobbin core.
  • the at least one sensor group module is moved back and forth along the line or moved several times, it is possible to determine a bobbin center B from the mean values of the multiple signal changes.
  • the gripper subsequently grasps the bobbin as a function of the specific bobbin center B.
  • the offsets O S or O Sx, O Sy determined for the sensors are taken into account in the determination of a bobbin center B.
  • the signal changes in the distance measuring sensors are generally due to the fact that a sensor immediately measures a greater distance when entering the area of a bobbin core, because it no longer only measures the distance to the end face of the bobbin. Conversely, a signal change occurs when a sensor emerges from the bobbin core, because then the shortened distance is measured up to the end face of the bobbin. Instead of a distance measurement, brightness values can also be measured.
  • FIG. 1 is a schematic perspective view of a gripper 1 with a sensor device 2 shown.
  • the sensor device 2 is connected to an evaluation and control device 9 and to a positioning device 10.
  • the gripper 1 is designed for detecting a reel, not shown, which is removed, for example, from a pallet and placed on an unwinding device.
  • the gripper 1 has three trained as jaws elements 3, 4 and 5, which in a in the FIG. 1 bobbin core 7 not shown are introduced and spread there to capture the bobbin. For this purpose, it is necessary that the gripper 1 is positioned over the bobbin so that the jaws 3, 4 and 5 can be inserted into the bobbin core 7.
  • a comparatively constructed gripper 1 is for example made EP-A-1 157 952 known.
  • Around the clamping jaws 3, 4 and 5, two sensor group modules 2A and 2B are arranged.
  • the sensor group modules 2A and 2B are identical and each have four sensors 11-14 and 21-24.
  • the sensors 11 - 14, 21 - 24 are sensors
  • the Figures 2a, 2b and 2c are three schematic representations of the end face of a reel and the bobbin core 7, via which a sensor group module 2A with four sensors 11 - 14 is guided.
  • the representations represent the time sequence which results from the movement of the sensor group module 2A via the bobbin core 7. This is a calibration process, in which the sensor 11 is guided in the direction of the arrow over the bobbin core 7 along the dashed line.
  • FIG. 2a is the sensor 11 not yet in the area of Bobinenkern 7, in the FIG. 2b the sensor 11 has just entered the area of the Bobinenkerns 7, so that a signal change is recorded, and in the Figure 2c the sensor 11 is returned to the dashed line again, so that a further signal change on the sensor 11 is recorded.
  • FIG. 3 11 shows a schematic view onto a section of a bobbin core 7 and in particular illustrates that varying ⁇ Y of lines I 1 and I 2 through a preliminary bobbin center in the Y direction has only a small effect on the signal change ⁇ X in the X direction.
  • FIG. 4 is a schematic view of a bobbin core 7 and a sensor group module 2A with four sensors 11- 14, which is guided over the bobbin core 7.
  • the positions 1, 2, 3 and 4 correspond in each case to a position of the sensor group module 2A, the sensors 11-14 being guided in succession along a line through the preliminary bobbin core center.
  • FIG. 5 is a schematic view of a front side of a reel and a bobbin core 7 with two sensor group modules 2A and 2B shown.
  • the gripper 1, not shown here, is moved so that the sensor group modules 2A, 2B surround the extended imaginary bobbin core 7.
  • an envelope 8 of the possible positions of the Bobinenkerns 7 is given, which is a limit for the sensors 11 - 14, 21 - 24, in such a way that the sensors 11 - 14, 21 - 24 always outside the Bobbins need to lie 7 before determining a tentative bobbin core center.
  • FIG. 6 shows a further schematic view of a front side of a reel and a Bobinenkerns 7 with two sensor group modules 2A and 2B, wherein the condition that all the sensors 11 - 14, 21 - 24 are outside the bobbin core 7, just barely fulfilled.
  • FIG. 7 a circle is shown for which a midpoint is determined by establishing mid-perpendiculars g and h.
  • the circle corresponds to the bobbin core 7
  • the points SP1, SP2, SP3 and SP4 respectively correspond to the points at which signal changes of one of the sensors 11-14, 21-24 are recorded.
  • the center perpendicular g is constructed, and for the points SP2 and SP4, the perpendicular bisector h is constructed.
  • the intersection of the two mid-perpendiculars g and h defines a bobbin center B.
  • the coordinates of the point of intersection and thus of the bobbin center B can thus be determined with simple mathematical methods.

Landscapes

  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Replacement Of Web Rolls (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Storage Of Web-Like Or Filamentary Materials (AREA)
  • Inspection Of Paper Currency And Valuable Securities (AREA)
  • Switches That Are Operated By Magnetic Or Electric Fields (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
  • Manufacturing Of Cigar And Cigarette Tobacco (AREA)

Claims (12)

  1. Dispositif de manipulation de bobine, en particulier de l'industrie de transformation du tabac, comprenant un dispositif de préhension (1) équipé d'éléments (3, 4, 5) destinés à saisir une bobine, un dispositif de détection (2) disposé au niveau du dispositif de préhension (1), comportant des capteurs (11-14, 21-24), un dispositif d'évaluation et de commande (9) qui reçoit et traite des signaux émis par le dispositif de détection (2), et un dispositif de positionnement (10) qui est commandé par le dispositif d'évaluation et de commande (9) et qui déplace le dispositif de préhension (1) avec le dispositif de détection (2) à travers un noyau de bobine, le dispositif d'évaluation et de commande (9) étant conçu pour déterminer, à partir des signaux reçus par le dispositif de détection (2), un centre de noyau de bobine B, caractérisé en ce que les capteurs (11-14, 21-24) sont disposés, séparés les uns des autres dans l'espace, en modules de groupes de capteurs (2A, 2B), précisément deux modules de groupes de capteurs (2A, 2B) dotés respectivement de quatre capteurs (11-14, 21-24) étant prévus, les modules de groupes de capteurs (2A, 2B) étant disposés autour des éléments (3, 4, 5) de préhension de la bobine de façon telle que lors du passage sur un noyau de bobine, il est possible de déterminer, à partir de modifications de signal des capteurs (11-14, 21-24) d'au moins un module de groupes de capteurs (2A, 2B), des coordonnées de position de quatre points sur un cercle par rapport à un plan qui s'étend parallèlement à la face avant de la bobine.
  2. Dispositif de manipulation de bobine selon la revendication 1, caractérisé en ce que les modules de groupes de capteurs (2A, 2B) sont réalisés de façon identique.
  3. Dispositif de manipulation de bobine selon la revendication 1 ou 2, caractérisé en ce que les éléments (3, 4, 5) de préhension de la bobine sont réalisés sous forme de mâchoires de serrage, qui sont disposées en symétrie de rotation et sont déplacées en particulier dans une direction radiale.
  4. Machine de l'industrie de transformation du tabac présentant un dispositif de manipulation de bobine selon l'une des revendications 1 à 3.
  5. Procédé d'exploitation d'un dispositif de manipulation de bobine, en particulier de l'industrie de transformation du tabac, comprenant un dispositif de préhension (1), destiné à saisir une bobine, et un dispositif de détection (2), disposé au niveau du dispositif de préhension (1) et comportant des modules de groupes de capteurs (2A, 2B), les capteurs (11-14, 21-24) des modules de groupes de capteurs (2A, 2B) étant étalonnés en respectant les étapes suivantes :
    - le dispositif de préhension (1) saisit la bobine, un dispositif d'évaluation et de commande (9) définit un centre de noyau de bobine provisoire, et le dispositif de préhension (1) libère de nouveau la bobine,
    - un capteur (11-14, 21-24) est déplacé à travers le noyau de bobine (7) le long d'une ligne qui passe par le centre de noyau de bobine provisoire, et on enregistre les modifications de signal du capteur (11-14, 21-24),
    - le dispositif d'évaluation et de commande (9) détermine, à partir des modifications de signal pour le capteur (11-14, 21-24), un centre de noyau de bobine B correspondant par détermination du centre de la trajectoire de liaison entre les deux emplacements au niveau desquels surviennent des modifications de signal, et en déduit un décalage Os associé au capteur (11-14, 21-24) entre le centre de noyau de bobine Bs déterminé pour le capteur (11-14, 21-24) et le centre de noyau de bobine provisoire précédemment défini,
    le procédé étant répété pour une seconde ligne qui s'étend dans une direction sensiblement perpendiculaire à la première ligne, de sorte que, pour le capteur (11-14, 21-24), sont déterminés deux décalages Osx, Osy dans deux directions sensiblement perpendiculaires entre elles et déterminées par les deux lignes.
  6. Procédé selon la revendication 5, caractérisé en ce que le capteur (11-14, 21-24) est déplacé le long de la ligne en avant et en arrière ou est déplacé plusieurs fois de façon que des modifications de signal se produisent plusieurs fois et que soit déterminé pour le capteur (11-14, 21-24) un centre de noyau de bobine Bs correspondant à partir des valeurs moyennes des modifications de signal respectives.
  7. Procédé selon la revendication 5 ou 6, caractérisé en ce que les étapes du procédé sont réalisées pour au moins deux capteurs (11-14, 21-24).
  8. Procédé d'exploitation d'un dispositif de manipulation de bobine, en particulier de l'industrie de transformation du tabac, comportant un dispositif de préhension (1) destiné à saisir une bobine et un dispositif de détection (2) disposé au niveau du dispositif de préhension (1) comportant deux modules de groupes de capteurs (2A, 2B), caractérisé par les étapes suivantes :
    - le dispositif de préhension (1) est déplacé par un dispositif de positionnement (10) de façon que les modules de groupes de capteurs (2A, 2B) entourent le noyau de bobine (7) prolongé en imagination,
    - au moins un module de groupes de capteurs (2A, 2B) se déplace à travers le noyau de bobine (7),
    - les modifications de signal du au moins un module de groupe de capteurs (2A, 2B) sont transmises à un dispositif d'évaluation et de commande (9),
    - le dispositif d'évaluation et de commande (9) détermine, à partir des modifications de signal de quatre capteurs (11-14, 21-24) du au moins un module de groupe de capteurs (2A, 2B), un centre de noyau de bobine B,
    en associant aux modifications de signal des coordonnées de position d'en particulier quatre points sur un cercle par rapport à un plan qui s'étend parallèlement à la face avant de la bobine, en formulant, respectivement en deux points, une équation de la droite pour leur médiatrice et, enfin, en déterminant le point central du noyau de bobine B en tant que résolution des deux équations de la droite, c-à-d, en tant que point d'intersection des deux médiatrices.
  9. Procédé selon la revendication 8, caractérisé en ce que le au moins un module de groupe de capteurs (2A, 2B), est déplacé le long de la ligne en avant et en arrière ou est déplacé plusieurs fois de façon que les modifications de signal se produisent plusieurs fois et que soit déterminé un centre de noyau de bobine B à partir des valeurs moyennes des modifications de signal.
  10. Procédé selon la revendication 8 ou 9, caractérisé en ce que le dispositif de préhension (1) saisit la bobine en fonction du centre de noyau de bobine B déterminé.
  11. Procédé selon l'une des revendications 8 à 10, caractérisé en ce qu'il est précédé d'un procédé selon l'une des revendications 5 à 7.
  12. Procédé selon la revendication 11, caractérisé en ce que les décalages Os ou Osx, Osy déterminés pour les capteurs sont pris en compte lors de la détermination d'un centre de noyau de bobine B.
EP07017719A 2006-09-13 2007-09-11 Détermination du centre d'un noyau de bobine dans un dispositif de manipulation de bobines Not-in-force EP1900665B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL07017719T PL1900665T3 (pl) 2006-09-13 2007-09-11 Wyznaczanie środka rdzenia bobiny w urządzeniu manipulacyjnym do bobin

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006043810A DE102006043810A1 (de) 2006-09-13 2006-09-13 Bestimmung einer Bobinenkernmitte bei einer Bobinenhandhabungsvorrichtung

Publications (2)

Publication Number Publication Date
EP1900665A1 EP1900665A1 (fr) 2008-03-19
EP1900665B1 true EP1900665B1 (fr) 2010-05-12

Family

ID=38857934

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07017719A Not-in-force EP1900665B1 (fr) 2006-09-13 2007-09-11 Détermination du centre d'un noyau de bobine dans un dispositif de manipulation de bobines

Country Status (6)

Country Link
EP (1) EP1900665B1 (fr)
JP (1) JP2008067702A (fr)
CN (1) CN101143659B (fr)
AT (1) ATE467595T1 (fr)
DE (2) DE102006043810A1 (fr)
PL (1) PL1900665T3 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019042913A1 (fr) 2017-09-01 2019-03-07 Nv Bekaert Sa Dispositif de préhension pour bobines

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102236033A (zh) * 2010-04-30 2011-11-09 向熙科技股份有限公司 不需治具盘的自动定位设备及电性量测系统
CN102288151B (zh) * 2011-04-28 2012-12-05 江苏金龙科技股份有限公司 电脑针织横编机的三角对称度检测机构
CN103528559A (zh) * 2013-09-30 2014-01-22 无锡众望四维科技有限公司 一种用于锁体加工设备的孔位自动检测装置
WO2019102414A1 (fr) * 2017-11-23 2019-05-31 Montrade S.P.A. Ensemble et procédé pour manipuler une bobine de tissu ou de fil
GB2616341A (en) * 2022-01-14 2023-09-06 Gripple Automation Ltd Reel alignment control

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8501277U1 (de) * 1985-01-19 1988-11-17 Niepmann Traylift Transportsysteme GmbH & Co KG, 5820 Gevelsberg Vorrichtung zum Entladen einzelner Bobinen von einer Unterlage
DE3501692A1 (de) * 1985-01-19 1986-07-24 Maschinenfabrik Fr. Niepmann GmbH u. Co, 5820 Gevelsberg Vorrichtung zum entladen einzelner bobinen von einer unterlage
IT1258006B (it) * 1992-01-13 1996-02-20 Gd Spa Sistema e metodo per il prelievo automatico di oggetti
IT1257826B (it) * 1992-06-12 1996-02-13 Gd Spa Metodo ed unita' per il prelievo automatico di oggetti cilindrici
DE10025848A1 (de) * 2000-05-25 2001-11-29 Topack Verpacktech Gmbh Vorrichtung zum Handhaben von Bobinen
DE10109446A1 (de) * 2001-02-27 2002-09-05 Focke & Co Einrichtung zur Handhabung von Bobinen
ITBO20010289A1 (it) * 2001-05-11 2002-11-11 Gd Spa Metodo e dispositivo di alimentazione di bobine ad una macchina operatrice
DE10242769C1 (de) * 2002-09-14 2003-12-18 Thomas Pagel Verfahren zur Vermessung der Lage von robotergeführten Werkstücken und Messeinrichtung hierzu
EP1495999A1 (fr) * 2003-07-10 2005-01-12 Hauni Maschinenbau AG Dispositif de désempilage d'une pile de bobines avec un système télémétrique à laser et utilisation d'un système télémétrique à laser pour la saisie de données topographiques d'une pile de bobines

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019042913A1 (fr) 2017-09-01 2019-03-07 Nv Bekaert Sa Dispositif de préhension pour bobines

Also Published As

Publication number Publication date
DE502007003709D1 (de) 2010-06-24
EP1900665A1 (fr) 2008-03-19
DE102006043810A1 (de) 2008-03-27
PL1900665T3 (pl) 2010-10-29
CN101143659B (zh) 2014-01-29
CN101143659A (zh) 2008-03-19
JP2008067702A (ja) 2008-03-27
ATE467595T1 (de) 2010-05-15

Similar Documents

Publication Publication Date Title
EP0188787B1 (fr) Appareil pour décharger une à une des bobines posées sur un support
EP1900665B1 (fr) Détermination du centre d'un noyau de bobine dans un dispositif de manipulation de bobines
DE60018363T2 (de) Elektrischer Steckverbinder
DE3744987C2 (fr)
DE3937995A1 (de) Verfahren und vorrichtung zur bogenriesvereinzelung und zur riesablage
DE102019102212A1 (de) Reifengreifer
EP3288876A1 (fr) Procédé et dispositif d'acheminement, de fourniture et d'échange de rouleaux comportant un matériau d'emballage dans une machine d'emballage
DE10155596B4 (de) Einrichtung zum Stapeln von längs eines Plattenförderers herangeführten Platten
DE102005060638A1 (de) Vorrichtung und Verfahren zum Handhaben von Bobinen innerhalb einer Automatisierungszelle sowie Automatisierungszelle
DE19838545A1 (de) Verfahren und Vorrichtung zum Erkennen von Druckmarken
EP2147879A2 (fr) Dispositif et procédé d'alignement des bords avant et latéraux d'un produit en forme de tableau
DE4143044C2 (de) Transportvorrichtung für Bobinen aus bahnförmigem Wickelmaterial
EP1593630A2 (fr) Dispositif pour préparer une bande enroulée en forme de rouleau
EP4341182A1 (fr) Dispositif et procédé de manipulation et/ou de groupement de charges isolées
EP3802385B1 (fr) Dispositif de transport
DE19632696C1 (de) Verfahren und Vorrichtung zum Messen der Überlappungsbreite eines Überlappungsstoßes von zwei flach aufeinanderliegenden Werkstücken
EP3181500B1 (fr) Dispositif et procédé d'amenée, de fourniture et d'échange de rouleaux de matériau d'emballage dans une machine d'emballage
DE10033490A1 (de) Einrichtung zum seitlichen Ausrichten von Bogen
DE8501277U1 (de) Vorrichtung zum Entladen einzelner Bobinen von einer Unterlage
DE4411366B4 (de) Verfahren zum Aufnehmen und Transportieren einer Rolle aus aufgewickeltem Streifenmaterial zwischen zwei Funktionsstationen
DE4316338C2 (de) Halte- und Transportvorrichtung für insbesondere flächige Werkstücke
AT509024B1 (de) Verfahren zur bestimmung der ausrichtung eines oberen teils eines stückgutstapels
DE102018214048B4 (de) Absetzband für eine Palettiervorrichtung
EP0757927B1 (fr) Dispositif pour le contrôle de pièces
WO2023235911A2 (fr) Dispositif de transfert et procédé de manipulation d'unités d'emballage

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK YU

RIN1 Information on inventor provided before grant (corrected)

Inventor name: MEIER, ARND

Inventor name: HAMANN, GUENTER

Inventor name: FLUEGGE, THOMAS

Inventor name: KNEPPER, THORSTEN

17P Request for examination filed

Effective date: 20080819

17Q First examination report despatched

Effective date: 20080918

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REF Corresponds to:

Ref document number: 502007003709

Country of ref document: DE

Date of ref document: 20100624

Kind code of ref document: P

REG Reference to a national code

Ref country code: NL

Ref legal event code: T3

LTIE Lt: invalidation of european patent or patent extension

Effective date: 20100512

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100823

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

REG Reference to a national code

Ref country code: PL

Ref legal event code: T3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100912

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100526

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100913

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100813

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

BERE Be: lapsed

Owner name: HAUNI MASCHINENBAU A.G.

Effective date: 20100930

26N No opposition filed

Effective date: 20110215

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100930

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502007003709

Country of ref document: DE

Effective date: 20110214

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20110531

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100930

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20110911

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110930

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110911

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100911

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101113

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100512

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100812

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 467595

Country of ref document: AT

Kind code of ref document: T

Effective date: 20120911

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120911

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PL

Payment date: 20140825

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20140921

Year of fee payment: 8

REG Reference to a national code

Ref country code: NL

Ref legal event code: MM

Effective date: 20151001

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502007003709

Country of ref document: DE

Owner name: HAUNI MASCHINENBAU GMBH, DE

Free format text: FORMER OWNER: HAUNI MASCHINENBAU AG, 21033 HAMBURG, DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20151001

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150911

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20191002

Year of fee payment: 13

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20190930

Year of fee payment: 13

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502007003709

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210401

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200911