EP2111974A2 - Dispositif d'exécution simultanée cadencée de plusieurs processus de manutention, en particulier pour retirer et ouvrir du boîtes pliantes - Google Patents

Dispositif d'exécution simultanée cadencée de plusieurs processus de manutention, en particulier pour retirer et ouvrir du boîtes pliantes Download PDF

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Publication number
EP2111974A2
EP2111974A2 EP20090005777 EP09005777A EP2111974A2 EP 2111974 A2 EP2111974 A2 EP 2111974A2 EP 20090005777 EP20090005777 EP 20090005777 EP 09005777 A EP09005777 A EP 09005777A EP 2111974 A2 EP2111974 A2 EP 2111974A2
Authority
EP
European Patent Office
Prior art keywords
handling
head
control
rotary drive
rotation
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.)
Withdrawn
Application number
EP20090005777
Other languages
German (de)
English (en)
Other versions
EP2111974A3 (fr
Inventor
Jens KÖSTER
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.)
Heino Ilsemann GmbH
Original Assignee
Heino Ilsemann 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 Heino Ilsemann GmbH filed Critical Heino Ilsemann GmbH
Publication of EP2111974A2 publication Critical patent/EP2111974A2/fr
Publication of EP2111974A3 publication Critical patent/EP2111974A3/fr
Withdrawn legal-status Critical Current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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/265—Opening, erecting or setting-up boxes, cartons or carton blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B2100/00—Rigid or semi-rigid containers made by folding single-piece sheets, blanks or webs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B2120/00—Construction of rigid or semi-rigid containers
    • B31B2120/30—Construction of rigid or semi-rigid containers collapsible; temporarily collapsed during manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/02—Feeding or positioning sheets, blanks or webs
    • B31B50/04—Feeding sheets or blanks
    • B31B50/046—Feeding sheets or blanks involving changing orientation or changing direction of transport
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/02—Feeding or positioning sheets, blanks or webs
    • B31B50/04—Feeding sheets or blanks
    • B31B50/06—Feeding sheets or blanks from stacks
    • B31B50/062—Feeding sheets or blanks from stacks from the underside of a magazine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/02—Feeding or positioning sheets, blanks or webs
    • B31B50/04—Feeding sheets or blanks
    • B31B50/06—Feeding sheets or blanks from stacks
    • B31B50/062—Feeding sheets or blanks from stacks from the underside of a magazine
    • B31B50/064—Feeding sheets or blanks from stacks from the underside of a magazine by being moved in the plane they are lying in
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/74—Auxiliary operations
    • B31B50/76—Opening and distending flattened articles
    • B31B50/80—Pneumatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/74—Auxiliary operations
    • B31B50/76—Opening and distending flattened articles
    • B31B50/80—Pneumatically
    • B31B50/804—Pneumatically using two or more suction devices on a rotating element

Definitions

  • the invention relates to a device for the cyclic simultaneous execution of multiple handling operations, as used for example in the form of a device for separating and erecting folding boxes.
  • Such a device is for example from the DE 40 29 520 A1 known and has several on a self-contained cycloid orbital suction cups, wherein a discharge station and a receiving station are arranged at reverse portions of the cycloid trajectory.
  • a rotor carries the suction heads, which are moved by a control mechanism cooperating with the rotor, so that in each case a suction head is moved when passing through a station in a radially outer position.
  • suction cups are only in a single point of their circumferential movement in relative standstill with respect to a folding box to be removed and always have a deviating movement of a linear movement during their gripping or depositing movement.
  • a device for taking flat cartons out of a magazine in which each carton is gripped by a pair of suction cups, which are caused by a complex control mechanism with multiple cams and in these guided actuation rollers for levers to a coupled movement in which each carton is opened (erected) during its transfer movement from the magazine to a transport device.
  • US 4,065,909 A shows a similar device with a cyclically rotatable handling head and radially projecting support arms, whose reciprocating motion takes place via a lever linkage.
  • US 3,633,470 A shows a device with a rotatably driven handling head, are moved to the support arms directly mounted on them cam follower rollers, which roll on a fixed cam.
  • the object of the invention is to provide a structurally simplified device in which the individual handling operations, namely, for example, removing and dropping a carton on the one hand and opening the carton on the other hand, without significant structural changes can be performed separately (successively) or superimposed.
  • a device for cyclically simultaneous execution of multiple handling operations with a rotatably driven about a rotation axis handling head to which a plurality of retaining arms in different equiangularly spaced directions in a direction perpendicular to the axis of rotation back and forth are held, one to the Rotary axis rotatably mounted control disc, the for each support arm has a control surface for cooperation with a control roller of the support arm, or vice versa, wherein upon rotation of the control disc relative to the handling head all the support arms are reciprocated simultaneously and in the same direction, a first rotary drive for the handling head, a second rotary drive for the Control disc with which a rotational position of the control disc relative to the handling head is variable with a stationary or rotating handling head, a handling element on each support arm for performing a handling operation, and a controller for the cyclic operation of the first and second rotary drive and the handling elements.
  • the first and / or the second rotary drive is a stepper motor.
  • the second rotary drive may alternatively be a superposition or phase difference transmission driven by the first rotary drive, with which an angular movement between the control disk and the handling head can be achieved in a range of 30 ° to 180 °, in particular 90 °.
  • the phase difference gear may have a pivotally mounted about a drive shaft pivotally mounted rocker with planetary gears mounted thereon.
  • the handling elements can be designed as gripping elements, in particular suction cups.
  • a first handling station may be a feeding device for feeding articles to be processed, such as a magazine.
  • a second handling station may be a processing station for acting on an object.
  • the second handling station can be a box erecting device with a gripping head which can be driven synchronously with the reciprocating movement of a respective holding arm in order to grasp a folding box held by a holding arm, to break it up and to transfer it to an erected position.
  • a third handling station may be a transport means for receiving erected cartons.
  • the drawing shows an embodiment of the invention, which is a device for separating and erecting folding boxes, wherein three different handling operations are performed in cycles at the same time, namely the removal of flat folded cartons from a magazine, the erection of a removed carton and the Placing an erected carton in a transport device.
  • Flat folded cartons 2 are stored on a belt magazine 4, which opens into a vertically arranged magazine shaft 6.
  • a vertically arranged magazine shaft 6 Below the magazine shaft 6 is a about a horizontal axis of rotation 8 rotatably drivable handling head 10, on which several - in this embodiment four - retaining arms 12 which are spaced 90 ° from each other, in a plane perpendicular to the axis of rotation 8 plane (parallel to the plane of Fig. 1 ) are held in the direction of arrow 14 in linear guides 16 of the handling head 10 back and forth and guided.
  • Each support arm 12 carries at its free end a suction cup or a suction plate 18 for detecting cartons.
  • a control roller 20 is arranged, which is guided by control surfaces 22 of a rotatably mounted about the rotation axis 8 control disk 24.
  • Fig. 2 shows the structure more in detail.
  • the device has two rotating units, which are mounted coaxially with each other in a receiving flange 26, which in turn to a machine frame 28 is attached.
  • An outer rotation system is designed as a hollow shaft 30, at one end of the end support plates 32 are fixed, between which the control disk 24 and the linear guides 16 are arranged.
  • a second rotation system is concentrically mounted, which consists of a control shaft 34 with the front-flanged control disk 24 and a fixedly connected to the control shaft 34 Zahnriemenrad 36, via which the control shaft 34 is driven in a manner to be explained.
  • both the hollow shaft 30 and the control shaft 34 are stationary, and the support arms 12 are in a retracted position. Based on this, the control shaft 34 rotates with control disk 24 by a certain angle relative to the stationary handling head 10 and the likewise stationary hollow shaft 30, in this case by approximately 80 ° counterclockwise ( Fig. 1, 3rd ).
  • Fig. 1 Due to the interaction of the respective obliquely arranged to the longitudinal axis of the support arms 12 control surfaces 22 with the fixedly connected to the support arms 12 control rollers 20 all stop arms 12 simultaneously and at the same speed and reach their outer end position, the in Fig. 1 is shown. In this outer end position or in an area around it, a simultaneous execution of several handling operations, as will be described below, after which there is a rotation of the control disk 24 in the reverse direction, whereby the retaining arms 12 are retracted again.
  • the control disc 24 again rotates back and forth as described above, and the retaining arms in turn turn off and on.
  • a superimposed (difference) movement of both shafts 30, 34 already / during the rotational movement of the handling head 10 and thus a superposition of the rotational movement of the handling head 10 and the movement of the support arms 12 is also possible.
  • a folding box 2 is removed from the magazine shaft 6.
  • the respectively vertically upwardly extending holding arm 12 extends and sucks in its outer end position in the magazine shaft 6 located at the bottom folding box.
  • the folding box 2 transferred and held by a holding arm 12 from the first handling station is erected and broken by a righting device 40.
  • the holding arm 12 with the sucked-in folding box 2 extends, wherein a wall 2a of the folding box 2, which is opposite to a wall 2b of the folding box 2 held by the holding arm 12 or the suction plate 18, is sucked by a suction plate 42 of the erecting device 40.
  • the righting device 40 now moves to the left in synchronism with the retaining arm 12, which still extends to the left, in order to compensate for the (remaining) extension movement of the retaining arm 12.
  • the suction plate 42 which is attached to a parallel crank 44 of the erector 40 as a gripping head, performs a kind of pivotal movement along a semicircle while maintaining its orientation, whereby the carton is set up and broken (end position in FIG Fig. 1 shown). In this case, all folding edges of the folding box connecting the walls are opened by 90 ° (when setting up) and 180 ° (when breaking over).
  • the parallel crank 44 is in this case held and actuated by two pivot arms 46, which are pivotable about pivot axes 48 and each carry an actuating pinion 48 at their ends opposite the parallel crank 44. Both actuating pinion 48 are engaged with a sector-shaped gear 50, by the rotation of the pivot arms 46 can be pivoted about 180 ° and back.
  • the suction plate 42 performs a pivoting movement about a pivot axis, which essentially coincides with a folded edge 2c of the folding box 2.
  • the sucker plate 42 can either release the carton 2, the carton springs back by itself in an approximately erected position, or even back by 90 ° in an erect position transfer (return movement of the swivel arms 46 by approx. 90 ° in the counterclockwise direction).
  • the holding arm 12 travels with the folding carton held thereon in the direction of the handling head 10.
  • the erected folding box 2 is inserted into a transport device 54 between two drivers 56.
  • the suction plate 18 lets go of the carton, and the support arm 12 retracts.
  • a fourth handling station could be located opposite the second handling station, but is not needed in this embodiment, i. each holding arm 12 located there leaves empty and then on again.
  • All three handling operations at the three handling positions are executed simultaneously as explained, i. in the train a single reciprocating motion of the control disk 24, in which all the retaining arms 12 at the same time and extend.
  • the device could basically be provided with only three support arms with a mutual angular distance of 120 °, wherein the control disk must be provided with three mutually 120 ° to each other arranged guide surfaces or control slots.
  • the handling stations would have to be arranged at 120 ° to each other, which is unfavorable in terms of removal directly from above and a delivery immediately down, so that a design with four retaining arms is advantageous.
  • the handling head 10 with hollow shaft 30 and the control disk 24 with the control shaft 34 can be driven in different ways. For example, could each be provided for both a servo motor.
  • the drive is effected by a superposition or phase difference gear, which in turn is driven by a servo motor and a cam gear.
  • the servo motor clocks the handling head 10 by 90 ° each, while the cam gear generates the control disk movement relative to the handling head 10 via the overlay gear assembly described below.
  • a mounted on the machine frame 28 drive shaft 60 carries a fixed thereto sun gear 62 and rotatably mounted on her sun gear 64.
  • the drive shaft 60 is driven by a servomotor, not shown.
  • a rocker 66 is also rotatably mounted, which can be reciprocated by a cam mechanism, not shown, controlled by a limited pivoting angle.
  • a planetary shaft 52 is rotatably mounted, on which a planetary gear 68 and a Planetenenzahnriemenrad 70 are rotatably mounted.
  • the planetary gear pulley 70 is connected to the sun gear pulley 64 via a first toothed belt 72.
  • the Clareuxriemenrad 64 is still connected via a second toothed belt 74 with the fixedly connected to the control shaft 34 toothed belt 36 in conjunction.
  • the rocker 66 stands still, the retaining arms 12 are retracted and the drive shaft 60 is rotated by the servo motor by 90 °.
  • This rotational movement is transmitted through the gear stage 62, 38 on the hollow shaft 30, whereby the handling head 10 (in the opposite direction) rotates.
  • the rotational movement of the drive shaft 60 is transmitted through the gear stage 62, 68 to the planetary shaft 52 and thus to the planetary gear pulley 70.
  • the timing belt stages 70, 64 and 64, 36 is transmit the rotational movement to the control shaft 34. This thus rotates synchronously with the hollow shaft 30, so that the entire handling head 10 with relatively stationary control disc 24 and retracted retaining arms 12 is further rotated by 90 °.
  • the sequence of movement in the overlay or phase difference gear when extending the support arms 12 is as follows.
  • the drive shaft 60 is held in position by the stationary servomotor.
  • the gear stage 62, 38 and thus the hollow shaft 30 and the handling head 10 is held.
  • the rocker 66 is pivoted about the drive shaft 60 by the cam gear (not shown).
  • the planetary gear 68 rolls on the sun gear 62.
  • the resulting rotational movement of the planetary shaft 52 is transmitted through the timing belt stages 70, 64 and 64, 36 to the control shaft 34.
  • the control disk 24 is rotated relative to the stationary handling head 10, and the support arms 12 depending on the direction of movement of the rocker 66 from or a.
  • the two above-described movements can be superimposed, in particular in the region relatively shortly before and after a respective standstill position of the handling head 10, so that the retraction and extension of the support arms 12 partially already or even during the movement towards a standstill position of the handling head started or ended.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Manipulator (AREA)
EP20090005777 2008-04-24 2009-04-24 Dispositif d'exécution simultanée cadencée de plusieurs processus de manutention, en particulier pour retirer et ouvrir du boîtes pliantes Withdrawn EP2111974A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200810020626 DE102008020626B3 (de) 2008-04-24 2008-04-24 Vorrichtung zur taktweise gleichzeitigen Ausführung mehrerer Handhabungsvorgänge

Publications (2)

Publication Number Publication Date
EP2111974A2 true EP2111974A2 (fr) 2009-10-28
EP2111974A3 EP2111974A3 (fr) 2014-03-12

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP20090005777 Withdrawn EP2111974A3 (fr) 2008-04-24 2009-04-24 Dispositif d'exécution simultanée cadencée de plusieurs processus de manutention, en particulier pour retirer et ouvrir du boîtes pliantes

Country Status (2)

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EP (1) EP2111974A3 (fr)
DE (1) DE102008020626B3 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102211417A (zh) * 2011-05-31 2011-10-12 柴长银 环保袋贴挽旋转装置
CN103359324A (zh) * 2012-03-30 2013-10-23 苏州澳昆智能机器人技术有限公司 一种用于开箱机的拉箱机构
IT201700017873A1 (it) * 2017-02-17 2018-08-17 Gima Spa Unità e metodo per disporre oggetti entro scatole.

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2821216A1 (fr) * 2013-07-02 2015-01-07 Martijn Arnold Van Rossum Dispositif pour le déploiement d'un tube plié à plat

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3633470A (en) 1969-02-12 1972-01-11 Pitters Proprietary Ltd Package feeder apparatus
DE1586338B2 (de) 1967-12-04 1976-04-15 VEB Kombinat Nagema, χ 8045 Dresden Zufuehrvorrichtung fuer deckel
US4065909A (en) 1976-04-26 1978-01-03 Owens-Illinois, Inc. Method and apparatus for applying a lid and tamper-indicating sheet to a container
DE2811159A1 (de) 1977-03-18 1978-09-28 Guglielmo Martelli Vorrichtung zur entnahme von halbsteifen folienartigen teilen aus einem magazin und zu deren ueberfuehrung auf einen foerderer
DE4029520A1 (de) 1990-09-18 1992-03-19 Bosch Gmbh Robert Vorrichtung zum ueberfuehren flacher gegenstaende

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2887022A (en) * 1956-08-20 1959-05-19 Fibreboard Paper Products Corp Machine for setting up cartons
GB1419247A (en) * 1972-02-17 1975-12-24 Jackson J M Take off and stacker for container printing machine
US5176612A (en) * 1991-12-13 1993-01-05 The Mead Corporation High speed erecting mechanism for sleeve type carton
SE0003625L (sv) * 2000-10-09 2002-04-10 Norden Pac Dev Ab Anordning i förpackningsmaskin

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1586338B2 (de) 1967-12-04 1976-04-15 VEB Kombinat Nagema, χ 8045 Dresden Zufuehrvorrichtung fuer deckel
US3633470A (en) 1969-02-12 1972-01-11 Pitters Proprietary Ltd Package feeder apparatus
US4065909A (en) 1976-04-26 1978-01-03 Owens-Illinois, Inc. Method and apparatus for applying a lid and tamper-indicating sheet to a container
DE2811159A1 (de) 1977-03-18 1978-09-28 Guglielmo Martelli Vorrichtung zur entnahme von halbsteifen folienartigen teilen aus einem magazin und zu deren ueberfuehrung auf einen foerderer
DE4029520A1 (de) 1990-09-18 1992-03-19 Bosch Gmbh Robert Vorrichtung zum ueberfuehren flacher gegenstaende

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102211417A (zh) * 2011-05-31 2011-10-12 柴长银 环保袋贴挽旋转装置
CN102211417B (zh) * 2011-05-31 2013-07-31 柴长银 环保袋贴挽旋转装置
CN103359324A (zh) * 2012-03-30 2013-10-23 苏州澳昆智能机器人技术有限公司 一种用于开箱机的拉箱机构
CN103359324B (zh) * 2012-03-30 2015-12-23 苏州澳昆智能机器人技术有限公司 一种用于开箱机的拉箱机构
IT201700017873A1 (it) * 2017-02-17 2018-08-17 Gima Spa Unità e metodo per disporre oggetti entro scatole.
WO2018150334A1 (fr) * 2017-02-17 2018-08-23 Gima S.P.A. Unité et procédé pour placer des objets dans des boîtes

Also Published As

Publication number Publication date
DE102008020626B3 (de) 2009-11-05
EP2111974A3 (fr) 2014-03-12

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