EP2141095A1 - Packaging machine with a gripper system - Google Patents

Packaging machine with a gripper system Download PDF

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Publication number
EP2141095A1
EP2141095A1 EP09163636A EP09163636A EP2141095A1 EP 2141095 A1 EP2141095 A1 EP 2141095A1 EP 09163636 A EP09163636 A EP 09163636A EP 09163636 A EP09163636 A EP 09163636A EP 2141095 A1 EP2141095 A1 EP 2141095A1
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EP
European Patent Office
Prior art keywords
gripper
drive
packaging machine
tray
belt
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
EP09163636A
Other languages
German (de)
French (fr)
Other versions
EP2141095B1 (en
Inventor
Lars Ickert
Christoph Wagner
Lee Michael Vine
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.)
Multivac Sepp Haggenmueller GmbH and Co KG
Original Assignee
Multivac Sepp Haggenmueller 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.)
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Publication of EP2141095A1 publication Critical patent/EP2141095A1/en
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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
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using 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
    • B65B7/00—Closing containers or receptacles after filling
    • B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/162—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by feeding web material to securing means

Definitions

  • the present invention relates to a packaging machine with a tray for packages and a gripper system which grips one or more on-tray packages on both sides from above, and more particularly to a tray closure, chamber or thermoforming machine.
  • a packaging machine is off EP-0 334 266 A1 known, which has a gripper.
  • This packaging machine has a gripper system with a gripper that grips and laterally displaces packages.
  • the gripper system has a torsion shaft and a hollow shaft which is slipped over the torsion shaft. Between the hollow shaft and the torsion shaft, a sleeve and a sleeve are arranged, which are rotatable relative to each other but not axially movable relative to each other.
  • the torsion shaft has an axially extending spring and the bush has an axially extending groove thereon. The torsion and the hollow shaft are axially displaceable by the groove and spring engagement, but not mutually rotatable.
  • a drive device transmits torque from the torsion shaft via the spring and the groove to the hollow shaft.
  • the gripper system also has a combined axial and radial bearing, which moves the hollow shaft axially leads and also supports freely rotatable.
  • the drive mechanism takes place via various crank mechanisms, which are freely accessible in the machine.
  • the guide device assumes a dual function by not only leads the gripper linearly over the tray, but also applies the torque to the gripper.
  • a simple drive mechanism is realized with few parts.
  • the gripper has a carriage, which is guided linearly by the guide device, and at least one rotatable relative to the carriage gripper arm, on which the torque for the gripping movement of the gripper is applied.
  • the carriage is preferably guided by the guide means in the form of two parallel waves of non-circular cross-section which slide with the carriage are.
  • the parallel shafts are also engaged via their non-circular cross-sections, each with a gripper arm to apply the torque to the gripper arms.
  • the parallel shafts having a non-circular cross-section not only fulfill the function of linearly guiding the carriage but also of applying the torque to the gripper arms.
  • two drive motors are arranged at the ends of the shafts arranged in parallel, and they are driven in opposite directions rotating.
  • the largest and most sensitive part of the drive mechanism, including the motor can advantageously be displaced in a closed space at the end of the shafts arranged in parallel. This ensures optimum cleanability, and all cables and hoses are now in the closed space.
  • the gripper can be moved by a belt drive consisting of two pulleys and a belt or more preferably by a toothed belt drive along the tray.
  • any linear drive may be used, such as a trapezoidal screw, a spindle drive, a linear motor, an electromechanical cylinder (for example, a motor with spindle drive), a pneumatic cylinder, a hydraulic cylinder, a rack and pinion drive, a chain drive or a Scotch yoke Crank drive (crank loop).
  • a ball screw ball screw
  • a roller screw with roller return a planetary roller screw
  • a trapezoidal screw a helical screw or a hydrostatic screw
  • tray sealing machine also called a tray sealer.
  • the Fig. 1 shows a packaging machine 1 in the form of a Traysealers with a feed belt 200, one or more workstations 300, such as an evacuating, sealing and cutting station, a discharge belt 400, a machine frame 500, a film tensioning device 600, an operating device 300, a FolienzuGermanrolle 320, a Film remover 310 and a gripper system 2.
  • cup-shaped packs are transported into or out of the work station 300 on the feed belt 200 or the discharge belt 400.
  • the packages are e.g. evacuated, fumigated, sealed and cut.
  • a film is fed through the film feed roller 320 and passed through the film tensioner 600.
  • the sealing station is sealed with the film.
  • the cut-off film residue is finally wound up on the film remover 310.
  • the transfer of the packages between the feed belt 200, the work station 300 and the discharge belt 400 is carried out by the gripper system 2, which in the FIGS. 2 to 5 is shown in more detail.
  • a lifting system 300a of the workstation 300 is shown between the feed belt 200 and the discharge belt 400.
  • the lift system 300a is shown in the lowered position, wherein the lift system 300a may be lifted to lie on one plane with the infeed belt 200 and the discharge belt 400.
  • the gripper system 2 grips the packages to move them from the infeed belt 200 to the lift system 300a and then after the workstation 300 has completed its work process from the lift system 300a to the discharge belt 400 to convey.
  • the feed belt 200, the discharge belt 400 and the lifting system 300a together form a shelf for the packages.
  • the gripper system 2 is designed such that it can take a group of packs (three packs in the illustrated embodiment) out of the workstation 300 and at the same time convey another pack (three packs in the illustrated embodiment). In the workstation 300, the group of packs conveyed therein is processed simultaneously.
  • the gripper system 2 has a gripper 3a, 3b, 3c which is to perform a gripping movement to move one or more on the tray, i. on the feed belt 200, the discharge belt 400 and the lifting system 300a located packages on both sides of the top to grab.
  • the gripper 3a, 3b, 3c has a carriage 3a, which is linearly guided by a guide device 6a, 6b.
  • the gripper 3a, 3b, 3c according to the embodiment further has at least two gripper arms 3b rotatable relative to the carriage 3a, to which the torque for the gripping movement of the gripper 3a, 3b, 3c is applied.
  • the gripper system 2 has a first drive device 4a, 4b, which generates a torque for the gripping movement of the gripper 3a, 3b, 3c.
  • the first drive device 4a, 4b is formed by two drive motors 4a, 4b, preferably stepper motors or servomotors.
  • the gripper system 2 further has a second drive device 5a, 5b, 5c for the feed movement along the tray, which applies a force to the gripper 3a, 3b, 3c.
  • the second drive device 5a, 5b, 5c is a belt drive consisting of two pulleys 5a, 5b and a belt 5c, wherein the carriage 3a of the gripper 3a, 3b, 3c is coupled to the belt 5c.
  • the belt drive is a toothed belt drive that allows accurate feed motion.
  • the carriage 3a is coupled to either the bottom or top rotating part of the belt 5c (not shown).
  • One of the pulleys 5a, 5b is driven by a motor, not shown.
  • the operation of this motor is preferably adapted to the operation of the two drive motors 4a, 4b for the gripper movement in the working cycle of the packaging machine.
  • the gripper system 2 further has the guide device 6a, 6b which guides the gripper 3a, 3b, 3c moved by the force linearly over the tray 200, 300a, 400 and additionally the torque generated by the first drive device 4a, 4b on the gripper 3a 3b, 3c.
  • the guide means has two parallel shafts 6a, 6b of non-circular cross-section which are in sliding contact with the carriage 3a to linearly guide the carriage 3a.
  • the two parallel shafts 6a, 6b of non-circular cross-section are respectively engaged with one of the gripper arms 3b to additionally apply the torque generated by the first drive means 4a, 4b to the gripper arms 3b.
  • the gripper arms 3b at their upper end each have an opening which is adapted to the non-circular cross-section of the corresponding shaft 6a, 6b.
  • the corresponding shaft 6a, 6b passes through the opening of the gripper arm 3b, so that the gripper arm 3b, although rotatably, but is guided freely displaceable on the corresponding shaft 6a, 6b.
  • the carriage 3a in turn, has two openings through which one of the shafts 6a, 6b passes.
  • the openings of the carriage 3a are each larger than a radius of the non-circular cross section of the corresponding shaft 6a, 6b.
  • the carriage 3a is guided freely displaceably on the shafts 6a, 6b, wherein the shafts 6a, 6b are freely rotatable within the carriage 3a.
  • the carriage 3a has a front and a rear plate 3a1, 3a2, between which the gripper arms 3b are enclosed. By the linear movement of the carriage 3a, the enclosed gripper arms 3b are taken.
  • the gripper arms 3b each have a holder 3c for receiving at least one package.
  • the holder 3c is shaped according to the outer contour of the packages, so that a particularly secure hold in the gripper 3a, 3b, 3c is ensured.
  • the holder 3 c is designed for the group of packs which are processed simultaneously in the workstation 300.
  • the gripper arms 3b each have a parallelogram, as the FIGS. 2 to 5 be removed can.
  • the Parallelogrammgestlinde ensures a constant orientation of the brackets 3c during the gripping process.
  • the two drive motors 4a, 4b are each disposed at one end of the parallel shafts 6a, 6b and are driven in opposite directions rotating.
  • the largest and most sensitive part of the drive mechanism, including the motors 4a, 4b, is advantageously placed in a closed space at the end of the shafts 6a, 6b arranged in parallel. This ensures optimum cleanability, and all cables and hoses are now in the closed space.
  • FIGS. 2 to 5 show a transport sequence of the gripper system 2 according to the embodiment.
  • the drive motors 4a, 4b are operated to close the gripper 3a, 3b, 3c.
  • the torque of the drive motors 4a, 4b is transmitted via the parallel shafts 6a, 6b to the gripper arms 3b.
  • the brackets 3c on the gripper arms 3b grasp the packs shown.
  • the belt drive is actuated to advance the gripper 3a, 3b, 3c and the packs in a division of three pack sizes.
  • the transport sequence according to the FIGS. 2 to 5 is then repeated in time with the packaging machine.
  • the packaging machine is a tray closure machine, referred to in the art as a "tray sealer".
  • the invention is not limited to this type. Rather, the packaging machine can produce any type of package, such as e.g. a chamber machine or a thermoforming machine.
  • the packaging machine further has a lifting device which raises and lowers the gripper system 2 or only the gripper arms 3b. This will lift the packs over the shelf during transport.
  • the driving devices need not be electrically operated, but they may also be pneumatic actuators.
  • the non-circular cross-section of the parallel shafts 6a, 6b need not be quadrangular, as shown in the figures.
  • the non-circular cross section may also have a hexagonal or an elliptical shape. It is essential in that the shafts 6a, 6b arranged in parallel have a cross section or a profile shape which can transmit a torsional moment to the gripper.
  • the first drive device does not have to have two separate drive motors. Alternatively, it may comprise a single drive motor which is connected via a gear to the two parallel shafts 6a, 6b. Alternatively, only one gripper arm can be rotated by the first drive device while the second gripper arm is rigid.
  • the second drive device does not have to be designed as a belt drive.
  • any linear drive can be used, such as a trapezoidal screw, a spindle drive, a linear motor, an electromechanical cylinder (for example, a motor with spindle drive), a pneumatic cylinder, a hydraulic cylinder, a rack drive or a Scotch-Yoke crank mechanism (crank ).
  • a spindle drive a ball screw (ball screw), a roller screw with roller return, a planetary roller screw, a trapezoidal screw, a helical screw, a chain drive or a hydrostatic screw can be used.
  • the gripper system does not necessarily have to be arranged above the transport plane. Alternatively, the gripper system may be located below the transport plane, gripping the packages from below.
  • each pair of waves consists of two parallel shafts, the one can have circular cross-section.
  • the carriage has on both sides of a circular through hole into which a correspondingly shaped, cylindrical guide piece is rotatably inserted.
  • the guide piece in turn has two through holes through which the shaft pair passes.
  • the first drive device is designed so that one shaft of the shaft pair orbits around the respective other shaft of the shaft pair, so that the cylindrical guide piece rotates within the through hole in the carriage.
  • the gripper arms are connected to the cylindrical guide piece and rotate accordingly.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Advancing Webs (AREA)
  • Manipulator (AREA)
  • Wrapping Of Specific Fragile Articles (AREA)

Abstract

The machine (1) has guiding devices for linearly guiding grippers of a gripper system (2) via a storage unit e.g. supply belt (200), lifting system and delivery belt (400), where the grippers are moved by force exerted by a set of drive devices e.g. linear motors. The guiding devices apply torque produced by another set of drive devices on the grippers. The grippers have slides linearly guided by the guiding devices. The grippers have gripper arms rotatable relative to the slides. The gripper arms receive the applied torque for grasping movement of the grippers.

Description

Die vorliegende Erfindung bezieht sich auf eine Verpackungsmaschine mit einer Ablage für Packungen und einem Greifersystem, das eine oder mehrere auf der Ablage befindliche Packungen beidseits von oben greift, und insbesondere auf eine Schalenverschließ-, Kammer oder Tiefziehmaschine.The present invention relates to a packaging machine with a tray for packages and a gripper system which grips one or more on-tray packages on both sides from above, and more particularly to a tray closure, chamber or thermoforming machine.

Eine Verpackungsmaschine ist aus EP-0 334 266 A1 bekannt, die über einen Greifer verfügt. Diese Verpackungsmaschine hat ein Greifersystem mit einem Greifer, der Packungen greift und lateral versetzt. Das Greifersystem hat eine Torsionswelle und eine Hohlwelle, die über die Torsionswelle gestülpt ist. Zwischen der Hohlwelle und der Torsionswelle sind eine Hülse und eine Buchse angeordnet, die zwar relativ zueinander drehbar aber nicht axial zueinander bewegbar sind. Die Torsionswelle hat eine axial verlaufende Feder, und die Buchse hat eine daran angepasste, axial verlaufende Nut. Die Torsionswelle und die Hohlwelle sind durch den Nut- und Federeingriff axial zueinander verschiebbar, aber nicht zueinander drehbar. Eine Antriebsvorrichtung überträgt ein Drehmoment von der Torsionswelle über die Feder und die Nut auf die Hohlwelle. Das Greifersystem hat des weiteren ein kombiniertes Axial- und Radiallager, das die Hohlwelle axial verschiebbar führt und zudem frei drehbar stützt. Die Antriebsmechanik erfolgt über verschiedene Kurbelgetriebe, die frei in der Maschine zugänglich sind.A packaging machine is off EP-0 334 266 A1 known, which has a gripper. This packaging machine has a gripper system with a gripper that grips and laterally displaces packages. The gripper system has a torsion shaft and a hollow shaft which is slipped over the torsion shaft. Between the hollow shaft and the torsion shaft, a sleeve and a sleeve are arranged, which are rotatable relative to each other but not axially movable relative to each other. The torsion shaft has an axially extending spring and the bush has an axially extending groove thereon. The torsion and the hollow shaft are axially displaceable by the groove and spring engagement, but not mutually rotatable. A drive device transmits torque from the torsion shaft via the spring and the groove to the hollow shaft. The gripper system also has a combined axial and radial bearing, which moves the hollow shaft axially leads and also supports freely rotatable. The drive mechanism takes place via various crank mechanisms, which are freely accessible in the machine.

Da Verpackungsmaschinen im Bereich der Lebensmitteltechnik über strenge Auflagen hinsichtlich der Hygiene verfügen, müssen die gesamte Antriebsmechanik und/oder der Greiferbereich regelmäßig gereinigt werden. Demnach besteht ein Bedarf an einer Verpackungsmaschine mit einer einfachen und leicht zu reinigenden Antriebsmechanik.Since packaging machines in the field of food technology have strict hygiene requirements, the entire drive mechanism and / or the gripper area must be cleaned regularly. Accordingly, there is a need for a packaging machine with a simple and easy-to-clean drive mechanism.

Es ist die Aufgabe der vorliegenden Erfindung, eine Verpackungsmaschine vorzusehen, die eine vereinfachte und hygienische Antriebsmechanik aufweist.It is the object of the present invention to provide a packaging machine having a simplified and hygienic drive mechanism.

Diese Aufgabe wird durch eine Verpackungsmaschine mit den Merkmalen des Anspruchs 1 gelöst. Vorteilhafte Weiterbildungen sind Gegenstand der Unteransprüche.This object is achieved by a packaging machine with the features of claim 1. Advantageous developments are the subject of the dependent claims.

In vorteilhafter Weise übernimmt die Führungsvorrichtung eine Doppelfunktion, indem sie nicht nur den Greifer linear über der Ablage führt, sondern zusätzlich das Drehmoment auf den Greifer aufbringt. Dadurch wird eine einfache Antriebsmechanik mit wenigen Teilen verwirklicht.Advantageously, the guide device assumes a dual function by not only leads the gripper linearly over the tray, but also applies the torque to the gripper. As a result, a simple drive mechanism is realized with few parts.

Vorzugsweise hat der Greifer einen Schlitten, der durch die Führungsvorrichtung linear geführt wird, und mindestens einen relativ zu dem Schlitten drehbaren Greiferarm, auf den das Drehmoment für die Greifbewegung des Greifers aufgebracht wird. Der Schlitten wird vorzugsweise durch die Führungseinrichtung in Gestalt von zwei parallel angeordneten Wellen mit nicht kreisrundem Querschnitt geführt, die mit dem Schlitten im Gleiteingriff sind. Die parallel angeordneten Wellen sind über ihre nicht kreisrunden Querschnitte außerdem mit jeweils einem Greiferarm im Eingriff, um das Drehmoment auf die Greiferarme aufzubringen. Dadurch erfüllen die parallel angeordneten Wellen mit nicht kreisrundem Querschnitt nicht nur die Funktion zum linearen Führen des Schlittens sondern auch zum Aufbringen des Drehmoments auf die Greiferarme.Preferably, the gripper has a carriage, which is guided linearly by the guide device, and at least one rotatable relative to the carriage gripper arm, on which the torque for the gripping movement of the gripper is applied. The carriage is preferably guided by the guide means in the form of two parallel waves of non-circular cross-section which slide with the carriage are. The parallel shafts are also engaged via their non-circular cross-sections, each with a gripper arm to apply the torque to the gripper arms. As a result, the parallel shafts having a non-circular cross-section not only fulfill the function of linearly guiding the carriage but also of applying the torque to the gripper arms.

Vorzugsweise sind zwei Antriebsmotoren an den Enden der parallel angeordneten Wellen angeordnet, und sie werden einander gegenläufig drehend angetrieben. Dadurch kann in vorteilhafter Weise der größte und empfindlichste Teil der Antriebsmechanik inklusive des Motors in einem geschlossenen Raum am Ende der parallel angeordneten Wellen verlagert werden. Damit wird eine optimale Reinigbarkeit gewährleistet, und sämtliche Kabel und Schläuche befinden sich nunmehr in dem geschlossenem Raum.Preferably, two drive motors are arranged at the ends of the shafts arranged in parallel, and they are driven in opposite directions rotating. As a result, the largest and most sensitive part of the drive mechanism, including the motor, can advantageously be displaced in a closed space at the end of the shafts arranged in parallel. This ensures optimum cleanability, and all cables and hoses are now in the closed space.

Vorzugsweise kann der Greifer durch einen Riemenantrieb bestehend aus zwei Riemenscheiben und einem Riemen oder weiter bevorzugt durch einen Zahnriemenantrieb entlang der Ablage verfahren werden. Alternativ kann auch ein beliebiger Linearantrieb verwendet werden, wie zum Beispiel ein Trapezgewindetrieb, ein Spindeltrieb, ein Linearmotor, ein elektromechanischer Zylinder (zum Beispiel ein Elektromotor mit Spindeltrieb), ein Pneumatikzylinder, ein Hydraulikzylinder, ein Zahnstangenantrieb, ein Kettentrieb oder ein Scotch-Yoke-Kurbeltrieb (Kurbelschlaufe).Preferably, the gripper can be moved by a belt drive consisting of two pulleys and a belt or more preferably by a toothed belt drive along the tray. Alternatively, any linear drive may be used, such as a trapezoidal screw, a spindle drive, a linear motor, an electromechanical cylinder (for example, a motor with spindle drive), a pneumatic cylinder, a hydraulic cylinder, a rack and pinion drive, a chain drive or a Scotch yoke Crank drive (crank loop).

Als Spindeltrieb kann ein Kugelgewindetrieb (Kugelumlaufspindel), ein Rollengewindetrieb mit Rollenrückführung, ein Planetenrollengewindetrieb, ein Trapezgewindetrieb, ein Steilgewindetrieb oder ein hydrostatischer Gewindetrieb verwendet werden.As a spindle drive, a ball screw (ball screw), a roller screw with roller return, a planetary roller screw, a trapezoidal screw, a helical screw or a hydrostatic screw can be used.

Weitere Merkmale und Vorteile der vorliegenden Erfindung werden aus der nachfolgenden Figurenbeschreibung ersichtlich.Further features and advantages of the present invention will become apparent from the following description of the figures.

Es zeigen:

Fig. 1
eine schematische perspektivische Ansicht einer Schalenverschließmaschine gemäß einem Ausführungsbeispiel der Erfindung;
Fig. 2
eine schematische perspektivische Ansicht eines Greifersystems der Schalenverschließmaschine mit geöffneten Greiferarmen in einer ersten Position gemäß dem Ausführungsbeispiel der Erfindung;
Fig. 3
eine schematische perspektivische Ansicht des Greifersystems der Schalenverschließmaschine mit geschlossenen Greiferarmen in der ersten Position gemäß dem Ausführungsbeispiel der Erfindung;
Fig. 4
eine schematische perspektivische Ansicht des Greifersystems der Schalenverschließmaschine mit geschlossenen Greiferarmen in einer zweiten Position gemäß dem Ausführungsbeispiel der Erfindung; und
Fig. 5
eine schematische perspektivische Ansicht des Greifersystems der Schalenverschließmaschine mit geöffneten Greiferarmen in der zweiten Position gemäß dem Ausführungsbeispiel der Erfindung.
Show it:
Fig. 1
a schematic perspective view of a Schalenverschließmaschine according to an embodiment of the invention;
Fig. 2
a schematic perspective view of a gripper system of the tray sealing machine with open gripper arms in a first position according to the embodiment of the invention;
Fig. 3
a schematic perspective view of the gripper system of the tray closing machine with closed gripper arms in the first position according to the embodiment of the invention;
Fig. 4
a schematic perspective view of the gripper system of the tray closing machine with closed gripper arms in a second position according to the embodiment of the invention; and
Fig. 5
a schematic perspective view of the gripper system of the tray sealing machine with open gripper arms in the second position according to the embodiment of the invention.

Im Folgenden wird mit Bezug auf die Figuren ein Ausführungsbeispiel der Erfindung beispielhaft an einer Schalenverschließmaschine, auch Traysealer genannt, beschrieben.An embodiment of the invention is described below by way of example with reference to the figures on a tray sealing machine, also called a tray sealer.

Die Fig. 1 zeigt eine Verpackungsmaschine 1 in Gestalt eines Traysealers mit einem Zuführband 200, einer oder mehreren Arbeitsstationen 300, z.B. einer Evakuier-, Siegel- und Schneidstation, einem Abführband 400, einem Maschinengestell 500, einer Folienspannvorrichtung 600, einer Bedienvorrichtung 300, einer Folienzuführrolle 320, einem Folienrestaufwickler 310 und einem Greifersystem 2.The Fig. 1 shows a packaging machine 1 in the form of a Traysealers with a feed belt 200, one or more workstations 300, such as an evacuating, sealing and cutting station, a discharge belt 400, a machine frame 500, a film tensioning device 600, an operating device 300, a Folienzuführrolle 320, a Film remover 310 and a gripper system 2.

Auf dem Zuführband 200 bzw. dem Abführband 400 werden im Betrieb beispielsweise schalenförmige Packungen in die Arbeitsstation 300 hinein bzw. aus ihr heraus transportiert. In der Arbeitsstation 300 werden die Packungen z.B. evakuiert, begast, versiegelt und geschnitten. Eine Folie wird durch die Folienzuführrolle 320 zugeführt und durch die Folienspannvorrichtung 600 geführt. In der Arbeitsstationen 300 wie z.B. der Siegelstation wird die Packung mit der Folie versiegelt. Der abgeschnittene Folienrest wird schließlich auf dem Folienrestaufwickler 310 aufgewickelt.In operation, for example, cup-shaped packs are transported into or out of the work station 300 on the feed belt 200 or the discharge belt 400. In the workstation 300, the packages are e.g. evacuated, fumigated, sealed and cut. A film is fed through the film feed roller 320 and passed through the film tensioner 600. In the workstations 300, e.g. the sealing station is sealed with the film. The cut-off film residue is finally wound up on the film remover 310.

Die Übergabe der Packungen zwischen dem Zuführband 200, der Arbeitsstation 300 und dem Abführband 400 erfolgt durch das Greifersystem 2, das in den Figuren 2 bis 5 in weiteren Einzelheiten dargestellt ist.The transfer of the packages between the feed belt 200, the work station 300 and the discharge belt 400 is carried out by the gripper system 2, which in the FIGS. 2 to 5 is shown in more detail.

Zwischen dem Zuführband 200 und dem Abführband 400 ist ein Hubsystem 300a der Arbeitsstation 300 dargestellt. In den Figuren 2 bis 5 ist das Hubsystem 300a in der abgesenkten Stellung gezeigt, wobei das Hubsystem 300a angehoben werden kann, so dass es mit dem Zuführband 200 und dem Abführband 400 auf einer Ebene liegt. Das Greifersystem 2 greift die Packungen, um sie von dem Zuführband 200 zu dem Hubsystem 300a und anschließend nach dem erfolgten Arbeitsprozess der Arbeitsstation 300 von dem Hubsystem 300a zu dem Abführband 400 zu befördern. Das Zuführband 200, das Abführband 400 und das Hubsystem 300a bilden zusammen eine Ablage für die Packungen.Between the feed belt 200 and the discharge belt 400, a lifting system 300a of the workstation 300 is shown. In the FIGS. 2 to 5 For example, the lift system 300a is shown in the lowered position, wherein the lift system 300a may be lifted to lie on one plane with the infeed belt 200 and the discharge belt 400. The gripper system 2 grips the packages to move them from the infeed belt 200 to the lift system 300a and then after the workstation 300 has completed its work process from the lift system 300a to the discharge belt 400 to convey. The feed belt 200, the discharge belt 400 and the lifting system 300a together form a shelf for the packages.

Der Aufbau des Greifersystems 2 gemäß dem Ausführungsbeispiel der Erfindung wird im Folgenden unter Bezugnahme auf die Figuren 2 bis 5 beschrieben.The structure of the gripper system 2 according to the embodiment of the invention will be described below with reference to FIGS FIGS. 2 to 5 described.

Das Greifersystem 2 ist so ausgebildet, dass es eine Gruppe von Packungen (im dargestellten Ausführungsbeispiel drei Packungen) aus der Arbeitsstation 300 heraus nehmen und gleichzeitig eine andere Gruppe (im dargestellten Ausführungsbeispiel drei Packungen) hinein befördern kann. In der Arbeitsstation 300 wird die dort hinein beförderte Gruppe von Packungen gleichzeitig verarbeitet.The gripper system 2 is designed such that it can take a group of packs (three packs in the illustrated embodiment) out of the workstation 300 and at the same time convey another pack (three packs in the illustrated embodiment). In the workstation 300, the group of packs conveyed therein is processed simultaneously.

Das Greifersystem 2 hat einen Greifer 3a, 3b, 3c, der eine Greifbewegung ausführen soll, um eine oder mehrere auf der Ablage, d.h. auf dem Zuführband 200, dem Abführband 400 und dem Hubsystem 300a befindliche Packungen beidseits von oben zu greifen. Bei diesem Ausführungsbeispiel hat der Greifer 3a, 3b, 3c einen Schlitten 3a, der durch eine Führungsvorrichtung 6a, 6b linear geführt wird. Der Greifer 3a, 3b, 3c gemäß dem Ausführungsbeispiel hat des weiteren mindestens zwei relativ zu dem Schlitten 3a drehbare Greiferarme 3b, auf die das Drehmoment für die Greifbewegung des Greifers 3a, 3b, 3c aufgebracht wird.The gripper system 2 has a gripper 3a, 3b, 3c which is to perform a gripping movement to move one or more on the tray, i. on the feed belt 200, the discharge belt 400 and the lifting system 300a located packages on both sides of the top to grab. In this embodiment, the gripper 3a, 3b, 3c has a carriage 3a, which is linearly guided by a guide device 6a, 6b. The gripper 3a, 3b, 3c according to the embodiment further has at least two gripper arms 3b rotatable relative to the carriage 3a, to which the torque for the gripping movement of the gripper 3a, 3b, 3c is applied.

Das Greifersystem 2 hat eine erste Antriebsvorrichtung 4a, 4b, die ein Drehmoment für die Greifbewegung des Greifers 3a, 3b, 3c erzeugt. Bei diesem Ausführungsbeispiel ist die erste Antriebsvorrichtung 4a, 4b durch zwei Antriebsmotoren 4a, 4b, vorzugsweise Schrittmotoren oder Servomotoren gebildet.The gripper system 2 has a first drive device 4a, 4b, which generates a torque for the gripping movement of the gripper 3a, 3b, 3c. In this embodiment, the first drive device 4a, 4b is formed by two drive motors 4a, 4b, preferably stepper motors or servomotors.

Das Greifersystem 2 hat des weiteren eine zweite Antriebsvorrichtung 5a, 5b, 5c für die Vorschubbewegung entlang der Ablage, die eine Kraft auf den Greifer 3a, 3b, 3c aufbringt. Bei diesem Ausführungsbeispiel ist die zweite Antriebsvorrichtung 5a, 5b, 5c ein Riemenantrieb bestehend aus zwei Riemenscheiben 5a, 5b und einem Riemen 5c, wobei der Schlitten 3a des Greifers 3a, 3b, 3c mit dem Riemen 5c gekoppelt ist. Vorzugsweise ist der Riemenantrieb ein Zahnriemenantrieb, der eine genaue Vorschubbewegung ermöglicht.The gripper system 2 further has a second drive device 5a, 5b, 5c for the feed movement along the tray, which applies a force to the gripper 3a, 3b, 3c. In this embodiment, the second drive device 5a, 5b, 5c is a belt drive consisting of two pulleys 5a, 5b and a belt 5c, wherein the carriage 3a of the gripper 3a, 3b, 3c is coupled to the belt 5c. Preferably, the belt drive is a toothed belt drive that allows accurate feed motion.

Der Schlitten 3a ist entweder an dem unten umlaufenden oder dem oben umlaufenden Teil des Riemens 5c gekoppelt (nicht dargestellt). Eine der Riemenscheiben 5a, 5b wird durch einen nicht gezeigten Motor angetrieben. Der Betrieb dieses Motors wird vorzugsweise an den Betrieb der beiden Antriebsmotoren 4a, 4b für die Greiferbewegung im Arbeitstakt der Verpackungsmaschine angepasst.The carriage 3a is coupled to either the bottom or top rotating part of the belt 5c (not shown). One of the pulleys 5a, 5b is driven by a motor, not shown. The operation of this motor is preferably adapted to the operation of the two drive motors 4a, 4b for the gripper movement in the working cycle of the packaging machine.

Das Greifersystem 2 hat des weiteren die Führungsvorrichtung 6a, 6b, die den durch die Kraft bewegten Greifer 3a, 3b, 3c linear über der Ablage 200, 300a, 400 führt und zusätzlich das durch die erste Antriebsvorrichtung 4a, 4b erzeugte Drehmoment auf den Greifer 3a, 3b, 3c aufbringt. Bei diesem Ausführungsbeispiel hat die Führungseinrichtung zwei parallel angeordnete Wellen 6a, 6b mit nicht kreisrundem Querschnitt, die mit dem Schlitten 3a im Gleiteingriff sind, um den Schlitten 3a linear zu führen. Die beiden parallel angeordnete Wellen 6a, 6b mit nicht kreisrundem Querschnitt sind jeweils mit einem der Greiferarme 3b im Eingriff, um zusätzlich das durch die erste Antriebsvorrichtung 4a, 4b erzeugte Drehmoment auf die Greiferarme 3b aufzubringen.The gripper system 2 further has the guide device 6a, 6b which guides the gripper 3a, 3b, 3c moved by the force linearly over the tray 200, 300a, 400 and additionally the torque generated by the first drive device 4a, 4b on the gripper 3a 3b, 3c. In this embodiment, the guide means has two parallel shafts 6a, 6b of non-circular cross-section which are in sliding contact with the carriage 3a to linearly guide the carriage 3a. The two parallel shafts 6a, 6b of non-circular cross-section are respectively engaged with one of the gripper arms 3b to additionally apply the torque generated by the first drive means 4a, 4b to the gripper arms 3b.

Genauer gesagt haben die Greiferarme 3b an ihrem oberen Ende jeweils eine Öffnung, die an dem nicht kreisrunden Querschnitt der entsprechenden Welle 6a, 6b angepasst ist. Die entsprechende Welle 6a, 6b tritt durch die Öffnung des Greiferarms 3b hindurch, so das der Greiferarm 3b zwar drehfest, aber frei verschiebbar an der entsprechenden Welle 6a, 6b geführt ist.More specifically, the gripper arms 3b at their upper end each have an opening which is adapted to the non-circular cross-section of the corresponding shaft 6a, 6b. The corresponding shaft 6a, 6b passes through the opening of the gripper arm 3b, so that the gripper arm 3b, although rotatably, but is guided freely displaceable on the corresponding shaft 6a, 6b.

Der Schlitten 3a wiederum hat zwei Öffnungen, durch die jeweils eine der Wellen 6a, 6b hindurch tritt. Die Öffnungen des Schlittens 3a sind jeweils größer als ein Umkreis des nicht kreisrunden Querschnitts der entsprechenden Welle 6a, 6b. Dadurch ist der Schlitten 3a frei verschiebbar an den Wellen 6a, 6b geführt, wobei die Wellen 6a, 6b innerhalb des Schlittens 3a frei drehbar sind.The carriage 3a, in turn, has two openings through which one of the shafts 6a, 6b passes. The openings of the carriage 3a are each larger than a radius of the non-circular cross section of the corresponding shaft 6a, 6b. As a result, the carriage 3a is guided freely displaceably on the shafts 6a, 6b, wherein the shafts 6a, 6b are freely rotatable within the carriage 3a.

Wie dies in der Fig. 2 gezeigt ist, hat der Schlitten 3a eine vordere und eine hintere Platte 3a1, 3a2, zwischen denen die Greiferarme 3b eingefasst sind. Durch die lineare Bewegung des Schlittens 3a werden die eingefassten Greiferarme 3b mitgenommen.Like this in the Fig. 2 is shown, the carriage 3a has a front and a rear plate 3a1, 3a2, between which the gripper arms 3b are enclosed. By the linear movement of the carriage 3a, the enclosed gripper arms 3b are taken.

Bei diesem Ausführungsbeispiel haben die Greiferarme 3b jeweils eine Halterung 3c zum Aufnehmen mindestens einer Packung. Vorzugsweise ist die Halterung 3c entsprechend der äußeren Kontur der Packungen geformt, so dass ein besonders sicherer Halt in dem Greifer 3a, 3b, 3c gewährleistet wird. Die Halterung 3c ist an die Gruppe von Packungen ausgelegt, die gleichzeitig in der Arbeitsstation 300 verarbeitet werden.In this embodiment, the gripper arms 3b each have a holder 3c for receiving at least one package. Preferably, the holder 3c is shaped according to the outer contour of the packages, so that a particularly secure hold in the gripper 3a, 3b, 3c is ensured. The holder 3 c is designed for the group of packs which are processed simultaneously in the workstation 300.

Des weiteren haben die Greiferarme 3b jeweils ein Parallelogrammgestänge, wie dies den Figuren 2 bis 5 entnommen werden kann. Das Parallelogrammgestänge sorgt für eine gleich bleibende Orientierung der Halterungen 3c während des Greifvorgangs.Furthermore, the gripper arms 3b each have a parallelogram, as the FIGS. 2 to 5 be removed can. The Parallelogrammgestänge ensures a constant orientation of the brackets 3c during the gripping process.

Die beiden Antriebsmotoren 4a, 4b sind jeweils an einem Ende der parallel angeordneten Wellen 6a, 6b angeordnet und werden einander gegenläufig drehend angetrieben. Dadurch wird in vorteilhafter Weise der größte und empfindlichste Teil der Antriebsmechanik inklusive der Motoren 4a, 4b in einem geschlossenen Raum am Ende der parallel angeordneten Wellen 6a, 6b platziert. Damit wird eine optimale Reinigbarkeit gewährleistet, und sämtliche Kabel und Schläuche befinden sich nunmehr in dem geschlossenem Raum.The two drive motors 4a, 4b are each disposed at one end of the parallel shafts 6a, 6b and are driven in opposite directions rotating. As a result, the largest and most sensitive part of the drive mechanism, including the motors 4a, 4b, is advantageously placed in a closed space at the end of the shafts 6a, 6b arranged in parallel. This ensures optimum cleanability, and all cables and hoses are now in the closed space.

Der Betrieb des Greifersystems 2 gemäß dem Ausführungsbeispiel der Erfindung wird im Folgenden beschrieben.The operation of the gripper system 2 according to the embodiment of the invention will be described below.

Die Figuren 2 bis 5 zeigen eine Transportsequenz des Greifersystems 2 gemäß dem Ausführungsbeispiel.The FIGS. 2 to 5 show a transport sequence of the gripper system 2 according to the embodiment.

In der Ausgangssituation gemäß der Fig. 2 befinden sich jeweils drei Packungen auf dem Zuführband 200 und dem Hubsystem 300a. Der Greifer 3a, 3b, 3c wurde bereits durch den Riemenantrieb direkt über die dargestellten Packungen gefahren, so dass die Halterung 3c exakt in die äußeren Konturen der Packungen angreifen kann.In the initial situation according to the Fig. 2 There are three packages each on the conveyor belt 200 and the lifting system 300a. The gripper 3a, 3b, 3c has already been driven by the belt drive directly over the packings shown, so that the holder 3c can engage exactly in the outer contours of the packs.

Im nächsten Schritt werden gemäß der Fig. 3 die Antriebsmotoren 4a, 4b betätigt, um den Greifer 3a, 3b, 3c zu schließen. Dabei wird das Drehmoment der Antriebsmotoren 4a, 4b über die parallel angeordneten Wellen 6a, 6b zu den Greiferarmen 3b übertragen. Die Halterungen 3c an den Greiferarmen 3b fassen die dargestellten Packungen.In the next step, according to the Fig. 3 the drive motors 4a, 4b are operated to close the gripper 3a, 3b, 3c. In this case, the torque of the drive motors 4a, 4b is transmitted via the parallel shafts 6a, 6b to the gripper arms 3b. The brackets 3c on the gripper arms 3b grasp the packs shown.

Im nächsten Schritt gemäß der Fig. 4 wird der Riemenantrieb betätigt, um den Greifer 3a, 3b, 3c und die Packungen entsprechend einer Teilung von drei Packungsgrößen vorzuschieben.In the next step according to the Fig. 4 The belt drive is actuated to advance the gripper 3a, 3b, 3c and the packs in a division of three pack sizes.

Im letzten Schritt gemäß der Fig. 5 werden die Antriebsmotoren 4a, 4b in umgekehrter Richtung betätigt, um den Greifer 3a, 3b, 3c zu lösen und die Packungen freizugeben.In the last step according to the Fig. 5 the drive motors 4a, 4b are operated in the reverse direction to release the gripper 3a, 3b, 3c and release the packs.

Die Transportsequenz gemäß den Figuren 2 bis 5 wird anschließend im Takt der Verpackungsmaschine wiederholt.The transport sequence according to the FIGS. 2 to 5 is then repeated in time with the packaging machine.

Bei diesem Ausführungsbeispiel ist die Verpackungsmaschine eine Schalenverschlussmaschine, die in Fachkreisen als "Traysealer" bezeichnet wird. Die Erfindung ist aber nicht auf diese Art beschränkt. Vielmehr kann die Verpackungsmaschine beliebige Packungsarten produzieren, wie z.B. eine Kammermaschine oder eine Tiefziehmaschine.In this embodiment, the packaging machine is a tray closure machine, referred to in the art as a "tray sealer". The invention is not limited to this type. Rather, the packaging machine can produce any type of package, such as e.g. a chamber machine or a thermoforming machine.

In einer nicht dargestellten Abwandlung der Erfindung hat die Verpackungsmaschine des weiteren eine Hubvorrichtung, die das Greifersystem 2 oder nur die Greiferarme 3b anhebt und absenkt. Dadurch werden die Packungen während des Transports über die Ablage hinweg angehoben.In a modification of the invention, not shown, the packaging machine further has a lifting device which raises and lowers the gripper system 2 or only the gripper arms 3b. This will lift the packs over the shelf during transport.

Die Antriebsvorrichtungen müssen nicht elektrisch betätigt werden, sondern sie können auch pneumatische Stellglieder sein.The driving devices need not be electrically operated, but they may also be pneumatic actuators.

Der nicht kreisrunde Querschnitt der parallel angeordneten Wellen 6a, 6b muss nicht viereckig sein, wie dies in den Figuren dargestellt ist. Der nicht kreisrunde Querschnitt kann auch eine hexagonale oder eine elliptische Form aufweisen. Wesentlich ist, dass die parallel angeordneten Wellen 6a, 6b einen Querschnitt oder eine Profilform aufweisen, die ein Torsionsmoment auf den Greifer übertragen können.
Die erste Antriebsvorrichtung muss nicht zwei separate Antriebsmotoren aufweisen. Alternativ kann sie einen einzigen Antriebsmotor aufweisen, der über ein Getriebe mit den beiden parallel angeordneten Wellen 6a, 6b verbunden ist. Alternativ kann auch nur ein Greiferarm durch die erste Antriebsvorrichtung gedreht werden, während der zweite Greiferarm starr ist.The non-circular cross-section of the parallel shafts 6a, 6b need not be quadrangular, as shown in the figures. The non-circular cross section may also have a hexagonal or an elliptical shape. It is essential in that the shafts 6a, 6b arranged in parallel have a cross section or a profile shape which can transmit a torsional moment to the gripper.
The first drive device does not have to have two separate drive motors. Alternatively, it may comprise a single drive motor which is connected via a gear to the two parallel shafts 6a, 6b. Alternatively, only one gripper arm can be rotated by the first drive device while the second gripper arm is rigid.

Die zweite Antriebsvorrichtung muss nicht als Riemenantrieb ausgebildet sein. Alternativ kann auch ein beliebiger Linearantrieb verwendet werden, wie zum Beispiel ein Trapezgewindetrieb, ein Spindeltrieb, ein Linearmotor, ein elektromechanischer Zylinder (zum Beispiel ein Elektromotor mit Spindeltrieb), ein Pneumatikzylinder, ein Hydraulikzylinder, ein Zahnstangenantrieb oder ein Scotch-Yoke-Kurbeltrieb (Kurbelschlaufe). Als Spindeltrieb kann ein Kugelgewindetrieb (Kugelumlaufspindel), ein Rollengewindetrieb mit Rollenrückführung, ein Planetenrollengewindetrieb, ein Trapezgewindetrieb, ein Steilgewindetrieb, ein Kettentrieb oder ein hydrostatischer Gewindetrieb verwendet werden.The second drive device does not have to be designed as a belt drive. Alternatively, any linear drive can be used, such as a trapezoidal screw, a spindle drive, a linear motor, an electromechanical cylinder (for example, a motor with spindle drive), a pneumatic cylinder, a hydraulic cylinder, a rack drive or a Scotch-Yoke crank mechanism (crank ). As a spindle drive, a ball screw (ball screw), a roller screw with roller return, a planetary roller screw, a trapezoidal screw, a helical screw, a chain drive or a hydrostatic screw can be used.

Das Greifersystem muss nicht notwendigerweise oberhalb der Transportebene angeordnet sein. Alternativ kann das Greifersystem unterhalb der Transportebene angeordnet sein, wobei es die Packungen von unten greift.The gripper system does not necessarily have to be arranged above the transport plane. Alternatively, the gripper system may be located below the transport plane, gripping the packages from below.

Ferner ist eine Abwandlung möglich, bei der der Schlitten an beiden Seiten nicht nur durch eine Welle, sondern an beiden Seiten jeweils durch ein Wellenpaar geführt ist. Jedes Wellenpaar besteht jeweils aus zwei parallel angeordneten Wellen, die einen kreisrunden Querschnitt haben können. Der Schlitten hat an beiden Seiten eine kreisrunde Durchgangsbohrung, in die ein entsprechend geformtes, zylindrisches Führungsstück drehbar eingefügt ist. Das Führungsstück hat wiederum zwei Durchgangsbohrungen, durch die das Wellenpaar hindurch tritt. Die erste Antriebsvorrichtung ist so gestaltet, dass eine Welle des Wellenpaars um die jeweils andere Welle des Wellenpaars orbitiert, so dass sich das zylindrische Führungsstück innerhalb der Durchgangsbohrung im Schlitten dreht. Die Greiferarme sind mit dem zylindrischen Führungsstück verbunden und drehen sich dementsprechend auch.Further, a modification is possible in which the carriage is guided on both sides not only by a shaft, but on both sides in each case by a pair of waves. Each pair of waves consists of two parallel shafts, the one can have circular cross-section. The carriage has on both sides of a circular through hole into which a correspondingly shaped, cylindrical guide piece is rotatably inserted. The guide piece in turn has two through holes through which the shaft pair passes. The first drive device is designed so that one shaft of the shaft pair orbits around the respective other shaft of the shaft pair, so that the cylindrical guide piece rotates within the through hole in the carriage. The gripper arms are connected to the cylindrical guide piece and rotate accordingly.

Der Schutzumfang beschränkt sich nicht auf das dargestellte Ausführungsbeispiel, sondern er umfasst weitere Änderungen und Abwandlungen, sofern diese innerhalb des durch die beigefügten Ansprüche definierten Umfangs fallen.The scope of protection is not limited to the illustrated embodiment, but it includes other changes and modifications, provided that they fall within the scope defined by the appended claims.

Claims (12)

Verpackungsmaschine (1) mit einer Ablage (200, 300a, 400) für Packungen und einem Greifersystem (2), wobei das Greifersystem (2) Folgendes aufweist: einen Greifer (3a, 3b, 3c), der eine Greifbewegung ausführt, um eine oder mehrere auf der Ablage (200, 300a, 400) befindliche Packungen beidseits zu greifen; eine erste Antriebsvorrichtung (4a, 4b), die ein Drehmoment für die Greifbewegung des Greifers (3a, 3b, 3c) erzeugt; eine zweite Antriebsvorrichtung (5a, 5b, 5c), die eine Kraft auf den Greifer (3a, 3b, 3c) aufbringt; und eine Führungsvorrichtung (6a, 6b), die den durch die Kraft bewegten Greifer (3a, 3b, 3c) linear über der Ablage (200, 300a, 400) führt und zusätzlich das durch die erste Antriebsvorrichtung (4a, 4b) erzeugte Drehmoment auf den Greifer (3a, 3b, 3c) aufbringt. A packaging machine (1) comprising a tray (200, 300a, 400) for packages and a gripper system (2), the gripper system (2) comprising: a gripper (3a, 3b, 3c) which makes a gripping movement to grasp one or more packs on the tray (200, 300a, 400) on both sides; a first drive device (4a, 4b) which generates a torque for the gripping movement of the gripper (3a, 3b, 3c); a second drive device (5a, 5b, 5c) which applies a force to the gripper (3a, 3b, 3c); and a guide device (6a, 6b) which guides the gripper (3a, 3b, 3c) moved by the force linearly over the tray (200, 300a, 400) and in addition the torque generated by the first drive device (4a, 4b) Gripper (3a, 3b, 3c) applies. Verpackungsmaschine (1) gemäß Anspruch 1, wobei
der Greifer einen Schlitten (3a), der durch die Führungsvorrichtung (6a, 6b) linear geführt wird, und mindestens einen relativ zu dem Schlitten (3a) drehbaren Greiferarm (3b) aufweist, auf den das Drehmoment für die Greifbewegung des Greifers (3a, 3b, 3c) aufgebracht wird.Packaging machine (1) according to claim 1, wherein
the gripper comprises a carriage (3a) which is linearly guided by the guide device (6a, 6b) and at least one gripper arm (3b) rotatable relative to the carriage (3a), to which the torque for the gripping movement of the gripper (3a, 3b, 3c) is applied. Verpackungsmaschine (1) gemäß Anspruch 2, wobei
die Führungseinrichtung (6a, 6b) zwei parallel angeordnete Wellen (6a, 6b) mit nicht kreisrundem Querschnitt aufweist, die mit dem Schlitten (3a) im Gleiteingriff sind, um den Schlitten (3a) linear zu führen, und die mit jeweils einem Greiferarm (3b) im Eingriff sind, um zusätzlich das durch die erste Antriebsvorrichtung (4a, 4b) erzeugte Drehmoment auf die Greiferarme (3b) aufzubringen.Packaging machine (1) according to claim 2, wherein
the guide means (6a, 6b) comprises two parallel shafts (6a, 6b) of non-circular cross-section which are in sliding engagement with the carriage (3a) for linearly guiding the carriage (3a) and each having a gripper arm (Fig. 3b) are engaged, in addition by the first drive device (4a, 4b) generated torque on the gripper arms (3b) apply. Verpackungsmaschine (1) gemäß Anspruch 3, wobei
die erste Antriebsvorrichtung (4a, 4b) zwei Antriebsmotoren (4a, 4b) aufweist, die jeweils an einem Ende der parallel angeordneten Wellen (6a, 6b) angeordnet sind und einander gegenläufig drehend angetrieben werden.Packaging machine (1) according to claim 3, wherein
the first drive device (4a, 4b) has two drive motors (4a, 4b), which are each arranged at one end of the parallel shafts (6a, 6b) and driven in opposite directions in rotation. Verpackungsmaschine (1) gemäß einem der vorherigen Ansprüche, wobei
die zweite Antriebsvorrichtung (5a, 5b, 5c) einen Riemenantrieb bestehend aus zwei Riemenscheiben (5a, 5b) und einem Riemen (5c) oder vorzugsweise einen Zahnriemenantrieb aufweist, wobei der Greifer (3a, 3b, 3c) mit dem Riemen (5c) gekoppelt ist und eine der Riemenscheiben (5a, 5b) drehend angetrieben wird.Packaging machine (1) according to one of the preceding claims, wherein
the second drive device (5a, 5b, 5c) comprises a belt drive consisting of two pulleys (5a, 5b) and a belt (5c) or preferably a toothed belt drive, wherein the gripper (3a, 3b, 3c) is coupled to the belt (5c) and one of the pulleys (5a, 5b) is rotationally driven. Verpackungsmaschine (1) gemäß einem der Ansprüche 1 bis 4, wobei
die zweite Antriebsvorrichtung ein Linearantrieb ist, vorzugsweise ein Trapezgewindetrieb, ein Spindeltrieb, ein Linearmotor, ein elektromechanischer Zylinder, ein Pneumatikzylinder, ein Hydraulikzylinder, ein Zahnstangenantrieb, ein Kettentrieb oder ein Scotch-Yoke-Kurbeltrieb.Packaging machine (1) according to one of claims 1 to 4, wherein
the second drive device is a linear drive, preferably a trapezoidal screw drive, a spindle drive, a linear motor, an electromechanical cylinder, a pneumatic cylinder, a hydraulic cylinder, a rack drive, a chain drive or a Scotch-Yoke crank drive. Verpackungsmaschine (1) gemäß Anspruch 6, wobei
die zweite Antriebsvorrichtung ein Spindeltrieb ist, bei dem der Greifer (3a, 3b, 3c) mit einer Spindel im Eingriff ist und durch eine Drehung der Spindel vorgeschoben wird.Packaging machine (1) according to claim 6, wherein
the second drive device is a spindle drive in which the gripper (3a, 3b, 3c) is engaged with a spindle and advanced by rotation of the spindle. Verpackungsmaschine (1) gemäß einem der vorherigen Ansprüche 2 bis 7, wobei
der Greiferarm (3b) jeweils eine Halterung (3c) zum Aufnehmen mindestens einer Packung aufweist.Packaging machine (1) according to one of the preceding claims 2 to 7, wherein
the gripper arm (3b) in each case has a holder (3c) for receiving at least one pack. Verpackungsmaschine (1) gemäß einem der vorherigen Ansprüche,
des weiteren mit einer Hubvorrichtung, die das Greifersystem (2) oder nur den Greiferarm (3b) anhebt und absenkt.Packaging machine (1) according to one of the preceding claims,
further comprising a lifting device which raises and lowers the gripper system (2) or only the gripper arm (3b). Verpackungsmaschine (1) gemäß einem der vorherigen Ansprüche, wobei die lineare Führung des Greifers (3a, 3b, 3c) ausschließlich durch die Führungsvorrichtung (6a, 6b) erfolgt.Packaging machine (1) according to one of the preceding claims, wherein the linear guidance of the gripper (3a, 3b, 3c) takes place exclusively by the guide device (6a, 6b). Verpackungsmaschine (1) gemäß einem der vorherigen Ansprüche, wobei der Greifer (3a, 3b, 3c) von oben die eine oder die mehreren auf der Ablage (200, 300a, 400) befindlichen Packungen beidseits greift.Packaging machine (1) according to one of the preceding claims, wherein the gripper (3a, 3b, 3c) engages from above on both sides of the one or more on the tray (200, 300a, 400) located packages. Verpackungsmaschine (1) gemäß einem der vorherigen Ansprüche, wobei die Verpackungsmaschine (1) entweder eine Schalenverschlussmaschine, eine Kammermaschine oder eine Tiefziehmaschine ist.Packaging machine (1) according to one of the preceding claims, wherein the packaging machine (1) is either a tray closure machine, a chamber machine or a thermoforming machine.
EP09163636A 2008-06-27 2009-06-24 Packaging machine with a gripper system Not-in-force EP2141095B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008030510A DE102008030510A1 (en) 2008-06-27 2008-06-27 Packaging machine with a gripper system

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EP2141095A1 true EP2141095A1 (en) 2010-01-06
EP2141095B1 EP2141095B1 (en) 2010-07-28

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EP09163636A Not-in-force EP2141095B1 (en) 2008-06-27 2009-06-24 Packaging machine with a gripper system

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EP (1) EP2141095B1 (en)
AT (1) ATE475612T1 (en)
DE (2) DE102008030510A1 (en)
ES (1) ES2346940T3 (en)

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EP2275351A1 (en) * 2009-07-06 2011-01-19 Multivac Sepp Haggenmüller GmbH & Co. KG Traysealer
EP2404831A1 (en) * 2010-06-22 2012-01-11 MULTIVAC Sepp Haggenmüller GmbH & Co KG Packaging system for filling a collection container with items
EP2706012A1 (en) 2012-09-10 2014-03-12 MULTIVAC Sepp Haggenmüller GmbH & Co KG Jacket closing machine
EP3608234A1 (en) 2018-08-07 2020-02-12 MULTIVAC Sepp Haggenmüller SE & Co. KG Method for operating a traysealer
GB2576827A (en) * 2018-08-02 2020-03-04 Intelligrated Headquarters Llc Goods to operator workstation
CN110921299A (en) * 2019-11-28 2020-03-27 张家港市易华润东新材料有限公司 Floor packaging system

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DE102010014212B4 (en) * 2010-04-08 2012-04-05 Multivac Sepp Haggenmüller Gmbh & Co. Kg Gripper system for tray sealing machine
DE102010027211B4 (en) * 2010-07-15 2012-04-26 Multivac Sepp Haggenmüller Gmbh & Co. Kg Gripper system for a tray sealing machine
DE102010056316B4 (en) 2010-12-27 2015-07-02 Multivac Sepp Haggenmüller Gmbh & Co. Kg Shell sealing machine and method of operating such a tray sealing machine
ES2436274T3 (en) 2011-04-29 2013-12-30 Multivac Sepp Haggenmüller Gmbh & Co. Kg Packaging machine with conveyor equipment
DE102011104187B4 (en) 2011-06-14 2014-05-15 Multivac Sepp Haggenmüller Gmbh & Co. Kg Method for automatic teaching of parameters
DE102011106826A1 (en) 2011-07-07 2013-01-10 Multivac Sepp Haggenmüller Gmbh & Co. Kg Tray sealing machine
EP2599720A1 (en) 2011-11-30 2013-06-05 Multivac Sepp Haggenmüller GmbH & Co. KG Multi-track jacket closing machine
DE102012001817B4 (en) 2012-01-31 2015-07-16 Multivac Sepp Haggenmüller Gmbh & Co. Kg Packaging machine for closing trays with lidding film and method for positioning trays
DE102012015401B4 (en) 2012-08-03 2019-04-11 Multivac Sepp Haggenmüller Se & Co. Kg Tray sealing machine
EP2818421A1 (en) 2013-06-25 2014-12-31 Multivac Sepp Haggenmüller GmbH & Co. KG Tray closing machine with tray supply and method for a packaging system
DE102013021146A1 (en) 2013-12-12 2015-07-02 Multivac Sepp Haggenmüller Gmbh & Co. Kg Packaging machine and method with a loose slide
EP2977325A1 (en) 2014-07-25 2016-01-27 Multivac Sepp Haggenmüller GmbH & Co. KG Jacket closing machine with side loading and method for applying a film
ES2662934T3 (en) 2015-09-04 2018-04-10 Multivac Sepp Haggenmüller Se & Co. Kg Cuvette closure machine
DE102019206209A1 (en) * 2019-04-30 2020-11-05 Multivac Sepp Haggenmüller Se & Co. Kg TRAY SEALING MACHINE AND METHOD FOR GENTLY PICKING UP A TRAY
DE102020201144B3 (en) * 2020-01-30 2021-06-10 Multivac Sepp Haggenmüller Se & Co. Kg Tray Closing Machine and Process
CN111731757B (en) * 2020-06-04 2022-04-22 博众精工科技股份有限公司 Streamline equipment

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Publication number Priority date Publication date Assignee Title
EP2275351A1 (en) * 2009-07-06 2011-01-19 Multivac Sepp Haggenmüller GmbH & Co. KG Traysealer
EP2404831A1 (en) * 2010-06-22 2012-01-11 MULTIVAC Sepp Haggenmüller GmbH & Co KG Packaging system for filling a collection container with items
US9650165B2 (en) 2012-09-10 2017-05-16 Multivac Sepp Haggenmueller Se & Co. Kg Tray sealer
EP2706013A1 (en) 2012-09-10 2014-03-12 Multivac Sepp Haggenmüller GmbH & Co. KG Jacket closing machine
CN103662663A (en) * 2012-09-10 2014-03-26 莫迪维克贸易有限公司 Tray sealer
CN103662663B (en) * 2012-09-10 2015-11-25 莫迪维克贸易有限公司 Dish sealer
EP2706012A1 (en) 2012-09-10 2014-03-12 MULTIVAC Sepp Haggenmüller GmbH & Co KG Jacket closing machine
GB2576827A (en) * 2018-08-02 2020-03-04 Intelligrated Headquarters Llc Goods to operator workstation
US10829313B2 (en) 2018-08-02 2020-11-10 Intelligrated Headquarters, Llc Goods to operator workstation
GB2576827B (en) * 2018-08-02 2021-03-24 Intelligrated Headquarters Llc Goods to operator workstation
US11472634B2 (en) 2018-08-02 2022-10-18 Intelligrated Headquarters, Llc Goods to operator workstation
EP3608234A1 (en) 2018-08-07 2020-02-12 MULTIVAC Sepp Haggenmüller SE & Co. KG Method for operating a traysealer
CN110921299A (en) * 2019-11-28 2020-03-27 张家港市易华润东新材料有限公司 Floor packaging system

Also Published As

Publication number Publication date
ES2346940T3 (en) 2010-10-21
EP2141095B1 (en) 2010-07-28
ATE475612T1 (en) 2010-08-15
DE502009000051D1 (en) 2010-09-09
DE102008030510A1 (en) 2010-01-14

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