EP2620377A2 - Method for removing folded boxes from an outer packaging - Google Patents

Method for removing folded boxes from an outer packaging Download PDF

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Publication number
EP2620377A2
EP2620377A2 EP20130151165 EP13151165A EP2620377A2 EP 2620377 A2 EP2620377 A2 EP 2620377A2 EP 20130151165 EP20130151165 EP 20130151165 EP 13151165 A EP13151165 A EP 13151165A EP 2620377 A2 EP2620377 A2 EP 2620377A2
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EP
European Patent Office
Prior art keywords
gripping
objects
outer packaging
gripping device
jaw
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
EP20130151165
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German (de)
French (fr)
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EP2620377A3 (en
EP2620377B1 (en
Inventor
Thomas Goldfuss
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Individual
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Individual
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Publication date
Priority claimed from DE201220000940 external-priority patent/DE202012000940U1/en
Application filed by Individual filed Critical Individual
Priority to PL13151165T priority Critical patent/PL2620377T3/en
Publication of EP2620377A2 publication Critical patent/EP2620377A2/en
Publication of EP2620377A3 publication Critical patent/EP2620377A3/en
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Publication of EP2620377B1 publication Critical patent/EP2620377B1/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
    • B65B69/00—Unpacking of articles or materials, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3036—Arrangements for removing completed piles by gripping the pile
    • B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/422—Handling piles, sets or stacks of articles
    • B65H2301/4225—Handling piles, sets or stacks of articles in or on special supports
    • B65H2301/42254—Boxes; Cassettes; Containers
    • B65H2301/422542—Boxes; Cassettes; Containers emptying or unloading processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/30—Other features of supports for sheets
    • B65H2405/35—Means for moving support
    • B65H2405/354—Means for moving support around an axis, e.g. horizontal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/176—Cardboard
    • B65H2701/1766—Cut-out, multi-layer, e.g. folded blanks or boxes

Definitions

  • the invention relates to a method for removing at least in a position loosely next to each other and standing in an outer packaging arranged flat objects, in particular collapsed cartons, from the outer packaging.
  • Folding cartons have the additional problem that they tend to spread. There is therefore usually no gap between the first and last carton a layer and the side walls of the outer packaging available, in which a gripper could be introduced.
  • a gripper could be introduced.
  • the surface of the cartons is relatively smooth, it is often impossible to take a complete layer at once. The cartons must then be removed in individual portions in succession.
  • the present invention has for its object to provide a way to mechanically remove folded cartons or other flat objects from an outer packaging.
  • the outer packaging in steps a) and c) can be pivoted about a transverse axis, so that the objects due to gravity first against the side wall and then slide in the opposite direction against the gripping jaw.
  • the pivotal movement of the outer packaging can be done relatively slowly.
  • it is also possible to linearly accelerate and stop the outer packaging so that the objects slide against the gripping jaw due to their inertia against the side wall and during movement in the opposite direction.
  • the required gaps for the introduction of the gripping jaws can be generated.
  • this method requires higher accelerations of the outer packaging.
  • a separating sheet located between the layers can be removed from the gripping device after step e) and then the steps a) to e) are repeated for the next layer until all layers of articles have been removed the outer packaging has been removed.
  • the outer packaging can be opened by the gripping device before step a), so that this work step likewise no longer has to be performed manually.
  • the gripping device can be equipped with a knife.
  • a further increase in the degree of automation can be achieved that after the complete emptying of the outer packaging, the outer packaging is disposed of by the gripping device. If the outer packaging is a cardboard box, it can be folded up by the gripping device and stacked outside the device.
  • the invention also relates to a device for carrying out a method according to the invention with a receptacle for an outer packaging, which is movable back and forth at least between two end positions, and with a gripping device with at least two Gripping jaws, which are movable with the receptacle and movable toward and away from it, and which are adjustable relative to each other.
  • the gripping jaws can be introduced into the formed due to the movement of the recording gaps between the first and last objects and the side walls of the outer packaging. If the gripping jaws are arranged to the left and right of the position of objects in the outer packaging, they can be moved together with the desired contact pressure and thereby clamp the position of objects and lift out of the outer packaging.
  • the receptacle and the gripping device may each have a pivoting device.
  • the articles can then be removed by taking advantage of the effect of gravity on the position of objects, which creates the necessary gaps for insertion of the jaws, from the outer packaging.
  • the receptacle and / or the gripping device can have a linear drive. This also allows the required gaps for the jaws to be generated. Further, the gripping device may include a linear drive for feeding the jaws on the outer packaging and away from it.
  • the gripping device is arranged on a robot arm.
  • the recorded position of objects can then be transferred by the gripping device, for example, to a packaging machine or to another location.
  • the jaws can also be controlled separately and / or arranged on separate robot arms.
  • the gripping jaws can preferably be arranged articulated on the gripping device. You can thus be made, for example, obliquely against the objects to be gripped. An even higher flexibility can be achieved if the gripping jaws are each formed by two hingedly connected gripping plates. As a result, the shape of the jaws can be better adapted to the contour of the objects to be gripped.
  • the angular position of the gripping jaws for gripping device and / or the two gripping plates of each jaw to each other in dependence on the contour of the objects to be removed and / or the surface finish of the objects are adjustable.
  • the surface of the objects is very large sensitive to pressure, a flat contact with the jaws on the objects is preferable.
  • the gripping jaws on the objects take a removal of the objects with less contact force.
  • the gripping device has a force-measuring device.
  • the contact pressure of the gripping jaws can be chosen such that it is just strong enough to remove the objects from the outer packaging, but not injured the surface of the objects.
  • the gripping device has an optical monitoring device, for example a camera.
  • the unfolded cartons can be arranged at different inclinations in the outer packaging.
  • the optical monitoring device can therefore serve for contour recognition of the first and last article before the jaws are inserted into the gaps between the articles and the outer packaging and employed against the position of the objects.
  • the Fig. 1 - 6 schematically show a gripping device 10 and a receptacle 11 for an outer packaging 12 for objects to be removed 13, here folded cartons.
  • the gripping device 10 has two gripping jaws 14, 15, which are both angled inwards.
  • the objects 13 are arranged loosely in the outer packaging 12 and can thereby slip in the direction of the double arrow in the outer packaging 12.
  • the cartons 13 have a tendency to spread so that they are in the in Fig. 1 shown rest position of the outer packaging 12 on the two side walls 12.1 and 12.2 of the outer packaging 12 abut. It is therefore in the in Fig. 1 shown situation, it is not possible to remove the objects 13 with the gripping device 16 from the outer packaging 12.
  • the receptacle 11 is pivoted in the direction of arrow 17 about a pivot axis 18. This also tilts the rectangular outer packaging 12 in the longitudinal direction and the objects 13 slide in the direction of arrow 19 on the side wall 12.2. This creates between the opposite side wall 12.1 of the outer packaging 12 and the objects 13, a gap 20. In this gap 20, the jaw 14th be introduced.
  • the gripping device 10 is moved to the receptacle 11 and simultaneously pivoted in the direction of arrow 21. After that, in Fig. 3 the receptacle 11 brought back into the horizontal position by pivoting in the direction of arrow 22. The gripping device 10 pivots with, whereby the objects 13 now come into contact with the gripping jaw 14.
  • the gripping device 10 is carried along during this pivoting movement.
  • the objects 13 slip due to gravity in the direction of arrow 24 against the gripping jaw 14 and it forms a gap 25 between the side wall 12.2 of the outer packaging 12 and the articles 13 from.
  • the second gripping jaw 15 can now be introduced by pivoting the gripping device 10 in the direction of arrow 26.
  • the jaws 14, 15 in the direction of arrow 27 slightly further into the outer packaging 12 and also in the direction of the arrows 28, 29 moves toward each other.
  • the objects 13 are now clamped between the two gripping jaws 14 and 15.
  • Fig. 6 Then, the receptacle 11 is pivoted back into the horizontal position and lifted the objects 13 by the gripping device 10 in the direction of arrow 30 from the outer packaging 12.
  • Fig. 7 shows a further gripping device 10 ', the gripping jaws 14', 15 'are connected at joints 31, 32 with the device 10'.
  • the jaws 14 ', 15' are each formed by two connected to a joint 33, 34 plate-shaped elements.
  • a suction device 35 is arranged, which together with the gripping jaws 14 ', 15' holds the objects 13 in the device 10 '.
  • the gripping device 10 an optical Monitoring device 36 for detecting the contour of the objects 13 and two angle measuring means 37, 38 for the position of the gripping jaws 14 ', 15' on. Further, a force measuring device 39 is provided for determining the forces acting on the articles 13 by the gripping device 10 '. With the gripping device 10 'can be different objects 13, even those with a sensitive surface and a surface that has only low coefficients of friction handle.
  • Fig. 8 illustrates how with the gripping device 10 a plurality of layers, here two layers 13a, 13b of objects 13 can be removed from an outer packaging 12.
  • the two layers 13a, 13b of objects 13 are separated by an interleaf sheet 40, which must also be removed after removal of the first layer 13a of the gripping device 10 before the second layer 13b on the in the Fig. 1 - 6 described manner can be removed.

Abstract

The swivel unit (4) is mounted in rotatable state below a container (3). A gripper unit (1) is pivoted above the container, so as to remove vertically stacked components (2) from the container during pivoting operation of swivel unit.

Description

Die Erfindung betrifft ein Verfahren zum Entnehmen von mindestens in einer Lage lose nebeneinander und stehend in einer Umverpackung angeordneten flachen Gegenständen, insbesondere zusammengelegten Faltschachteln, aus der Umverpackung.The invention relates to a method for removing at least in a position loosely next to each other and standing in an outer packaging arranged flat objects, in particular collapsed cartons, from the outer packaging.

In der Verpackungsindustrie sind bisher keine automatisierten Entnahmesysteme für in Verpackungskartons gestapelten, zusammengelegten Faltschachteln bekannt. Die Verpackungslinien zur Befüllung der Faltschachteln werden daher manuell bestückt. Dabei werden die Umverpackungen, in der Regel Kartons, von Hand geöffnet, die Faltschachteln entnommen und in die Verpackungsanlage eingelegt. Da die üblicherweise senkrecht stehend und in mehreren Lagen gestapelten Faltschachteln unregelmäßig angeordnet sind und die einzelnen Lagen durch Schrägstellen der Faltschachteln keine konstante Höhe aufweisen, ist eine einfache maschinelle Entnahme nicht möglich. Ähnliche Probleme ergeben sich bei der Entnahme anderer flacher Gegenstände wie Karten, Blätter oder dergleichen aus einer Umverpackung.In the packaging industry so far no automated sampling systems for stacked in packaging cartons, folded cartons are known. The packaging lines for filling the cartons are therefore equipped manually. Here, the outer packaging, usually boxes, opened by hand, removed the cartons and placed in the packaging system. Since the usually vertically standing and stacked in multiple layers cartons are arranged irregularly and the individual layers by tilting the cartons have no constant height, a simple machine removal is not possible. Similar problems arise when taking others flatter Items such as cards, sheets or the like from an outer packaging.

Bei Faltschachteln ergibt sich das zusätzliche Problem, dass diese die Tendenz haben, sich aufzuspreizen. Es ist daher in der Regel keine Lücke zwischen der ersten und letzten Faltschachtel einer Lage und den Seitenwänden der Umverpackung vorhanden, in die ein Greifer eingeführt werden könnte. Derzeit bieten nur die Hände des Menschen die Möglichkeit, sich Zugang zum Greifen und Entnehmen einer Lage von Faltschachteln zu verschaffen. Ist die Oberfläche der Faltschachteln relativ glatt, ist es außerdem häufig unmöglich, eine komplette Lage auf einmal zu entnehmen. Die Faltschachteln müssen dann in einzelnen Portionen nacheinander entnommen werden.Folding cartons have the additional problem that they tend to spread. There is therefore usually no gap between the first and last carton a layer and the side walls of the outer packaging available, in which a gripper could be introduced. Currently, only the hands of humans provide the opportunity to gain access to grab and retrieve a layer of cartons. In addition, if the surface of the cartons is relatively smooth, it is often impossible to take a complete layer at once. The cartons must then be removed in individual portions in succession.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, eine Möglichkeit zu schaffen, zusammengelegte Faltschachteln oder andere flache Gegenstände maschinell aus einer Umverpackung zu entnehmen.The present invention has for its object to provide a way to mechanically remove folded cartons or other flat objects from an outer packaging.

Die Aufgabe wird gelöst durch ein Verfahren zum Entnehmen von mindestens in einer Lage lose nebeneinander und stehend in einer Umverpackung angeordneten flachen Gegenständen, insbesondere von zusammengelegten Faltschachteln aus der Umverpackung mit Hilfe einer Greifeinrichtung, das gekennzeichnet ist durch die Schritte:

  1. a) Bewegen der Umverpackung, sodass die Gegenstände gegen eine der Seitenwände der Umverpackung rutschen und zwischen der gegenüberliegenden Seitenwand und dem ersten Gegenstand eine Lücke entsteht;
  2. b) Einführen einer Greifbacke der Greifeinrichtung in diese Lücke;
  3. c) Bewegen der Umverpackung gemeinsam mit der Greifbacke in die entgegengesetzte Richtung, sodass die Gegenstände gegen die Greifbacke rutschen und eine Lücke zwischen der der Greifbacke gegenüberliegenden Seitenwand und dem letzten Gegenstand entsteht;
  4. d) Einführung einer zweiten Greifbacke der Greifeinrichtung in diese Lücke;
  5. e) Zusammenfahren der Greifbacken und Entnahme der Gegenstände aus der Umverpackung.
The object is achieved by a method for removing at least in a position loosely next to each other and standing in an outer packaging arranged flat objects, in particular of folded cartons from the outer packaging by means of a gripping device, which is characterized by the steps:
  1. a) moving the outer packaging, so that the objects slide against one of the side walls of the outer packaging and creates a gap between the opposite side wall and the first object;
  2. b) introducing a gripping jaw of the gripping device in this gap;
  3. c) moving the outer package together with the gripping jaw in the opposite direction, so that the objects slide against the gripping jaw and creates a gap between the gripping jaw opposite side wall and the last object;
  4. d) introduction of a second jaw of the gripping device in this gap;
  5. e) moving the gripping jaws together and removing the objects from the outer packaging.

Bei dem erfindungsgemäßen Verfahren wird also dafür gesorgt, dass die Gegenstände innerhalb der Umverpackung derart verrutschen, dass sich zunächst eine Lücke zwischen dem ersten Gegenstand einer Lage und einer Seitenwand der Umverpackung und dann eine Lücke zwischen dem letzten Gegenstand und der gegenüberliegenden Seitenwand ausbildet. In diese Lücken werden jeweils Greifbacken eingeführt, mit deren Hilfe dann die Entnahme der Gegenstände möglich ist.In the method according to the invention, it is thus ensured that the objects slip within the outer packaging in such a way that initially a gap is formed between the first article of a layer and a side wall of the outer packaging and then a gap between the last article and the opposite side wall. In each of these gaps gripping jaws are introduced, with the help of which then the removal of the objects is possible.

Zur Erzielung dieses Verrutschens der Gegenstände in der Umverpackung kann die Umverpackung in den Schritten a) und c) um eine Querachse geschwenkt werden, sodass die Gegenstände aufgrund der Schwerkraft zunächst gegen die Seitenwand und dann in entgegengesetzter Richtung gegen die Greifbacke rutschen. Durch die Ausnutzung der Schwerkraft kann die Schwenkbewegung der Umverpackung relativ langsam erfolgen. Prinzipiell ist es jedoch auch möglich, die Umverpackung linear zu beschleunigen und abzustoppen, sodass die Gegenstände aufgrund ihrer Massenträgheit gegen die Seitenwand und bei Bewegung in die Gegenrichtung gegen die Greifbacke rutschen. Auch durch eine solche lineare Beschleunigung und Abstoppen der Umverpackung können die erforderlichen Lücken zur Einführung der Greifbacken erzeugt werden. Allerdings sind bei dieser Methode höhere Beschleunigungen der Umverpackung nötig.To achieve this slippage of the objects in the outer packaging, the outer packaging in steps a) and c) can be pivoted about a transverse axis, so that the objects due to gravity first against the side wall and then slide in the opposite direction against the gripping jaw. By exploiting gravity, the pivotal movement of the outer packaging can be done relatively slowly. In principle, however, it is also possible to linearly accelerate and stop the outer packaging, so that the objects slide against the gripping jaw due to their inertia against the side wall and during movement in the opposite direction. Also, by such a linear acceleration and stopping the outer packaging, the required gaps for the introduction of the gripping jaws can be generated. However, this method requires higher accelerations of the outer packaging.

Sind mehrere Lagen von Gegenständen in der Umverpackung gelagert, so kann nach Schritt e) ein sich zwischen den Lagen befindliches Trennblatt von der Greifeinrichtung entfernt werden und dann die Schritte a) bis e) für die nächste Lage wiederholt werden, bis sämtliche Lagen von Gegenständen aus der Umverpackung entfernt wurden.If several layers of articles are stored in the outer packaging, then a separating sheet located between the layers can be removed from the gripping device after step e) and then the steps a) to e) are repeated for the next layer until all layers of articles have been removed the outer packaging has been removed.

Bei einer vorteilhaften Weiterbildung des Verfahrens kann vor Schritt a) die Umverpackung von der Greifeinrichtung geöffnet werden, sodass dieser Arbeitsschritt ebenfalls nicht mehr manuell vorgenommen werden muss. Die Greifeinrichtung kann dazu mit einem Messer ausgerüstet sein.In an advantageous development of the method, the outer packaging can be opened by the gripping device before step a), so that this work step likewise no longer has to be performed manually. The gripping device can be equipped with a knife.

Eine weitere Steigerung des Automationsgrades lässt sich dadurch erzielen, dass nach dem vollständigen Entleeren der Umverpackung die Umverpackung von der Greifeinrichtung entsorgt wird. Ist die Umverpackung ein Karton, so kann dieser von der Greifeinrichtung zusammengelegt und außerhalb der Einrichtung abgestapelt werden.A further increase in the degree of automation can be achieved that after the complete emptying of the outer packaging, the outer packaging is disposed of by the gripping device. If the outer packaging is a cardboard box, it can be folded up by the gripping device and stacked outside the device.

Die Erfindung betrifft außerdem eine Vorrichtung zur Durchführung eines Verfahrens gemäß der Erfindung mit einer Aufnahme für eine Umverpackung, die mindestens zwischen zwei Endstellungen hin und her bewegbar ist, und mit einer Greifeinrichtung mit mindestens zwei Greifbacken, die mit der Aufnahme mit bewegbar und auf diese zu und von dieser weg bewegbar sind, und die relativ zueinander verstellbar sind.The invention also relates to a device for carrying out a method according to the invention with a receptacle for an outer packaging, which is movable back and forth at least between two end positions, and with a gripping device with at least two Gripping jaws, which are movable with the receptacle and movable toward and away from it, and which are adjustable relative to each other.

Durch die Möglichkeit, die Greifbacken der Bewegung der Aufnahme folgen zu lassen, können die Greifbacken, in die sich aufgrund der Bewegung der Aufnahme ausbildenden Lücken zwischen den ersten und letzten Gegenständen und den Seitenwänden der Umverpackung eingeführt werden. Sind die Greifbacken links und rechts der Lage von Gegenständen in der Umverpackung angeordnet, so können sie mit dem gewünschten Anpressdruck zusammengefahren werden und dadurch die Lage von Gegenständen klemmen und aus der Umverpackung herausheben.The ability to follow the jaws of the movement of the recording, the gripping jaws, can be introduced into the formed due to the movement of the recording gaps between the first and last objects and the side walls of the outer packaging. If the gripping jaws are arranged to the left and right of the position of objects in the outer packaging, they can be moved together with the desired contact pressure and thereby clamp the position of objects and lift out of the outer packaging.

Bei einer ersten Ausgestaltung können die Aufnahme und die Greifeinrichtung jeweils eine Schwenkeinrichtung aufweisen. Die Gegenstände lassen sich dann unter Ausnutzung der Wirkung der Schwerkraft auf die Lage von Gegenständen, die die erforderlichen Lücken zum Einführen der Greifbacken schafft, aus der Umverpackung herausnehmen.In a first embodiment, the receptacle and the gripping device may each have a pivoting device. The articles can then be removed by taking advantage of the effect of gravity on the position of objects, which creates the necessary gaps for insertion of the jaws, from the outer packaging.

Alternativ oder zusätzlich können die Aufnahme und/oder die Greifeinrichtung einen Linearantrieb aufweisen. Auch hierdurch können die erforderlichen Lücken für die Greifbacken erzeugt werden. Weiter kann die Greifeinrichtung einen Linearantrieb zum Zustellen der Greifbacken auf die Umverpackung und von dieser weg beinhalten.Alternatively or additionally, the receptacle and / or the gripping device can have a linear drive. This also allows the required gaps for the jaws to be generated. Further, the gripping device may include a linear drive for feeding the jaws on the outer packaging and away from it.

Besondere Vorteile ergeben sich, wenn die Greifeinrichtung an einem Roboterarm angeordnet ist. Die aufgenommene Lage von Gegenständen kann von der Greifeinrichtung dann beispielsweise an eine Verpackungsmaschine oder an einen anderen Ort übergeben werden. Die Greifbacken können auch separat angesteuert und/oder an getrennten Roboterarmen angeordnet sein.Particular advantages arise when the gripping device is arranged on a robot arm. The recorded position of objects can then be transferred by the gripping device, for example, to a packaging machine or to another location. The jaws can also be controlled separately and / or arranged on separate robot arms.

Weitere Vorteile ergeben sich, wenn zwischen den Greifbacken eine Saugeinrichtung für die zu entnehmenden Gegenstände an der Greifeinrichtung angeordnet ist. Insbesondere bei langen Lagen von Gegenständen ist dies von Vorteil. Die Gegenstände werden dann nicht allein zwischen den Greifbacken eingespannt, sondern zusätzlich durch die Saugeinrichtung gehalten. Damit lassen sich auch Gegenstände mit glatter Oberfläche, die nur eine geringe gegenseitige Reibung aufweisen, in einer großen Stückzahl auf einmal aus einer Umverpackung entnehmen.Further advantages arise when a suction device for the objects to be removed is arranged on the gripping device between the gripping jaws. This is an advantage especially for long layers of objects. The objects are then not clamped alone between the gripping jaws, but additionally held by the suction device. Thus, even objects with a smooth surface, which have only a low mutual friction, can be removed in a large number at a time from an outer packaging.

Zur Anpassung an unterschiedliche Konturen der zu entnehmenden Gegenstände können die Greifbacken vorzugsweise gelenkig an der Greifeinrichtung angeordnet sein. Sie können damit beispielsweise schräg gegen die zu greifenden Gegenstände angestellt werden. Eine noch höhere Flexibilität lässt sich erzielen, wenn die Greifbacken jeweils von zwei gelenkig miteinander verbundenen Greifplatten gebildet sind. Hierdurch lässt sich die Form der Greifbacken noch besser an die Kontur der zu greifenden Gegenstände anpassen.To adapt to different contours of the objects to be removed, the gripping jaws can preferably be arranged articulated on the gripping device. You can thus be made, for example, obliquely against the objects to be gripped. An even higher flexibility can be achieved if the gripping jaws are each formed by two hingedly connected gripping plates. As a result, the shape of the jaws can be better adapted to the contour of the objects to be gripped.

Dabei ist es von besonderem Vorteil, wenn die Winkellage der Greifbacken zur Greifeinrichtung und/oder der beiden Greifplatten jeder Greifbacke zueinander in Abhängigkeit von der Kontur der zu entnehmenden Gegenstände und/oder der Oberflächenbeschaffenheit der Gegenstände einstellbar sind. Ist die Oberfläche der Gegenstände beispielsweise sehr druckempfindlich, so ist eine flächige Anlage der Greifbacken an den Gegenständen vorzuziehen. Dagegen kann bei einem schrägen Anstellen der Greifbacken an den Gegenständen eine Entnahme der Gegenstände mit geringerer Anpresskraft erfolgen.
Weiter ist es zweckmäßig, wenn die Greifeinrichtung eine Kraftmesseinrichtung aufweist. Abhängig vom Reibwert, den die Gegenstände untereinander aufweisen, sowie der Oberflächenbeschaffenheit der Gegenstände, kann dann der Anpressdruck der Greifbacken derart gewählt werden, dass er gerade stark genug ist, die Gegenstände aus der Umverpackung zu entnehmen, die Oberfläche der Gegenstände jedoch nicht verletzt.It is particularly advantageous if the angular position of the gripping jaws for gripping device and / or the two gripping plates of each jaw to each other in dependence on the contour of the objects to be removed and / or the surface finish of the objects are adjustable. For example, if the surface of the objects is very large sensitive to pressure, a flat contact with the jaws on the objects is preferable. In contrast, in an oblique hiring the gripping jaws on the objects take a removal of the objects with less contact force.
It is also expedient if the gripping device has a force-measuring device. Depending on the coefficient of friction, the objects have with each other, as well as the surface texture of the objects, then the contact pressure of the gripping jaws can be chosen such that it is just strong enough to remove the objects from the outer packaging, but not injured the surface of the objects.

Wenn die erfindungsgemäße Vorrichtung insbesondere zur Entnahme von zusammengelegten Faltschachteln dienen soll, ist es außerdem von Vorteil, wenn die Greifeinrichtung eine optische Überwachungseinrichtung, beispielsweise eine Kamera aufweist. Die in sich nicht stabilen Faltschachteln können in unterschiedlicher Neigung in der Umverpackung angeordnet sein. Die optische Überwachungseinrichtung kann daher zur Konturerkennung des ersten und letzten Gegenstandes dienen, bevor die Greifbacken in die Lücken zwischen den Gegenständen und der Umverpackung eingeführt und gegen die Lage der Gegenstände angestellt werden.If the device according to the invention is intended in particular for the removal of folded folding boxes, it is also advantageous if the gripping device has an optical monitoring device, for example a camera. The unfolded cartons can be arranged at different inclinations in the outer packaging. The optical monitoring device can therefore serve for contour recognition of the first and last article before the jaws are inserted into the gaps between the articles and the outer packaging and employed against the position of the objects.

Nachfolgend wird in schematischer Weise ein Beispiel eines erfindungsgemäßen Verfahrens anhand der Zeichnung näher beschrieben:An example of a method according to the invention is described in more detail below with reference to the drawing.

Im Einzelnen zeigen:

Fig. 1 - 6
eine schematische Ansicht einer Aufnahme für eine Umverpackung sowie eine Greifeinrichtung in unterschiedlichen Schritten eines erfindungsgemäßen Verfahrens;
Fig. 7
eine Detaildarstellung einer zweiten Greifeinrichtung;
Fig. 8
eine schematische Darstellung der Greifeinrichtung aus den Fig. 1 - 6 beim Entnehmen von Gegenständen aus einer Umverpackung mit zwei Lagen von Gegenständen.
In detail show:
Fig. 1 - 6
a schematic view of a receptacle for an outer packaging and a gripping device in different steps of a method according to the invention;
Fig. 7
a detailed view of a second gripping device;
Fig. 8
a schematic representation of the gripping device from the Fig. 1 - 6 when removing objects from an outer packaging with two layers of objects.

Die Fig. 1 - 6 zeigen schematisch eine Greifeinrichtung 10 sowie eine Aufnahme 11 für eine Umverpackung 12 für zu entnehmende Gegenstände 13, hier zusammengelegten Faltschachteln. Die Greifeinrichtung 10 weist zwei Greifbacken 14, 15 auf, die beide einwärts abgewinkelt sind. Die Gegenstände 13 sind lose in der Umverpackung 12 angeordnet und können dadurch in Richtung des Doppelpfeils in der Umverpackung 12 rutschen. Andererseits haben die Faltschachteln 13 die Tendenz, sich aufzuspreizen, sodass sie in der in Fig. 1 gezeigten Ruheposition der Umverpackung 12 an den beiden Seitenwänden 12.1 und 12.2 der Umverpackung 12 anliegen. Es ist daher in der in Fig. 1 gezeigten Situation nicht möglich, die Gegenstände 13 mit der Greifeinrichtung 16 aus der Umverpackung 12 zu entnehmen.The Fig. 1 - 6 schematically show a gripping device 10 and a receptacle 11 for an outer packaging 12 for objects to be removed 13, here folded cartons. The gripping device 10 has two gripping jaws 14, 15, which are both angled inwards. The objects 13 are arranged loosely in the outer packaging 12 and can thereby slip in the direction of the double arrow in the outer packaging 12. On the other hand, the cartons 13 have a tendency to spread so that they are in the in Fig. 1 shown rest position of the outer packaging 12 on the two side walls 12.1 and 12.2 of the outer packaging 12 abut. It is therefore in the in Fig. 1 shown situation, it is not possible to remove the objects 13 with the gripping device 16 from the outer packaging 12.

Wie Fig. 2 zeigt wird deswegen die Aufnahme 11 in Pfeilrichtung 17 um eine Schwenkachse 18 verschwenkt. Dadurch kippt auch die rechteckige Umverpackung 12 in Längsrichtung und die Gegenstände 13 rutschen in Pfeilrichtung 19 auf die Seitenwand 12.2 zu. Dadurch entsteht zwischen der gegenüberliegenden Seitenwand 12.1 der Umverpackung 12 und den Gegenständen 13 eine Lücke 20. In diese Lücke 20 kann die Greifbacke 14 eingeführt werden. Hierzu wird die Greifeinrichtung 10 auf die Aufnahme 11 zu bewegt und gleichzeitig in Pfeilrichtung 21 verschwenkt. Danach wird in Fig. 3 die Aufnahme 11 wieder in die horizontale Lage durch Schwenken in Pfeilrichtung 22 gebracht. Die Greifeinrichtung 10 verschwenkt mit, wodurch die Gegenstände 13 nun gegen die Greifbacke 14 in Anlage kommen.As Fig. 2 Therefore, the receptacle 11 is pivoted in the direction of arrow 17 about a pivot axis 18. This also tilts the rectangular outer packaging 12 in the longitudinal direction and the objects 13 slide in the direction of arrow 19 on the side wall 12.2. This creates between the opposite side wall 12.1 of the outer packaging 12 and the objects 13, a gap 20. In this gap 20, the jaw 14th be introduced. For this purpose, the gripping device 10 is moved to the receptacle 11 and simultaneously pivoted in the direction of arrow 21. After that, in Fig. 3 the receptacle 11 brought back into the horizontal position by pivoting in the direction of arrow 22. The gripping device 10 pivots with, whereby the objects 13 now come into contact with the gripping jaw 14.

Anschließend wird die Aufnahme 11 in Gegenrichtung, d. h. in Richtung des Pfeils 23 geschwenkt. Auch die Greifeinrichtung 10 wird bei dieser Schwenkbewegung mitgeführt. Dadurch rutschen die Gegenstände 13 aufgrund der Schwerkraft in Pfeilrichtung 24 gegen die Greifbacke 14 und es bildet sich eine Lücke 25 zwischen der Seitenwand 12.2 der Umverpackung 12 und den Gegenständen 13 aus. In diese Lücke 25 kann nun die zweite Greifbacke 15 durch Verschwenken der Greifeinrichtung 10 in Pfeilrichtung 26 eingeführt werden. Anschließend werden die Greifbacken 14, 15 in Pfeilrichtung 27 etwas weiter in die Umverpackung 12 hinein und außerdem in Richtung der Pfeile 28, 29 aufeinander zu bewegt. Die Gegenstände 13 werden nun zwischen den beiden Greifbacken 14 und 15 eingespannt.Subsequently, the receptacle 11 in the opposite direction, d. H. pivoted in the direction of arrow 23. The gripping device 10 is carried along during this pivoting movement. As a result, the objects 13 slip due to gravity in the direction of arrow 24 against the gripping jaw 14 and it forms a gap 25 between the side wall 12.2 of the outer packaging 12 and the articles 13 from. In this gap 25, the second gripping jaw 15 can now be introduced by pivoting the gripping device 10 in the direction of arrow 26. Subsequently, the jaws 14, 15 in the direction of arrow 27 slightly further into the outer packaging 12 and also in the direction of the arrows 28, 29 moves toward each other. The objects 13 are now clamped between the two gripping jaws 14 and 15.

In Fig. 6 wird dann die Aufnahme 11 in die horizontale Lage zurückverschwenkt und die Gegenstände 13 durch die Greifeinrichtung 10 in Pfeilrichtung 30 aus der Umverpackung 12 herausgehoben. Fig. 7 zeigt eine weitere Greifeinrichtung 10', deren Greifbacken 14', 15' an Gelenkstellen 31, 32 mit der Einrichtung 10' verbunden sind. Außerdem werden die Backen 14', 15' jeweils von zwei an einem Gelenk 33, 34 verbundenen plattenförmigen Elementen gebildet. Zwischen den Backen 14', 15' ist eine Saugeinrichtung 35 angeordnet, die gemeinsam mit den Greifbacken 14', 15' die Gegenstände 13 in der Vorrichtung 10' hält. Weiter weist die Greifeinrichtung 10' eine optische Überwachungseinrichtung 36 zur Erfassung der Kontur der Gegenstände 13 sowie zwei Winkelmesseinrichtungen 37, 38 für die Position der Greifbacken 14', 15' auf. Weiter ist eine Kraftmesseinrichtung 39 zur Ermittlung der auf die Gegenstände 13 durch die Greifeinrichtung 10' wirkenden Kräfte vorgesehen. Mit der Greifeinrichtung 10' lassen sich unterschiedliche Gegenstände 13, auch solche mit einer empfindlichen Oberfläche und einer Oberfläche, die nur geringe Reibwerte aufweist, handhaben.In Fig. 6 Then, the receptacle 11 is pivoted back into the horizontal position and lifted the objects 13 by the gripping device 10 in the direction of arrow 30 from the outer packaging 12. Fig. 7 shows a further gripping device 10 ', the gripping jaws 14', 15 'are connected at joints 31, 32 with the device 10'. In addition, the jaws 14 ', 15' are each formed by two connected to a joint 33, 34 plate-shaped elements. Between the jaws 14 ', 15', a suction device 35 is arranged, which together with the gripping jaws 14 ', 15' holds the objects 13 in the device 10 '. Next, the gripping device 10 'an optical Monitoring device 36 for detecting the contour of the objects 13 and two angle measuring means 37, 38 for the position of the gripping jaws 14 ', 15' on. Further, a force measuring device 39 is provided for determining the forces acting on the articles 13 by the gripping device 10 '. With the gripping device 10 'can be different objects 13, even those with a sensitive surface and a surface that has only low coefficients of friction handle.

Fig. 8 verdeutlicht, wie mit der Greifeinrichtung 10 mehrere Lagen, hier zwei Lagen 13a, 13b von Gegenständen 13 aus einer Umverpackung 12 entnommen werden können. Die beiden Lagen 13a, 13b von Gegenständen 13 sind durch ein Zwischenblatt 40 voneinander getrennt, das nach Entnahme der ersten Lage 13a ebenfalls von der Greifeinrichtung 10 entnommen werden muss, bevor die zweite Lage 13b auf die in den Fig. 1 - 6 geschilderte Weise entnommen werden kann. Fig. 8 illustrates how with the gripping device 10 a plurality of layers, here two layers 13a, 13b of objects 13 can be removed from an outer packaging 12. The two layers 13a, 13b of objects 13 are separated by an interleaf sheet 40, which must also be removed after removal of the first layer 13a of the gripping device 10 before the second layer 13b on the in the Fig. 1 - 6 described manner can be removed.

Claims (16)

Verfahren zum Entnehmen von mindestens in einer Lage (13a, 13b) lose nebeneinander und stehend in einer Umverpackung (12) angeordneten flachen Gegenständen (13), insbesondere zusammengelegter Faltschachteln aus der Umverpackung (12) mit Hilfe einer Greifeinrichtung (10, 10'), gekennzeichnet durch die Schritte: a) Bewegen der Umverpackung (12), sodass die Gegenstände (13) gegen eine der Seitenwände (12.2) der Umverpackung (12) rutschen und zwischen der gegenüberliegenden Seitenwand (12.1) und dem ersten Gegenstand (13) eine Lücke (20) entsteht; b) Einführung einer Greifbacke (14) der Greifeinrichtung (10, 10') in diese Lücke (20); c) Bewegen der Umverpackung (12) gemeinsam mit der Greifeinrichtung (10) in die entgegengesetzte Richtung, sodass die Gegenstände (13) gegen die Greifbacke (14) rutschen und eine Lücke zwischen der der Greifbacke (14) gegenüberliegenden Seitenwand (12.2) und dem letzten Gegenstand (13) entsteht; d) Einführung einer zweiten Greifbacke (15) der Greifeinrichtung (10) in die Lücke (25); e) Zusammenfahren der Greifbacken (14, 15) und Entnahme der Gegenstände (13) aus der Umverpackung (12). Method for removing flat objects (13), in particular collapsed cartons from the outer packaging (12) loosely next to one another and standing in an outer packaging (12), by means of a gripping device (10, 10 '), characterized by the steps: a) moving the outer package (12) so that the articles (13) slide against one of the side walls (12.2) of the outer package (12) and between the opposite side wall (12.1) and the first article (13) creates a gap (20); b) introducing a gripping jaw (14) of the gripping device (10, 10 ') in this gap (20); c) moving the outer package (12) together with the gripping device (10) in the opposite direction, so that the objects (13) against the gripping jaw (14) slip and a gap between the gripping jaw (14) opposite side wall (12.2) and the last object (13) arises; d) introducing a second gripping jaw (15) of the gripping device (10) into the gap (25); e) moving together the gripping jaws (14, 15) and removal of the objects (13) from the outer packaging (12). Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Umverpackung (12) in den Schritten a) und c) um eine Querachse (18) geschwenkt wird, sodass die Gegenstände (13) aufgrund der Schwerkraft gegen die Seitenwand (12.2) oder die Greifbacke (14) rutschen.A method according to claim 1, characterized in that the outer packaging (12) in steps a) and c) is pivoted about a transverse axis (18), so that the objects (13) due to gravity against the side wall (12.2) or the jaw ( 14) slip. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Umverpackung (12) in den Schritten a) und c) ruckartig linear in Längsrichtung beschleunigt und abgestoppt wird, sodass die Gegenstände (13) aufgrund ihrer Massenträgheit gegen die Seitenwand (12.1, 12.2) und/oder die Greifbacke (14, 15) rutschen.A method according to claim 1, characterized in that the outer packaging (12) in steps a) and c) is accelerated and stopped jerkily linearly in the longitudinal direction, so that the objects (13) due to their inertia against the side wall (12.1, 12.2) and / or slip the gripping jaw (14, 15). Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass bei mehreren Lagen (13a, 13b) von Gegenständen (13) in der Umverpackung (12) nach Schritt e) ein Trennblatt (40) zwischen den Lagen (13a, 13b) von der Greifeinrichtung (10) entfernt wird und dann die Schritte a) bis e) wiederholt werden.Method according to one of claims 1 to 3, characterized in that in the case of several layers (13a, 13b) of objects (13) in the outer packaging (12) after step e) a separating sheet (40) between the layers (13a, 13b) of the gripping device (10) is removed and then the steps a) to e) are repeated. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass vor Schritt a) die Umverpackung (12) von der Greifeinheit (10, 10') geöffnet wird.Method according to one of claims 1 to 4, characterized in that before step a) the outer packaging (12) of the gripping unit (10, 10 ') is opened. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass nach dem vollständigen Entleeren der Umverpackung (12) die Umverpackung (12) von der Greifeinrichtung (10, 10') entsorgt wird.Method according to one of claims 1 to 5, characterized in that after the complete emptying of the outer packaging (12) the outer packaging (12) of the gripping device (10, 10 ') is disposed of. Vorrichtung zur Durchführung eines Verfahrens nach einem der Ansprüche 1 bis 6 mit einer Aufnahme (11) für eine Umverpackung (12), die mindestens zwischen zwei Endstellungen hin und her bewegbar ist, und mit einer Greifeinrichtung (10, 10') mit mindestens zwei Greifbacken (14, 15; 14', 15'), die mit der Aufnahme (11) mit bewegbar und auf diese zu und von dieser weg bewegbar sind und die relativ zueinander verstellbar sind.Device for carrying out a method according to one of Claims 1 to 6, having a receptacle (11) for an outer packaging (12) which can be moved back and forth between at least two end positions, and with a gripping device (10, 10 ') with at least two gripping jaws (14, 15, 14 ', 15') which are movable with the receptacle (11) and movable toward and away from it and which are adjustable relative to one another. Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass die Aufnahme (11) und/oder die Greifeinrichtung (10, 10') jeweils eine Schwenkeinrichtung aufweisen.Apparatus according to claim 7, characterized in that the receptacle (11) and / or the gripping device (10, 10 ') each have a pivoting device. Vorrichtung nach Anspruch 7 oder 8, dadurch gekennzeichnet, dass die Aufnahme (11) und/oder die Greifeinrichtung (10, 10') einen Linearantrieb aufweisen.Apparatus according to claim 7 or 8, characterized in that the receptacle (11) and / or the gripping device (10, 10 ') have a linear drive. Vorrichtung nach einem der Ansprüche 7 bis 9, dadurch gekennzeichnet, dass die Greifeinrichtung (10, 10') an einem Roboterarm angeordnet ist.Device according to one of claims 7 to 9, characterized in that the gripping device (10, 10 ') is arranged on a robot arm. Vorrichtung nach einem der Ansprüche 7 bis 10, dadurch gekennzeichnet, dass zwischen den
Greifbacken (14, 15; 14', 15') eine Saugeinrichtung (35) für die zu entnehmenden Gegenstände (13) an der
Greifeinrichtung (10') angeordnet ist.Device according to one of claims 7 to 10, characterized in that between the
Gripping jaws (14, 15, 14 ', 15') a suction device (35) for the objects to be removed (13) on the
Gripping device (10 ') is arranged. Vorrichtung nach einem der Ansprüche 7 bis 11, dadurch gekennzeichnet, dass die Greifbacken (14', 15') gelenkig an der Greifeinrichtung (10') angeordnet sind.Device according to one of claims 7 to 11, characterized in that the gripping jaws (14 ', 15') are arranged articulated on the gripping device (10 '). Vorrichtung nach einem der Ansprüche 7 bis 12, dadurch gekennzeichnet, dass die Greifbacken (14', 15') jeweils von zwei gelenkig miteinander verbundenen Greifplatten gebildet sind.Device according to one of claims 7 to 12, characterized in that the gripping jaws (14 ', 15') are each formed by two pivotally interconnected gripping plates. Vorrichtung nach Anspruch 12 oder 13, dadurch gekennzeichnet, dass die Winkellage der Greifbacken (14', 15') zur Greifeinrichtung (10') und/oder der beiden Greifplatten jeder Greifbacke (14', 15') zueinander in Abhängigkeit von der Kontur der zu entnehmenden Gegenstände (13) und/oder der Oberflächenbeschaffenheit der Gegenstände (13) einstellbar sind.Apparatus according to claim 12 or 13, characterized in that the angular position of the gripping jaws (14 ', 15') for gripping means (10 ') and / or the two gripping plates of each jaw (14', 15 ') to each other depending on the contour of the to be removed objects (13) and / or the surface texture of the objects (13) are adjustable. Vorrichtung nach einem der Ansprüche 7 bis 14, dadurch gekennzeichnet, dass die Greifeinrichtung (10') eine Kraftmesseinrichtung (39) aufweist.Device according to one of claims 7 to 14, characterized in that the gripping device (10 ') has a force measuring device (39). Vorrichtung nach einem der Ansprüche 7 bis 15, dadurch gekennzeichnet, dass die Greifeinrichtung (10') eine optische Überwachungseinrichtung (36) aufweist.Device according to one of claims 7 to 15, characterized in that the gripping device (10 ') has an optical monitoring device (36).
EP13151165.1A 2012-01-28 2013-01-14 Method for removing folded boxes from an outer packaging Active EP2620377B1 (en)

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Applications Claiming Priority (2)

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DE201220000940 DE202012000940U1 (en) 2012-01-28 2012-01-28 Swivel unit: Synchronous swiveling with gripping unit
DE102012107984.6A DE102012107984B4 (en) 2012-01-28 2012-08-29 Method for removing folded cartons from an outer packaging

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EP2620377A3 EP2620377A3 (en) 2014-04-09
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DE (1) DE102012107984B4 (en)
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DE102012107984A1 (en) 2013-08-01
PL2620377T3 (en) 2016-02-29
EP2620377A3 (en) 2014-04-09
EP2620377B1 (en) 2015-10-14
DE102012107984B4 (en) 2014-12-11
ES2558833T3 (en) 2016-02-09

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