EP2620377A2 - Procédé de prélèvement de boîtes pliantes regroupées à partir d'un double emballage - Google Patents

Procédé de prélèvement de boîtes pliantes regroupées à partir d'un double emballage Download PDF

Info

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
Authority
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
Other languages
German (de)
English (en)
Other versions
EP2620377A3 (fr
EP2620377B1 (fr
Inventor
Thomas Goldfuss
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.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE201220000940 external-priority patent/DE202012000940U1/de
Application filed by Individual filed Critical Individual
Priority to PL13151165T priority Critical patent/PL2620377T3/pl
Publication of EP2620377A2 publication Critical patent/EP2620377A2/fr
Publication of EP2620377A3 publication Critical patent/EP2620377A3/fr
Application granted granted Critical
Publication of EP2620377B1 publication Critical patent/EP2620377B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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.
EP13151165.1A 2012-01-28 2013-01-14 Procédé de prélèvement de boîtes pliantes regroupées à partir d'un double emballage Active EP2620377B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL13151165T PL2620377T3 (pl) 2012-01-28 2013-01-14 Sposób wyjmowania złożonych pudełek składanych z opakowania zewnętrznego

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201220000940 DE202012000940U1 (de) 2012-01-28 2012-01-28 Schwenkeinheit: Synchrones Schwenken mit Greifeinheit
DE102012107984.6A DE102012107984B4 (de) 2012-01-28 2012-08-29 Verfahren zur Entnahme zusammengelegter Faltschachteln aus einer Umverpackung

Publications (3)

Publication Number Publication Date
EP2620377A2 true EP2620377A2 (fr) 2013-07-31
EP2620377A3 EP2620377A3 (fr) 2014-04-09
EP2620377B1 EP2620377B1 (fr) 2015-10-14

Family

ID=47594540

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13151165.1A Active EP2620377B1 (fr) 2012-01-28 2013-01-14 Procédé de prélèvement de boîtes pliantes regroupées à partir d'un double emballage

Country Status (5)

Country Link
EP (1) EP2620377B1 (fr)
DE (1) DE102012107984B4 (fr)
DK (1) DK2620377T3 (fr)
ES (1) ES2558833T3 (fr)
PL (1) PL2620377T3 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110286822A1 (en) * 2008-07-11 2011-11-24 Mei, Inc. Automated document handling system
WO2015086145A1 (fr) * 2013-12-11 2015-06-18 Giesecke & Devrient Gmbh Module d'entrée et procédé d'introduction de documents de valeur dans un dispositif de traitement de documents de valeur ainsi que système de traitement de documents de valeur

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018000161A1 (de) * 2018-01-11 2019-07-11 Iwk Verpackungstechnik Gmbh Faltschachtelstapel-Umsetzvorrichtung in einer Verpackungsmaschine und Verfahren zum Umsetzen eines Faltschachtelstapels in einer Verpackungsmaschine
DE102022100915A1 (de) 2022-01-17 2023-07-20 Sig Combibloc Services Ag Verfahren zum entpacken von packungsmänteln und bestücken einer füllmaschine sowie füllmaschine

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4208450A1 (de) * 1992-03-17 1993-09-23 Iwk Verpackungstechnik Gmbh Vorrichtung und verfahren zum beschicken einer verpackungsmaschine mit faltschachteln
US6860531B2 (en) * 2001-12-20 2005-03-01 Abb Inc. Gripping and vacuum end effector for transferring articles
US7637711B2 (en) * 2005-02-08 2009-12-29 Meadwestvaco Corporation Apparatus with suction head for moving envelopes
DE102007018634B8 (de) * 2007-04-19 2008-11-27 Siemens Ag Vorrichtung und Verfahren zum Entladen eines Behälters
DE102009042891A1 (de) * 2009-09-24 2011-03-31 Giesecke & Devrient Gmbh Behälter und System für die Bearbeitung von Banknoten
CH703288B1 (fr) * 2010-06-11 2015-02-27 Robotic Consulting S R L Procédé et dispositif de chargement automatique de pièces plates dans un dispositif d'alimentation de machines traitant de pièces plates, notamment des enveloppes.

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110286822A1 (en) * 2008-07-11 2011-11-24 Mei, Inc. Automated document handling system
WO2015086145A1 (fr) * 2013-12-11 2015-06-18 Giesecke & Devrient Gmbh Module d'entrée et procédé d'introduction de documents de valeur dans un dispositif de traitement de documents de valeur ainsi que système de traitement de documents de valeur
KR20160067970A (ko) * 2013-12-11 2016-06-14 기제케 운트 데브리엔트 게엠베하 가치 문서들을 가치-문서 처리 장치에 공급하기 위한 입력 모듈 및 방법과 가치 문서들을 처리하기 위한 시스템
US9928678B2 (en) 2013-12-11 2018-03-27 Giesecke+Devrient Currency Technology Gmbh Input module and method for feeding value documents to a value-document processing apparatus and system for processing value documents

Also Published As

Publication number Publication date
EP2620377A3 (fr) 2014-04-09
DK2620377T3 (en) 2015-12-07
ES2558833T3 (es) 2016-02-09
DE102012107984B4 (de) 2014-12-11
PL2620377T3 (pl) 2016-02-29
EP2620377B1 (fr) 2015-10-14
DE102012107984A1 (de) 2013-08-01

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