EP2706012B1 - Jacket closing machine - Google Patents

Jacket closing machine Download PDF

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Publication number
EP2706012B1
EP2706012B1 EP12006350.8A EP12006350A EP2706012B1 EP 2706012 B1 EP2706012 B1 EP 2706012B1 EP 12006350 A EP12006350 A EP 12006350A EP 2706012 B1 EP2706012 B1 EP 2706012B1
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EP
European Patent Office
Prior art keywords
gripper
pivot
transfer carriage
tray sealer
gripper arms
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.)
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Application number
EP12006350.8A
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German (de)
French (fr)
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EP2706012A1 (en
Inventor
Albert Gabler
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.)
Filing date
Publication date
Application filed by Multivac Sepp Haggenmueller GmbH and Co KG filed Critical Multivac Sepp Haggenmueller GmbH and Co KG
Priority to ES12006350.8T priority Critical patent/ES2524414T3/en
Priority to EP12006350.8A priority patent/EP2706012B1/en
Priority to EP13002149.6A priority patent/EP2706013B1/en
Priority to ES13002149.6T priority patent/ES2529666T3/en
Priority to US14/020,810 priority patent/US9650165B2/en
Priority to CN201310405650.XA priority patent/CN103662663B/en
Publication of EP2706012A1 publication Critical patent/EP2706012A1/en
Application granted granted Critical
Publication of EP2706012B1 publication Critical patent/EP2706012B1/en
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    • 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
    • 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
    • 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
    • B65B43/48—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 reciprocating or oscillating pushers
    • 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

Definitions

  • the invention relates to a tray sealing machine according to the preamble of claim 1.
  • a tray closing machine in which a transfer carriage is moved along guides in the transport direction and by means of a rotational movement of the guides, a relative movement of the gripper arms is generated to each other.
  • a tray closing machine in which two transfer carriages are arranged laterally below a conveyor belt, which transports the trays to a sealing station, and by means of a pivot lever on both transfer slide on which a gripper arm is mounted, the gripper arms for receiving the trays are moved to each other.
  • a tray closure machine in which a gripper system is provided with a carriage, a pivoting device and two gripper arms above the transport plane for the shells and a speed difference between the drive of the carriage and a drive of the pivoting device for the movement of the gripper arms to each other.
  • a common disadvantage of the prior art tray sealing machines described above is that the gripper arms do not move parallel to and at a fixed distance from the tray transport plane. Depending on the size of the shells, the gripper arms for receiving the shells are moved to different degrees to each other and thus have different heights relative to the transport plane and thus with respect to the shell bottom. Due to a collision with the gripper arms and the sealing tool lower part during the closing movement and the resulting vertical movement, it is difficult to detect shallow trays.
  • narrow shells can be gripped only with simultaneous replacement of the sealing tool base and / or the sealing tool shell with smaller lateral dimensions and adapted gripper arms to move the gripper arms closer to each other ,
  • the WO 2011/018391 shows a Schalenversch withmaschine with a horizontal Greiferarmver ein on a transfer slide, which is located above the transport plane, with the transfer slide moving drives are provided for the Greiferarmver ein.
  • Such a tray sealing machine has the disadvantage that the stroke of the gripper arms is limited due to the horizontally and transversely to the transport direction provided guides, and that due inertial drives for the Greiferarmver ein the inertial mass of the transfer carriage is high.
  • the object of the present invention is to provide a tray sealing machine with a gripper system which no longer has the disadvantages mentioned.
  • the tray sealing machine comprises a closing device, a collecting belt, a discharge belt and a gripper system
  • the gripper system comprises a transfer carriage, guide for the transfer carriage, a lifting drive for driving the transfer carriage, at least two gripper arms, a pivoting device for the gripper arms and a pivot drive for driving the pivoting device having.
  • the invention is characterized in that the pivoting device has vertically arranged axes of rotation in order to move the gripper arms relative to one another and in a plane parallel to a transport plane of trays to be transported. This has the advantage that the gripper arms can on the one hand only have a very small distance to the transport plane in order to be able to grip even shallow trays.
  • the pivoting device comprises at least one parallelogram linkage per gripper arm to allow a relative movement of the gripper arms to each other, in which the gripper arms are permanently aligned in the transport direction or parallel to each other.
  • the transfer carriage is driven by the lifting drive by means of a toothed belt drive to minimize the inertia of the moving masses of the gripper system.
  • the pivoting device is preferably drivable by the pivot drive by means of a first and second shaft in order to attach the pivot drive stationary on a machine part can. This also reduces the moving mass of the gripper system and this version is low maintenance than a co-moving drive with mechanically stressed power lines.
  • the vertically arranged axes of rotation of the pivoting device can be driven by means of a rotation of the shafts and a lever mechanism provided on the transfer carriage. According to the distance of the shafts to each other high torques can be transmitted from the rotary actuator to the pivoting device or to the Parallogrammgestfite and thus to the gripper arms.
  • the guides for the transfer sled are preferably provided in the transport direction behind the sealing station in order to increase the hygiene quality by arranging as few components as possible above the still unclosed shells, for example, on the collecting belt on which the trays are open with the product upwards, so that the risk of contamination of the products before closing is reduced.
  • the guides and the transfer sled below the transport plane are provided to increase the hygiene quality by as few components as possible are arranged above the still unclosed shells, for example, on the collection tape.
  • the lifting drive and / or the pivoting drive comprise a servomotor in order to achieve high dynamics, and thus both drives can perform mutually movements in a very high accuracy, which is advantageous for the closing movement of the gripper arms.
  • both drives can perform mutually movements in a very high accuracy, which is advantageous for the closing movement of the gripper arms.
  • all intermediate positions are possible with the gripper arm movement with servomotors.
  • the axes of rotation are coupled to each other by means of a lever mechanism such that the parallelogram linkage are movable synchronously, so that the position of the gripper arms is always centric to the closing device or to the shells.
  • the gripper arms are preferably connected at one of their ends to the parallelogram linkage. Thus, only the gripper arms protrude into the closing device and the transfer carriage with the pivoting device moves outside the closing device. According to save space, the closing device can be performed.
  • FIG. 1 3 shows a perspective view of a tray closing machine 1.
  • the tray closing machine 1 has a machine frame 2 on which a closing device 3 (eg a sealing station) for closing and optionally sealing and / or evacuating and / or gassing supplied trays 4, as well as for cutting a cover film, not shown, used for closing, is arranged.
  • the packaging machine 1 further has a conveyor belt 5 and an accumulation belt 6 for feeding the product-filled trays 4, a discharge belt 7 for transporting the sealed trays 4a, a film supply roller 9 for receiving and feeding a lid film, and a residual film winder 10 for winding the trays the sealing remaining film web of the lidding film.
  • a display 11 allows the operator of the tray sealing machine 1 to check and control the operation of the tray sealing machine 1.
  • a gripper system 12 includes a transfer carriage 13, a pivoting device 14, and two gripper arms 15. Movement of the gripper system 12 in and against a transport direction R is for insertion of unsealed trays 4 from the collecting belt 6 in the closing device 3 and for discharging closed trays 4a from the closing device 3 on the discharge conveyor 7.
  • the transport surfaces of the belts 6, 7, 8 for the trays 4, 4a define the horizontal transport plane E.
  • FIG. 2a shows a plan view of the gripper system 12 in the open position.
  • the transfer carriage 13 is movable in the transport direction R by means of guides 16 and is by a lifting drive 17 (see FIG. 3 ).
  • On the transfer carriage 13 is a pivoting device 14 (see FIG. 3 ), each comprising a parallelogram linkage 18 for each gripper arm 15.
  • a pivot drive 19 for closing and opening the gripper arms 15 is a pivot drive 19 (see FIG. 3 ) intended.
  • the gripper arms 15 After opening the sealing device 3, as in FIG. 2b 2, the gripper arms 15 make a closing movement in a horizontal plane to each other and grasp two trays 4a which have been closed with a lid film and two trays 4 provided on the collecting belt 6.
  • the transfer carriage 13 moves in the transport direction R to transport the trays 4 from the accumulation belt 6 into the capping device 3 and the closed trays 4a from the capping device 3 via the discharge belt 7, as in FIG Figure 2c shown.
  • the movements are shown by arrows.
  • FIG. 3 shows a perspective view of the gripper system 12 as a separate assembly without the guides 16, but with transfer carriage 13, lifting drive 17 and pivot drive 19 for the closing movement of the gripper arms 15.
  • the lifting drive 17 is stationary mounted on the machine frame 2 and does not move the transfer carriage 13 along here illustrated guides 16 by means of a toothed belt drive 20. Alternatively, flat belts, chains or a spindle drive can be used.
  • the pivot drive 19 is also mounted stationary on the machine frame 2 and rotates a first shaft 21. By means provided at the ends of the first shaft 21 levers 22, a second shaft 23 is rotated about the first shaft 21 in order to transmit a torque to the pivoting device 14 can while the pivoting device 14 is guided along both shafts 21, 23.
  • the pivot drive 19 via the two shafts 21, 23 and the lever 22 for a torque transmission by means of a lever mechanism 25 to a respective rotation axis 24 of the parallelogram linkage 18 which is rotatably mounted in the transfer carriage 13.
  • the parallelogram linkage 18 ensures that the gripper arms 15 aligned parallel in the transporting direction R also move parallel to one another during the opening and closing movement in order to be able to grasp the shells 4, 4a accurately.
  • the rotational movement of the lever 22 and the closing of the gripper arms 15 are via arrows in Fig. 3b shown.
  • FIG. 4a shows in plan view the gripper system 12 in the open position.
  • the gripper arms 15 must maintain their position with respect to the transport direction R.
  • a relative movement of the gripper arms 15 relative to the transfer carriage 13 takes place. This relative movement is compensated by a movement of the transfer carriage 13. This means that the lifting drive 17 (see FIG. 3 ) during the closing movement of the gripper arms 15 with the pivot drive 19 (see FIG.
  • FIGS. 4a and 4c show the FIGS. 4a and 4c in that the space requirement of the pivoting device 14, in particular the parallelogram linkage 18, is low and it is nevertheless possible to be able to grasp both very narrow shells 4 and very wide shells 4 without having to make modifications to the gripper system 12. This increases flexibility and set-up times are reduced.
  • FIGS. 1 to 4c For example, there is shown a single track tray closing machine 1 for concurrently closing two trays 4.
  • the tray sealing machine 1 according to the invention can also be implemented as a multi-track tray closing machine 1 and conceivable for any number of trays 4.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Package Closures (AREA)
  • Closing Of Containers (AREA)
  • Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)

Description

Die Erfindung bezieht sich eine Schalenverschließmaschine gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a tray sealing machine according to the preamble of claim 1.

Aus der EP 2 141 095 A1 ist eine Schalenverschließmaschine bekannt, bei der ein Übergabeschlitten entlang von Führungen in Transportrichtung bewegt wird und mittels einer Drehbewegung der Führungen eine Relativbewegung der Greiferarme zueinander erzeugt wird.From the EP 2 141 095 A1 a tray closing machine is known in which a transfer carriage is moved along guides in the transport direction and by means of a rotational movement of the guides, a relative movement of the gripper arms is generated to each other.

Es ist aus der EP 0 334 266 eine Schalenverschließmaschine bekannt, bei der zwei Übergabeschlitten seitlich unterhalb eines Transportbandes, das die Schalen bis zu einer Siegelstation transportiert, angeordnet sind und mittels eines Schwenkhebels an beiden Übergabeschlitten, an dem ein Greiferarm angebracht ist, die Greiferarme zur Aufnahme der Schalen zueinander bewegt werden.It is from the EP 0 334 266 a tray closing machine is known in which two transfer carriages are arranged laterally below a conveyor belt, which transports the trays to a sealing station, and by means of a pivot lever on both transfer slide on which a gripper arm is mounted, the gripper arms for receiving the trays are moved to each other.

Aus der EP 1 996 470 ist eine Schalenverschließmaschine bekannt, bei der ein Greifersystem mit einem Schlitten, einer Schwenkvorrichtung und zwei Greiferarmen oberhalb der Transportebene für die Schalen vorgesehen ist und ein Geschwindigkeitsunterschied zwischen dem Antrieb des Schlittens und einem Antrieb der Schwenkvorrichtung für die Bewegung der Greiferarme zueinander sorgt.From the EP 1 996 470 a tray closure machine is known in which a gripper system is provided with a carriage, a pivoting device and two gripper arms above the transport plane for the shells and a speed difference between the drive of the carriage and a drive of the pivoting device for the movement of the gripper arms to each other.

Ein gemeinsamer Nachteil der oben beschriebenen Schalenverschließmaschinen nach dem Stand der Technik ist, dass die Greiferarme sich nicht parallel und in einem festen Abstand von der Transportebene für die Schalen zueinander bewegen. Je nach Größe der Schalen werden die Greiferarme zur Aufnahme der Schalen unterschiedlich weit zueinander zubewegt und weisen somit unterschiedliche Höhen gegenüber der Transportebene und damit gegenüber dem Schalenboden auf. Aufgrund einer Kollision mit den Greiferarmen und dem Siegelwerkzeugunterteil während der Schließbewegung und der dabei auftretenden vertikalen Bewegung ist es schwer möglich, flache Schalen zu erfassen. Aufgrund der seitlichen Abmessung des Siegelwerkzeugunterteils und/oder des Siegelwerkzeugoberteils und einem begrenzten Weg der Greiferarme können schmale Schalen nur bei gleichzeitigem Austausch des Siegelwerkzeugunterteils und/oder des Siegelwerkzeugoberteils mit geringeren seitlichen Abmaßen und angepassten Greiferarmen, um die Greiferarme näher zueinander bewegen zu können, ergriffen werden.A common disadvantage of the prior art tray sealing machines described above is that the gripper arms do not move parallel to and at a fixed distance from the tray transport plane. Depending on the size of the shells, the gripper arms for receiving the shells are moved to different degrees to each other and thus have different heights relative to the transport plane and thus with respect to the shell bottom. Due to a collision with the gripper arms and the sealing tool lower part during the closing movement and the resulting vertical movement, it is difficult to detect shallow trays. Due to the lateral dimension of the sealing tool lower part and / or the sealing tool shell and a limited path of the gripper arms, narrow shells can be gripped only with simultaneous replacement of the sealing tool base and / or the sealing tool shell with smaller lateral dimensions and adapted gripper arms to move the gripper arms closer to each other ,

Die WO 2011/018391 zeigt eine Schalenverschließmaschine mit einer horizontalen Greiferarmverstellung an einem Übergabeschlitten, der oberhalb der Transportebene angeordnet ist, wobei mit dem Übergabeschlitten mitfahrende Antriebe für die Greiferarmverstellung vorgesehen sind. Eine solche Schalenverschließmaschine weist den Nachteil auf, dass der Hub der Greiferarme aufgrund der horizontal und quer zur Transportrichtung vorgesehenen Führungen begrenzt ist, und dass aufgrund von mitfahrenden Antrieben für die Greiferarmverstellung die Trägheitsmasse des Übergabeschlittens hoch ist.The WO 2011/018391 shows a Schalenverschließmaschine with a horizontal Greiferarmverstellung on a transfer slide, which is located above the transport plane, with the transfer slide moving drives are provided for the Greiferarmverstellung. Such a tray sealing machine has the disadvantage that the stroke of the gripper arms is limited due to the horizontally and transversely to the transport direction provided guides, and that due inertial drives for the Greiferarmverstellung the inertial mass of the transfer carriage is high.

Aus der DE 29 13 026 A1 ist eine Vorrichtung zum Auflegen eines Deckels auf einen Behälter bekannt.From the DE 29 13 026 A1 a device for placing a lid on a container is known.

Aufgabe der vorliegenden Erfindung ist es, eine Schalenverschließmaschine mit einem Greifersystem zur Verfügung zu stellen, die die genannten Nachteile nicht mehr aufweist.The object of the present invention is to provide a tray sealing machine with a gripper system which no longer has the disadvantages mentioned.

Diese Aufgabe wird gelöst durch eine Schalenverschließmaschine mit den Merkmalen des Anspruchs 1. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben.This object is achieved by a tray sealing machine with the features of claim 1. Advantageous developments of the invention are specified in the subclaims.

Die erfindungsgemäße Schalenverschließmaschine umfasst eine Verschließvorrichtung, ein Sammelband, ein Abführband und ein Greifersystem, wobei das Greifersystem einen Übergabeschlitten, Führungen für den Übergabeschlitten, einen Hubantrieb zum Antreiben des Übergabeschlittens, wenigstens zwei Greiferarme, eine Schwenkvorrichtung für die Greiferarme und einen Schwenkantrieb zum Antreiben der Schwenkvorrichtung aufweist. Die Erfindung zeichnet sich dadurch aus, dass die Schwenkvorrichtung vertikal angeordnete Drehachsen aufweist, um die Greiferarme relativ zueinander und in einer zu einer Transportebene von zu transportierenden Schalen parallelen Ebene zu bewegen. Dies bringt den Vorteil, dass die Greiferarme zum Einen einen nur noch sehr geringen Abstand zur Transportebene aufweisen können, um auch flache Schalen ergreifen zu können. Zum Anderen ist eine im Verhältnis zum Stand der Technik größere Hubbewegung und eine platzsparende Ausführung möglich, da die Drehachsen vertikal angeordnet sind. Die Lagerung der Drehachsen ermöglicht einen sehr geringen Platzbedarf seitlich des Abführbands oder des Sammelbands.The tray sealing machine according to the invention comprises a closing device, a collecting belt, a discharge belt and a gripper system, wherein the gripper system comprises a transfer carriage, guide for the transfer carriage, a lifting drive for driving the transfer carriage, at least two gripper arms, a pivoting device for the gripper arms and a pivot drive for driving the pivoting device having. The invention is characterized in that the pivoting device has vertically arranged axes of rotation in order to move the gripper arms relative to one another and in a plane parallel to a transport plane of trays to be transported. This has the advantage that the gripper arms can on the one hand only have a very small distance to the transport plane in order to be able to grip even shallow trays. On the other hand, a larger lifting movement in relation to the prior art and a space-saving design are possible because the axes of rotation are arranged vertically. The mounting of the axes of rotation allows a very small footprint laterally of the discharge belt or the collecting belt.

In einer besonders vorteilhaften Ausbildung der Schalenverschließmaschine umfasst die Schwenkvorrichtung wenigstens ein Parallelogrammgestänge je Greiferarm, um eine Relativbewegung der Greiferarme zueinander zu ermöglichen, bei der die Greiferarme dauerhaft in der Transportrichtung bzw. parallel zueinander ausgerichtet sind.In a particularly advantageous embodiment of the tray sealing machine, the pivoting device comprises at least one parallelogram linkage per gripper arm to allow a relative movement of the gripper arms to each other, in which the gripper arms are permanently aligned in the transport direction or parallel to each other.

Bevorzugt ist der Übergabeschlitten durch den Hubantrieb mittels eines Zahnriementriebs antreibbar, um die Trägheit der bewegten Massen des Greifersystems zu minimieren.Preferably, the transfer carriage is driven by the lifting drive by means of a toothed belt drive to minimize the inertia of the moving masses of the gripper system.

Die Schwenkvorrichtung ist vorzugsweise durch den Schwenkantrieb mittels einer ersten und zweiten Welle antreibbar, um den Schwenkantrieb stationär an einem Maschinengesteil anbringen zu können. Dies reduziert ebenfalls die bewegte Masse des Greifersystems und diese Ausführung ist wartungsärmer als ein mitbewegter Antrieb mit mechanisch beanspruchten Energieleitungen.The pivoting device is preferably drivable by the pivot drive by means of a first and second shaft in order to attach the pivot drive stationary on a machine part can. This also reduces the moving mass of the gripper system and this version is low maintenance than a co-moving drive with mechanically stressed power lines.

In einer vorteilhaften Ausgestaltung sind die vertikal angeordneten Drehachsen der Schwenkvorrichtung mittels einer Drehung der Wellen und eines an dem Übergabeschlitten vorgesehenen Hebelmechanismus antreibbar. Entsprechend dem Abstand der Wellen zueinander können hohe Drehmomente vom Schwenkantrieb auf die Schwenkvorrichtung bzw. auf die Parallogrammgestänge und somit auf die Greiferarme übertragen werden.In an advantageous embodiment, the vertically arranged axes of rotation of the pivoting device can be driven by means of a rotation of the shafts and a lever mechanism provided on the transfer carriage. According to the distance of the shafts to each other high torques can be transmitted from the rotary actuator to the pivoting device or to the Parallogrammgestänge and thus to the gripper arms.

Die Führungen für den Übergabeschlitten sind vorzugsweise in Transportrichtung hinter der Siegelstation vorgesehen, um die Hygienequalität zu erhöhen, indem so wenig Bauteile wie möglich oberhalb der noch unverschlossenen Schalen beispielsweise auf dem Sammelband angeordnet sind, auf dem die Schalen mit dem Produkt nach oben offen sind, sodass die Gefahr einer Kontamination der Produkte vor dem Verschließen verringert wird.The guides for the transfer sled are preferably provided in the transport direction behind the sealing station in order to increase the hygiene quality by arranging as few components as possible above the still unclosed shells, for example, on the collecting belt on which the trays are open with the product upwards, so that the risk of contamination of the products before closing is reduced.

Bevorzugt sind die Führungen und der Übergabeschlitten unterhalb der Transportebene vorgesehen, um die Hygienequalität zu erhöhen, indem so wenig Bauteile wie möglich oberhalb der noch unverschlossenen Schalen beispielsweise auf dem Sammelband angeordnet sind.Preferably, the guides and the transfer sled below the transport plane are provided to increase the hygiene quality by as few components as possible are arranged above the still unclosed shells, for example, on the collection tape.

In einer vorteilhaften Ausführung umfassen der Hubantrieb und/oder der Schwenkantrieb einen Servomotor, um eine hohe Dynamik zu erreichen, und damit beide Antriebe zueinander Bewegungen in einer sehr hohen Genauigkeit ausführen können, die für die Schließbewegung der Greiferarme von Vorteil ist. Im Gegensatz zu Pneumatikzylindern sind alle Zwischenstellungen bei der Greiferarmbewegung mit Servomotoren möglich.In an advantageous embodiment, the lifting drive and / or the pivoting drive comprise a servomotor in order to achieve high dynamics, and thus both drives can perform mutually movements in a very high accuracy, which is advantageous for the closing movement of the gripper arms. In contrast to pneumatic cylinders, all intermediate positions are possible with the gripper arm movement with servomotors.

Bevorzugt sind die Drehachsen mittels eines Hebelmechanismus derart miteinander gekoppelt, dass die Parallelogrammgestänge synchron bewegbar sind, so dass die Position der Greiferarme immer zentrisch zur Verschließvorrichtung bzw. zu den Schalen ist.Preferably, the axes of rotation are coupled to each other by means of a lever mechanism such that the parallelogram linkage are movable synchronously, so that the position of the gripper arms is always centric to the closing device or to the shells.

Die Greiferarme sind vorzugsweise mit einem ihrer Enden mit dem Parallelogrammgestänge verbunden. So ragen nur die Greiferarme in die Verschließvorrichtung und der Übergabeschlitten mit der Schwenkvorrichtung bewegt sich außerhalb der Verschließvorrichtung. Entsprechend platzsparend kann die Verschließvorrichtung ausgeführt werden.The gripper arms are preferably connected at one of their ends to the parallelogram linkage. Thus, only the gripper arms protrude into the closing device and the transfer carriage with the pivoting device moves outside the closing device. According to save space, the closing device can be performed.

Im Folgenden wird ein vorteilhaftes Ausführungsbeispiel der Erfindung anhand einer Zeichnung näher erläutert. Im Einzelnen zeigen:

Fig. 1
eine perspektivische Ansicht einer erfindungsgemäßen Schalenverschließmaschine,
Fig. 2a
eine Draufsicht auf ein Greifersystem in der geöffneten Stellung,
Fig. 2b
eine Draufsicht auf ein Greifersystem in der geschlossenen Stellung zum Ergreifen von Schalen vom Zuführband und einer Verschließvorrichtung,
Fig. 2c
eine Draufsicht auf ein Greifersystem nach einer Bewegung in Transportrichtung,
Fig. 2d
eine Draufsicht auf ein Greifersystem in der geöffneten Stellung zum Absetzen von Schalen in der Verschließvorrichtung und auf dem Abführband,
Fig. 3
eine perspektivische Ansicht eines Greifersystem als eigene Baugruppe,
Fig. 3a
eine Schnittdarstellung des Greifersystems entgegen der Transportrichtung in einer ersten Stellung,
Fig. 3b
eine Schnittdarstellung des Greifersystems entgegen der Transportrichtung in einer zweiten Stellung,
Fig. 4a
eine Draufsicht auf die Greiferarme und die Schwenkvorrichtung in der geöffneten Stellung,
Fig. 4b
eine Draufsicht auf die Greiferarme und die Schwenkvorrichtung in einer Zwischenstellung und
Fig. 4c
eine Draufsicht auf die Greiferarme und die Schwenkvorrichtung in der geschlossenen Stellung.
In the following, an advantageous embodiment of the invention is explained in detail with reference to a drawing. In detail show:
Fig. 1
a perspective view of a tray sealing machine according to the invention,
Fig. 2a
a top view of a gripper system in the open position,
Fig. 2b
a plan view of a gripper system in the closed position for gripping trays from the feed belt and a closing device,
Fig. 2c
a top view of a gripper system after a movement in the transport direction,
Fig. 2d
a plan view of a gripper system in the open position for settling of shells in the closing and on the discharge belt,
Fig. 3
a perspective view of a gripper system as a separate assembly,
Fig. 3a
a sectional view of the gripper system against the transport direction in a first position,
Fig. 3b
a sectional view of the gripper system against the transport direction in a second position,
Fig. 4a
a top view of the gripper arms and the pivoting device in the open position,
Fig. 4b
a plan view of the gripper arms and the pivoting device in an intermediate position and
Fig. 4c
a plan view of the gripper arms and the pivoting device in the closed position.

Gleiche Komponenten sind in den Figuren durchgängig mit gleichen Bezugszeichen versehen.The same components are provided throughout the figures with the same reference numerals.

Figur 1 zeigt in perspektivischer Ansicht eine erfindungsgemäße Schalenverschließmaschine 1. Die Schalenverschließmaschine 1 verfügt über ein Maschinengestell 2, auf dem eine Verschließvorrichtung 3 (z. B. eine Siegelstation) zum Verschließen sowie gegebenenfalls zum Siegeln und/oder Evakuieren und/oder Begasen von zugeführten Schalen 4, sowie zum Schneiden von einer zum Verschließen verwendeten, nicht dargestellten Deckelfolie angeordnet ist. Die Verpackungsmaschine 1 verfügt ferner über ein Förderband 5 und ein Sammelband 6 zum Zuführen der mit Produkt gefüllten Schalen 4, ein Abführband 7 zum Abtransportieren der verschlossenen Schalen 4a, eine Folienzuführrolle 9 zum Aufnehmen und Zuführen einer Deckelfolie, sowie einen Restfolienaufwickler 10 zum Aufwickeln der nach dem Versiegeln verbleibenden Folienbahn der Deckelfolie. Eine Anzeige 11 ermöglicht dem Bediener der Schalenverschließmaschine 1 das Überprüfen und Steuern des Betriebs der Schalenverschließmaschine 1. Ein Greifersystem 12 umfasst einen Übergabeschlitten 13, eine Schwenkvorrichtung 14 und zwei Greiferarme 15. Die Bewegung des Greifersystems 12 in einer und gegen eine Transportrichtung R erfolgt zum Einbringen von unverschlossenen Schalen 4 vom Sammelband 6 in die Verschließvorrichtung 3 und zum Ausbringen von verschlossenen Schalen 4a aus der Verschließvorrichtung 3 auf das Abführband 7. Die Transportflächen der Bänder 6, 7, 8 für die Schalen 4, 4a definieren die horizontale Transportebene E. FIG. 1 3 shows a perspective view of a tray closing machine 1. The tray closing machine 1 has a machine frame 2 on which a closing device 3 (eg a sealing station) for closing and optionally sealing and / or evacuating and / or gassing supplied trays 4, as well as for cutting a cover film, not shown, used for closing, is arranged. The packaging machine 1 further has a conveyor belt 5 and an accumulation belt 6 for feeding the product-filled trays 4, a discharge belt 7 for transporting the sealed trays 4a, a film supply roller 9 for receiving and feeding a lid film, and a residual film winder 10 for winding the trays the sealing remaining film web of the lidding film. A display 11 allows the operator of the tray sealing machine 1 to check and control the operation of the tray sealing machine 1. A gripper system 12 includes a transfer carriage 13, a pivoting device 14, and two gripper arms 15. Movement of the gripper system 12 in and against a transport direction R is for insertion of unsealed trays 4 from the collecting belt 6 in the closing device 3 and for discharging closed trays 4a from the closing device 3 on the discharge conveyor 7. The transport surfaces of the belts 6, 7, 8 for the trays 4, 4a define the horizontal transport plane E.

Die Funktionsweise des Greifersystems 12 wird anhand der Figuren 2a bis 2d erläutert. Figur 2a zeigt eine Draufsicht auf das Greifersystem 12 in der geöffneten Stellung. Der Übergabeschlitten 13 ist in Transportrichtung R mittels Führungen 16 bewegbar und wird von einem Hubantrieb 17 (siehe Figur 3) angetrieben. An dem Übergabeschlitten 13 ist eine Schwenkvorrichtung 14 (siehe Figur 3) angebracht, die jeweils ein Parallelogrammgestänge 18 für jeden Greiferarm 15 umfasst. Für das Schließen und Öffnen der Greiferarme 15 ist ein Schwenkantrieb 19 (siehe Figur 3) vorgesehen.The operation of the gripper system 12 is based on the FIGS. 2a to 2d explained. FIG. 2a shows a plan view of the gripper system 12 in the open position. The transfer carriage 13 is movable in the transport direction R by means of guides 16 and is by a lifting drive 17 (see FIG. 3 ). On the transfer carriage 13 is a pivoting device 14 (see FIG. 3 ), each comprising a parallelogram linkage 18 for each gripper arm 15. For closing and opening the gripper arms 15 is a pivot drive 19 (see FIG. 3 ) intended.

Nach Öffnen der Siegelvorrichtung 3, wie in Figur 2b dargestellt, führen die Greiferarme 15 in einer horizontalen Ebene eine Schließbewegung zueinander aus und erfassen zwei Schalen 4a, die mit einer Deckelfolie verschlossen wurden, und zwei Schalen 4, die auf dem Sammelband 6 bereitgestellt wurden.After opening the sealing device 3, as in FIG. 2b 2, the gripper arms 15 make a closing movement in a horizontal plane to each other and grasp two trays 4a which have been closed with a lid film and two trays 4 provided on the collecting belt 6.

Der Übergabeschlitten 13 bewegt sich in Transportrichtung R, um die Schalen 4 vom Sammelband 6 in die Verschließvorrichtung 3 und die verschlossenen Schalen 4a aus der Verschließvorrichtung 3 über das Abführband 7 zu transportieren, wie in Figur 2c gezeigt. Die Bewegungen sind über Pfeile dargestellt.The transfer carriage 13 moves in the transport direction R to transport the trays 4 from the accumulation belt 6 into the capping device 3 and the closed trays 4a from the capping device 3 via the discharge belt 7, as in FIG Figure 2c shown. The movements are shown by arrows.

In Figur 2d ist dargestellt, wie die Greiferarme 15 auseinander bewegt wurden, damit die Schalen 4a auf dem Abführband 7 zu einem nächsten Produktionsschritt abtransportiert werden können und die neuen Schalen 4 in der Verschließvorrichtung 3 verschlossen werden können. Dieser Zyklus beginnt wieder von vorne, nachdem der Übergabeschlitten 13 wieder zurück entgegen der Transportrichtung R bewegt wurde.In Figure 2d It is shown how the gripper arms 15 have been moved apart, so that the shells 4 a can be transported on the discharge belt 7 to a next production step and the new shells 4 can be closed in the closing device 3. This cycle begins again from the beginning, after the transfer carriage 13 has been moved back against the transport direction R.

Figur 3 zeigt eine perspektivische Ansicht des Greifersystems 12 als eigene Baugruppe ohne die Führungen 16, aber mit Übergabeschlitten 13, Hubantrieb 17 und Schwenkantrieb 19 für die Schließbewegung der Greiferarme 15. Der Hubantrieb 17 ist stationär am Maschinengestell 2 angebracht und bewegt den Übergabeschlitten 13 entlang der hier nicht dargestellten Führungen 16 mittels eines Zahnriementriebs 20. Alternativ hierzu können auch Flachriemen, Ketten oder ein Spindelantrieb eingesetzt werden. Der Schwenkantrieb 19 ist ebenfalls stationär am Maschinengestell 2 angebracht und dreht eine erste Welle 21. Mittels an den Enden der ersten Welle 21 vorgesehenen Hebeln 22 wird eine zweite Welle 23 um die erste Welle 21 gedreht, um ein Drehmoment auf die Schwenkvorrichtung 14 übertragen zu können, während die Schwenkvorrichtung 14 entlang beider Wellen 21, 23 geführt ist. FIG. 3 shows a perspective view of the gripper system 12 as a separate assembly without the guides 16, but with transfer carriage 13, lifting drive 17 and pivot drive 19 for the closing movement of the gripper arms 15. The lifting drive 17 is stationary mounted on the machine frame 2 and does not move the transfer carriage 13 along here illustrated guides 16 by means of a toothed belt drive 20. Alternatively, flat belts, chains or a spindle drive can be used. The pivot drive 19 is also mounted stationary on the machine frame 2 and rotates a first shaft 21. By means provided at the ends of the first shaft 21 levers 22, a second shaft 23 is rotated about the first shaft 21 in order to transmit a torque to the pivoting device 14 can while the pivoting device 14 is guided along both shafts 21, 23.

Wie in den Figuren 3a und 3b in einer Schnittansicht gezeigt, sorgt der Schwenkantrieb 19 über die zwei Wellen 21, 23 und den Hebel 22 für eine Drehmomentübertragung mittels eines Hebelmechanismus 25 auf jeweils eine Drehachse 24 des Paralellogrammgestänges 18, die im Übergabeschlitten 13 drehbar gelagert ist. Das Parallelogrammgestänge 18 sorgt dafür, dass sich die parallel in Transportrichtung R ausgerichteten Greiferarme 15 auch bei der Öffnungs- und Schließbewegung parallel zueinander bewegen, um die Schalen 4, 4a exakt erfassen zu können. Die Drehbewegung des Hebels 22 und das Schließen der Greiferarme 15 sind über Pfeile in Fig. 3b dargestellt.As in the FIGS. 3a and 3b shown in a sectional view, the pivot drive 19 via the two shafts 21, 23 and the lever 22 for a torque transmission by means of a lever mechanism 25 to a respective rotation axis 24 of the parallelogram linkage 18 which is rotatably mounted in the transfer carriage 13. The parallelogram linkage 18 ensures that the gripper arms 15 aligned parallel in the transporting direction R also move parallel to one another during the opening and closing movement in order to be able to grasp the shells 4, 4a accurately. The rotational movement of the lever 22 and the closing of the gripper arms 15 are via arrows in Fig. 3b shown.

Anhand der Figuren 4a, 4b und 4c wird der Zusammenhang der Bewegungen des Übergabeschlittens 13 und der Greiferarme 15 erläutert. Fig. 4a zeigt in der Draufsicht das Greifersystem 12 in der geöffneten Stellung. Bei der Schließbewegung der Greiferarme 15 zur Erfassung der (hier nicht gezeigten) Schalen müssen die Greiferarme 15 ihre Lage bezüglich der Transportrichtung R beibehalten. Bei der Schwenkbewegung des Parallelogrammgestänges 18 findet eine Relativbewegung der Greiferarme 15 gegenüber dem Übergabeschlitten 13 statt. Diese Relativbewegung wird über eine Bewegung des Übergabeschlittens 13 ausgeglichen. Das bedeutet, dass der Hubantrieb 17 (siehe Figur 3) während der Schließbewegung der Greiferarme 15 mit dem Schwenkantrieb 19 (siehe Figur 3) derart beispielsweise über eine gemeinsame Steuerung gekoppelt ist, damit eine solche Schließbewegung der Greiferarme 15 ermöglicht ist. Vorzugsweise sind für den Hubantrieb 17 und den Schwenkantrieb 19 Servomotoren vorgesehen. Desweiteren zeigen die Figuren 4a und 4c, dass der Platzbedarf der Schwenkvorrichtung 14, im Speziellen des Parallelogrammgestänges 18, gering ist und es trotzdem möglich ist, sowohl sehr schmale Schalen 4, als auch sehr breite Schalen 4 ergreifen zu können, ohne an dem Greifersystem 12 Modifikationen vornehmen zu müssen. Damit steigt die Flexibilität und Rüstzeiten werden verringert.Based on Figures 4a, 4b and 4c the relationship between the movements of the transfer carriage 13 and the gripper arms 15 will be explained. Fig. 4a shows in plan view the gripper system 12 in the open position. During the closing movement of the gripper arms 15 for detecting the (not shown here) shells, the gripper arms 15 must maintain their position with respect to the transport direction R. During the pivoting movement of the parallelogram linkage 18, a relative movement of the gripper arms 15 relative to the transfer carriage 13 takes place. This relative movement is compensated by a movement of the transfer carriage 13. This means that the lifting drive 17 (see FIG. 3 ) during the closing movement of the gripper arms 15 with the pivot drive 19 (see FIG. 3 ) is coupled for example via a common control, so that such a closing movement of the gripper arms 15 is made possible. Preferably 19 servomotors are provided for the lifting drive 17 and the pivot drive. Furthermore show the FIGS. 4a and 4c in that the space requirement of the pivoting device 14, in particular the parallelogram linkage 18, is low and it is nevertheless possible to be able to grasp both very narrow shells 4 and very wide shells 4 without having to make modifications to the gripper system 12. This increases flexibility and set-up times are reduced.

Ebenso ist es denkbar, dass der Übergabeschlitten 13 und die Führungen 16 unterhalb des Sammelbands 6 vorgesehen sind. In den Figuren 1 bis 4c ist eine einspurige Schalenverschließmaschine 1 zum gleichzeitigen Verschließen von zwei Schalen 4 gezeigt. Die erfindungsgemäße Schalenverschließmaschine 1 ist ebenso als mehrspurige Schalenverschließmaschine 1 ausführbar und für jede beliebige Anzahl von Schalen 4 denkbar. It is also conceivable that the transfer carriage 13 and the guides 16 are provided below the collecting belt 6. In the FIGS. 1 to 4c For example, there is shown a single track tray closing machine 1 for concurrently closing two trays 4. The tray sealing machine 1 according to the invention can also be implemented as a multi-track tray closing machine 1 and conceivable for any number of trays 4.

Claims (9)

  1. Tray sealer (1) comprising a closing device (3), a collection belt (6), a discharge belt (7) and a gripper system (12), wherein said gripper system (12) comprises a transfer carriage (13), guides (16) for said transfer carriage (13), a linear actuator (17) for driving said transfer carriage (13) along said guides (16), at least two gripper arms (15), a pivot mechanism (14) for pivoting said gripper arms (15) and a pivot drive (19) for driving said pivot mechanism (14), wherein said pivot mechanism (14) comprises vertically disposed pivot axles (24) to move said gripper arms (15) relative to each other and in a plane parallel to a transport plane (E),
    characterized in that said pivot mechanism (14) comprises at least one parallelogram linkage (18) for each gripper arm (15).
  2. Tray sealer according to claim 1, characterized in that said pivot axles (24) are by a lever mechanism (25) coupled to each other such that said parallelogram linkages (18) can be moved synchronously.
  3. Tray sealer according to one of the preceding claims , characterized in that a parallelogram linkage (18) is connected to one end of a gripper arm (15).
  4. Tray sealer according to one of the preceding claims, characterized in that said transfer carriage (13) is drivable by said linear actuator (17) using a toothed belt drive (20).
  5. Tray sealer according to one of the preceding claims, characterized in that said pivot mechanism (14) is drivable by said pivot drive (19) using a first and a second shaft (21, 23).
  6. Tray sealer according to claim 5, characterized in that said vertically disposed pivot axles of said pivot mechanism (24) can be driven by a rotation of the shafts (21, 23) and a lever mechanism (25) provided on said transfer carriage (13).
  7. Tray sealer according to one of the preceding claims, characterized in that said guides (16) are provided downstream of said closing device (3) in a direction of transport (R) of said tray sealer (1).
  8. Tray sealer according to one of the preceding claims, characterized in that said guides (16) and said transfer carriage (13) are provided below said transport plane (E).
  9. Tray sealer according to one of the preceding claims, characterized in that said linear actuator (17) and/or said pivot drive (19) comprise a servo motor.
EP12006350.8A 2012-09-10 2012-09-10 Jacket closing machine Active EP2706012B1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
ES12006350.8T ES2524414T3 (en) 2012-09-10 2012-09-10 Cuvette closure machine
EP12006350.8A EP2706012B1 (en) 2012-09-10 2012-09-10 Jacket closing machine
EP13002149.6A EP2706013B1 (en) 2012-09-10 2013-04-24 Jacket closing machine
ES13002149.6T ES2529666T3 (en) 2012-09-10 2013-04-24 Cuvette closure machine
US14/020,810 US9650165B2 (en) 2012-09-10 2013-09-07 Tray sealer
CN201310405650.XA CN103662663B (en) 2012-09-10 2013-09-09 Dish sealer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12006350.8A EP2706012B1 (en) 2012-09-10 2012-09-10 Jacket closing machine

Publications (2)

Publication Number Publication Date
EP2706012A1 EP2706012A1 (en) 2014-03-12
EP2706012B1 true EP2706012B1 (en) 2014-11-05

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EP12006350.8A Active EP2706012B1 (en) 2012-09-10 2012-09-10 Jacket closing machine
EP13002149.6A Active EP2706013B1 (en) 2012-09-10 2013-04-24 Jacket closing machine

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EP13002149.6A Active EP2706013B1 (en) 2012-09-10 2013-04-24 Jacket closing machine

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US (1) US9650165B2 (en)
EP (2) EP2706012B1 (en)
CN (1) CN103662663B (en)
ES (2) ES2524414T3 (en)

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Also Published As

Publication number Publication date
EP2706013B1 (en) 2014-12-31
ES2529666T3 (en) 2015-02-24
US20140069054A1 (en) 2014-03-13
ES2524414T3 (en) 2014-12-09
US9650165B2 (en) 2017-05-16
CN103662663B (en) 2015-11-25
CN103662663A (en) 2014-03-26
EP2706012A1 (en) 2014-03-12
EP2706013A1 (en) 2014-03-12

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