EP2830956B1 - Verfahren und vorrichtung zum einführen von packungen in kartons - Google Patents

Verfahren und vorrichtung zum einführen von packungen in kartons Download PDF

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Publication number
EP2830956B1
EP2830956B1 EP13705725.3A EP13705725A EP2830956B1 EP 2830956 B1 EP2830956 B1 EP 2830956B1 EP 13705725 A EP13705725 A EP 13705725A EP 2830956 B1 EP2830956 B1 EP 2830956B1
Authority
EP
European Patent Office
Prior art keywords
carton
robot
holder
region
packs
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.)
Not-in-force
Application number
EP13705725.3A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2830956A1 (de
Inventor
Björn BRANDHORST
Frank Sachs
Andreas Neufeld
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.)
Focke and Co GmbH and Co KG
Original Assignee
Focke and Co 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 Focke and Co GmbH and Co KG filed Critical Focke and Co GmbH and Co KG
Publication of EP2830956A1 publication Critical patent/EP2830956A1/de
Application granted granted Critical
Publication of EP2830956B1 publication Critical patent/EP2830956B1/de
Not-in-force 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
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/50—Stacking one article, or group of articles, upon another before packaging
    • B65B35/52—Stacking one article, or group of articles, upon another before packaging building-up the stack from the bottom
    • 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
    • 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
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/108—Article support means temporarily arranged in the container
    • 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
    • B65B2220/00—Specific aspects of the packaging operation
    • B65B2220/16—Packaging contents into primary and secondary packaging
    • B65B2220/18—Packaging contents into primary and secondary packaging the primary packaging being bags the subsequent secondary packaging being rigid containers, e.g. cardboard box

Definitions

  • the invention relates to methods and devices for introducing objects into containers, in particular for filling (larger) cartons with packages, such as foil or soft packs.
  • the bags lie on a likewise inclined belt, from which they are off by the transversely movable slider and inserted into the carton.
  • the document US 5,778,640 also shows the introduction of packages in boxes.
  • the invention is concerned with an improvement, in particular, of the technology described above, such that with a higher performance optimum filling of containers or boxes with articles, in particular (film) packages, is possible.
  • the inventive method is characterized by the features of claim 1.
  • complex movements are provided for the (open) carton on the one hand and for the packs to be introduced on the other during the packing process.
  • the objects to be joined together - cardboard and packs - can be moved by individual handling devices or holders preferably in three coordinates (linear) and additionally - in the case of superimposed movement - can be rotated or pivoted about preferably three axes.
  • a gentle introduction of the packs into the carton and the production of complex packing patterns are accordingly effected by coordinated linear and / or rotational movements of holding members for the carton on the one hand and for the packs to be introduced on the other hand.
  • the organs are controlled via stored, adjustable or retrievable programs.
  • the packs can be detected alternatively by a holder or holding head in the transfer to the carton and handled by means of lifting and lowering.
  • the packages are inserted into the carton by pushing.
  • a lifting head for handling the packages is designed so that alternatively packs can be detected by means of suction air or by sliding (by the same lifting head) are movable.
  • a separate robot is used to handle the carton, namely to take over the empty carton from a carton infeed conveyor, for transfer to the packing station for carrying out the respectively required movements of the carton in the packing station and for depositing the filled carton for the removal thereof.
  • the handling of the boxes is solved in a special way.
  • a (linearly movable) conveying member transports the filled cardboard by pushing movement on a discharge conveyor. The same organ detects a subsequent empty carton and conveys it to the position for acceptance by the robot.
  • Further features of the invention relate to organs for opening or keeping open the carton during filling and to organs for detecting the empty cartons and the filled cartons by means of robots.
  • Fig. 1 and Fig. 2 show a preferred application example of the present technology, namely the filling of large-volume containers or boxes 10 with a plurality of individual objects, namely packs 11.
  • the latter may be formed as a bag or have a cuboid, presently flat shape.
  • the example of Fig. 1 relates to a package 11 with film wrapping, in particular for pulp products, such as sanitary napkins.
  • a (larger) number of packs 11 is to be accommodated in different formations in the carton 10 such that it is optimally filled.
  • the rectangular carton forms a bottom wall 12, lateral or upright longitudinal walls 13, 14, (smaller) transverse walls 15, 16 and an upper wall of longitudinal tabs 17, 18 and transverse tabs 19, 20.
  • a number of packs 11 are arranged in an upright position resting on the bottom wall 12, wherein the packs 11 of this group lie with one another with large-area pack sides.
  • Other packs 11 are also in an upright position, but arranged transversely to rest on the longitudinal wall 13.
  • flat packs 11 are positioned, which lie with the large-sized pack sides of the upright packages 11.
  • the basic structure of a device for introducing packages 11 into boxes 10 consists of a cardboard feeder 21, a package feeder 22, a packing station 23 and a cardboard station 24 for handling and removing the filled boxes 10.
  • the organs and units associated with the individual stations are provided with a Machine frame 25 connected.
  • Nuclear aggregates of the device are a handling device for the (empty and filled) cartons and another handling device for the packs 10. Both handling devices are designed so that on the one hand the cartons and on the other hand, the packages complex, coordinated movements during insertion of the packs 11 in the carton 10 can do. Both handling devices are presently designed as robots.
  • a first robot namely cardboard robot 26, is used to handle the cartons 10.
  • the carton robot 26 is in the present case rotatably mounted on an upper cross member 27 of the machine frame 25.
  • a downwardly directed support arm 28 is pivotally connected to a lower boom 29. This is therefore pivotable in the vertical direction and horizontal direction and also variable in length (telescope).
  • a trained in a special way cardboard holder 30 is attached at the free end of the boom 29 . This is connected via a support piece 31 pivotally connected to the end of the boom 29.
  • the packs 11 fed on a package conveyor 32 are picked up by an associated handling device and inserted into the ready-made carton 10.
  • a robot is provided, namely a packing robot 33.
  • the packing robot 33 is formed with two arms with a pivoting arm 35 and a cantilever arm 36 mounted thereon.
  • the arms 35, 36 are pivotable relative to each other and rotatable about vertical and horizontal axes, respectively.
  • a packing support is mounted for detecting and transporting the packs 11.
  • It is a specially designed head 37 (FIG. Fig. 13 ), each of which detects a pack 11 on a free upper side (large-area pack side), preferably by suction, and which takes over the packs 11 one after the other from the pack conveyor 32 and feeds a prepared carton 10 in the packing station 23.
  • the head is connected via a pivotable and rotatable support rod 38 with the boom 36. About the support rod 38, the control and the application of the head 37 can be done with suction.
  • the handling devices for boxes 10 and packs 11, that is, the carton robot 26 and the packing robot 33, work together in a coordinated manner, in particular in the area of the carton station 24 during the filling of a carton 10.
  • the carton robot 26 transports the (initially empty) carton 10 to Packing station 23, holds the carton 10 there and performs coordinated movements of the carton 10 during the packing process.
  • the carton holder 30 is formed so that the carton 10 in a region remote from the opening side region, in particular in the region of the bottom wall 12 and subsequent regions of the side walls, in particular longitudinal walls 13, 14 are detected outside.
  • the handling devices for the cartons 10 and packs 11 are preferably designed such that the carton holder 30 has several, in particular six degrees of freedom in the movement ( Fig. 12 ).
  • the head 37 of the packing robot 33 is also moved due to appropriate arrangement also. These are linear movements corresponding to three coordinates 39, 40 and rotation or pivoting movement along axes of rotation indicated by double arrows 41, 42.
  • the coordinates 39, 40 define movements along X-axes, Y-axes and Z-axes.
  • the movements of the boxes 10 on the one hand and the packs 11 on the other hand take place via a common, central control for both robots 26, 33.
  • the cartons 10 are fed in the area of the cardboard feed 21 by a carton conveyor 43 with successive part conveyors 44, 45 in the embodiment as a belt conveyor of the carton station 24.
  • the boxes 10 are largely folded up to the (upwardly directed) folding flaps 17..20.
  • the longitudinal tabs 17, 18 point in the conveying direction.
  • an empty carton is respectively taken over by the carton robot 26 or its carton holder 30. Due to the special design and operation of the carton holder 30, it is possible to position the (empty) carton 10 to be taken over by the relative movement in the working area of the (opened) carton holder 30.
  • the cardboard holder 30 is substantially U-shaped (in cross-section), with bottom-side holding members and upright side holding members. The arrangement is like this in that an empty carton can be inserted directly into the carton holder 30 while continuing the feeding movement following the carton conveyor 43. After receiving a carton through the carton holder retaining members thereof are adjusted to effectively capture the carton.
  • holding members 46, 47 are mounted on the carton holder 30, preferably the carton 10 in the holding position in the region of the bottom 12 and adjacent, upright cardboard walls - longitudinal walls 13, 14 - capture.
  • the holding members 46, 47 of the paperboard holder 30 have, on the one hand, mechanical supporting or guiding members and, on the other hand, suction holders which act on the outside of the box.
  • the thus formed cardboard holder is disposed on a boom of the carton robot 26, to a support piece 31 at the end of the boom 29 of the carton robot 26.
  • the rod-shaped support piece 31 has a (cuboid) end piece 48 to which the organs of the carton holder are attached.
  • the lateral holding members 46 are in a bottom wall 12 facing (lower) range of side walls - longitudinal walls 13, 14 - effective. Each formed as a unit lateral holding members 46 are slidably mounted on a common carrier (in the transverse direction), on a cross bar 50 which is connected to the end piece 48. Each holding member 46 is associated with a tubular or sleeve-shaped crosspiece 51, which is displaceable on the cross bar 50, and from an open position ( Fig. 10 , left) at a distance from the carton 10 in a holding position for detecting the carton ( Fig. 10 , Left).
  • the retaining elements 47 assigned to the bottom wall 12 are positioned on the edge side (to the bottom wall), that is to say adjacent to the side walls 13, 14.
  • the two holding members 47 are arranged on a carrier 52 - in the embodiment as a support arm.
  • the holding members 46, 47 have suction cups 54, 55 for detecting the box 10.
  • the bottom-side holding members 47 have a number of juxtaposed suckers 54, which are movable up and down by (pneumatic) cylinder 53, namely until it rests against the bottom wall 12 for Capture the carton.
  • the suction cups 54 can be acted upon by negative pressure when they contact the carton 10.
  • the lateral holding members 47 also have suction cups 55, which are mounted on transversely movable cylinders 56. These suckers 55 can be moved by the respective cylinder 56 from an initial position (FIG. Fig. 10 , left) into a holding position ( Fig. 10 , right) under installation on a side wall of the box 10 are driven. By applying negative pressure, a holding force is transferred to the carton.
  • movable guide members are mounted, which ensure the insertion and alignment of the carton 10 in or in the area of the cardboard holder 30.
  • These are rail-like, elongated guide profiles 57 on both sides of the box 10 (FIG. Fig. 10 ).
  • the guide profiles 57 which preferably consist of an angular sheet metal, each have an upright side leg 58 and a horizontal bottom leg 59.
  • the guide profiles 57 are connected to the transversely movable retaining members 46, ie with the guide pieces 51.
  • the guide profiles 57 are therefore with the suckers 55 from a retracted initial position ( Fig. 10 , left) in the adjustment position ( Fig. 10 , right) shifted.
  • the guide profiles 57 are provided with a funnel-shaped extension 60 (FIG. Fig. 11 ) Mistake.
  • the holding force is predominantly transmitted to the carton 10 by the suckers 54, 55. Conveniently, the greater holding force is generated in the region of the bottom wall 12.
  • Fig. 11 As can be seen, in the area of the bottom leg 59 several - five - suction cups 54 are arranged in the longitudinal direction of the box 10. In the area of the side walls 13, 14, two suckers 55 are arranged side by side (on a common carrier) in the present case.
  • the legs 58, 59 of the guide profile 57 have openings for the passage of the respective suckers 54, 55.
  • the horizontal bottom leg 59 are preferably arranged approximately in the plane of the carton conveyor 43 as a continuation of the same.
  • the supplied (empty) carton 10 is transferred from the carton robot 26 from the carton station 24 into the packing station 23 and held there ready for filling.
  • the open side of the carton is facing the packing robot 33 or its head 37 ( Fig. 7, Fig. 8 ).
  • the carton is held in a (variable) inclination.
  • packs 11 are deposited on the bottom wall 12 to form one or more stacks.
  • the packing robot 33 in each case detects a pack 11 (or several packs next to one another), holds it in particular in the area of large surfaces by means of suction air (FIG. Fig. 13 ) and immersed with the head 37 and (partially) with the boom 36 in the box 10 a.
  • packages 11 are inserted into the carton 10 so that they are directed with narrow sides to the bottom wall 12 and abut with the larger packing surfaces on side walls of the carton 10.
  • the packages 11 are inserted into the carton 10 by pushing.
  • the head 37 is formed so as to function as a slider.
  • a sliding strip 61 is arranged, which abuts against a (narrow) side surface of the package 11 for insertion ( Fig. 7 ).
  • the insertion movement is carried out by the movement of the head 37 (due to corresponding actuation of the packing robot 33).
  • the sliding strip 61 is arranged laterally on a support plate 62 of the head 37 and is dimensioned or arranged in height so that a free edge of the sliding strip 61 when detecting a pack 11 abuts against this.
  • the head 37 is provided on the free side of the support plate 62 with one or more suction members for detecting the package 11, in this case with a plate-shaped absorbent body 63 made of elastic material (foam) and preferably a plurality of suction holes (not shown).
  • the negative pressure for detecting a pack 11 is supplied to the absorbent body 63 via a (suction) line 64 and via the support plate 62.
  • the push bar is due to the arrangement as a support member when receiving a pack 11. Since this only in the outer sheath (upper Foil wall) is detected, there is an unfavorable deformation of the (unstable) pack 11.
  • the voltage applied to the packing 11 due to the relative position of the sliding strip 61 causes a compensation of the misalignment of the package eleventh
  • the packing station 23 can be equipped with an aid used in the insertion of packages 10, namely with a sliding plate 49.
  • This is arranged laterally next to the packing conveyor 32 in the packing station 23, as a continuation of the bearing surface for the sliding moving packing 11.
  • Die Sliding plate 49 extends substantially in the plane of the package conveyor 32 as a continuation, preferably into the area of the prepared carton 10 (FIG. Fig. 7 ).
  • the head 37 is preferably arranged at a short distance above the sliding plate 49 in the sense of a sliding movement.
  • the sliding plate 49 is - in the case of loading accordingly Fig. 8 - retractable.
  • the packing station 23 is associated with a flap holder 65 for fixing the closing tabs 17... 20 of the carton in the open position during the filling process.
  • the flap holder 65 is mounted on the machine frame 25, in an area above the working plane of the packing station 23 and mounted on a support profile 66 of the machine frame 25 - in the plane of the (upper) longitudinal member 34th
  • the flap holder 65 consists of a plurality of preferably movable members which fix an upwardly directed transverse tabs 19 and the two - in the present relative position - upright longitudinal tabs 17, 18 in a funnel-shaped open position.
  • a first, approximately central holding web 67 receives contact with the inside of the transverse tab 19 (FIG. Fig. 7 ).
  • the laterally positioned longitudinal tabs 17, 18 are associated with support webs 68 which are displaceable on a support rod 69, namely in the direction of each other or apart.
  • the two support webs 68 are moved away from an approximately central starting position in opposite directions, whereby the folding flaps 19, 20 in an open position accordingly Fig. 9 reach.
  • the transverse tab 19 is also held by the retaining web 67 in the open position.
  • the support webs 68 are displaceable with sleeve-like guides on the support rod 69 while adapting to the width of the carton 10.
  • the cardboard robot 26 also takes over the task of transporting the filled cardboard 10 out of the area of the packing station 23 over a partial route.
  • the filled carton 10 is (again) deposited by the carton robot 26 in the carton station 24 or held by the carton holder 30 in a staking position following the carton conveyor 43, namely at the end of the part conveyor 45.
  • the carton 10 is then - even with open closing tabs 17..20-deported from the area of the cardboard holder 30 and transferred to a discharge conveyor 70. This transports the carton 10 in the transverse direction to an outfeed conveyor 71, again transversely to the transport direction in the area of the discharge conveyor 70.
  • the subsequent to the carton station 24 discharge conveyor 70 is designed as a linear conveyor with an (angular) slide 72, the back and through a linear drive 73 is movable, wherein in a starting position ( Fig. 4 ) of the carton 10 in a driving position for the slider 72 passes.
  • Fig. 6 shows the opposite end position of the slider 72, in which the carton 10 is deposited on the discharge belt 71.
  • the carton 10 stands or rests on a (plate-shaped) underpass 74. On this, the carton 10 is transported in a sliding manner by the slide 72.
  • a special feature is the transport of boxes 10, namely the filled cardboard on the one hand and the subsequent empty carton on the other hand, in the area of the cardboard station 24.
  • the filled cardboard is moved out of the area of the cardboard holder 30 by a thrust member.
  • a subsequent (empty) carton 10 is inserted into the carton holder 30, here by the same organ.
  • An (angular) pusher 75 is located with a dog 76 in the area between two successive cartons.
  • At the acting as a slider leg 76 is on the side to be deported (filled) cardboard 10 side facing Support profile 77 arranged, which on the back of the box 10 - rear bulkhead 15 - plant receives.
  • the pusher 75 at the same time causes the transfer of the subsequent empty carton 10 to the prepared carton holder 30.
  • the pusher 75 and the transverse leg 76 has drivers for the subsequent carton 10, namely suction members 79, which point backwards with respect to the conveying direction a front wall of the box 10 - transverse wall 16 - get plant and this take by suction.
  • suction members 79 which point backwards with respect to the conveying direction a front wall of the box 10 - transverse wall 16 - get plant and this take by suction.
  • the relative to the relative movements of coordinated operation of the robot 26, 33 is applicable to the creation of complex packing formations, but also in the handling of packages and / or boxes of different dimensions and / or shapes, to which the positions of the carton on the one hand and the movements of the packs On the other hand, can be optimally adjusted during the packing process.
EP13705725.3A 2012-03-29 2013-02-22 Verfahren und vorrichtung zum einführen von packungen in kartons Not-in-force EP2830956B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012006278A DE102012006278A1 (de) 2012-03-29 2012-03-29 Verfahren und Vorrichtung zum Einführen von Packungen in Kartons
PCT/EP2013/000514 WO2013143637A1 (de) 2012-03-29 2013-02-22 Verfahren und vorrichtung zum einführen von packungen in kartons

Publications (2)

Publication Number Publication Date
EP2830956A1 EP2830956A1 (de) 2015-02-04
EP2830956B1 true EP2830956B1 (de) 2017-04-12

Family

ID=47748571

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13705725.3A Not-in-force EP2830956B1 (de) 2012-03-29 2013-02-22 Verfahren und vorrichtung zum einführen von packungen in kartons

Country Status (16)

Country Link
US (1) US9789983B2 (zh)
EP (1) EP2830956B1 (zh)
JP (1) JP6111318B2 (zh)
CN (1) CN104302549B (zh)
AR (1) AR090459A1 (zh)
CA (1) CA2868949A1 (zh)
CL (1) CL2014002573A1 (zh)
CO (1) CO7081151A2 (zh)
CR (1) CR20140442A (zh)
DE (1) DE102012006278A1 (zh)
MX (1) MX351796B (zh)
PE (1) PE20142415A1 (zh)
PL (1) PL2830956T3 (zh)
RU (1) RU2608715C2 (zh)
WO (1) WO2013143637A1 (zh)
ZA (1) ZA201407748B (zh)

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DE102013105002A1 (de) * 2013-05-15 2014-11-20 Focke & Co. (Gmbh & Co. Kg) Verfahren zur Handhabung von Behältern, insbesondere Kartons, für Gruppen von Gegenständen, insbesondere Packungen
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MX2014011509A (es) 2015-04-08
CA2868949A1 (en) 2013-10-03
DE102012006278A1 (de) 2013-10-02
EP2830956A1 (de) 2015-02-04
WO2013143637A1 (de) 2013-10-03
PL2830956T3 (pl) 2017-09-29
MX351796B (es) 2017-10-30
JP2015514644A (ja) 2015-05-21
AR090459A1 (es) 2014-11-12
CR20140442A (es) 2015-02-06
CO7081151A2 (es) 2014-10-10
CN104302549A (zh) 2015-01-21
JP6111318B2 (ja) 2017-04-05
CN104302549B (zh) 2016-06-15
PE20142415A1 (es) 2015-01-28
RU2608715C2 (ru) 2017-01-23
US9789983B2 (en) 2017-10-17
CL2014002573A1 (es) 2015-06-05
ZA201407748B (en) 2015-09-30
US20150013277A1 (en) 2015-01-15

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