EP2996944A1 - Method for handling containers, in particular cardboard boxes, for groups of objects, in particular packages - Google Patents

Method for handling containers, in particular cardboard boxes, for groups of objects, in particular packages

Info

Publication number
EP2996944A1
EP2996944A1 EP14720900.1A EP14720900A EP2996944A1 EP 2996944 A1 EP2996944 A1 EP 2996944A1 EP 14720900 A EP14720900 A EP 14720900A EP 2996944 A1 EP2996944 A1 EP 2996944A1
Authority
EP
European Patent Office
Prior art keywords
containers
objects
container
handling device
handling
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
EP14720900.1A
Other languages
German (de)
French (fr)
Other versions
EP2996944B1 (en
Inventor
Andreas Prahm
Dennis Schmidt
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 EP2996944A1 publication Critical patent/EP2996944A1/en
Application granted granted Critical
Publication of EP2996944B1 publication Critical patent/EP2996944B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • 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
    • B65B43/54—Means for supporting containers or receptacles during the filling operation
    • B65B43/56—Means for supporting containers or receptacles during the filling operation movable stepwise to position container or receptacle for the reception of successive increments of contents
    • 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
    • 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
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • 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
    • 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
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/003—Packaging lines, e.g. general layout

Definitions

  • the invention relates to a method for handling containers, in particular boxes, for groups of articles, in particular packages, wherein the articles are successively introduced into the container and deposited there in an ordered formation, and wherein the containers each by a handling device, in particular a cardboard robot Furthermore, the invention relates to a device according to the preamble of claim 8. Methods and devices of the type mentioned are known from practice.
  • the invention has for its object to further develop the known methods and devices.
  • a method according to the invention has the features of claim 1. It is therefore provided that a plurality of containers are kept ready at the same time by the handling device for filling with objects.
  • This solution has the particular advantage that the filling process is faster overall, since a smaller number of paperboard exchanges is required.
  • This solution is also more cost effective than the obvious solution of using multiple handling equipment, each handling a box at a time. Although this could also be the Increase throughput, but this would require a corresponding number of additional handling facilities.
  • Another special feature may consist in that the containers are held ready for detection by means of the handling device with a distance from each other, wherein the distance of the container to each other while keeping the distance of the container to each other in the subsequent filling corresponds.
  • the containers are kept ready to be grasped by the handling device by pneumatic gripping members, the containers are preferably first dammed and each detected by a gripping member and then brought by appropriate movement of at least one gripping member to the distance to each other.
  • At least one container is detected on an inner wall by a gripping member, and that the gripping member for spacing the container from an adjacent container by means of the gripping member is displaced laterally, and that the gripping member during subsequent withdrawal from the container first spaced from the inner wall and subsequently pulled out.
  • Another special feature may consist in that the objects are fed on a conveyor belt and then pushed off at an angle, in particular transversely on a cross conveyor, and that the objects are kept ready by abutment against stops in the region of the cross conveyor at a distance from each other, the distance of the container equivalent.
  • at least one stop is arranged stationary, and that at least one further stop is movably arranged and is moved in the conveying path of the objects in order to position an object at a predetermined distance to another object, which on the stationary stop is applied.
  • each cross conveyor belt is assigned a respective handling device, and the handling devices alternately holding containers for filling and place them in succession on a filled cardboard conveyor.
  • the handling device comprises means, in particular one or more gripping heads for simultaneously holding a plurality of containers for preferably simultaneous filling with objects.
  • one or more cross conveyor belts for laterally conveying the objects
  • gripping means for holding a plurality of containers for detection by a handling device.
  • each cross conveyor belt extends on both sides of the feed belt, and that each cross conveyor belt is associated with a handling device for holding each of a plurality of containers for simultaneously filling the same with objects. It is preferably provided that both handling devices remove the containers in pairs one after the other from a central cardboard station.
  • a handling device for the objects for transporting the same is provided in the container, in particular a packing robot, wherein preferably the objects are inserted by means of the handling device via a projecting into the prepared container guide member, wherein preferably insertion aids are provided for keeping open folding flaps of the containers.
  • gripping heads of the handling device for the containers grip a plurality of containers at the same time and handle them for filling.
  • the or each handling device for the objects is set up for the simultaneous handling of a plurality of objects, wherein the number of simultaneously handled objects corresponds to the number of simultaneously held containers.
  • Fig. 1 is a plan view of a device for packaging
  • FIG. 6 shows a detail of the device according to the identification in FIG. 1,
  • Fig. 7 is a vertical section through the device along section line
  • the illustrated embodiment is concerned with the filling of containers with a plurality of articles.
  • the containers are boxes 10.
  • the items in the exemplary embodiment shown are packs 1. These items may, for example, be in the form of a bag and have a rectangular, preferably flat shape.
  • the objects are to be accommodated in the container so that it is optimally filled. Thereafter, the containers are closed and transported away.
  • Essential components of the device are a conveyor belt 12 for empty, unfilled boxes 10, a conveyor belt 13 for packages 1 1, two cross conveyor belts 14 for the packages 1 1, handling devices for the packages 11 in the form of packing robots 15, handling devices for boxes 10 in the form of Carton robots 16 and a cardboard station 17 and a discharge conveyor 18 for filled cartons 10.
  • Individual units are arranged within a machine frame 19 and connected thereto.
  • Nuclear assemblies of the device are the handling devices for the boxes 10 and for the packs 11. The handling devices are designed so that on the one hand the boxes 10 and on the other hand the packs 1 1 can perform complex, coordinated movements during insertion of the packs 11 into the carton 10.
  • both handling devices are robots formed, which have a plurality of support arms or arms and thus in the vertical direction and horizontal direction are pivotable and also variable in length.
  • the carton robots 6 also have a gripping head 20 with which the cartons 10 can be grasped and kept ready for filling.
  • a special feature of the cardboard robot 16 is that they are each designed to handle a plurality of boxes 10 at the same time. It is conceivable, for example, that the carton robots 16 each have a gripping head 20 which can simultaneously grasp a plurality of cartons 10 or that the carton robots
  • the cardboard robots 16 are set up for the simultaneous handling of two boxes each. It is also conceivable, however, a larger number of boxes that are handled simultaneously.
  • the packing robot 15 are set up such that in each case a plurality of packages 11 are handled simultaneously, namely transferred to the prepared boxes 10.
  • a double slide 21 is attached to the head of the packing robot 15, with which two packs 11 can be introduced into the carton 10 at the same time.
  • the number of slides of course, be greater according to the number of 10 to be filled boxes.
  • the feed belt 12 for the boxes 10 to be filled runs centrally through the machine frame 19 to the board station 17. Following the board station
  • the discharge conveyor 18 is arranged, which conveys the filled boxes 10 out of the machine frame 19.
  • Feed conveyor 12 and discharge conveyor 18 run in the present case in an axis which divides the machine frame 19 in two halves.
  • the feed conveyor 13 extends for the packs 11.
  • the feed conveyor 13 ends with (a small distance) above the Cardboard station 17.
  • the conveyor belt 13 is followed on both sides by a cross conveyor belt 14, which transport the packages 11 in the direction of a packing robot 15.
  • a transverse conveyor 22 is arranged above the feed conveyor 13, on the circumference of which drivers 23 are arranged for the transverse removal of the packs 11.
  • the individually and at a distance successively supplied packs 1 1 are distributed in each case on the two transverse conveyor belts 14. So that two packs 11 can be detected simultaneously by a double slide 21 of a packing robot 15, the packs 11 are stopped in predetermined positions. This is done by means of a fixed stop 24 and a slide stop 25 arranged in front of it.
  • the fixed stop 24 is arranged stationary and stationary, so that a pack 11 is transported against the fixed stop 24 during transport along the transverse conveyor belt 14 and is kept ready for the double slide 21.
  • the slide stop 25, however, is moved after passing through a pack 11 in the transport path of the packs 11 on the cross conveyor belt 14, so that a subsequent pack 11 can be stopped by the slide stop 25.
  • insertion aids 26 are used, which keep the folding tabs of the cartons 10 open.
  • the packs 11 are pushed into the boxes 10 via an insertion tongue 27, the insertion tongue 27 bridging the distance between the cross conveyor 14 and the boxes 10.
  • Figs. 5-7 The details of feeding the packages 11 into the boxes 10 is shown in Figs. 5-7. From Fig. 6 can also be seen that at the end of Zu specialbands 13, a further fixed stop 28 is provided against which the Packs 11 at the end of the feed conveyor 13 abut before they are transported laterally through the cross conveyor 22.
  • a further special feature relates to the process of keeping cartons 10 ready to be picked up by a carton robot 16. Storing takes place in an area of the carton station 17, namely at the end of the feed conveyor 12. With the help of gripping members 29, 30, two cartons 10 are spaced apart from one another held that they can be detected by the gripping head 20 of the carton robot 16.
  • the two gripping members 29, 30 are mounted displaceably along a linear axis 31. More precisely, a first gripping member 29 is mounted on a carriage 32 in the longitudinal direction of the linear axis 31 at this movable. The second gripping member 30 in turn mounted on a slide 33 in the longitudinal direction of the linear axis 31 on the carriage 32. In addition, the gripping member 30 is movably mounted on the carriage 33 along a vertical axis.
  • the gripping member 30 For feeding two boxes 10 into the cardboard station 17, the gripping member 30 is first lifted, so that a first carton 10 can be moved along the feed belt 12 against the gripping member 29. At this side walls of the carton 10 are held by vacuum on suction members 34. Thereafter, another box 10 is transported to the cardboard station 17 until it abuts against the already held by the gripping member 29 carton 10 and rests against this. Then, the second gripping member 30 is lowered in the vertical direction, so that a suction member 34 of the gripping member 30 is first moved into the carton 10 and then against an inner wall thereof.
  • the two boxes 10 are brought into the cardboard station 17 at a defined distance from each other, so that the boxes 10 can be detected by the gripping head 20 of the carton robot 16.
  • the distance in which the boxes 10 must be kept ready also corresponds to the distance between the individual slides of the double slide 21 when filling the boxes 10th
  • the spacing of the boxes 10 is achieved by moving the gripping member 30 along the linear axis 31 until the predetermined distance between the boxes 10 has been established. Thereafter, the boxes 0 are detected by the gripping head 20 of the carton robot 16 and turned off the vacuum, so that the boxes 10 are no longer held by the suction members 34, but only by the gripping head 20.
  • the gripping member 30 is pulled out of the box 10 and the cartons 10 are moved simultaneously through the carton robot 16 for filling.
  • the boxes 10 are parked by the cardboard robot 16 on the discharge belt 18 in the area of the cardboard station 17 and transported away.
  • Both carton robots 16 work alternately so that 10 collisions are avoided when picking up the empty boxes 10 or when settling the filled boxes.
  • the structure of the device does not necessarily have to be double-tracked with two cardboard robots 16 and two packing robots 15 each. It is also conceivable a one-lane operation of the device. Also conceivable are variants with a different number of packing robots 15 and cardboard robots 16, for example as a function of the performance of the handling devices or the complexity of the packaging process.

Abstract

The invention relates to a method for handling containers, in particular cardboard boxes (10), for groups of objects, in particular packages (11), wherein the objects are inserted into the container one after another and are placed into an orderly formation therein, and wherein the containers are all kept ready by a handling device, in particular a cardboard robot (16), for insertion of the objects. The invention is characterised in that a plurality of containers are simultaneously kept ready by the handling device in order to be filled with objects.

Description

Verfahren zur Handhabung von Behältern, insbesondere Kartons, für Gruppen von Gegenständen, insbesondere Packungen  Method of handling containers, in particular boxes, for groups of articles, in particular packages
Beschreibung description
Die Erfindung betrifft ein Verfahren zur Handhabung von Behältern, insbesondere Kartons, für Gruppen von Gegenständen, insbesondere Packungen, wobei die Gegenstände nacheinander in den Behälter eingeführt und dort in einer geordneten Formation abgesetzt werden, und wobei die Behälter jeweils durch eine Handhabungseinrichtung, insbesondere einen Kartonroboter, zum Einführen der Gegenstände bereitgehalten werden, gemäß dem Oberbegriff des Anspruchs 1. Weiterhin betrifft die Erfindung eine Vorrichtung gemäß dem Oberbegriff des Anspruchs 8. Verfahren und Vorrichtungen der eingangs genannten Art sind aus der Praxis bekannt. The invention relates to a method for handling containers, in particular boxes, for groups of articles, in particular packages, wherein the articles are successively introduced into the container and deposited there in an ordered formation, and wherein the containers each by a handling device, in particular a cardboard robot Furthermore, the invention relates to a device according to the preamble of claim 8. Methods and devices of the type mentioned are known from practice.
Der Erfindung liegt die Aufgabe zugrunde die bekannten Verfahren und Vorrichtungen weiterzuentwickeln. The invention has for its object to further develop the known methods and devices.
Zur Lösung dieser Aufgabe weist ein erfindungsgemäßes Verfahren die Merkmale des Anspruchs 1 auf. Es ist demnach vorgesehen, dass jeweils mehrere Behälter gleichzeitig durch die Handhabungseinrichtung zum Befüllen mit Gegenständen bereitgehalten werden. To solve this problem, a method according to the invention has the features of claim 1. It is therefore provided that a plurality of containers are kept ready at the same time by the handling device for filling with objects.
Diese Lösung hat insbesondere den Vorteil, dass der Befüllvorgang insgesamt schneller abläuft, da eine geringere Anzahl an Kartonwechselvorgängen erforderlich ist. Diese Lösung ist zudem auch kostengünstiger als die naheliegende Lösung des Einsatzes mehrerer Handhabungseinrichtungen, die jeweils einen Karton zur Zeit handhaben. Hierdurch ließe sich zwar auch der Durchsatz erhöhen, jedoch wäre hierzu eine entsprechende Anzahl zusätzlicher Handhabungseinrichtungen erforderlich. This solution has the particular advantage that the filling process is faster overall, since a smaller number of paperboard exchanges is required. This solution is also more cost effective than the obvious solution of using multiple handling equipment, each handling a box at a time. Although this could also be the Increase throughput, but this would require a corresponding number of additional handling facilities.
Eine weitere Besonderheit kann darin bestehen, dass die Behälter zum Erfassen mittels der Handhabungseinrichtung mit Abstand zueinander bereitgehalten werden, wobei der Abstand der Behälter zueinander beim Bereithalten dem Abstand der Behälter zueinander bei der nachfolgenden Befüllung entspricht. Another special feature may consist in that the containers are held ready for detection by means of the handling device with a distance from each other, wherein the distance of the container to each other while keeping the distance of the container to each other in the subsequent filling corresponds.
Vorzugsweise kann vorgesehen sein, dass die Behälter beim Bereithalten zum Erfassen durch die Handhabungseinrichtung durch pneumatisch arbeitende Greiforgane gehalten werden, wobei die Behälter vorzugsweise zunächst aufgestaut und jeweils durch ein Greiforgan erfasst werden und danach durch entsprechende Bewegung mindestens eines Greiforgans auf den Abstand zueinander gebracht werden. Preferably, it can be provided that the containers are kept ready to be grasped by the handling device by pneumatic gripping members, the containers are preferably first dammed and each detected by a gripping member and then brought by appropriate movement of at least one gripping member to the distance to each other.
Gemäß einem bevorzugten Ausführungsbeispiel ist vorgesehen, dass wenigstens ein Behälter an einer Innenwandung durch ein Greiforgan erfasst wird, und dass das Greiforgan zum Beabstanden des Behälters von einem benachbarten Behälter mittels des Greiforgans seitlich verschoben wird, und dass das Greiforgan beim nachfolgenden Herausziehen aus dem Behälter zunächst von der Innenwandung beabstandet und nachfolgend herausgezogen wird. According to a preferred embodiment it is provided that at least one container is detected on an inner wall by a gripping member, and that the gripping member for spacing the container from an adjacent container by means of the gripping member is displaced laterally, and that the gripping member during subsequent withdrawal from the container first spaced from the inner wall and subsequently pulled out.
Eine weitere Besonderheit kann darin bestehen, dass die Gegenstände auf einem Zuförderband zugeführt und dann winklig, insbesondere quer auf einem Querförderband abgeschoben werden, und dass die Gegenstände durch Anlage an Anschlägen im Bereich des Querförderbands mit einem Abstand zueinander bereitgehalten werden, der dem Abstand der Behälter entspricht. Gemäß einer bevorzugten Weiterbildung ist vorgesehen, dass wenigstens ein Anschlag ortsfest angeordnet ist, und dass wenigstens ein weiterer Anschlag beweglich angeordnet ist und in den Förderweg der Gegenstände bewegt wird, um einen Gegenstand in einem vorgegebenen Abstand zu einem anderen Gegenstand zu positionieren, der an dem ortsfesten Anschlag anliegt. In einer besonders bevorzugten Ausgestaltung des Verfahrens ist vorgesehen, dass die Gegenstände auf einem zentralen Zuförderband zugeführt werden und auf zwei Querförderbänder abgeschoben und von dort in die Behälter eingeführt werden, wobei jedem Querförderband jeweils eine Handhabungsvorrichtung zugeordnet ist, und die Handhabungsvorrichtungen abwechselnd Behälter zum Befüllen bereithalten und diese nacheinander auf einer Fördereinrichtung für befüllte Kartons absetzen. Another special feature may consist in that the objects are fed on a conveyor belt and then pushed off at an angle, in particular transversely on a cross conveyor, and that the objects are kept ready by abutment against stops in the region of the cross conveyor at a distance from each other, the distance of the container equivalent. According to a preferred embodiment it is provided that at least one stop is arranged stationary, and that at least one further stop is movably arranged and is moved in the conveying path of the objects in order to position an object at a predetermined distance to another object, which on the stationary stop is applied. In a particularly preferred embodiment of the method is provided that the objects are fed to a central feed conveyor and deported to two cross conveyor belts and inserted from there into the container, each cross conveyor belt is assigned a respective handling device, and the handling devices alternately holding containers for filling and place them in succession on a filled cardboard conveyor.
Eine erfindungsgemäße Vorrichtung zur Lösung der eingangs genannten Aufgabe weist die Merkmale des Anspruchs 1 auf. Es ist demnach vorgesehen, dass die Handhabungseinrichtung Mittel, insbesondere einen oder mehrere Greifköpfe zum gleichzeitigen Bereithalten mehrerer Behälter zum vorzugsweise gleichzeitigen Befüllen mit Gegenständen aufweist. An inventive device for solving the above-mentioned problem has the features of claim 1. It is therefore provided that the handling device comprises means, in particular one or more gripping heads for simultaneously holding a plurality of containers for preferably simultaneous filling with objects.
Gemäß einer bevorzugten Ausführungsform der Vorrichtung sind folgende Merkmale vorgesehen: According to a preferred embodiment of the device, the following features are provided:
a) ein vorzugsweise zentrales Zuförderband zum Zuführen der Gegenstände, a) a preferably central conveyor belt for feeding the articles,
b) im Anschluss an das Zuförderband ein oder mehrere Querförderbänder zum seitlichen Abfördern der Gegenstände, b) following the feed belt, one or more cross conveyor belts for laterally conveying the objects,
c) Anschläge im Bereich der Querförderbänder zum Abstoppen der Gegenstände in einem Abstand zueinander, der dem Abstand zwischen den von der Handhabungseinrichtung bereitgehaltenen Behältern entspricht, c) stops in the region of the cross conveyor belts for stopping the objects at a distance from one another which corresponds to the distance between the containers kept ready by the handling device,
d) Greiforgane zum Bereithalten mehrerer Behälter zum Erfassen durch eine Handhabungseinrichtung. d) gripping means for holding a plurality of containers for detection by a handling device.
Gemäß einer vorteilhaften Ausführungsform kann vorgesehen sein, dass sich zwei Querförderbänder beiderseits des Zuförderbands erstrecken, und dass jedem Querförderband eine Handhabungseinrichtung zum Bereithalten von jeweils mehreren Behältern zum gleichzeitigen Befüllen derselben mit Gegenständen zugeordnet ist. Vorzugsweise ist vorgesehen, dass beide Handhabungseinrichtungen die Behälter jeweils paarweise nacheinander von einer zentralen Kartonstation entnehmen. Eine weitere Besonderheit kann darin bestehen, dass im Bereich des oder jedes Querförderbands eine Handhabungseinrichtung für die Gegenstände zum Transport derselben in die Behälter vorgesehen ist, insbesondere ein Packungsroboter, wobei vorzugsweise die Gegenstände mittels der Handhabungseinrichtung über ein in die bereitgehaltenen Behälter hineinragendes Leitorgan eingeschoben werden, wobei vorzugsweise Einführhilfen zum Offenhalten von Faltlappen der Behälter vorgesehen sind. According to an advantageous embodiment it can be provided that two transverse conveyor belts extend on both sides of the feed belt, and that each cross conveyor belt is associated with a handling device for holding each of a plurality of containers for simultaneously filling the same with objects. It is preferably provided that both handling devices remove the containers in pairs one after the other from a central cardboard station. Another special feature may be that in the region of the or each cross conveyor belt a handling device for the objects for transporting the same is provided in the container, in particular a packing robot, wherein preferably the objects are inserted by means of the handling device via a projecting into the prepared container guide member, wherein preferably insertion aids are provided for keeping open folding flaps of the containers.
Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass Greifköpfe der Handhabungseinrichtung für die Behälter mehrere Behälter gleichzeitig greifen und zur Befüllung handhaben. According to a preferred embodiment, it is provided that gripping heads of the handling device for the containers grip a plurality of containers at the same time and handle them for filling.
Gemäß einer weiteren bevorzugten Ausführungsform ist vorgesehen, dass die oder jede Handhabungseinrichtung für die Gegenstände zur gleichzeitigen Handhabung mehrerer Gegenstände eingerichtet ist, wobei die Anzahl der gleichzeitig gehandhabten Gegenstände der Anzahl der gleichzeitig bereitgehaltenen Behälter entspricht. According to a further preferred embodiment, it is provided that the or each handling device for the objects is set up for the simultaneous handling of a plurality of objects, wherein the number of simultaneously handled objects corresponds to the number of simultaneously held containers.
Weitere Besonderheiten ergeben sich aus den Unteransprüchen im Übrigen, der nachfolgenden Beschreibung sowie der Zeichnung eines bevorzugten Ausführungsbeispiels. In dieser zeigen: Other features emerge from the dependent claims, moreover, the following description and the drawing of a preferred embodiment. In this show:
Fig. 1 eine Draufsicht auf eine Vorrichtung zum Verpacken von Fig. 1 is a plan view of a device for packaging
Gegenständen in Kartons, Fig. 2 einen Vertikalschnitt durch die Vorrichtung entlang Schnittlinie II- 2 in a vertical section through the device along section line II-
II in Fig. 1 , II in Fig. 1,
Fig. 3 und 4 eine Einzelheit der Vorrichtung gemäß Kennzeichnung in Fig. 2, Fig. 5 einen Vertikalschnitt durch die Vorrichtung entlang Schnittlinie V-3 and 4 a detail of the device according to identification in Fig. 2, 5 is a vertical section through the device along section line V-
V in Fig. 1 , V in Fig. 1,
Fig. 6 eine Einzelheit der Vorrichtung gemäß Kennzeichnung in Fig. 1 , 6 shows a detail of the device according to the identification in FIG. 1,
Fig. 7 einen Vertikalschnitt durch die Vorrichtung entlang Schnittlinie Fig. 7 is a vertical section through the device along section line
Vll-Vll in Fig. 6.  VII-VII in FIG. 6.
Das gezeigte Ausführungsbeispiel befasst sich mit der Befüllung von Behältern mit einer Mehrzahl von Gegenständen. Vorzugsweise handelt es sich bei den Behältern um Kartons 10. Bei den Gegenständen handelt es sich im gezeigten Ausführungsbeispiel um Packungen 1. Diese können beispielsweise als Beutel ausgebildet sein und eine quaderförmige, vorzugsweise flache Form aufweisen. Die Gegenstände sind derart im Behälter unterzubringen, dass dieser optimal gefüllt ist. Danach werden die Behälter verschlossen und abtransportiert. The illustrated embodiment is concerned with the filling of containers with a plurality of articles. Preferably, the containers are boxes 10. The items in the exemplary embodiment shown are packs 1. These items may, for example, be in the form of a bag and have a rectangular, preferably flat shape. The objects are to be accommodated in the container so that it is optimally filled. Thereafter, the containers are closed and transported away.
Nachfolgend bezieht sich die Beschreibung des bevorzugten Ausführungsbeispiels auf die Begriffe Karton 10 und Packung 1 . Es versteht sich, dass diese synonym für die Oberbegriffe Behälter bzw. Gegenstand genutzt werden. Hereinafter, the description of the preferred embodiment refers to the terms box 10 and box 1. It is understood that these are used synonymously for the generic terms container or object.
Wesentliche Bestandteile der Vorrichtung sind ein Zuförderband 12 für leere, unbefüllte Kartons 10, ein Zuförderband 13 für Packungen 1 1 , zwei Querförderbänder 14 für die Packungen 1 1 , Handhabungseinrichtungen für die Packungen 11 in Form von Packungsrobotern 15, Handhabungseinrichtungen für Kartons 10 in Form von Kartonrobotern 16 sowie eine Kartonstation 17 und ein Abförderband 18 für befüllte Kartons 10. Einzelne Aggregate sind innerhalb eines Maschinengestells 19 angeordnet bzw. mit diesem verbunden. Kernaggregate der Vorrichtung sind die Handhabungsgeräte für die Kartons 10 sowie für die Packungen 11. Die Handhabungsgeräte sind so ausgebildet, dass einerseits die Kartons 10 und andererseits die Packungen 1 1 komplexe, aufeinander abgestimmte Bewegungen beim Einführen der Packungen 11 in den Karton 10 ausführen können. Hierzu sind beide Handhabungsgeräte als Roboter ausgebildet, die über mehrere Tragarme bzw. Ausleger verfügen und somit in Vertikalrichtung und Horizontalrichtung schwenkbar und darüber hinaus längenveränderlich sind. Die Kartonroboter 6 weisen zudem einen Greifkopf 20 auf, mit dem die Kartons 10 erfasst und zum Befüllen bereitgehalten werden können. Essential components of the device are a conveyor belt 12 for empty, unfilled boxes 10, a conveyor belt 13 for packages 1 1, two cross conveyor belts 14 for the packages 1 1, handling devices for the packages 11 in the form of packing robots 15, handling devices for boxes 10 in the form of Carton robots 16 and a cardboard station 17 and a discharge conveyor 18 for filled cartons 10. Individual units are arranged within a machine frame 19 and connected thereto. Nuclear assemblies of the device are the handling devices for the boxes 10 and for the packs 11. The handling devices are designed so that on the one hand the boxes 10 and on the other hand the packs 1 1 can perform complex, coordinated movements during insertion of the packs 11 into the carton 10. For this purpose, both handling devices are robots formed, which have a plurality of support arms or arms and thus in the vertical direction and horizontal direction are pivotable and also variable in length. The carton robots 6 also have a gripping head 20 with which the cartons 10 can be grasped and kept ready for filling.
Eine Besonderheit der Kartonroboter 16 besteht darin, dass diese jeweils dazu ausgebildet sind mehrere Kartons 10 gleichzeitig zu handhaben. Denkbar ist beispielsweise, dass die Kartonroboter 16 jeweils einen Greifkopf 20 aufweisen, der mehrere Kartons 10 gleichzeitig erfassen kann oder dass die KartonroboterA special feature of the cardboard robot 16 is that they are each designed to handle a plurality of boxes 10 at the same time. It is conceivable, for example, that the carton robots 16 each have a gripping head 20 which can simultaneously grasp a plurality of cartons 10 or that the carton robots
16 jeweils mehrere Greifköpfe 20 aufweisen, die jeweils einen Karton 10 erfassen. 16 each have a plurality of gripping heads 20, each detecting a carton 10.
Im gezeigten Ausführungsbeispiel sind die Kartonroboter 16 zur gleichzeitigen Handhabung von jeweils zwei Kartons eingerichtet. Denkbar ist aber auch eine größere Anzahl an Kartons, die gleichzeitig gehandhabt werden. In the exemplary embodiment shown, the cardboard robots 16 are set up for the simultaneous handling of two boxes each. It is also conceivable, however, a larger number of boxes that are handled simultaneously.
Im vorliegenden Fall sind auch die Packungsroboter 15 derart eingerichtet, dass jeweils mehrere Packungen 11 gleichzeitig gehandhabt werden, nämlich an die bereitgehaltenen Kartons 10 überführt werden. Im vorliegenden Fall ist am Kopf der Packungsroboter 15 jeweils ein Doppelschieber 21 angebracht, mit dem gleichzeitig zwei Packungen 11 in den Karton 10 eingeführt werden können. Auch hier kann die Anzahl der Schieber natürlich entsprechend der Anzahl der zu befüllenden Kartons 10 größer sein. In the present case, the packing robot 15 are set up such that in each case a plurality of packages 11 are handled simultaneously, namely transferred to the prepared boxes 10. In the present case, a double slide 21 is attached to the head of the packing robot 15, with which two packs 11 can be introduced into the carton 10 at the same time. Again, the number of slides, of course, be greater according to the number of 10 to be filled boxes.
Das Zuförderband 12 für die zu befüllenden Kartons 10 verläuft zentral durch das Maschinengestell 19 bis zur Kartonstation 17. Im Anschluss an die KartonstationThe feed belt 12 for the boxes 10 to be filled runs centrally through the machine frame 19 to the board station 17. Following the board station
17 ist das Abförderband 18 angeordnet, welches die befüllten Kartons 10 aus dem Maschinengestell 19 herausfördert. Zuförderband 12 und Abförderband 18 verlaufen dabei im vorliegenden Fall in einer Achse, die das Maschinengestell 19 in zwei Hälften aufteilt. 17, the discharge conveyor 18 is arranged, which conveys the filled boxes 10 out of the machine frame 19. Feed conveyor 12 and discharge conveyor 18 run in the present case in an axis which divides the machine frame 19 in two halves.
Oberhalb des Zuförderbands 12 verläuft das Zuförderband 13 für die Packungen 11. Das Zuförderband 13 endet mit (geringem Abstand) oberhalb der Kartonstation 17. An das Zuförderband 13 schließt sich zu beiden Seiten jeweils ein Querförderband 14 an, welche die Packungen 1 1 in Richtung eines Packungsroboters 15 transportieren. Um die Packungen 11 vom Zuförderband 13 auf eines der Querförderbänder 14 abzuschieben ist oberhalb des Zuförderbands 13 ein Querförderer 22 angeordnet, an dessen Umfang Mitnehmer 23 zum Querabschub der Packungen 1 1 angeordnet sind. Above the feed conveyor 12, the feed conveyor 13 extends for the packs 11. The feed conveyor 13 ends with (a small distance) above the Cardboard station 17. The conveyor belt 13 is followed on both sides by a cross conveyor belt 14, which transport the packages 11 in the direction of a packing robot 15. In order to deport the packs 11 from the feed conveyor 13 onto one of the transverse conveyor belts 14, a transverse conveyor 22 is arranged above the feed conveyor 13, on the circumference of which drivers 23 are arranged for the transverse removal of the packs 11.
Die einzeln und mit Abstand hintereinander zugeführten Packungen 1 1 werden jeweils auf die beiden Querförderbänder 14 verteilt. Damit zwei Packungen 11 gleichzeitig von einem Doppelschieber 21 eines Packungsroboters 15 erfasst werden können, werden die Packungen 11 in vorgegebenen Positionen gestoppt. Dieses erfolgt mittels eines Festanschlags 24 sowie eines davor angeordneten Schiebeanschlags 25. Der Festanschlag 24 ist ortsfest und feststehend angeordnet, sodass eine Packung 11 beim Transport entlang des Querförderbands 14 gegen den Festanschlag 24 transportiert wird und dort positionsgerecht für den Doppelschieber 21 bereitgehalten wird. Der Schiebeanschlag 25 hingegen wird nach Durchlauf einer Packung 11 in den Transportweg der Packungen 11 auf dem Querförderband 14 bewegt, sodass eine nachfolgende Packung 11 durch den Schiebeanschlag 25 gestoppt werden kann. Die beiden Packungen 11 am Festanschlag 24 und am Schiebeanschlag 25 befinden sich dann in korrekter Relativlage zueinander, sodass der Doppelschieber 21 die Packungen 1 1 zusammen in den Karton 10 befördern kann. Danach wird der Schiebeanschlag 25 zurückgefahren, sodass die nächste Packung 11 zum Festanschlag 24 transportiert werden kann. The individually and at a distance successively supplied packs 1 1 are distributed in each case on the two transverse conveyor belts 14. So that two packs 11 can be detected simultaneously by a double slide 21 of a packing robot 15, the packs 11 are stopped in predetermined positions. This is done by means of a fixed stop 24 and a slide stop 25 arranged in front of it. The fixed stop 24 is arranged stationary and stationary, so that a pack 11 is transported against the fixed stop 24 during transport along the transverse conveyor belt 14 and is kept ready for the double slide 21. The slide stop 25, however, is moved after passing through a pack 11 in the transport path of the packs 11 on the cross conveyor belt 14, so that a subsequent pack 11 can be stopped by the slide stop 25. The two packs 11 on the fixed stop 24 and the sliding stop 25 are then in the correct relative position to each other, so that the double slide 21, the packages 1 1 can carry together in the carton 10. Thereafter, the sliding stop 25 is moved back so that the next pack 11 can be transported to the fixed stop 24.
Beim Einführen der Packungen 1 1 in einen Karton 10 kommen zum einen Einführhilfen 26 zum Einsatz, die Faltlappen der Kartons 10 geöffnet halten. Zum anderen werden die Packungen 11 über eine Einführzunge 27 in die Kartons 10 geschoben, wobei die Einführzunge 27 den Abstand zwischen dem Querförderband 14 und den Kartons 10 überbrückt. When inserting the packs 1 1 into a carton 10, insertion aids 26 are used, which keep the folding tabs of the cartons 10 open. On the other hand, the packs 11 are pushed into the boxes 10 via an insertion tongue 27, the insertion tongue 27 bridging the distance between the cross conveyor 14 and the boxes 10.
Die Details des Einförderns der Packungen 11 in die Kartons 10 ist in Fig. 5 bis 7 gezeigt. Aus Fig. 6 ist zudem noch zu entnehmen, dass am Ende des Zuförderbands 13 ein weiterer Festanschlag 28 vorgesehen ist, gegen den die Packungen 11 am Ende des Zuförderbands 13 stoßen, bevor sie seitlich durch die Querförderer 22 abtransportiert werden. The details of feeding the packages 11 into the boxes 10 is shown in Figs. 5-7. From Fig. 6 can also be seen that at the end of Zuförderbands 13, a further fixed stop 28 is provided against which the Packs 11 at the end of the feed conveyor 13 abut before they are transported laterally through the cross conveyor 22.
Eine weitere Besonderheit betrifft den Vorgang des Bereithaltens von Kartons 10 zur Aufnahme durch einen Kartonroboter 16. Das Bereithalten erfolgt in einem Bereich der Kartonstation 17, nämlich am Ende des Zuförderbands 12. Mit Hilfe von Greiforganen 29, 30 werden zwei Kartons 10 derart auf Abstand zueinander bereitgehalten, dass diese durch den Greifkopf 20 des Kartonroboters 16 erfasst werden können. A further special feature relates to the process of keeping cartons 10 ready to be picked up by a carton robot 16. Storing takes place in an area of the carton station 17, namely at the end of the feed conveyor 12. With the help of gripping members 29, 30, two cartons 10 are spaced apart from one another held that they can be detected by the gripping head 20 of the carton robot 16.
Die beiden Greiforgane 29, 30 sind entlang einer Linearachse 31 verschieblich gelagert. Genauer gesagt ist ein erstes Greiforgan 29 über einen Schlitten 32 in Längsrichtung der Linearachse 31 an dieser verfahrbar gelagert. Das zweite Greiforgan 30 wiederum über einen Schlitten 33 in Längsrichtung der Linearachse 31 am Schlitten 32 gelagert. Darüber hinaus ist das Greiforgan 30 entlang einer vertikalen Achse verfahrbar am Schlitten 33 gelagert. The two gripping members 29, 30 are mounted displaceably along a linear axis 31. More precisely, a first gripping member 29 is mounted on a carriage 32 in the longitudinal direction of the linear axis 31 at this movable. The second gripping member 30 in turn mounted on a slide 33 in the longitudinal direction of the linear axis 31 on the carriage 32. In addition, the gripping member 30 is movably mounted on the carriage 33 along a vertical axis.
Zum Zuführen von zwei Kartons 10 in die Kartonstation 17 wird zunächst das Greiforgan 30 angehoben, sodass ein erster Karton 10 entlang des Zuförderbands 12 gegen das Greiforgan 29 gefahren werden kann. An diesem werden Seitenwandungen des Kartons 10 mittels Unterdruck über Saugorgane 34 gehalten. Danach wird ein weiterer Karton 10 in die Kartonstation 17 transportiert bis er gegen den bereits durch das Greiforgan 29 gehaltenen Karton 10 stößt bzw. an diesem anliegt. Dann wird das zweite Greiforgan 30 in vertikaler Richtung abgesenkt, sodass ein Saugorgan 34 des Greiforgans 30 zunächst in den Karton 10 und dann gegen eine Innenwandung desselben bewegt wird. For feeding two boxes 10 into the cardboard station 17, the gripping member 30 is first lifted, so that a first carton 10 can be moved along the feed belt 12 against the gripping member 29. At this side walls of the carton 10 are held by vacuum on suction members 34. Thereafter, another box 10 is transported to the cardboard station 17 until it abuts against the already held by the gripping member 29 carton 10 and rests against this. Then, the second gripping member 30 is lowered in the vertical direction, so that a suction member 34 of the gripping member 30 is first moved into the carton 10 and then against an inner wall thereof.
Im nächsten Schritt werden die beiden Kartons 10 in der Kartonstation 17 in einen definierten Abstand zueinander gebracht, sodass die Kartons 10 vom Greifkopf 20 des Kartonroboters 16 erfasst werden können. Der Abstand, in dem die Kartons 10 bereit gehalten werden müssen, entspricht auch dem Abstand der einzelnen Schieber des Doppelschiebers 21 beim Befüllen der Kartons 10. Das Beabstanden der Kartons 10 erfolgt dadurch, dass das Greiforgan 30 entsprechend entlang der Linearachse 31 bewegt wird, bis der vorgegebene Abstand zwischen den Kartons 10 hergestellt ist. Danach werden die Kartons 0 durch den Greifkopf 20 des Kartonroboters 16 erfasst und der Unterdruck abgestellt, sodass die Kartons 10 nicht mehr durch die Saugorgane 34 gehalten werden, sondern nur noch durch den Greifkopf 20. Anschließend wird das Greiforgan 30 aus dem Karton 10 herausgezogen und die Kartons 10 gleichzeitig bzw. zusammen durch den Kartonroboter 16 zum Befüllen bewegt. Nach dem Befüllen werden die Kartons 10 durch den Kartonroboter 16 auf das Abförderband 18 im Bereich der Kartonstation 17 abgestellt und abtransportiert. In the next step, the two boxes 10 are brought into the cardboard station 17 at a defined distance from each other, so that the boxes 10 can be detected by the gripping head 20 of the carton robot 16. The distance in which the boxes 10 must be kept ready, also corresponds to the distance between the individual slides of the double slide 21 when filling the boxes 10th The spacing of the boxes 10 is achieved by moving the gripping member 30 along the linear axis 31 until the predetermined distance between the boxes 10 has been established. Thereafter, the boxes 0 are detected by the gripping head 20 of the carton robot 16 and turned off the vacuum, so that the boxes 10 are no longer held by the suction members 34, but only by the gripping head 20. Subsequently, the gripping member 30 is pulled out of the box 10 and the cartons 10 are moved simultaneously through the carton robot 16 for filling. After filling, the boxes 10 are parked by the cardboard robot 16 on the discharge belt 18 in the area of the cardboard station 17 and transported away.
Beide Kartonroboter 16 arbeiten abwechselnd, damit beim Aufnehmen der leeren Kartons 10 bzw. beim Absetzen der befüllten Kartons 10 Kollisionen vermieden werden. Both carton robots 16 work alternately so that 10 collisions are avoided when picking up the empty boxes 10 or when settling the filled boxes.
Es versteht sich, dass der Aufbau der Vorrichtung nicht zwangsläufig doppelbahnig mit jeweils zwei Kartonrobotern 16 und zwei Packungsrobotern 15 ausgeführt sein muss. Denkbar ist auch eine einbahnige Arbeitsweise der Vorrichtung. Weiterhin denkbar sind Varianten mit einer unterschiedlichen Anzahl von Packungsrobotern 15 und Kartonrobotern 16, zum Beispiel in Abhängigkeit von der Leistungsfähigkeit der Handhabungseinrichtungen bzw. der Komplexität des Verpackungsvorgangs. It goes without saying that the structure of the device does not necessarily have to be double-tracked with two cardboard robots 16 and two packing robots 15 each. It is also conceivable a one-lane operation of the device. Also conceivable are variants with a different number of packing robots 15 and cardboard robots 16, for example as a function of the performance of the handling devices or the complexity of the packaging process.
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Bezugszeichenliste LIST OF REFERENCE NUMBERS
10 Karton 10 boxes
11 Packung  11 pack
12 Zuförderband (Karton) 12 feed belt (carton)
13 Zuförderband (Packung)13 feed belt (pack)
14 Querförderband (Packung)14 cross conveyor (pack)
15 Packungsroboter 15 packing robots
16 Kartonro boter  16 carton robots
17 Kartonstation  17 cardboard station
18 Abförderband  18 discharge conveyor
19 Maschinengestell 19 machine frame
0 Greifkopf (Kartonroboter) 1 Doppelschieber 0 Gripping head (carton robot) 1 double slide
2 Querförderer 2 cross conveyors
3 Mitnehmer 3 drivers
4 Festanschlag (Querförderer) 5 Schiebeanschlag 4 Fixed stop (cross conveyor) 5 Sliding stop
6 Einführhilfe 6 insertion aid
7 Einführzunge 7 insertion tongue
8 Festanschlag (Zuförderband) 9 Greiforgan 8 Fixed stop (feed belt) 9 Gripping device
0 Greiforgan 0 gripping organ
1 Linearachse 1 linear axis
2 Schlitten 2 sleds
3 Schlitten 3 sleds
4 Saugorgan  4 suction organ

Claims

Patentansprüche claims
1. Verfahren zur Handhabung von Behältern, insbesondere Kartons (10), für Gruppen von Gegenständen, insbesondere Packungen (11 ), wobei die Gegenstände nacheinander in den Behälter eingeführt und dort in einer geordneten Formation abgesetzt werden, und wobei die Behälter jeweils durch eine Handhabungseinrichtung, insbesondere einen Kartonroboter (16), zum Einführen der Gegenstände bereitgehalten werden, dadurch gekennzeichnet, dass jeweils mehrere Behälter gleichzeitig durch die Handhabungseinrichtung zum Befüllen mit Gegenständen bereitgehalten werden. A method of handling containers, in particular cartons (10), for groups of articles, in particular packages (11), wherein the articles are successively introduced into the container and deposited there in an ordered formation, and wherein the containers are each by a handling device , In particular, a cardboard robot (16), are kept ready for insertion of the articles, characterized in that in each case a plurality of containers are held at the same time by the handling device for filling with objects.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die Behälter zum Erfassen mittels der Handhabungseinrichtung mit Abstand zueinander bereitgehalten werden, wobei der Abstand der Behälter zueinander beim Bereithalten dem Abstand der Behälter zueinander bei der nachfolgenden Befüllung entspricht. 2. The method according to claim 1, characterized in that the container for detecting by means of the handling device are kept at a distance from each other, wherein the distance of the container to each other while keeping the distance of the container to each other in the subsequent filling corresponds.
3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass die Behälter beim Bereithalten zum Erfassen durch die Handhabungseinrichtung durch pneumatisch arbeitende Greiforgane (29, 30) gehalten werden, wobei die Behälter vorzugsweise zunächst aufgestaut und jeweils durch ein Greiforgan (29, 30) erfasst werden und danach durch entsprechende Bewegung mindestens eines Greiforgans (30) auf den Abstand zueinander gebracht werden. 3. The method according to claim 2, characterized in that the containers are kept ready to be detected by the handling device by pneumatically operated gripping members (29, 30), wherein the containers are preferably first dammed and each detected by a gripping member (29, 30) and then brought by appropriate movement of at least one gripping member (30) to the distance to each other.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass wenigstens ein Behälter an einer Innenwandung durch ein Greiforgan (30) erfasst wird, und dass das Greiforgan (30) zum Beabstanden des Behälters von einem benachbarten Behälter seitlich verschoben wird, und dass das Greiforgan (30) beim nachfolgenden Herausziehen aus dem Behälter zunächst von der Innenwandung beabstandet und nachfolgend herausgezogen wird. 4. The method according to claim 3, characterized in that at least one container on an inner wall by a gripping member (30) is detected, and that the gripping member (30) for spacing the container is displaced laterally from an adjacent container, and that the gripping member ( 30) at the subsequent withdrawal from the container initially spaced from the inner wall and is subsequently pulled out.
5. Verfahren nach Anspruch 1 oder einem der weiteren vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Gegenstände auf einem Zuförderband (13) zugeführt und dann winklig, insbesondere quer, auf einem Querförderband (14) abgeschoben werden, und dass die Gegenstände durch Anlage an Anschlägen (24, 25) im Bereich des Querförderbands (14) mit einem Abstand zueinander bereitgehalten werden, der dem Abstand der Behälter entspricht. 5. The method according to claim 1 or one of the further preceding claims, characterized in that the objects fed to a feed conveyor (13) and then angularly, in particular transversely, on a transverse conveyor belt (14) are deported, and that the objects by abutment against attacks (24, 25) in the region of the transverse conveyor belt (14) are kept at a distance from each other, which corresponds to the distance of the container.
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass wenigstens ein Anschlag (24) ortsfest angeordnet ist, und dass wenigstens ein weiterer Anschlag (25) beweglich angeordnet ist und in den Förderweg der Gegenstände bewegt wird, um einen Gegenstand in einem vorgegebenen Abstand zu einem anderen Gegenstand zu positionieren, der an dem ortsfesten Anschlag (24) anliegt. 6. The method according to claim 5, characterized in that at least one stop (24) is arranged stationary, and that at least one further stop (25) is movably arranged and moved in the conveying path of the objects to an object at a predetermined distance to position another object, which rests against the fixed stop (24).
7. Verfahren nach Anspruch 1 oder einem der weiteren vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Gegenstände auf einem zentralen Zuförderband (13) zugeführt werden und auf zwei Querförderbänder (14) abgeschoben und von dort in die Behälter eingeführt werden, wobei jedem Querförderband (14) jeweils eine Handhabungsvorrichtung (16) zugeordnet ist, und die bei dem Handhabungsvorrichtungen (16) abwechselnd Behälter zum Befüllen bereithalten und diese nacheinander auf einer Fördereinrichtung (18) für befüllte Behälter absetzen. 7. The method according to claim 1 or one of the further preceding claims, characterized in that the objects are fed to a central feed conveyor (13) and are pushed onto two transverse conveyor belts (14) and inserted from there into the container, each transverse conveyor belt (14 ) is assigned in each case a handling device (16), and in the handling devices (16) alternately holding containers for filling and this successively on a conveyor (18) for filled containers settle.
8. Vorrichtung zur Handhabung von Behältern, insbesondere Kartons (10), für Gruppen von Gegenständen, insbesondere Packungen (11 ), wobei die Gegenstände nacheinander in den Behälter eingeführt und dort in einer geordneten Formation abgesetzt werden, mit einer Handhabungseinrichtung, insbesondere einen Kartonroboter, zum Bereithalten der Behälter zum Einführen der Gegenstände, dadurch gekennzeichnet, dass die Handhabungseinrichtung Mittel zum gleichzeitigen Bereithalten mehrerer Behälter zum vorzugsweise gleichzeitigen Befüllen mit Gegenständen aufweist. 8. A device for handling containers, in particular cartons (10), for groups of articles, in particular packages (11), wherein the articles are successively introduced into the container and deposited there in an ordered formation, with a handling device, in particular a cardboard robot, for holding the container for introducing the articles, characterized in that the handling device comprises means for simultaneously holding a plurality of containers for preferably simultaneous filling with objects.
9. Vorrichtung nach Anspruch 8, gekennzeichnet durch folgende Merkmale: 9. Apparatus according to claim 8, characterized by the following features:
a) ein vorzugsweise zentrales Zuförderband (13) zum Zuführen der Gegenstände,  a) a preferably central feed belt (13) for feeding the articles,
b) Im Anschluss an das Zuförderband (13) ein oder mehrere Querförderbänder (14) zum seitlichen Abfördern der Gegenstände, c) Anschläge (24, 25) im Bereich der Querförderbänder (14) zum Abstoppen der Gegenstände in einem Abstand zueinander, der dem Abstand zwischen den von der Handhabungseinrichtung bereitgehaltenen Behältern entspricht,  b) following the feed belt (13) one or more cross conveyor belts (14) for laterally conveying the objects, c) stops (24, 25) in the region of the transverse conveyor belts (14) for stopping the objects at a distance from each other, the distance between the containers kept ready by the handling device,
d) Greiforgane (29, 30) zum Bereithalten mehrerer Behälter zum Erfassen durch eine Handhabungseinrichtung. d) gripping means (29, 30) for holding a plurality of containers for detection by a handling device.
10. Vorrichtung nach Anspruch 8 oder 9, dadurch gekennzeichnet, dass sich zwei Querförderbänder (14) beiderseits des Zuförderbands (13) erstrecken, und dass jedem Querförderband (14) eine Handhabungseinrichtung zum Bereithalten von jeweils mehreren Behältern zum gleichzeitigen Befüllen derselben mit Gegenständen zugeordnet ist. 10. The device according to claim 8 or 9, characterized in that two transverse conveyor belts (14) on both sides of the feed conveyor (13) extend, and that each cross conveyor (14) is associated with a handling device for holding each of a plurality of containers for simultaneously filling the same with objects ,
11. Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass beide Handhabungseinrichtungen die Behälter jeweils paarweise nacheinander von einer zentralen Kartonstation (17) entnehmen. 11. The device according to claim 10, characterized in that both handling devices remove the containers in pairs in succession from a central cardboard station (17).
12. Vorrichtung nach Anspruch 8 oder einem der weiteren vorhergehenden Ansprüche 9 bis 11 , dadurch gekennzeichnet, dass im Bereich des oder jedes Querförderbands (14) eine Handhabungseinrichtung für die Gegenstände zum Transport derselben in die Behälter vorgesehen ist, insbesondere ein Packungsroboter (15), wobei vorzugsweise die Gegenstände mittels der Handhabungseinrichtung über ein in die bereitgehaltenen Behälter hineinragendes Leitorgan (27) eingeschoben werden, wobei vorzugsweise Einführhilfen (26) zum Offenhalten von Faltlappen der Behälter vorgesehen sind. 12. Device according to claim 8 or one of the further preceding claims 9 to 11, characterized in that in the region of the or each transverse conveyor belt (14) is provided a handling device for the articles for transporting them into the containers, in particular a packing robot (15), wherein preferably the objects are inserted by means of the handling device via a protruding into the prepared container guide member (27), wherein preferably insertion aids (26) are provided for keeping open folding flaps of the container.
13. Vorrichtung nach Anspruch 8 oder einem der weiteren vorhergehenden Ansprüche 9 bis 12, dadurch gekennzeichnet, dass Greifköpfe (20) der Handhabungseinrichtung für die Behälter mehrere Behälter gleichzeitig greifen und zur Befüllung handhaben. 13. The device according to claim 8 or one of the further preceding claims 9 to 12, characterized in that gripping heads (20) of the Handling device for the container grab several containers simultaneously and handle for filling.
14. Vorrichtung nach Anspruch 1 oder einem der weiteren vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die oder jede Handhabungseinrichtung für die Gegenstände zur gleichzeitigen Handhabung mehrerer Gegenstände eingerichtet ist, wobei die Anzahl der gleichzeitig gehandhabten Gegenstände der Anzahl der gleichzeitig bereitgehaltenen Behälter entspricht. 14. The device according to claim 1 or one of the further preceding claims, characterized in that the or each handling device is arranged for the objects for the simultaneous handling of a plurality of objects, wherein the number of simultaneously handled objects corresponds to the number of simultaneously prepared container.
***** ** * **
EP14720900.1A 2013-05-15 2014-04-29 Method of handling containers for groups of goods, including packages Active EP2996944B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013105002.6A DE102013105002A1 (en) 2013-05-15 2013-05-15 Method of handling containers, in particular boxes, for groups of articles, in particular packages
PCT/EP2014/001144 WO2014183834A1 (en) 2013-05-15 2014-04-29 Method for handling containers, in particular cardboard boxes, for groups of objects, in particular packages

Publications (2)

Publication Number Publication Date
EP2996944A1 true EP2996944A1 (en) 2016-03-23
EP2996944B1 EP2996944B1 (en) 2018-11-07

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US (1) US10351280B2 (en)
EP (1) EP2996944B1 (en)
CN (1) CN105358436B (en)
AR (1) AR096247A1 (en)
BR (1) BR112015027506B1 (en)
DE (1) DE102013105002A1 (en)
MX (1) MX364850B (en)
RU (1) RU2015153495A (en)
WO (1) WO2014183834A1 (en)

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Also Published As

Publication number Publication date
AR096247A1 (en) 2015-12-16
US10351280B2 (en) 2019-07-16
DE102013105002A1 (en) 2014-11-20
BR112015027506B1 (en) 2021-02-09
BR112015027506A2 (en) 2017-07-25
MX2015015618A (en) 2016-03-11
RU2015153495A (en) 2017-06-20
CN105358436A (en) 2016-02-24
US20160083129A1 (en) 2016-03-24
CN105358436B (en) 2018-09-18
WO2014183834A1 (en) 2014-11-20
EP2996944B1 (en) 2018-11-07
MX364850B (en) 2019-05-09

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