EP3088307A1 - Deep draw packaging machine with 2-axle robots - Google Patents

Deep draw packaging machine with 2-axle robots Download PDF

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Publication number
EP3088307A1
EP3088307A1 EP15192359.6A EP15192359A EP3088307A1 EP 3088307 A1 EP3088307 A1 EP 3088307A1 EP 15192359 A EP15192359 A EP 15192359A EP 3088307 A1 EP3088307 A1 EP 3088307A1
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EP
European Patent Office
Prior art keywords
packaging machine
thermoforming packaging
portal
machine according
columns
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
EP15192359.6A
Other languages
German (de)
French (fr)
Other versions
EP3088307B1 (en
Inventor
Johannes Mühlschlegel
Martin Drechsler
Elmar Ehrmann
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
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Application filed by Multivac Sepp Haggenmueller GmbH and Co KG filed Critical Multivac Sepp Haggenmueller GmbH and Co KG
Priority to EP15192359.6A priority Critical patent/EP3088307B1/en
Publication of EP3088307A1 publication Critical patent/EP3088307A1/en
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Publication of EP3088307B1 publication Critical patent/EP3088307B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • 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
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
    • 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
    • B65B9/00—Enclosing successive articles, or quantities of material, e.g. liquids or semiliquids, in flat, folded, or tubular webs of flexible sheet material; Subdividing filled flexible tubes to form packages
    • B65B9/02—Enclosing successive articles, or quantities of material between opposed webs
    • B65B9/04—Enclosing successive articles, or quantities of material between opposed webs one or both webs being formed with pockets for the reception of the articles, or of the quantities of material
    • B65B9/045—Enclosing successive articles, or quantities of material between opposed webs one or both webs being formed with pockets for the reception of the articles, or of the quantities of material for single articles, e.g. tablets
    • 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
    • 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
    • B65B7/164—Securing by heat-sealing

Definitions

  • the invention relates to a thermoforming packaging machine according to the preamble of claim 1.
  • thermoforming packaging machine is for example from the EP 2 778 079 A1 known.
  • a robot or picker is used to insert products on an insertion path into deep-drawn packaging trays in a bottom film web.
  • the robot is mounted for this purpose on a separate housing or portal movable.
  • This portal of the robot spans the thermoforming packaging machine and has no connection to a machine frame of the thermoforming packaging machine, so that no vibrations from the robot portal can be transferred to the thermoforming packaging machine.
  • Similar freestanding portals or support frames for robots are out of the DE 10 2009 016 826 A1 or the DE 10 2010 004 630 A1 known.
  • the object of the present invention is to simplify the construction of a thermoforming packaging machine with a robot in a constructive and functional respect.
  • thermoforming packaging machine with the features of claim 1.
  • Advantageous developments of the invention are specified in the subclaims.
  • the thermoforming packaging machine has a machine frame supporting the forming station and the closing station.
  • This machine frame has a plurality of interconnected vertical struts, longitudinal struts and cross struts and machine feet for setting up the thermoforming packaging machine on a hall floor. By connecting the vertical struts, longitudinal struts and cross struts with each other, the machine frame is extremely torsionally rigid.
  • a substantially U-shaped or O-shaped portal is rigidly integrated into the machine frame.
  • This portal has two columns and a transverse to the transport direction extending between the two columns and above a transport plane of the lower film web traverse, wherein provided on the portal, a 2-axis robot is.
  • the portal used for the robot according to the invention is only U-shaped or O-shaped, so it does not extend much further than attachments in the transport direction of the thermoforming packaging machine as the width of the columns and the traverse.
  • the portal is essentially 2-dimensional.
  • the portal takes up very little space in the transport direction of the thermoforming packaging machine. This allows a very short, compact design of the thermoforming packaging machine as a whole.
  • the portal can either be rigidly connected to the rest of the machine frame, for example by welding, screwing or riveting, or it may in particular be itself part of the machine frame, so for example, the columns of the portal the function of Take over vertical struts of the machine frame.
  • substantially U-shaped is meant that the portal in a first approximation has a two-dimensional shape, which is given by the two columns and the traverse, even if these three components are of course in turn three-dimensional components and the traverse can lie directly between the two columns or laterally offset on the two columns.
  • the opening U-shape of the portal is directed downwards. However, this opening can also be closed, for example by a cross strut of the machine frame, so that the overall result is an O-shaped portal.
  • the material used for the portal is preferably made of stainless steel. On the one hand, this material offers high strength, while on the other hand it is easy to clean.
  • the pillars and / or the traverse of the portal have an H-shaped or U-shaped cross section, on whose outer sides, among other things, the robot can be attached.
  • closed profiles for example a rectangular or square box profile, since these can be kept even better hygienically.
  • one of the machine feet is arranged directly below or directly next to a pillar of the portal. This further enhances the stability and joint stiffness of the thermoforming packaging machine because the forces introduced by the robot into the gantry can be immediately dissipated to the ground via the machine foot.
  • the machine base can be screwed, for example, from below into the column.
  • a mounting block supporting the machine base is, for example, laterally connected to the column. It is conceivable in any embodiment that the machine base is adjustable in height, for example, by height-adjustable screwing the machine base from below into the column or in the mounting block.
  • each of the pillars of the portal has a first portion which extends above the transport plane of the sub-web and is connected to the cross-member, and a second portion which extends below the transport plane.
  • the second, located below the transport plane portion of the column facilitates their integration into the machine frame and optionally, as stated above, also serve to support a machine base.
  • the second, lower portion of the columns may be integrally formed with longitudinal or transverse struts of the machine frame.
  • the tool may be a gripping tool or a suction tool for inserting articles or products into the packaging troughs, to singulate packages or to receive and implement finished, singulated packages, for example, in an outer outer package.
  • the tool in turn may be movable relative to the robot head, e.g. translational and / or rotational, or the robot head itself could be rotationally movable.
  • the term "2-axis robot” in the sense of the invention merely means that the robot head moves in a 2-dimensional motion field, but that this further degrees of freedom such as a rotary movement of the robot head or a movement of the tool relative does not exclude to the robot head.
  • FIG. 1 shows a schematic side view of a thermoforming packaging machine according to the invention 1.
  • the thermoforming packaging machine 1 has a forming station 2.
  • the forming station 2 are formed by deep drawing packaging 5 in a withdrawn from a film roll 3 packaging film or lower film web.
  • the lower film web 4 is designed for this purpose as a thermoformable film, in particular as a plastic film.
  • the lower film web 4 is transported by the packaging machine 1 with an intermittent feed in a transport direction P. During transport, undeformed areas of the lower film web 4 or horizontal, the troughs 5 surrounding flange portions in a horizontal transport plane E.
  • a closing station 8 of the thermoforming packaging machine 1 is used to close the packaging trays 5 with a lid film 9.
  • the closing station 8 can be designed as a sealing station to seal the lid film 9 for closing the troughs 5 to the lower film web 4.
  • the cover film 9, which may be a sealable plastic film as in the lower film web 4, is pulled off a film dispenser 10. Via a roller guide 11, the lid film 9 enters the capping station 8.
  • a hermetically sealed sealing chamber 12 can be formed around the packaging trough 5.
  • This sealing chamber 12 is optionally evacuated and possibly fumigated with a replacement gas, before a sealing tool the cover sheet 9 is attached to the trough 5, preferably at circumferential edges of the trough 5. Der über the packaging recess 5 protruding part of the lidding film 9 can still be separated in the closing station 8 of the now sealed package 13.
  • a cutting station S Downstream of the sealing or sealing station 8, a cutting station S is arranged.
  • the cutting station S is configured as a complete cutting station in which the packages 13 are cut out of the lower film web 4 in a single cut all around.
  • the cutting station S could also have two individual stations arranged one behind the other, wherein in one station a cross section and in a station a longitudinal section takes place in order to separate the packages 13 in this way.
  • a residual foil grid 14 of the cover foil 9, i. the areas of the cover film 9 not sealed to the packages 13 are fed, starting from the cutting station S, to a residual film winder 15 and collected there.
  • a transverse and longitudinal cutting station cutting station S instead of the residual foil lattice 14, only a left and a right edge strip would be the Restfolienaufwickler 15 supplied.
  • the Tiefziehverpackunsmaschine 1 further comprises a machine frame 16, which is largely hidden within or behind a side panel 17 and thus hardly visible from the outside.
  • the machine frame 16 includes schematically illustrated longitudinal struts 18, a plurality of vertical struts 19 and cross struts 20 (see Figures 2 and 3 ).
  • the longitudinal struts 18 extend in the transport direction P, while the transverse struts 20 are usually aligned horizontally and extend transversely to the transport direction P.
  • the longitudinal struts 18, vertical struts 19 and cross struts 20 are suitably rigidly connected to each other, for example by screw, rivet or welded joints, to form a total of a rigid, three-dimensional machine frame 16.
  • This machine frame 16 carries, inter alia, the forming station 2 and the Veschsted Anlagenstation 8. For this purpose, the forming station 2 and the closing station 8 are attached or suspended on the machine frame 16 in a suitable manner.
  • the machine frame 16 further includes machine feet 21, of which at least some are height-adjustable screwed into mounting blocks 22.
  • the machine feet 21 serve to set up the thermoforming packaging machine 1 on a floor or ground 23.
  • the thermoforming packaging machine 1 further has at least one, in the present embodiment, even two portals 24, 24 '.
  • Each of the two portals 24, 24 ' has two substantially vertically aligned columns 25 which are placed on opposite sides of the lower film web 4, so that the lower film web 4 in the operation of the thermoforming packaging machine 1 between the two columns 25 of a portal 24, 24' therethrough is transported.
  • each portal 24 has a traverse 26 which extends above the transport plane E of the sub-web 4 from one column to the other column 25, ie the two columns 25 of the portal 24, 24 'interconnects (see Figures 2 and 3 ).
  • the cross member 26 may be connected laterally to the columns 25, ie to the front or back of the columns 25 in the transport direction 8, as in FIG.
  • the portal 24, 24 ' may also have at least one further connection between the two columns 25, which is preferably located below the transport plane E.
  • Such a portal 24, 24 ' would be substantially O-shaped.
  • each gantry 24, 24 ' has only an extremely short extent in the transport direction P of the thermoforming packaging machine 1. This contributes significantly to a short design of thermoforming packaging machine 1.
  • the robot 27 has a robot head 28 which is movable in two degrees of freedom.
  • the robot head 28 is used to fasten a tool 29.
  • the tool 29 is a gripping tool or suction tool with which the products 7 can be grasped and inserted into the wells 5.
  • the robot head 28 carries a gripping tool, for example a suction gripper 29, by means of which the finished, individualized packages 13 are carried by the discharge belt 32 can be removed and used for example in cartons or other outer packaging.
  • the portal 24 carries the film dispenser 10 for the lid film 9, while on the second portal 24 'both the Folienaufwickler 15 for the Restfoliengitter 14 and optionally a labeler for labeling the sealed packages 13 are attached.
  • These additional components 10, 15 are on the opposite side of the 2-axis robot 27 of the respective portal 24, 24 'in order to optimize the load distribution on the portal 24, 24' and to make it more uniform.
  • a mounting block 22 for a machine base 21 is connected directly laterally to the column 25 of the portal 24.
  • a machine base 21 is screwed directly into the column 25 from below.
  • the respective machine base 21 is thus at least in the immediate vicinity of the portal 24, 24 'in order to be able to derive forces directly there into the ground 23.
  • FIG. 2 shows a slightly modified embodiment of the thermoforming packaging machine 1.
  • a rather insubstantial modification is that the film dispenser 10 for the lid film 9 is no longer attached to the first portal 24, but on a side of the thermoforming packaging machine 1 set up machine cabinet 33, in the Also parts of the electrical system of the packaging machine 1 can be accommodated.
  • Shown are also the two degrees of freedom F1, F2 of the movement of the robot head 28 of the 2-axis robot 27, namely the first degree of freedom F1 transverse to the transport direction P and the second degree of freedom F2 in the vertical direction.
  • the 2-axis robot 27 on the first portal 24 has the same two degrees of freedom F1, F2.
  • FIG. 3 Further details of the portal 24 'and the 2-axis robot 27 can be seen.
  • the three-dimensional structure of the machine frame 16 can also be seen here.
  • the second, lower portion 25b of the column 25 of the portal 24 ' is connected to a directly attached to the mounting block 22 for supporting a machine base 21st
  • a rail 34 is mounted on this, on which a carriage 35 of the 2-axis robot 27 is horizontally transversely displaceable to the transport direction P of the packaging machine, so as to realize the first degree of freedom F1 of the robot 27.
  • the robot head 28 is always located vertically below the carriage 35 and is vertically adjustable relative to the carriage 35 to realize the second degree of freedom F2.
  • Flexible cable channels 36 ensure the safe tracking of electrical lines and possibly compressed air or vacuum lines during the movement of the robot head 28. It can be seen in FIG. 3 also the attachment of the Restfolienaufwicklers 15 on the portal 24 '.
  • thermoforming packaging machine can be varied in many ways. This relates in particular to the number of provided on the thermoforming packaging machine 1 portals 24, 24 'with robots 27. As already explained, 27 of the 2-axis robots 27 various different functions can be exercised. Of course, a portal 24, 24 'also have a plurality of traverses 26.

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Abstract

Eine Tiefziehverpackungsmaschine (1) umfasst eine Formstation (2) zum Tiefziehen von Mulden (5) in eine in einer Transportrichtung (P) in der Tiefziehverpackungsmaschine (1) transportierbare Unterfolienbahn (4) sowie eine Verschließstation (8) zum Verschließen der Mulden (5) mit einer Deckelfolie (9). Die Maschine umfasst ferner ein Maschinengestell (16), das eine Vielzahl von miteinander verbundenen Vertikalstreben (19), Längsstreben (18) und Querstreben (20) sowie Maschinenfüße (21) aufweist. Die Maschine zeichnet sich dadurch aus, dass mindestens ein im Wesentlichen U-förmiges oder O-förmiges Portal (24) starr in das Maschinengestell (16) integriert ist, wobei das Portal (24) zwei Säulen aufweist, sowie eine sich zwischen den beiden Säulen und oberhalb einer Transportebene (E) der Unterfolienbahn (4) quer zur Transportrichtung (P) erstreckende Traverse (26), wobei an dem Portal (24) ein 2-Achs-Roboter (27) montiert ist.A thermoforming packaging machine (1) comprises a forming station (2) for deep-drawing recesses (5) in a lower film web (4) which can be transported in a transport direction (P) in the thermoforming packaging machine (1), and a closing station (8) for closing the recesses (5). with a lidding foil (9). The machine further comprises a machine frame (16) having a plurality of interconnected vertical struts (19), longitudinal struts (18) and cross struts (20) and machine feet (21). The machine is characterized in that at least one substantially U-shaped or O-shaped portal (24) is rigidly integrated into the machine frame (16), wherein the portal (24) has two columns, and one between the two columns and above a transport plane (E) of the lower film web (4) transversely to the transport direction (P) extending traverse (26), wherein on the portal (24) a 2-axis robot (27) is mounted.

Description

Die Erfindung bezieht sich auf eine Tiefziehverpackungsmaschine gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a thermoforming packaging machine according to the preamble of claim 1.

Eine solche Tiefziehverpackungsmaschine ist beispielsweise aus der EP 2 778 079 A1 bekannt. Bei dieser herkömmlichen Tiefziehverpackungsmaschine wird ein Roboter bzw. Picker verwendet, um Produkte an einer Einlegestrecke in tiefgezogene Verpackungsmulden in einer Unterfolienbahn einzulegen. In üblicher Weise ist der Roboter zu diesem Zweck an einem eigenen Gehäuse oder Portal bewegbar angebracht. Dieses Portal des Roboters überspannt die Tiefziehverpackungsmaschine und hat keinerlei Verbindung zu einem Maschinengestell der Tiefziehverpackungsmaschine, damit keine Vibrationen vom Roboterportal auf die Tiefziehverpackungsmaschine übertragen werden können. Ähnliche freistehende Portale oder Tragrahmen für Roboter sind aus der DE 10 2009 016 826 A1 oder der DE 10 2010 004 630 A1 bekannt.Such a thermoforming packaging machine is for example from the EP 2 778 079 A1 known. In this conventional thermoforming packaging machine, a robot or picker is used to insert products on an insertion path into deep-drawn packaging trays in a bottom film web. In the usual way, the robot is mounted for this purpose on a separate housing or portal movable. This portal of the robot spans the thermoforming packaging machine and has no connection to a machine frame of the thermoforming packaging machine, so that no vibrations from the robot portal can be transferred to the thermoforming packaging machine. Similar freestanding portals or support frames for robots are out of the DE 10 2009 016 826 A1 or the DE 10 2010 004 630 A1 known.

Die Aufgabe der vorliegenden Erfindung besteht darin, den Aufbau einer Tiefziehverpackungsmaschine mit einem Roboter in konstruktiver und funktioneller Hinsicht zu vereinfachen.The object of the present invention is to simplify the construction of a thermoforming packaging machine with a robot in a constructive and functional respect.

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

Die erfindungsgemäße Tiefziehverpackungsmaschine verfügt über ein die Formstation und die Verschließstation tragendes Maschinengestell. Dieses Maschinengestell weist eine Vielzahl von miteinander verbundenen Vertikalstreben, Längsstreben und Querstreben sowie Maschinenfüße zum Aufstellen der Tiefziehverpackungsmaschine auf einem Hallenboden auf. Durch die Verbindung der Vertikalstreben, Längsstreben und Querstreben untereinander wird das Maschinengestell äußerst verwindungssteif.The thermoforming packaging machine according to the invention has a machine frame supporting the forming station and the closing station. This machine frame has a plurality of interconnected vertical struts, longitudinal struts and cross struts and machine feet for setting up the thermoforming packaging machine on a hall floor. By connecting the vertical struts, longitudinal struts and cross struts with each other, the machine frame is extremely torsionally rigid.

Erfindungsgemäß ist ein im Wesentlichen U-förmiges oder O-förmiges Portal starr in das Maschinengestell integriert. Dieses Portal weist zwei Säulen auf sowie eine sich zwischen den beiden Säulen und oberhalb einer Transportebene der Unterfolienbahn quer zu deren Transportrichtung erstreckende Traverse, wobei an dem Portal ein 2-Achs-Roboter vorgesehen ist. Damit wendet sich die Erfindung von herkömmlichen Verpackungsmaschinen ab, bei denen die Roboter stets große, selbsttragende und freistehende Rahmenkonstruktionen aufwiesen. Das erfindungsgemäß verwendete Portal für den Roboter ist hingegen nur U-förmig oder O-förmig, es erstreckt sich also abgesehen von Anbauteilen nicht wesentlich weiter in Transportrichtung der Tiefziehverpackungsmaschine als die Breite der Säulen und der Traverse. Mit anderen Worten ist das Portal im Wesentlichen 2-dimensional. So nimmt das Portal in Transportrichtung der Tiefziehverpackungsmaschine äußerst wenig Platz ein. Damit erlaubt es eine sehr kurze, kompakte Bauform der Tiefziehverpackungsmaschine insgesamt.According to the invention, a substantially U-shaped or O-shaped portal is rigidly integrated into the machine frame. This portal has two columns and a transverse to the transport direction extending between the two columns and above a transport plane of the lower film web traverse, wherein provided on the portal, a 2-axis robot is. Thus, the invention turns away from conventional packaging machines, in which the robots always had large, self-supporting and freestanding frame structures. The portal used for the robot according to the invention, however, is only U-shaped or O-shaped, so it does not extend much further than attachments in the transport direction of the thermoforming packaging machine as the width of the columns and the traverse. In other words, the portal is essentially 2-dimensional. Thus, the portal takes up very little space in the transport direction of the thermoforming packaging machine. This allows a very short, compact design of the thermoforming packaging machine as a whole.

Außerdem trägt selbst das nach unten offene, U-förmige Portal und erst recht das O-förmige Portal zu einer Erhöhung der Verbindungssteifigkeit des Maschinengestells bei. Dies ist erstaunlich, weil das Portal alleine nicht frei stehen könnte. Durch seine Integration in das Maschinengestell und insbesondere durch die oberhalb der Folien-Transportebene vorgesehene und eine Verbindung zwischen den beiden Maschinenseiten herstellende Traverse erhöht sich jedoch die Festigkeit und Verbindungssteifigkeit des Maschinengestells erheblich. Von dem 2-Achs-Roboter potentiell noch ausgeübte Vibrationen werden damit unkritisch für den Betrieb der Tiefziehverpackungsmaschine.In addition, even the downwardly open, U-shaped portal and even more so the O-shaped portal contributes to an increase in the connection stiffness of the machine frame. This is amazing because the portal alone could not stand idle. Due to its integration in the machine frame and in particular by the provided above the film transport plane and a connection between the two sides of the machine producing traverse, however, increases the strength and rigidity of the machine frame considerably. The vibrations still potentially exerted by the 2-axis robot are thus uncritical for the operation of the thermoforming packaging machine.

Mit "integriert" ist gemeint, dass das Portal entweder starr mit dem übrigen Maschinengestell verbunden sein kann, beispielsweise durch Schweiß-, Schraub- oder Nietverbindungen, oder es kann insbesondere auch selbst Teil des Maschinengestells sein, sodass beispielsweise die Säulen des Portals die Funktion von Vertikalstreben des Maschinengestells übernehmen.By "integrated" is meant that the portal can either be rigidly connected to the rest of the machine frame, for example by welding, screwing or riveting, or it may in particular be itself part of the machine frame, so for example, the columns of the portal the function of Take over vertical struts of the machine frame.

Mit "im Wesentlichen U-förmig" ist gemeint, dass das Portal in erster Näherung eine zweidimensionale Form hat, die durch die beiden Säulen und die Traverse vorgegeben ist, auch wenn es sich bei diesen drei Komponenten selbstverständlich ihrerseits um dreidimensionale Komponenten handelt und die Traverse direkt zwischen den beiden Säulen oder auch seitlich versetzt an den beiden Säulen anliegen kann. Die Öffnung U-Form des Portals ist nach unten gerichtet. Diese Öffnung kann jedoch auch geschlossen sein, beispielsweise durch eine Querstrebe des Maschinengestells, sodass sich insgesamt ein O-förmiges Portal ergibt.By "substantially U-shaped" is meant that the portal in a first approximation has a two-dimensional shape, which is given by the two columns and the traverse, even if these three components are of course in turn three-dimensional components and the traverse can lie directly between the two columns or laterally offset on the two columns. The opening U-shape of the portal is directed downwards. However, this opening can also be closed, for example by a cross strut of the machine frame, so that the overall result is an O-shaped portal.

Als Material für das Portal wird vorzugsweise Edelstahl verwendet. Dieses Material bietet einerseits eine hohe Festigkeit, während es sich andererseits gut reinigen lässt.The material used for the portal is preferably made of stainless steel. On the one hand, this material offers high strength, while on the other hand it is easy to clean.

In einer vorteilhaften Variante haben die Säulen und/oder die Traverse des Portals einen H-förmigen oder U-förmigen Querschnitt, an dessen Außenseiten sich unter anderem der Roboter anbringen lässt. Noch günstiger hingegen sind geschlossene Profile, beispielsweise ein rechteckiges oder quadratisches Kastenprofil, da diese sich noch besser hygienisch halten lassen.In an advantageous variant, the pillars and / or the traverse of the portal have an H-shaped or U-shaped cross section, on whose outer sides, among other things, the robot can be attached. On the other hand, even more favorable are closed profiles, for example a rectangular or square box profile, since these can be kept even better hygienically.

Zweckmäßig ist es, wenn einer der Maschinenfüße direkt unterhalb oder direkt neben einer Säule des Portals angeordnet ist. Dies erhöht die Stabilität und Verbindungssteifigkeit der Tiefziehverpackungsmaschine weiter, weil die vom Roboter in das Portal eingeleiteten Kräfte über den Maschinenfuß umgehend auf den Boden abgeleitet werden können. Bei einer Anbringung des Maschinenfußes direkt unterhalb der Säule kann der Maschinenfuß beispielsweise von unten in die Säule eingeschraubt sein. Mit einer Anbringung "direkt neben" einer Säule ist gemeint, dass ein den Maschinenfuß tragender Befestigungsblock beispielsweise seitlich an die Säule angeschlossen ist. Denkbar ist es bei jeder Ausführungsform, dass der Maschinenfuß höhenverstellbar ist, beispielsweise durch höhenverstellbares Einschrauben des Maschinenfußes von unten in die Säule bzw. in den Befestigungsblock.It is expedient if one of the machine feet is arranged directly below or directly next to a pillar of the portal. This further enhances the stability and joint stiffness of the thermoforming packaging machine because the forces introduced by the robot into the gantry can be immediately dissipated to the ground via the machine foot. When attaching the machine base directly below the column, the machine base can be screwed, for example, from below into the column. By attaching "directly next to" a column, it is meant that a mounting block supporting the machine base is, for example, laterally connected to the column. It is conceivable in any embodiment that the machine base is adjustable in height, for example, by height-adjustable screwing the machine base from below into the column or in the mounting block.

Vorzugsweise weist jede der Säulen des Portals einen ersten Abschnitt auf, der sich oberhalb der Transportebene der Unterfolienbahn erstreckt und mit der Traverse verbunden ist, sowie einen zweiten Abschnitt, der sich unterhalb der Transportebene erstreckt. Der zweite, unterhalb der Transportebene befindliche Abschnitt der Säule erleichtert ihre Einbindung in das Maschinengestell und kann optional, wie vorstehend ausgeführt, auch zum Tragen eines Maschinenfußes dienen. Ebenfalls optional kann der zweite, untere Abschnitt der Säulen integral mit Längs- oder Querstreben des Maschinengestells ausgebildet sein.Preferably, each of the pillars of the portal has a first portion which extends above the transport plane of the sub-web and is connected to the cross-member, and a second portion which extends below the transport plane. The second, located below the transport plane portion of the column facilitates their integration into the machine frame and optionally, as stated above, also serve to support a machine base. Also optionally, the second, lower portion of the columns may be integrally formed with longitudinal or transverse struts of the machine frame.

Die Funktionalität des Portals lässt sich über seine Funktion zum Tragen des 2-Achs-Roboters hinaus erweitern. So könnten an dem Portal weitere Komponenten oder Zubehörteile der Tiefziehverpackungsmaschine angebracht sein, beispielsweise ein Folienspender zum Spenden der Deckelfolie, ein Folienaufwickler zum Aufwickeln eines Restfoliengitters der Deckelfolie und/oder ein Etikettierer. Der Vorteil liegt darin, dass auf diese Weise eigene Tragstrukturen für diese zusätzlichen Komponenten entfallen können, was den Aufbau und die Konstruktion der Tiefziehverpackungsmaschine vereinfacht. Wenn die Zubehörkomponenten auf einer anderen Seite des Portals angebracht sind als der 2-Achs-Roboter, können darüber hinaus Drehmomente reduziert oder sogar eliminiert werden, die vom Roboter auf das Portal ausgeübt werden können.The functionality of the portal can be extended beyond its function of supporting the 2-axis robot. Thus, further components or accessories of the thermoforming packaging machine could be attached to the portal, for example a film dispenser for dispensing the lid film, a film winder for winding up a residual film grid of the lid film and / or a labeler. The advantage is that on this Way own supporting structures for these additional components can be omitted, which simplifies the construction and construction of the thermoforming packaging machine. In addition, if the accessory components are mounted on a different side of the portal than the 2-axis robot, torques can be reduced or even eliminated which can be exerted by the robot on the portal.

In einer vorteilhaften Variante der Erfindung ist nicht nur ein Portal, sondern sind mehrere Portale der vorstehend beschriebenen Art mit jeweils einem daran montierten 2-Achs-Roboter vorhanden. Dabei könnte beispielsweise der eine 2-Achs-Roboter zum Einlegen von Artikeln oder Produkten in die Verpackungsmulden genutzt werden, ein anderer Roboter zum Vereinzeln oder Herausnehmen von Verpackungen oder auch zum Tragen einer Gruppe von Verpackungen, die gemeinsam mittels eines Komplettschnittwerkzeugs aus der gemeinsamen Unterfolienbahn herausgetrennt worden sind.In an advantageous variant of the invention is not only a portal, but there are several portals of the type described above, each with a mounted thereon 2-axis robot. In this case, for example, a 2-axis robot for inserting articles or products into the packaging troughs could be used, another robot for separating or taking out packages, or also for carrying a group of packages, which jointly cut out of the common sub-film web by means of a complete cutting tool have been.

Der 2-Achs-Roboter weist vorzugsweise einen Roboterkopf auf, der mit einem ersten Freiheitsgrad quer zur Transportrichtung der Unterfolienbahn und mit einem zweiten Freiheitsgrad in vertikaler Richtung bewegbar ist. Berücksichtigt man zudem, dass die Unterfolienbahn sowie die darin geformten Verpackungsmulden in ihrer Transportrichtung durch das Portal und damit am 2-Achs-Roboter entlang transportiert werden, kann durch diese beiden Freiheitsgrade jeder Punkt auf der Folienbahn vom Roboter erreicht werden.The 2-axis robot preferably has a robot head, which is movable with a first degree of freedom transversely to the transport direction of the lower film web and with a second degree of freedom in the vertical direction. If one also considers that the lower film web and the packaging troughs formed therein are transported in their transport direction through the portal and thus along the 2-axis robot, each point on the film web can be reached by the robot through these two degrees of freedom.

Am Roboterkopf selbst kann dann ein Werkzeug montiert sein, um definierte Arbeitsschritte auszuführen. Beispielsweise kann es sich bei dem Werkzeug um ein Greifwerkzeug oder ein Saugwerkzeug handeln, um Artikel oder Produkte in die Verpackungsmulden einzusetzen, um Verpackungen zu vereinzeln oder um fertige, vereinzelte Verpackungen aufzunehmen und umzusetzen, beispielsweise in eine äußere Umverpackung.On the robot head itself can then be mounted a tool to perform defined operations. For example, the tool may be a gripping tool or a suction tool for inserting articles or products into the packaging troughs, to singulate packages or to receive and implement finished, singulated packages, for example, in an outer outer package.

Das Werkzeug kann seinerseits relativ zum Roboterkopf bewegbar sein, z.B. translatorisch und/oder rotatorisch, oder der Roboterkopf könnte selbst rotatorisch bewegbar sein. Daraus wird ersichtlich, dass mit "2-Achs-Roboter" im Sinne der Erfindung lediglich gemeint ist, dass der Roboterkopf sich in einem 2-dimensionalen Bewegungsfeld bewegt, dass dies aber weitere Freiheitsgrade wie eine rotatorische Bewegung des Roboterkopfs oder eine Bewegung des Werkzeugs relativ zum Roboterkopf nicht ausschließt.The tool in turn may be movable relative to the robot head, e.g. translational and / or rotational, or the robot head itself could be rotationally movable. It can thus be seen that the term "2-axis robot" in the sense of the invention merely means that the robot head moves in a 2-dimensional motion field, but that this further degrees of freedom such as a rotary movement of the robot head or a movement of the tool relative does not exclude to the robot head.

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

Figur 1:
eine schematische Ansicht einer erfindungsgemäßen Tiefziehverpackungsmaschine,
Figur 2:
eine Perspektivansicht einer Tiefziehverpackungsmaschine und
Figur 3:
einen vergrößerten Ausschnitt aus der Tiefziehverpackungsmaschine nach Figur 2.
In the following, an advantageous embodiment of the invention is illustrated in more detail with reference to a drawing. In detail show:
FIG. 1:
a schematic view of a thermoforming packaging machine according to the invention,
FIG. 2:
a perspective view of a thermoforming packaging machine and
FIG. 3:
an enlarged section of the thermoforming packaging machine after FIG. 2 ,

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

Figur 1 zeigt in schematischer Seitenansicht eine erfindungsgemäße Tiefziehverpackungsmaschine 1. Die Tiefziehverpackungsmaschine 1 verfügt über eine Formstation 2. In der Formstation 2 werden in eine von einer Folienrolle 3 abgezogene Verpackungsfolie bzw. Unterfolienbahn 4 durch Tiefziehen Verpackungsmulden 5 geformt. Die Unterfolienbahn 4 ist zu diesem Zweck als tiefziehbare Folie ausgebildet, insbesondere als Kunststofffolie. Die Unterfolienbahn 4 wird mit intermittierendem Vorschub in einer Transportrichtung P durch die Verpackungsmaschine 1 transportiert. Während des Transports befinden sich unverformte Bereiche der Unterfolienbahn 4 bzw. horizontale, die Mulden 5 umgebende Flanschabschnitte in einer horizontalen Transportebene E. FIG. 1 shows a schematic side view of a thermoforming packaging machine according to the invention 1. The thermoforming packaging machine 1 has a forming station 2. In the forming station 2 are formed by deep drawing packaging 5 in a withdrawn from a film roll 3 packaging film or lower film web. The lower film web 4 is designed for this purpose as a thermoformable film, in particular as a plastic film. The lower film web 4 is transported by the packaging machine 1 with an intermittent feed in a transport direction P. During transport, undeformed areas of the lower film web 4 or horizontal, the troughs 5 surrounding flange portions in a horizontal transport plane E.

An einer Füllstation oder Einlegestation 6 wird ein Produkt 7 in die Verpackungsmulden 5 eingeführt. Bei diesem Produkt 7 kann es sich um ein Lebensmittel oder um andere Konsumgüter handeln.At a filling station or loading station 6, a product 7 is introduced into the packaging troughs 5. This product 7 may be a food or other consumer goods.

Eine Verschließstation 8 der Tiefziehverpackungsmaschine 1 dient zum Verschließen der Verpackungsmulden 5 mit einer Deckelfolie 9. Die Verschließstation 8 kann als Siegelstation ausgebildet sein, um die Deckelfolie 9 zum Verschließen der Mulden 5 an die Unterfolienbahn 4 anzusiegeln. Die Deckelfolie 9, bei der es sich wie bei der Unterfolienbahn 4 um eine siegelfähige Kunststofffolie handeln kann, wird von einem Folienspender 10 abgezogen. Über eine Rollenführung 11 gelangt die Deckelfolie 9 in die Verschließstation 8.A closing station 8 of the thermoforming packaging machine 1 is used to close the packaging trays 5 with a lid film 9. The closing station 8 can be designed as a sealing station to seal the lid film 9 for closing the troughs 5 to the lower film web 4. The cover film 9, which may be a sealable plastic film as in the lower film web 4, is pulled off a film dispenser 10. Via a roller guide 11, the lid film 9 enters the capping station 8.

In der Verschließstation 8 kann eine hermetisch geschlossene Siegelkammer 12 um die Verpackungsmulde 5 herum gebildet werden. Diese Siegelkammer 12 wird optional evakuiert und ggf. mit einem Austauschgas begast, bevor ein Siegelwerkzeug die Deckelfolie 9 an die Mulde 5 ansiegelt, vorzugsweise an umlaufende Ränder der Mulde 5. Der über die Verpackungsmulde 5 überstehende Teil der Deckelfolie 9 kann noch in der Verschließstation 8 von der nun verschlossen Verpackung 13 abgetrennt werden.In the closing station 8, a hermetically sealed sealing chamber 12 can be formed around the packaging trough 5. This sealing chamber 12 is optionally evacuated and possibly fumigated with a replacement gas, before a sealing tool the cover sheet 9 is attached to the trough 5, preferably at circumferential edges of the trough 5. Der über the packaging recess 5 protruding part of the lidding film 9 can still be separated in the closing station 8 of the now sealed package 13.

Stromabwärts der Verschließ- oder Siegelstation 8 ist eine Schneidstation S angeordnet. Im dargestellten Ausführungsbeispiel ist die Schneidstation S als Komplettschnittstation konfiguriert, in der die Verpackungen 13 in einem einzigen Schnitt ringsum aus der Unterfolienbahn 4 herausgetrennt werden. Alternativ dazu könnte die Schneidstation S auch zwei hintereinander angeordnete Einzelstationen aufweisen, wobei in einer Station ein Querschnitt und in einer Station ein Längsschnitt erfolgt, um auch auf diese Weise die Verpackungen 13 zu vereinzeln. Ein Restfoliengitter 14 der Deckelfolie 9, d.h. die nicht an die Verpackungen 13 angesiegelten Bereiche der Deckelfolie 9, werden ausgehend von der Schneidstation S einem Restfolienaufwickler 15 zugeführt und dort gesammelt. Im Fall einer alternativen, in eine Quer- und Längsschneidstation aufgeteilten Schneidstation S würde statt des Restfoliengitters 14 lediglich ein linker und ein rechter Randstreifen dem Restfolienaufwickler 15 zugeführt werden.Downstream of the sealing or sealing station 8, a cutting station S is arranged. In the illustrated embodiment, the cutting station S is configured as a complete cutting station in which the packages 13 are cut out of the lower film web 4 in a single cut all around. Alternatively, the cutting station S could also have two individual stations arranged one behind the other, wherein in one station a cross section and in a station a longitudinal section takes place in order to separate the packages 13 in this way. A residual foil grid 14 of the cover foil 9, i. the areas of the cover film 9 not sealed to the packages 13 are fed, starting from the cutting station S, to a residual film winder 15 and collected there. In the case of an alternative, divided into a transverse and longitudinal cutting station cutting station S, instead of the residual foil lattice 14, only a left and a right edge strip would be the Restfolienaufwickler 15 supplied.

Unterhalb der Schneidstation S beginnt ein Abführband 32. Die in der Schneidstation S vereinzelten Verpackungen 13 fallen nach ihrem Heraustrennen aus der Unterfolienbahn 4 gravitationsbedingt auf das Abführband 32 hinunter. Anschließend werden sie vom Abführband 32 in Transportrichtung P weiter transportiert, wobei sich die Verpackungen 13 nun unterhalb der Transportebene E befinden.Below the cutting station S begins a discharge belt 32. The isolated in the cutting station S packaging 13 fall after their separation from the lower film web 4 gravitationally down to the discharge belt 32. Then they are transported by the discharge belt 32 in the transport direction P, wherein the packages 13 are now below the transport plane E.

Die Tiefziehverpackunsmaschine 1 weist ferner ein Maschinengestell 16 auf, das weitestgehend innerhalb oder hinter einer Seitenverkleidung 17 verborgen und damit von außen kaum sichtbar ist. Das Maschinengestell 16 umfasst schematisch dargestellte Längsstreben 18, eine Mehrzahl von Vertikalstreben 19 sowie Querstreben 20 (siehe Figuren 2 und 3). Dabei erstrecken sich die Längsstreben 18 in der Transportrichtung P, während die Querstreben 20 üblicherweise horizontal ausgerichtet sind und sich quer zur Transportrichtung P erstrecken. Die Längsstreben 18, Vertikalstreben 19 und Querstreben 20 sind auf geeignete Weise starr miteinander verbunden, beispielsweise durch Schraub-, Niet- oder Schweißverbindungen, um insgesamt ein starres, dreidimensionales Maschinengestell 16 zu bilden. Dieses Maschinengestell 16 trägt unter anderem die Formstation 2 und die Veschließstation 8. Zu diesem Zweck sind die Formstation 2 und die Verschließstation 8 auf geeignete Weise am Maschinengestell 16 befestigt oder aufgehängt.The Tiefziehverpackunsmaschine 1 further comprises a machine frame 16, which is largely hidden within or behind a side panel 17 and thus hardly visible from the outside. The machine frame 16 includes schematically illustrated longitudinal struts 18, a plurality of vertical struts 19 and cross struts 20 (see Figures 2 and 3 ). In this case, the longitudinal struts 18 extend in the transport direction P, while the transverse struts 20 are usually aligned horizontally and extend transversely to the transport direction P. The longitudinal struts 18, vertical struts 19 and cross struts 20 are suitably rigidly connected to each other, for example by screw, rivet or welded joints, to form a total of a rigid, three-dimensional machine frame 16. This machine frame 16 carries, inter alia, the forming station 2 and the Veschließstation 8. For this purpose, the forming station 2 and the closing station 8 are attached or suspended on the machine frame 16 in a suitable manner.

Zum Maschinengestell 16 gehören ferner Maschinenfüße 21, von denen zumindest einige höhenverstellbar in Befestigungsblöcke 22 eingeschraubt sind. Die Maschinenfüße 21 dienen dazu, die Tiefziehverpackungsmaschine 1 auf einem Boden oder Untergrund 23 aufzustellen.The machine frame 16 further includes machine feet 21, of which at least some are height-adjustable screwed into mounting blocks 22. The machine feet 21 serve to set up the thermoforming packaging machine 1 on a floor or ground 23.

Die Tiefziehverpackungsmaschine 1 verfügt ferner über mindestens ein, im vorliegenden Ausführungsbeispiel sogar über zwei Portale 24, 24'. Jedes der beiden Portale 24, 24' verfügt über zwei im Wesentlichen vertikal ausgerichtete Säulen 25, die auf einander gegenüberliegenden Seiten der Unterfolienbahn 4 aufgestellt sind, sodass die Unterfolienbahn 4 im Betrieb der Tiefziehverpackungsmaschine 1 zwischen den beiden Säulen 25 eines Portals 24, 24' hindurch transportiert wird. Ferner verfügt jedes Portal 24 über eine Traverse 26, die sich oberhalb der Transportebene E der Unterfolienbahn 4 von der einen Säule zur anderen Säule 25 erstreckt, d.h. die beiden Säulen 25 des Portals 24, 24' miteinander verbindet (siehe Figuren 2 und 3). Die Traverse 26 kann dabei seitlich an die Säulen 25 angeschlossen sein, d.h. an die Vorder- oder Rückseite der Säulen 25 in Transportrichtung 8, wie in Figur 1 am Portal 24 gezeigt, oder die Traverse 26 erstreckt sich in derselben Ebene wie die beiden Säulen 25 zwischen den beiden Säulen 25. Bedingt durch die beiden Säulen 25 und die Traverse 26 hat jedes Portal 24, 24' im Wesentlichen die Form eines nach unten offenen U. Optional kann jedoch das Portal 24, 24' auch zumindest eine weitere Verbindung zwischen den beiden Säulen 25 aufweisen, die sich vorzugsweise unterhalb der Transportebene E befindet. Ein solches Portal 24, 24' wäre im Wesentlichen O-förmig.The thermoforming packaging machine 1 further has at least one, in the present embodiment, even two portals 24, 24 '. Each of the two portals 24, 24 'has two substantially vertically aligned columns 25 which are placed on opposite sides of the lower film web 4, so that the lower film web 4 in the operation of the thermoforming packaging machine 1 between the two columns 25 of a portal 24, 24' therethrough is transported. Furthermore, each portal 24 has a traverse 26 which extends above the transport plane E of the sub-web 4 from one column to the other column 25, ie the two columns 25 of the portal 24, 24 'interconnects (see Figures 2 and 3 ). The cross member 26 may be connected laterally to the columns 25, ie to the front or back of the columns 25 in the transport direction 8, as in FIG. 1 shown on the portal 24, or the cross member 26 extends in the same plane as the two columns 25 between the two columns 25. Due to the two columns 25 and the cross member 26 has each portal 24, 24 'substantially in the form of a downwardly open Optionally, however, the portal 24, 24 'may also have at least one further connection between the two columns 25, which is preferably located below the transport plane E. Such a portal 24, 24 'would be substantially O-shaped.

In der Seitenansicht in Figur 1 ist gut zu erkennen, dass jedes Portal 24, 24' nur eine äußerst kurze Ausdehnung in Transportrichtung P der Tiefziehverpackungsmaschine 1 aufweist. Dies trägt entscheidend zu einer kurzen Bauform der Tiefziehverpackungsmaschine 1 bei.In the side view in FIG. 1 It can easily be seen that each gantry 24, 24 'has only an extremely short extent in the transport direction P of the thermoforming packaging machine 1. This contributes significantly to a short design of thermoforming packaging machine 1.

An jedem Portal 24, 24' ist ein 2-Achs-Roboter 27 vorgesehen. Der Roboter 27 verfügt über einen Roboterkopf 28, der in zwei Freiheitsgraden bewegbar ist. Der Roboterkopf 28 dient zur Befestigung eines Werkzeugs 29. Beim in Transportrichtung P ersten Portal 24 handelt es sich beim Werkzeug 29 um ein Greifwerkzeug oder Saugwerkzeug, mit dem die Produkte 7 ergriffen und in die Mulden 5 eingesetzt werden können. Bei dem Roboter 27 des zweiten Portals 24' trägt der Roboterkopf 28 ein Greifwerkzeug, z.B. einen Sauggreifer 29, mittels dessen die fertigen, vereinzelten Verpackungen 13 vom Abführband 32 abgenommen und z.B. in Kartons oder andere Umverpackungen eingesetzt werden können.At each portal 24, 24 'a 2-axis robot 27 is provided. The robot 27 has a robot head 28 which is movable in two degrees of freedom. The robot head 28 is used to fasten a tool 29. When in the transport direction P first portal 24 is the tool 29 is a gripping tool or suction tool with which the products 7 can be grasped and inserted into the wells 5. In the robot 27 of the second gantry 24 ', the robot head 28 carries a gripping tool, for example a suction gripper 29, by means of which the finished, individualized packages 13 are carried by the discharge belt 32 can be removed and used for example in cartons or other outer packaging.

An jedem der beiden Portale 24, 24' sind in diesem Ausführungsbeispiel weitere Komponenten der Tiefziehverpackungsmaschine 1 angebracht. So trägt das Portal 24 den Folienspender 10 für die Deckelfolie 9, während am zweiten Portal 24' sowohl der Folienaufwickler 15 für das Restfoliengitter 14 als auch optional ein Etikettierer zum Etikettieren der verschlossenen Verpackungen 13 angebracht sind. Diese zusätzlichen Komponenten 10, 15 befinden sich auf der dem 2-Achs-Roboter 27 gegenüberliegenden Seite des jeweiligen Portals 24, 24' um die Lastverteilung am Portal 24, 24' zu optimieren und gleichmäßiger zu gestalten.At each of the two portals 24, 24 'further components of the thermoforming packaging machine 1 are mounted in this embodiment. Thus, the portal 24 carries the film dispenser 10 for the lid film 9, while on the second portal 24 'both the Folienaufwickler 15 for the Restfoliengitter 14 and optionally a labeler for labeling the sealed packages 13 are attached. These additional components 10, 15 are on the opposite side of the 2-axis robot 27 of the respective portal 24, 24 'in order to optimize the load distribution on the portal 24, 24' and to make it more uniform.

Am ersten Portal 24 ist ein Befestigungsblock 22 für einen Maschinenfuß 21 unmittelbar seitlich an die Säule 25 des Portals 24 angeschlossen. Beim zweiten Portal 24' hingegen ist ein Maschinenfuß 21 direkt von unten in die Säule 25 eingeschraubt. In beiden Fällen befindet sich damit der jeweilige Maschinenfuß 21 zumindest in unmittelbarer räumlicher Nachbarschaft zum Portal 24, 24', um dort auftretende Kräfte direkt in den Untergrund 23 ableiten zu können.At the first portal 24, a mounting block 22 for a machine base 21 is connected directly laterally to the column 25 of the portal 24. In the case of the second portal 24 ', on the other hand, a machine base 21 is screwed directly into the column 25 from below. In both cases, the respective machine base 21 is thus at least in the immediate vicinity of the portal 24, 24 'in order to be able to derive forces directly there into the ground 23.

Jede der Säulen 25 der beiden Portale 24, 24' umfasst im vorliegenden Ausführungsbeispiel zwei Abschnitte, nämlich einen ersten, sich oberhalb der Transportebene E erstreckenden Abschnitt 25a, an dem auch die Traverse 26 befestigt ist, sowie einen zweiten, sich unterhalb der Transportebene E erstreckenden Abschnitt 25b. An dem zweiten Abschnitt 25b ist die Säule 25 vorzugsweise in das Maschinengestell 16 integriert. Abgesehen von den oberhalb der Transportebene E befindlichen, ersten Abschnitten 25a der Säulen 25 befindet sich das Maschinengestell 16 vollständig oder zumindest fast vollständig unterhalb der Folien-Transportebene E.Each of the columns 25 of the two portals 24, 24 'comprises in the present embodiment two sections, namely a first, above the transport plane E extending portion 25a to which the cross member 26 is attached, and a second, extending below the transport plane E Section 25b. At the second portion 25b, the column 25 is preferably integrated into the machine frame 16. Apart from the first sections 25a of the columns 25 situated above the transport plane E, the machine frame 16 is located completely or at least almost completely beneath the film transport plane E.

Figur 2 zeigt in Perspektivansicht ein leicht abgewandeltes Ausführungsbeispiel der Tiefziehverpackungsmaschine 1. Eine eher unwesentliche Abwandlung besteht darin, dass der Folienspender 10 für die Deckelfolie 9 jetzt nicht mehr am ersten Portal 24 befestigt ist, sondern an einem seitlich an der Tiefziehverpackungsmaschine 1 aufgestellten Maschinenschrank 33, in dem auch Teile der Elektrik der Verpackungsmaschine 1 untergebracht sein können. Dargestellt sind ferner die beiden Freiheitsgrade F1, F2 der Bewegung des Roboterkopfes 28 des 2-Achs-Roboters 27, nämlich der erste Freiheitsgrad F1 quer zur Transportrichtung P und der zweite Freiheitsgrad F2 in vertikaler Richtung. Der 2-Achs-Roboter 27 am ersten Portal 24 weist dieselben beiden Freiheitsgrade F1, F2 auf. FIG. 2 shows a slightly modified embodiment of the thermoforming packaging machine 1. A rather insubstantial modification is that the film dispenser 10 for the lid film 9 is no longer attached to the first portal 24, but on a side of the thermoforming packaging machine 1 set up machine cabinet 33, in the Also parts of the electrical system of the packaging machine 1 can be accommodated. Shown are also the two degrees of freedom F1, F2 of the movement of the robot head 28 of the 2-axis robot 27, namely the first degree of freedom F1 transverse to the transport direction P and the second degree of freedom F2 in the vertical direction. The 2-axis robot 27 on the first portal 24 has the same two degrees of freedom F1, F2.

Aus Figur 3 sind weitere Details des Portals 24' und des 2-Achs-Roboters 27 ersichtlich. Auch die dreidimensionale Struktur des Maschinengestells 16 ist hier zu erkennen. Der zweite, untere Abschnitt 25b der Säule 25 des Portals 24' ist verbunden mit einem direkt daran angeschlossenen Befestigungsblock 22 zum Tragen eines Maschinenfußes 21.Out FIG. 3 Further details of the portal 24 'and the 2-axis robot 27 can be seen. The three-dimensional structure of the machine frame 16 can also be seen here. The second, lower portion 25b of the column 25 of the portal 24 'is connected to a directly attached to the mounting block 22 for supporting a machine base 21st

Parallel zur Traverse 26 ist an dieser eine Schiene 34 angebracht, auf der ein Schlitten 35 des 2-Achs-Roboters 27 horizontal quer zur Transportrichtung P der Verpackungsmaschine verschiebbar ist, um so den ersten Freiheitsgrad F1 des Roboters 27 zu realisieren. Der Roboterkopf 28 befindet sich stets vertikal unter dem Schlitten 35 und ist zur Realisierung des zweiten Freiheitsgrades F2 vertikal relativ zum Schlitten 35 verstellbar. Flexible Kabelkanäle 36 sorgen für das sichere Nachführen von elektrischen Leitungen und ggf. Druckluft- oder Vakuumleitungen bei der Bewegung des Roboterkopfs 28. Zu sehen ist in Figur 3 auch die Anbringung des Restfolienaufwicklers 15 am Portal 24'.Parallel to the traverse 26, a rail 34 is mounted on this, on which a carriage 35 of the 2-axis robot 27 is horizontally transversely displaceable to the transport direction P of the packaging machine, so as to realize the first degree of freedom F1 of the robot 27. The robot head 28 is always located vertically below the carriage 35 and is vertically adjustable relative to the carriage 35 to realize the second degree of freedom F2. Flexible cable channels 36 ensure the safe tracking of electrical lines and possibly compressed air or vacuum lines during the movement of the robot head 28. It can be seen in FIG. 3 also the attachment of the Restfolienaufwicklers 15 on the portal 24 '.

Ausgehend von den dargestellten Ausführungsbeispielen kann die erfindungsgemäße Tiefziehverpackungsmaschine in vielfacher Hinsicht verändert werden. Dies bezieht sich insbesondere auf die Anzahl der an der Tiefziehverpackungsmaschine 1 vorgesehenen Portale 24, 24' mit Robotern 27. Wie bereits erläutert, können von den 2-Achs-Robotern 27 diverse unterschiedliche Funktionen ausgeübt werden. Selbstverständlich kann ein Portal 24, 24' auch mehrere Traversen 26 aufweisen.Starting from the illustrated embodiments, the thermoforming packaging machine according to the invention can be varied in many ways. This relates in particular to the number of provided on the thermoforming packaging machine 1 portals 24, 24 'with robots 27. As already explained, 27 of the 2-axis robots 27 various different functions can be exercised. Of course, a portal 24, 24 'also have a plurality of traverses 26.

Claims (11)

Tiefziehverpackungsmaschine (1), umfassend eine Formstation (2) zum Tiefziehen von Mulden (5) in eine in einer Transportrichtung (P) in einer Transportebene (E) in der Tiefziehverpackungsmaschine (1) transportierbare Unterfolienbahn (4) sowie eine Verschließstation (8) zum Verschließen der Mulden (5) mit einer Deckelfolie (9), ferner umfassend ein die Formstation (2) und die Verschließstation (8) tragendes Maschinengestell (16), das eine Vielzahl von miteinander verbundenen Vertikalstreben (19), Längsstreben (18) und Querstreben (20) sowie Maschinenfüße (21) aufweist, dadurch gekennzeichnet, dass mindestens ein im Wesentlichen U-förmiges oder O-förmiges Portal (24, 24') starr in das Maschinengestell (16) integriert ist, wobei das Portal (24, 24') zwei Säulen (25) aufweist sowie eine sich von einer der beiden Säulen (25) zur anderen Säule (25) und oberhalb der Transportebene (E) quer zur Transportrichtung (P) erstreckende Traverse (26), wobei an dem Portal (24, 24') ein 2-Achs-Roboter (27) vorgesehen ist.Thermoforming packaging machine (1), comprising a forming station (2) for deepening of troughs (5) in a in a transport direction (P) in a transport plane (E) in the thermoforming packaging machine (1) transportable bottom film web (4) and a closing station (8) for Closing the troughs (5) with a lidding film (9), further comprising a machine frame (16) supporting the forming station (2) and the closing station (8), comprising a plurality of interconnected vertical struts (19), longitudinal struts (18) and cross struts (20) and machine feet (21), characterized in that at least one substantially U-shaped or O-shaped portal (24, 24 ') is rigidly integrated into the machine frame (16), wherein the portal (24, 24' ) has two columns (25) and one from one of the two columns (25) to the other column (25) and above the transport plane (E) transversely to the transport direction (P) extending cross member (26), wherein at the portal (24, 24 ') a 2-oh s-robot (27) is provided. Tiefziehverpackungsmaschine nach Anspruch 1, dadurch gekennzeichnet, dass einer der Maschinenfüße (21) direkt an, direkt unterhalb oder direkt neben einer Säule (25) des Portals (24, 24') angeordnet ist.Thermoforming packaging machine according to claim 1, characterized in that one of the machine feet (21) is arranged directly on, directly below or directly next to a column (25) of the gantry (24, 24 '). Tiefziehverpackungsmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass jede der Säulen (25) einen ersten Abschnitt (25a) aufweist, der sich oberhalb der Transportebene (E) erstreckt, und einen zweiten Abschnitt (25b), der sich unterhalb der Transportebene (E) erstreckt.Thermoforming packaging machine according to one of the preceding claims, characterized in that each of the columns (25) has a first section (25a) extending above the transport plane (E) and a second section (25b) extending below the transport plane (E ). Tiefziehverpackungsmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Säulen (25) und/oder die Traverse (26) Edelstahl aufweisen oder aus Edelstahl bestehen.Thermoforming packaging machine according to one of the preceding claims, characterized in that the columns (25) and / or the traverse (26) comprise stainless steel or consist of stainless steel. Tiefziehverpackungsmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass eine Säule (25) und/oder die Traverse (26) einen H-förmigen, einen U-förmigen oder einen geschlossenen Querschnitt aufweisen.Thermoforming packaging machine according to one of the preceding claims, characterized in that a column (25) and / or the traverse (26) have an H-shaped, a U-shaped or a closed cross-section. Tiefziehverpackungsmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass an dem Portal (24, 24') ein Folienspender (10) zum Spenden der Deckelfolie (9), ein Folienaufwickler (15) zum Aufwickeln eines Restfoliengitters (14) und/oder ein Etikettierer angebracht ist.Thermoforming packaging machine according to one of the preceding claims, characterized in that on the portal (24, 24 ') a film dispenser (10) for dispensing the lid film (9), a Folienaufwickler (15) for winding a residual film grid (14) and / or a labeler is appropriate. Tiefziehverpackungsmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass mehrere Portale (24, 24') mit jeweils einem daran vorgesehenen 2-Achs-Roboter (27) vorhanden sind.Thermoforming packaging machine according to one of the preceding claims, characterized in that a plurality of portals (24, 24 ') are provided, each with a 2-axis robot (27) provided thereon. Tiefziehverpackungsmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass der 2-Achs-Roboter (27) einen Roboterkopf (28) aufweist, der mit einem ersten Freiheitsgrad (F1) quer zur Transportrichtung (P) und mit einem zweiten Freiheitsgrad (F2) in vertikaler Richtung bewegbar ist.Thermoforming packaging machine according to one of the preceding claims, characterized in that the 2-axis robot (27) has a robot head (28) with a first degree of freedom (F1) transversely to the transport direction (P) and with a second degree of freedom (F2) in vertical direction is movable. Tiefziehverpackungsmaschine nach Anspruch 8, dadurch gekennzeichnet, dass am Roboterkopf (28) ein Werkzeug (29) montiert ist.Thermoforming packaging machine according to claim 8, characterized in that a tool (29) is mounted on the robot head (28). Tiefziehverpackungsmaschine nach Anspruch 9, dadurch gekennzeichnet, dass das Werkzeug (29) ein Greifwerkzeug oder ein Saugwerkzeug ist.Thermoforming packaging machine according to claim 9, characterized in that the tool (29) is a gripping tool or a suction tool. Tiefziehverpackungsmaschine nach einem der Ansprüche 8 oder 9, dadurch gekennzeichnet, dass das Werkzeug (29) relativ zum Roboterkopf (28) drehbar an diesem gelagert ist.Thermoforming packaging machine according to one of claims 8 or 9, characterized in that the tool (29) relative to the robot head (28) is rotatably mounted thereon.
EP15192359.6A 2015-04-29 2015-10-30 Deep draw packaging machine with 2-axle robots Active EP3088307B1 (en)

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CN108128507B (en) * 2018-02-13 2023-11-21 深圳市动力飞扬智能装备有限公司 Intelligent packaging line for PCB finished products and packaging process thereof

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US3938302A (en) * 1972-11-09 1976-02-17 Ste. D'application Plastique Mecanique Et Electronique Plastimecanique Machine for automatically producing optionally empty or filled packaging containers made of thermoplastic film material
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DE102009016826A1 (en) 2008-04-18 2009-10-29 Multivac Sepp Haggenmüller Gmbh & Co. Kg Support frame for robots
DE102010004630A1 (en) 2010-01-14 2011-07-21 MULTIVAC Sepp Haggenmüller GmbH & Co. KG, 87787 Packaging plant with discharge station
EP2778079A1 (en) 2013-03-14 2014-09-17 Multivac Sepp Haggenmüller GmbH & Co. KG Deep draw packaging machine with integrated product supply

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ES2666829T3 (en) 2018-05-08
EP3088307B1 (en) 2018-01-31
US20160318641A1 (en) 2016-11-03

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