EP3288871A1 - Procédé et dispositif d'acheminement, de fourniture et d'échange de rouleaux comportant un matériau d'emballage dans une machine d'emballage - Google Patents

Procédé et dispositif d'acheminement, de fourniture et d'échange de rouleaux comportant un matériau d'emballage dans une machine d'emballage

Info

Publication number
EP3288871A1
EP3288871A1 EP16716215.5A EP16716215A EP3288871A1 EP 3288871 A1 EP3288871 A1 EP 3288871A1 EP 16716215 A EP16716215 A EP 16716215A EP 3288871 A1 EP3288871 A1 EP 3288871A1
Authority
EP
European Patent Office
Prior art keywords
gripping
handling device
new
packaging machine
roll
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
EP16716215.5A
Other languages
German (de)
English (en)
Other versions
EP3288871B1 (fr
Inventor
Thomas Wimmer
Jürgen Werner
Herbert Spindler
Martin Bauer
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.)
Krones AG
Original Assignee
Krones AG
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 Krones AG filed Critical Krones AG
Publication of EP3288871A1 publication Critical patent/EP3288871A1/fr
Application granted granted Critical
Publication of EP3288871B1 publication Critical patent/EP3288871B1/fr
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
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/32—Orientation of handled material
    • B65H2301/325—Orientation of handled material of roll of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/36—Positioning; Changing position
    • B65H2301/364—Positioning; Changing position of material in roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/417—Handling or changing web rolls
    • B65H2301/41702—Handling or changing web rolls management and organisation of stock and production
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/417—Handling or changing web rolls
    • B65H2301/4171—Handling web roll
    • B65H2301/4173—Handling web roll by central portion, e.g. gripping central portion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/50—Auxiliary process performed during handling process
    • B65H2301/54—Auxiliary process performed during handling process for managing processing of handled material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B65H2511/23—Coordinates, e.g. three dimensional coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/42—Cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/30—Multi-axis

Definitions

  • the present invention relates to a method for conveying, providing and / or largely uninterrupted handling and / or replacement of rolls with thereon and serving as packaging material for packing piece goods, containers or similar article compositions flat and / or sheet material within a packaging machine with the features of the independent method claim 1.
  • the invention also relates to a device for the delivery, provision and / or largely uninterrupted handling and / or replacement of roles with it wound up and as
  • Packaging material for packaging piece goods, containers or the like article compositions serving flat and / or sheet material with the
  • containers eg. Of beverage containers o. The like.
  • shrink film to prevent slipping or loosening of the compilation during further handling or during transport.
  • containers comprising four, six or more containers are known from the prior art.
  • Such containers form a very common variant of sales units for beverage containers or bottles made of PET plastic.
  • the fastest possible compilation of such containers without interruption is individual
  • Devices and methods which unwind the material from a roll or multiple roles to carry within a packaging machine and thus envelop the individual containers or the respective articles which are to form the respective container with the packaging material.
  • the unwinding of the packaging material from the roll is usually carried out by machine and in a continuous process.
  • a roll is unwound and the stock of packaging material of the roll is exhausted, an exchange of the respective roll or a replacement by a new roll must take place.
  • Reel change an undesirable interruption of the process of putting together and packaging of containers connected.
  • a method and a device by means of which new rolls can be delivered and used rolls can be exchanged within a packaging machine are known, for example, from DE 40 40 545 A1.
  • This known device has a plurality of supply rolls with strip material, which are arranged side by side. The core of the rollers is placed in each case on a common pin.
  • Strip material is previously connected to a roller, which pulls the strip material from the respective roll and leads away from the device in the downward direction.
  • the role In order to operate this known device and to unwind the material from the roll, the role must be placed with its core in conformity with the direction of rotation on the pin.
  • Strip material must descend from above in the direction of the rolls. If the roller with opposite direction of rotation placed on the pin, so could
  • Strip material is difficult or impossible to be removed from the roll, which would complicate the process.
  • a manual reacting and rotationally compliant re-placement is indispensable to ensure trouble-free operation can.
  • Packaging machines are also known in different embodiments, so for example. By devices for feeding and changing coils with strip material in a processing machine according to DE 32 02 647 A1 or DE 41 42 256 A1.
  • DE 34 25 734 A1 discloses an automated system for the supply of packaging material on production and / or packaging lines.
  • the plant includes a
  • the car with the articulated arm travels along routes that are determined by a computer connected to the processing machines.
  • a device for supplying packaging machines with consumable or packaging material is also known from EP 1 273 541 B1.
  • the wound as reels of material webs are delivered on pallets and distributed to several manufacturing and packaging machines, the pallets first by means of
  • the device comprises a reel storage with a portal in which the reels are held on pallets.
  • a gantry robot with
  • the known handling methods and devices require exact positioning and feeding of new reels or reels with packaging material wound thereon. If this exact positioning can not be guaranteed, the smooth replacement of worn-out rollers is endangered, as a result of which the functionality of the packaging machine is no longer sufficient
  • an object of the present invention is seen to provide a device and a method with a high degree of automation for handling rolled-up flat and / or film material, by means of which flat and / or film material can be provided without interruption.
  • the device and the method should also not exactly positioned
  • Roller feeders operate flawlessly and with a pronounced degree of fault tolerance, ensuring smooth roller replacement under all operating conditions.
  • the The invention relates to a method for conveying, providing, handling and / or exchanging rolls with flat and / or sheet material wound thereon and used as packaging material for packaging piece goods, containers or similar article compositions.
  • the method at least approximately completely unwound and / or exhausted rolls are removed from at least one installation position of a packaging machine and then, respectively, after removal of a respective roll, a new roll with flat and / or
  • Foil material used in the respective installation position Normally, after the respective insertion of a new roll, an outer layer of the respective new roll is drawn off near or in the region of its free end and connected, in particular welded, to form a continuous web of material with a section of a material web guided in the packaging machine bonded.
  • connection options are conceivable.
  • the method provides that new rolls of the packaging machine in a defined feed, e.g.
  • a revolving magazine for example, rolls are arranged on a circular plate or rotatable system so that a new roll can be made available as the plate or system rotates
  • a feeding system for example, configured as a paternoster lift or shuttle transport, cf., EP 2 862 823 A1
  • a vertical conveyor o. The like.
  • the rollers are preferably picked up independently of the orderly feed by means of handling and gripping devices and inserted into the packaging machine.
  • the method may also provide that the mentioned
  • Room monitoring devices are formed by at least one optical detection device, in particular a camera, which detects at least the movement space of the gripping and / or handling device and this movement space and the therein occurring movements of the gripping and / or handling device provides imaging output signals.
  • the at least one optical detection device or the camera for example, the gripping and / or handling device assigned or mounted there, so that it is capable of the movements of the gripping and / or handling device and the direction of rotation compliant orientation of each new role before or during their insertion to check.
  • the camera can also cover the movement space by being fixedly mounted in the room or on the packaging machine; Additional or multiple cameras on the gripping and / or handling device are possible.
  • a plurality of cameras or optical detection devices can be used whose output signals are superimposed and can be used for exact location determination of all moving parts, handling systems and / or rolls of packaging material.
  • the inventive method allows in this way an exact
  • Handling equipment can ensure the smooth replacement of used rolls, which ensures the functionality of the packaging machine in an ideal manner.
  • the method has a high degree of automation in the handling of roll-wound flat and / or sheet material
  • Movement space of the gripping and / or handling device to detect a state of a core of a roll to be inserted into the respective installation position and provide information about the state of the core as output signals. This can be determined if necessary, if a core of a roll is damaged and thus can not be used due to the damage or not problem-free in the respective installation position of the packaging machine. It is conceivable here that upon detection of damage to the core, the respective roller which has the damaged core is separated out via the gripping and / or handling device and is not inserted into the respective installation position.
  • the gripping and / or handling device, the respective role, which has the damaged core on a for the separation of Roll off specific pallet or transfer it to a pallet intended for sorting out rolls.
  • the gripping and / or handling device can be a clipboard for a in the
  • packaging machine role which serves as a support for the role, in particular for storing the respective role to be used and re-recording by the gripping and / or handling device for transferring the respective role in the packaging machine.
  • the roll lying or with its longitudinal extent can be positioned horizontally on the clipboard.
  • an optical detection device or a camera system can be provided, which looks through the core for detecting or checking for damage and as part of the gripping and / or
  • Handling device is formed or the gripping and / or
  • Handling device is assigned.
  • Handling device can be moved in the region of the core of the respective role.
  • the gripping and / or handling device In the method, the gripping and / or handling device
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted on its movable arm so that it can detect all movements in the room as well as the rollers to be positioned and positioned in the packaging machine.
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted on its movable arm so that it can detect all movements in the room as well as the rollers to be positioned and positioned in the packaging machine.
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted on its movable arm so that it can detect all movements in the room as well as the rollers to be positioned and positioned in the packaging machine.
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted on its movable arm so that it can detect all movements in the room as well as the rollers to be positioned and positioned in the packaging machine.
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted
  • a driverless and / or remote-controlled transport system FTS, at least one self-propelled shuttle
  • This AGV or the shuttle of the AGV may, for example, a gripping arm o. The like.
  • Transport support deposits after which it moves together with the roller to the packaging machine and there uses the role.
  • the shuttle can be assigned its own camera to control its movements in the room.
  • the gripping and / or handling device may, for example, be assigned a clipboard for a roll to be inserted into the packaging machine, which serves as a support for the roll, in particular for depositing,
  • Clipboard can be formed in particular by a bearing block o. The like., Which has a fixed or variable position within the movement space of the gripping and / or
  • the bearing block itself may be formed as a shuttle of a FTS or leaderless transport system, whereby he may be able to perform in a turning role to an automatic rotation of 180 degrees about its vertical axis to the gripping and / or handling system to leave the roll stored there in the correct position.
  • the clipboard or the bearing block is assigned a camera, whereby an additional optical monitoring on the bearing block can be ensured to detect the role positions, etc. and the bearing block or the gripping and / or handling device in to control the required way.
  • the bearing block can be assigned a rotary drive for rotation of a roller lying about its horizontal center axis to its rotational position and / or to adjust an orientation of an edge of an outer material web ply. Regardless of whether the bearing block is fixed or movable, it can be assigned a suitable turning mechanism in order to perform a 180 ° rotation with the roller resting, in order to bring the role in the correct installation position can.
  • the method may further provide that the packaging machine itself or their installation positions for the interchangeable roles with
  • Packaging material to be visually monitored can be provided in the packaging machine, in particular in the area of the roles to be replaced or in the area of their installation positions.
  • At least one optical marking is applied to a lot of a new role in the region of the free end of externa ßeren material web and the new roles are used by means of gripping and / or handling device so in their respective installation position or before removing the respective outer position are aligned in their respective installation position such that the optical markings point in the direction of a respective opposite mounting position.
  • This at least one optical identification can, for example, be applied to the respective new roll prior to insertion into its respective installation position in such a way that the free end of the outer material web of the respective new rolls is immobilized at least largely immovably on the respective new roll by means of the optical marking.
  • the method may provide that the optical marking is applied, for example, to a new roll lying on the clipboard, possibly with the support of the camera monitoring the room or the camera arranged on the clipboard.
  • the optical markings can also be placed elsewhere in the area of the infeed, possibly manually by a
  • Packaging machine can be used.
  • optical markings can optionally be applied subsequently to the rollers in order to mark the beginning of the film or material web. It may be desirable, however, such markings already in the By incorporating material webs, for example by printing on the material webs in the immediate vicinity or in the area of the material web edge, which can further facilitate the handling compared to a subsequent application of optical markings since it saves a further handling step. It makes sense, moreover, an optical marking in the web, indicating the early material web end when unwinding the role. This marking can be monitored and recorded optically, so that a role that has almost been consumed can be recognized and a reel change can be prepared and initiated in good time.
  • the material web edge must bear with sufficient adhesive force on the underlying material web position, so that the material web start can not unintentionally come off the roller surface, for example.
  • the adhesive force must be so low that the outer material web layer or film layer can easily be detached from the roll, preferably also by means of a pneumatic gripper, which can provide significantly less adhesive forces than a mechanical gripper. Possibly. can be replaced by mechanical aids within the
  • Packaging machine can be supported, for example, by a pointed wedge, against which the roller is rotated, so that it is below the material web edge of the outer
  • New rollers can be moved, for example, via a horizontal conveyor into the area of the handling device and removed directly from the horizontal conveyor by means of the handling device. Also possible is a
  • Movement of the gripping and / or handling device are brought to be picked up by this and used in the packaging machine, possibly including the clipboard, as described above as an option.
  • Room monitoring device is coupled and in communication and under
  • the invention further proposes a device for conveying, providing, handling and / or exchanging rolls with flat and / or sheet material wound thereon and used as packaging material for packaging piece goods, containers or similar articles of the independent device claim.
  • the device provides that at least approximately completely unwound and / or exhausted rolls are removed from at least one installation position of a packaging machine and can be replaced by new roles with flat and / or foil material for the respective installation position, preferably after each insertion an outside lying position of the respective new role in the vicinity or in the region of its free end and connected to form a continuous web with a portion of a guided in the packaging machine web of another role, in particular welded or glued.
  • the device according to the invention comprises means for providing new rolls for the packaging machine in a defined feeder such as pallets, shelving systems, FTS or the like. and at least one gripping and / or handling device for taking over the rolls from the defined feed and for inserting the new rolls into the respective installation position of the
  • rollers can be picked up independently of the orderly feed, in particular by means of handling and gripping devices, and inserted into the packaging machine.
  • the device according to the invention with
  • Room monitoring devices for detecting at least the positions of the rollers in the area of the defined supply and / or provision and / or the positions and / or movements of the gripping and / or handling device within a movement space and for controlling the movements of the gripping and / or Handling device in the region of the defined supply and / or provision for the roles depending on the detected by means of the room monitoring device room, motion and / or sensor data equipped.
  • the room monitoring devices may be formed, for example, by at least one optical detection device, in particular a camera, which at least the movement space of the gripping and / or
  • Handling device detected and this movement space and in it
  • the at least one optical detection device or the camera can, for example, be assigned directly to the gripping and / or handling device. So there may be a camera mounted there; This can then check the movements and the direction of rotation of each new role before or during their insertion.
  • Be arranged robot or the handling device Be arranged robot or the handling device.
  • the gripping and / or handling device can in particular be formed by a multi-axis robot, which receives new rolls from the defined feed and places them in the packaging machine.
  • the handling robot or the multi-axis robot can optionally be assigned a camera which, for example, can be arranged on a movable or articulated gripping or extension arm in order to grasp all detected objects and the respective environment in order to grasp it
  • the handling device or the multi-axis robot has suitable gripping and / or holding means, which may be formed by a holding mandrel, for example, which dips into the front side designed as a hollow body new role, increases its maximum cross-sectional diameter or its cross-sectional area increases and hereby the respective new roller clamped to the
  • the gripping and / or handling device can be formed by a driverless and / or remote-controlled transport system (so-called FTS with at least one self-propelled shuttle), which picks up new rolls from the defined feed and places them in the packaging machine.
  • This shuttle or FTS can optionally be assigned a camera.
  • suitable auxiliaries are preferably provided to check a position of each new roll to be inserted into the packaging machine during its handling by the gripping and / or handling device and, if necessary, ie in the case of an incorrectly positioned one Roll that a loses
  • the gripping and / or handling device can be assigned, for example, a clipboard for a role to be used in the packaging machine, which can serve as a support for the role, in particular for storage, directionally compliant provision and re-recording by the gripping and / or handling device
  • Moving space located clipboard can, for example, be formed by a bearing block, which can assume a fixed or variable position within the movement space of the gripping and / or handling device. It can also be provided that the bearing block itself can form a mobile and self-propelled shuttle of a FTS. In addition, the bearing block can optionally be assigned a camera, whereby an additional optical monitoring is possible on the bearing block. For putting in the bearing block can be equipped with a rotary drive for rotation of a roll lying on it about a horizontal longitudinal axis to adjust the rotational position and / or alignment of an edge of an externa ßeren material web position. In addition, the
  • Bearing optionally have a turning mechanism to perform a 180 ° rotation with resting role can. This function is already present in a design of the clipboard as a self-propelled shuttle.
  • the device can furthermore provide additional optical monitoring devices or cameras in the packaging machine, in particular in the area of the rollers to be replaced or in the area of their installation positions.
  • the device may have additional facilities to apply to a lot of new roles in the region of the free ends of their outer webs at least one optical marking, so that the new roles are used by the handling device so in their respective installation position or before removing the respective outer position can be aligned in their respective installation position such that the optical markings point in the direction of a respective opposite mounting position.
  • the at least one optical marking is applied to the respective new role before insertion into their respective installation position such that by means of optical marking the free end of the externa ßeren material web of the respective new roles is at least largely fixed immovably to the respective new role.
  • Particularly advantageous is the optical marking on a on the
  • new rolls can be moved via pallets or, for example, via a horizontal conveyor into the area of the handling device and by means of the handling device from the pallet or from the pallet
  • a control unit is in communication with the handling device and the room monitoring device and, taking into account a respective acceptance of new rollers from the feed area and / or a pallet or the horizontal conveyor by means of the handling device, predetermines a timed operation of the horizontal conveyor or the pallet feed ,
  • the invention relates to a method for uninterrupted handling of wound on rolls and as packaging material of
  • Piece goods, containers or the like article compositions serving flat and / or sheet material.
  • the flat and / or sheet material may be formed as a shrink film or as a conventional plastic film.
  • the rollers may have a core whose geometric shape corresponds to a hollow cylinder and which may consist at least partially of cellulose-containing material.
  • the respective new roll can thereby be placed on a pin corresponding to the core of the packaging machine and at removal or removal
  • At least partially unwound and / or used up rolls are taken from at least one installation position of a packaging machine and then respectively a new roll with flat and / or foil material inserted into the respective installation position after removal of a respective roll.
  • Embodiments may be provided at least two mounting positions.
  • Each of the at least two mounting positions can, as previously mentioned, have a pin on which the new roller is placed and on which the respective roller rotates to unwind its respective flat and / or sheet material.
  • the rollers can be fixed in a clamping manner on the journal of their respective installation position.
  • the pin can be driven in rotation and transmit torque to the respective seated roller so that the roller is moved in rotation about its pin to unwind its flat and / or sheet material.
  • Each pin can be assigned a drive over which the respective pin is rotated.
  • the drives can be connected to a control unit described in more detail below or can be controlled via a control unit described in more detail below for rotating the pins.
  • the clamping connection between the pin and the roller can be released, so that the roller is then no longer firmly connected to the pin and can be removed from the pin ,
  • the rotating movement of the pin can be interrupted until a new roll placed on the pin or in the corresponding
  • Installation position was used. After each insertion of a new role in their respective installation position is usually taken out an outsi position of the respective new role in the vicinity or in the region of its free end and to form a continuous web with a portion of the in the
  • the outboard ply of the respective inserted new roll may, after insertion with a suitable gripping element, e.g. be withdrawn by means of a pneumatic suction, mechanical clamping and / or electrostatically adhesive working gripping and / or handling device, which moves back and forth between the at least two mounting positions.
  • a suitable gripping element e.g. be withdrawn by means of a pneumatic suction, mechanical clamping and / or electrostatically adhesive working gripping and / or handling device, which moves back and forth between the at least two mounting positions.
  • the gripping member can alternately deduct from the at least two mounting positions outsides lying layers of new roles.
  • a welding rod may be provided, which is moved in the downward direction and in this case the outer layer of the respective new roll welded to the guided in the packaging machine material web.
  • the respective outer layer can be moved into a working area of the welding rod.
  • the temperature-controlled welding rod can thus the outer-lying position of each new role clamped against the in the
  • Packaging operation flat and / or sheet material is uninterrupted unwound from at least one roll of at least two mounting positions.
  • the new roll can thus be used, while still continuously flat and / or sheet material is unwound from the other role in the packaging machine.
  • Multi-axis robot controls are Multi-axis robot controls.
  • the respective new roller can be inserted into its assigned installation position or remain in its respective assigned installation position. Will be wrong
  • Determined direction of rotation and / or a wrong direction of rotation compliant positioning it can be an alignment correction of the respective new role made or selected another new role with appropriate direction of rotation and / or direction of rotation orientation for insertion and inserted into the respective mounting position. This can be done in particular using the above described
  • Clipboard done which is located in the vicinity of the gripping and / or handling device or at least within their range of motion.
  • Positioning a new role is checked. If an incorrect direction of rotation and / or a wrong direction of rotation compliant positioning has been determined, then the respective new roll before insertion into the packaging machine on the
  • the direction of rotation conforming orientation or the orientation with the appropriate direction of rotation and the insertion of the role in their respective mounting position can then be done before connecting or welding their outer layer with the remaining material in the packaging machine web.
  • Direction of rotation compliant alignment of the new roll can flat and / or
  • Packaging material are continuously unwound from another arranged in the packaging machine or in one of the at least two mounting positions role.
  • Control unit with the gripping and / or handling device are in operative connection and control their exact movements for handling the role, wherein beyond the optical detector or the optical detection system beyond a respective Direction of rotation and / or direction of rotation conforming orientation of new roles verifiable and / or can be determined and the new roles by means of gripping and / or
  • Handling device with suitable for the respective installation position direction of rotation and / or direction of rotation orientation and / or by means of the gripping and / or handling device with the appropriate direction of rotation and / or
  • Control unit display unit such as a display or the like
  • the control unit display unit such as a display or the like
  • control unit with the gripping and / or handling device is preferably coupled in a manner that the rollers with at least partially unwound and / or used up roles independently from the respective
  • Removable installation position and new roles with matching direction of rotation and / or appropriate direction of rotation conforming orientation independently in the at least two mounting positions can be used.
  • an algorithm can be stored on the control unit, with the algorithm taking into account the detected
  • Roll positions - these may, for example, on pallets - and determined by the optical detector rotation direction and / or direction of rotation conforming orientation of each new role a specific control of the gripping and / or
  • Handling device is effected.
  • Handling device for clamping fixation of trained as a hollow body new roles include a preferably cylindrically shaped retaining mandrel with adjustable maximum cross-sectional diameter. The adjustment of the
  • Cross-sectional diameter can be done via the control unit or specified by the control unit.
  • the gripping and / or handling device may have a movable gripper arm, wherein the retaining pin is arranged at the free end of the gripper arm.
  • the gripping and / or handling device may be preceded by a horizontal conveying device designed for transporting new rolls, which extends into a working region of the gripping and / or handling device and which is controlled by the control unit, taking into account a removal of new roles by the gripping and / or handling device with clocked operation.
  • a horizontal conveying device designed for transporting new rolls, which extends into a working region of the gripping and / or handling device and which is controlled by the control unit, taking into account a removal of new roles by the gripping and / or handling device with clocked operation.
  • Handling device new roles on pallets or the like Be provided. It is also possible to place new rolls in a container or the like, which is located in the work area of the gripping and / or handling area and over which the gripping and / or handling device new roles are provided.
  • the new roles can be random or with any orientation in the
  • Container be placed, wherein by means of the optical detector, the direction of rotation and / or direction of rotation-compliant orientation is verifiable and / or detectable.
  • Fig. 1 shows a schematic perspective view of a first embodiment of a device according to the invention.
  • Fig. 1 illustrates a conceivable
  • Fig. 2 shows a schematic perspective view of a second
  • Fig. 3 shows a total of three schematic views of a clipboard, which can be used in the second embodiment of the device according to FIG. 2.
  • 4 shows a schematic perspective view of two installation positions for
  • FIG. 5 shows the mounting positions of Fig. 4 with inserted new role for the second mounting position.
  • Fig. 6 shows the mounting positions of Figures 4 and 5 with deducted outer
  • FIG. 7 shows, in two perspective views, a handling device which picks up a new roll from a pallet for insertion into the packaging machine.
  • Fig. 8 shows in two further perspective views the
  • Fig. 9 shows in four views the positioning and removal steps in the insertion or removal of a roll from an installed position within the
  • Fig. 10 shows in three schematic views different variants of
  • FIG. 1 The schematic perspective view of Fig. 1 shows a first
  • FIG. 1 also illustrates a conceivable implementation of an embodiment of the inventive method described above.
  • the device 10 is used to handle flat packaging material such as shrink film or packaging films, which is wound on large, due to their weight usually not manually manageable rollers 12.
  • Fig. 1 Schematically indicated in Fig. 1 is a part of a packaging machine 14, which has a
  • gripping and / or handling device 16 new rollers 12 are supplied.
  • the gripping and / or handling device 16 embodied as a stationary arranged multi-axis robot 18 in the exemplary embodiment shown uses the respective new rolls 12 to be supplied to the packaging machine 14 in two different installation positions EB1 and EB2, which are only partially recognizable in FIG. 1 and in the detailed view of Fig. 4 are exemplified.
  • Packaging material is processed. During the further Abwickeins the
  • Material web 22 of the almost used up roll 20 takes place a connection or welding of the outer layer 24 (see Fig. 6) of the new roll 12 with the material web 22, whereby the device 10 can run in a continuous operation, without the packaging process for Replacing a spent roll 20 with a new roll 12 would have to be interrupted.
  • the new rolls 12 are each composed of the wound-up flat packaging material 22 or of the packaging or shrink film and a core 26 on which the packaging material 22 or the shrink film is wound up. To receive a new roll 12 from one in FIG. 1
  • indicated horizontal conveyor 28 dives the handling device 16 and the handling robot 18 via a movable end of his movable arm 30 movably arranged holding mandrel 32 frontally into a core 26 of a new roll 12 a.
  • An arm section 34 of the handling device 16 or of the handling robot 18 can for this purpose be rotated about an axis of rotation 36, as shown by way of example in FIG. 7A. After immersing the retaining mandrel 32 in the core 26 of the
  • Cross-sectional diameter of the retaining mandrel 32 is increased, so that the new roller 12, as shown in Fig. 7B, is fixed to the retaining mandrel 32 by clamping.
  • the core 26 is
  • Outer circumference with an inner circumferential surface of the core 26 is in communication.
  • Handling device 16 and the handling robot 18 new rolls 12 are provided in an uninterrupted sequence available, so that when removing a new roll 12 from the horizontal conveyor 28, a further new role 12 in
  • the horizontal conveyor 28 can be clocked as needed in the desired manner or continuously with constant
  • the control unit 38 processes the signals 40 of at least one room monitoring device 42, which may be formed in particular by an optical detection device or a camera 44, possibly also by a plurality of cameras 44, which detect at least the movement space 46 of the multi-axis robot 18 and its movements, including the exact movements of the cantilever arm 30 with the retaining mandrel 32 pivotally mounted thereto are meant with respect to each new roller 12 to be detected.
  • the movement space 46 which can be detected optically by means of the space monitoring device 42 formed by the camera 44, is indicated in the representation of FIG. 1 for better illustration by a fan beam with the broken lines.
  • a manipulator 48 positioned in the region of the horizontal conveyor 28, which is operated by a user 50 and via which new rollers 12 can be placed standing on the horizontal conveyor 28, can be seen.
  • the new rolls 12 can, for example, be delivered standing on a pallet 52, from which they can be received by the user 50 by means of the manipulator 48 that can be controlled by him and placed on the horizontal conveyor 28 by means of a holding mandrel 54 located there.
  • a working area of the manipulator 48 therefore extends over the pallet 52 as well as over one
  • Handling robot 18 to be able to put the rollers 12 there, the retaining mandrel 32 to pull out of the core 26 and to detect the role 12 at its other end again to use them in the required direction of rotation for the mounting positions EB1 or EB2 in the packaging machine 14 ,
  • Such a clipboard, its function and its interaction with the gripping and / or handling device 16 and with the room monitoring device 42 are exemplary based on
  • Embodiment of Fig. 2 explained in more detail.
  • it remains the task of the user 50 to ensure the correct positioning of the rollers 12 on the horizontal conveyor 28 in each case, in particular also in FIG With regard to their correct direction of rotation in the respective installation position EB1 or EB2 (compare FIGS. 4 to 6).
  • Fig. 1 also shows an open-topped container 56, located in the
  • Work area 46 of the gripping and / or handling device 16 is located. If the supply of packaging material or shrink film of a roller 12 or 20 placed in the packaging machine 14 is exhausted, by means of the handling robot 18 the core 26 of cellulose, plastic, wood or cardboard is taken out of the packaging machine 14 and empty Container 56 stored. Only after removal of the core 26, a new roll 12 can be used in the respective installation position EB1 or EB2 of the packaging machine 14, so that the gripping and / or handling device 16 and the handling robot 18 first removes the core 26 and temporally following a insert new roller 12 in the respective installation position EB1 or EB2.
  • the horizontal conveying device 28, the gripping and / or handling device 16 or the multi-axis robot 18 and the packaging machine 14 are in communication with the control unit 38. This can in particular specify the cycled operation of the horizontal conveyor 28, insertion and removal of Rolls 12 and 20 by the handling device 16 of the two
  • Control packaging machine 14 inserted rollers 12. It is also important in the context of the present invention that the room monitoring device 42, in cooperation with the control unit 38, control movement of the
  • Handling device 16 enable the fault-tolerant positioning and feeding of the new rollers 12 and their handling, since the exact detection of each new roll 12 by the retaining mandrel 32 of the handling robot 18 by means of at least one camera 44 can be effectively supported and controlled, so that the exact positioning of the rollers 12 on the horizontal conveyor 28 loses importance and can be compensated by the correspondingly tracked motion control of the handling robot 18 within its movement space 46.
  • the indicated in Fig. 1 positioning of the camera 44 is merely exemplary understood. Likewise, one camera 44 or several cameras 44 at another Be positioned, for example, in the packaging machine 14, in the area of the handling robot 18 or possibly even on its pivot arm 30, provided that the movement space 46 can be covered and detected in the required manner.
  • the control unit 38 may also include a display device 58 and a
  • Direction of rotation conforming orientation of new rollers 12 and / or other control or movement parameters of the multi-axis robot 18 and / or the horizontal conveyor 28 can be visualized for the user 50.
  • Direction of rotation conforming orientation of the new rollers 12 is preferably, as described below by way of example with reference to Figures 4 to 6, detected by the camera 44 or possibly by another camera and / or checked, which is in communication with the control unit 38 and stand. Since the gripping and / or
  • Handling device 16 can remove the respective core 26 of an empty roll 20 from the packaging machine 14 and with the help of the camera 44 and the other cameras new roles 12 with matching direction of rotation or with
  • Direction of rotation compliant orientation in the packaging machine 14 uses independently, the device 10, at least from the beginning of receipt of new rolls 12 are operated by the horizontal conveyor 28 completely automated.
  • FIG. 2 illustrates a second embodiment of the device 10 according to the invention as well as a meaningful one
  • Packaging machine 14 does not differ significantly from the previous one
  • the device 10 in turn serves the handling of flat packaging material such as. Shrink film or
  • Packaging films the packaging machine 14 according to the
  • Handling device 16 the new rollers 12 to be supplied in each case to the packaging machine 14 into two different installation positions EB1 and EB2, which are explained in more detail with reference to the detailed views of FIGS. 4 to 6.
  • the second variant of the device 10 shown in FIG. 2 dispenses with a horizontal conveyor, but gets the new rollers 12 respectively on pallets 52, wherein on each pallet 52 four vertically arranged rollers 12 are each received individually by the handling robot 18 and in the
  • Packaging machine 14 are used. To accommodate a new roll 12 from one of the in-range, i. Within the movement space 46 of the gripping and / or handling device 16 or the multi-axis robot 18 standing pallets 52 dives the handling device 16 and the handling robot 18 on the end of his movable arm 30 movably arranged holding mandrel 32 frontally into a core 26 of a new roll 12th a, as has already been explained with reference to FIG. 1. An arm portion 34 of the handling device 16 and the
  • handling robot 18 can be rotated about an axis of rotation 36, as shown by way of example in FIG. 7A.
  • the cross-sectional diameter of the retaining mandrel 32 is increased, so that the new roller 12, as shown in Fig. 7B, is fixed to the retaining mandrel 32 by clamping.
  • the core 26 is hollow cylindrical, the shape of the retaining mandrel 32 thereto
  • Handling device is to place. This delivery can take place by means of suitable industrial trucks, for example by means of so-called FTS (driverless transport systems), which are formed by self-propelled, remotely controlled and / or own sensor systems for steering transport vehicles, for example.
  • FTS driverless transport systems
  • Each a pallet 52 with rollers 12 placed in it can move the movement space 46.
  • Transport systems or FTS can be operated clocked as desired in the desired manner. Their operation is preferably predetermined by the schematically indicated control unit 38, which not only controls the FTS (not shown here) in its conveying speed and / or timing, but also the handling robot 18 in its movements to replace the rollers 12 in the packaging machine 14th controls.
  • the control unit 38 also processes the signals 40 of at least one room monitoring device 42, which may also be formed in the variant of FIG. 2, in particular by an optical detection device or a camera 44, possibly also by a plurality of cameras 44, at least the movement space 46 of
  • Multi-axis robot 18 and detect its movements, which also the exact
  • Movements of the cantilever arm 30 with the pivoting mandrel 32 pivotally mounted thereto are meant with respect to each new roller 12 to be detected.
  • the movement space 46 which can be detected optically by means of the space monitoring device 42 formed by the camera 44, is indicated in the representation of FIG. 2 by an ellipse with interrupted ruling.
  • Device 10 is provided in the movement space 46 of the gripping and handling device 16 and in the immediate vicinity of a clipboard 60 for the new rollers 12, which serves, in the direction of rotation of the rollers 12 normally not defined on the pallets 52 the indispensable direction of rotation compliant positioning of each roller 12th to ensure when inserting into the packaging machine 14.
  • the retaining mandrel 32 of the handling robot 18 detects each individual roller 12, which stands on the pallet 52, without the direction of rotation already being checked.
  • roller 12 can be stored on the clipboard 60 by means of a corresponding movement control of the handling robot 18, after which the holding mandrel 32 is pulled out of the core 26 of the stored roll 12 in order to recapture the roll 12 on its other end side in order then to be able to use them in the respectively required direction of rotation for the installation positions EB1 or EB2 in the packaging machine 14.
  • the design of the clipboard 60, their exact function and their interaction with the gripping and / or handling device 16 and with the Room monitoring device 42 are explained in more detail by way of example with reference to the embodiment of FIG. 2 and the detailed views of FIG. 3.
  • the standing in Fig. 2 within the movement space 46 user 50 usually holds there only for maintenance purposes, but not during operation of the gripping and / or handling device, which possibly also by the
  • Room monitoring device 42 can be controlled.
  • Work area 46 of the gripping and / or handling device 16 is located. If the supply of packaging material or shrink film of a roller 12 or 20 placed in the packaging machine 14 is exhausted, by means of the handling robot 18 the core 26 of cellulose, plastic, wood or cardboard is taken out of the packaging machine 14 and empty Container 56 stored. Only after removal of the core 26, a new roll 12 can be used in the respective installation position EB1 or EB2 of the packaging machine 14, so that the gripping and / or handling device 16 and the handling robot 18 first removes the core 26 and temporally following a insert new roller 12 in the respective installation position EB1 or EB2.
  • control unit 38 can thus specify in particular the timed operation of the FTS, insertion and removal of rollers 12 and 20 by the
  • Handling device 16 from the two installation positions EB1 and EB2 initiate, and if necessary to use the clipboard 60 to ensure the correct direction of rotation of a new roll 12 to be used.
  • it can, as described in more detail below, a unwinding of packaging material or shrink film of the rollers 12 used in the packaging machine 14 control.
  • the room monitoring device 42 in cooperation with the control unit 38, a movement control of the gripping and / or handling device 16 under need of inclusion
  • Clipboard 60 allows creating a fault-tolerant positioning
  • a camera 44 or several cameras 44 may be positioned at further locations, for example also in the area of the packaging machine 14, in the area of the handling robot 18 or optionally also on its pivot arm 30, provided that the movement space 46 is covered in the required manner and can be detected.
  • the camera 44 and the room monitoring device 42 can then fulfill their purpose in an optimal manner, if they can cover the movement space 46 largely completely and if they are the movements of the gripping and / or
  • Handling device 16 its retaining mandrel 32 and the various target positions of the retaining mandrel 32 during recording and positioning of the rollers 12 can accurately detect and track. To ensure this reliably, it may be useful if the rollers 12, but at least the retaining mandrel 32, optionally also the pivot arm 30 of the handling robot 18 are provided with suitable reference marks that can be formed, for example, by visually uniquely recognizable in space marks, so that they can serve the camera system 44 as clearly recognizable and spatially assignable markings.
  • the control unit 38 can also have a display device 58 or a display via which / information about the direction of rotation or
  • Direction of rotation conforming orientation new roles 12 and / or other control or movement parameters of the multi-axis robot 18 and / or the FTS for the user 50 can be visualized.
  • the direction of rotation or rotational direction-conforming orientation of the new rollers 12 is preferably determined and / or checked by the camera 44 or possibly also by a further camera, as described below by way of example with reference to FIGS. 4 to 6, with the control unit 38 in FIG Connection is or stand. Since the gripping and / or handling device 16 can remove the respective core 26 of an empty roll 20 from the packaging machine 14 and with the help of the camera 44 and the other cameras new roles 12 with matching direction of rotation or with direction of rotation in the orientation
  • Packing machine 14 uses independently, the device 10 can at least from Beginning of receipt of new rolls 12 from the respective pallet 52
  • Handling robot 18 could optionally be present in double or triple version, provided that the movement spaces 46 of the two or more
  • Handling robot 18 are matched to one another in a way that there can be no collisions. Since, however, a longer uninterrupted operation is normally ensured due to the web lengths on the rollers 12, the rollers 12 do not have to be replaced so frequently that the use of two or more handling robots 18 would be necessary for this purpose.
  • a useful embodiment variant can provide that a gripping and / or handling device 16 or a single handling robot 18 can supply two packaging lines or two packaging machines 14, wherein the movement space 46 is expediently located between the two packaging machines 14 arranged approximately parallel to one another that also the feed area for new rolls 12 with the horizontal conveyor 28 (see Fig. 1) and the
  • Pallet delivery (see Fig. 2) between the two packaging machines 14 and in the vicinity of the handling robot 18 and within its movement space 46 is located.
  • the handling robot 18 can alternately supply the two normally operating packaging machines 14 with new rolls 12 and, if necessary, transfer the used rolls 20 into a common container 56 for subsequent or cyclical disposal. If the movement space 46 can not be monitored with a single camera 44 because it is partially shaded, for example, several cameras 44 may be present for monitoring the space.
  • Fig. 3 shows a total of three schematic views of the clipboard 60, as used in the second embodiment of the device 10 of FIG. 2, when the direction of rotation of the roller 12 after receiving by the retaining mandrel 32 of the handling robot 18 is not intended for Installation position in the
  • Packaging machine 14 is right.
  • the handling robot 18 sets the roller 12 on the prismatic upper support surface 62 of the arranged in the movement space 46 clipboard 60 by appropriate pivotal movement of its multi-axially movable cantilever arm 30, pulls the retaining pin 32 of the roller core 26 and leads him on the opposite end of the roll 12 back into the roll core 26 a.
  • After fixing the roller 12 on the retaining mandrel 32 of this can take up the roller 12 by corresponding movement of the boom 30 and insert it into the intended installation position of the packaging machine 14.
  • the prismatic upper support surface 62 ensures the exact central positioning of the roller 12 when depositing and prevents their lateral rolling or twisting.
  • drives to rotate the roller 12 by a defined angular amount about its longitudinal axis, for example.
  • the clipboard 60 is designed as a bearing block 64, which may optionally be fixedly anchored to the floor in the region of the movement space 46 can. Likewise possible, however
  • Embodiments with movable bearing block 64 which can be rotated, for example, about a vertical center axis 66 (see Fig. 3C) to adjust the direction of rotation of the roller 12 in the desired manner or to the roller 12 in the desired manner for the resumption of to position the retaining mandrel 32 of the handling robot 18.
  • the clipboard 60 or the bearing block 64 can be assigned suitable optical detection means, such as a camera or the like, which is preferably coupled to the control unit 38 (see Fig. 2), so that the exact positioning of one on the support surface 62 located roller 12 whose orientation and the sense of rotation or angle of rotation can be checked and recorded to the
  • a further option may provide that the clipboard 60 as a whole is movable, for example, if it is also designed as a so-called. FTS (driverless transport system).
  • FTS driverless transport system
  • it can also be used by the control unit 38 in its movements and rotations within the movement space 46 be controlled, typically in reasonable coordination with the handling robot 18, which may be useful in particular to speed up the change operations of the rollers 12.
  • FIGS. 3A to 3C additionally show clamping jaws 68 which can press on both sides on the end faces of a roller 12 which has been deposited on the support surface 62, provided they are delivered there. In this way, after lateral delivery of the jaws 68, the roller 12 as long as held in position until the
  • Retaining mandrel 32 has been retracted into the roll core 26 for resumption of the roll 12 and fixed there, so that the roll 12 can be conveyed into the installed position in the packaging machine 14.
  • FIG. 4 The schematic perspective view of Fig. 4 illustrates the previously mentioned mounting positions EB1 and EB2 for the rollers 12, which in the
  • Packaging machine 14 according to the variants according to FIG. 1 and / or Fig. 2 are defined.
  • Each of the mounting positions EB1 and EB2 is defined by its own rotatable mandrel 70. On each of these two horizontally oriented
  • the mandrels 70 are each a new role 12 attached by means of the gripping and / or handling device (see Figures 1 and 2) and by means of magnification of the
  • Welding bar 72 which for connecting an outer layer 24 (see Fig. 5, Fig. 6) of the inserted into the respective mounting position EB1 and EB2 new roller 12 (see Fig. 5) with the remaining material in the packaging machine 14 material web 22 is provided and this is lowered vertically. After joining the outer layer 24 (see Fig. 5) with the material web 22 remaining in the packaging machine 14, the tempered welding bar 72 is lifted vertically and brought into the position shown in FIG.
  • a virtually worn-out roller 20 rests on the receiving mandrel 70 of the first installation position EB1 and is moved in rotation by the mandrel 70 or by the removal of the material web 22.
  • the packaging material or the shrink film of the seated on the mandrel 70 of the first installation position EB1 roller 20 is unwound.
  • a used-up roller 20 has already been completely unwound and the core 26 (see Figures 1 and 2) removed via the handling device 16, so that the second mounting position EB2 and the receiving mandrel 70 of the second Installation position EB2 ready for receiving a new roll 12 with packaging material.
  • Each of the mounting positions EB1 and EB2 may be associated with a separate sensor system or camera 74, by means of which at least approximately fully developed and / or used-up rollers 20 can be optically detected. If a roll 20 is at least approximately completely processed and / or used up, the respective camera 74 sends information about the respective at least approximately completely processed and / or used roll 20 to the control unit 38.
  • the previously mentioned control unit 38 controls on the basis of numerous data so also the cameras 74 within the
  • Packaging machine 14 the gripping and / or handling device 18 or the handling robot 18 (see Figures 1 and 2) for removing the respective at least approximately completely unwound and / or depleted role 20 or for removing the core 26 of the respective at least approximately complete
  • Installation position EB1 or EB2 can be removed, a previously formed between the respective roller 20 and the mandrel 70 clamping connection is solved. This is typically done by reducing the
  • Reduction of the cross-sectional diameter of the receiving mandrels 70 is further specified by the control unit 38.
  • the gripping and / or handling device 16 dives into the core 26 of the at least approximately completely unwound via its retaining mandrel 32 (see FIG and or
  • Control unit 38 predetermined. After fixing the at least approximately completely unwound and / or used up roller 20 on the retaining mandrel 32, the at least approximately completely unwound and / or used-up roller 20 by gripping and / or handling device 16 and under specification by the
  • Control unit 38 in the direction of the container 56 moves and stored there by reducing the cross-sectional diameter of the retaining mandrel 32.
  • the gripping and / or handling device 16 via the control unit 38 for inserting a new roll 12 in the respective installation position EB1 or EB2 within the packaging machine 14 driven.
  • a check of the direction of rotation or direction of rotation conforming orientation of the respective new roll 12 - preferably with the aid of the clipboard 60 and the bearing block 64 (see Fig. 3), as previously described - take place.
  • the device 10 can be operated in this way automated. It should be mentioned at this point that the exemplary embodiment according to FIG.
  • FIG. 5 shows the
  • Installation position EB1 unwound so that the packaging machine 14 (see Figures 1 and 2) can continue to operate even when replacing the roller 20 from the first installation position by switching to the new roll 12 of the second mounting position EB2. If a new roll 12 is then subsequently inserted into the first installation position EB1, then packaging material 22 or shrink film can be unwound from the roll 12 of the second installation position EB2, whereby the required continuous and uninterrupted operation of the packaging machine 14 can be ensured.
  • the new roller 12 of the second mounting position EB2 of FIG. 5 may preferably have an optically detectable adhesive mark 76, which may be formed in particular by a reflective or inductive or otherwise detectable adhesive mark 76, which on the outer layer 24 of the new roll 12 in the area free end is applied.
  • the second mounting position EB2 associated camera 74 is now able to check by means of the adhesive mark 76, whether the new roll 12 with the appropriate direction of rotation or with direction of rotation conforming orientation on the
  • FIG. 5 A synopsis of Figures 5 and 6 can illustrate that with new role 12 of the second mounting position EB2 the externa ßere layer 24 is guided from above over the roller 12 and dives downwards. If the roller 12 with the wrong direction of rotation or incorrect direction of rotation conforming orientation placed on the arbor 70 of the second mounting position EB2, the externa ßere layer 24 would point away in the downward direction of the roller 12 and would not or only difficult to grab for this reason. In addition, this might possibly disrupt the rolling behavior within the packaging machine 14 or the course of the material web. An alignment below the welding bar 72 would thus not be possible.
  • Positioning new rollers 12 in conformity with the direction of rotation or inserting new rollers 12 into the respective installation position EB1 or EB2 with a suitable direction of rotation is therefore essential in order to ensure trouble-free operation of the device 10 or the packaging machine 14 in the subsequent material conveyance of the material webs 22 can.
  • the receiving mandrel 70 is moved in rotation until the adhesive marker 76 points in the direction of the opposite installation position EB1 or EB2. Only after this alignment of the adhesive marking 76 can a merely shown in Fig. 6 schematically gripping bar 78 in the packaging machine 14 between the mounting positions EB1 and EB2 and the welding bar 72 movable gripping and / or handling device (not shown), the outer layer 24 of the new Role 12 grip and below the Position the welding bar 72.
  • This gripping bar 78 can, for example, by means of vacuum suction and grip the externa ßere layer 24 of the roller 12.
  • the new rollers 12 have no such reflective adhesive mark 76 (corresponding to FIG. 5) and in which the cameras 74 have an outer layer 24 of new rollers 12 or the free end regions of FIG recognize new roles 12 without additional visual markings of the new roles 12.
  • the optically detectable adhesive markings 76 have a coding, which is not explained here in further detail, which can be recognized by the cameras 74. This coding can preferably also identify the direction of rotation of the roller 12 in addition to the localization of the end portion of the externa ßeren layer 24, so that the
  • Adhesive marking 76 already in the handling of the new roll 12 to be used with the handling robot 18 to determine the direction of rotation and the right one
  • Positioning of the end region of the outer layer 24 can be used, if necessary with the additional inclusion of the clipboard 60.
  • the adhesive marking 76 can preferably be detected by the room monitoring devices 42 or the camera 44 and the information content evaluated and made available to the control unit 38. to control the handling robot 18 and / or the clipboard 60 in the required manner.
  • Position 24 of the new roller 12 inserted in the second installation position EB2 shows the schematic perspective view of FIG. 6. It can be seen again here very clearly that the outer layer 24 of the roller 12 positioned in the second installation position EB2 comes from above in the direction of Dive down while the outer layer or web 22 of the inserted into the first mounting position EB1 roller 20 is coming from below. Both rollers 12 and 20 rotate on their respective associated mandrels 70 with the same direction of rotation, here counterclockwise. A direction of rotation compliant insertion of the new rollers 12 is necessary to a trouble-free and functioning operation of the device 10 and
  • Packaging machine 14 (see Figures 1 and 2) to be able to guarantee.
  • Information about at least approximately completely processed and / or used up rollers 20 are passed from the cameras 74 to the control unit 38, which can specify an alignment correction of new rollers 12 and a replacement of at least approximately unwound and / or used up rollers 20 by new rollers 12. This can in particular be done in a manner as already described with reference to FIGS. 2 and 3 with the optional inclusion of the
  • Direction of rotation correction usable clipboard 60 has been explained. In order to determine the correct direction of rotation, it makes sense, however, primarily to use the camera 44 and only subordinated to the cameras 74, to then check again after inserting the roller 12 in the packaging machine 14, the correct direction of rotation.
  • FIGS. 7A and 7B show a part of the handling robot 18 which forms the gripping and / or handling device 16 for handling the rollers 12 in the device 10.
  • Arm portion 34 of the handling robot 18 is pivotable about the horizontally oriented axis 36, so that the retaining mandrel 32 of the handling robot 18 can be aligned for immersion in the core 26 of the respective new roll 12 with vertical orientation of its longitudinal axis.
  • the new roller 12 can be rotated by a renewed pivotal movement of the gripping arm 34 about the axis 36 and temporally thereto in their respective associated mounting position EB1 and EB2 (see.
  • FIGS. 4 to 6 are identical to FIGS. 4 to 6).
  • Figures 7A and 7B show an optional additional camera 80.
  • This optional camera 80 is fixedly coupled to the gripping arm 34 mechanically so that it is guided with the gripper arm 34 moving therewith. If the gripper arm 34 is pivoted about the axis 36, so by means of the camera 80 a
  • Direction of rotation or direction of rotation compliant orientation of one or more new roles 12 are determined.
  • the camera 80 is connected to the control unit 38, which receives a new roll 12, which has a suitable direction of rotation or rotational direction-conforming orientation, by means of the handling device 16 controls from the pallet 52.
  • FIG. 7B shows the gripping and / or handling device 16 after receiving a new roll 12 with direction of rotation conforming orientation of a Palette 52 (see Fig. 7A).
  • the gripper arm 34 was moved from the position of FIG. 7A about the axis 36, which in FIG
  • Image plane runs, pivoted.
  • the new role 12 now has at least one
  • Installation position EB1 and EB2 are used in the packaging machine 14. A removal of the at least approximately completed and / or
  • used-up roller 20 from the respective installation position EB1 or EB2 also takes place with a horizontal orientation.
  • To remove the at least approximately completely unwound and / or depleted roll 20 from their respective installation position EB1 or EB2 dives the holding mandrel 32 of the handling robot 32 in the core 26 of at least approximately completely unwound and / or depleted role 20, resulting in different tools can be supported, which are explained below with reference to Figures 9 and 10 in more detail.
  • Cross-sectional diameter of the retaining mandrel 32 is specified via the control unit 38.
  • Fig. 8A already shows a short distance to one
  • the retaining pin 32 was then provided with a stamping attachment 82, which was temporarily fixed to the retaining mandrel 32 of the handling robot 18 for the purpose of pushing the roller 12 onto the receiving mandrel 70 against an axial stop 84.
  • This pushing operation with which the stamp attachment 82 presses against the end face of the roller 12 until it is pushed against the axial stop 84 and thus into its intended installation position EB1 or EB2, is illustrated in FIG. 8B.
  • the handling robot 18 can be released again from the roller 12 and fed to new tasks.
  • Installation position EB1 or EB2 in the packaging machine 14 (see Figures 4 to 6) on the take-up mandrel 70 located roller 12 (Fig. 9A) and a remote therefrom (Fig. 9B). While the roll 12 in the illustration of FIG. 9A is ready to roll off in the intended installation position EB1 or EB2, it was pushed down from the take-up mandrel 70 in the illustration of FIG. 9B by displacing the axial stop 84 and, for example, from the handling robot 18 taken over (not shown).
  • the displaceable axial stop 84 is located on a parallel to the
  • the entire pedestal 90 together with its drive 92 and the rotatably driven receiving mandrel 70, can also be designed to be displaceable along the two parallel horizontal guides 88, which is particularly advantageous for the equipping of the
  • FIG. 9C shows a roller 12 positioned on the take-up mandrel 70.
  • the base 90 with the drive 92 is here located on a right stop, in which the roll 12 is ready for unwinding in the packaging machine 14.
  • the axial stop 84 has moved with its base 86 against the base 90, so that it is in no touching contact with the roller 12.
  • 9D also shows the roll 12 positioned on the mandrel 70.
  • the base 90 with the drive 92 is displaced to the left here, as is the axial stop 84, which abuts with its base 86 on the base 90 and thus likewise moved to the left is.
  • the rotatably mounted on the base 70 receiving arbor 70 together with the roller 12 thereon is here moved out of the installation position EB1 or EB2 a piece, so that the roller 12 is in any position that is suitable for unwinding, but in a sampling or Placement position at which it can be easily taken over by the handling robot 18 or transferred to the packaging machine 14.
  • the position shown in Fig. 9D may form the starting position for pushing down the roller 12 from the mandrel 70, when the base 90 is moved with the mandrel 70 to the right in the original operating position (corresponding to FIG. 9C), while the base 86 with the axial stop 84 in place (as shown in FIG. 9D) remains.
  • the mandrel 70 moves out of the roller core 26, while the axial stop 84 bears against the end face of the roller 12 and holds it in place. As a result, the retaining mandrel 32 of the handling robot 18 can be pushed into the released core 26 and the roll 12 finally take over from the mandrel 70 and pull off.
  • the device 10 provides that the
  • Packaging machine 14 and the packaging machines 14 new roles 12 each in a defined feed, e.g. by means of pallets 52 (see Fig. 2), horizontal conveyors 28 (see Fig. 1), not shown here shelving systems or here likewise unspecified FTS (ie driverless transport systems) are supplied as soon as they are needed to subsequently by means of gripping and / or handling device 16 or the handling robot 18 taken over and transferred to the packaging machine 14, after there previously a used roll 20 has been removed.
  • pallets 52 see Fig. 2
  • horizontal conveyors 28 see Fig. 1
  • unspecified FTS ie driverless transport systems
  • FIG. 10A shows a highly schematic representation of a revolving magazine 100 in which the new rollers 12 each rotate in a circular arrangement about a horizontal axis, with each further rotation of the magazine 100 each have a new roll 12 can be provided.
  • 10B shows a highly schematic representation of a rotary indexing magazine 102, in which the new rollers 12 each rotate in a circular arrangement about a vertical axis, so that the packaging machine 14 and the gripping and / or
  • Handling device 16 (see Fig. 1) at each further rotation of the disc-like rotary indexing magazine 102 each have a new role 12 can be provided.
  • the Fig. 10C also shows in a highly schematic representation
  • Paternoster magazine 104 in which the new rolls 12 are each arranged in a vertically conveying elevator system, so that the packaging machine 14 or the gripping and / or handling device 16 (see FIG. 1) each time a new role in each of the paternoster magazines 104 12 can be provided. It may be advantageous if the paternoster magazine 104 in a plane 106 is filled, which is located below the upper level or the operating level 108 on which the packaging machine 14 and the other parts of the device 10 are arranged. The lower level 106 can advantageously be traveled on with industrial trucks, so that the assembly of the paternoster magazine 104 can be carried out in a simplified manner.
  • roll feed can take place, for example, by means of a shuttle transport (cf., EP 2 862 823 A1) or the like.

Landscapes

  • Basic Packing Technique (AREA)
  • Replacement Of Web Rolls (AREA)

Abstract

L'invention concerne un procédé et un dispositif d'acheminement, de fourniture, de manipulation et/ou d'échange de rouleaux (12, 20) comportant un matériau plat et/ou un matériau sous forme de film, enroulé sur ces derniers, servant de matériau d'emballage (22) pour l'emballage de charges isolées, fûts ou ensembles d'articles similaires. Dans ce dispositif et selon ce procédé, des rouleaux (20) au moins pratiquement entièrement dévidés et/ou épuisés sont prélevés à partir d'une position de montage (EB1, EB2) d'une machine d'emballage (14) puis un nouveau rouleau (12) comportant un matériau plat et/ou sous forme de film est introduit respectivement dans la position de montage respective (EB1, EB2). De nouveaux rouleaux (12) de la machine d'emballage (14) sont fournis selon un acheminement défini et sont introduits au moyen d'au moins un dispositif de préhension et/ou de manipulation (16) dans la position de manipulation (EB1, EB2) respective, après le prélèvement au préalable d'un rouleau (20) consommé. Au moins les positions des rouleaux (12) et/ou le dispositif de préhension et/ou de manipulation (16) et/ou sa zone de déplacement sont détectés dans la zone d'acheminement défini et/ou de fourniture au moyen de dispositifs de surveillance locale (42) et, en fonction de données spatiales, données de déplacement et/ou données de capteur (40), au moins les déplacements de l'unité de préhension et/ou de manipulation (16) sont commandées dans la zone de l'acheminement défini et/ou de fourniture pour les rouleaux (12).
EP16716215.5A 2015-04-30 2016-04-14 Procédé et dispositif d'acheminement, de fourniture et d'échange de rouleaux comportant un matériau d'emballage dans une machine d'emballage Active EP3288871B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015208136.2A DE102015208136A1 (de) 2015-04-30 2015-04-30 Verfahren und Vorrichtung zur Zuförderung, Bereitstellung und zum Austausch von Rollen mit Verpackungsmaterial in einer Verpackungsmaschine
PCT/EP2016/058174 WO2016173851A1 (fr) 2015-04-30 2016-04-14 Procédé et dispositif d'acheminement, de fourniture et d'échange de rouleaux comportant un matériau d'emballage dans une machine d'emballage

Publications (2)

Publication Number Publication Date
EP3288871A1 true EP3288871A1 (fr) 2018-03-07
EP3288871B1 EP3288871B1 (fr) 2023-02-01

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EP (1) EP3288871B1 (fr)
CN (1) CN208959329U (fr)
DE (1) DE102015208136A1 (fr)
WO (1) WO2016173851A1 (fr)

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ITUA20163404A1 (it) * 2016-05-13 2017-11-13 Celli Nonwovens Spa Linea per la produzione di bobine di materiale nastriforme
DE102017206549A1 (de) * 2017-04-19 2018-10-25 Robert Bosch Gmbh Verbrauchsmaterialhandhabungsvorrichtung zu einem Transport und/oder zu einer Handhabung von zumindest einem Verbrauchsmaterial, insbesondere eines Verpackungsmaterials
DE102019203742A1 (de) * 2019-02-07 2020-08-13 Bhs Corrugated Maschinen- Und Anlagenbau Gmbh Materialbahn-Einzugsvorrichtung
KR102145059B1 (ko) * 2020-01-14 2020-09-02 주식회사 호건에프에이 리와인딩 시스템
CN113664069B (zh) * 2020-05-14 2024-04-02 泰科电子(上海)有限公司 冲压带卷筒更换系统
CN214569389U (zh) * 2021-03-16 2021-11-02 东莞市雅康精密机械有限公司 集成式隔膜自动上料及下废料装置
CN113103189A (zh) * 2021-04-29 2021-07-13 珠海格力智能装备有限公司 脱轴设备
CN113955492A (zh) * 2021-12-22 2022-01-21 大连理工江苏研究院有限公司 一种薄膜材料负压固定式运输装置
WO2023232898A1 (fr) 2022-05-31 2023-12-07 Körber Tissue S.p.A. Ligne de production de tubes constitués de matériau de type bande

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Publication number Publication date
WO2016173851A1 (fr) 2016-11-03
CN208959329U (zh) 2019-06-11
DE102015208136A1 (de) 2016-11-03
EP3288871B1 (fr) 2023-02-01

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