EP3288876A1

EP3288876A1 - Method and device for feeding, providing and exchanging rolls with packaging material in a packaging machine

Info

Publication number: EP3288876A1
Application number: EP16716554.7A
Authority: EP
Inventors: Thomas Wimmer; Herbert Spindler
Original assignee: Krones AG
Current assignee: Krones AG
Priority date: 2015-04-30
Filing date: 2016-04-14
Publication date: 2018-03-07
Also published as: CN107531436A; CN107531436B; DE102015208118A1; WO2016173854A1

Abstract

The invention relates to a method and a device for feeding, providing, handling and/or exchanging rolls (12, 20) having flat and/or film material which is wound onto said rolls and serves as packaging material (22) for the packaging of piece goods, multipacks or similar assemblies of articles. In the device and method, at least approximately completely unwound and/or used up rolls (20) are removed from at least one installation position (EB1, EB2) of a packaging machine (14), whereupon in each case a new roll (12) having flat and/or film material is installed in the installation position (EB1, EB2) in question, wherein new rolls (12) of the packaging machine (14) are provided in a defined feeding and are installed there by means of at least one gripping and/or handling device (16) in the installation position (EB1, EB2) in question, after a used up roll (20) has previously been removed therefrom. At least the positions of the rolls (12) in the region of the defined feeding and/or provision and/or the gripping and/or handling device (16) and/or the movement space (46) thereof are detected by means of space surveillance devices (42) and at least the the movements of the gripping and/or handling device (16) are controlled in the region of the defined feeding and/or provision for the rolls (12) as a function of the acquired spatial, movement and/or sensor data (40).

Description

Method and apparatus for feeding, providing and exchanging rolls with packaging material in a packaging machine

The present invention relates to a method of delivery, provision,

Handling and / or replacement of rolls with flat and / or foil material wound thereon and used as packaging material for packaging piece goods, containers or similar article assemblies within a packaging machine with the features of independent method claim 1. The invention also relates to a device for conveying, providing and / or handling and / or replacement of rolls with flat and / or sheet material wound thereon and used as packaging material for packaging piece goods, containers or similar article compositions

Characteristics of independent claim 8. In a grouping and compilation of articles to containers, eg. Beverage containers o. The like., These are often held together in practice by shrink film to prevent slipping or loosening of the compilation during further handling or to prevent during transport. For example, 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. In order to achieve a high throughput in packaging and / or in a subsequent palletizing, the fastest possible compilation of such containers without interruption is individual

Process steps desirable. To provide the packaging material or the shrink film for the partial or complete wrapping of containers are already

Devices and methods are known, 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. Devices are known in which the packaging material is withdrawn via rollers from the rotating roll. Is a roll settled and stock up If the packaging material of the roll is exhausted, an exchange of the respective roll or a replacement by a new roll must take place. However, with such a

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. A beginning of the

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. 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. The strip material or the first layer of the

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, from which

Complications would arise in the settlement. Depending on the direction of rotation of the attached new roles in these known devices, a manual reacting and rotationally compliant re-placement is indispensable to ensure trouble-free operation can.

Devices for automatically feeding material wound on rolls and for replacing worn rolls in processing or

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, according to DE 41 42 256 A1, according to DE 101 09 446 A1 or according to DE 693 25 069 T2.

DE 34 25 734 A1 discloses an automated system for the supply of

Packing material on production and / or packaging lines. The system comprises a magazine for the packaging material and a carriage equipped with an articulated arm for gripping the packaging material and feeding it to the processing machines located on the processing lines. The trolley 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

Pallet conveyors are brought into interim storage, while individual reels are removed by separate Bobinenförderer and transported to a machine to be supplied.

DE 10 2006 017 379 A1 discloses a device for handling reels of packaging material. The device comprises a reel storage with a portal in which the reels are held on pallets. A gantry robot with articulated arm transfers bobbins as needed to au outside the portal arranged

Reeling systems. Of these, the webs are transported to opposite sides in the direction parallel to the longitudinal extent of the portal to the consumption machines. As a rule, 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

ensure.

In order to improve the positioning accuracy in the recording, the detection and the insertion of objects to be handled, such as rolls with strip-shaped material in processing machines, EP 0 551 854 B1 proposes a

Camera surveillance for a robot in front, with an articulated arm with a

Gripping member is equipped for gripping objects. The gripping member is also equipped with a camera system that records images of the detected object, from which a control unit calculates coordinates of the pixels of these captured images.

The isolated in known positioning and handling systems already used optical detection devices, usually formed by cameras with downstream image analysis, while facilitating the precise positioning of a

Robot gripper, for example, when detecting roles to be exchanged in packaging machines with foil-like packaging material wound thereon. Nevertheless, further precise operating parameters are required for precise, fully automatic film roll loading required, which can not be made available with such camera systems so far, as they have, among other things, not the required image resolution and / or the required downstream data processing for processing the image data obtained. For this reason, an object of the present invention is seen therein, a

To provide apparatus and a method with a high degree of automation for the handling of flat and / or sheet material wound on rolls, by means of which flat and / or sheet material can be provided. The device and the method should also in case of deviations in the roll dimensions or other

Roller parameters work properly and with a pronounced degree of fault tolerance and ensure the smooth role replacement under all operating conditions.

This object of the invention is achieved with the objects of the independent

Claims reached. Features of advantageous developments of the invention will become apparent from the dependent claims. In order to achieve that objective, the

The invention relates to a method for conveying, providing and / or 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. In 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 each used a new roll with flat and / or sheet material in the respective installation position. Normally, after the respective insertion of a new roll, an outer layer of the respective new roll is pulled off near or in the region of its free end and joined, in particular welded or glued, to form a continuous material web with a section of a material web guided in the packaging machine , But there are others too

Connections conceivable. The method provides that new rolls of the packaging machine in a defined feed, e.g. by means of pallets, shelving systems, FTS (i.e., driverless transport systems) or the like, and there by means of

at least one gripping and / or handling device are used in the respective installation position, after there was previously taken a used-up role. The rollers are preferably picked up independently of the orderly feed by means of handling and gripping devices and inserted into the packaging machine. In addition, the invention provides that operational parameters at least each newly inserted or used in the packaging machine role are detected, this detection can be done in particular during the supply, provision and / or handling of roles. Possibly. can the

Parameter acquisition already done at an earlier date and the

Packaging machine can be provided as an electronic data set as soon as the role in question is used there. It is equally possible, all

to record operational parameters and to store these data in a suitable

Save database to the packaging machine as needed for

To make available. As soon as the operationally relevant parameters have been recorded, at least the packaging machine can be controlled as a function of the parameters recorded with regard to the handling of the roll newly inserted into the respective installation position, but possibly also further handling and / or control devices which are connected with the proper operation of the packaging machine are in immediate operative connection. The method may in particular provide that at least the dimensions and / or positions of the rollers in the region of the defined feed and / or

Provision and / or handling by the gripping and / or handling device detected by means of suitable room monitoring devices and is adjusted depending on detected position, parameter and / or sensor data at least the control of the packaging machine in the handling of the role newly inserted into the respective installation position. The operationally relevant parameters may primarily be the roll dimensions that are relevant for the operation of the packaging machine, such as the material web width, the roll thickness, the regularity of the winding, possibly deviations from a regular material web winding, the material thickness, the approximately determined Material web length, from the

Material web thickness and the number of windings can be determined, etc. Also more

Roll parameters such as the weight of the rolls can be relevant, since they provide information about the stock of the material web wound on the roll and its length, provided that the exact material web thickness is known. This weight measurement can

advantageously during the roll handling by the gripping and / or

Handling device done, in particular by means of suitable measuring devices in an optionally usable handling robot. In addition, the roll width during handling by the gripping and / or handling device can be determined, for example. By axial scanning when immersing the retaining pin in the roll core. In addition, in this context a temperature monitoring and / or an axial position monitoring and possibly the monitoring or acquisition of further data can take place. The temperature monitoring is especially at

Material webs made of plastic film relevant because the ambient temperature has an influence on the film stiffness and thus a certain influence on the

Rolling behavior of the film has, as well as their resistance behavior when detecting the start of film after inserting the role in the packaging machine.

All recorded operationally relevant parameters can preferably be coded as data sets, in particular as geometric data records, and made available to the packaging machine and / or the gripping and / or handling device, wherein each individual roll can usefully be assigned its own data record in order to carry out the individual roll for each individual roll necessary settings in the

To be able to make packaging machine for trouble-free operation or to handle the roles in an optimized manner of the gripping and / or handling device and to be able to use in the packaging machine.

The queries between the optical, weight and / or other role data acquisition and the packaging machine or the gripping and / or

Handling equipment is rather simple in practice so as not to cause further potential problems by too much data. This also applies to the image evaluation data in the acquisition of the roll parameters, since these data can take on a large scale with high resolution with high resolution, which need not be desirable for all operating conditions. All possibly occurring

Error messages can preferably already be processed during handling by the gripping and / or handling device, since in this way it can reliably be prevented that faulty or non-compliant new rolls enter the packaging machine and can lead to operational errors, malfunctions or machine shutdowns there. Preferably, as fast as possible working electronic data processing such disturbances are already avoided by discarded as faulty or non-default recognized roles and are not used in the packaging machines.

It is also conceivable that a core of each in the

Packaging machine or the at least one mounting position to be used roller is checked by means of an optical detection device for damage, with an existing or formed damage to the core, the respective role is not handed over to the packaging machine and wherein the gripping and / or handling device receives no role in any existing damage to the core and passes to the packaging machine to them in the respective

Insert installation position. In particular, it may be the case that the optical detection device for checking the core for damage is moved via the gripping and / or handling device in the direction of the core. Further, it may be that the gripping and / or handling device in an existing or formed damage to the core, the respective role, which has the damaged core, settles on a pallet and receives and settles by settling on a dedicated pallet.

Preferably, the complete acquisition of all operationally relevant and / or behaviorally relevant parameters of the film or material web rolls takes place by means of

Detection devices, which may be formed in particular by an optical sensor device such as a camera, which is in connection with a downstream image analysis, so that the parameters can be detected by optical means. The acquired optical information is processed, processed and made available as a record to the packaging machine, the control of which can be adjusted on the basis of this data as needed, in order to optimize it

Packaging company to ensure based on an optimized management of the drawn from the roll of material or film webs.

Further process-relevant parameters can be, for example, the exact roll width and / or position on the gripping and / or handling device, since this is the exact positioning of the rolls in the intended installation positions in the

Can serve packaging machine. All the obtained data serve in particular to increase the

Process reliability in the processing of the unwound from the rolls in the packaging material webs, as by a precise machine setting according to the specifications from the data obtained and transmitted by the room monitoring devices, the process reliability and the packaging quality that can be supplied by the packaging machine, can be increased.

Alternatively, the positions of the rollers in the area of the defined feed and / or provision and / or the gripping and / or handling device and / or their movement space can be selected by means of suitable optical sensor devices and / or room monitoring devices are detected. Depending on these detected spatial, motion and / or sensor data, at least the movements of the gripping and / or handling device in the area of the defined supply and / or provision for the rollers or in their respective movement space can be controlled.

As mentioned, the space monitoring devices can be formed by at least one optical detection device, in particular a camera, which not only has the rollers but optionally also the movement space of the gripping and / or

Handling device detected and this movement space and in it

taking place movements of the gripping and / or handling device imaging

Output signals. Here, 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 operating-relevant

Role parameters and optionally also the movements of the gripping and / or

Handling device as well as the direction of rotation conforming orientation of each new role before or at their onset to capture or verify. Optionally, however, the camera can also cover the movement space and / or the feed area for the new rolls by being fixedly mounted in the room or on the packaging machine; Also additional or multiple cameras on the gripping and / or

Handling device are possible. In general, a plurality of cameras or optical detection devices can be used whose output signals are superimposed and can not be used for exact location determination of all moving parts, handling systems and / or rolls of packaging material, but also for parameter acquisition of all optically recognizable roll parameters and / or dimensions. The method allows not only the parameter acquisition by measuring the

Roll an exact positioning and feeding the new rolls with it

wound packaging material to the packaging machine. The exact one

Positioning of the handling equipment can ensure the smooth replacement of used rolls, thereby improving the functionality of the

Packaging machine is ideally ensured. The method has a high degree of automation in the handling of roll-wound flat and / or sheet material for packaging purposes, so that a simple

Provision of flat and / or sheet material is possible. The method also works properly with not exactly positioned roll feeders and with a pronounced degree of fault tolerance and can also be the smoothest

Ensure roller replacement under all operating conditions.

In the method, the gripping and / or handling device

in particular be formed by a multi-axis robot, which receives new roles from the defined feeder and placed in the packaging machine. As mentioned, the handling robot may optionally be associated with a separate camera which may, for example, be attached to its movable cantilever 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 and in particular their optically detectable parameters. The handling device or the multi-axis robot preferably has suitable gripping or holding elements in order to be able to receive the rollers. Thus, the handling device or the multi-axis robot, for example, have a retaining mandrel, which dips into the front side designed as a hollow body new role, increases its maximum cross-sectional diameter and hereby fixed the respective new role by clamping the handling device or the multi-axis robot.

Optionally, the gripping and / or handling device in the

According to the invention also be formed by a driverless and / or remote-controlled transport system (FTS, at least one self-propelled shuttle), which receives new roles from the defined feeder and placed in the packaging machine. This FTS or the shuttle of the AGV may, for example, a gripping arm o. The like. For receiving and handling of the rollers, with which it receives the role, on a

Transport support deposits, after which it moves together with the roller to the packaging machine and there uses the role. Optionally, the shuttle can be assigned its own camera to control its movements in the room. It makes sense that the method further provides that a

Direction of rotation compliant position of each newly inserted into the packaging machine role during their handling by the gripping and / or handling device checked and if necessary, i. in a wrong-lying role, which is a loose one

Material web end is in the wrong direction, is corrected. In order to be able to correct the direction of rotation, 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,

Directionally compliant provision and re-inclusion by the gripping and / or handling device for transfer to the packaging machine. The Clipboard can be formed in particular by a bearing block o. The like., Which assumes a fixed or variable position within the movement space of the gripping and / or handling device. Optionally, 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. Again, it may be provided that 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.

Furthermore, the bearing block may be assigned a rotary drive for rotating a roller lying about it about its horizontal central axis in order to adjust its rotational position and / or an orientation of an edge of an outer material web layer. 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. In this case, additional optical monitoring devices or cameras 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. It may be advantageous in a further variant of the invention

Be method in addition, if 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 one is provided by means of the optical marking new roles at least largely immovable in each new role is set. 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. However, the optical markings can also be placed elsewhere in the area of the infeed, possibly manually by a

Machine operator or a helper. These optical markings can be particularly important in order to indicate the correct direction of rotation of the rollers and

Make sure the roles in their proper orientation in the

Packaging machine can be used.

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

Delivery of new rolls on pallets, so that, for example, four standing rolls are arranged on a pallet, which by means of a suitable delivery in the

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.

Furthermore, it can be provided in the inventive method that a control unit with the handling device and the

Room monitoring device is coupled and in communication and under

Consideration of a respective made by the handling device

Recording new roles from the feed and / or a horizontal conveyor means a clocked operation of the horizontal conveyor pretending. Likewise, the control unit can specify the repeated inclusion of new roles of the supplied pallets.

In order to achieve the above-mentioned object, 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. Features which have already been mentioned above for various embodiments of the method according to the invention can also be used for various purposes

Embodiments of the device find use and therefore will not mentioned redundantly. Next, features mentioned below, which the

Device to be provided for previously described method.

The device provides that at least approximately completely

unwound and / or used rolls can be 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 external layer of the respective new role in the vicinity or deducted in the region of its free end and connected to form a continuous web of material 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 roles of the defined feed and for inserting the new roles in the respective installation position of the

Packaging machine and / or for removing used rolls from the respective installation positions of the packaging machine. In this case, 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. In addition, the device according to the invention with

Room monitoring devices for recording operational parameters of at least the new roles to be used in the packaging machine and for controlling at least the packaging machine in terms of handling the newly inserted into the respective mounting position role as a function of the detected

Equipped parameters. The detection can be carried out in particular during the provision and / or handling of the rollers, but possibly also beforehand, so that the detected parameters can be made available, for example, from databases and used for optimized control of the packaging machine. The operationally relevant parameters may in particular be formed at least by the dimensions and / or positions of the rollers in the area of the defined feed and / or provision and / or during their handling by the gripping and / or handling device, so that based on these operating parameters an improved and more exact control of the roll handling of the packaging machine is possible. It is also conceivable to monitor the bearing temperatures of the rollers, since the temperatures have a significant influence on the bending and unwinding behavior of the usually on the rollers have thin film webs, so that the knowledge of the temperature of the respective role allows improved handling of the role in the settlement of the film web thereon.

Optionally, in the device, the positions of the rollers in the region 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 are detected in order to control the movements of the gripping and / or handling device in the field of defined supply and / or provision for the roles in dependence on the means of

Room monitoring device detected room, motion and / or sensor data to optimize.

In a preferred variant of the device, the

Room monitoring devices, for example, by at least one optical

Detection device, in particular be formed by a camera, which are primarily relevant to the operation of the packaging machine relevant

Can capture role parameters. In addition, the room monitoring device can optionally detect the movement space of the gripping and / or handling device and deliver this movement space and the movements of the gripping and / or handling device taking place therein to image output signals and to a

Provide control system. 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 visually capture the roles and record their operational parameters, if they are visually recognizable. It can, however, also check the movements as well as the direction of rotation of each new roll before or during its insertion. Optionally, the camera can be arranged in the room or even several cameras in the room and / or on the 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. As mentioned, 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

To control multi-axis robots better and more accurately. The handling device or the multi-axis robot has suitable gripping and / or holding means, which may be formed, for example, by a holding mandrel, which dips into the respective hollow body designed as a new role, its maximum cross-sectional diameter increases or increases its cross-sectional area and hereby the respective new role clamped on the

Fixed handling device or the multi-axis robot.

Optionally, the gripping and / or handling device by a

driverless and / or remote-controlled transport system (so-called FTS with at least one self-propelled shuttle) be formed, which receives new roles from the defined feeder and placed in the packaging machine. This shuttle or FTS can optionally be assigned a camera.

Regardless of the specific design of the gripping and / or

Handling means are preferably provided with suitable means to check a direction of rotation compliant position of each newly inserted into the packaging machine role during their handling by the gripping and / or handling device and if necessary, i. in a wrong-lying role, which is a loose one

The end of the material web has gone in the wrong direction to be able to correct. Thus, 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

subsequent transfer to the packaging machine. This optional in

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 block may optionally have a turning mechanism in order to perform a 180 ° rotation in a 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.

Furthermore, 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. This can also be provided that the at least one optical identification is applied to the respective new role before insertion into their respective mounting position such that by means of the optical marking the free end of the externa ßeren web of the respective new roles at least largely immovable at the respective new Roll is fixed. Particularly advantageous is the optical marking on a on the

Apply a new roll to the clipboard, if necessary with the support of the respective camera.

Optionally, in the device new roles on pallets or eg. Via a horizontal conveyor in the field of gripping and / or

Handling device is moved and removed directly by means of the gripping and / or handling device of the pallet or from the horizontal conveyor.

Furthermore, it is preferably provided that a control unit with the gripping and / or handling device and the room monitoring device in

Connection is and taking into account a respective by means of the gripping and / or handling device taken up new roles from the feed and / or a pallet or the horizontal conveyor a clocked operation of

Horizontal conveyor or the pallet supply pretending.

In the following, some aspects, peculiarities and details of the method according to the invention and of the device according to the invention will be described again

summarized. Thus, the invention relates to a method and an apparatus for handling 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 roles can be a core possess, whose geometric shape corresponds to a hollow cylinder and which may consist at least partially of cellulose-containing material. Advantageously, the respective new roll can thereby be placed on a pin corresponding to the core of the packaging machine and at removal or removal

Rotate the packaging material from the roll, rotating it on the spigot. As part of the process, the rollers are optically scanned and all for the operation of

Packaging machine may be relevant relevant role parameters recorded in order to control the packaging machine better and to optimize their process reliability. In the method at least partially unwound and / or spent rolls are removed from at least one installation position of a packaging machine and then each used a new role with flat and / or sheet material in the respective installation position. In particularly preferred embodiments, at least two mounting positions can be provided. Each of the at least two mounting positions may, as previously mentioned, have a pin on which the new roll is placed and on which the respective roll for

Unwinding of their respective flat and / or sheet material rotates. In particular, 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. Before removing a roll of at least partially unwound and / or used packaging material from its respective installation position, 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

Packaging machine guided material web connected to another role. The outer layer of each new roll used can be withdrawn after insertion with a suitable gripping element, for example by means of a pneumatic suction, mechanically clamping and / or electrostatically adhering gripping and / or handling device, which is between the at least two mounting positions and moved here. Thus, the gripping member can alternately deduct from the at least two mounting positions outsides lying layers of new roles. In practice, embodiments have proven in which the gripping element temporarily fixes the respective outer layer of a new roll on vacuum. Further, 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. About the gripping element, 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

Moving packaging machine guided material web. In particular, embodiments have proven in which the welding rod for this purpose is moved vertically up and down and welded in a vertical lowering movement, the respective outer lying position of a new role with a guided in the packaging machine web. Usually is during the insertion of a new role and during the

Connecting the flat and / or sheet material of the other role is not completely used up, so that in possible embodiments for continuous

Packaging company flat and / or film material can be unwound from at least one role of at least two mounting positions without interruption. Advantageously, the new roll can thus be used, while still flat and / or sheet material is unwound from the other role in the packaging machine. Flat and / or film material can also be unwound from another roll of the packaging machine when a roll from the packaging machine is removed from the packaging machine and at least approximately completely unwound and / or used. In the method described with the present invention, at least approximately unwound and / or used rolls are detected by sensors and replaced by new roles with flat and / or sheet material by means of the previously described gripping and / or handling device. A sensory recognition, for example, with the aid of optical detectors or an optical

Detection system take place, which in the range of at least one mounting position or can be arranged in the region of at least two installation positions. The optical detection system or the optical detector and the handling device can be in communication with the control unit, which also controls the movements of the gripping and / or handling device or of the multi-axis robot. In addition, during or before the onset of the new roll, its direction of rotation and / or orientation in conformity with the direction of rotation can be detected and / or checked. In practice, in particular embodiments have proven in which the determination and / or checking the direction of rotation and / or direction of rotation conforming orientation by means of optical detection. However, the invention is not limited to such embodiments, so that, for example, haptic and / or other mechanisms may be provided to check the direction of rotation and / or direction of rotation conforming orientation of the respective new role. Is the detected direction of rotation and / or direction of rotation compliant orientation suitable or

If this corresponds to a predetermined desired orientation and / or desired direction of rotation, then 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.

So it may be that a direction of rotation and / or directionally correct positioning of 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

Laying placed clipboard, separated from the gripping and / or handling device and oriented towards the direction or oriented with a suitable direction of rotation or aligned resumed and then be used in their respective installation position. 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. During the

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.

Furthermore, it is provided that the aforementioned optical detectors of

Room monitoring system or the optical detection system on the

Control unit with the gripping and / or handling device are in operative connection and control their exact movements for handling the role, wherein over the optical detector or the optical detection system beyond a respective direction of rotation and / or direction of rotation conforming orientation of new roles is verifiable and / or detectable 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

Direction of rotation compliant orientation are aligned. In addition, the

Device comprising an optical and coupled to the control unit display unit, such as a display or the like, have over which information on the direction of rotation and / or rotational direction-compliant orientation are displayed.

For example, it may be that in the wrong direction of rotation or wrong

Orientation of new rolls in accordance with the direction of rotation via the optical display unit a note is issued for a user. It is also conceivable that information on the direction of rotation and / or direction-oriented orientation are output as an acoustic signal.

In addition, the control unit with the gripping and / or handling device is preferably coupled in such a way that the at least partially unwound and / or depleted roles independently from the respective installation position removable and new roles with matching direction and / or appropriate direction of rotation conforming orientation independently in the at least an installation position can be used. In this case, an algorithm can be stored on the control unit, wherein the algorithm takes into account the recorded roll positions - these can be, for example, on pallets - and the optical detector

determined direction of rotation and / or direction of rotation conforming orientation of the respective new role a certain control of the gripping and / or handling device is effected. In addition, the gripping and / or handling device for clamping fixation of the new rolls designed as hollow bodies may comprise a preferably cylindrically shaped holding mandrel with an adjustable maximum cross-sectional diameter. The adjustment of the cross-sectional diameter can over the Control unit made 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.

Optionally, 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 can be read by the control unit taking into account a removal of new rolls by the gripping and / or or handling device with clocked operation can be controlled. In further embodiments, it is conceivable that the gripping and / or

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.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

Fig. 1 shows a schematic perspective view of a first embodiment of a device according to the invention. In addition, Fig. 1 illustrates a conceivable

Implementation of an embodiment of the inventive method. Fig. 2 shows a schematic perspective view of a second

Embodiment of the device according to the invention as well as a meaningful

Implementation of an embodiment of the inventive method.

3 shows a schematic perspective view of two installation positions for rollers within the packaging machine, which can cooperate with a device according to the embodiments of FIGS. 1 and 2.

Fig. 4 shows the mounting positions of Fig. 3 with inserted new role for the second mounting position. Fig. 5 shows the installation positions of Figures 3 and 4 with deducted outer layer of the inserted into the second mounting position new role.

Fig. 6 shows, in two perspective views, a handling device which picks up a new roll from a pallet for insertion into the packaging machine.

For identical or equivalent elements of the invention, identical reference numerals are used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments represent only examples of how the device according to the invention and the method according to the invention can be configured and do not constitute a final limitation.

The schematic perspective view of Fig. 1 shows a first

Embodiment variant of a device according to the invention 10. In addition, 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. Schematically indicated in Fig. 1 is a part of a packaging machine 14, which has a

to be described in more detail below 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. 3 are exemplified.

As a synopsis of Figures 3 to 5 with Fig. 1, are by means of the gripping and / or handling device 16 or with the help of Mehrachs- or

Handling robot 18 single new roles 12 used in one of the two installation positions EB1 and EB2, while in the other installation position EB2 or EB1 is still a spent or partially used role 20, of which still during the insertion of each new roll 12 continues a On it located web 22 is unwound, in the packaging machine 14 as

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. 5) of the new roll 12 with the 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. 6A. 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. 6B, is fixed to the retaining pin 32 by clamping. The core 26 is

hollow cylindrical, the shape of the retaining mandrel 32 corresponding thereto, so that the retaining mandrel 32 for clamping fixation of the new roll 12 via its

Outer circumference with an inner circumferential surface of the core 26 is in communication.

About the horizontal conveyor 28 of the gripping and / or

Handling device 16 and the handling robot 18 new rolls 12 are provided in an uninterrupted sequence, so that when removing a new roll 12 from the horizontal conveyor 28 another new role 12 in the direction of the handling device 16 is moved or in the direction of gripping and / or handling device 16 moves. The horizontal conveyor 28 can be clocked as needed in the desired manner or continuously with constant

Speed operated. Their operation is dictated by a control unit 38, which is only schematically indicated here and which not only controls the

Horizontal conveyor 28 controls in its conveying speed and / or timing, but also the handling robot 18 in its movements. 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 ones 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. 1 for better illustration by a fan beam with the broken lines.

1, 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

Section of the horizontal conveyor 28. However, this control and Zufördervariante shown represents only one example of many alternatives. Also possible are continuous Zufördervarianten that require no manual handling, as described with reference to FIG. 1. In a not ordered in this way feed, it may be useful in the movement space 46 of the gripping and handling device 16 to provide a clipboard for the new rollers 12 to non-directional detection by the retaining mandrel 32 of the

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. In the variant of the device 10 shown in FIG. 1, it remains the task of the user 50 to ensure the correct positioning of the rollers 12 on the horizontal conveyor 28, in particular also with regard to their correct direction of rotation in the respective installation position EB1 or EB2 (cf. See figures 3 to 5).

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. Is the supply of packaging material or shrink film of a placed in the packaging machine 14 rolls 12 and 20 is exhausted, by means of the handling robot 18 of Cellulose, plastic, wood or cardboard existing core 26 of an empty roll 20 removed from the packaging machine 14 and stored in the container 56. 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.

As already mentioned, 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

Initiate installation positions EB1 and EB2. In addition, 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. It is also important in the context of the present invention for the room monitoring device 42, in cooperation with the control unit 38, to be able to record operationally relevant roll parameters such as, in particular, their dimensions, their winding quality, the initial positions of the film webs, etc., by process detection, processing and processing of these data to increase the packaging machine. A

An operative connection between the control unit 38 and the packaging machine 14 is therefore absolutely necessary, but not shown in FIG. 1 for better clarity. These mentioned operationally relevant parameters are sensibly detected by means of the room monitoring device 42 or the camera 44, from the

Process controller 38 processed and provided the data obtained in processed form of the packaging machine 14 is provided so that they can ensure the most accurate positioning of the rollers 12 in the mounting positions EB1 and EB2 and for the most accurate unwinding of the material webs (see FIGS. 3 to 5). Optionally, the control unit 38 also for a movement control of the horizontal conveyor 28 and in particular the gripping and / or

Handling device 16 provide, thus allowing a fault-tolerant positioning and delivery of the new rollers 12 and their handling, since the exact detection of each new roll 12 can be effectively supported and controlled by the retaining mandrel 32 of the handling robot 18 by means of at least one camera 44 so that the exact positioning of the rollers 12 on the horizontal conveyor 28 loses significance and can be compensated for by the appropriately 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, a camera 44 or several cameras 44 may be positioned at other locations, for example also in the area of 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 is covered in the required manner and can be detected.

The control unit 38 can also have a display device 58 or a display via which information about the acquired operationally relevant roll parameters and possibly also on the direction of rotation or rotational direction-compliant orientation of new rolls 12 and / or further control or movement parameters of the multi-axis robot 18 and / or the horizontal conveyor 28 can be visualized for the user 50. The direction of rotation or rotational direction-conforming orientation of the new rollers 12 is preferably, as described below by way of example with reference to FIGS. 3 to 5, detected and / or checked by the camera 44 or possibly also by another camera connected to 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 be operated fully automated at least from the beginning of receiving new rolls 12 of the horizontal conveyor 28.

The schematic perspective view of Fig. 2 illustrates a second embodiment of the device 10 according to the invention and a meaningful implementation of an embodiment of the inventive method. The

Packaging machine 14 does not differ significantly from the previous one

variant described in FIG. 1. Again, 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

consumption-related replenishment requirements by means of the trained as a multi-axis robot 18 Gripping and / or handling device 16 individually provided on rollers 12 are available. As in the first variant of FIG. 1 sets the gripping and / or

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 greater detail on the basis of the detail views of FIGS.

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 for this purpose be rotated about a rotation axis 36. After immersing the retaining mandrel 32 in the core 26, the cross-sectional diameter of the retaining mandrel 32 is increased, so that the new roller 12 is fixed to the retaining mandrel 32 by clamping. The core 26 is formed as a hollow cylinder, the shape of the retaining mandrel 32 corresponding thereto, so that the retaining mandrel 32 for clamping fixation of the new roller 12 via its Au ßenumfang with an inner circumferential surface of the core 26 is in communication.

About the regularly supplied in the movement space 46 pallets 52, each with four new rollers 12 of the gripping and / or handling device 16 and the handling robot 18 new rolls 12 are provided in an uninterrupted sequence available, so that upon removal of all new rolls 12 of a the pallets 52 this empty pallet 52 can be exchanged for a new pallet 52 with another four rollers 12, which in turn in the movement space 46 of the gripping and / or

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. Each a pallet 52 with rollers 12 placed in it can move the movement space 46. These

Transport systems or FTS can be clocked as required in the desired manner operate. 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 controls the handling robot 18 in its movements to replace the rollers 12 in the packaging machine 14. 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 area of the roll feed that is, cover the movement space 46 to detect the roll parameters that may be relevant to the smooth operation of the packaging machine 14 in any way. These parameters can be the roll dimensions, the winding quality, the

Temperature and numerous other data that can be determined by optical means.

Moreover, the camera 44 can usefully also detect the movement space 46 of the multi-axis robot 18 and its movements, which also means the exact movements of the extension arm 30 with the retaining mandrel 32 pivotally mounted thereon 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.

Because of the sufficiently dimensioned movement space 46, not only the horizontal conveyor can be dispensed with in the variant of the device according to FIG. 2, but also the manipulator interacting therewith, via which new rollers 12 can be placed standing on the horizontal conveyor (cf. FIG. 1 ). In contrast, in the variant shown in FIG

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. In practice, 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. By appropriate optical control or by detection in any other way (eg inductively, by means of transponders or the like) is checked during the movement of the cantilever arm 30 with the carried on the retaining mandrel 32 roller 12 in the direction of the packaging machine 14, whether the roller 12 can be positioned there directly and without repositioning or if the roller 12 may have the wrong direction of rotation. If this is the case, the 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.

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.

Also in Fig. 2, the open-topped container 56 can be seen, 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.

As already mentioned, the gripping and / or handling device 16 or the multi-axis robot 18, the controllable clipboard 60 for the rollers 12 and the packaging machine 14 are in communication with the control unit 38, which optionally also the FTS, not shown here, for delivering the pallets 52 can control. The 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 possibly the clipboard 60 to ensure the correct direction of rotation to be used new role to use 12. In addition, the control device 38 is responsible for the acquisition of the operationally relevant data of the rollers 12, which it transmits to the packaging machine 14, so that it can ensure the most optimized operation when unrolling the rollers 12. In addition, the control unit 38, as described in more detail below, a unwinding of packaging material or shrink film in the

Control packaging machine 14 inserted rollers 12. Important in the context of the invention may be, for example, that 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 and

Delivery of the new rollers 12 on the not exactly positioned pallets 52 and the handling of the recorded rollers 12 is made possible because the exact detection of each new roll 12 by the retaining mandrel 32 of the handling robot 18 with the help of at least one camera 44 can be effectively supported and controlled , so that the exact positioning of the rollers 12 on the pallets 52 or the pallets 52 even on the ground in the area of the movement space 46 loses importance and can be compensated for by the appropriately tracked motion control of the handling robot 18 within its movement space 46. The indicated in Fig. 2 positioning of the camera 44 is merely exemplary understood. Likewise, 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 in order to record in this way, the role parameters, for example. During their handling by the multi-axis robot 18. The camera 44 or the

Room monitoring device 42 can then fulfill its purpose in an optimal manner, if it can cover the movement space 46 largely completely and if they are the rollers 12 therein and possibly 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 are the Camera system 44 can serve as a unique recognizable and spatially assignable markings.

The control unit 38 can also have a display device 58 or a display via which / information about the operationally relevant

Role parameters, the direction of rotation or direction of rotation conforming orientation of new roles 12 and / or other control or movement parameters of

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 as described below by way of example with reference to FIGS. 3 to 5

described, detected by the camera 44 or possibly also by another camera and / or checked, which is or are in communication with the control unit 38. 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 aid of the camera 44 or the other cameras, new rolls 12 with a suitable direction of rotation or with orientation in the packaging machine 14 independently the device 10 can be operated largely automated from the respective pallet 52 at least from the beginning of receiving new rolls 12.

With reference to Figures 1 and 2 is added at this point that the gripping and / or handling device 16 shown or the latter forming this

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.

However, 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 46th located. In this case, 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.

The schematic perspective view of Fig. 3 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

Diameter of the mandrels 70 fixed by clamping the roller core 26 on the respective mandrel 70 by clamping. The Fig. 3 also leaves a

Welding bar 72, which for connecting an outer layer 24 (see Fig. 4, Fig. 5) of the inserted into the respective mounting position EB1 and EB2 new roller 12 (see Fig. 4) with the remaining material in the packaging machine 14 material web 22 is provided and this is lowered vertically. After connecting the outer layer 24 (see Fig. 4) with the material web 22 remaining in the packaging machine 14, the tempered welding bar 72 is raised vertically and brought into the position shown in FIG.

In the illustration of FIG. 3, in the first installation position EB1, a virtually worn-out roll 20 rests on the receiving mandrel 70 of the first installation position EB1 and is moved in rotation by the mandrel 70 or by pulling off the material web 22. In this case, the packaging material or the shrink film of the seated on the mandrel 70 of the first installation position EB1 roller 20 is unwound. In the second

In the installation position EB2, 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

unwound and / or used-up roll 20. Thus, the at least approximately completely settled and / or exhausted role 20 from their respective

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

Cross-sectional diameter of the respective mandrel 70, whereby the

Pull off core core 26. The release of the clamping connection or the

Reduction of the cross-sectional diameter of the receiving mandrels 70 is further specified by the control unit 38.

To remove the at least approximately completely unwound and / or depleted roll 20 from their respective installation position EB1 or EB2, the gripping and / or handling device 16 emerges via its retaining mandrel 32 into the core 26 of the at least approximately completely unwound and / or used-up roll 20 , By enlarging the cross-sectional diameter of the receiving mandrel 70, the respective at least approximately completely unwound and / or spent roll 20 is then fixed to the retaining mandrel 32 of the handling device 16. A

Enlargement of the cross-sectional diameter of the retaining mandrel 32 for clamping the roller 20 and the roller core 26 is also specified via the control unit 38. After fixing the at least approximately completely unwound and / or exhausted roll 20 on the retaining mandrel 32, the at least approximately completely unwound and / or depleted roll 20 by means of gripping and / or

Handling device 16 and under specification by the control unit 38 in Direction of the container 56 (see Figures 1 and 2) moves and stored there by reducing the cross-sectional diameter of the retaining mandrel 32.

After depositing the at least approximately completely unwound and / or used up roll 20 or the core 26 in the container 56 (see Figures 1 and 2), 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. Previous were the

Packaging machine 14 by means of the camera 44 and the

Room monitoring device 42 detected transmitted operational role parameters, in particular by means of the control device 38, so that the

Packaging machine 14, the rollers 12 can handle as trouble-free as possible.

In addition, before a check of the direction of rotation or

Direction of rotation compliant orientation of the respective new roll 12 - preferably with the aid of the clipboard 60 and the bearing block, as previously described - done. The device 10 can be operated in this way automated. It should be mentioned at this point that the exemplary embodiment according to FIG. 3 is to be understood merely as an example, so that further embodiments can be envisaged in which two mounting positions EB1 and EB2 only one camera 74 is assigned, the detection range of which is via the two installation positions EB1 and EB2 extends. It is also possible, via the cameras 74, to check a direction of rotation or directions of rotation of new rollers 12 inserted into the installation positions EB1 and EB2. Was an incorrect direction of rotation or

Direction of rotation conforming orientation of new rollers 12 detected in one of the two mounting positions EB1 and EB2, so can via the control unit 38 a

Alignment correction of the respective new roll 12 on the gripping and / or

Handling device 16 are caused. This can then remove the respective new roller 12 from its respective installation position EB1 or EB2, to which

Store the roll 12 with the appropriate direction of rotation and / or orientation in conformity with the direction of rotation and then re-insert it into its respective installation position EB1 or EB2 with the appropriate direction of rotation and / or direction of orientation.

The further schematic perspective view of Fig. 4 shows the

Installation positions EB1 and EB2 corresponding to FIG. 3 with inserted new roll 12 for the second installation position EB2. Starting from Fig. 3 was in the illustration of the 4, by means of the gripping and / or handling device 16 (cf., FIGS. 1 and 2), a new roller 12 is pushed onto the receiving mandrel 70 of the second installation position EB2. Furthermore, packaging material 22 or shrink film of the nearly used or developed and therefore soon to be removed role 20 of the first

Installation position EB1 unwound, so that the packaging machine 14 (see Figures 1 and 2) can be operated even when replacing the roller 20 from the first mounting 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. 4 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

Take-up mandrel 70 has been postponed. A synopsis of Figures 4 and 5 can illustrate that with a new roll 12 of the second mounting position EB2 the externa ßere layer 24 is guided from above the roller 12 and dives in the downward direction. 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.

If the adhesive marker 76 could be detected by means of the respective camera 74, then 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 orientation the adhesive marking 76 can be shown in Fig. 5 schematically illustrated gripping bar 78 a 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 roll 12 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.

However, it should be noted that embodiments are also conceivable in which the new rollers 12 have no such reflective adhesive mark 76 (corresponding to FIG. 4) 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. Preferably, however, 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. In this case, 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.

The installation positions EB1 and EB2 of FIGS. 3 and 4 with the outer layer 24 removed from the new roller 12 inserted in the second installation position EB2 show the schematic perspective view of FIG. 5. It can again be seen very clearly that the outer layer 24 of FIG In the second installation position EB2 positioned roller 12 coming from above descends in the downward direction, while the outer layer or material web 22 of the roll used in the first installation position EB1 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. Thus, it is possible both to detect a direction of rotation or directionally correct orientation within the packaging machine 14 via the cameras 74, and to recognize rollers 20 which are at least approximately completely unwound and / or used up via the cameras 74. Information about

Direction of rotation or direction of rotation conforming orientation of new roles 12 and

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 be done in particular in a way that has already been explained with reference to FIG. 2 with the optional inclusion of the clipboard 60, which can be used for correcting the direction of rotation. In order to determine the correct direction of rotation, it makes sense, however, priority to use the camera 44 and only subordinated to the cameras 74, and then after insertion of the roller 12 in the

Packing machine 14 again to control the correct direction of rotation.

The schematic illustrations of FIGS. 6A and 6B 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. The gripper arm or the

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. Was the respective new role 12 by means of

Handling robot 18 or detected by means of the retaining mandrel 32, the new roller 12 can be rotated by a renewed pivoting movement of the gripping arm 34 about the axis 36 and temporally thereto in their respective assigned mounting position EB1 or EB2 (see Figures 3 to 5) ,

In addition, Figures 6A and 6B show an optional further camera 80. This optional camera 80 is fixedly coupled to the gripping arm 34 mechanically so that it is guided along with the gripper arm 34 as it moves. 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. For putting in the camera 80 is placed particularly favorable to detect while handling a new roll 12 whose operational parameters, as they are for the optimized operation of the packaging machine 14 at

Unwind the roll 12 are needed. In order to enable a corresponding evaluation and motion control for the gripping and / or handling device 16, 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.

Furthermore, Fig. 6B shows the gripping and / or handling device 16 after receiving a new roll 12 with direction of rotation conforming orientation of a pallet 52 (see Fig. 6A). As can be seen in FIG. 6B, the gripper arm 34 has been moved, starting from the position of FIG. 6A, about the axis 36, which in FIG

Image plane runs, pivoted. The new roller 12 now has an at least approximately horizontal orientation and can be assigned to their respective

Installation position EB1 and EB2 are used in the packaging machine 14. A removal of the at least approximately completely unwound 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. By increasing the cross-sectional diameter of the retaining mandrel 32, the respective at least

Approximately completely unwound and / or used up roller 20 fixed to the retaining mandrel 32 of the handling robot 18. An enlargement of the

Cross-sectional diameter of the retaining mandrel 32 is specified via the control unit 38. The invention has been described with reference to a preferred embodiment. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims. LIST OF REFERENCES

10 device

12 roll, new roll

14 packaging machine

16 gripping device, handling device, gripping and / or

handling device

18 multi-axis robots, handling robots

20 roll, used roll, partially unwound roll, partly

used roll, empty roll

22 material web, packaging material

24 outer layer, outer web of material

26 core, roll core

28 horizontal conveyor

30 boom arm, swivel arm

32 holding thorn

34 arm section, gripper arm

36 axis of rotation, horizontally oriented axis

38 control unit

40 output signals, signals, room data, movement data, sensor data

42 room monitoring device

44 optical detection device, camera

46 movement space

48 manipulator

50 users, operator

52 palette

54 Mandrel

56 containers

58 display device

60 clipboard

70 thorn, pick-up mandrel, retaining pin

72 welding bars

74 camera

76 adhesive marking, optical recognizable / reflective adhesive marking, optical marking 78 Gripping bar

80 camera, another camera (of the handling robot)

EB1 first installation position

EB2 second installation position

Claims

claims

Method for conveying, providing, handling and / or replacing rolls (12, 20) with flat and / or sheet material wound thereon and serving as packaging material (22) for packaging piece goods, containers or similar article compositions, in which at least approximately complete unwound and / or used up rolls (20) from at least one installation position (EB1, EB2) of a packaging machine (14) taken and then each a new roll (12) with flat and / or foil material in the respective

Installation position (EB1, EB2) is / are used, wherein new rollers (12) of the packaging machine (14) provided in a defined feed and a new role (12) by means of at least one gripping and / or handling device (16) in the respective installation position (EB1, EB2) is used after a spent roll (20) was previously taken there, and wherein operationally relevant parameters of at least the newly inserted into the packaging machine (14) rollers (12) are detected and depending on the parameters detected at least the packaging machine (14) is controlled with regard to the handling of the roll (12) newly inserted in the respective installation position (EB1, EB2).

Method according to claim 1, wherein at least the dimensions and / or

Positions of the rollers (12) in the area of the defined feed and / or

Provision and / or handling by the gripping and / or

Handling device (16) detected by means of room monitoring devices (42) and in dependence on detected position, parameter and / or sensor data (40) at least the control of the packaging machine (14) in the handling of the newly inserted into the respective installation position (EB1, EB2) Roll (12) is adjusted.

The method of claim 1 or 2, wherein the detection of the operational parameters comprises a temperature monitoring of the rollers and / or the role environment, a detection of the roll dimensions such as roll thickness, web length, etc. and / or a detection of a roll weight.

Method according to Claim 3, in which the operational parameters of the

Packaging machine (14) and / or the gripping and / or handling device (16) is provided as a machine-readable record for each individual roll (12). Method according to one of claims 1 to 4, wherein the

Space monitoring devices (42) detect at least one supply and / or provision area for the rollers (12) and provide these areas imaging output signals (40).

Method according to one of Claims 1 to 5, in which a position of each roller (12) to be newly inserted into the packaging machine (14) before and / or during its handling by the gripping and / or

Handling device (16) checked and corrected as needed.

Method according to one of claims 1 to 6, wherein at least one optical marking (76) is applied to a lot of the new rolls (12) in the area of the free ends of their outer webs (24) and the new rolls (12) the handling device (16) in such a way in their respective installation position (EB1, EB2) are used or aligned before removing the respective outer layer (24) in their respective installation position (EB1, EB2) that the optical markings (76) in the direction of respectively opposite installation position (EB1, EB2) have.

Device (10) for delivery, provision, handling and / or for

Exchange of rolls (12, 20) with wound on and as

Packaging material (22) for packaging piece goods, containers or similar article compositions serving flat and / or sheet material, wherein at least approximately completely unwound and / or exhausted rollers (20) from at least one mounting position (EB1, EB2)

Packaging machine (14) and removable by new roles (12) with flat and / or foil material for the respective installation position (EB1, EB2) are replaced, with means for providing new rolls (12) for the packaging machine (14) in a defined feed and with at least one gripping and / or

Handling device (16) for taking over the rollers (12) from the defined feed and for inserting the new rollers (12) in the respective installation position (EB1, EB2) of the packaging machine (14) and / or for removal of used rolls (20) the at least one installation position (EB1, EB2) of

Packaging machine, and with room monitoring devices (42) for detecting operational parameters of at least the newly inserted into the packaging machine (14) rollers (12) and for controlling at least the packaging machine (14) with regard to a handling of the newly inserted into the respective installation position (EB1, EB2) role (12) depending on the detected parameters.

9. Apparatus according to claim 8, wherein the operational parameters at least by the dimensions, weights and / or positions of the rollers (12) in the region of the defined supply and / or provision and / or during their handling by the gripping and / or handling device (16) are formed.

10. Apparatus according to claim 8 or 9, wherein the space monitoring devices (42) by at least one optical detection device, in particular a camera (44, 80) are formed, which detects at least the operational parameters of the rollers (12) and these parameters mapping output signals ( 40).

1 1. Device according to one of claims 8 to 10, wherein the at least one optical detection device or the camera (44, 80) of the packaging machine (14) is associated.

12. Device according to one of claims 8 to 1 1, wherein the gripping and / or

Handling device (16) by a multi-axis robot (18) is formed, which receives new roles (12) from the defined feed and placed in the packaging machine (14).

13. Device according to one of claims 8 to 12, wherein the additional optical

Monitoring devices or cameras (74) in the packaging machine (14) are provided, in particular in the region of the roles to be replaced (12, 20) or in the region of at least one mounting position (EB1, EB2).