EP3374268A1 - System zum gruppieren und/oder verteilen von stueckguetern sowie verfahren zum verrichten von manipulationsaufgaben im bereich einer arbeitsstrecke mit wenigstens einer handhabungseinrichtung - Google Patents
System zum gruppieren und/oder verteilen von stueckguetern sowie verfahren zum verrichten von manipulationsaufgaben im bereich einer arbeitsstrecke mit wenigstens einer handhabungseinrichtungInfo
- Publication number
- EP3374268A1 EP3374268A1 EP16790977.9A EP16790977A EP3374268A1 EP 3374268 A1 EP3374268 A1 EP 3374268A1 EP 16790977 A EP16790977 A EP 16790977A EP 3374268 A1 EP3374268 A1 EP 3374268A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- handling device
- manipulator
- piece goods
- working distance
- orientation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008569 process Effects 0.000 claims abstract description 14
- 239000005022 packaging material Substances 0.000 claims description 49
- 229920001169 thermoplastic Polymers 0.000 claims description 29
- 239000004416 thermosoftening plastic Substances 0.000 claims description 29
- 230000003287 optical effect Effects 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 16
- 238000012856 packing Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 238000011109 contamination Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims 2
- 239000000284 extract Substances 0.000 claims 1
- 238000004806 packaging method and process Methods 0.000 description 24
- 230000008859 change Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000001939 inductive effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 229920002678 cellulose Polymers 0.000 description 2
- 239000001913 cellulose Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241001310793 Podium Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/003—Packaging lines, e.g. general layout
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B21/00—Packaging or unpacking of bottles
- B65B21/24—Enclosing bottles in wrappers
- B65B21/245—Enclosing bottles in wrappers in flexible wrappers, e.g. foils
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B27/00—Bundling particular articles presenting special problems using string, wire, or narrow tape or band; Baling fibrous material, e.g. peat, not otherwise provided for
- B65B27/04—Bundling groups of cans or bottles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
Definitions
- the present invention relates to a system for grouping and / or distribution of piece goods and a method for performing manipulation tasks in the range of a working distance.
- thermoplastic In the packaging of articles in the prior art several piece goods are transported via a horizontal conveyor and subsequently manipulated. In this case, devices are known which produce a grouping from a plurality of piece goods and the groups below thermoplastic
- thermoplastic packaging material with temperature, wherein the thermoplastic packaging material to the respective thermoplastic packaging material
- Such a packaging machine is known for example from DE 20 2010 013
- the DE utility model discloses a machine for packaging goods or packaging units with a horizontal conveyor belt. About the horizontal conveyor belt, the containers are transported to a packaging station, where they are wrapped by means of a Einschlag Anlagen with appropriately cut film webs. Subsequently, the container or the goods which form the container, moved together with the respective film web in a shrink tunnel.
- Packing media such as thermoplastic films or cardboard, on which groupings on piece goods stand up, are manually fed to the respective manipulator in practice. Also, with the provision of packing media is therefore a time and personnel expenses in connection, which should be reduced in practice, if possible.
- An object of the invention can therefore be seen to provide a system and a method for grouping and / or distribution of piece goods, by means of which a human cost can be at least reduced. Furthermore, the system should have a straightforward structure and the process can be easily implemented.
- the invention relates to a system for grouping and / or distributing
- the piece goods which are grouped or distributed over the system, can be designed, for example, as beverage containers or PET bottles.
- a piece goods stream conveyed from m parallel rows can be formed from a piece goods flow conveyed via an inlet in n parallel rows with the aid of a manipulator.
- the system can be designed here as a distribution system. However, in preferred embodiments, as described below, the system may be configured as a grouping and packaging system for piece goods be.
- the packaging material may then be formed as a thermoplastic packaging material. It is also conceivable that the packaging material then as
- Packaging materials can be used, which are not exhaustively enumerated in the present case.
- the system includes a working distance.
- Part of the working route is an inlet, which has at least one horizontal conveyor and via which inlet a plurality of piece goods in mass flow can be transported.
- leading piece goods can be in contact with their directly following piece goods.
- at least one guide rail or at least one guide element is provided, by means of which piece goods in parallel rows on the at least one
- the relative distance between two guide rails in the feed to each other can correspond here at least approximately to the maximum diameter of the respective piece goods transported via the feed. Between two adjacent guide rails can thus be transported in each case a number of piece goods.
- the relative distance of the guide rails of the inlet can, within the scope of conceivable embodiments of the present invention, as described below, be set or adjusted via at least one handling device.
- the system further comprises a manipulation area following the inlet with at least one manipulator for grouping and / or distributing piece goods.
- the at least one manipulator may be in communication with a control device via which the at least one manipulator can be controlled in order to form a grouping for a respective container from a plurality of piece goods. Then, as described below, packaging material can be applied to the grouping in order to combine the respective piece goods of the grouping into a respective container.
- the at least one manipulator with a
- Control device is in communication, via which the at least one manipulator is controllable to run out of a parallel rows with a number n
- Embodiments may be that the number n is made smaller than the number m.
- Manipulator in the manipulation at least one further manipulator downstream, which at least one further manipulator for applying preferably
- thermoplastic packaging material on the distributed and / or grouped
- Piece goods is formed.
- the at least one manipulator and the at least one further manipulator can each be modified for different work processes.
- At least one conveyor belt which passes through the at least one manipulator, can extend over the manipulation area.
- the at least one conveyor belt can connect directly to the at least one horizontal conveyor device of the inlet.
- the piece goods may be moved in the direction of a shrinking device or to a
- the at least one manipulator is assigned at least one first conveyor belt.
- at least one further manipulator which adjoins the at least one manipulator and is designed for applying packaging material to piece goods, can be assigned at least one further conveyor belt.
- the at least one further conveyor belt can have a higher height than the at least one first conveyor belt
- Piece goods leading piece goods against lagging piece goods are to be accelerated upon transfer to the at least one further conveyor belt.
- guide elements can be arranged which extend parallel and in the transport direction of the piece goods.
- the guide elements can be exchanged via the subsequently described at least one handling device and / or their relative distance can be adapted to each other.
- the at least one manipulator may comprise a plurality of one-piece fingers or abutment members which abut with groupings to align piece goods of a respective grouping flush.
- the Einteilfinger or Einteilstäbe can be performed all around.
- the at least one manipulator has a conveyor belt which is clocked and / or operated at a varying transport speed in order to form a respective grouping from a plurality of piece goods.
- a conveyor belt which is clocked and / or operated at a varying transport speed in order to form a respective grouping from a plurality of piece goods.
- at least one further conveyor belt of present in preferred embodiments at least one further manipulator directly connect.
- the at least one further manipulator may comprise a wrapping unit, via which the packaging material is placed around a grouping of piece goods.
- the wrapping unit can comprise a plurality of encircling wrapping elements or wrapping bars which place the packaging material around the respective grouping of piece goods.
- the impact elements or impact bars can from below a
- the system may include at least one
- the at least one shrinking device is possibly part of the
- the at least one shrinking device can as
- Shrink tunnel be formed and thus have a housing, in which
- Handling device may be designed to receive packages.
- the at least one handling device for receiving containers after Leaving the shrinking device is formed.
- the at least one handling device can in this case replace an empty route.
- the at least one shrinking device may have a horizontal conveyor to form groupings of piece goods together with their respective ones
- Micronking device can connect to the previously described at least one conveyor belt, which optionally passes the at least one manipulator and the at least one further manipulator.
- the system comprises at least one handling device which can be moved along the working section at least in sections and via which at least one handling device a) of the at least one manipulator and in preferred embodiments also the at least one further manipulator for different working processes can be modified and / or via which at least one
- Handling device b) provided for piece goods and arranged in the course of the working distance guide elements are interchangeable and adjustable with respect to their relative spacing and / or over which at least one handling device c) can be acted on certain cargo, which is in or in the working distance located and / or via which at least one handling device d) packing media for at least one positioned in the manipulation area
- the system according to the invention may comprise a driverless transport system or FTS, wherein the at least one
- Handling device is designed as a driverless transport vehicle trained part of the driverless transport system.
- the driverless transport system may comprise at least one optical, magnetic and / or inductive guideline, wherein the trained as a driverless transport vehicle at least one handling device with the aid of at least one optical, magnetic and / or inductive Guideline at least partially along the working distance is movable.
- the driverless transport system may also comprise a plurality of transponders, wherein the at least one handling device embodied as a driverless transport vehicle can be moved at least in sections along the working path with the aid of the plurality of transponders. It is also conceivable that the at least one designed as a driverless transport vehicle handling device is designed to be movable at least in sections along the working distance by means of laser triangulation and / or GPS.
- the at least one manipulator may comprise a plurality of one-piece fingers or one-piece rods to align piece goods of a respective grouping flush. It is conceivable that by means of at least one
- the plurality of Einteilfinger or Einteilstäbe are interchangeable or that the at least one handling device for exchanging the plurality of Einteilfinger or Einteilstäbe is formed. It is also conceivable that the impact elements or impact bars of the at least one further manipulator can be exchanged by means of the at least one handling device.
- the at least one handling device may comprise a working tool, for example a clamping and / or gripping device, in order to receive the plurality of turning bars and / or dividing bars and to replace them with further wrapping elements or wrapping bars.
- a control device may be provided which is in communication with the at least one handling device and which predetermines a method or a movement of the at least one handling device along the working path. At least over a certain section of the manipulation area
- Piece goods and / or groupings on piece goods by guide elements are steered.
- guide elements such as guide rails or the like
- the at least one handling device can independently replace or replace guide elements or guide rails.
- the at least one handling device for exchanging or replacing the guide elements or guide rails is a working tool and in particular a clamping and / or Gripping device has.
- the at least one handling device for adjusting or adjusting the relative distance of a plurality of guide elements to each other is formed.
- the at least one handling device can comprise a swivel arm, by means of which swivel arm the at least one handling device can make an adjustment of the relative distance of a plurality of guide elements or guide rails from one another.
- the at least one handling device can thus be described as
- Two-axis robot and / or designed as a three-axis robot Two-axis robot and / or designed as a three-axis robot.
- Packaging material is supplied.
- manipulator In conceivable embodiments, it may also be provided that groupings of piece goods are positioned on a cardboard before the groupings possibly enter into the shrinking device already mentioned above as part of preferred embodiments.
- the at least one handling device can provide cardboard boxes and possibly transport the cardboard boxes along the working distance.
- the groupings on piece goods can be positioned on cardboard boxes via the at least one manipulator or via the at least one further manipulator.
- a first manipulator can be provided via the at least one manipulator or via the at least one further manipulator.
- additional manipulator located in the manipulation area or along the working route, which groups on piece goods positioned on cardboard.
- the additional manipulator can be supplied via the at least one handling device with cardboard or with packaging material.
- the optical detection device for detecting an orientation of piece goods in the working distance be provided.
- the optical detection device can be arranged on the at least one handling device and thus, together with the at least one handling device, can be moved along the working path at least in sections. Also, it may be that the optical
- Detection device is stationarily positioned in the region of the at least one manipulator and / or in the region of the at least one further manipulator and / or in the region of the inlet. Furthermore, a control device may be provided which is in communication with the optical detection device and is designed to compare the actual orientation of piece goods with a predetermined desired orientation of piece goods. In a deviation of the actual orientation of the predetermined target orientation can be provided that i) the at least one handling device via the control device for
- Acting on certain cargo can be controlled and / or that ii) information for deviating an actual orientation of a predetermined target
- Orientation can be displayed on a communicating with the control device display unit.
- an optical indication is output on the display unit if an actual orientation of a piece good or several piece goods deviates from a predetermined desired orientation.
- Handling device can be controlled via the control device such that the at least one handling device certain piece goods whose actual orientation deviates from the desired orientation, transferred to the desired orientation or brings in the desired orientation. It may also be that the at least one
- Handling device via the control device is controlled such that the at least one handling device certain cargo, the actual orientation of which deviates from the desired orientation, singles.
- control device can determine a deviation of the actual orientation from a desired orientation. Following this, the at least one
- Handling device a working tool or a clamping and / or
- the clamping and / or gripping device can be arranged on the swivel arm, which has already been referred to previously.
- the optical detection device can be designed, for example, as a camera system or comprise at least one camera system. Also, the optical detection device, a light barrier or multiple light barriers for detecting an orientation of cargo in the manipulation area or along the
- predetermined target orientation can be displayed on a communicating with the control device display unit, it can be provided that the
- Display unit is designed as a display. Further, a rail system may be provided.
- Handling device can be moved at least in sections along the working distance with the aid of the rail system.
- the rail system can run linearly along the working path.
- Rail system is positioned opposite to the at least one horizontal conveyor of the inlet at a vertically higher level.
- Handling device can in this case attached hanging on the rail system or
- the at least one handling device comprises at least one laser scanner.
- the at least one handling device can be in operative connection with the
- the at least one handling device may be associated with a satellite-based navigation system for its movement.
- At least one handling device comprises at least one articulated-arm robot.
- the at least one articulated arm robot may have at least 4 and preferably at least 5 pivot axes.
- An axis may be formed as a vertically oriented axis of rotation for the at least one handling device.
- Several axes can be used as joint axes of a swivel arm of the at least one handling device be educated.
- Handling device for example, be designed as a parallel kinematic robot.
- the at least one handling device along the entire working distance is movable.
- the at least one handling device can move in the region of the inlet and in the region of the at least one shrinking device and the
- Manipulation area happen. Due to the associated large range of at least one handling device is conceivable that the at least one handling device takes over several tasks. By way of example, the at least one handling device can thereby bring about a previously described modification of the at least one manipulator and / or the at least one further manipulator and, in addition, act on specific piece goods which are located in the course or in the region of the working route.
- the invention further relates to a method for performing
- the working section here comprises an inlet, via which a large number of piece goods are transported in a mass flow. Furthermore, a manipulation area following the inlet with at least one manipulator, wherein piece goods are grouped and / or distributed over the at least one manipulator.
- the at least one manipulator can be followed by at least one further manipulator, wherein thermoplastic packaging material is preferably applied to grouped and / or distributed piece goods via the at least one further manipulator, wherein the at least one
- Handling device modified in the context of a work, the at least one further manipulator for different work processes. It may be that the working route comprises a shrinking device, by means of which packaging material on the groupings of piece goods
- the at least one further manipulator can in each case equip the groupings with thermoplastic packaging material, which is subsequently shrunk onto the respective grouping by means of a shrinking device. Also, the at least one further manipulator
- the method according to the invention comprises the following steps:
- Handling device in the context of several operations modified the at least one manipulator and the previously described at least one further manipulator for different work processes.
- the at least one handling device can be driverless
- Transport vehicle to be formed, which as part of a driverless
- Moving system moved along the working distance in the specific work area is or which runs as part of an automated guided transport system along the working route in the particular work area.
- an orientation of piece goods in the area of the working distance is detected optically, wherein the at least one handling device makes an alignment correction of this at least one piece good if an actual orientation of at least one piece goods deviates from a desired orientation this removed at least one piece goods from the range of the working distance.
- the actual orientation of the piece goods can be detected, for example, with the aid of a camera system. Further it may be that piece goods in the range of the work distance under
- the at least one handling device takes damaged and / or soiled cargo from the range of the working distance. If piece goods were taken from the area of the working distance, it is conceivable that the at least one handling device replaces the respective damaged and / or soiled piece goods by a non-damaged and / or non-contaminated piece goods or several non-damaged and / or non-soiled general cargo ,
- Figure 1 shows a schematic view of a conceivable embodiment of a system according to the invention
- Figure 2 shows a schematic view of another conceivable
- FIG. 3 shows a schematic perspective view of a further embodiment of the system according to the invention.
- FIG. 4 shows the embodiment of the system of Figure 3 illustrating further aspects
- FIG. 5 shows a schematic perspective view of a further embodiment of the system according to the invention
- FIG. 6 shows the embodiment of the system of FIG. 5, illustrating further aspects
- FIG. 7 shows a schematic perspective view of a further embodiment of the system according to the invention.
- Invention can be configured and do not represent a final limitation.
- FIG. 1 shows a schematic view of a conceivable embodiment of a system 1 according to the invention.
- the system 1 is provided for generating
- the system 1 comprises an inlet 3 with a horizontal conveyor 11. On the horizontal conveyor 1 1 piece goods 5 and are in
- the inlet 3 comprises a plurality of guide rails extending parallel to one another, with the aid of which the piece goods 5 are moved in a plurality of parallel paths.
- a manipulation area 22 follows with a first manipulator 10 and a further manipulator 20, which is arranged downstream of the first manipulator 10.
- About the first manipulator 10 is from a plurality of piece goods 5, a respective grouping 6 is formed by accelerating piece goods 5 of a grouping 6 against lagging piece goods 5 of a further grouping 6 accelerated.
- the horizontal conveyor 1 1 of the inlet 3 is operated intermittently or with variable transport speed.
- Horizontal conveyor 1 1 of the inlet 3 a higher transport speed.
- one-piece elements 8 are provided which come into contact with piece goods 5 of a respective grouping 6.
- the speed of movement of the dividing elements 8 essentially corresponds to the transport speed of the conveyor belt 12.
- the further manipulator 20 which follows the first manipulator 10 in the manipulation area 22, applies thermoplastic packaging material 4a to the groupings 6 formed via the first manipulator 10. Meanwhile, the groups 6 stand on a conveyor belt 21, which passes through the further manipulator 20 or which groups 6 transported during the application of thermoplastic packaging material 4a. In the further manipulator 20, groupings 6 are wrapped with thermoplastic packaging material 4a.
- the further manipulator 20 may have a plurality of impact means or impact bars.
- the groupings 6 then leave the further manipulator 20 and are moved in the direction of a further manipulator 20 downstream shrinking device 30, which is designed as a shrink tunnel.
- a further manipulator 20 downstream shrinking device 30 which is designed as a shrink tunnel.
- the cargo 5 or the groupings 6 leave on the
- Shrinking device 30 as a finished container 7, and are possibly transported in the direction of a not shown with palletizing.
- the handling device 9 can be moved.
- the working distance AS extends over the inlet 3, the manipulation area 22 and the shrinking device 30.
- the handling device 9 has a pivot arm 14 which can be rotated about several parallel axes. In addition, the entire handling device 9 can rotate about a vertical axis.
- the handling device 9 is formed in the embodiment of Figure 1 as a driverless transport vehicle and can be moved or moved as part of a driverless transport system with high accuracy along the working distance AS.
- a patent application filed in the figures is not laid along the working distance AS with guideline shown as a tracking guide, which can follow the handling device 9.
- embodiments have proven useful in which, for example, an optical, magnetic and / or inductive guideline is laid along the working path AS.
- the handling device 9 may optionally have a camera, a Hall sensor and / or an antenna, detect the course of the guideline by means of the camera, the Hall sensor and / or the antenna and thereby move along the working distance AS.
- successively container 7 are to be formed from piece goods 5 with different geometries, it may be that the first manipulator 10 and / or the further manipulator 20 must be modified or adapted for this purpose. For example, it may be necessary for the one-piece elements 8 to be replaced by further one-piece elements 8.
- the handling device 9 can do this independently along the
- a movement of the handling device 9 along the working distance AS is predetermined via a control device S, which is in communication with the handling device 9 for this purpose.
- piece goods 5 tilt in the direction of the shrinking device 30 during their movement or during their transport from the inlet 3, so that problems with the production of groupings 6 or with the production of containers 7 are associated with this.
- Handling device 9 may therefore be arranged an optical detection device or a camera system which detects an actual orientation of the piece goods 5 located in the region of the working distance AS and transmits information to the control device S for this purpose.
- the control device S can then compare the respective actual orientation with a predetermined desired orientation. If the actual orientation deviates from the specified target orientation, the
- Handling device 9 by means of the control device S along the Are moved working distance AS and correct the actual orientation of the respective piece goods or 5.
- thermoplastic packaging material 4a In order to be able to apply thermoplastic packaging material 4a to groupings 6 via the further manipulator 20, sufficient thermoplastic packaging material 4a must be available to the further manipulator 20 for this purpose.
- the thermoplastic packaging material 4a is provided to the further manipulator 20 by hand.
- the handling device 9 In the case of the system 1 from FIG. 1, the handling device 9 is able to travel along the working distance AS and to supply the further manipulator 20 with packing media or thermoplastic packaging material 4a. The movement or the method of the handling device 9 is predetermined here via the control device S.
- thermoplastic packaging material 4a thermoplastic packaging material 4a
- a sensor or a plurality of sensors are provided, via which a supply state of the further manipulator 20 with thermoplastic packaging material 4a can be detected.
- the one or more sensors can with the
- Control device S are in communication, which, taking into account the supply state, the handling device 9 can move in order to provide the further manipulator 20 sufficiently sufficient thermoplastic packaging material 4a.
- a plurality of guide elements or guide rails can be provided in the region of the inlet 3, by means of which the piece goods 5 are transported or guided in parallel paths. If a product change takes place or to adapt the guide elements on piece goods 5 with different geometries, their relative spacing must be adjusted to each other. In practice, the relative spacing of two adjacent guide rails or guide elements to each other substantially corresponds to the maximum diameter of the respective via the
- control device S can cause a movement of the handling device 9 along the working distance AS, so that the handling device 9 is located in the region of the inlet 3 and the adaptation or adjustment of the relative distance adjacent guide rails makes each other independently.
- the handling device 9 can have a working tool or with a Working tool in connection, on which working tool, the handling device 9, the replacement of the guide elements or
- the exchange can make guide rails.
- the exchange can also possibly via the
- Control device S are given or initiated, which the
- Groups 6 or container 7, which are located within the shrinking device 1, are driven out of the shrinking device 1. Since these are initially not further processed, it can be provided that the handling device 9 is moved into the region of the shrinking device 30 and container 7, which the
- Leave shrink device 30 receives and possibly placed on a cache or drops.
- the optical detection device By means of the optical detection device, the actual orientation of the piece goods 5 can be determined at least in a partial area of the working distance AS. Further, by means of the optical detection device, the
- Detection device is connected to the control device S, information on the operation of the system 1 on a display unit or a display, which is coupled to the control device S, are output. If an actual orientation of piece goods 5 deviates from a predetermined desired orientation, a user can be informed about this via the display unit or the display.
- the inlet 3, the manipulation area 22 and the shrink tunnel 30 form during
- Embodiment of Figure 1 is a packaging line for piece goods 5. How
- the handling device 9 is as a driverless
- Transport vehicle trained there is the possibility for the trained as a driverless transport system handling device 9, between several
- Figure 2 shows a schematic view of another conceivable
- Embodiment of a system 1 according to the invention Part of the system 1 of Figure 2 are further an inlet 3, a manipulation area 22 and a
- Shrinking device 30 may be formed according to the embodiment of Figure 1.
- the handling device 9 can be seen, which has a pivot arm 14. According to the embodiment of Figure 1, the handling device 9 selectively in the region of the inlet 3, in the
- FIG. 2 shows a rail system 24 with which the
- Handling device 9 is mechanically coupled. With the help of the
- the handling device 9 is moved or moved along the working distance AS.
- the movement or the method of the handling device 9 is further specified via the control device S.
- FIG. 3 shows a schematic perspective view of a further embodiment of the system 1 according to the invention.
- the system 1 from the exemplary embodiment from FIG. 3 has an inlet 3, via which piece goods 5 can be moved in several rows in the direction of a downstream manipulation area 22.
- the manipulation area 22 has a first manipulator 10 and a second manipulator 20, wherein the first manipulator 10 and the second one
- each packaging material 4 (see Figure 1) can be applied to piece goods 5.
- the inlet 3, the first manipulator 10 and the second manipulator 20 each have a frame construction and are designed as modules, with the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second manipulator 20 designed as a module blocked or can be placed directly behind each other and this for the packaging of cargo 5
- the packaging line is a
- Rail system 24 is positioned over which the handling device 9 along the packaging line or along a over the entire longitudinal extent of the
- the rail system 24 in this case closes laterally on the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second module designed as a module
- Manipulator 20 directly on and stands on a floor surface.
- the design of the individual modules by means of their frame construction or the blocked installation can still be clearly seen in FIG.
- the individual technical components, which are designed as components of the module, have been shown in FIG. 4 for reasons of
- FIG. 5 shows a schematic perspective view of a further embodiment of the system 1 according to the invention.
- the system 1 of the exemplary embodiment from FIG. 5 has a feed 3 designed as a module, a first manipulator 10 designed as a module and a second manipulator 20 designed as a module, the feed 3, the first manipulator 10 and the second manipulator 20 blocked or immediately
- the installation of the system 1 of the embodiment of Figure 5 therefore corresponds to the installation of the system 1 of the embodiment of Figures 3 and 4.
- system 1 comprises a rail system 24, which is located at a higher vertical level relative to a transport plane for piece goods 5.
- Rail system 24 is arranged a handling device 9 hanging, which handling device 9 can be moved along the rail system 24 and can move along the working distance AS on the rail system 24 and thereby optionally a work area anelle and performs after reaching the work area manipulation tasks for the packaging line.
- FIG. 6 also shows the embodiment of the system 1 from FIG. 5, with individual technical components not being shown for reasons of clarity. In particular, FIG. 6 again shows or illustrates the blocked or directly successive installation of the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second manipulator 20 designed as a module
- Rail system 24 connects immediately laterally to the frame construction of the individual modules and is, as previously mentioned, on a vertical higher level compared to a transport level for piece goods 5 formed by the system 1.
- FIG. 7 shows a schematic perspective view of a further embodiment of the system 1 according to the invention.
- the system 1 of the embodiment of FIG. 7 has an inlet 3 and a manipulation area 22, which feed 3 and which manipulation area 22 correspond to the embodiments from FIGS. 3 to 6 and are indicated only schematically in FIG.
- the inlet 3 and the manipulation area 22 form a packaging line for piece goods 5.
- the system 1 comprises two rail systems 24, wherein a first rail system 24 extends along the entire working distance AS and rests on a floor surface or is positioned in the area of a floor surface.
- Another second rail system 24 is located at a higher vertical level relative to the first rail system 24 and extends over a portion of the working distance AS. For each rail system 24 is a separate
- Handling device 9 is provided, wherein the handling devices 9 can be moved along their respective rail system 24 and perform after reaching a respective work area possibly manipulation tasks for the packaging line. Both handling devices 9 can not be coupled to a control unit shown in the figures, which selectively controls the two handling devices 9 as a function of a respective manipulation task to be performed for the packaging line and possibly moves along its respective rail system 24.
- FIG. 7 furthermore shows that the handling device 9 connected to the rail system 24 positioned in the region of the floor surface is arranged on a pedestal 16 in order to increase the vertical working level for the handling device 9 for performing manipulation tasks.
- a plurality of pedestals 16 may be provided which provide different vertical height levels for the handling device 9 and may be selectively mounted on the rail system 24.
- an entire rail system 24 together with its respective handling device 9 can be designed vertically movable or raised and lowered vertically to adapt to a respective height level for the handling device 9.
- the respective rail system 24 may be in communication with at least one hydraulic or pneumatic actuator which vertically raises or vertically lowers the respective rail system 24 as needed.
- the at least one hydraulic or pneumatic actuator can furthermore be actuated via a control unit.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015119320.5A DE102015119320A1 (de) | 2015-11-10 | 2015-11-10 | System zum Gruppieren und/oder Verteilen von Stückgütern sowie Verfahren zum Verrichten von Manipulationsaufgaben im Bereich einer Arbeitsstrecke mit wenigstens einer Handhabungseinrichtung |
PCT/EP2016/076375 WO2017080881A1 (de) | 2015-11-10 | 2016-11-02 | System zum gruppieren und/oder verteilen von stueckguetern sowie verfahren zum verrichten von manipulationsaufgaben im bereich einer arbeitsstrecke mit wenigstens einer handhabungseinrichtung |
Publications (3)
Publication Number | Publication Date |
---|---|
EP3374268A1 true EP3374268A1 (de) | 2018-09-19 |
EP3374268C0 EP3374268C0 (de) | 2023-12-20 |
EP3374268B1 EP3374268B1 (de) | 2023-12-20 |
Family
ID=57233441
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16790977.9A Active EP3374268B1 (de) | 2015-11-10 | 2016-11-02 | System zum gruppieren und/oder verteilen von stueckguetern sowie verfahren zum verrichten von manipulationsaufgaben im bereich einer arbeitsstrecke mit wenigstens einer handhabungseinrichtung |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3374268B1 (de) |
CN (1) | CN209008944U (de) |
DE (1) | DE102015119320A1 (de) |
WO (1) | WO2017080881A1 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017210405A1 (de) | 2017-06-21 | 2018-12-27 | Krones Aktiengesellschaft | Transporteinrichtung für eine verpackungsmaschine und verfahren zum tauschen eines umlaufend geführten transportmittels innerhalb einer verpackungsmaschine |
DE102017129847A1 (de) | 2017-12-13 | 2019-06-27 | Krones Ag | Vorrichtung und Verfahren zum Behandeln von Behältnissen mit fahrerlosen-Transportsystem |
CN109436429B (zh) * | 2018-11-28 | 2023-10-20 | 桂林电子科技大学 | 一种导电胶条自动分料装盒包装装置 |
DE102019134315A1 (de) * | 2019-12-13 | 2021-06-17 | Krones Ag | Transportmodul für zu verpackende Artikel und Verfahren zum Vorbereiten eines Transportmoduls auf eine Bewegung von Artikeln |
DE102021102769A1 (de) | 2021-02-05 | 2022-08-11 | Krones Aktiengesellschaft | Vorrichtung und Verfahren zum Transportieren von Artikeln wie Getränkebehälter oder dergleichen |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004103864A1 (ja) * | 2003-05-21 | 2004-12-02 | Matsushita Electric Industrial Co., Ltd. | 物品管理システム、物品管理サーバ、物品管理方法 |
EP2169405A2 (de) * | 2008-09-30 | 2010-03-31 | F.Hoffmann-La Roche Ag | Roboterspeicher |
DE102009003556A1 (de) | 2009-03-02 | 2010-09-09 | Krones Ag | Verpackungsmaschine und Verfahren zu deren Steuerung |
DE102010051324A1 (de) * | 2010-11-16 | 2012-05-16 | Krones Aktiengesellschaft | Verpackungsmodul für mit Folie zu umhüllende Gebinde oder Artikelgruppen |
WO2014130937A1 (en) * | 2013-02-24 | 2014-08-28 | Intelligrated Headquaters Llc | Goods to robot for order fulfillment |
-
2015
- 2015-11-10 DE DE102015119320.5A patent/DE102015119320A1/de active Pending
-
2016
- 2016-11-02 EP EP16790977.9A patent/EP3374268B1/de active Active
- 2016-11-02 CN CN201690001153.0U patent/CN209008944U/zh active Active
- 2016-11-02 WO PCT/EP2016/076375 patent/WO2017080881A1/de unknown
Also Published As
Publication number | Publication date |
---|---|
EP3374268C0 (de) | 2023-12-20 |
CN209008944U (zh) | 2019-06-21 |
EP3374268B1 (de) | 2023-12-20 |
DE102015119320A1 (de) | 2017-05-11 |
WO2017080881A1 (de) | 2017-05-18 |
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