EP3374268B1 - Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation - Google Patents

Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation Download PDF

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Publication number
EP3374268B1
EP3374268B1 EP16790977.9A EP16790977A EP3374268B1 EP 3374268 B1 EP3374268 B1 EP 3374268B1 EP 16790977 A EP16790977 A EP 16790977A EP 3374268 B1 EP3374268 B1 EP 3374268B1
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EP
European Patent Office
Prior art keywords
handling device
piece goods
manipulator
work path
area
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.)
Active
Application number
EP16790977.9A
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German (de)
English (en)
Other versions
EP3374268C0 (fr
EP3374268A1 (fr
Inventor
Helmut Schwarz
Herbert Spindler
Martin Bauer
Wolfgang Huber
Marcus SEIDL
Thomas Wimmer
Rudi BEZUIDENHOUT
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krones AG
Original Assignee
Krones AG
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Publication date
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Publication of EP3374268A1 publication Critical patent/EP3374268A1/fr
Application granted granted Critical
Publication of EP3374268B1 publication Critical patent/EP3374268B1/fr
Publication of EP3374268C0 publication Critical patent/EP3374268C0/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • 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

  • thermoplastic packaging material When packaging items, in the prior art several piece goods are transported via a horizontal conveyor and subsequently manipulated. Devices are known which create a grouping from several piece goods and then apply thermoplastic packaging material to the groupings. The groupings are moved into a shrink tunnel together with the thermoplastic packaging material. In the shrink tunnel, the thermoplastic packaging material is subjected to temperature, whereby the thermoplastic packaging material is shrunk onto the respective grouping. The finished containers, combined with packaging material, then leave the shrink tunnel and can be palletized in further steps.
  • Such a packaging machine is, for example, from DE 20 2010 013 513 U1 known.
  • the DE utility model discloses a machine for packaging goods or packaging units with a horizontal conveyor belt.
  • the containers are transported via the horizontal conveyor belt to a packaging station, where they are wrapped with film strips cut to length using a wrapping device. Subsequently, the containers or the goods that form the container are moved into a shrink tunnel together with the respective film web.
  • the packaging machine must be converted. For example, it may be that format parts, such as guide rails or the like, have to be exchanged or adjusted within a transport route for articles or piece goods. Modifications to manipulators may also be necessary in order to adapt the packaging machine to piece goods with a specific geometry. Until now, converting or modifying manipulators was done manually.
  • Packaging media such as thermoplastic films or cardboard boxes on which groups of piece goods stand, are also fed manually to the respective manipulator in practice.
  • the provision of packaging media also involves a time and personnel effort, which in practice should be reduced if possible.
  • an object of the invention can be seen as providing a system and a method for grouping and/or distributing piece goods, by means of which personnel expenditure can at least be reduced. Furthermore, the system should have an uncomplicated structure and the process should be easy to implement.
  • the invention relates to a system for grouping and/or distributing piece goods.
  • the piece goods that are grouped or distributed via the system can, for example, be designed as beverage containers or PET bottles.
  • the system according to the invention can be used to form a stream of piece goods conveyed from m parallel rows via an inlet in n parallel rows with the aid of a manipulator.
  • the system can be designed as a distribution system. In preferred embodiments, however, the system can be designed as a system for grouping and packaging piece goods, as described below be.
  • the packaging material can then be designed as a thermoplastic packaging material. It is also conceivable that the packaging material is then designed as a cellulose-containing packaging material or as a cardboard outer packaging. It is clear to the expert addressed that other packaging materials can also be used, which are not exhaustively listed here.
  • the system includes a work route.
  • Part of the working route is an inlet which has at least one horizontal conveyor device and via which inlet a large number of piece goods can be transported in the mass flow.
  • 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 in the area of the inlet, by means of which piece goods are moved in parallel rows on the at least one horizontal conveyor device of the inlet.
  • the relative distance between two guide rails in the inlet can correspond at least approximately to the maximum diameter of the respective piece goods transported via the inlet. A row of piece goods can therefore be transported between two adjacent guide rails.
  • the relative distance of the guide rails of the inlet can be specified or adjusted via at least one handling device within the scope of conceivable embodiments of the present invention, as described below.
  • the system further includes a manipulation area following the inlet with at least one manipulator for grouping and/or distributing piece goods.
  • the at least one manipulator can be connected to a control device, via which the at least one manipulator can be controlled in order to form a grouping for a respective container from several piece goods.
  • Packaging material can then be applied to the grouping, as described below, in order to combine the respective piece goods of the grouping into a respective container.
  • the at least one manipulator is connected to a control device, via which the at least one manipulator can be controlled in order to supply a piece goods stream with a number m guided in parallel rows with a number of m form, where the number n differs from the number m. It is conceivable that the number n is larger than the number m. In further embodiments, the number n may be designed to be smaller than the number m.
  • At least one further manipulator is arranged downstream of the at least one manipulator in the manipulation area, which at least one further manipulator is designed for applying preferably thermoplastic packaging material to the distributed and/or grouped piece goods.
  • the at least one manipulator and the at least one further manipulator can each be modified for different work processes via the at least one handling device.
  • At least one conveyor belt can extend over the manipulation area and passes through the at least one manipulator.
  • the at least one conveyor belt can directly connect to the at least one horizontal conveyor device of the inlet.
  • the piece goods can, if necessary, be moved in the direction of a shrinking device or forwarded to a shrinking device via the at least one conveyor belt.
  • At least one first conveyor belt is assigned to the at least one manipulator.
  • at least one further conveyor belt can be assigned to at least one further manipulator, which is connected to the at least one manipulator and is designed to apply packaging material to piece goods.
  • the at least one further conveyor belt can have a higher transport speed than the at least one first conveyor belt, so that for the purpose of grouping piece goods, leading piece goods are accelerated compared to lagging piece goods when crossing onto 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 and/or their relative distance from one another can be adjusted via the at least one handling device described below.
  • the at least one manipulator can include several dividing fingers or dividing rods, which come into contact with groupings in order to align piece goods of a respective grouping flush.
  • the dividing fingers or dividing rods can be guided all around.
  • the at least one manipulator has a conveyor belt which is clocked and/or operated at varying transport speeds in order to form a respective grouping from several piece goods.
  • At least one further conveyor belt of the at least one further manipulator present in preferred embodiments can be directly connected to the conveyor belt of the at least one manipulator, which is operated in a clocked manner and/or with a varying transport speed.
  • the at least one further manipulator can comprise a wrapping unit over which the packaging material is placed around a group of piece goods.
  • the wrapping unit can include several circumferential wrapping elements or wrapping rods, which place the packaging material around the respective grouping of piece goods.
  • the wrapping elements or impact rods can emerge from below a transport level of the piece goods over the transport level, then place the thermoplastic packaging material around the respective grouping of piece goods and then descend below the transport level of the piece goods.
  • the system can have at least one shrinking device, which follows the at least one further manipulator and via which the thermoplastic packaging material can be shrunk onto the respective grouping of piece goods via temperature application.
  • the at least one shrinking device may be part of the working section of the system.
  • the at least one shrinking device can be designed as a shrink tunnel and thus have a housing into which groupings of piece goods enter and which the groupings leave as finished containers after the packaging material or the thermoplastic packaging material has been shrunk on.
  • the at least one handling device can be designed to receive containers. Particularly in the event that the system or the shrinking device is to be taken out of operation, embodiments have proven useful in which the at least one handling device for receiving containers Leaving the shrinking device is formed.
  • the at least one handling device can replace an empty route.
  • the at least one shrinking device can have a horizontal conveyor device in order to transport groupings of piece goods together with their respective packaging material or their respective thermoplastic packaging material.
  • the horizontal conveyor device of the at least one shrinking device can connect to the previously described at least one conveyor belt, which possibly passes the at least one manipulator and the at least one further manipulator.
  • the system according to the invention can comprise a driverless transport system or AGV, wherein the at least one handling device is a component of the driverless transport system designed as a driverless transport vehicle.
  • the driverless transport system can comprise at least one optical, magnetic and/or inductive guideline, with the at least one handling device designed as a driverless transport vehicle with the aid of the at least one optical, magnetic and/or inductive Guideline can be moved at least in sections along the work route.
  • the driverless transport system can also include several transponders, with the at least one handling device designed as a driverless transport vehicle being movable at least in sections along the working route with the aid of the several transponders. It is also conceivable that the at least one handling device designed as a driverless transport vehicle is designed to be movable at least in sections along the working route using laser triangulation and/or GPS.
  • the at least one manipulator can include several dividing fingers or dividing rods in order to align piece goods of a respective grouping flush. It is conceivable here that the plurality of dividing fingers or dividing rods can be exchanged by means of the at least one handling device or that the at least one handling device is designed for exchanging the plurality of dividing fingers or dividing rods.
  • the impact elements or impact rods 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 can comprise a working tool, for example a clamping and/or gripping device, in order to receive the plurality of impact rods and/or dividing rods and replace them with further impact elements or impact rods.
  • a control device can be provided which is connected to the at least one handling device and which specifies a method or a movement of the at least one handling device along the working route.
  • piece goods and/or groups of piece goods can be steered by guide elements, such as guide rails or the like.
  • guide elements can be provided, particularly in the area of the inlet and/or in the manipulation area.
  • the at least one handling device can independently replace or exchange guide elements or guide rails.
  • the at least one handling device for exchanging or replacing the guide elements or guide rails is a work tool and in particular a clamping and/or Has gripping device.
  • the at least one handling device is designed to adjust or adapt the relative distance of several guide elements to one another.
  • the at least one handling device can comprise a swivel arm, by means of which swivel arm the at least one handling device can adjust the relative distance of several guide elements or guide rails from one another.
  • the at least one handling device can therefore be designed as a two-axis robot and/or as a three-axis robot.
  • the at least one handling device can provide packaging material for the at least one further manipulator.
  • groupings of piece goods are positioned on a cardboard box before the groupings possibly enter the shrinking device already mentioned as part of preferred embodiments.
  • the at least one handling device can provide cardboard boxes and, if necessary, transport the cardboard boxes along the work route.
  • the groupings of piece goods can be positioned on cardboard boxes via the at least one manipulator or via the at least one further manipulator.
  • an additional manipulator can be located in the manipulation area or along the work route, which positions groups of piece goods on cardboard boxes. The additional manipulator can be supplied with cardboard boxes or packaging material via the at least one handling device.
  • an optical detection device can be provided for detecting an orientation of piece goods in the area of the working route.
  • the optical detection device can be arranged on the at least one handling device and can thus be moved along the working route at least in sections together with the at least one handling device. It can also be that the optical detection device is positioned in a stationary manner in the area of the at least one manipulator and/or in the area of the at least one further manipulator and/or in the area of the inlet.
  • a visual indication is output on the display unit if an actual orientation of one or more piece goods deviates from a predetermined target orientation.
  • the at least one handling device can be controlled via the control device in such a way that the at least one handling device transfers certain piece goods whose actual orientation deviates from the target orientation into the target orientation or brings them into the target orientation. It can also be the case that the at least one handling device can be controlled via the control device in such a way that the at least one handling device separates out certain piece goods whose actual orientation deviates from the target orientation.
  • the control device can detect a deviation of the actual orientation from a target orientation.
  • the at least one handling device can be controlled by the control device for erecting or correcting the orientation of the respective piece goods whose actual orientation deviates from the target orientation.
  • the at least one handling device can have a work tool or a clamping and/or gripping device, via which the at least one handling device can receive and align piece goods.
  • the clamping and/or gripping device can be arranged on the swivel arm, to which reference has already been made previously.
  • the optical detection device can, for example, be designed as a camera system or comprise at least one camera system.
  • the optical detection device can also include a light barrier or several light barriers for detecting the orientation of piece goods in the manipulation area or along the work route.
  • the display unit is designed as a display.
  • a rail system can also be provided.
  • the at least one handling device can be moved at least in sections along the working route with the aid of the rail system.
  • the rail system can run linearly along the work route.
  • the rail system is positioned at a vertically higher level compared to the at least one horizontal conveyor device of the inlet.
  • the at least one handling device can be attached to the rail system in a hanging manner or fixed to the rail system in a hanging manner and, if necessary, can be moved in a hanging manner along the rail system.
  • the at least one handling device comprises at least one laser scanner.
  • the at least one handling device can be movable at least in sections along the working route in operative connection with the at least one laser scanner.
  • the at least one handling device as already mentioned above, can be connected to a satellite-based navigation system for its movement.
  • the at least one handling device comprises at least one articulated arm robot.
  • the at least one articulated arm robot can have at least 4 and preferably at least 5 pivot axes.
  • An axis can be designed 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 trained.
  • the at least one handling device can be designed, for example, as a parallel kinematics robot.
  • Embodiments in which the at least one handling device can be moved along the entire working route have also proven successful.
  • the at least one handling device can thus move into the area of the inlet and into the area of the at least one shrinking device and pass through the manipulation area. Due to the associated large range of the at least one handling device, it is conceivable that the at least one handling device takes on several tasks. For 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 can also act on certain piece goods which are located in the course or in the area of the work route.
  • the invention also relates to a method for carrying out manipulation tasks in the area of a work route with the aid of at least one handling device.
  • Features that have already been described previously for various embodiments of the system can also be provided for various embodiments of the method described below and are not mentioned redundantly.
  • features described below, which relate to various embodiments of the method according to the invention can be provided in conceivable embodiments of the system according to the invention.
  • the working route includes an inlet over which a large number of piece goods are transported in the mass flow. Furthermore, a manipulation area following the inlet with at least one manipulator, with piece goods being grouped and/or distributed via the at least one manipulator.
  • the at least one manipulator can be followed by at least one further manipulator, with preferably thermoplastic packaging material being applied to grouped and/or distributed piece goods via the at least one further manipulator, the at least one handling device being used for the at least one further manipulator as part of a work process different work processes modified.
  • the working route includes a shrinking device, by means of which packaging material is shrunk onto the groupings of piece goods.
  • the at least one further manipulator can each equip the groupings with thermoplastic packaging material, which is subsequently shrunk onto the respective grouping using a shrinking device.
  • the at least one further manipulator can also apply cellulose-containing packaging material to the respective grouping and fix or secure individual piece goods of the respective grouping to one another using the cellulose-containing packaging material.
  • the at least one handling device modifies the at least one manipulator and the previously described at least one further manipulator for different work processes in the context of several work processes.
  • the at least one handling device can be designed as a driverless transport vehicle, which moves along the work route into the specific work area as part of a driverless transport system or which, as part of a driverless transport system, travels along the work route to the specific work area.
  • an orientation of piece goods in the area of the working route is detected optically, with the at least one handling device carrying out an alignment correction of this at least one piece goods if an actual orientation of at least one piece goods deviates from a target orientation and/or this at least one piece of cargo is removed from the area of the work route.
  • the actual orientation of the piece goods can be recognized, for example, with the help of a camera system.
  • piece goods in the area of the work route are checked for damage and/or contamination with the aid of optical detection, with the at least one handling device removing damaged and/or dirty piece goods from the area of the work route. If general cargo has been removed from the area of the working route, it is conceivable that the at least one handling device replaces the respective damaged and/or dirty general cargo with one non-damaged and/or non-contaminated general cargo or several non-damaged and/or non-contaminated general cargo .
  • Figure 1 shows a schematic view of a conceivable embodiment of a system 1 according to the invention.
  • the system 1 is intended for generating groupings 6 from several piece goods 5 and combining the groupings 6 via packaging material 4, in the present case designed as thermoplastic packaging material 4a.
  • the system 1 includes an inlet 3 with a horizontal conveyor 11.
  • Piece goods 5 stand on the horizontal conveyor 11 and are transported in the mass flow. Leading piece goods 5 are in contact with immediately following piece goods 5.
  • 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 several parallel paths.
  • a respective grouping 6 is formed from several piece goods 5 by accelerating leading piece goods 5 of a group 6 compared to lagging piece goods 5 of another group 6.
  • the horizontal conveyor 11 of the inlet 3 is operated intermittently or at a variable transport speed.
  • a conveyor belt 12 of the first manipulator 10 has a higher transport speed than the horizontal conveyor 11 of the inlet 3.
  • dividing elements 8 are provided, which come into contact with piece goods 5 of a respective grouping 6. The movement speed 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 manipulator area 22, applies thermoplastic packaging material 4a to the groupings 6 formed via the first manipulator 10. Meanwhile, the groupings 6 stand on a conveyor belt 21, which passes the further manipulator 20 or which transports the groupings 6 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 can have several impact means or impact rods.
  • the groupings 6 then leave the further manipulator 20 and are moved in the direction of a shrinking device 30 arranged downstream of the further manipulator 20, which is designed as a shrink tunnel.
  • a shrinking device 30 By means of the shrinking device 30 or by means of the shrinking tunnel, the thermoplastic packaging material 4a, which was applied to the groupings 6 by the further manipulator 20, is shrunk onto the respective grouping 6 of piece goods 5 by applying temperature.
  • the piece goods 5 or the groupings 6 then leave the shrinking device 30 as a finished container 7 and are, if necessary, transported towards a palletizing station, not shown.
  • a handling device 9 can also be seen, which runs along the working route AS, as in Figure 1 can be indicated, moved or moved using arrows.
  • the working section AS extends over the inlet 3, the manipulation area 22 and the shrinking device 30.
  • the handling device 9 has a swivel arm 14 that 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 off in the exemplary embodiment Figure 1 designed as a driverless transport vehicle and can be moved or moved with high accuracy along the work route AS as part of a driverless transport system.
  • a guideline (not shown in the figures of this patent application) is laid along the working route AS as a track guide, which the handling device 9 can follow.
  • Embodiments in which, for example, an optical, magnetic and/or inductive guide line is laid along the working route AS have proven successful in practice.
  • the handling device 9 can, if necessary, have a camera, a Hall sensor and/or an antenna, use the camera, the Hall sensor and/or the antenna to detect the course of the guide line and thereby move along the working route AS.
  • An optical detection device or a camera system can therefore be arranged in the area of the work route AS and/or on the handling device 9, which detects an actual orientation of the piece goods 5 located in the area of the work route AS and transmits information about this to the control device S.
  • the control device S can then compare the respective actual orientation with a predetermined target orientation. If the actual orientation deviates from the specified target orientation, the handling device 9 can be moved along the by means of the control device S Working route AS can be moved and the actual orientation of the respective piece goods 5 corrected.
  • thermoplastic packaging material 4a In order to be able to apply thermoplastic packaging material 4a to groupings 6 via the further manipulator 20, the further manipulator 20 must have sufficient thermoplastic packaging material 4a available for this purpose.
  • the thermoplastic packaging material 4a is provided manually to the further manipulator 20.
  • the handling device 9 is off in system 1 Figure 1 able to travel along the work route AS and supply the further manipulator 20 with packaging media or thermoplastic packaging material 4a. The movement or the method of the handling device 9 is specified via the control device S.
  • the handling device 9 can have a work tool or with one Work tool are connected, via which work tool the handling device 9 can carry out the replacement of the guide elements or guide rails.
  • the exchange can also be specified or initiated via the control device S, which moves the handling device 9 along the working route AS for this purpose.
  • the handling device 9 is moved into the area of the shrinking device 30 and receives containers 7 that leave the shrinking device 30 and, if necessary, places or deposits them on a buffer.
  • the inlet 3, the manipulation area 22 and the shrink tunnel 30 form in the exemplary embodiment Figure 1 a packaging line for piece goods 5.
  • the handling device 9 is designed as a driverless transport vehicle.
  • the handling device 9, which is designed as a driverless transport system has the possibility of switching between several packaging lines Figure 1 to change or tasks in several packaging lines Figure 1 to be carried out.
  • guidelines can also be provided as tracking between the multiple packaging lines.
  • the handling device 9 can, for example, under Switch between individual packaging lines using satellite-based navigation and/or laser triangulation.
  • Figure 3 shows a schematic perspective view of a further embodiment of the system 1 according to the invention.
  • system 1 from the exemplary embodiment Figure 3 an inlet 3, via which piece goods 5 can be moved in several rows in the direction of a downstream manipulation area 22.
  • the rail system 24 is directly connected laterally to the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second manipulator 20 designed as a module and rests on a floor surface.
  • the formation of the individual modules using their frame construction or the blocked installation is still in practice Figure 4 clearly visible.
  • the individual technical components, which are designed as components of the module, were in Figure 4 not shown for reasons of clarity.
  • Figure 7 shows a schematic perspective view of a further embodiment of the system 1 according to the invention.
  • the system 1 of the embodiment Figure 7 has an inlet 3 and a manipulation area 22, which inlet 3 and which manipulation area 22 correspond to the embodiments Figures 3 to 6 correspond and in Figure 7 are only indicated schematically.
  • the inlet 3 and the manipulation area 22 form a packaging line for piece goods 5.
  • the system 1 further comprises two rail systems 24, with a first rail system 24 extending along the entire working route AS and resting on a floor surface or being positioned in the area of a floor surface.
  • Another second rail system 24 is located at a vertically higher level than the first rail system 24 and extends over a section of the working route AS.
  • a separate handling device 9 is provided for each rail system 24, whereby the handling devices 9 can be moved along their respective rail system 24 and, if necessary, carry out manipulation tasks for the packaging line after reaching a respective work area.
  • Both handling devices 9 can be coupled to a control unit, not shown in the figures of this patent application, which selectively controls the two handling devices 9 depending on a respective manipulation task to be carried out for the packaging line and, if necessary, moves them along their respective rail system 24.

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Claims (17)

  1. Système (1) de groupement et/ou de distribution de produits de détail (5), comprenant un trajet de travail (AS) avec
    - une amenée (3) qui présente au moins un dispositif de transport horizontal (11) et par laquelle une pluralité de produits de détail (5) peuvent être transportés dans un flux de masse,
    - une zone de manipulation (22) qui suit l'amenée (3) et comprend au moins un manipulateur (10) pour grouper et/ou distribuer des produits de détail (5),
    caractérisé par le fait que le système (1) comprend au moins un dispositif de manipulation (9) qui peut être déplacé au moins par sections le long du trajet de travail (AS), et par l'intermédiaire duquel au moins un dispositif de manipulation (9)
    a) ledit au moins un manipulateur (10) peut être modifié pour différents processus de travail, et/ou par l'intermédiaire duquel au moins un dispositif de manipulation (9)
    b) des éléments de guidage prévus pour des produits de détail (5) et disposés au cours du trajet de travail (AS) peuvent être échangés et/ou peuvent être réglés les uns par rapport aux autres quant à leur espacement relatif, et/ou par l'intermédiaire duquel au moins un dispositif de manipulation (9)
    c) on peut agir sur certains produits de détail (5) qui se trouvent au cours du trajet de travail (AS), et/ou par l'intermédiaire duquel au moins un dispositif de manipulation (9)
    d) des matériaux d'emballage peuvent être fournis pour au moins un manipulateur (10, 20) positionné dans la zone de manipulation (22).
  2. Système selon la revendication 1, dans lequel, dans la zone de manipulation (22), au moins un autre manipulateur (20) est disposé en aval dudit au moins un manipulateur (10), lequel au moins un autre manipulateur (20) est conçu pour appliquer de préférence du matériau d'emballage thermoplastique (4) aux produits de détail (5) distribués et/ou groupés, dans lequel ledit au moins un manipulateur (10) et ledit au moins un autre manipulateur (20) peuvent chacun être modifiés pour différents processus de travail par l'intermédiaire dudit au moins un dispositif de manipulation (9).
  3. Système selon la revendication 1 ou la revendication 2, comprenant un dispositif de détection optique destiné à détecter une orientation de produits de détail (5) dans la zone du trajet de travail (AS) ainsi qu'un dispositif de commande (S) qui est en communication avec le dispositif de détection optique et est conçu pour comparer l'orientation réelle de produits de détail (5) à une orientation cible prédéterminée de produits de détail (5), dans lequel, lorsqu'une orientation réelle s'écarte d'une orientation cible prédéterminée
    i) ledit au moins un dispositif de manipulation (9) peut être commandé via le dispositif de commande (S) pour agir sur certains produits de détail (5) et/ou
    ii) des informations concernant l'écart d'une orientation réelle par rapport à une orientation cible prédéterminée peuvent être affichées sur une unité d'affichage qui est en communication avec le dispositif de commande (S).
  4. Système selon la revendication 3, dans lequel le dispositif de détection optique est conçu en tant que système de caméra.
  5. Système selon la revendication 3 ou la revendication 4, dans lequel l'unité d'affichage est conçue en tant qu'écran de visualisation.
  6. Système selon une ou plusieurs des revendications 1 à 5, comprenant un système de rails (24), dans lequel ledit au moins un dispositif de manipulation (9) peut être déplacé au moins par sections le long du trajet de travail (AS) à l'aide dudit système de rails (24).
  7. Système selon une ou plusieurs des revendications 1 à 6, comprenant une boucle d'induction positionnée au moins par sections le long du trajet de travail (AS), dans lequel ledit au moins un dispositif de manipulation (9) peut être déplacé au moins par sections le long du trajet de travail (AS) en étant en liaison active avec la boucle d'induction.
  8. Système selon une ou plusieurs des revendications 1 à 7, dans lequel ledit au moins un dispositif de manipulation (9) comprend au moins un scanner laser, dans lequel ledit au moins un dispositif de manipulation (9) peut être déplacé au moins par sections le long du trajet de travail (AS) en étant en liaison active avec ledit au moins un scanner laser.
  9. Système selon une ou plusieurs des revendications 1 à 8, dans lequel ledit au moins un dispositif de manipulation (9) comprend au moins un robot à bras articulé.
  10. Système selon la revendication 9, dans lequel ledit au moins un robot à bras articulé présente au moins 4 et de préférence au moins 5 axes de pivotement.
  11. Système selon une ou plusieurs des revendications 1 à 10, dans lequel le trajet de travail (AS) comprend au moins un dispositif de rétraction (30) qui suit la zone de manipulation (22) et par l'intermédiaire duquel du matériau d'emballage thermoplastique (4a) peut être appliqué par rétraction, par l'intermédiaire d'une application de température, sur un groupement (6) respectif de produits de détail (5) formé dans la zone de manipulation (22).
  12. Système selon une ou plusieurs des revendications 1 à 11, dans lequel ledit au moins un dispositif de manipulation (9) peut être déplacé le long de l'ensemble du trajet de travail (AS).
  13. Procédé destiné à réaliser des tâches de manipulation dans la zone d'un trajet de travail à l'aide d'au moins un dispositif de manipulation (9), lequel trajet de travail (AS)
    - comprend au moins une amenée (3) par laquelle une pluralité de produits de détail (5) sont transportés dans un flux de masse et
    - une zone de manipulation (22) qui suit l'amenée (3) et comprend au moins un manipulateur (10), dans lequel des produits de détail (5) sont groupés et/ou distribués par l'intermédiaire dudit au moins un manipulateur (10),
    le procédé comprenant les étapes suivantes consistant à:
    - déplacer ledit au moins un dispositif de manipulation (9) le long du trajet de travail (AS) dans une zone de travail spécifique,
    - mettre en oeuvre une opération de travail par ledit au moins un dispositif de manipulation (9) dans ladite zone de travail spécifique, dans laquelle opération de travail le dispositif de manipulation (9)
    - a) modifie ledit au moins un manipulateur (10) pour différents processus de travail, et/ou
    - b) échange des éléments de guidage prévus pour des produits de détail (5) et disposés au cours du trajet de travail (AS) et/ou règle ceux-ci quant à leur espacement relatif les uns par rapport aux autres, et/ou
    - c) agit sur certains produits de détail (5) et/ou
    - d) fournit des matériaux d'emballage pour au moins un manipulateur (10, 20) disposé dans la zone de manipulation (22).
  14. Procédé selon la revendication 13, dans lequel, dans la zone de manipulation (22), au moins un autre manipulateur (20) est disposé en aval dudit au moins un manipulateur (10), de préférence du matériau d'emballage thermoplastique (4a) est appliqué sur des produits de détails groupés et/ou distribués (5) par l'intermédiaire duquel au moins un autre manipulateur (20), dans lequel le dispositif de manipulation (9) modifie ledit au moins un autre manipulateur (20) pour différents processus de travail dans le cadre d'une opération de travail.
  15. Procédé selon la revendication 13 ou la revendication 14, dans lequel une orientation de produits de détail (5) dans la zone du trajet de travail (AS) est détectée optiquement, dans lequel, si une orientation réelle d'au moins un produit de détail (5) s'écarte d'une orientation cible prédéterminée, ledit au moins un dispositif de manipulation (9) effectue une correction d'alignement de cet au moins un produit de détail (5) et/ou retire cet au moins un produit de détail (5) de la zone du trajet de travail (AS).
  16. Procédé selon une ou plusieurs des revendications 13 à 15, dans lequel des produits de détail (5) sont contrôlées dans la zone du trajet de travail (AS), à l'aide d'une détection optique, pour déceler des dommages et/ou des encrassements, dans lequel ledit au moins un dispositif de manipulation (9) retire des produits de détail (5) endommagés et/ou encrassés de la zone du trajet de travail (AS).
  17. Procédé selon la revendication 15 et/ou 16, dans lequel, si une orientation réelle d'au moins un produit de détail (5) s'écarte d'une orientation cible prédéterminée et/ou si un endommagement et/ou un encrassement est détecté optiquement, des informations sont affichées sur une unité d'affichage.
EP16790977.9A 2015-11-10 2016-11-02 Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation Active EP3374268B1 (fr)

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 (fr) 2015-11-10 2016-11-02 Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation

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EP3374268A1 EP3374268A1 (fr) 2018-09-19
EP3374268B1 true EP3374268B1 (fr) 2023-12-20
EP3374268C0 EP3374268C0 (fr) 2023-12-20

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EP (1) EP3374268B1 (fr)
CN (1) CN209008944U (fr)
DE (1) DE102015119320A1 (fr)
WO (1) WO2017080881A1 (fr)

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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

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US20140244026A1 (en) * 2013-02-24 2014-08-28 Intelligrated Headquarters Llc Goods to robot for order fulfillment

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JP3745364B2 (ja) * 2003-05-21 2006-02-15 松下電器産業株式会社 物品管理システム、物品管理サーバ
EP2169405A2 (fr) * 2008-09-30 2010-03-31 F.Hoffmann-La Roche Ag Stockage robotique
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

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US20140244026A1 (en) * 2013-02-24 2014-08-28 Intelligrated Headquarters Llc Goods to robot for order fulfillment

Also Published As

Publication number Publication date
CN209008944U (zh) 2019-06-21
WO2017080881A1 (fr) 2017-05-18
EP3374268C0 (fr) 2023-12-20
EP3374268A1 (fr) 2018-09-19
DE102015119320A1 (de) 2017-05-11

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