EP3475169A1 - Dispositif de manutention d'articles - Google Patents

Dispositif de manutention d'articles

Info

Publication number
EP3475169A1
EP3475169A1 EP17725946.2A EP17725946A EP3475169A1 EP 3475169 A1 EP3475169 A1 EP 3475169A1 EP 17725946 A EP17725946 A EP 17725946A EP 3475169 A1 EP3475169 A1 EP 3475169A1
Authority
EP
European Patent Office
Prior art keywords
coupling element
articles
guideway
manipulator
group
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.)
Withdrawn
Application number
EP17725946.2A
Other languages
German (de)
English (en)
Inventor
Peter Zeiner
Heiner Schaefer
Alexander Hartung
Konrad Senn
Torsten KILGENSTEIN
Stefan Elsperger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krones AG
Original Assignee
Krones AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Krones AG filed Critical Krones AG
Publication of EP3475169A1 publication Critical patent/EP3475169A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
    • 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
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/14—Introducing or removing groups of bottles, for filling or emptying containers in one operation
    • B65B21/18—Introducing or removing groups of bottles, for filling or emptying containers in one operation using grippers engaging bottles, e.g. bottle necks
    • B65B21/183—Introducing or removing groups of bottles, for filling or emptying containers in one operation using grippers engaging bottles, e.g. bottle necks the grippers moving in an endless path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic

Definitions

  • the present invention relates to a device for handling articles with the features of independent claim 1.
  • In automation technology where with a variety, for example, more similar
  • Article must be handled, for example in automation technology for the food and beverage industry and / or in packaging technology and in the packaging industry, it is customary to provide for recurring operations specially designed devices for handling articles.
  • the articles may, for example, be objects, such as packaged or unpacked articles, containers, cartons, or containers of a plurality of objects, the objects of a package being, for example, by means of a strapping, an outer packaging, such as a wrapping, a shrink tube or a carton or a carrying rack, to name but a few possible embodiments.
  • a device for handling articles which handling an insertion of by means of an overhead conveyor standing in transporting transported bottles in by means of a deeper conveyor supply and transported beverage crates provides.
  • the device comprises groups of gripper heads revolving along a closed circumferential guideway.
  • the guideway is formed by a traction means on which the gripper heads are each secured individually and which is guided around deflection rollers.
  • Special pulleys at neuralgic deflection positions act on the gripper heads such that they are always actuated alternately during the passage of the neuralgic deflection positions, ie closed at a first neuralgic deflection position, and reopened at a second neuralgic deflection position. Raising and lowering movements of the gripper heads are defined by the height profile of the guideway performing course of the traction means.
  • a device for handling articles comprising groups of along a closed circumferential guideway rotating gripper heads.
  • a second, closed curved track with locally variable distance to the guideway controls the opening and closing the gripper heads, which are hereby lowered and lowered by their movement along the guideway on top of articles in the form of conveyed by means of a group of bottles, the articles grab and thereby hold, take over the end of the conveyor and in deeper
  • Guideway and the curved path are each formed by their own guide rollers guided around pulleys.
  • the gripper heads are grouped in groups attached to the traction means.
  • the pulleys for the traction means of the guideway and for the traction means of the cam track have partly different positions in order to set a variable distance locally.
  • Curved track are driven synchronously together.
  • a disadvantage of the known devices is the high structural complexity and low flexibility both in dealing with different articles, as well as in relation to different types of passages. This is due to the fact that the respective height profile of the guideways of the devices must be adapted exactly to the course of the intended handling and the height of the upright articles with which the handling takes place. Already a slight change, for example, the height of the individual articles can not be mastered with such devices. Additional disadvantages arise from the need for an exact clocking in the speed of article flow, the removal and the speed of all and the
  • the object of the invention is a less complex in their construction to the
  • the invention is realized by a device for handling articles, which comprises at least one pair of two independently driven along a closed-loop guideway slide.
  • the pair of carriages consisting of two independently driven along the closed guideway slidably driven carriage, is part of a group which in addition to the pair of carriages comprises a linkage consisting of a central coupling element and two linkage elements articulated on this coupling element.
  • the two carriages of the group of sledges are over the linkage of the
  • Each linkage element of the two linkage elements is pivotally connected at a first end to the central coupling element and with a respective one
  • Each of the two carriages of the pair of carriages is articulated to exactly one of the two linkage elements. Accordingly, the invention is realized by a device for handling articles comprising at least one group consisting of a pair of two
  • Coupling element and two each connected to the coupling element and each with one of the carriage connected linkage elements are connected.
  • each such group can be referred to as a rotating parallel kinematic robot, of which the device several independently along the common, closed circumferential
  • Guided track can be provided movably driven.
  • a manipulator may be formed or arranged.
  • the coupling element itself can form or comprise a manipulator, which overshadows, for example, articles transported by means of a first conveying means to a second conveying means.
  • the manipulator can simultaneously form an accelerator and a tilt protection, for example, for high
  • a manipulator for example in the form of a gripper or a gripper head comprising a plurality of grippers, can be arranged on the coupling element.
  • the device is able to deal with, for example, at least temporarily irregularly arriving articles, since a group can wait through the individual control of the movement of their carriages along the guideway until a following article arrives.
  • the device is not like the prior art to an exact
  • a transmission of control commands and / or drive energy for example, by means of sliding contacts along the guideway or non-contact, for example by radio technology or in the case of drive energy, for example by means of microwaves or induction allows individual manipulator manipulation of each group, without constructive as in the prior art complex control scenes constructive to have to.
  • the closed-loop guideway can, for example, a vertical one, at least in one or more work surfaces on or between which a handling of articles takes place
  • a coupling element coupled to a pair of carriages revolving along such a closed circumferential guideway moves automatically without the distance between the carriages of the pair of carriages changing relative to one another
  • the carriages may orbit along a closed-loop guideway spanning an area lying in a vertical plane.
  • the carriages may orbit along a closed-loop guideway spanning a substantially horizontally extending surface.
  • the invention provides for handling in a continuous stream of articles
  • the invention can be used for a continuous packing of bottles, continuously arriving articles in bottles
  • the device according to the invention in contrast is able to deal with any incoming articles.
  • the device then allows the handling of articles that arrive in a steady flow of articles, in which the articles by means of a conveyor immediately adjacent to each other are transported close to each other closely behind or behind each other, or are transported at constant intervals relative to each other nach- or behind each other.
  • Device beyond the handling of articles that arrive, for example discontinuously and / or in an unsteady stream of articles in which the articles are transported by means of a conveyor in at least temporarily variable intervals after or behind each other.
  • a camera system or another optical system may be used to detect articles entering the device, such as an optical system comprising light barriers.
  • the device according to the invention enables the handling of articles that do not need to be dammed up beforehand, which greatly simplifies and reduces the construction of equipment equipped with a corresponding device for handling articles.
  • the device according to the invention makes it possible, for example, to continuously pack articles treated by means of a system equipped with a corresponding device for handling articles, just as they leave preceding treatment stations. It will also be apparent hereinafter that the invention may be practiced by means of an arrangement which, in addition to any of the foregoing and following of the
  • a first transport device which forms a first conveying device and which makes available an incoming article stream from articles transported in a first transport path directly and / or at constant intervals and / or at variable distances one after the other at a first transport speed
  • a second transport means forming a second conveying means comprising an incoming Umverpackungsstrom from along a second transport path immediately and / or at constant intervals and / or at varying intervals successively with a second
  • Transport speed transported, empty outer packaging, such as containers, carrying cases, such as crates, cartons or the like provides, and this after the taking place without interrupting the transport movement introducing the article of article flow filled by means of the device outer packaging in an outgoing Umverpackungsstrom on the second transport speed on transported.
  • Carriage pair is generated. This results in a variable packing curve with different settling points.
  • Carriage pair comprehensive groups can, for example, on branching off from the closed guideway guards to their
  • Fig. 1 shows a first embodiment of a device for handling articles according to a first embodiment comprising
  • Fig. 2 shows a second embodiment of a device for handling articles according to a first embodiment comprising
  • a device 01 shown in FIG. 1, FIG. 2 in whole or in part for handling articles 02 comprises:
  • knee lever-like and / or Mogelenkig executed linkage 43. 53; 63; 73, which the slides 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of the Carriage pairs 40; 50; 60; 70; 80 of Group 04; 05; 06; 07; 08 connects with each other.
  • the carriages 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of the carriage pair 40; 50; 60; 70; 80 are within each group 04; 05; 06; 07; 08 by the toggle lever-like and / or multi-articulated executed linkage 43; 53; 63; 73 interconnected without the carriages 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of a carriage pair 40; 50; 60; 70; 80 are fixed to each other in a relative distance.
  • Carriage 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of the carriage pair of group 04; 05; 06; 07; 08 articulated linkage elements 45; 55; 65; 75 is equipped.
  • the device 01 for handling articles 02 thus comprises at least one carriage pair 40; 50; 60; 70; 80 with two independently along a closed circumferential guide rail 03 movably driven carriage 41, 42;
  • the carriages 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of each carriage pair 40; 50; 60; 70; 80 are by means of a central coupling element 44;
  • Each linkage element 45; 55; 65; 75 of the two linkage elements 45; 55; 65; 75 of the linkage 43; 53; 63; 73 of a group 04; 05; 06; 07; 08 is at a first end to the central coupling element 44; 54; 64; 74 of Group 04; 05; 06; 07; 08 articulated and with a respective remaining, remote from the first end second End articulated on one of the two carriages 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of the carriage pair 40; 50; 60; 70; 80 of Group 04; 05; 06; 07; 08 arranged.
  • the articulated connections between the coupling element 44; 54; 64; 74 and the linkage members 45; 55; 65; 75 in the linkage 43; 53; 63; 73 and between the linkage elements 45; 55; 65; 75 and the carriages 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 on the linkage 43; 53; 63; 73 preferably each have a kinematic degree of freedom about mutually parallel hinge axes.
  • articulated connections between the linkage elements 45; 55; 65; 75 and the coupling element 44; 54; 64; 74 may include a common hinge axis.
  • this can be the
  • the device 01 may be part of an arrangement 100 shown wholly or in part in FIG. 1 or in FIG. 2.
  • Such an arrangement 100 may include, in addition to the device 01:
  • first conveying means forming a first transport means 09, which an incoming article stream along a first transport path 91 directly and / or at constant intervals and / or in variable Intervals successively provided with a in Fig. 1 and in Fig. 2 indicated by an arrow T9 each first transport speed transported articles 02, and
  • a second conveying device 10 forming a second conveying means, which comprises an incoming re-wrapping flow along a second conveying device
  • Transport lane 1 1 immediately and / or at constant intervals and / or at varying intervals successively transported in Fig. 1 and in Fig. 2 by an arrow T10 indicated second transport speed, empty outer packaging 20, such as containers, carrying cases, such as crates , Cardboard boxes or the like, and this after the taking place without interrupting the transport movement introducing the article 02 of the article stream by means of
  • the device 01 in the arrangement 100, provides at least one
  • Overpacks 21 are transported without interruption with the Umverpackungsstrom.
  • the first and the second transport speed must by no means coincide, as is absolutely necessary in the prior art.
  • Circulating independently driven circumferentially Circulating independently driven circumferentially.
  • Distances between the carriage pairs 40; 50; 60; 70; 80 consecutive groups 04; 05; 06; 07; 08 can change repeatedly during circulation, for example, along with variable speeds of rotation of the carriage pairs 40; 50; 60; 70; 80 of the individual groups. This allows a group 04; 05; 06; 07; 08 are decelerated to a standstill, whereas another group 05; 06; 07; 08; 04 can be accelerated simultaneously to a design-related maximum speed.
  • Transport device 09 to take over After taking over the articles 02, the group 04; 05; 06; 07; 08 pass the articles 02 to a second transport speed which is, for example, constant, indicated by an arrow T10, for example, a continuously operating second transport device 10, for example by the group 04; 05; 06; 07; 08 transported by the first transport device 09 Article 02 transported by means of the second transport device 10, empty outer packaging 20 uses and releases. Due to the independence of the circulation, the first and second transport speeds may be different, without the limitation that they may not be the same at another, for example, higher article throughput.
  • the device 01 Due to the independence of circulation, the device 01 is also able to deal with discontinuously arriving articles 02, be it due to a temporal change of the first transport speed or due to variable distances successively transported by means of the first transport means 09 transported article 02. Due to the independence of the circulation, the device 01 is also able to perform a handling of articles 02, in which continuously or discontinuously arriving articles 02 are inserted into continuously or discontinuously fed, empty outer packaging 20, regardless of whether the discontinuity of the supply of empty outer packaging 20 by a temporal change of the second transport speed or by varying distances successively by means of the second transport device 10th
  • transported empty outer packaging 20 is conditional.
  • the carriages 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of each carriage pair 40; 50; 60; 70; 80 independently and thus driven separately from each other.
  • the carriages 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of each carriage pair 40; 50; 60; 70; 80 relative to each other, as in Fig. 1 and Fig. 2 by double arrows R and by different distances between the carriage 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of the carriage pairs 40; 50; 60; 70; 80 groups 04 located at different positions along the guide track 03; 05; 06; 07; 08 indicated.
  • the independence of the relative mobility is characterized in that the carriage 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of each carriage pair 40; 50; 60; 70; 80 sections over the common cycle, for example, repeatedly may have different speeds of rotation, whereby they have a relative speed to each other, thereby at any position of a group 04; 05; 06; 07; 08 along the guide track 03, a variable relative distance between the carriage 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of each carriage pair 40; 50; 60; 70; 80 of Group 04; 05; 06; 07; 08 can be adjusted.
  • the prior art requires constant spacing along with a preset, unchangeable synchronization of all components and variables, such as the speed of incoming articles at the speed of article takeover and forwarding, as well as the speed of dealing with them
  • Device devices as well as the absolute positions of the incoming articles, with the absolute positions of the device's handling devices, allows the device 01 according to the invention the handling of any incoming articles 02. This is achieved by a plurality of along the closed circumferential guideway 03 movably driven groups 04; 05; 06; 07; 08, each with a pair of carriages 40; 50; 60; 70; 80 by means of a central one
  • a manipulator 46; 56; 66; 76 may be formed or arranged, or the coupling element 44; 54; 64; 74 may include a manipulator 46; 56; 66; 76 or by a manipulator 46; 56; 66; 76 are included.
  • Linkage 43; 53; 63; 73 of a group 04; 05; 06; 07; 08 as a manipulator 46; 56; 66; 76 as well as by an arrangement of a suitably suitable manipulator 46; 56; 66; 76 on the coupling element 44; 54; 64; 74 of the linkage 43; 53; 63; 73 of a group 04; 05; 06; 07; 08, the device 01 is able to deal with, for example, at least temporarily irregularly arriving articles 02, since a group 04; 05; 06; 07; 08 through the individual control of the common movement of the carriage 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of their pair of carriages 40; 50; 60; 70; 80 along the
  • Guideway 03 can wait until a following article 02 arrives. This is the
  • Device 01 does not like the prior art to an exact clocking the circulation of, for example, designed as gripper heads manipulators 46; 56; 66; 76 and the incoming article 02, as well as an exact one
  • the individually controllable in their common rotational speed slide 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of a carriage pair 40; 50; 60; 70; 80 allow thus an independent movement and control of the individual groups 04; 05; 06; 07; 08 at several along the guideway 03 rotating groups 04; 05; 06; 07; 08.
  • This allows groups 04; 05; 06; 07; 08 are kept in waiting positions until articles arrive to the handling.
  • Carriage pairs 40; 50; 60; 70; 80 separate from each other individually in theirs
  • Circulating speed controllable This can be achieved by enlarging the
  • the coupling element 44; 54; 64; 74 itself a manipulator 46; 56; 66; 76 form or include, for example, by means of a first conveyor means forming a first conveyor 09 transported article 02 on a second conveyor forming the second transport device 09.
  • the manipulator 46; 56; 66; 76 simultaneously serve as an accelerator and anti-tip, for example, for high-standing article 02, such as bottles, provided that the transport speeds of the two funds are different.
  • a manipulator 46; 56; 66; 76 for example in the form of a gripper or a plurality of grippers
  • Manipulator 46; 56; 66; 76 as well as by an arrangement of a suitably suitable manipulator 46; 56; 66; 76 on the coupling element 44; 54; 64; 74, the device 01 can be adapted to different, to be performed Umerie.
  • the manipulator 46; 56; 66; 76 may be implemented as a tool, such as a gripper or a bearing surface.
  • the coupling element 44; 54; 64; 74 can serve as a work platform, the so-called Tool Central Point (TCP).
  • TCP Tool Central Point
  • a previously described manipulator 46; 56; 66; 76 may be arranged, or it may be a previously described manipulator 46; 56; 66; 76, or it may be from a previously described manipulator 46; 56; 66; 76 are included.
  • the coupling element 44; 54; 64; 74 itself the manipulator 46; 56; 66; 76 form, wherein in this simple case no motor drive of the manipulator 46; 56; 66; 76 is provided, but a handling of an article 02 takes place by the by the coupling element 44; 54; 64; 74 formed manipulator 46; 56; 66; 76 is brought into direct contact with the article 02, and this moves, for example, on a work surface.
  • the manipulator 46; 56; 66; 76 is determined by means of a group 04; 05; 06; 07; 08 comprising a carriage pair 40; 50; 60; 70; 80 of two independently of each other on the closed circumferential guideway 03 independently movably driven carriage 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 and a linkage 43; 53; 63; 73 with two each having one of its ends on a central coupling element 44; 54; 64; 74 and each having a remaining end to one of the carriage articulated linkage elements 45; 55; 65; 75 formed parallel kinematic robot of the device 01 for handling articles 02 within a predetermined by the course of the guideway 03 and by the maximum possible and the
  • Guideway 03 limited, circulating work space positioned and, for example, according to a designated handling, such as one for executing a
  • Manipulation and / or movement and / or treatment of one or more articles 02 required movement moves.
  • the manipulator 46; 56; 66; 76 with respect to the coupling element 44; 54; 64; 74 can be rotated so can a rotatable drivable mounting of the manipulator 46; 56; 66; 76 on the coupling element 44; 54; 64; 74 may be provided which, for example via a gear or directly non-rotatable with an output shaft of a coupling element 44; 54; 64; 74 arranged motor drive is connected.
  • the output shaft is at least one
  • a on the coupling element 44; 54; 64; 74 provided motor drive generated rotational movement, for example, a coupling element 44; 54; 64; 74 provided manipulator 46; 56; 66; 76, for example, vertically on the coupling element 44; 54; 64; 74 are turned upstanding axis of rotation.
  • the manipulator 46; 56; 66; 76 may be, for example, a gripper or a gripper head comprising a plurality of grippers, which by means of one on the coupling element 44; 54; 64; 74 provided motor drive generated opposing rotational movements can be closed and opened, according to a grab and release one or more articles 02.
  • Grab and release can be a move by movement of the corresponding group 04; 05; 06; 07; 08 of the device 01 take place along the closed circumferential guideway 02 or by an action of the manipulator, in which the gripped article 02 can be raised and offset, for example.
  • a manipulator 46 for example, designed as a rotating finger
  • 56; 66; 76 can by means of a on the coupling element 44; 54; 64;
  • Rotational movements generated by the motor drive provided for serve to align and / or spend articles 02 by, for example, friction on a work surface on which articles 02 are handled.
  • manipulator 46; 56; 66; 76 can by means of a on the coupling element 44; 54; 64; 74 provided rotary drive movements serve, for example, container lid - about in recycling - or - for example, during filling - screw.
  • a manipulator 46 provided, for example, for the treatment of articles 02, for example by attaching a strapping around grouped articles; 56; 66; 76 can by means of one or more on the coupling element 44; 54; 64; 74 provided motor drives generated
  • Rotational movements serve to cut off, for example, a strapping band and / or to connect the ends thereof after wrapping the articles together, for example by crimping. It can be for various required actions a corresponding number of each rotational movements generating motor drives on
  • Coupling element 44; 54; 64; 74 may be provided.
  • one or more linear drives may be provided,
  • the at least one motorized rotary drive may be an electromotive and / or electric motor rotary drive.
  • a motor-driven linear drive it may be an example pneumatic motor linear drive.
  • Manipulator for example, by means of sliding along the guide path 03 or contactless, for example by means of microwaves or induction.
  • a transmission of control commands can be carried out, for example, by means of sliding contacts arranged along the guide track 03 or without contact, for example by means of radio technology. This allows an individual actuation of the Manipulator 46; 56; 66; 76 of each group 04; 05; 06; 07; 08, without having to design it as in the prior art complex control scenes constructive.
  • a non-contact electrical power supply for example, at least one, for example, for actuating a manipulator 46; 56; 66; 76 on the coupling element 44; 54; 64; 74 provided electric motor rotary and / or linear drive can by means of, for example, parallel to the closed circumferential
  • Guideway 03 extending, be provided as an induction rail insignificant inductive rail.
  • a preferably parallel to the guide track 03 extending inductive rail may be provided via the electrical energy to drive one or more on the coupling element 44; 54; 64; 74 arranged electric motor drives can be transmitted.
  • the inductive rail can serve for one-way or two-way exchange of information, such as control commands and / or sensor and / or feedback signals.
  • a power supply for actuating the on the coupling element 44; 54; 64; 74 trained or arranged manipulator 46; 56; 66; 76 may alternatively be one of group 04; 05; 06; 07; 08 entrained energy storage include.
  • a compressed air tank can be provided as energy storage.
  • a preferably fast charge-capable electrical memory is conceivable, for example a capacitor or an accumulator. This can be both for the operation of the manipulator 46; 56; 66; 76 energy required, as well as alternatively or additionally provide the necessary for the control, for example, to control valves of a compressed air control, energy required.
  • the guideway 03 may include at least one charging point for the energy storage.
  • the recharging point can be arranged along the closed-loop guideway 03, or at a siding branching off from the closed circuit or forming a section-wise parallel path.
  • the individually controllable in their common rotational speed slide 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of a carriage pair 40; 50; 60; 70; 80 allow an independent movement and control of the individual groups 04; 05; 06; 07; 08 several along the guide track 03 circumferential groups 04; 05; 06; 07; 08, which can be used to groups 04; 05; 06; 07; 08 to hold waiting positions, for example, one or more of a group 04; 05; 06; 07; 08 included energy storage for actuating a manipulator 46; 56; 66; 76 charge.
  • groups 04; 05; 06; 07; 08 can be parked on one or more of the closed-loop guideway 03 branching sidings until their reuse.
  • the closed circumferential guideway 03 at least in one or more work surfaces, on which or between which a handling of articles takes place, facing a working area when a group a
  • the guide track 03 can emulate a shaft 30 following, for example, a vertical insertion movement of articles 02 into empty outer packages 20. A with a along such a closed circumferential guideway 03 encircling
  • Carriage pair 40; 50; 60; 70; 80 coupled coupling element 44; 54; 64; 74 thus moves automatically without the distance between the carriages 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 of the carriage pair 40; 50; 60; 70; 80 relative to each other changes, the
  • the closed-loop guide track 03 can span a lying in a vertical plane surface.
  • the carriages 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 in this case run along along a lying in a vertical plane surface, closed circumferential guideway 03.
  • Linear motors is located at least with a portion above a container table formed by or encompassed by the first transport device 09, on which bottles are transported. Below the container table there is a bundle formed or covered by the second transport device 10, on which the
  • the runners can be raised and lowered.
  • Linear motors with the gripper travel over the bin table and synchronize their collective forward travel with the bottles located on the bin table both in terms of speed and in position along the guideway 03.
  • the gripper head lowers.
  • the gripper head lowers.
  • the two formed by the linear motor rotor slides 41, 42; 51, 52; 61, 62; 71, 72; 81, 82 again apart and the rapier head with the grasped fake raises.
  • the linear motor gripper head system then moves on, for example, a circular path simulating, predetermined by the course of the stator rail in their geometry, closed circumferential guideway 03 and waits in front of the container table on the next bottle.
  • a circular path simulating predetermined by the course of the stator rail in their geometry, closed circumferential guideway 03 and waits in front of the container table on the next bottle.
  • On the stator rail can also several referred to as linear motor gripper head systems groups 04; 05; 06; 07; 08 are used.
  • the bottles can be manipulated by means of pneumatic gripper tulips 46; 56; 66; 76 are used. For this can on a group 04; 05; 06; 07; 08 corresponding rapier head system a compressed air tank to be installed as energy storage. At a fixed waiting position along the circulation of the guide track 03, the compressed air tanks can be filled. Furthermore, the bottles can be gripped by purely mechanical grippers. An additional media supply for the
  • Gripper head system is then no longer necessary.
  • the size of the rapier head is variable. For example, a bottle series can be used. Then, with the aid of several gripper head systems, several rows of bottles must fill the container or all the bottles required for a container are gripped at once. It is possible to be vertical, wherein the container table formed by or encompassed by the first transport device 09 is positioned above the one formed by the second transport device 10
  • Bundle is, as well as horizontally, wherein the container formed by the first transport means 09 or covered by this container next to the table by the second
  • Transport device 10 formed web is ready to pack continuously.
  • manipulator 46, 56, 66, 76 initiated, or according to a required, for example, to open and close a gripper actuating movement, be it a rotary or a linear movement, can be generated.
  • the respective carriage pair 40, 50, 60, 70, 80 forms a so-called master unit, relative to the one or more each forming a slave unit
  • Carriage are relatively movable along the same closed-loop guide track 03 driven.
  • the mechanical coupling for generating a movement is not limited to mechanical coupling linkage.
  • a mechanical-pneumatic or a mechanical-hydraulic coupling by means of a force acting on a cylinder, such as a hydraulic cylinder, piston rod is conceivable.
  • a plurality of movements for example one at the central coupling element 44; 54; 64; 74 arranged manipulator 46, 56, 66, 76 are executed independently of each other according to a variable sequence of manipulations.
  • Device 01 guideway 03 + one or more groups 04, 05,
  • Group 04, 05, carriage pair 40, 50, 60, + linkage 43; 53; 63; 73
  • Linkage 43; central coupling element + two hinged to the central 53; 63; 73 44; 54; 64; 74 coupling element 44; 54; 64; 74 arranged linkage elements 45;
  • the device 01 may alternatively or additionally be one or a combination of several in connection with the prior art and / or in one or more of the documents mentioned in the prior art and / or in the
  • the invention is particularly industrially applicable in the field of production and operation of plants and devices of automation technology, where must be handled with a variety of, for example, similar articles,

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

L'invention concerne un dispositif (01) de manutention d'articles, comprenant au moins un groupe (04; 05; 06; 07; 08) constitué d'une paire de chariots (40; 50; 60; 70; 80), lesdits chariots (41, 42; 51, 52; 61, 62; 71, 72; 81, 82) étant entraînés en déplacement, indépendamment l'un de l'autre, dans une voie de guidage (03) périphérique fermée, et étant reliés par l'intermédiaire d'une tringlerie (43; 53; 63; 73) à un élément d'accouplement central (44; 54; 64; 74), ainsi que deux éléments de tringlerie (45; 55; 65; 75) respectivement reliés à l'élément d'accouplement (44; 54; 64; 74) et articulés avec respectivement un des chariots (41, 42; 51, 52; 61, 62; 71, 72; 81, 82).
EP17725946.2A 2016-06-22 2017-05-24 Dispositif de manutention d'articles Withdrawn EP3475169A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016211169.8A DE102016211169A1 (de) 2016-06-22 2016-06-22 Vorrichtung zum Umgang mit Artikeln
PCT/EP2017/062536 WO2017220278A1 (fr) 2016-06-22 2017-05-24 Dispositif de manutention d'articles

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EP3475169A1 true EP3475169A1 (fr) 2019-05-01

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EP17725946.2A Withdrawn EP3475169A1 (fr) 2016-06-22 2017-05-24 Dispositif de manutention d'articles

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US (1) US20190255698A1 (fr)
EP (1) EP3475169A1 (fr)
DE (1) DE102016211169A1 (fr)
WO (1) WO2017220278A1 (fr)

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EP3567442B1 (fr) * 2018-05-08 2021-10-06 Schneider Electric Industries SAS Système de transport
ES2943657T3 (es) * 2018-08-14 2023-06-15 Bobst Mex Sa Máquina de impresión de chorro de tinta para imprimir láminas individuales
WO2021019053A1 (fr) 2019-07-30 2021-02-04 Anheuser-Busch Inbev S.A. Appareil de saisie et de traitement d'articles
IT201900022404A1 (it) * 2019-11-28 2021-05-28 Ct Pack Srl Sistema di trasferimento articoli per macchina confezionatrice, macchina confezionatrice, procedimento e prodotto informatico corrispondenti.
IT202000016630A1 (it) * 2020-07-09 2022-01-09 Gd Spa Dispositivo di trasferimento, particolarmente per una macchina confezionatrice
DE102020120282A1 (de) 2020-07-31 2022-02-03 Krones Aktiengesellschaft Vorrichtung zum Transportieren von Objekten
EP4259559A1 (fr) * 2020-12-11 2023-10-18 Laitram, L.L.C. Système de transfert de convoyeur
BE1028934B1 (nl) * 2020-12-23 2022-07-18 Anheuser Busch Inbev Sa Producthanteringsapparaten, -systemen en geassocieerde werkwijzen
DE102022124050B3 (de) * 2022-09-20 2023-12-07 Syntegon Technology Gmbh Transportvorrichtung

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FR3091861A1 (fr) * 2019-06-20 2020-07-24 Sidel Participations Dispositif de préhension de produits et installation de convoyage au sein d'une ligne industrielle de production

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WO2017220278A1 (fr) 2017-12-28
US20190255698A1 (en) 2019-08-22

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