EP3626636A1 - Machine d'emballage pourvue de système de préhenseur - Google Patents

Machine d'emballage pourvue de système de préhenseur Download PDF

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Publication number
EP3626636A1
EP3626636A1 EP19197155.5A EP19197155A EP3626636A1 EP 3626636 A1 EP3626636 A1 EP 3626636A1 EP 19197155 A EP19197155 A EP 19197155A EP 3626636 A1 EP3626636 A1 EP 3626636A1
Authority
EP
European Patent Office
Prior art keywords
gripper
packaging
packaging trays
conveyor
work station
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19197155.5A
Other languages
German (de)
English (en)
Other versions
EP3626636B1 (fr
Inventor
Peter Buchberger
Christoph Wagner
Bernd Höpner
Albert Gabler
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.)
Multivac Sepp Haggenmueller GmbH and Co KG
Original Assignee
Multivac Sepp Haggenmueller GmbH and Co KG
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 Multivac Sepp Haggenmueller GmbH and Co KG filed Critical Multivac Sepp Haggenmueller GmbH and Co KG
Publication of EP3626636A1 publication Critical patent/EP3626636A1/fr
Application granted granted Critical
Publication of EP3626636B1 publication Critical patent/EP3626636B1/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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • 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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
    • 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
    • B65B7/00—Closing containers or receptacles after filling
    • B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/162—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by feeding web material to securing means

Definitions

  • the present invention relates to a packaging machine with a gripper system and a method for operating such a packaging machine.
  • Another gripper system is from the EP 2 208 672 B1 is known in which two grippers can be moved independently of one another along a transport direction, and the first gripper moves the packaging trays from the feed conveyor into the work station and the second gripper moves the packaging trays out of the work station and onto the discharge conveyor.
  • the object of the present invention is therefore to provide a packaging machine with an improved gripper system.
  • a packaging machine comprises a work station, a feed conveyor, a discharge conveyor, a control system and a gripper system, the gripper system being one comprises first and a second gripper, each movable along a transport direction.
  • Each gripper in turn comprises at least two gripper arms which can move against one another in order to open and close the gripper, and the gripper arms can expediently have fork-like structures to accommodate one or more packaging trays.
  • the first gripper is configured to move one or more packaging trays from the feed conveyor to the work station, and the second gripper is configured to move and place one or more packaging trays from the work station to the removal conveyor.
  • the feed conveyor and the discharge conveyor can be, for example, belt conveyors, on whose conveyor belts the packaging trays are transported.
  • the control system of the packaging machine is configured to move the first gripper independently of the second gripper. This applies, for example, to the direction of movement as well as the speed, the acceleration and the start and end time. Furthermore, the control system is configured to control the movements of the two grippers in such a way that a collision of the grippers is prevented. This collision prevention applies both to the case that both grippers are moved at the same time and to the case that only one gripper is moved.
  • the loading and unloading of the work station can thus take place at the best possible cycle times, the two processes advantageously being able to take place in parallel and, at the same time, the movements of the grippers being able to be adapted to the settings of the feed and discharge conveyors.
  • the control system is preferably configured to control the second gripper in such a way that the packaging trays are placed on the continuously or clocked moving conveyor in such a way that an equidistant flow of packaging trays is generated thereon.
  • the conveyor therefore moves in cycles or always at the same speed, and the packaging trays transported by it are all at the same distance from one another. This applies both to packaging trays within a group, which are processed simultaneously in the work station and moved by the gripper, and to the two neighboring packaging trays of a first group and the following group.
  • Such a homogeneous, equidistant flow of packaging trays is particularly advantageous for further processing in subsequent work stations. It is now possible to run the conveyor belt at a constant speed, the speed being set so that exactly the required space is made available on the conveyor while the packaging tray or a group of packaging trays is moving into the work station and is moved out of the work station again.
  • control system is configured to control the gripper system in such a way that when the packaging trays are gripped on the feed conveyor, the first gripper executes a movement that is synchronous with its conveying movement.
  • control system is configured to control the gripper system in such a way that when the packaging trays are placed on the conveyor, the second gripper executes a movement that is synchronous with its conveying movement.
  • the gripper moves at the same speed as the conveyor when opening and setting down the packaging trays. This prevents the packaging trays from twisting and slipping on the conveyor and thus prevents corresponding impairments in subsequent work stations.
  • the control system is preferably configured to control the gripper system such that the first gripper is stationary in the transport direction when the packaging trays are deposited in the work station.
  • the movement of the gripper is therefore braked to a standstill so that the packaging can be placed smoothly at a defined point.
  • the gripper is braked in a well-controlled manner so that the product in the packaging tray does not spill or splash out. This will affect the filling quantity and quality of the product and contamination of the workstation.
  • the packaging tray can be sealed with a constant quality, since it is ensured that the packaging trays are not displaced.
  • control system is configured to control the gripper system such that the second gripper is stationary in the transport direction when the packaging trays are gripped in the work station. This also ensures that there is no relative movement of the gripper and packaging trays, so that the contents of the packaging trays are not impaired or are held at an angle in the gripper.
  • the gripper system has a separate, separately controllable drive for each of the grippers. Since the drives available today, for example servo or stepper motors, are cheap, low-maintenance and precise to control, a separate drive per gripper is preferable to a clutch mechanism, although this would also be conceivable. In addition, such a concept enables the gripper system to be adapted to different requirements, for example packaging sizes or cycle speeds, for which purpose only adjustments to the control system, that is to say in particular the control software, are necessary. Apart from replacing the gripper arms, no further change to a clutch or transmission linkage or gearbox is necessary.
  • the gripper system has a first transport carriage, to which the first gripper is connected, and a second transport carriage, to which the second gripper is connected, and the grippers can be moved by means of the transport carriage.
  • a system is particularly advantageous for power transmission and thus for driving the grippers, wherein the transport slides can be slidably mounted, for example, on two guide rods. There are only slight frictional forces during the movement of the slide and the power transmission of the respective drive to the slide can take place efficiently, also through a mechanically simple structure.
  • the transport slides provide a basis for attaching the grippers or the gripper arms, which makes them particularly easy to replace and the packaging machine can thus be adapted to different packaging trays. Since the attachment or attachment of the grippers is thus standardized, the control system can be programmed particularly easily depending on the dimensions of the grippers used in each case.
  • control system is configured to collision-free the first transport slide with the first gripper and at least in phases simultaneously with the to move the second carriage with the second gripper. Because of the quasi-standardized structure of the gripper system described above, the control system can be programmed particularly easily depending on the dimensions of the interchangeable grippers. Accordingly, the movements of the transport slides are also the basis for the movement profiles of the grippers. The control system ensures that neither the transport slides nor the grippers collide with each other.
  • the work station comprises a lower tool part and an upper tool part, one or both of which can be moved to open and close the work station, and the control system is configured to ensure that the first gripper and / or the second gripper are collision-free and at least in phases at the same time to move with the lower tool part and / or the upper tool part.
  • the control system can be programmed such that the grippers initially move outside the work station during opening or closing, for example in order to approach the packaging trays to be picked up by the feeder, or to still place packaging trays on the discharge conveyor.
  • the discharge conveyor can either perform a clocked or - preferably - a continuous conveying movement.
  • FIG 1 shows a schematic view of a packaging machine 1 in the form of a tray sealing machine with a work station 3, a feed conveyor 5 and a discharge conveyor 7.
  • a gripper system 9 comprises a first gripper 11 and a second gripper 13.
  • the gripper 11 is arranged to move the packaging trays 15 from the feed conveyor 5 into the work station 3 and the second gripper 13 is arranged to move the packaging trays 15 out of the work station 3 and place them on the discharge conveyor 7.
  • the first gripper 11 is slidably mounted on a guide linkage 19 by means of a first transport carriage 17 and the second gripper 13 is displaceably supported by means of a second transport carriage 18.
  • the linear movement of the transport slides 17, 18 and thus the grippers 11, 13 is each caused by a drive 21, for example an electric motor, various possibilities for power transmission being conceivable, for example, as shown, a drivable shaft 23 or a gear rail Mechanism or other mechanisms.
  • the gripping movements of the grippers are initiated via coupling mechanisms or separate drives (not shown).
  • the work station 3 can comprise a lower tool part 25 and an upper tool part 27, one or both of which can be movable in order to open and close the work station 3. If the work station is a sealing tool, for example, the lower sealing tool part 25 can be raised up to the contact with the upper sealing tool part 27 in order to close the sealing tool 3.
  • An upper film 29 is used to seal the packaging trays 15.
  • the feed conveyor 5 and the discharge conveyor 7 can each be a belt conveyor, on the top of which the packaging trays 15 rest and are thus transported.
  • the grippers 11, 13 the packaging trays 15 are conveyed into and out of the work station 3 in the transport direction T, two packaging trays 15 being shown in the work station 3 here.
  • a control system 31 is connected to all drives 21 in order to control them electronically, a line connection 33 with the drive 21 of the second gripper 13 being shown here only as an example.
  • the control system 31 can also control a drive of the sealing tool lower part 25 and other functions of the packaging machine 1, such as drives for the feed and discharge conveyors 5, 7, sealing heating and other, in accordance with a previous programming.
  • Figure 2 shows a schematic plan view of a packaging machine 1.
  • the grippers 11, 13 are shown in an open state, ie the gripper arms 35 are moved into an outer position perpendicular to the transport direction T.
  • the gripper arms 35 can move inwards from there in order to grip the packaging trays 15 with projections 37.
  • the packaging trays 15 can rest on the projections 37, for example, with their side surfaces widening upward or with laterally projecting upper horizontal edges.
  • the process step following this illustration would be gripping and moving the packaging trays 15 located on the feed conveyor 5 into the work station 3 by the first gripper 11 and gripping and moving the packaging trays 15 located in the work station 3 through the second gripper 13, with the the conveyor 7 drawn packaging trays 15 are moved further to the left.
  • the packaging trays 15 can ideally be placed on the conveyor 7 in such a way that all packaging trays 15, that is to say in particular also the adjacent packaging trays 15 of two successive process cycles, are at an equal distance d from one another. This takes place synchronized with the conveying speed of the discharge conveyor 7, so that an equidistant flow S of packaging trays 15 is formed on the discharge conveyor 7.
  • One or more packaging trays 15 are gripped on a feed conveyor 5 by means of a first gripper 11.
  • a second gripper 13 By means of a second gripper 13, one or more packaging trays 15 are gripped in a work station 3, these packaging trays 15 being sealed, for example, if the work station 3 is a sealing station.
  • the first gripper 11 then moves with the packaging trays 15 that are still unsealed into the work station 3 and moving the second gripper 13 with the sealed packaging trays 15 to a discharge conveyor 7.
  • the packaging trays 15 of the first gripper 11 are put down in the work station 3, and the packaging trays 15 of the second gripper 13 are put down on the discharge conveyor 7.
  • the movements of the first and second grippers 11, 13 take place independently of one another and a control system 31 controls the movements such that collisions of the two grippers 11, 13 are prevented.
  • the discharge conveyor 7 carries out a continuous conveying movement, i.e. it is operated at a constant conveying speed during the entire operation of the packaging machine 1.
  • the second gripper 13 places the packaging trays 15 on the conveyor 7 in order to generate an equidistant flow S of packaging trays 15 thereon. All the packaging trays 15 on the conveyor 7 are therefore at the same distance from one another, in particular also those which have been deposited next to one another by two different process cycles.
  • the duration of a process cycle that is to say the movement of the packaging trays 15 by the grippers 11, 13, is coordinated with the conveying speed of the discharge conveyor 7.
  • the first gripper 11 executes a movement that is synchronous in speed with the conveying movement of the feed conveyor 5.
  • the second gripper 13 executes a movement that is synchronized in speed with the conveying movement of the conveyor 7.
  • the gripping and / or moving of the first and / or second gripper 11, 13 preferably takes place at least in phases at the same time as the work station 3 is opened and / or closed.
  • the first gripper 11 is preferably moved by means of a first transport carriage 17 and the second gripper 13 is moved by means of a second transport carriage 18, the movement of the first gripper 11 and the first transport carriage 17 collision-free and at least in phases simultaneously with the movement of the second gripper 13 and the second Transport carriage 18 takes place.
  • first and second grippers 11, 13 can be moved independently of one another, they can e.g. It may be useful, for example, to coordinate the movements with one another by means of the control system 31 in such a way that the available movement spaces are used in the best possible way without collisions and thus the process time is minimized.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Specific Conveyance Elements (AREA)
EP19197155.5A 2018-09-19 2019-09-13 Machine d'emballage pourvue de système de préhenseur Active EP3626636B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102018215914.9A DE102018215914A1 (de) 2018-09-19 2018-09-19 Verpackungsmaschine mit Greifersystem

Publications (2)

Publication Number Publication Date
EP3626636A1 true EP3626636A1 (fr) 2020-03-25
EP3626636B1 EP3626636B1 (fr) 2024-03-06

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EP19197155.5A Active EP3626636B1 (fr) 2018-09-19 2019-09-13 Machine d'emballage pourvue de système de préhenseur

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EP (1) EP3626636B1 (fr)
DE (1) DE102018215914A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113212880A (zh) * 2021-05-08 2021-08-06 曾以南 一种食品加工用奶粉灌装封膜设备

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021100646A1 (de) 2021-01-14 2022-07-14 Multivac Sepp Haggenmüller Se & Co. Kg Ansteuerung Greiferschlitten
CN117163359A (zh) * 2023-09-26 2023-12-05 浙江名瑞智能装备科技股份有限公司 贴体托盒包装机

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0680880A1 (fr) 1994-05-06 1995-11-08 G. MONDINI S.p.A. Dispositif pour sceller des récipients par l'application d'une feuille de couverture
EP2208672A1 (fr) 2009-01-16 2010-07-21 Multivac Sepp Haggenmüller GmbH & Co. KG Machine d'emballage à plusieurs voies
DE202010018313U1 (de) * 2010-10-26 2015-07-14 Multivac Sepp Haggenmüller Gmbh & Co. Kg Schalenverschließmaschine

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011108919B4 (de) * 2011-07-29 2019-06-13 Multivac Sepp Haggenmüller Se & Co. Kg Mehrspurige Schalenverschließmaschine
DE102014224550A1 (de) * 2014-12-01 2016-06-02 Krones Aktiengesellschaft Vorrichtung und Verfahren zur Ausrichtung von zu Gruppen zusammengefassten Artikeln und/oder Stückgütern

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0680880A1 (fr) 1994-05-06 1995-11-08 G. MONDINI S.p.A. Dispositif pour sceller des récipients par l'application d'une feuille de couverture
EP2208672A1 (fr) 2009-01-16 2010-07-21 Multivac Sepp Haggenmüller GmbH & Co. KG Machine d'emballage à plusieurs voies
DE202010018313U1 (de) * 2010-10-26 2015-07-14 Multivac Sepp Haggenmüller Gmbh & Co. Kg Schalenverschließmaschine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113212880A (zh) * 2021-05-08 2021-08-06 曾以南 一种食品加工用奶粉灌装封膜设备

Also Published As

Publication number Publication date
EP3626636B1 (fr) 2024-03-06
DE102018215914A1 (de) 2020-03-19

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