EP3626636B1 - Packaging machine with gripper system - Google Patents

Packaging machine with gripper system Download PDF

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Publication number
EP3626636B1
EP3626636B1 EP19197155.5A EP19197155A EP3626636B1 EP 3626636 B1 EP3626636 B1 EP 3626636B1 EP 19197155 A EP19197155 A EP 19197155A EP 3626636 B1 EP3626636 B1 EP 3626636B1
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EP
European Patent Office
Prior art keywords
gripper
packaging
packaging trays
work station
trays
Prior art date
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EP19197155.5A
Other languages
German (de)
French (fr)
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EP3626636A1 (en
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
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Multivac Sepp Haggenmueller GmbH and Co KG
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Publication of EP3626636A1 publication Critical patent/EP3626636A1/en
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    • 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 A1 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 gripper systems used so far have disadvantages in terms of timing and handling of the packaging.
  • a tray sealing machine is known in which filled trays are inserted into tray receptacles of a transport device by means of an insertion robot, the trays are then transported into the tray sealing machine and closed there and then conveyed out again in order to then be removed from the tray receptacle of the transport device by a removal robot.
  • 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 having a first and a second gripper, each of which can be displaced 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 wherein the gripper arms can expediently have fork-like structures in order to hold one or more packaging trays.
  • the first gripper is configured to move one or more packaging trays from the feed conveyor into the work station
  • the second gripper is configured to move one or more packaging trays from the work station to the discharge conveyor and deposit them on the latter.
  • 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 times. Furthermore, the control system is configured to control the movements of the two grippers in such a way that a collision between the grippers is prevented. This collision prevention applies both when both grippers are moved at the same time and when only one gripper is moved.
  • the loading and unloading of the work station can thus take place with the best possible cycle times, whereby the two processes can expediently take place in parallel and at the same time the movements of the grippers can be adapted to the settings of the infeed and outfeed conveyor.
  • control system is configured to control the second gripper in such a way that the packaging trays are deposited on the continuously or clocked discharge conveyor in such a way that an equidistant stream of packaging trays is generated thereon.
  • the conveyor therefore moves in a synchronized manner or always at the same speed, and the packaging trays it transports are all at the same distance from one another.
  • Such a homogeneous, equidistant stream of packaging trays is particularly advantageous for further processing in subsequent work stations. It is now possible to drive the conveyor belt at a constant speed, the speed being set so that exactly the required space is provided on the conveyor while the packaging tray or a group of packaging trays is moved into the work station and processed and is moved out of the workstation again.
  • control system is configured to control the gripper system in such a way that when gripping the packaging trays on the feed conveyor, the first gripper carries out a movement that is synchronous in speed to its conveying movement.
  • the gripper initially positions itself against the transport direction next to the packaging trays to be picked up, so that the gripper arms are on both sides of the packaging trays, the gripper then closes and it moves at exactly the same speed as the feed conveyor, so that the relative speed is between grippers and packaging trays is zero.
  • control system is configured to control the gripper system in such a way that when the packaging trays are placed on the discharge conveyor, the second gripper carries out a movement that is synchronous in speed to its conveying movement.
  • the gripper moves at the same speed as the discharge conveyor when opening and thus depositing the packaging trays. This prevents the packaging trays from twisting and slipping on the conveyor and thus avoids corresponding impairments at subsequent work stations. This means that manual interventions or stopping the packaging machine are no longer necessary to remove or align slipped packaging, which saves time and therefore production costs. It is also no longer necessary to stop the conveyor in order to deposit the packaging trays without relative speed.
  • the control system is preferably configured to control the gripper system in such a way that the first gripper is stationary in the transport direction when the packaging trays are placed in the work station.
  • the movement of the gripper is braked to a standstill in order to deposit the packaging at a defined location without jerking.
  • the braking of the gripper is carefully measured so as not to cause the product in the packaging tray to spill out or splash out. This results in impairments in filling quantity and quality of the product and contamination of the workstation.
  • the packaging tray can be sealed with consistent 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 gripping the packaging trays 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 affected or they are not held crookedly in the gripper.
  • the gripper system has its own, separately controllable drive for each of the grippers. Since the drives available today, such as servo or stepper motors, are cheap, low-maintenance and can be controlled precisely, a separate drive for each 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 only adjustments to the control system, in particular the control software, are necessary. Apart from replacing the gripper arms, no further changes to the clutch or transmission linkage or gearbox are 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 are movable by means of the transport carriage.
  • a system is particularly advantageous for power transmission and thus for driving the grippers, whereby the transport carriages can be slidably mounted, for example, on two guide rods. Only small frictional forces occur during the movement of the slides and the power transmission of the respective drive to the slide can be carried out efficiently, also through a mechanically simple structure.
  • the transport carriages provide a basis for attaching the grippers or gripper arms, which means they can be exchanged particularly easily and the packaging machine can be adapted to different packaging trays. Since the attachment or fastening of the grippers is standardized, the control system can be programmed particularly easily depending on the dimensions of the grippers used.
  • control system is configured to control the first transport carriage with the first gripper without collision and at least in phases simultaneously with the to move the second transport carriage with the second gripper. Due to the previously described, quasi-standardized structure of the gripper system, the control system can be programmed particularly easily depending on the dimensions of the interchangeable grippers. Accordingly, the movements of the transport carriages are also the basis for the movement profiles of the grippers. The control system ensures that neither the transport carriages nor the grippers collide with one another.
  • the workstation includes a lower tool part and an upper tool part, one or both of which are movable to open and close the workstation, and the control system is configured to control the first gripper and/or the second gripper in a collision-free manner and at least in phases simultaneously with the lower tool part and /or the upper part of the tool.
  • the control system can be programmed in such a way that the grippers initially move outside the work station during opening or closing, for example to approach the packaging trays to be picked up by the feed conveyor, or to place packaging trays on the discharge conveyor.
  • the grippers already move into the opening work station in sections, as far as the dimensions allow, without a collision occurring. Both options save time and thus shorten cycle times.
  • a method according to the invention for operating a packaging machine comprises the method steps of claim 9.
  • the second gripper places the packaging trays on the discharge conveyor in such a way that an equidistant stream of packaging trays is generated on the discharge conveyor.
  • the conveyor can either carry out a clocked or - preferably - a continuous conveying movement.
  • Figure 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 includes a first gripper 11 and a second gripper 13.
  • the work station 3 there are two packaging trays 15 and the first 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 deposit them on the discharge conveyor 7.
  • the first gripper 11 is mounted displaceably on a guide rod 19 by means of a first transport carriage 17 and the second gripper 13 is displaceably mounted on a guide rod 19 by means of a second transport carriage 18.
  • the linear movement of the transport carriages 17, 18 and thus the grippers 11, 13 is caused by a drive 21, for example an electric motor, with various possibilities for power transmission being conceivable, for example, as shown, a driveable shaft 23 or a gear rail -Mechanism or other mechanisms.
  • the gripping movements of the grippers are initiated via coupling mechanisms or their own drives (not shown).
  • the work station 3 includes a lower tool part 25 and an upper tool part 27, one or both of which may be movable to open and close the work station 3. If the work station is, for example, a sealing tool, the lower sealing tool part 25 can be raised upwards until it comes into contact with the upper sealing tool part 27 in order to close the sealing tool 3.
  • a top 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 transported in this way.
  • the grippers 11, 13 transport the packaging trays 15 into the work station 3 in the transport direction T and then out again, with two packaging trays 15 being shown here in the work station 3.
  • a control system 31 is connected to all drives 21 in order to control them electronically, with a line connection 33 to 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 lower sealing tool part 25 as well as other functions of the packaging machine 1, such as drives for the infeed and outfeed conveyors 5, 7, sealing heater and more, according to previous programming.
  • Figure 2 shows a schematic top 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 external 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 that widen upwards or with laterally projecting upper horizontal edges.
  • the process step following this illustration would be the gripping and moving into the work station 3 of the packaging trays 15 located on the feed conveyor 5 by the first gripper 11 and the gripping and moving out of the packaging trays 15 located in the work station 3 by the second gripper 13, whereby the on The packaging trays 15 drawn on the conveyor 7 can be moved further to the left.
  • the packaging trays 15 can ideally be placed on the discharge conveyor 7 in such a way that all packaging trays 15, in particular also the adjacent packaging trays 15 of two successive process cycles, have the same distance d from one another. This is done synchronized with the conveying speed of the discharge conveyor 7, so that an equidistant stream S of packaging trays 15 is formed on the discharge conveyor 7.
  • first gripper 11 one or more packaging trays 15 are gripped on a feed conveyor 5.
  • 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 is then moved with the still unsealed packaging trays 15 into the work station 3 and moving the second gripper 13 with the sealed packaging trays 15 to a discharge conveyor 7.
  • This is followed by placing the packaging trays 15 of the first gripper 11 in the work station 3, as well as placing the packaging trays 15 of the second gripper 13 on the discharge conveyor 7.
  • the movements of the first and second grippers 11, 13 take place independently of one another and are controlled by a control system 31 the movements in such a way that collisions between 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 throughout the entire operation of the packaging machine 1.
  • the second gripper 13 places the packaging trays 15 on the discharge conveyor 7 in order to generate an equidistant stream S of packaging trays 15 thereon. So all packaging trays 15 on the conveyor 7 are at the same distance from one another, especially those that were placed next to each other from two different process cycles.
  • the duration of a process cycle i.e. the movement of the packaging trays 15 through the grippers 11, 13, is coordinated with the conveying speed of the discharge conveyor 7.
  • the first gripper 11 when gripping the packaging trays 15 on the feed conveyor 5, the first gripper 11 carries out a movement that is synchronous with the conveying movement of the feed conveyor 5.
  • the second gripper 13 carries out a movement that is synchronous with the conveying movement of the discharge conveyor 7.
  • the gripping and/or moving of the first and/or second gripper 11, 13 takes place at least in phases simultaneously with the opening and/or closing of the work station 3.
  • the first gripper 11 is moved by means of a first transport carriage 17 and the second gripper 13 by means of a second transport carriage 18, the movement of the first gripper 11 and the first transport carriage 17 being 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, it can e.g. B. it makes sense to coordinate the movements using the control system 31 in such a way that the existing movement spaces are used as best as possible without collisions and thus the process time is minimized.

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Description

Die vorliegende Erfindung betrifft eine Verpackungsmaschine mit einem Greifersystem sowie ein Verfahren zum Betrieb einer solchen Verpackungsmaschine.The present invention relates to a packaging machine with a gripper system and a method for operating such a packaging machine.

Bei Verpackungsmaschinen mit einer Arbeitsstation, beispielsweise einer Schalenverschließmaschine, einer Siegelstation oder einem Traysealer, ist es bekannt, Greifersysteme zu verwenden, um Verpackungsschalen von einem Zuförderer in die Arbeitsstation hinein und anschließend wieder aus der Arbeitsstation heraus auf einen Abförderer zu bewegen. So beschreibt die EP 0 680 880 B1 einen Greifer mit zwei gegenüberliegenden Greiferarmen, die sich öffnen und schließen, um mehrere entlang einer Transportspur hintereinander angeordnete Verpackungen gleichzeitig aufzunehmen und zu bewegen. Der Greifer ist dabei an parallel zur Transportrichtung angeordneten Schienen gelagert und bewegt sich in beide Richtungen entlang der Transportspur, angetrieben durch einen Elektromotor. Beim Greifen und Aufnehmen der Verpackungen von dem Zuförderer kann der Greifer so gesteuert werden, dass er sich mit derselben Geschwindigkeit wie der Zuförderer und damit wie die Verpackungsschalen bewegt. Da der Greifer jedoch im selben Moment die in der Arbeitsstation befindlichen, beispielsweise bereits versiegelten, Verpackungsschalen greift, um diese auf den Abförderer zu bewegen, vollzieht er eine Relativbewegung gegenüber diesen, ruhenden Verpackungsschalen.In packaging machines with a work station, for example a tray sealing machine, a sealing station or a tray sealer, it is known to use gripper systems to move packaging trays from a feed conveyor into the work station and then out of the work station again onto a discharge conveyor. That's how it describes EP 0 680 880 B1 a gripper with two opposing gripper arms that open and close in order to simultaneously pick up and move several packages arranged one behind the other along a transport track. The gripper is mounted on rails arranged parallel to the transport direction and moves in both directions along the transport track, driven by an electric motor. When gripping and picking up the packages from the feed conveyor, the gripper can be controlled so that it moves at the same speed as the feed conveyor and thus as the packaging trays. However, since the gripper grabs the packaging trays located in the work station, for example already sealed, at the same moment in order to move them onto the conveyor, it performs a relative movement compared to these stationary packaging trays.

Ein weiteres Greifersystem ist aus der EP 2 208 672 A1 bekannt, bei welchem zwei Greifer unabhängig voneinander entlang einer Transportrichtung bewegbar sind, und der erste Greifer die Verpackungsschalen von dem Zuförderer in die Arbeitsstation hinein bewegt und der zweite Greifer die Verpackungsschalen aus der Arbeitsstation hinaus und auf den Abförderer bewegt.Another gripper system is from the EP 2 208 672 A1 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.

Die bislang verwendeten Greifersysteme weisen Nachteile bezüglich der Taktung sowie der Handhabung der Verpackungen auf.The gripper systems used so far have disadvantages in terms of timing and handling of the packaging.

Aus der DE 20 20 10 018 313 U1 ist eine Schalenverschließmaschine bekannt, bei welcher befüllte Schalen mittels eines Einlegeroboters in Schalenaufnahmen einer Transportvorrichtung eingelegt werden, die Schalen sodann in die Schalenverschließmaschine befördert und dort verschlossen sowie wieder herausgefördert werden, um sodann von einem Entnahmeroboter aus der Schalenaufnahme der Transportvorrichtung entnommen zu werden.From the DE 20 20 10 018 313 U1 A tray sealing machine is known in which filled trays are inserted into tray receptacles of a transport device by means of an insertion robot, the trays are then transported into the tray sealing machine and closed there and then conveyed out again in order to then be removed from the tray receptacle of the transport device by a removal robot.

Aufgabe der vorliegenden Erfindung ist es deshalb, eine Verpackungsmaschine mit einem verbesserten Greifersystem bereitzustellen.The object of the present invention is therefore to provide a packaging machine with an improved gripper system.

Die Aufgabe wird gelöst durch eine Verpackungsmaschine gemäß Anspruch 1 sowie einem Verfahren zum Betrieb einer Verpackungsmaschine gemäß Anspruch 9. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben.The object is achieved by a packaging machine according to claim 1 and a method for operating a packaging machine according to claim 9. Advantageous developments of the invention are specified in the subclaims.

Eine erfindungsgemäße Verpackungsmaschine umfasst eine Arbeitsstation, einen Zuförderer, einen Abförderer, ein Steuerungssystem und ein Greifersystem, wobei das Greifersystem einen ersten und einen zweiten jeweils entlang einer Transportrichtung verschiebbaren Greifer umfasst. Jeder Greifer wiederum umfasst zumindest zwei Greiferarme, welche sich gegeneinander bewegen können, um den Greifer zu öffnen und zu schließen, und wobei die Greiferarme zweckmäßig gabelartige Strukturen aufweisen können, um eine oder mehrere Verpackungsschalen aufzunehmen. Dabei ist der erste Greifer dazu konfiguriert, eine oder mehrere Verpackungsschalen von dem Zuförderer in die Arbeitsstation zu bewegen, und der zweite Greifer ist dazu konfiguriert, eine oder mehrere Verpackungsschalen aus der Arbeitsstation zu dem Abförderer zu bewegen und auf diesem abzulegen. Der Zuförderer und der Abförderer können beispielsweise Bandförderer sein, auf deren Transportbändern die Verpackungsschalen transportiert werden. Das Steuerungssystem der Verpackungsmaschine ist dazu konfiguriert, den ersten Greifer unabhängig von dem zweiten Greifer zu bewegen. Dies betrifft beispielsweise sowohl die Bewegungsrichtung als auch die Geschwindigkeit, die Beschleunigung sowie den Start- und Endzeitpunkt. Des Weiteren ist das Steuerungssystem dazu konfiguriert, die Bewegungen der beiden Greifer derart zu steuern, dass eine Kollision der Greifer verhindert ist. Diese Kollisionsverhinderung gilt sowohl für den Fall, dass beide Greifer gleichzeitig bewegt werden, als auch für den Fall, dass lediglich ein Greifer bewegt wird. Das Be- und Entladen der Arbeitsstation kann damit unter bestmöglichen Taktzeiten erfolgen, wobei die beiden Vorgänge zweckmäßig parallel erfolgen können und gleichzeitig die Bewegungen der Greifer an die Einstellungen des Zu- bzw. Abförderers angepasst werden können. Durch die Verhinderung von Kollisionen der beiden Greifer durch das Steuerungssystem kann es nicht zu Schäden an dem Greifersystem oder den Verpackungen und Produkten kommen.A packaging machine according to the invention comprises a work station, a feed conveyor, a discharge conveyor, a control system and a gripper system, the gripper system having a first and a second gripper, each of which can be displaced 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 wherein the gripper arms can expediently have fork-like structures in order to hold one or more packaging trays. The first gripper is configured to move one or more packaging trays from the feed conveyor into the work station, and the second gripper is configured to move one or more packaging trays from the work station to the discharge conveyor and deposit them on the latter. 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 times. Furthermore, the control system is configured to control the movements of the two grippers in such a way that a collision between the grippers is prevented. This collision prevention applies both when both grippers are moved at the same time and when only one gripper is moved. The loading and unloading of the work station can thus take place with the best possible cycle times, whereby the two processes can expediently take place in parallel and at the same time the movements of the grippers can be adapted to the settings of the infeed and outfeed conveyor. By preventing collisions between the two grippers through the control system, damage to the gripper system or the packaging and products cannot occur.

Vorzugsweise ist das Steuerungssystem dazu konfiguriert, den zweiten Greifer so zu steuern, dass die Verpackungsschalen auf dem kontinuierlich oder getaktet bewegten Abförderer derart abgelegt werden, dass auf diesem ein äquidistanter Strom von Verpackungsschalen erzeugt wird. Der Abförderer bewegt sich also getaktet oder stets mit gleicher Geschwindigkeit, und die von ihm transportierten Verpackungsschalen haben alle den gleichen Abstand zueinander. Dies gilt sowohl für Verpackungsschalen innerhalb einer Gruppe, welche gleichzeitig in der Arbeitsstation verarbeitet und durch den Greifer bewegt werden, als auch für die zwei benachbarten Verpackungsschalen einer ersten Gruppe und der darauffolgenden. Ein solch homogener, äquidistanter Strom von Verpackungsschalen ist besonders vorteilhaft für die weitere Verarbeitung in anschließenden Arbeitsstationen. Es ist also nun möglich, das Abförderband mit einer konstanten Geschwindigkeit zu fahren, wobei die Geschwindigkeit so eingestellt ist, dass exakt der benötigte Raum auf dem Abförderer zur Verfügung gestellt wird, während die Verpackungsschale oder eine Gruppe von Verpackungsschalen in die Arbeitsstation hinein bewegt, verarbeitet und wieder aus der Arbeitsstation heraus bewegt wird.Preferably, the control system is configured to control the second gripper in such a way that the packaging trays are deposited on the continuously or clocked discharge conveyor in such a way that an equidistant stream of packaging trays is generated thereon. The conveyor therefore moves in a synchronized manner or always at the same speed, and the packaging trays it transports are all at the same distance from one another. This applies both to packaging trays within a group, which are simultaneously processed in the work station and moved by the gripper, as well as to the two adjacent packaging trays of a first group and the following group. Such a homogeneous, equidistant stream of packaging trays is particularly advantageous for further processing in subsequent work stations. It is now possible to drive the conveyor belt at a constant speed, the speed being set so that exactly the required space is provided on the conveyor while the packaging tray or a group of packaging trays is moved into the work station and processed and is moved out of the workstation again.

In einer vorteilhaften Variante ist das Steuerungssystem dazu konfiguriert, das Greifersystem derart zu steuern, dass der erste Greifer beim Greifen der Verpackungsschalen auf dem Zuförderer eine zu dessen Förderbewegung geschwindigkeitssynchrone Bewegung ausführt. Dies bedeutet, dass der Greifer sich zunächst entgegen der Transportrichtung neben den aufzunehmenden Verpackungsschalen positioniert, so dass die Greiferarme sich beidseits der Verpackungsschalen befinden, sich der Greifer dann schließt und er sich dabei mit der exakt selben Geschwindigkeit wie der Zuförderer bewegt, sodass die Relativgeschwindigkeit zwischen Greifer und Verpackungsschalen Null ist. Es kommt also zu keinem Stoß der Verpackungsschalen gegen den Greifer bzw. gegen dessen Gabelstrukturen und es wird dadurch ein Verrutschen oder Herausspritzen des Produkts aus der noch offenen Verpackungsschale verhindert. Ebenso kommt es zu keinem Verrutschen der Verpackungsschalen auf dem Zuförderer und dadurch auch zu keinem Herunterfallen der Verpackungsschalen von dem Zuförderer oder einem schrägen Einklemmen der Verpackungsschalen in dem Greifer. Andererseits ist es nicht mehr nötig, den Zuförderer zu stoppen, damit der Greifer die Verpackungsschalen ohne Relativgeschwindigkeit fassen kann, was die Prozesszeiten verringert.In an advantageous variant, the control system is configured to control the gripper system in such a way that when gripping the packaging trays on the feed conveyor, the first gripper carries out a movement that is synchronous in speed to its conveying movement. This means that the gripper initially positions itself against the transport direction next to the packaging trays to be picked up, so that the gripper arms are on both sides of the packaging trays, the gripper then closes and it moves at exactly the same speed as the feed conveyor, so that the relative speed is between grippers and packaging trays is zero. This means that the packaging trays do not come into contact with the gripper or its fork structures and this prevents the product from slipping or spraying out of the still open packaging tray. Likewise, there is no slipping of the packaging trays on the feed conveyor and therefore no falling of the packaging trays from the feed conveyor or the packaging trays being jammed at an angle in the gripper. On the other hand, it is no longer necessary to stop the feed conveyor so that the gripper can grasp the packaging trays without relative speed, which reduces process times.

In einer besonders vorteilhaften Variante ist das Steuerungssystem dazu konfiguriert, das Greifersystem derart zu steuern, dass der zweite Greifer beim Ablegen der Verpackungsschalen auf dem Abförderer eine zu dessen Förderbewegung geschwindigkeitssynchrone Bewegung ausführt. Wie für das Aufnehmen der Verpackungsschalen beschrieben, bewegt sich der Greifer also beim Öffnen und damit Ablegen der Verpackungsschalen mit derselben Geschwindigkeit wie der Abförderer. Dadurch wird ein Verdrehen und Verrutschen der Verpackungsschalen auf dem Abförderer verhindert und damit entsprechende Beeinträchtigungen bei anschließenden Arbeitsstationen vermieden. Es sind also keine manuellen Eingriffe oder Stopps der Verpackungsmaschine mehr nötig, um verrutschte Verpackungen zu entnehmen oder auszurichten, was Zeit und damit Produktionskosten spart. Ebenso ist es nicht mehr nötig, den Abförderer zu stoppen, um die Verpackungsschalen ohne Relativgeschwindigkeit abzulegen.In a particularly advantageous variant, the control system is configured to control the gripper system in such a way that when the packaging trays are placed on the discharge conveyor, the second gripper carries out a movement that is synchronous in speed to its conveying movement. As described for picking up the packaging trays, the gripper moves at the same speed as the discharge conveyor when opening and thus depositing the packaging trays. This prevents the packaging trays from twisting and slipping on the conveyor and thus avoids corresponding impairments at subsequent work stations. This means that manual interventions or stopping the packaging machine are no longer necessary to remove or align slipped packaging, which saves time and therefore production costs. It is also no longer necessary to stop the conveyor in order to deposit the packaging trays without relative speed.

Bevorzugt ist das Steuerungssystem dazu konfiguriert, das Greifersystem derart zu steuern, dass der erste Greifer beim Ablegen der Verpackungsschalen in der Arbeitsstation in Transportrichtung stationär ist. Die Bewegung des Greifers wird also bis zum Stillstand abgebremst, um die Verpackungen an definierter Stelle ruckfrei abzulegen. Dabei erfolgt das Abbremsen des Greifers wohl dosiert, um auch hierbei kein Herausschwappen oder -spritzen des in der Verpackungsschale befindlichen Produkts zu verursachen. Somit werden Beeinträchtigungen an Füllmenge und Qualität des Produkts sowie Verunreinigungen der Arbeitsstation verhindert. Außerdem kann beispielsweise ein Versiegeln der Verpackungsschale mit stets gleichbleibender Qualität erfolgen, da sichergestellt ist, dass die Verpackungsschalen nicht verschoben sind.The control system is preferably configured to control the gripper system in such a way that the first gripper is stationary in the transport direction when the packaging trays are placed in the work station. The movement of the gripper is braked to a standstill in order to deposit the packaging at a defined location without jerking. The braking of the gripper is carefully measured so as not to cause the product in the packaging tray to spill out or splash out. This results in impairments in filling quantity and quality of the product and contamination of the workstation. In addition, for example, the packaging tray can be sealed with consistent quality since it is ensured that the packaging trays are not displaced.

In einer gängigen Variante ist das Steuerungssystem dazu konfiguriert, das Greifersystem derart zu steuern, dass der zweite Greifer beim Greifen der Verpackungsschalen in der Arbeitsstation in Transportrichtung stationär ist. Auch hierbei ist somit sichergestellt, dass es keine Relativbewegung von Greifer und Verpackungsschalen gibt, so dass der Inhalt der Verpackungsschalen nicht beeinträchtigt wird oder diese schief im Greifer gehalten werden.In a common variant, the control system is configured to control the gripper system such that the second gripper is stationary in the transport direction when gripping the packaging trays 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 affected or they are not held crookedly in the gripper.

Idealerweise weist das Greifersystem für jeden der Greifer jeweils einen eigenen, separat steuerbaren Antrieb auf. Da die heutzutage verfügbaren Antriebe, beispielsweise Servo- oder Schrittmotoren, günstig, wartungsarm und präzise zu steuern sind, ist ein eigener Antrieb pro Greifer einem Kupplungsmechanismus vorzuziehen, wobei dieser jedoch auch denkbar wäre. Zudem ermöglicht ein solches Konzept die Anpassung des Greifersystems an unterschiedliche Anforderungen, beispielsweise Verpackungsgrößen oder Taktgeschwindigkeiten, wozu lediglich Anpassungen des Steuerungssystems, also insbesondere der Steuerungssoftware, nötig sind. Abgesehen von einem Tausch der Greiferarme ist also keine weitere Änderung eines Kupplungs- oder Übersetzungsgestänges oder -getriebes nötig.Ideally, the gripper system has its own, separately controllable drive for each of the grippers. Since the drives available today, such as servo or stepper motors, are cheap, low-maintenance and can be controlled precisely, a separate drive for each 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 only adjustments to the control system, in particular the control software, are necessary. Apart from replacing the gripper arms, no further changes to the clutch or transmission linkage or gearbox are necessary.

In einer zweckmäßigen Variante weist das Greifersystem einen ersten Transportschlitten, mit dem der erste Greifer verbunden ist, und einen zweiten Transportschlitten, mit dem der zweite Greifer verbunden ist, auf, und die Greifer sind mittels der Transportschlitten bewegbar. Ein solches System ist besonders vorteilhaft zur Kraftübertragung und damit zum Antrieb der Greifer, wobei die Transportschlitten beispielsweise auf zwei Führungsstangen gleitend gelagert sein können. Es treten bei der Bewegung der Schlitten nur geringe Reibungskräfte auf und die Kraftübertragung des jeweiligen Antriebs auf den Schlitten kann effizient erfolgen, auch durch einen mechanisch einfachen Aufbau. Zudem bieten die Transportschlitten eine Basis für die Anbringung der Greifer bzw. der Greiferarme, wodurch diese besonders einfach ausgetauscht werden können und die Verpackungsmaschine so an unterschiedliche Verpackungsschalen angepasst werden kann. Da somit die Anbringung bzw. Befestigung der Greifer standardisiert ist, kann das Steuerungssystem besonders einfach in Abhängigkeit der Maße der jeweils verwendeten Greifer programmiert werden.In an expedient variant, 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 are movable by means of the transport carriage. Such a system is particularly advantageous for power transmission and thus for driving the grippers, whereby the transport carriages can be slidably mounted, for example, on two guide rods. Only small frictional forces occur during the movement of the slides and the power transmission of the respective drive to the slide can be carried out efficiently, also through a mechanically simple structure. In addition, the transport carriages provide a basis for attaching the grippers or gripper arms, which means they can be exchanged particularly easily and the packaging machine can be adapted to different packaging trays. Since the attachment or fastening of the grippers is standardized, the control system can be programmed particularly easily depending on the dimensions of the grippers used.

In einer bevorzugten Variante ist das Steuerungssystem dazu konfiguriert, den ersten Transportschlitten mit dem ersten Greifer kollisionsfrei und zumindest phasenweise gleichzeitig mit dem zweiten Transportschlitten mit dem zweiten Greifer zu bewegen. Aufgrund des zuvor beschriebenen, quasi standardisierten Aufbaus des Greifersystems kann das Steuerungssystem besonders einfach in Abhängigkeit der Abmessungen der austauschbaren Greifer programmiert werden. Entsprechend sind die Bewegungen der Transportschlitten auch Basis für die Bewegungsprofile der Greifer. Das Steuerungssystem sorgt dabei dafür, dass weder die Transportschlitten noch die Greifer miteinander kollidieren.In a preferred variant, the control system is configured to control the first transport carriage with the first gripper without collision and at least in phases simultaneously with the to move the second transport carriage with the second gripper. Due to the previously described, quasi-standardized structure of the gripper system, the control system can be programmed particularly easily depending on the dimensions of the interchangeable grippers. Accordingly, the movements of the transport carriages are also the basis for the movement profiles of the grippers. The control system ensures that neither the transport carriages nor the grippers collide with one another.

Die Arbeitsstation umfasst ein Werkzeugunterteil und ein Werkzeugoberteil, wovon eines oder beide bewegbar sind, um die Arbeitsstation zu öffnen und zu schließen, und das Steuerungssystem ist dazu konfiguriert, den ersten Greifer und/oder den zweiten Greifer kollisionsfrei und zumindest phasenweise gleichzeitig mit dem Werkzeugunterteil und/oder dem Werkzeugoberteil zu bewegen. So kann das Steuerungssystem derart programmiert sein, dass die Greifer sich zunächst während des Öffnens bzw. des Schließens außerhalb der Arbeitsstation bewegen, um sich beispielsweise den von dem Zuförderer aufzunehmenden Verpackungsschalen anzunähern, oder um noch Verpackungsschalen auf dem Abförderer abzulegen. Die Greifer fahren bereits abschnittsweise in die sich öffnende Arbeitsstation ein, soweit dies die Abmessungen erlauben, ohne dass eine Kollision stattfindet. Beide Möglichkeiten bringen eine Zeitersparnis und damit verkürzte Taktzeiten mit sich.The workstation includes a lower tool part and an upper tool part, one or both of which are movable to open and close the workstation, and the control system is configured to control the first gripper and/or the second gripper in a collision-free manner and at least in phases simultaneously with the lower tool part and /or the upper part of the tool. The control system can be programmed in such a way that the grippers initially move outside the work station during opening or closing, for example to approach the packaging trays to be picked up by the feed conveyor, or to place packaging trays on the discharge conveyor. The grippers already move into the opening work station in sections, as far as the dimensions allow, without a collision occurring. Both options save time and thus shorten cycle times.

Ein erfindungsgemäßes Verfahren zum Betrieb einer Verpackungsmaschine umfasst die Verfahrensschritte des Anspruchs 9.A method according to the invention for operating a packaging machine comprises the method steps of claim 9.

Besonders günstig ist es, wenn der zweite Greifer die Verpackungsschalen so auf dem Abförderer ablegt, dass auf dem Abförderer ein äquidistanter Strom von Verpackungsschalen erzeugt wird. Dabei kann der Abförderer entweder eine getaktete oder - bevorzugt - eine kontinuierliche Förderbewegung ausführen.It is particularly advantageous if the second gripper places the packaging trays on the discharge conveyor in such a way that an equidistant stream of packaging trays is generated on the discharge conveyor. The conveyor can either carry out a clocked or - preferably - a continuous conveying movement.

Im Folgenden werden Ausführungsbeispiele der Erfindung anhand der Figuren näher beschrieben. Dabei zeigen

Figur 1:
eine seitliche schematische Ansicht einer Verpackungsmaschine,
Figur 2:
eine schematische Draufsicht auf eine Verpackungsmaschine.
Exemplary embodiments of the invention are described in more detail below with reference to the figures. Show it
Figure 1:
a side schematic view of a packaging machine,
Figure 2:
a schematic top view of a packaging machine.

Einander entsprechende Komponenten sind in den Figuren jeweils mit gleichen Bezugszeichen versehen.Corresponding components are provided with the same reference numerals in the figures.

Figur 1 zeigt eine schematische Ansicht einer Verpackungsmaschine 1 in Form einer Schalenverschließmaschine mit einer Arbeitsstation 3, einem Zuförderer 5 und einem Abförderer 7. Ein Greifersystem 9 umfasst einen ersten Greifer 11 und einen zweiten Greifer 13. In der Arbeitsstation 3 befinden sich zwei Verpackungsschalen 15 und der erste Greifer 11 ist angeordnet, um die Verpackungsschalen 15 vom Zuförderer 5 in die Arbeitsstation 3 zu bewegen und der zweite Greifer 13 ist angeordnet, um die Verpackungsschalen 15 aus der Arbeitsstation 3 heraus zu bewegen und auf dem Abförderer 7 abzulegen. Der erste Greifer 11 ist mittels eines ersten Transportschlittens 17 und der zweite Greifer 13 ist mittels eines zweiten Transportschlittens 18 verschiebbar an einem Führungsgestänge 19 gelagert. Die lineare Bewegung der Transportschlitten 17, 18 und damit der Greifer 11, 13 wird von jeweils einem Antrieb 21, beispielsweise einem Elektromotor, veranlasst, wobei verschiedene Möglichkeiten zur Kraftübertragung denkbar sind, zum Beispiel wie gezeigt eine vortreibbare Welle 23 oder auch ein Zahnrad-Schienen-Mechanismus oder andere Mechanismen. Über Kupplungsmechanismen oder eigene Antriebe werden die Greifbewegungen der Greifer veranlasst (nicht gezeigt). Die Arbeitsstation 3 umfasst ein Werkzeugunterteil 25 und ein Werkzeugoberteil 27 wobei eines oder beide davon bewegbar sein können, um die Arbeitsstation 3 zu öffnen und zu schließen. Ist die Arbeitsstation beispielsweise ein Siegelwerkzeug, so kann das Siegelwerkzeugunterteil 25 nach oben bis zum Kontakt mit dem Siegelwerkzeugoberteil 27 anhebbar sein, um das Siegelwerkzeug 3 zu schließen. Eine Oberfolie 29 dient zum Versiegeln der Verpackungsschalen 15. Der Zuförderer 5 und der Abförderer 7 kann jeweils ein Bandförderer sein, auf dessen Oberseite die Verpackungsschalen 15 aufliegen und so transportiert werden. Durch die Greifer 11, 13 werden die Verpackungsschalen 15 in Transportrichtung T in die Arbeitsstation 3 hinein und anschließend wieder heraus befördert, wobei hier zwei Verpackungschalen 15 in der Arbeitsstation 3 befindlich gezeigt sind. Ein Steuerungssystem 31 ist mit allen Antrieben 21 verbunden, um diese elektronisch zu steuern, wobei hier nur beispielhaft eine Leitungsverbindung 33 mit dem Antrieb 21 des zweiten Greifers 13 gezeigt ist. Das Steuerungssystem 31 kann dabei auch einen Antrieb des Siegelwerkzeugunterteils 25 sowie weiterer Funktionen der Verpackungsmaschine 1, wie Antriebe für die Zu- und Abförderer 5, 7, Siegelheizung und anderes mehr, entsprechend einer vorangegangenen Programmierung, steuern. Figure 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 includes a first gripper 11 and a second gripper 13. In the work station 3 there are two packaging trays 15 and the first 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 deposit them on the discharge conveyor 7. The first gripper 11 is mounted displaceably on a guide rod 19 by means of a first transport carriage 17 and the second gripper 13 is displaceably mounted on a guide rod 19 by means of a second transport carriage 18. The linear movement of the transport carriages 17, 18 and thus the grippers 11, 13 is caused by a drive 21, for example an electric motor, with various possibilities for power transmission being conceivable, for example, as shown, a driveable shaft 23 or a gear rail -Mechanism or other mechanisms. The gripping movements of the grippers are initiated via coupling mechanisms or their own drives (not shown). The work station 3 includes a lower tool part 25 and an upper tool part 27, one or both of which may be movable to open and close the work station 3. If the work station is, for example, a sealing tool, the lower sealing tool part 25 can be raised upwards until it comes into contact with the upper sealing tool part 27 in order to close the sealing tool 3. A top 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 transported in this way. The grippers 11, 13 transport the packaging trays 15 into the work station 3 in the transport direction T and then out again, with two packaging trays 15 being shown here in the work station 3. A control system 31 is connected to all drives 21 in order to control them electronically, with a line connection 33 to 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 lower sealing tool part 25 as well as other functions of the packaging machine 1, such as drives for the infeed and outfeed conveyors 5, 7, sealing heater and more, according to previous programming.

Figur 2 zeigt eine schematische Draufsicht auf eine Verpackungsmaschine 1. Die Greifer 11, 13 sind in einem geöffneten Zustand gezeigt, d.h. die Greiferarme 35 sind in eine senkrecht zur Transportrichtung T äußere Position bewegt. Die Greiferarme 35 können sich von dort nach innen bewegen, um mit Vorsprüngen 37 die Verpackungsschalen 15 zu greifen. Dabei können die Verpackungsschalen 15 beispielsweise mit ihren sich nach oben verbreiternden Seitenflächen oder mit seitlich überstehenden oberen horizontalen Rändern an den Vorsprüngen 37 aufliegen. Der zu dieser Abbildung nachfolgende Prozessschritt wäre das Greifen und in die Arbeitsstation 3 Hineinbewegen der auf dem Zuförderer 5 befindlichen Verpackungsschalen 15 durch den ersten Greifer 11 sowie das Greifen und Herausbewegen der in der Arbeitsstation 3 befindlichen Verpackungsschalen 15 durch den zweiten Greifer 13, wobei die auf dem Abförderer 7 gezeichneten Verpackungsschalen 15 währenddessen weiter nach links bewegt werden. Das Ablegen der Verpackungsschalen 15 auf dem Abförderer 7 kann dabei idealerweise so erfolgen, dass alle Verpackungsschalen 15, also insbesondere auch die benachbarten Verpackungsschalen 15 zweier aufeinanderfolgender Prozesstakte, einen gleichen Abstand d zueinander aufweisen. Dies erfolgt synchronisiert mit der Fördergeschwindigkeit des Abförderers 7, so dass ein äquidistanter Strom S von Verpackungsschalen 15 auf dem Abförderer 7 gebildet wird. Figure 2 shows a schematic top 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 external 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 that widen upwards or with laterally projecting upper horizontal edges. The process step following this illustration would be the gripping and moving into the work station 3 of the packaging trays 15 located on the feed conveyor 5 by the first gripper 11 and the gripping and moving out of the packaging trays 15 located in the work station 3 by the second gripper 13, whereby the on The packaging trays 15 drawn on the conveyor 7 can be moved further to the left. The packaging trays 15 can ideally be placed on the discharge conveyor 7 in such a way that all packaging trays 15, in particular also the adjacent packaging trays 15 of two successive process cycles, have the same distance d from one another. This is done synchronized with the conveying speed of the discharge conveyor 7, so that an equidistant stream S of packaging trays 15 is formed on the discharge conveyor 7.

Im Folgenden wird die Funktionsweise einer erfindungsgemäßen Verpackungsmaschine 1 erläutert.The functionality of a packaging machine 1 according to the invention is explained below.

Mittels eines ersten Greifers 11 werden eine oder mehrere Verpackungsschalen 15 auf einem Zuförderer 5 gegriffen. Mittels eines zweiten Greifers 13 werden eine oder mehrere Verpackungsschalen 15 in einer Arbeitsstation 3 gegriffen, wobei diese Verpackungsschalen 15 beispielsweise versiegelt sind, wenn es sich bei der Arbeitsstation 3 um eine Siegelstation handelt. Anschließend findet ein Bewegen des ersten Greifers 11 mit den noch unversiegelten Verpackungsschalen 15 in die Arbeitsstation 3 und ein Bewegen des zweiten Greifers 13 mit den versiegelten Verpackungsschalen 15 zu einem Abförderer 7 statt. Es folgt das Ablegen der Verpackungsschalen 15 des ersten Greifers 11 in der Arbeitsstation 3, sowie das Ablegen der Verpackungsschalen 15 des zweiten Greifers 13 auf dem Abförderer 7. Dabei erfolgen die Bewegungen des ersten und zweiten Greifers 11, 13 unabhängig voneinander und ein Steuerungssystem 31 steuert die Bewegungen derart, dass Kollisionen der beiden Greifer 11, 13 verhindert werden.Using a first gripper 11, one or more packaging trays 15 are gripped on a feed conveyor 5. Using 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 is then moved with the still unsealed packaging trays 15 into the work station 3 and moving the second gripper 13 with the sealed packaging trays 15 to a discharge conveyor 7. This is followed by placing the packaging trays 15 of the first gripper 11 in the work station 3, as well as placing the packaging trays 15 of the second gripper 13 on the discharge conveyor 7. The movements of the first and second grippers 11, 13 take place independently of one another and are controlled by a control system 31 the movements in such a way that collisions between the two grippers 11, 13 are prevented.

Typischerweise führt der Abförderer 7 eine kontinuierliche Förderbewegung aus, d.h. er wird während des gesamten Betriebs der Verpackungsmaschine 1 mit einer konstanten Fördergeschwindigkeit betrieben. Dabei legt der zweite Greifer 13 die Verpackungsschalen 15 so auf dem Abförderer 7 ab, um auf diesem einen äquidistanten Strom S von Verpackungsschalen 15 zu erzeugen. Es haben also alle Verpackungsschalen 15 auf dem Abförderer 7 den gleichen Abstand zueinander, insbesondere auch jene, welche von zwei unterschiedlichen Prozesstakten nebeneinander abgelegt wurden. Um den äquidistanten Strom S von Verpackungsschalen 15 zu erzeugen, wird die zeitliche Dauer eines Prozesstakts, also die Bewegung der Verpackungsschalen 15 durch die Greifer 11, 13, mit der Fördergeschwindigkeit des Abförderers 7 koordiniert.Typically, the discharge conveyor 7 carries out a continuous conveying movement, i.e. it is operated at a constant conveying speed throughout the entire operation of the packaging machine 1. The second gripper 13 places the packaging trays 15 on the discharge conveyor 7 in order to generate an equidistant stream S of packaging trays 15 thereon. So all packaging trays 15 on the conveyor 7 are at the same distance from one another, especially those that were placed next to each other from two different process cycles. In order to generate the equidistant flow S of packaging trays 15, the duration of a process cycle, i.e. the movement of the packaging trays 15 through the grippers 11, 13, is coordinated with the conveying speed of the discharge conveyor 7.

In einer vorteilhaften Variante führt der erste Greifer 11 beim Greifen der Verpackungsschalen 15 auf dem Zuförderer 5 eine zur Förderbewegung des Zuförderers 5 geschwindigkeitssynchrone Bewegung aus.In an advantageous variant, when gripping the packaging trays 15 on the feed conveyor 5, the first gripper 11 carries out a movement that is synchronous with the conveying movement of the feed conveyor 5.

In einer weiteren vorteilhaften Variante führt der zweite Greifer 13 beim Ablegen der Verpackungsschalen 15 auf dem Abförderer 7 eine zur Förderbewegung des Abförderers 7 geschwindigkeitssynchrone Bewegung aus.In a further advantageous variant, when the packaging trays 15 are placed on the discharge conveyor 7, the second gripper 13 carries out a movement that is synchronous with the conveying movement of the discharge conveyor 7.

Das Greifen und/oder Bewegen des ersten und/oder zweiten Greifers 11, 13 findet zumindest phasenweise gleichzeitig mit einem Offnen und/oder Schließen der Arbeitsstation 3 statt.The gripping and/or moving of the first and/or second gripper 11, 13 takes place at least in phases simultaneously with the opening and/or closing of the work station 3.

Vorzugsweise wird der erste Greifer 11 mittels eines ersten Transportschlittens 17 und der zweite Greifer 13 mittels eines zweiten Transportschlittens 18 bewegt, wobei die Bewegung des ersten Greifers 11 und des ersten Transportschlittens 17 kollisionsfrei und zumindest phasenweise gleichzeitig mit der Bewegung des zweiten Greifers 13 und des zweiten Transportschlittens 18 erfolgt.Preferably, the first gripper 11 is moved by means of a first transport carriage 17 and the second gripper 13 by means of a second transport carriage 18, the movement of the first gripper 11 and the first transport carriage 17 being collision-free and at least in phases simultaneously with the movement of the second gripper 13 and the second Transport carriage 18 takes place.

Ausgehend von den oben dargestellten Ausführungsformen einer Verpackungsmaschine 1 und eines Verfahrens zum Betrieb einer solchen, sind vielerlei Variationen derselben denkbar. So sind zwar der erste und der zweite Greifer 11, 13 unabhängig voneinander bewegbar, es kann jedoch z. B. sinnvoll sein, die Bewegungen mittels des Steuerungssystems 31 derart aufeinander abzustimmen, dass die vorhandenen Bewegungsräume bestmöglich kollisionsfrei ausgenützt und damit die Prozesszeit minimiert wird.Based on the embodiments of a packaging machine 1 and a method for operating one shown above, many variations of the same are conceivable. Although the first and second grippers 11, 13 can be moved independently of one another, it can e.g. B. it makes sense to coordinate the movements using the control system 31 in such a way that the existing movement spaces are used as best as possible without collisions and thus the process time is minimized.

Claims (13)

  1. A packaging machine (1) comprising a work station (3), an infeed conveyor (5), an outfeed conveyor (7), a control system (31) and a gripper system (9), wherein the gripper system (9) comprises at least first and second grippers (11, 13) each displaceable in a transport direction (T), wherein the first gripper (11) is configured to move one or more packaging trays (15) from the infeed conveyor (5) into the work station (3), and the second gripper (13) is configured to move one or more packaging trays (15) from the work station (3) to the outfeed conveyor (7),
    wherein the control system (31) is configured to move the first gripper (11) independently of the second gripper (13) and is further configured to control the movements of the two grippers (11, 13) such that a collision of the grippers (11, 13) is prevented, and wherein the work station (3) comprises a lower part (25) of a tool and an upper part (27) of the tool, one or both of which are movable to open and close the work station (3),
    characterized in that the control system (31) is configured to control the first gripper (11) and/or the second gripper (13) without collision and at least in phases simultaneously with the lower part (25) of the tool and/or the upper part (27) of the tool, wherein the control system (31) is configured to feed the first gripper (11) and/or the second gripper (13) into the opening work station (3).
  2. The packaging machine according to claim 1, characterized in that the control system (31) is configured to control the second gripper (13) so that the packaging trays (15) are placed on the outfeed conveyor (7) so that an equidistant stream (S) of packaging trays (15) is generated thereon.
  3. The packaging machine according to claims 1 or 2, characterized in that the control system (31) is configured to control the gripper system (9) so that the first gripper (11) when gripping the packaging trays (15) on the infeed conveyor (5) carries out movement synchronized with the speed of the conveying movement thereof.
  4. The packaging machine according to any one of the preceding claims, characterized in that the control system (31) is configured to control the gripper system (9) so that the second gripper (13) when placing the packaging trays (15) on the outfeed conveyor (7) carries out movement synchronized with the speed of the conveying movement thereof.
  5. The packaging machine according to any one of the preceding claims, characterized in that the control system (31) is configured to control the gripper system (9) so that the first gripper (11) is stationary in the transport direction (T) when depositing the packaging trays (15) that the work station (3).
  6. The packaging machine according to any one of the preceding claims, characterized in that the control system (31) is configured to control the gripper system (9) so that the second gripper (13) is stationary in the transport direction (T) when gripping the packaging trays (15) at the work station (3).
  7. The packaging machine according to any one of the preceding claims, characterized in that the gripper system (9) has a dedicated drive (21) for each of the grippers (11, 13) to be controlled separately.
  8. The packaging machine according to any one of the preceding claims, characterized in that the gripper system (9) includes a first transport carriage (17), to which the first gripper (11) is connected, and a second transport carriage (18), to which the second gripper (13) is connected, and the grippers (11, 13) can be moved by means of the transport carriages (17, 18), the control system (31) preferably being configured to move the first transport carriage (17) with the first gripper (11) without collision and at least in phases simultaneously with the second transport carriage (18) with the second gripper (13).
  9. A method for operating a packaging machine (1) comprising the following steps:
    gripping one or more packaging trays (15) on an infeed conveyor (5) by means of a first gripper (11),
    gripping one or more packaging trays (15) at a workstation (3) by means of a second gripper (13),
    moving the first gripper (11) with the packaging trays (15) into the work station (3),
    moving the second gripper (13) with the packaging trays (15) to an outfeed conveyor(7)
    depositing the packaging trays (15) of the first gripper (11) at the work station (3), placing the packaging trays (15) of the second gripper (13) on the outfeed conveyor (7),
    wherein
    the movements of the first and second grippers (11, 13) are independent of each other and a control system (31) controls the movements so that collisions of the two grippers (11, 13) are prevented, characterized in that the gripping and/or moving of the first and/or second grippers (11, 13) takes place at least in phases simultaneously with an opening and/or closing of the work station (3), wherein the first and/or second gripper (11, 13) are fed into the opening work station (3) in sections.
  10. The method according to claim 9, characterized in that the outfeed conveyor (7) preferably carries out a continuous conveying movement and the second gripper (13) places the packaging trays (15) on the outfeed conveyor (7) so as to generate an equidistant stream (S) of packaging trays (15) thereon.
  11. The method according to claims 9 or 10, characterized in that when the packaging trays (15) on the infeed conveyor (5) are gripped by means of the first gripper (11) the same executes movement synchronized with the speed of the conveying movement of the infeed conveyor (5).
  12. The method according to any one of claims 9 or 11, characterized in that when the packaging trays (15) on the outfeed conveyor (7) are gripped by means of the second gripper (13) the same executes movement synchronized with the speed of the conveying movement of the outfeed conveyor (7).
  13. The method according to any one of claims 9 to 12, characterized in that the first gripper (11) is moved by means of a first transport carriage (17) and the second gripper (13) is moved by means of a second transport carriage (18), wherein the movement of the first gripper (11) and the first transport carriage (17) takes place without collisions and at least in phases simultaneously with the movement of the second gripper (13) and the second transport carriage (18).
EP19197155.5A 2018-09-19 2019-09-13 Packaging machine with gripper system Active EP3626636B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102018215914.9A DE102018215914A1 (en) 2018-09-19 2018-09-19 Packing machine with gripper system

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EP3626636A1 EP3626636A1 (en) 2020-03-25
EP3626636B1 true EP3626636B1 (en) 2024-03-06

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Publication number Priority date Publication date Assignee Title
DE102021100646A1 (en) 2021-01-14 2022-07-14 Multivac Sepp Haggenmüller Se & Co. Kg Control gripper carriage
CN113212880A (en) * 2021-05-08 2021-08-06 曾以南 Milk powder filling and film sealing equipment for food processing
CN117163359A (en) * 2023-09-26 2023-12-05 浙江名瑞智能装备科技股份有限公司 Paste body holds in palm box packagine machine

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IT1269721B (en) * 1994-05-06 1997-04-15 Mondini G Spa MACHINE FOR SEALING CONTAINERS THROUGH THE APPLICATION OF A COVERING PLATE
DE102009004837A1 (en) * 2009-01-16 2010-07-22 Multivac Sepp Haggenmüller Gmbh & Co. Kg Multitrack packaging machine
DE102010049588A1 (en) * 2010-10-26 2012-04-26 Multivac Sepp Haggenmüller Gmbh & Co. Kg Shell sealing machine and method of operating such a tray sealing machine
DE102011108919B4 (en) * 2011-07-29 2019-06-13 Multivac Sepp Haggenmüller Se & Co. Kg Multitrack tray sealing machine
DE102014224550A1 (en) * 2014-12-01 2016-06-02 Krones Aktiengesellschaft Apparatus and method for aligning grouped articles and / or piece goods

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