EP4149846A1

EP4149846A1 - Movement device and movement method

Info

Publication number: EP4149846A1
Application number: EP21729810.8A
Authority: EP
Inventors: Christian Westarp; Renè MACKEL
Original assignee: Haver and Boecker OHG
Current assignee: Haver and Boecker OHG
Priority date: 2020-05-13
Filing date: 2021-05-11
Publication date: 2023-03-22
Also published as: BR112022023196A2; CA3183121A1; WO2021228837A1; CN115667074A; DE102021112293A1; US20230242295A1

Abstract

The invention relates to a movement device (200) for a handling device (250), comprising a hinge mechanism (201) on which the handling device (250) is received. The handling device (250) can be moved between a first position (202) and a second position (203) by the hinge mechanism (201). A pre-loading device (204) is operatively connected to the hinge mechanism (201) and/or the handling device (250) in order to absorb the weight of the hinge mechanism and/or the handling device (250) during the movement of the handling device (250) between the first position (202) and the second position (203). In the method for moving a handling device (250) using such a moving device (200), the pre-loading device (204) releases the weight of the handling device (250) during the movement between the first position (202) and the second position (203) so that a continuous and reduced application of force is necessary to move the handling device (250). The packing machine (1) for filling a product, in particular bulk goods, into bags comprises a filling module (100) with a filler neck (101), such a moving device (200), and at least one handling device (250).

Description

Displacement device and method of displacement

description

The present invention relates to a displacement device for at least one handling device, in particular for a gripping device with at least one gripping arm of a packaging machine, comprising at least one articulation mechanism on which the handling device is received. The handling device can be displaced between at least one first position and at least one second position by means of the joint mechanism. The present invention also relates to a method for displacing a handling device with such a displacement device. Furthermore, the present invention relates to a packing machine for filling product and in particular bulk goods into sacks, which comprises at least one filling module with at least one filling nozzle and at least one such displacement device with at least one handling device.

In many machines, components and in particular tools or other processing and / or handling modules are moved back and forth between different positions in order to carry out processing and / or to convey objects or products from one position to another.

For example, in automatic and / or semi-automatic packing machines z. B. for filling bulk material in sacks, for example, an empty sack is gripped from a supply by a gripper device and attached to a filler neck, depending on the configuration. It is the case here that the device has an extremely high mass compared to the empty sack that is being transported. As a result, the amount of energy required to transport the empty sack is disproportionately high.

The filled sack can then also, depending on the configuration of the gripper device, for. B. be conveyed to a locking station or the like.

Depending on the configuration of the packaging machine and / or depending on the arrangement of the individual assemblies with respect to one another, it is often necessary to also move the gripper device or the gripper arm back and forth.

In particular, when the sack to be transported is full, considerable forces sometimes act on the displacement mechanism. In this case, force maxima occur particularly in the end points of the movement, so that starting the movement requires a very high expenditure of force. The large forces acting lead to increased wear and tear and relatively large motors are required for the drive.

It is the object of the present invention to improve the disadvantages described above.

This object is achieved by a displacement device with the features of claim 1, by a method for displacing a handling device with the features of claim 11 and by a packing machine with the features of claim 12. Preferred developments of the invention are the subject of the subclaims. Further advantages and features of the present invention emerge from the general description and the description of the exemplary embodiment.

The displacement device according to the invention is suitable for displacing or moving at least one handling device, in particular for displacing a gripper device with at least one gripper arm of a packaging machine. In particular is at least one handling device added to the displacement device. In this case, the displacement device comprises at least one hinge mechanism on which the handling device is received, the handling device being able to be displaced by means of the hinge mechanism between at least one first position and at least one second position. At least one preloading device is operatively connected to the joint mechanism and / or handling device in order to absorb the weight of the joint mechanism and / or the handling device during the displacement of the handling device at least partially and at least in sections between the first position and the second position.

Preferably, the handling device is in particular a processing device such as a machine, a tool, a gripper, a handling module and / or another component.

The weight of the joint mechanism and / or the handling device is in particular intercepted, absorbed or relieved by the preloading device, whereby a particularly simple and smooth movement of the handling device to and fro can be achieved by means of the joint mechanism.

The preloading device is preferably applied to the joint mechanism or is connected to it in order to intercept the force acting on the entire joint mechanism, i.e. the force caused by the weight of the handling device, i.e. to absorb the dead load and the payload, i.e. the bag weight. In other configurations, however, the

Place the preloading device on the handling device or be attached to it, so that the weight of the handling device and the joint mechanism and the payload is also intercepted or relieved in this way. The preloading device is designed in particular as a spring or spring-like or as a spring-like element, in particular hydraulic and / or pneumatic

Pre-loading devices can be used appropriately.

The preloading device is in particular received in an articulated manner. In this case, the preloading device is received in an articulated manner, in particular on both sides, so that it can move in a suitable manner when the handling device or the articulation mechanism is displaced. In this case, the handling device, as already stated above, can be received in particular on one side of the joint mechanism and / or the handling device. The other side is preferably attached to a housing device, a bracket, a cantilever arm, a wall and / or a ceiling or the like.

The gripper device is preferably on the

Articulated mechanism on a housing device or, in the exemplary embodiments described below, on the base body or the column or on a frame.

A gripper device, which is understood according to the invention as a handling device, can preferably be pivoted back and forth via the hinge mechanism, the weight of the gripper device and the hinge mechanism being relieved by the preloading device.

The maximum force of the pre-loading device also leads, in advantageous developments, to the damping of the movement in the end positions, with the joint mechanism otherwise falling into the end positions without braking. Depending on the configuration, buffers or other stops can also be provided.

The displacement device according to the invention offers many advantages. A considerable advantage is that the relieving of the load on the joint mechanism and / or handling device by the preloading device achieves a so to speak weightless movement of the joint mechanism and thus the handling device can be. The handling device can thus be shifted back from the first to the second position particularly smoothly by a user or by a motor.

In this way, on the one hand, a particularly uniform and flowing movement can be achieved, which in particular is subject to very little wear, since there is no need to work against large forces. In addition, it is also possible, in particular if an automatic or motorized displacement is provided, to use significantly smaller motors to move the handling device back and forth.

This is particularly advantageous when the displacement device is used, for example, in a machine for filling bulk goods, the handling device then, for. B. is designed as a gripper device for attaching empty sacks and for removing filled sacks from a filler neck. Then, when the full sack is removed, the pre-loading device not only relieves the hinge mechanism and the handling device, but also the filled sack attached to the handling device, so that a largely relieved or low-force and particularly smooth and easy movement can take place here as well.

The preloading device is preferably accommodated in an articulated manner. The preloading device is received in an articulated manner, in particular on both sides, so that a suitable movement of the articulation mechanism and / or the handling device is available.

The preloading device is preferably arranged above and / or below the joint mechanism or the handling device, so that the force is essentially intercepted from above and / or intercepted or supported from below.

The shift from the first position to the second position is particularly preferably carried out essentially along an arcuate path, in particular a circular path. This can be done by a corresponding design of the joint mechanism can be achieved.

In expedient developments, the preloading device has the minimum effect at the apex of the arcuate path. The preloading device at the apex of the arcuate path is in particular relieved or substantially relieved. This can be achieved in particular by a corresponding positioning of the preloading device relative to the joint mechanism and / or handling device, depending on where the preloading device acts.

In particular, the preloading device is set or provided in such a way that the handling device remains in the end positions due to its own weight and does not lift off or is shifted back in the direction of the other position.

The preloading device preferably comprises at least one pneumatic device. It is provided in particular that the preloading device comprises at least one pneumatic cylinder which effects the preloading.

The maximum deflection of the preloading device preferably defines at least one stop for the deflection of the gripper device. For example, in the case of a spring, the spring deflection or, in the case of a pneumatic cylinder, the maximum or set maximum deflection can define the end positions. This can effectively and reliably limit the range of motion.

Depending on the configuration, buffers or the like can also be provided additionally or exclusively for defining end points, into which the joint mechanism runs in the end positions or is deposited there.

The joint mechanism is particularly preferably designed in the manner of a linkage. Such a configuration can a particularly advantageous sequence of movements can be achieved in interaction with the preloading device.

In expedient developments, the hinge mechanism comprises at least one four-bar chain. At least two four-bar chains, which are connected to one another, are preferably provided parallel to one another. In this way, a particularly stable joint mechanism can be made available which ensures a particularly advantageous sequence of movements.

The handling device is preferably designed as a gripper device with at least one gripper arm, the gripper arm being received on the gripper device in a height-adjustable manner in particular. The height adjustment can in particular ensure that bags can be attached to and removed from a filling spout in a particularly reliable manner. In particular, depending on the configuration, it is also possible if the handling device z. B. is designed as a gripper device for gripping sacks, so that the sack is initially lowered slightly by tilting the gripper during the movement of the joint mechanism and a vertical movement is superimposed again when the gripper is pivoted back into the end position when the grippers are horizontal again, with which the gripper then transfers the sack to a fixed filling support.

In addition, when a handling device is designed as a gripper device with at least one gripper arm, it is provided that the preloading device also relieves the load transported by the gripper arm or by the gripper device, for example empty and / or filled sacks.

At least one actuator device is preferably provided for moving the handling device or the joint mechanism. The actuator device acts on the joint mechanism in particular. However, it can also transmit the force to the handling device, depending on which configuration is sensible and advantageous depending on the installation situation. By a motor device to move the handling device or to When the joint mechanism is displaced, the handling device can be automatically moved back and forth from the first position to the second position. An actuator device can in particular comprise at least one motor device or at least one motor or be made available by such a device. Depending on the configuration, however, the actuator device can additionally or exclusively comprise at least one pneumatic device or at least one pneumatic cylinder or be made available as a result.

The method according to the invention is suitable for displacing a handling device by means of a displacement device as described above. The preloading device at least partially relieves the weight of the handling device and / or the hinge mechanism when it is shifted at least in sections between the first position and the second position, so that an essentially continuous and reduced application of force is necessary to move the handling device or the hinge mechanism.

The method according to the invention also offers the advantages already mentioned above. In particular, it is possible, depending on the configuration, to move the displacement device with less or even almost effortlessly or without any effort, regardless of the weight attached to the joint mechanism or the handling device. In particular, smaller motors can also be used for the automatic or automated displacement of the handling device or the joint mechanism, since less force is required. In addition, these are also more durable, as less force acts on the individual components, so that z. B. the engine is subject to less wear.

The packaging machine according to the invention is suitable for filling product and in particular bulk goods in sacks and comprises at least one filling module with at least one filling nozzle and at least one displacement device with at least one handling device, as described above. The packaging machine according to the invention also offers the advantages already mentioned above.

Further advantages and features of the present invention emerge from the exemplary embodiment which is explained below with reference to the accompanying figures.

In the figures show:

Fig. 1 is a purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a perspective view;

2 shows a further purely schematic representation of a

Fig. 3 is a next purely schematic representation of a

Fig. 4 is a purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a view from the front;

Fig. 5 is a purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a view from the side of the bag removal;

6 shows a further purely schematic representation of a

7 shows a next purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a view from the side of the bag removal; 8 shows another purely schematic representation of an exemplary embodiment of a packaging machine according to the invention in a view from the side of the bag removal;

9 shows a purely schematic representation of a

Exemplary embodiment of a packing machine according to the invention in a view from the side of the bag supply;

Fig. 10 is a purely schematic representation of a

11 shows a further purely schematic representation of a

FIG. 12 shows the view according to FIG. 11 with the transfer device extended;

13 shows a purely schematic representation of a

Embodiment of a transfer device;

14 shows an enlargement according to FIG. 13;

15 shows a further purely schematic illustration of an exemplary embodiment of a transfer device;

16 shows an enlargement according to FIG. 15;

17 shows a perspective view corresponding to the view from FIG. 15;

18 shows an enlargement according to FIG. 17;

19 is a purely schematic view of a

Embodiment of a transfer device with a cleaning device according to the invention; 20 shows a purely schematic representation of a cleaning device according to the invention in a perspective view;

21 shows a further purely schematic representation of a cleaning device according to the invention in a perspective view;

22 shows a next, purely schematic representation of a cleaning device according to the invention in a perspective view;

23 shows another purely schematic representation of a cleaning device according to the invention in a perspective view;

24 shows a further purely schematic representation of a cleaning device according to the invention in a perspective view;

25 shows a purely schematic representation of a

Exemplary embodiment of a transfer device and a sack transport in a front view;

26 shows a further purely schematic representation of a

Exemplary embodiment of a transfer device and a sack transport in a front view;

27 shows a next purely schematic representation of a

Exemplary embodiment of a transfer device and a sack transport in a front view;

28 shows details from FIGS. 26, 27 and 28;

29 shows a next exemplary embodiment of a packaging machine according to the invention in a perspective view;

30 shows the exemplary embodiment according to FIG. 29 in a front view; 31 shows the exemplary embodiment according to FIG. 29 in a rear view;

32 shows the exemplary embodiment according to FIG. 29 in a top view;

33 shows the exemplary embodiment according to FIG. 29 in a side view;

34 shows a purely schematic representation of a

Exemplary embodiment of a displacement device according to the invention in a view from the side;

35 shows an enlarged illustration of the exemplary embodiment according to FIG. 34;

36 shows a purely schematic representation of a

Exemplary embodiment of a displacement device according to the invention in a perspective view;

37 is a purely schematic representation of the

Embodiment according to Figure 36 in a different perspective view;

38 shows a purely schematic representation of a

39 shows an enlarged illustration of the exemplary embodiment according to FIG. 38;

40 shows a purely schematic representation of a

Exemplary embodiment of a displacement device according to the invention in a view from the side; and

41 shows an enlarged illustration of the exemplary embodiment according to FIG. 40. In Figure 1, a packaging machine 1 according to the invention is shown in a perspective view. In the exemplary embodiment shown here, the packing machine 1 comprises a sack supply 2, a sack removal 3 and a transfer device 4 arranged in between. The sack supply 2, the sack removal 3 and the transfer device 4 are arranged in a line 12.

Pulled out of the line 12 and arranged next to the transfer device 4 in the exemplary embodiment shown here, a filling module 100 is provided. In the exemplary embodiment shown here, empty sacks are fed from the sack supply 2 to the filling module 100 by means of the transfer device 4.

The sack thus fed to the filling module 100 is attached to the filling nozzle 101 of the filling module 100 and filled, and is guided back into the line 12 by the transfer device 4 and fed to the sack removal system 3.

By arranging the filling module 100 next to it or pulling it out of the line 12, almost any desired filling module 100 can be used together with the modules or assemblies of the packaging machine 1 arranged in line 12. In particular, standard modules can also be used, so that no special configuration of a filling module 100 has to be provided for the packaging machine according to the invention, preferably modules for filling open sacks regardless of the filling technology.

In the exemplary embodiment shown here, the packaging machine 1 is provided in an encapsulated manner, for which purpose the individual assemblies or modules are provided in housing devices 11, 102. In the exemplary embodiment shown here, the assemblies arranged in line 12, namely the bag supply 2, the bag removal 3 and the transfer device 4 are provided in a common housing device 11. In the exemplary embodiment shown, the filling module 10 is provided in its own housing device 102. By arranging the individual assemblies or modules in housing devices 11, 102 it is possible, depending on the configuration, to hermetically seal off the filling process so that dangerous or sensitive substances can also be filled using the packaging machine 1. In particular, a negative pressure can also be created in the packing machine 1 or in the housing devices 11, 102 or suction can take place, so that product escaping during filling cannot escape into the environment but can be safely disposed of or even recycled.

The bag supply 2 comprises the one shown here

Embodiment also a sack production 13, wherein for this purpose, starting from a film supply 14 sacks are produced and made available to the transfer device 4.

In the exemplary embodiment shown here, the sack transport 3 comprises a closure device 15, by means of which the filled and still open sacks can be closed, and a conveyor belt 16 for transporting the filled and closed sacks away.

The fact that the bag supply 2, the bag removal 3 and the transfer device are arranged in a line 12 and the filling module 100 is arranged pulled out of this line 112 results in a T-shaped arrangement of the packaging machine 1 according to the invention.

As stated earlier, this offers many advantages. One advantage is that by arranging the filling module 100 next to it or by pulling the filling module 100 out of the line 12, almost any (standard) filling module can be used. In this way, on the one hand, already existing filling modules 100 can be used. On the other hand, the secondary arrangement means that a filling module can also be changed or exchanged quickly without too much effort. In known inline systems, that is to say systems in which everything is arranged in a line, it can be difficult for reasons of space to use the filling technology, in particular the air filling module 105 with pressure chamber shown in the exemplary embodiment 106, to be arranged in line. In addition, the operability and maintainability would be made more difficult.

Another advantage is that the T-shaped configuration or arrangement of the packaging machine enables a particularly compact design.

In FIGS. 2 to 4, two perspective views and a front view of the packing machine 1 are shown for better illustration of the packing machine 1, the housing panels 17, 103 not being shown in the case of the housing devices 11, 102 in order to provide overview views of the interior of the packing machine 1 or . to grant to the different modules or assemblies.

In FIGS. 5 and 6, the view of the transfer device 4 from the side of the bag removal 3 is shown once in an overview view and once in an enlarged illustration.

In this view, it can be seen that the filling module 100 is provided or arranged next to the transfer device 4, whereby the filling nozzle 101 of the filling module 100 can also be seen in this view. Here one can also see the inlet funnel 104 of the filling module 100, which is connected to a silo (not shown) for the product to be filled. In this case, product is fed into the pressure chamber 106 within the filling module 100 or here the air filling module 105 to the filling nozzle 101 via the inlet funnel 104.

In this view it can be seen that the transfer device has a first gripper device 5 and a second

Gripper device 6 comprises which are received on different sides 7, 8 of the transfer device 4 or on a base body 18 of the transfer device 4.

It is shown here that the base body 18 of the transfer device 4 is constructed in the manner of a column here and in the The embodiment shown here is provided hanging. In the exemplary embodiment shown, the base body 18 hangs on rails 19, as a result of which the base body 19 with the gripper devices 5, 6 can be pulled out of the line 12 to the left in this view. This displaceability of the transfer device 4 will be shown and described again in more detail later.

In addition to the displaceability of the transfer device 4 or the base body 18 of the transfer device 4, the base body 18 can also be rotated back and forth through 90 ° in the exemplary embodiment shown here. By turning the base body 18 of the transfer device 4 back and forth and by arranging the first gripper device 5 on one side 7 of the base body 18 and the arrangement of the second gripper device 6 on the side 8 of the base body 18, a 90 ° back and forth By turning the base body 18, a sack can be fed from the sack supply 2 by means of the transfer device 4 from the line 12 to the filling module 100 or the filling nozzle 101. If the base body 18 or the transfer device 4 rotates back, the second gripper device 6 comes into contact with the now filled sack at the filling spout 101 and can pick it up and, when the base body 18 is pre-rotated or rotated again, is guided back into the line 12 and the sack is transported away are fed.

The enlargement in FIG. 6 shows the first gripper device 5 and the second gripper device 6 on different sides 7, 8 of the base body 18 of the transfer device 4. One of the two gripper arms 9 of the first gripper device 5 can also be seen here.

As can be seen in more detail in the following figures, the gripper device 5 in the exemplary embodiment shown here comprises two gripper arms 9 which can be moved relative to one another so that they serve as a type of spreader. So it is possible that the gripping arms 9 of the first

Gripper device 5 pick up an open sack from sack supply 2 or from sack manufacture and attach it to filling nozzle 101 append. For this purpose, the first gripper device 5 or for this purpose the gripper arms 9 can also be displaced forwards and withdrawn again in the exemplary embodiment shown here, which is shown purely schematically in FIGS.

In FIG. 9, the view of the transfer device 4 and the filling module 100 from the direction of the sack supply 2 is shown in a purely schematic manner. The base body 18 of the transfer device 4 is rotated in such a way that the second gripper device 6 is oriented in the direction of the filling nozzle 101 of the filling module 100. In this position, the first gripper device 5 is oriented in such a way that it can pick up an empty sack from the sack supply 2.

FIG. 10 shows a purely schematic view of the transfer device 4 and the filling module 100 from the side of the bag removal 3.

It can be seen here that the second gripper device 6 is provided so that it can be displaced, so that the second gripper device 6 in the exemplary embodiment shown can be pivoted or displaced forwards in the direction of the filler neck 101 via a parallelogram-like structure 20. Thus, the clamping devices 10 of the second gripper device 6 can compress the bag walls of the filled bag that are still open and then move the bag back in the direction of the base body 18.

The base body 18 can then be rotated here clockwise by 90 °, so that the full sack can be shifted back into the line 12 and then fed to the sack sack removal system. At the same time, while the full sack is being removed by the second gripping device 6, a new, empty sack can be picked up by the first gripping device 5. When the full sack is turned into the line 12, a new, empty sack is then simultaneously moved out of the line 12 and fed to the filler neck 101. In FIG. 10 it can also be seen that a cleaning device 50 according to the invention is provided above the second gripper device 6, which is explained in detail in the later figures.

In FIGS. 11 and 12, a side view of the packing machine 1 or the transfer device 4 and the filling module 100 from the direction of the bag removal 3 are shown again in a purely schematic manner. In a comparison of this view, it can be seen that the transfer device 4 or the base body 18, together with the gripper devices 5, 6 attached to it, is designed so that it can be moved or pulled out.

For this purpose, as already stated above, in the exemplary embodiment shown here, the base body 18 is suspended in an upper region and can be displaced via a rail 19 or a rail system 19. Other technical components or parts for moving the base body 18 can also be used in an analogous manner.

Because, in the exemplary embodiment shown here, the transfer device 4 or the base body 18 of the transfer device 4 can be pulled out transversely to the line 12, sufficient space is made available for maintenance personnel to maintain the packaging machine 1, for example.

In this way, in the extended state of the base body 18, it is particularly possible to comfortably reach all the assemblies of the packaging machine 1 in the exemplary embodiment shown here. In particular, the filling module 100 can also be reached from the side of the filling nozzle 101. However, the bag supply 2, the bag removal and also the otherwise inaccessible side of the transfer device can be serviced and / or repaired.

In FIGS. 13 and 14, the transfer device 4 or the base body 18 of the transfer device 4 of the packaging machine 1 is shown in an overview and a detailed view. In this exemplary embodiment, the first gripper device 5 and the second gripper device 6 are arranged offset by 90 ° on the different sides 7, 8. This arrangement ensures a superimposed mode of operation of the empty sack and full sack transfer or transport.

A cleaning device 50, which comprises a housing device 64, is provided above the second gripper device 6, a pivotable housing element 65 or a pivotable flap 66 being provided in the exemplary embodiment shown here. The cleaning device 50 will be explained in more detail in later figures.

In addition, it can be seen that the first gripper device 5 is arranged on the side 7 of the base body 18, which in the exemplary embodiment shown here comprises two gripper arms 9, which here can be moved relative to one another or pivoted or displaced outward. The gripping arms thus act as a spreader and can pick up an empty sack from the sack supply 2 or take it over from it.

Furthermore, as can already be seen in the figures, the first gripper device 5 is provided pivotably so that it can be displaced forwards in the direction of the filling nozzle 101 and also in the direction of the bag supply 2. Depending on the configuration, telescopic gripping arms 9 or other components of the first gripping device 5 can also be provided, for example.

In FIGS. 15 and 16, the base body of the transfer device 4 is rotated in such a way that the first gripper device 5 is oriented in the direction of the filling nozzle 101 of the filling module 100. In this position, in the exemplary embodiment shown here, an open sack (not shown) is held on the gripping arms 9 by spreading the two gripping arms 9, the gripping device 5 being displaced forward in order to bring the sack held open to the filler neck 101 to be attached. In addition, the second gripper device 6 with the clamping devices 10 can be seen.

In Figures 17 and 18, the side view from Figures 15 and 16 is shown again in a slightly perspective view obliquely from above, with the cleaning device 50 above the second gripper device 6 being hidden in order to get a better impression of the clamping devices 10 of the second To obtain gripper device 6.

In FIGS. 19 to 24, the cleaning device 50 according to the invention provided above the second gripper device 6 in the exemplary embodiment shown here and its mode of operation are described in detail.

In the exemplary embodiment shown here, the cleaning device 50 according to the invention is provided for cleaning the so-called head seam area of a sack to be closed with the aid of blown air.

In addition to the application of the cleaning device 50 according to the invention presented here, it can also clean any other work section, in particular with regard to the packaging machine 1 described here.

In Figure 19 is an overview of the

The transfer device 4 of the packaging machine 1 according to the invention is shown purely schematically, the cleaning device 50 according to the invention in the one shown here

Embodiment is arranged above the second gripper device 6.

In this exemplary embodiment, the cleaning device 50 comprises two blow bars 51, which cannot be seen in FIG. 19. In the exemplary embodiment shown here, the cleaning device 50 is provided encapsulated in a housing device 64. This makes it possible that a hermetic seal of the blower strips 51 and the to be cleaned Working section is reached. In order to feed the working section or the sack to be cleaned to the cleaning device 50, the housing device 64 comprises a movable or here pivotable housing element 65 or a flap 66, which is shown in the closed state in the view shown.

In FIG. 20, a cleaning device 50 according to the invention can be seen in a perspective view, the movable housing element 65 or the flap 66 being shown in the open state. In this way, the view of the two blow bars 51 located within the housing device 64, shown here by way of example, becomes clear.

In FIG. 21, the assembly of the cleaning device 50 is shown again separately in a perspective view in a perspective view. Here, too, the flap 66 or the pivotable housing element 65 is shown in the open state, so that the two blow bars 51 provided in the exemplary embodiment shown here can be seen.

In the exemplary embodiment shown here, the blow bars 51 each comprise a multiplicity of first nozzle devices 52, second nozzle devices 53 and third nozzle devices 54, which are here arranged in rows 60, 61, 62.

Air can be applied to the three rows 60, 61, 62 provided here by the first nozzle devices 52, the second nozzle devices 53 and the third nozzle devices 54 so that a moving air wave is blown out over the working section to be cleaned.

This is achieved in that the first nozzle devices 52 and the first row 60 of first nozzle devices 52 each have a first blow-out direction 55, which differs from the blow-out directions 56, 57 of other nozzle devices 53, 54 or rows 61, 62 of nozzle devices 53, 54 differs. In particular, it is preferred and also provided in this exemplary embodiment that the first nozzle devices 52, the second nozzle devices 53 and the third nozzle devices 54 each have a blow-out device 50, 56, 57, which are each different from one another.

Furthermore, a control device 58, not shown in any more detail in the figures, is provided which is suitable and designed to control the nozzle devices 52, 53, 54 at least at times in a temporally offset manner.

For this purpose, it is provided in the exemplary embodiment shown that separate air inlets 59 are provided within the blow bars 51 for the three rows 60, 61, 62 of nozzle devices 52, 53, 54. This is provided here for both blower bars 51 and can be seen purely schematically in FIG. 22 by hiding the left blower bar 51. By hiding one of the blower strips 51, one can see the separate air inlets 59a located outside the blower strip 51 or the connections for the air inlets 59 of the blower strip 51.

In FIGS. 23 and 24 it is shown purely schematically that a suction device 63 can also be provided in order to suck off the air expelled by the blow bars 51 or also another fluid together with the swirled up particles.

For this purpose, the suction device 63 is in the embodiment shown here via an opening 67 in the

Housing device 64 in operative connection with the interior of the housing device 64.

In the embodiment shown, a suction pipe 68 is provided which is connected to this opening 67. Depending on the configuration, a further suction pipe 68 can also be provided on the left-hand side, for example, the opening 67 on the left-hand side being closed by a cover 69 here. In the exemplary embodiment shown, it is provided, as already described above, that the closing of the movable housing element 65 or the flap 66 of the housing device 64 creates a hermetically essentially sealed cleaning space. Depending on the application, the suction device is then set in such a way that at least the volume of air or, in general, the volume that is blown into the housing 64 through the blow bars 51 is suctioned off. In particular, it is preferred that at least enough is sucked out that at least a slight negative pressure arises within the housing device 64. This is particularly important for systems that are used in the dust-ex area. In uncritical work environments or in general, a non-hermetically sealing housing device 64 or no housing device 64 can also be provided.

In FIGS. 23 and 24 it can also be seen once again that the different rows 60, 61, 62 of the first, second and third nozzle devices 52, 53, 54 are connected via different air inlets 59a per blow bar 51.

So the different control of the individual nozzle devices 52, 53, 54 or the individual rows 60, 61,

62 of these nozzle devices 52, 53, 54 also possible differently per blow bar 51. In the exemplary embodiment shown, an air wave or a moving air flow can be generated over the entire length and also over the width of the working section to be cleaned, which in particular simulates the outlet pattern of a pendulum nozzle without using moving parts. In the case of the blow-out pattern of a pendulum nozzle, when the bag section is cleaned for the later head seam, the bag walls to be connected later are blown apart, so that product located between the bag walls is removed.

In particular, an oscillating air jet ensures that when the bag mouth edge is cleaned before the filled bag is closed or welded by the moving bag Air flow the bag walls or film layers lying on top of one another are opened by the acting air jet, so that the air jet hits the inner surfaces, whereby the adhering dust or dirt particles are removed here. By changing the air jet, with a corresponding configuration of the sack, the layers of the side gussets are also separated from one another, so that this area is also cleaned. The individual film layers are peeled open one after the other by the moving or oscillating air flow and cleaned by the air flow that penetrates in this way.

In FIGS. 25 to 28, the transfer of a filled sack by the transfer device 4 for the sack removal 3 is shown in a purely schematic manner.

A parallelogram-like structure 20 is provided, on which the second gripper device 6 with the

Clamping devices 10 is provided. This structure 20 is also used to remove the full sack from the filling spout 101 or to bring the second gripper device 6 into contact with the filled sack.

In the basic state, the second gripper device 6 lies relatively close to the base body 18 of the transfer device 4. In the following FIGS. 26 and 27 it can be seen how the second gripper device 6 moves forward in the direction of the bag transport 3 due to the displacement of the parallelogram-like structure 20.

The closure device 15 can also be seen here, which is designed as a welding station 21 in the exemplary embodiment shown here.

FIG. 28 shows, purely schematically, by showing the individual positions of the parallelogram-like structure 20 next to one another, that due to the special design of this parallelogram-like structure 20, the filled sack by means of the gripper device 6 of the transfer device 4 is approximately on a Line or approximately straight to which is transferred to the bag removal 3.

A further exemplary embodiment of a packaging machine 1 according to the invention is shown purely schematically in FIGS. 29 to 33. The configuration of this exemplary embodiment essentially corresponds to the exemplary embodiment already described above.

In particular, the bag supply 2, the transfer device 4 and the bag removal 3 are arranged in a line 12. In contrast to the exemplary embodiment shown above, one filling module 100 is not pulled out of the line 12 and arranged next to the transfer device 4, but two filling modules 100 are arranged outside the line 12 next to one another.

In order to select which of the two filling modules 100 is used, the transfer device 4 in the exemplary embodiment shown here is provided so that it can be moved so that it can be arranged either in front of one or the other filling module 100. For example, a quick product change or maintenance of a filling module 100 can take place, for which purpose the transfer device 4 can be pushed or moved in front of the filling module 100 to be used or not to be maintained.

Parallel to the fact that the transfer device 4 can be shifted in the line 12, depending on the configuration, the transfer device 4 can also be moved or displaced transversely to the line 12, as in the exemplary embodiments shown above.

In order to ensure that bags are reliably picked up from the bag supply 2 and that the filled bags are reliably transferred by the transfer device 4 to the bag removal device 3, the individual components of the transfer device 4 can be provided so that they can be displaced accordingly. Depending on the configuration, however, the bag supply 2 and / or the bag removal 3 can also be relocated so that there are always optimal distances between the individual assemblies.

In FIG. 34, a displacement device 200 according to the invention is shown purely schematically in a side view, which is integrated into the packing machine 1 according to the invention. In this case, a handling device 250 is received on the displacement device 200, which is the first gripper device 5 in the exemplary embodiment shown. In the exemplary embodiment shown here, the gripper device 5 comprises two gripper arms 9, by means of which an empty sack can be picked up from the sack manufacture 13 and fed to the filling nozzle 101 of the filling module 100.

In the exemplary embodiment shown here, the displacement device 200 comprises a hinge mechanism 201 and a preloading device 204, the handling device 250 being able to be displaced by means of the hinge mechanism 201 from a first position 202 or a basic position 211 into a second position 203 or an extended position 212 .

In the exemplary embodiment shown here, the preloading device 204 is arranged above the joint mechanism 201 or the handling device 250 and here comprises a pneumatic device 207 with a pneumatic cylinder 213.

Depending on the configuration, the displacement device 200 can also or exclusively be connected to the joint mechanism 201 or the handling device 250 from below.

The preloading device 204 is here hingedly connected to the housing device 11 at the upper free end, the other end being hingedly connected to the hinge mechanism 201 in the exemplary embodiment shown.

In FIG. 35, an enlarged illustration of the displacement device 200 according to the invention is shown in the first position 202 according to FIG. 34 from the side. In the embodiment shown here, the dashed double arrow indicates that the gripper device 5 or the gripper arms 9 are provided in a height-adjustable manner, so that the gripper arms 9 can be moved up and down, in particular to attach the sack to the filler neck 101.

It can also be seen that the hinge mechanism 201 is designed as a coupling gear 208 or four-bar chain 209, which enables a particularly suitable displacement of the handling device 250.

The preloading device 204 is provided to absorb the weight of the handling device 250 and the hinge mechanism 201 so that the coupling operation or the four-bar chain 209 can be shifted particularly smoothly and evenly, with most of the weight being carried by the preloading device 204 or the one shown here Embodiment is intercepted by the pneumatic device 207 or the pneumatic cylinder 213.

It is thus possible, in particular, to move the handling device 250 smoothly and / or pneumatically and / or by motor. In particular, it is possible to make an actuator device 210, not shown in greater detail in the figures, relatively small and, in particular, smaller than in the case of conventional displacement devices 200. For example, a motor device or a motor and / or a pneumatic device or at least one pneumatic cylinder can then be provided with corresponding dimensions.

In FIGS. 36 and 37, an exemplary embodiment of a displacement device 200 according to the invention without a preload device 204 is shown in two different perspective views.

Here, too, it can be seen that the handling device 250 or the first gripper device 5 with the two gripping arms 9 is arranged on the joint mechanism 201. It can be clearly seen in FIG. 37 that the joint mechanism 201 in the exemplary embodiment shown here comprises two coupling gears 208 or four-joint chains 209 arranged in parallel, which are connected or synchronized with one another. A displacement device 200 according to the invention is shown in FIG. 38, the hinge mechanism 201 being in an intermediate position 215 here.

An enlarged illustration of the displacement device 200 according to FIG. 38 is shown purely schematically in FIG. 39.

It is indicated purely schematically by the dashed line in FIG. 39 that the joint mechanism 201 or the coupling gear 208 or the four-joint chain 209 moves along an arcuate path 205, so that the handling device 250 also moves in an arcuate or somewhat circular or in approximately semicircular movement is shifted. The individual links 216 and the coupling 217 of the coupling operation 208 or the four-bar chain 209 can be seen particularly well in FIG.

In the exemplary embodiment of a displacement device 200 shown here, the preloading device 204 or the pneumatic device 207 or the programmatic cylinder 213 is designed such that the effect or the preloading effect at the apex 206 of the arcuate path 205 is minimal.

The links 216 of the coupling mechanism 208 are essentially vertical in this position, so that the handling device 250 rests in this position essentially relieved of the load on the links 216 or is supported by them, whereby a relief is achieved and a minimal effect of the preloading device 214 is harmless is.

In the end positions or in the first position 202 and / or the second position 203, the effect of the Preload device 204 be maximum and / or limit the movement so that a type of stop is created.

In the exemplary embodiment shown, however, buffers 218 are provided on which, in the exemplary embodiment shown here, the left links 216 or the joint mechanism 201 rest in the end positions.

40 and 41 show an exemplary embodiment of a displacement device 200 according to the invention with the handling device 250 received thereon or the gripper device 5 with the gripping arms 9 in the other end position, namely the second position 203 or the extended position 212, in a side view and a shown enlarged view.

In this position, the left handlebar 216 of the coupling operation 208 rests on the right buffer 218. Then it is

Handling device 250 moved all the way to the right, so that in the exemplary embodiment shown here, the gripping device 5 or the gripping arms 9 can attach an empty sack to the filling nozzle 101.

It can also be seen here that the preloading device 204 in the exemplary embodiment shown here engages at the point 214 between the two coupling gears 208 or four-bar chains 209. For this purpose, the pneumatic device is attached to a carrier between the two couplings 217 of the two coupling gears 208.

Depending on the configuration, the weight of the filled sack can also be intercepted by the preloading device 204 when the sack is removed from the filling nozzle 101. In the exemplary embodiment shown here, however, the full sack is removed from the second gripper device 6, then closed and fed to the sack discharge or conveyor belt 16.

In particular, by the invention

Displacement device 200 achieves that the movement of the Handling device 250 and, in this case, the first gripping device 5, can be carried out essentially with a load-relieving effect, since the weight of the handling device 250 is intercepted or relieved by the preloading device 204 and the special design of the joint mechanism 201.

List of reference symbols

1 packing machine 63 suction device

2 Bag supply 64 housing device

3 Sack removal 65 housing element

4 Transfer device 66 flap

5 first gripper device 67 opening

6 second gripper device 68 suction tube

7 page 69 Cover

8 page 100 filling module

9 Gripper arm 101 filling spout

10 clamping device 102 housing device

11 Housing equipment 103 Housing cover

12 Line 104 inlet funnel

13 Sack manufacture 105 Air filling module

14 Foil supply 106 pressure chamber

15 locking device 200 displacement device

16 Conveyor Belt 201 Link Mechanism

17 Housing cover 202 first position

18 base body 203 second position

19 Rail 204 Preload Device

20 parallelogram-like 205 arcuate path structure 206 vertex

21 Welding station 207 pneumatic device

50 cleaning device 208 coupling gear

51 Blower bar 209 four-link chain

52 first nozzle device 210 actuator device,

53 second nozzle device pneumatic cylinder

54 third nozzle device 211 basic position

55 Blow out direction 212 extended position

56 Discharge direction 213 Pneumatic cylinder

57 Discharge direction 214 digit

58 Control device 215 intermediate position

59 Air supply 216 Handlebars

59a Air supply 217 coupling

60 row 218 buffers

61 Row 250 handling device

62 row

Claims

Expectations

1. Displacement device (200) for at least one handling device (250), in particular for a gripping device (5) with at least one gripping arm (9) of a packaging machine (1), comprising at least one articulation mechanism (201) on which the handling device (250) is received wherein the handling device (250) can be displaced between at least one first position (202) and at least one second position (203) by means of the joint mechanism (201), characterized in that at least one preloading device (204) is in operative connection with the joint mechanism (201 ) and / or the handling device (250) is at least partially and at least partially between the first position (202) and the second position (203 ) intercept.

2. Displacement device (200) according to claim 1, wherein the preloading device (204) is articulated.

3. Displacement device (200) according to one of the preceding claims, wherein the displacement from the first position

(202) into the second position (203) takes place essentially along an arcuate path (205).

4. Displacement device (200) according to the preceding claim, wherein the preloading means (204) at the apex (206) of the arcuate path (205) the has minimal impact.

5. Displacement device (200) according to one of the preceding claims, wherein the preloading device (204) comprises at least one pneumatic device (207).

6. Displacement device (200) according to one of the preceding claims, wherein the maximum deflection of the preloading device (204) defines at least one stop for the deflection of the handling device (250).

7. Displacement device (200) according to one of the preceding claims, wherein the joint mechanism (201) is designed in the manner of a coupling gear (208).

8. Displacement device (200) according to one of the preceding claims, wherein the link mechanism (201) comprises at least one four-link chain (209).

9. Displacement device (200) according to one of the preceding claims, wherein the handling device (250) is designed as a gripper device (5) with at least one gripper arm (9), the gripper arm (9) being received on the gripper device (5), in particular adjustable in height.

10. Displacement device (200) according to one of the preceding claims, wherein at least one actuator device (210) is provided for moving the handling device (250).

11. The method for moving a handling device (250) by means of a displacement device (200) according to one of the preceding claims, characterized in that the preloading device (204) the weight of the Handling device (250) is at least partially relieved during displacement between the first position (202) and the second position (203), so that an essentially continuous and reduced application of force is necessary to move the handling device (250).

12. Packing machine (1) for filling product and in particular bulk goods in sacks comprising at least one filling module (100) with at least one filling nozzle (101), at least one displacement device (200) according to one of claims 1 to 10 and at least one handling device (250 ).