EP4355658A1 - Dispositif et procédé d'insertion d'une pluralité de piles de marchandises de type feuille dans un emballage commun - Google Patents

Dispositif et procédé d'insertion d'une pluralité de piles de marchandises de type feuille dans un emballage commun

Info

Publication number
EP4355658A1
EP4355658A1 EP22732107.2A EP22732107A EP4355658A1 EP 4355658 A1 EP4355658 A1 EP 4355658A1 EP 22732107 A EP22732107 A EP 22732107A EP 4355658 A1 EP4355658 A1 EP 4355658A1
Authority
EP
European Patent Office
Prior art keywords
stack
intermediate frame
stacks
gripped
gripper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22732107.2A
Other languages
German (de)
English (en)
Inventor
Michael WOMBACHER
Frank Seidel
Axel Fischer
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.)
Polar Mohr Beteiligungs GmbH
Original Assignee
Polar Mohr Beteiligungs GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Polar Mohr Beteiligungs GmbH filed Critical Polar Mohr Beteiligungs GmbH
Publication of EP4355658A1 publication Critical patent/EP4355658A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • 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
    • B65B25/00—Packaging other articles presenting special problems
    • 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
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/14—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form
    • 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
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/14—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form
    • B65B25/141—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form packaging flat articles in boxes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
    • B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
    • 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
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles

Definitions

  • the present invention relates to a device for introducing several stacks of sheet-like material into a common package and a method for introducing several stacks of sheet-like material into a common package, in particular using the device according to the invention.
  • the respective stack of the sheet-like material has sheet-like material stacked along a stacking axis.
  • the stacks are in particular label stacks, in particular label stacks which are formed from labels stacked one on top of the other for application to drinks bottles or the like. It is quite conceivable that the multiple stacks are bundled in each case in order to prevent individual sheets from being released from the respective stack.
  • the respective stack can be bundled with a banderole or a circulating band.
  • Stacks of sheet material arise in particular in the graphics industry, for example when producing flyers, labels, business cards, placards or posters, since these are usually formed by trimming or punching a stack of sheet material.
  • the individual stacks are often wrapped with a surrounding band after trimming or punching or the like fixed to prevent individual sheets from being released from the respective stack and to increase the dimensional stability of the stack. It is then necessary to pack these stacks, in particular to pack them in a box, and to hand them over to the customer in this packed form.
  • stacks of labels are mainly packed by hand, since these stacks of labels are aligned differently and, if necessary, nested in order to achieve the best possible packing density and thus the fewest possible empty spaces in the packaging.
  • the label stacks are placed in a packaging that is open at the top in such a way that a printed side of the label faces the opening, so that the printed side is visible after the packaging has been opened. Insertion from above into the packaging is also referred to as "top load".
  • top load Insertion from above into the packaging is also referred to as "top load”.
  • An automatic packer for rectangular articles is known, for example, from EP 2995561 B1.
  • the aforementioned document discloses a device for packaging rectangular articles, which device has a hand for gripping an upright bundle of rectangular articles, and can further be equipped with a rotating mechanism for changing the orientation of the upright aligned bundle of rectangular articles such that the bundle is aligned as desired.
  • the rectangular items are from above placed in the packaging.
  • the packer is a top-load packer.
  • the disadvantage of this device is that the bundles are placed individually in the box and then have to be pushed together in order to obtain the highest possible packing density. This leads to long cycle times. With the device described in EP 2995561 B1, it is not possible to align the stack in such a way that the gripping surfaces on which the gripper grips the bundle are aligned parallel to the opening of the carton.
  • the object of the present invention to create a device for introducing a plurality of stacks of sheet-like goods, in particular printed sheet-like goods, into a common package which overcomes the aforementioned disadvantages. Furthermore, the object of the invention is to specify a method for introducing a plurality of stacks of sheet-like material into a common package, in particular a method using the device according to the invention.
  • the device according to the invention is used for introducing several stacks of sheet-like material into a common package.
  • the respective stack has sheet-like material stacked along a stacking axis.
  • the stacked sheet-like material is in particular printed sheets or printed labels.
  • the stack is in particular a stack of labels.
  • the multiple stacks are identical stacks.
  • the sheet-like material of the respective stack is preferably bundled, so that the stack is dimensionally stable.
  • the stack can be wrapped with a film or the like, for example.
  • the device according to the invention it is provided that it has a receiving device for receiving the stack to be packaged. Furthermore, the device has an intermediate frame for receiving an arrangement of several stacks placed in the intermediate frame. The device also has a device for transferring the stacks to be packaged from the receiving device into the intermediate frame.
  • the device has a gripper for gripping a stack picked up by the receiving device, the gripper having feedable clamping elements which, when gripping the stack to be gripped, come to rest on opposite ends of the stack to be gripped in the stacking direction.
  • the clamping elements are rotatable about an axis of rotation running parallel to the stacking axis of the stack gripped in order to change an orientation of the stack gripped.
  • the device has an actuator connected to the gripper, for transferring the gripper from the receiving device to the intermediate frame and positioning the stack that has been gripped in the intermediate frame.
  • the device is controlled via a control device such that in the arrangement formed the stacking axes of the stacks placed in the intermediate frame run parallel, in particular horizontally, and the stacks placed are arranged perpendicular to the stacking axes next to and/or one above the other.
  • the device has an introduction device, the introduction device being set up to introduce the arrangement received from the intermediate frame into a package.
  • the device according to the invention has the advantage that an arrangement can first be formed by means of the device, and then this formed arrangement can be introduced as a whole into the packaging. It is therefore not necessary to insert the gripper into the packaging by means of the actuator, which means that the cycle time is significantly lower than is the case with a device in which the gripper has to be inserted into the packaging.
  • the stacks can be placed close together perpendicular to the stacking directions, since the gripper grips the respective stack in the direction of the stacking axis, so that the gripper has no free space perpendicular to the Stacking axis needed to solve the clamping elements. This also saves a work step that would otherwise require pushing together after the stack has been set down.
  • the intermediate frame also offers the advantage that the formation of the arrangement of the stacks in the intermediate frame is not restricted by boundary conditions, for example side walls, of the packaging, for example if the gripper can no longer be inserted into the packaging because the stacks already placed in the packaging prevent the gripper from being inserted when there is still room for another stack.
  • the solution according to the invention decouples the formation of the arrangement of the stacks from the introduction of the stacks into the packaging, so that the formation of the arrangement can be largely free and in this way an optimal packing density or optimal arrangement for the respective packaging can be formed.
  • clamping elements can be rotated, preferably unrestrictedly, about an axis of rotation running parallel to the stacking axis of the stack gripped has the advantage that a rotational orientation of the stack gripped can be changed. This is particularly advantageous in the case of stacks that are not rotationally symmetrical with respect to the stacking direction.
  • Rotating the clamping elements around the axis of rotation enables the stack that has been gripped to be aligned in order to align it with respect to the stack that has already been deposited, for example in order to achieve optimum packing density or to align the stack that has been gripped in such a way that the arrangement formed in the intermediate frame is designed in such a way that that after transferring the arrangement into the packaging, the arrangement is arranged in the packaging with as little play as possible.
  • the receiving device is set up to receive only a single stack in each case, and the Gripper is set up to take this individual stack to convert this by means of the actuator in the intermediate frame.
  • the gripped stack can be rotated in the gripper about the axis of rotation formed parallel to the stacking axis of the gripped stack.
  • the axis of rotation preferably runs through the stack that is gripped, as a result of which rotational alignment of the stack by rotating the stack about the axis of rotation is facilitated and requires particularly little free space.
  • the axis of rotation runs through the center of gravity of the stack gripped.
  • the clamping elements can be rotated by at least 180°, preferably by at least 270°, about the axis of rotation. It is considered to be particularly advantageous if the clamping elements can be rotated about the axis of rotation, insofar as they can be rotated about the axis of rotation without restriction.
  • the clamping elements can preferably be advanced parallel to the stacking axis of the stack to be gripped.
  • the intermediate frame has a lower first support surface and a lateral second support surface for supporting the stacks placed in the intermediate frame in directions perpendicular to the stacking axes of the stacks placed, with the first support surface and the second support surface being angled, preferably perpendicular , are aligned with each other.
  • the first support surface is aligned inclined at an angle to a horizontal. It is considered particularly advantageous if the angle is 10° to 45°.
  • the lower support surface and the lateral support surfaces have the advantage that the arrangement is particularly stable in the Intermediate frame is mounted, wherein in the preferred embodiment with an inclined lower first support surface, the stacks stored in the intermediate frame are pushed together with the aid of gravity, so that the highest possible packing density is achieved and the arrangement is particularly stable.
  • the first and/or the second supporting surface are flat.
  • the clamping elements preferably grip the stack in such a way that the stack that is gripped protrudes over the entire circumference relative to the clamping elements.
  • the stack that is gripped protrudes radially with respect to the clamping elements with respect to the stack axis. This makes it easier to place the gripped stack on stacks that have already been deposited.
  • the intermediate frame is open on a side opposite the first support surface and/or the intermediate frame is open on a side opposite the second support surface, with the gripper separating the gripped stack when transferring the stack from the receiving device to the intermediate frame transferred via one of the open sides into the intermediate frame, in particular pivoted into the intermediate frame.
  • the intermediate frame is designed as an angular frame.
  • the angular frame is preferably V-shaped, with the included angle preferably being between 85° and 95°.
  • the intermediate frame is open on both sides in the direction of the stacking axes of the deposited stack. This makes it possible to push the arrangement formed by the stack placed in the intermediate frame out of the intermediate frame parallel to the stack axes, for example in order to insert the arrangement formed in the intermediate frame into packaging, in particular into an upright box, or to feed the arrangement to a further processing station. It is considered particularly advantageous if the introduction device has a displaceable pusher which is set up to push the arrangement formed in the intermediate frame parallel to the stacking axes of the deposited stacks from the intermediate frame into the packaging adjacent to the intermediate frame.
  • the introduction into the packaging does not necessarily have to take place directly from the intermediate frame. It is also entirely conceivable and preferred if the arrangement is transferred from the intermediate frame to the introduction device. As a result, a new arrangement of stacks can already be formed in the intermediate frame while this arrangement is being introduced into the packaging.
  • the device has a first slide that can be displaced in a first displacement direction and is set up to slide the arrangement depicted in the intermediate frame parallel to the stacking axes of the deposited stacks out of the intermediate frame, with the device having a transfer cassette , for receiving the arrangement pushed out of the intermediate frame by means of the first slide and transferring the arrangement to the introduction device by means of the transfer cassette.
  • the transfer of the transfer cassette can take place, for example, by pivoting the transfer cassette or by moving the transfer cassette.
  • the transfer cassette it is considered to be particularly advantageous if the transfer cassette can be pivoted about a pivot axis configured parallel to the displacement direction of the first slide.
  • the use of a transfer cassette has the particular advantage that the assembly can be placed in the packaging while in the Intermediate frame already again the next arrangement is formed. As a result, the cycle time of the device can be significantly reduced.
  • the arrangement formed in the intermediate frame has only one layer of stacks in the direction of the stack axes.
  • the complexity of the movement that has to be performed by the actuator and/or the gripper is particularly low, so that the actuator and the gripper only have to have a low level of complexity, as a result of which malfunctions are avoided and the cycle time is reduced.
  • an arrangement of only one layer of stacks can first be formed in the intermediate frame, then this arrangement can be pushed into the transfer cassette, followed by one further arrangement of stacks are formed in the intermediate frame, then this further arrangement are also pushed into the transfer cassette, so that two layers of stacks are then arranged in the transfer cassette along the stack axis of the stack.
  • the transfer cassette can then be fed to an inserter and these two layers can be inserted together into the package by means of the inserter.
  • first a first layer from the intermediate frame or the transfer cassette is pushed into the packaging, then the second layer is formed in the intermediate frame, and then this second layer is pushed into the packaging, so that two Layers of stacks are arranged.
  • the transfer cassette is open on opposite side surfaces, preferably in the direction of the stack axes of an arrangement of stacks arranged in the transfer cassette is open on opposite side surfaces, and can be transferred from a first position to a second position and vice versa, with the Transfer cassette in the first position with one of the open side surfaces adjoining the intermediate frame in the direction of the first direction of displacement, for receiving the arrangement pushed out of the intermediate frame by means of the first slider, wherein the insertion device has a second slider that can be displaced in a second direction of displacement and is set up for this purpose and, with the transfer cassette in the second position, inserting the assembly located in the transfer cassette from the transfer cassette into the package.
  • a lower support surface of the transfer cassette is inclined differently in the first position and the second position, preferably the lower support surface of the transfer cassette is aligned inclined to the horizontal in the first position, particularly in the first position corresponding to the lower support surface of the intermediate frame inclined to the horizontal.
  • the assembly is easier to insert into the transfer cassette and, moreover, it is avoided that the assembly deforms, since the inclination promotes a gravity-assisted cohesion of the assembly.
  • the lower support surface is aligned parallel to the horizontal in the second position.
  • the horizontal orientation in the second position has the advantage that the packaging, which is preferably a cuboid packaging, does not have to be arranged inclined to enable feeding, but a lower support surface of the packaging can be aligned horizontally, such as This is the case with typical feeders for packaging, as they are used in various areas. It is considered to be particularly advantageous if the insertion direction of the inserter and/or the displacement direction of the first slider and/or the displacement direction of the second slider run parallel to the stacking axes of the stacks that form the arrangement to be displaced. Preferably, the direction of insertion and/or the direction of displacement of the first slider and/or the direction of displacement of the second slider is aligned horizontally.
  • the direction of displacement of the first slider and the direction of displacement of the second slider run parallel.
  • the transfer cassette is connected to a stationary support frame of the device, in particular the device, via a four-bar linkage, with the four-bar linkage performing a pivoting movement and a rotary movement superimposed on the pivoting movement when the transfer cassette is transferred from the first position to the second position of the transfer cassette.
  • This makes it particularly easy to change the position and alignment of the transfer cassette, especially if the transfer cassette is to be aligned in an inclined manner in accordance with the intermediate frame in the first position and is to be aligned essentially horizontally in the second position, in order to make it possible to insert the arrangement into a likewise with a horizontally aligned, closed side surface packaging is to take place.
  • the transfer cassette is preferably rectangular in shape, preferably corresponding to a rectangular package, in particular in the form of a rectangular frame closed on four sides.
  • the transfer cassette is transferred from the first position to the second position by means of a lifting device connected to an articulated lever of the four-bar linkage.
  • the lifting device is preferably a pneumatic cylinder.
  • the clamping elements are preferably mounted in a common bearing device, for example a U-shaped frame, this bearing device being connected to the actuator.
  • the first clamping element of the clamping elements is preferably mounted in the storage device so that it can be displaced in the direction of a second clamping element of the clamping elements in order to hold the gripped stack in a clamping manner.
  • the first clamping element can be a component of a pneumatic cylinder, for example the piston of the pneumatic cylinder.
  • clamping elements are rotatably mounted in the bearing device.
  • At least one of the clamping elements in the storage device can be displaced in the clamping direction of the clamping elements and can be fixed in the desired displacement position.
  • the device has a drive motor for driving at least one clamping element of the clamping elements in order to rotate this clamping element about the axis of rotation.
  • This drive motor is preferably mounted in the bearing device.
  • the drive motor can be a servomotor, for example.
  • the first clamping element is connected to the drive motor via a transmission means, for example a belt.
  • a transmission ratio between input and output speed is preferably greater than one. Accordingly, there is a gear reduction, whereby a particularly fine alignment of the rotational alignment of the stack that is gripped is possible.
  • the device is preferably controlled in such a way that when the gripper is transferred from the receiving device to the intermediate frame and the gripped stack is positioned in the intermediate frame, the actuator moves the gripper exclusively in one plane or essentially in one plane, with the plane being perpendicular to the stacking axis of the taken stack runs.
  • the movement of the actuator is particularly simple and only a few articulated connections are necessary to carry out this movement. This reduces the cycle time.
  • the device is preferably controlled in such a way that only those pivot axes of the actuator that run parallel to the axis of rotation of the gripper are controlled.
  • the actuator has at least two, preferably three, pivot axes.
  • the actuator is a robot arm.
  • the control device is preferably a computer-aided control device. It is considered particularly advantageous if the arrangement to be formed in the intermediate frame is determined in advance using a computer-assisted method, in particular to determine an optimal packing density and/or an arrangement that is optimally adapted to the packaging.
  • the inventive method for introducing multiple stacks sheet-like material in a common packaging is carried out in particular using the device according to the invention and / or one of the advantageous embodiments of this device.
  • the method is used in particular for introducing a number of stacks of labels into a common package.
  • the method has at least the following method steps: a) providing a plurality of stacks, with the respective stack having sheet-like material stacked along a stacking axis, b) feeding one of the stacks provided to a receiving device, c) gripping the stack picked up by the receiving device with a Gripper, such that when gripping the stack, deliverable clamping elements of the gripper come to rest on opposite ends of the stack in the stacking direction of the stack, d) aligning the gripped stack by rotating the stack about an axis of rotation parallel to the stacking axis of the gripped stack, e ) Transferring the gripper from the pick-up device to an intermediate frame and positioning the gripped stack in the intermediate frame by means of an actuator connected to the gripper in such a way that the stacking axis of the gripped stack is parallel to the stacking axis of an S runs, and in such a way that the stack that is gripped comes to rest perpendicularly to the stacking axis on the stack that has already been placed in
  • the method has the advantage of rotating the gripped stack about the axis of rotation that a decoupling of the positioning of the stack, which is essentially done by means of the Actuator takes place, and the alignment or orientation of the stack, which is essentially done by rotating about the axis of rotation, is achieved, so that an optimal arrangement of the stack can be done particularly easily. Furthermore, the positioning and orientation of the stacks is decoupled from the introduction of the stacks into the packaging, so that each stack is not fed into the packaging individually, but rather an arrangement is first formed, which is then introduced into the packaging as a whole. This results in a reduction in the overall cycle time for loading the multiple stacks into the common package.
  • the method is carried out with computer support, in particular if the gripper is transferred from the receiving device to the intermediate frame and the positioning of the stack taken and the orientation of the stack or the rotational alignment of the stack taken is computer-aided. It is considered particularly advantageous if, based on the known geometry of the stack to be packaged and the known geometry of the package, an arrangement optimally adapted to the package is determined in advance and this desired arrangement is formed when the method is carried out.
  • the stacking axis of the stack to be gripped and the stacking axis of the deposited stack are parallel to one another. It is also considered to be particularly advantageous if, in method steps c), d) and e), the stacking axis of the stack handled is not rotated but only shifted, preferably shifted perpendicular to the stacking axis.
  • At least two of the deposited stacks differ in their rotational orientation, insofar as identical axes of the two stacks running perpendicularly to the stacking direction run at an angle to one another. It is also considered particularly advantageous if the gripper grips the stack in such a way that the axis of rotation runs through the center of gravity of the stack.
  • the packaging is in particular a cuboid packaging, preferably a cardboard box.
  • FIG. 1 shows a packaging machine with an embodiment of the device according to the invention in a view according to arrow I in FIG. 2,
  • FIG. 2 shows the packaging machine according to FIG. 1 in a view according to arrow II in FIG. 1,
  • FIG. 3 shows the packaging machine according to FIG. 2 in a perspective view
  • FIG. 4 shows a partial area of the packaging machine according to FIG. 1, namely the device according to the invention, in a perspective view,
  • FIG. 5 shows the device according to FIG. 4 in a further perspective view
  • FIG. 6 shows a gripper of the device according to FIG. 4 in a perspective view
  • Fig. 8 a stack of labels in a view according to arrow VIII in Fig. 9,
  • FIG. 11 arrangement of stacks of labels introduced into a package by means of the packaging machine according to FIG. 1 in a plan view.
  • FIGS. 1 to 7 show a packaging machine or components of this packaging machine.
  • the packaging machine is shown in Figs. 1 and 2 in simplified form.
  • the packaging machine serves to bring several stacks 2 of sheet-like goods into a common package 3, with the respective stack 2 in the present case being a bundled stack of labels.
  • the labels of the respective label stack 2 are stacked on top of one another along a stacking axis 37, as can be seen in particular from FIG.
  • the stacking axis 37 runs in the X-direction.
  • the stack axis 37 runs in the Z-direction.
  • the packaging machine essentially has three components, these three components serving different purposes and only interacting with one another at transfer points.
  • the packaging machine has a system 4 as a component, which serves to provide an erected packaging 3 into which the stacks 2 are to be introduced.
  • a further component is a device 1 which serves to introduce the multiple stacks 2 into the packaging 3 .
  • the packaging machine has a conveyor device 10 as a component, which is used to load the device 1 with the stacks 2 to be packaged.
  • the system 4, which is used to provide an erected packaging 3 has a magazine 5, which is used to provide a basic body of the packaging 3, which is a folding carton in the present case.
  • This base body is picked up by this magazine holder 5 by means of a removal sucker 9 and transferred to an erection station 6 .
  • this set-up station 6 the base body is pressed into a die with the removal sucker 9 for the purpose of setting up the side surfaces of the packaging 3.
  • the result of the pressing in is a packaging 3 that is open upwards, insofar as it is in the Z-direction.
  • the transfer of the base body to the set-up station 6 takes place by moving the removal sucker 9 in a portal frame 13. For reasons of clarity, the supports of the portal frame 13 are not shown in FIG.
  • the removal sucker 9 is mounted in the portal frame 13 so that it can be moved together with an additional removal device 9', with this additional removal device 9' being used to transfer the packaging 3 from the erecting station 6 to a push-in station 32, with this push-in station 32 having a tilting device 33 , on which the packaging 3 is placed by means of the collector 9'.
  • This tilting device 33 serves to tilt the packaging 3 into a pushed-in position in which the open side of the packaging 3 allows the packaging 3 to be filled horizontally, also known as “side loading”.
  • the filling or the introduction of the stacks 2 into the packaging 3 that has been set up takes place with the device 1, which is described in more detail below.
  • the insertion station 32 also has a movable ram 34 which is used to feed the packaging 3 filled with label stacks 2 to a removal station 8 .
  • the multiple stacks 2 are introduced into the packaging 3 by means of the device 1 according to the invention.
  • the individual label stacks 2 reach a receiving device 12 of the device 1 via the separator 11.
  • the receiving device 12 serves to receive a single stack of labels 2 is used.
  • the receiving device 12 is embodied here as a receiving table 12, this receiving table 12 having a receiving contour for the label stack 2 to be received in each case so that the respective label stack 2 is arranged and aligned on the receiving table 12 as precisely and reproducibly as possible. Specifically, this contour is designed as a depression.
  • the respective stack of labels 2 is pushed in the direction of the receiving device 12 by means of a conveyor belt and a separating slide 18 that can be moved in the X direction and Z direction, with a stop plate 17 that can be moved in the vertical direction Z, when moving the individual stack of labels 2 in the X-direction by means of the separating slide 18, moves upwards and thereby forms a stop for the stack of labels 2 moved by means of the separating slide 18.
  • the stack of labels 2 can be positioned on the receiving device 12 in a particularly precise and reproducible manner.
  • the device 1 has an intermediate frame 21 for receiving an arrangement 16 of a plurality of stacks 2 placed in the intermediate frame 21 .
  • This arrangement 16 is designed in such a way that the arrangement 16 is adapted to the internal dimensions of the packaging 3 that is set up, so that the arrangement 16 has as dense a packing as possible with only a small proportion of free spaces and is optimally adapted to the internal dimensions of the packaging 3 that is set up.
  • the stack 2 to be packaged is transferred from the receiving device 12 to the intermediate frame 21 with the aid of a device which has a gripper 14 for gripping the stack 2 received by the receiving device 12, this gripper 14 in turn being connected to a multi-axis actuator 15, which is presently designed as a robot arm.
  • the gripper 14 serves to grip and fold the stack 2, the gripper 14 having two clamping elements 25, 26 which can be advanced towards one another for this purpose and which, when gripping the stack 2 to be gripped, are opposite in the stacking direction 37 of the stack 2 Ends 38, 39 of the stack 2 to be gripped, insofar as the top and bottom of the stack 2 come to rest.
  • the gripper 14 grips the stack 2 exclusively at the end surfaces formed perpendicular to the stacking axis 37, namely the upper side and the underside of the respective stack 2.
  • the first clamping element 25 and the second clamping element 26 are mounted in a common U-shaped bearing device 28 .
  • the first clamping element 25 and the second clamping element 26 are mounted in a common U-shaped bearing device 28 .
  • the 25 is part of a pneumatic cylinder 29, wherein the piston, which is displaceable in the stroke direction and forms the first clamping element 25, moves in the direction of the second clamping element 26 when pressure is applied to the pneumatic cylinder 29.
  • the leg of the U-shaped bearing device 28, in which the first clamping element 25 is mounted is in the clamping direction of the clamping elements 25,
  • the second clamping element 26 is stationarily mounted in a stationary leg of the bearing device 28 .
  • the first and the second clamping element 25, 26 are rotatably mounted about an axis of rotation 31 in the bearing device.
  • the second clamping element 26 is rotated about the axis of rotation 31 by means of a drive motor
  • this drive motor 27 driven, this drive motor 27 being a servo motor.
  • the drive motor 27 is in turn mounted in the bearing device 28 .
  • the rotary movement is transmitted from the drive motor 27 to the second clamping element 26 via a belt drive.
  • the transmission of the rotational movement of the drive motor 27 to the second clamping element 26 is designed as a reduction gear, whereby a particularly fine alignment of the stack 2 held clamped between the clamping elements 25, 26 with regard to its orientation with respect to the axis of rotation 31, which is parallel to the stack axis 37 of the gripped Stack 2 runs, is possible.
  • the rotation of the stack 2 about the axis of rotation 31 is used in particular for the rotational alignment or orientation of the stack 2 in order to optimally align it before it is deposited in the intermediate frame 21 for the purpose of forming the desired Arrangement 16.
  • the rotatable clamping elements 25, 26 have the advantage that the actuator 15 essentially serves to position and transfer the stack 2 from the receiving device 12 to the intermediate frame 21 and the orientation and alignment of the stack 2 is not achieved by pivoting the actuator 15 or must be done by pivoting the individual joints of the actuator 15. As a result, the actuator 15 can work particularly quickly and efficiently, since the actuator 15 or the joints of the actuator 15 do not have to perform any particularly complex movements.
  • the rotatability of the clamping elements 25, 26 of the gripper 14 has the advantage that the position of the gripper 14 does not have to be changed during the rotational alignment of the stack 2, but rather the gripper 14 does not have to be changed in its alignment.
  • the ability of the clamping elements 25, 26 to rotate in the gripper 14 about the axis of rotation 31, the angle of rotation of which is not limited in the present case, also has the advantage that the respective stack 2 can be aligned independently of the position of the gripper 14 in the intermediate frame 21 .
  • any orientation or alignment of the stack 2 could not be effected, since the bearing device 28 of the gripper 14 with the intermediate frame 21, with the actuator 15 or would come into contact with piles 2 already laid down. Accordingly, the desired alignment of the stack 2 in the desired position in the intermediate frame 21 could then not be effected.
  • the device and thus in particular the gripper 14 and the actuator 15, are controlled by a computer-aided control device in such a way that in the arrangement 16 to be formed, the stacking axes 37 of the stacks 2 placed in the intermediate frame 21 run parallel, in this case horizontally, and the stacks 2 are arranged perpendicular to the stacking axes 37 side by side and one above the other.
  • the device is a stacking device which serves to stack stacks 2 of sheet-like material. This can be seen in particular from FIG. 7 which shows a state in which a finished arrangement 16 is formed which can be introduced into the packaging 3 .
  • This arrangement 16 consists of twenty-five stacks of labels 2, the are arranged one above the other and side by side in the intermediate frame 21 and are arranged in five rows or five columns of five label stacks 2 each.
  • the stacks of labels 2 according to FIG. 7 are each aligned identically in terms of their rotational alignment.
  • the intermediate frame 21 is designed as an angular frame which is essentially V-shaped.
  • the intermediate frame 21 accordingly has a flat, lower first support surface 35 and a flat, lateral second support surface 36 connected to the lower support surface 35, the first support surface 35 and the second support surface 36 being aligned perpendicular to one another.
  • These two support surfaces 35, 36 serve to support the stacks 2 placed in the intermediate frame 21 in directions perpendicular to the stacking axes 37 of the stacks 2 placed. Due to the inclination of the lower support surface 35 to the florizontal H, the stacks 2 placed are supported by gravity on both the first and the second support surface 35, 36 from. In the present case, the angle of inclination ⁇ is approximately 25°. However, smaller or larger angles of inclination ⁇ are also conceivable.
  • the intermediate frame 21 is open on a side opposite the first support surface 35 and on a side opposite the second support surface 36 . Accordingly, the intermediate frame 21 is open from above and open on a side facing the receiving device 12 .
  • These open sides enable the actuator 15 to insert the gripper 14 from the receiving device 12 into the intermediate frame 21 in a particularly simple manner, with the gripper 14 moving the gripped stack 2 over when the stack 2 is transferred from the receiving device 12 into the intermediate frame 21 one of the open sides is transferred to the intermediate frame 21.
  • the movements of the actuator 15 required for the purpose of positioning the stack 2 are kept particularly small and simple, as a result of which the cycle times of the device 1 are reduced.
  • the stacks 2 to be introduced into the packaging 3 are first brought into the corresponding arrangement 16 in the intermediate frame 21 and then the entire arrangement 16 is handled and introduced into the packaging 3 .
  • this assembly 16 is first introduced into a transfer cassette 22, the transfer cassette 22 having a peripheral lateral frame and being open on opposite main extension surfaces of the transfer cassette 22.
  • This transfer cassette 22 serves to temporarily accommodate the arrangement 16 formed in the intermediate frame 21.
  • the intermediate frame 21 is positioned in the direction of the stacking axes 37 of the deposited stacks 2 opposite sides open.
  • the device 1 has a first pusher 19 that can be moved parallel to the stacking axes 37 of the deposited stacks 2 and is set up to push the arrangement 16 formed in the intermediate frame 21 from the intermediate frame 21 into the transfer cassette 22 that is adjacent in the direction of displacement. Accordingly, the arrangement 16 is pushed from the intermediate frame 21 into the transfer cassette 22 by means of the first slide 19 .
  • the transfer cassette 22 can be transferred from a first position, in which the transfer cassette 22 adjoins the intermediate frame 21 with one of the open side faces in the direction of the first displacement direction, into a second position, with the transfer cassette 22 in the second position being adjacent to the by means of the tilting device 33 established packaging 3 is located.
  • the open side of the package 3 faces an open side surface of the transfer cassette 22 and is adjacent to it.
  • a second slider 20 is arranged, which can be displaced in a second displacement direction. This second slide 20 is set up to push the arrangement 16 arranged in the transfer cassette 22 out of the transfer cassette 22 into the packaging 3, which is open in the second displacement direction, when the transfer cassette 22 is in the second position.
  • the transfer cassette 22 is connected to a stationary support frame 23 of the device 1 via a four-bar linkage 24 .
  • the four-bar linkage 24 causes a pivoting movement and a rotary movement of the transfer cassette 22 superimposed on the pivoting movement.
  • the transfer of the transfer cassette 22 from the first position to the second position and vice versa is effected by means of a pneumatic cylinder 30, which acts on one of the articulated levers of the four-bar linkage 24 and is connected to the support frame 23 .
  • the device 1 is designed such that the actuator 15 moves the gripper 14 when transferring the gripper 14 from the receiving device 12 to the intermediate frame 21 and positioning the gripped stack 2 in the intermediate frame 21 exclusively in one Moved plane, which is perpendicular to the X-direction in this case, thus formed by the YZ plane.
  • the individual stacks 2 picked up by the pick-up device 12 are arranged in the same plane as the stacks 2 placed in the intermediate frame 21. This makes the necessary movement of the actuator 15 particularly simple, so that the cycle times for forming the arrangement 16 can be kept particularly short .
  • FIG. 11 schematically shows an arrangement 16 of oblong, angled stacks of labels 2 which are arranged in a pack 3 .
  • the laid stacks 2 are oriented differently in terms of their rotational orientation in order to achieve the highest possible packing density.
  • Such an arrangement 16 can be formed with the device 1 according to the invention or with the packaging machine shown in the figures. For this purpose, this arrangement 16 is first formed in the intermediate frame 21 and then transferred to the transfer cassette 22 . After the transfer cassette 22 has been transferred, the arrangement 16 is pushed laterally into the packaging 3 that has been set up. The packaging 3 that has been set up is then tilted back by means of the tilting device 33 so that the open side of the packaging 3 is pointing upwards, insofar as it is in the Z direction. 11 shows the packaging 3 in a plan view from above.
  • the optimum layer pattern of the arrangement 16 is determined in advance using a computer-aided method and the control device controls the actuator 15 and the gripper 14 accordingly.
  • first row of stacks 2 arranged next to one another is first formed in the intermediate frame 21 and then another row is placed on top of the row already formed.
  • the respective row is preferably started adjacent to the second side surface 36 and then built up in the direction of the receiving device 12 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

La présente invention concerne un dispositif (1) permettant d'insérer une pluralité de piles (2) de marchandises de type feuille dans un emballage commun et un procédé d'insertion d'une pluralité de piles (2) de marchandises de type feuille dans un emballage commun (3). Dans le dispositif (1), selon l'invention et dans le procédé, un ensemble (16) de piles (2) est d'abord formé, puis ledit ensemble formé (16) est inséré, d'un seul bloc, dans l'emballage.
EP22732107.2A 2021-06-18 2022-06-02 Dispositif et procédé d'insertion d'une pluralité de piles de marchandises de type feuille dans un emballage commun Pending EP4355658A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP21180407.5A EP4105132A1 (fr) 2021-06-18 2021-06-18 Dispositif et procédé de mise en place de plusieurs empilements de marchandises en forme de feuille dans un emballage collectif
PCT/EP2022/065095 WO2022263197A1 (fr) 2021-06-18 2022-06-02 Dispositif et procédé d'insertion d'une pluralité de piles de marchandises de type feuille dans un emballage commun

Publications (1)

Publication Number Publication Date
EP4355658A1 true EP4355658A1 (fr) 2024-04-24

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP21180407.5A Withdrawn EP4105132A1 (fr) 2021-06-18 2021-06-18 Dispositif et procédé de mise en place de plusieurs empilements de marchandises en forme de feuille dans un emballage collectif
EP22732107.2A Pending EP4355658A1 (fr) 2021-06-18 2022-06-02 Dispositif et procédé d'insertion d'une pluralité de piles de marchandises de type feuille dans un emballage commun

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP21180407.5A Withdrawn EP4105132A1 (fr) 2021-06-18 2021-06-18 Dispositif et procédé de mise en place de plusieurs empilements de marchandises en forme de feuille dans un emballage collectif

Country Status (2)

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EP (2) EP4105132A1 (fr)
WO (1) WO2022263197A1 (fr)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4210812A1 (de) * 1992-04-01 1993-10-07 Schmermund Maschf Alfred Kartoniereinrichtung
DE29708542U1 (de) * 1997-05-14 1997-07-10 MEC Maschinenbau Entwicklung Consulting GmbH, 52477 Alsdorf Einrichtung zum Verpacken von Versandtaschen
US8646248B2 (en) * 2009-02-16 2014-02-11 Ishida Co., Ltd. Packaging apparatus
WO2011119563A2 (fr) * 2010-03-23 2011-09-29 Douglas Machine Inc. Appareil et procédé pour manipuler des caisses en carton
JP6156629B2 (ja) * 2013-05-08 2017-07-05 東洋製罐株式会社 矩形形状品の箱詰め装置
WO2018009140A1 (fr) * 2016-07-08 2018-01-11 Norden Machinery Ab Dispositif de préhension, poste de chargement et procédé permettant de saisir une pile
JP7180857B2 (ja) * 2018-02-27 2022-11-30 株式会社イシダ 製函・箱詰め・封函装置
WO2019204450A1 (fr) * 2018-04-18 2019-10-24 Bastian Solutions, Llc Outil d'extrémité de bras (eoat) pour cartons de boisson

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Publication number Publication date
WO2022263197A1 (fr) 2022-12-22
EP4105132A1 (fr) 2022-12-21

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