WO2016173853A1 - Procédé et dispositif d'acheminement, de fourniture et d'échange de rouleaux comportant un matériau d'emballage dans une machine d'emballage - Google Patents

Procédé et dispositif d'acheminement, de fourniture et d'échange de rouleaux comportant un matériau d'emballage dans une machine d'emballage Download PDF

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Publication number
WO2016173853A1
WO2016173853A1 PCT/EP2016/058183 EP2016058183W WO2016173853A1 WO 2016173853 A1 WO2016173853 A1 WO 2016173853A1 EP 2016058183 W EP2016058183 W EP 2016058183W WO 2016173853 A1 WO2016173853 A1 WO 2016173853A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
handling device
new
packaging machine
rollers
Prior art date
Application number
PCT/EP2016/058183
Other languages
German (de)
English (en)
Inventor
Thomas Wimmer
Herbert Spindler
Original Assignee
Krones Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Krones Aktiengesellschaft filed Critical Krones Aktiengesellschaft
Priority to CN201680022825.0A priority Critical patent/CN107683249B/zh
Priority to EP16716218.9A priority patent/EP3288873B1/fr
Publication of WO2016173853A1 publication Critical patent/WO2016173853A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/81—Packaging machines

Definitions

  • the present invention relates to a method of delivery, provision,
  • the invention also relates to a device for feeding, providing and / or handling and / or replacement of rolls with flat and / or sheet material wound thereon and used as packaging material for packaging piece goods, containers or similar article compositions
  • a method and a device by means of which new rolls can be delivered and used rolls can be exchanged within a packaging machine are known, for example, from DE 40 40 545 A1.
  • This known device has a plurality of supply rolls with strip material, which are arranged side by side. The core of the rollers is placed in each case on a common pin.
  • Strip material is previously connected to a roller, which pulls the strip material from the respective roll and leads away from the device in the downward direction.
  • the role In order to operate this known device and to unwind the material from the roll, the role must be placed with its core in conformity with the direction of rotation on the pin. The strip material or the first layer of the strip material must descend from above in the direction of the rolls. If the roller with opposite direction of rotation placed on the pin, so could
  • Strip material is difficult or impossible to be removed from the roll, which would complicate the process.
  • a manual reacting and rotationally compliant re-placement is indispensable to ensure trouble-free operation can.
  • Packaging machines are also known in different embodiments, so for example. By devices for feeding and changing coils with strip material in a processing machine according to DE 32 02 647 A1 or DE 41 42 256 A1.
  • DE 34 25 734 A1 discloses an automated system for the supply of packaging material on production and / or packaging lines.
  • the system comprises a magazine for the packaging material and a carriage equipped with an articulated arm for gripping the packaging material and feeding it to the processing machines located on the processing lines.
  • the trolley with the articulated arm travels along routes that are determined by a computer connected to the processing machines.
  • a device for supplying packaging machines with consumable or packaging material is also known from EP 1 273 541 B1.
  • the wound as reels of material webs are delivered on pallets and distributed to several manufacturing and packaging machines, the pallets first by means of
  • Pallet conveyors are brought into interim storage, while individual reels are removed by separate Bobinen intensiveer and transported to a machine to be supplied.
  • DE 10 2006 017 379 A1 discloses a device for handling reels of packaging material.
  • the device comprises a reel storage with a portal in which the reels are held on pallets.
  • Handling device recorded roles that can be used in the wrong direction of rotation, allow positioning of the rollers in a packaging machine in the required direction of rotation, the corresponding
  • the invention proposes a method for conveying, providing and / or exchanging rolls with flat and / or sheet material wound thereon and used as packaging material for packaging piece goods, containers or similar article compositions.
  • the method at least approximately completely unwound and / or exhausted rolls of at least one
  • the device may comprise at least two different mounting positions.
  • the at least two different installation positions may be opposite each other or arranged adjacent to each other.
  • Each installation position can be designed to receive a roll or to receive exactly one roll.
  • an outer layer of the respective new roll is drawn off near or in the region of its free end and connected, in particular welded, to form a continuous web of material with a section of a material web guided in the packaging machine bonded.
  • Packaging machine in defined feed, e.g. by means of pallets, shelving systems, FTS (i.e., driverless transport systems) or the like, and there by means of
  • the method further provides that a
  • the gripping and / or handling device is assigned a suitable clipboard for a roll to be used in the packaging machine, which serves as a support for the role, in particular for storage, directionally compliant provision and re-recording by the gripping and / or handling device Transfer to the packaging machine.
  • the clipboard may in particular be formed by a bearing block or the like, which occupies a fixed or variable position within the movement space of the gripping and / or handling device.
  • the bearing block can be designed as an autonomously movable shuttle of a AGV or a so-called driverless transport system, whereby it can be able to execute an automatic rotation of 180 degrees about its vertical axis with a roller to be turned, thereby and / or handling system to present the roll stored there in the correct position and by the gripping and / or
  • the clipboard or the bearing block is assigned a camera, whereby an additional optical monitoring on the bearing block can be ensured to detect the role positions, etc. and the bearing block or the gripping and / or handling device in the required way to control.
  • a core of a respective stored on the clipboard roll is checked by means of an optical detection device for damage, wherein in an existing or formed damage to the core, the respective role is not passed to the packaging machine and wherein the gripping and / or handling device with no existing damage to the core re-absorbs the role and passes to the packaging machine to use them in the respective mounting position.
  • the optical detection device for checking the core is moved for damage via the gripping and / or handling device in the direction of the core or in the direction of the clipboard.
  • Handling device in an existing or formed damage to the core, the respective role, which has the damaged core, settles on a pallet and receives from the clipboard and apart.
  • the bearing block may be assigned a rotary drive for rotating a roller lying about it about its horizontal central axis in order to adjust its rotational position and / or an orientation of an edge of an outer material web layer.
  • the bearing block may be associated with a suitable turning mechanism to a 180 ° rotation when resting To perform roll to be able to bring the role in the correct installation position.
  • the clipboard may optionally be formed by a driverless and / or remote controlled transport system to which the gripping and / or handling device individually places new rolls whose direction of rotation is to be changed for insertion into the packaging machine and after rotation resumes a vertical axis by 180 degrees and places it in the packaging machine, now in the correct direction of rotation for the respective installation position, which is required for exact guidance of the packaging material to be processed in left or right-hand rotation.
  • At least the positions of the rollers in the area of the defined feed and / or provision and / or the gripping and / or handling device and / or their movement space can also be detected by means of suitable optical sensor devices and / or room monitoring devices.
  • suitable optical sensor devices and / or room monitoring devices it may be useful, the positions of the roles in the clipboard or during their dropping there and their resumption from there by means of suitable optical
  • the movements of the gripping and / or handling device are controlled in the area of the defined feed and / or provision for the rollers or in their respective movement space.
  • the / is located in the movement space of the gripping and / or handling device.
  • the method may also provide that the mentioned
  • Room monitoring devices are formed by at least one optical detection device, in particular a camera, which detects at least the movement space of the gripping and / or handling device and provides this movement space and the movements of the gripping and / or handling device taking place therein imaging output signals.
  • the at least one optical detection device or the camera for example, the gripping and / or handling device assigned or mounted there, so that it is capable of the movements of the gripping and / or handling device and the direction of rotation compliant orientation of each new role before or during their insertion to check.
  • the camera can also cover the movement space by being fixedly mounted in the room or on the packaging machine; additional or multiple cameras at the gripper and / or handling device are possible.
  • a plurality of cameras or optical detection devices can be used whose output signals are superimposed and can be used for exact location determination of all moving parts, handling systems and / or roll of packaging material.
  • the room monitoring device can also be formed by a camera or by a plurality of cameras, which are assigned to the clipboard or monitor their spatial environment, so that the rolls stored there can be detected exactly and their position and ideally their direction of rotation can be determined in order to determine the direction of rotation. to change quickly, if this is necessary for the correct installation position in the packaging machine.
  • the inventive method allows in this way an exact
  • Packaging material for a packaging machine The exact positioning of the handling equipment can ensure the smooth replacement of used rolls, making the functionality of the packaging machine in ideal
  • the method has a high degree of automation in the handling of roll-wound flat and / or sheet material
  • the gripping and / or handling device In the method, the gripping and / or handling device
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted on its movable arm so that it can detect all movements in the room as well as the rollers to be positioned and positioned in the packaging machine.
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted on its movable arm so that it can detect all movements in the room as well as the rollers to be positioned and positioned in the packaging machine.
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted on its movable arm so that it can detect all movements in the room as well as the rollers to be positioned and positioned in the packaging machine.
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted on its movable arm so that it can detect all movements in the room as well as the rollers to be positioned and positioned in the packaging machine.
  • the handling robot may optionally be associated with a separate camera, which may, for example, be mounted
  • a driverless and / or remote-controlled transport system FTS, at least one self-propelled shuttle
  • This FTS or the shuttle of the AGV may, for example, a gripping arm o. The like.
  • Transport support deposits after which it moves together with the roller to the packaging machine and there uses the role.
  • the shuttle can be assigned its own camera to control its movements in the room.
  • the method can also provide that the packaging machine itself or its at least one installation position for the replaceable rolls with packaging material are optically monitored.
  • additional optical monitoring devices or cameras can be provided in the packaging machine, in particular in the area of the roles to be replaced or in the area of their installation positions.
  • At least one optical marking is applied to the end of its outer material web and the new rolls are thus inserted in their respective installation position by means of the handling device or aligned in their respective installation position before the respective outer layer is removed such that the optical
  • This at least one optical identification can, for example, be applied to the respective new roll prior to insertion into its respective installation position in such a way that the free end of the outer material web of the respective new rolls is immobilized at least largely immovably on the respective new roll by means of the optical marking.
  • the method can provide that the optical marking is applied, for example, to a new roll lying on the clipboard, possibly with the support of the room monitoring or the clipboard
  • optical markings can also be placed elsewhere in the area of the infeed, possibly manually by a Machine operator or a helper. These optical markings can be particularly important in order to indicate the correct direction of rotation of the rollers and
  • New rolls can, for example, be moved via a horizontal conveyor into the area of the gripping and / or handling device and be removed directly from the horizontal conveyor by means of the gripping and / or handling device. Also possible is a delivery of new rolls on pallets, so that, for example, four respective standing rolls are arranged on a pallet, which are brought by means of a suitable delivery in the movement space of the gripping and / or handling device to be picked up by this and in the packaging machine to be used, possibly including the clipboard, as described as an option above.
  • Room monitoring device is coupled and in communication and under
  • Recording new roles from the feed and / or a horizontal conveyor means a clocked operation of the horizontal conveyor pretending.
  • the control unit can specify the repeated inclusion of new roles of the supplied pallets.
  • the invention further proposes a device for feeding, providing and / or handling and / or exchanging rolls with flat and / or sheet material wound thereon and used as packaging material for packaging piece goods, containers or similar article compositions with the features of the independent device claim.
  • Embodiments of the device may be provided in the previously described method.
  • the device provides that at least approximately completely
  • Embodiments are conceivable that at least one role at least one installation position at least approximately uninterrupted packaging material is handled.
  • the unwinding of packaging material can for the roles of at least two different mounting positions during the joining or
  • Packaging machine guided or recorded flat and / or sheet material are exposed briefly.
  • the device according to the invention comprises means for providing new rolls for the packaging machine in a defined feeder such as pallets, shelving systems, FTS or the like. and at least one gripping and / or
  • Handling device for taking over the roles of the defined feed and for inserting the new roles in the respective installation position of the
  • Packaging machine and / or for removing used rolls from the at least one installation position of the packaging machine can be picked up independently of the orderly feed, in particular by means of handling and gripping devices, and inserted into the packaging machine.
  • Handling device are suitable tools available to a direction of rotation compliant position each new in the packaging machine
  • Packing machine to be used role formed which can serve as a support for the role, in particular for storage, directionally compliant provision and re-inclusion by the gripping and / or handling device for subsequent transfer to the packaging machine.
  • This located within the movement space of the gripping and / or handling device clipboard can, for example, be formed by a bearing block, a fixed or variable position within the
  • Movement space of the gripping and / or handling device can take.
  • the bearing block can form a movable and self-propelled shuttle of a AGV (driverless and / or autonomously movable transport system).
  • the bearing block can optionally be assigned a camera, whereby an additional optical monitoring is possible on the bearing block.
  • For putting in the bearing block can be equipped with a rotary drive for rotation of a roll lying on it about a horizontal longitudinal axis to adjust the rotational position and / or alignment of an edge of an externa ßeren material web position.
  • the bearing block can form a movable and self-propelled shuttle of a AGV (driverless and / or autonomously movable transport system).
  • the bearing block can optionally be assigned a camera, whereby an additional optical monitoring is possible on the bearing block.
  • For putting in the bearing block can be equipped with a rotary drive for rotation of a roll lying on it about a horizontal longitudinal axis to adjust the rotational position and / or alignment
  • the clipboard is formed by a driverless and / or remote controlled transport system or includes such, the new roles in a controlled interaction with the
  • Gripping and / or handling device brings in a defined direction of rotation and returns to the gripping and / or handling device and / or automatically in the
  • Room monitoring devices for detecting at least the positions of the rollers in the area of the clipboard and / or the positions and / or movements of the
  • the device may be provided with room monitoring devices for detecting at least the positions of the rollers in the region of the defined supply and / or provision and / or the positions and / or movements of the gripping and / or
  • Handling device within a movement space and for controlling the movements of the gripping and / or handling device in the region of the defined supply and / or provision for the roles in dependence on the means of Room monitoring device detected room, motion and / or sensor data to be equipped.
  • the room monitoring devices may be formed, for example, by at least one optical detection device, in particular a camera, which at least the movement space of the gripping and / or
  • Handling device detected and this movement space and in it
  • the at least one optical detection device or the camera can, for example, directly the gripping and / or handling device and / or the environment of
  • the clipboard Be associated with the clipboard. So there may be a camera mounted there; This can then check the movements and the direction of rotation orientation of each new role before or during their insertion and possibly their turning with the clipboard.
  • the camera can be arranged in the room or even several cameras in the room and / or on the robot or the handling device.
  • the camera can be arranged in the area or even several cameras in the area of the clipboard or the bearing block, the output signals for the exact control of the clipboard and / or the gripping and / or
  • Handling device can be used.
  • the gripping and / or handling device can in particular by a
  • Multi-axis robot may be formed, which receives new roles from the defined feeder and placed in the packaging machine, possibly including the roll in the correct direction bringing the clipboard.
  • a robot can be assigned to the robotic manipulator or the multi-axis robot, which can be arranged, for example, on a movable or articulated gripping or cantilever arm in order to detect all detected objects and the respective environment in order to control the multi-axis robot better and more precisely.
  • the handling device or the multi-axis robot has suitable gripping and / or holding means which can be formed, for example, by a holding mandrel, which dips into the respective hollow part designed as a new role, its maximum cross-sectional diameter increases and hereby the respective new role by clamping the gripping and / or handling device or the
  • the gripping and / or handling device can be formed by a driverless and / or remote-controlled transport system (so-called FTS with at least one self-propelled shuttle), which picks up new rolls from the defined feed and places them in the packaging machine.
  • This shuttle or FTS can optionally be assigned a camera.
  • the device can furthermore provide additional optical monitoring devices or cameras in the packaging machine, in particular in the area of the rollers to be replaced or in the area of their installation positions.
  • the device may have additional facilities to apply in each case at least one optical marking on a lot of new roles in the region of the free ends of their outer material webs, so that the new roles are used by means of gripping and / or handling device in their respective installation position or before removing the respective outer layer can be aligned in their respective installation position such that the optical
  • the at least one optical identification is applied to the respective new role before insertion into their respective mounting position such that by means of the optical marking the free end of the externa ßeren web of the respective new roles at least largely immovable at the respective new Roll is fixed.
  • the optical marking can be applied to a new roll lying on the clipboard, possibly with the support of the respective camera.
  • Handling device is moved and removed directly by means of the gripping and / or handling device of the pallet or from the horizontal conveyor. Furthermore, it is preferably provided that a control unit with the gripping and / or handling device and the room monitoring device in
  • Connection is and taking into account a respective by means of the gripping and / or handling device taken up new roles from the feed and / or a pallet or the horizontal conveyor a clocked operation of
  • the device comprises an optical detection device by means of which a core of a respective stored on the clipboard roll can be checked for damage, said gripping and / or
  • Handling device in an existing damage to discard the respective role, which has the damaged core is controllable and wherein the gripping and / or handling device at a non-existent or a non-formed damage for the transfer of a respective role, which has the undamaged core , is controllable in the packaging machine.
  • the invention relates to a method for handling wound on rolls and as packaging material of piece goods, containers or similar article compositions serving flat and / or sheet material.
  • the flat and / or sheet material may be formed as a shrink film or as a conventional plastic film.
  • the rollers may have a core whose geometric shape corresponds to a hollow cylinder and which may consist at least partially of cellulose-containing material.
  • the respective new role hereby on a pin corresponding to the core of the
  • Packaging machine are placed and when removing or removal
  • At least partially unwound and / or exhausted rolls are removed from at least one installation position of a packaging machine and then each used a new role with flat and / or sheet material in the respective installation position.
  • at least two different mounting positions may be provided.
  • Each of the at least two mounting positions can, as previously mentioned, have a pin on which the new roller is placed and on which the respective roller rotates to unwind its respective flat and / or sheet material.
  • the rollers can be fixed in a clamping manner on the journal of their respective installation position.
  • the pin can be driven in rotation and transmit torque to the respective seated roller so that the roller is moved in rotation about its pin to unwind its flat and / or sheet material.
  • Each pin can be assigned a drive over which the respective pin is rotated.
  • the drives can be closer with one below described control unit are in communication or be controlled via a control unit described in more detail below for rotating the pin.
  • Connection between the pin and the roller can be solved so that the role is then no longer firmly connected to the pin and can be removed from the pin.
  • the rotating movement of the pin can be interrupted until a new roll is placed on the pin or inserted into the corresponding installation position. After each insertion of a new role in their respective
  • Installation position is usually deducted an out- lying position of the respective new role in the vicinity or in the region of its free end and connected to form a continuous web of material with a portion of a guided in the packaging machine web of another role.
  • the outboard ply of the respective inserted new roll may, after insertion with a suitable gripping element, e.g. be withdrawn by means of a pneumatic suction, mechanical clamping and / or electrostatically adhesive working gripping and / or handling device, which moves back and forth between the at least two mounting positions.
  • a suitable gripping element e.g. be withdrawn by means of a pneumatic suction, mechanical clamping and / or electrostatically adhesive working gripping and / or handling device, which moves back and forth between the at least two mounting positions.
  • the gripping member can alternately deduct from the at least two mounting positions outsides lying layers of new roles.
  • a welding rod may be provided, which is moved in the downward direction and in this case the outer layer of the respective new roll welded to the guided in the packaging machine material web.
  • the respective outer layer can be moved into a working area of the welding rod.
  • the temperature-controlled welding rod can thus the outer-lying position of each new role clamped against the in the
  • Packaging machine still continuous flat and / or sheet material is handled.
  • Flat and / or film material can be unwound from a further roll of the packaging machine even when removing an at least approximately completely unwound and / or used up roll from the packaging machine It is conceivable that flat and / or sheet material of at least one in the packaging machine positioned roll is unwound. Also, it may be that at the time of joining the flat and / or
  • Foil material of a new roll with already in the packaging machine guided or recorded flat and / or sheet material no flat and / or sheet material of recorded in the at least two mounting positions roles is handled.
  • At least approximately unwound and / or applied rollers are detected by sensors and replaced by new roles with flat and / or sheet material by means of the previously described gripping and / or handling device.
  • a sensory recognition for example, with the aid of optical detectors or an optical
  • Detection system take place, which can be arranged in the region of at least one mounting position.
  • the optical detection system or the optical detector and the gripping and / or handling device can be connected to the control unit, which also controls the movements of the gripping and / or handling device or of the multi-axis robot.
  • the respective new roller can be inserted into its assigned installation position or remain in its respective assigned installation position. Will be wrong
  • Clipboard done which is located in the vicinity of the gripping and / or handling device or at least within their range of motion.
  • Positioning a new role is checked. If an incorrect direction of rotation and / or a wrong direction of rotation compliant positioning has been determined, then the respective new roll before insertion into the packaging machine on the
  • the direction of rotation conforming orientation or the orientation with the appropriate direction of rotation and the insertion of the role in their respective mounting position can then be done before connecting or welding their outer layer with the remaining material in the packaging machine web.
  • Direction of rotation compliant alignment of the new roll can flat and / or
  • Packaging material are continuously unwound from another arranged in the packaging machine or in one of the at least two mounting positions role. Furthermore, it is provided that the aforementioned optical detectors of
  • Control unit with the gripping and / or handling device are in operative connection and control their exact movements for handling the role, wherein over the optical detector or the optical detection system beyond a respective direction of rotation and / or direction of rotation conforming orientation of new roles is verifiable and / or detectable and the new roles by means of gripping and / or
  • Handling device with suitable for the respective installation position direction of rotation and / or direction of rotation orientation and / or by means of the gripping and / or handling device with the appropriate direction of rotation and / or
  • Control unit display unit such as a display or the like
  • the control unit display unit such as a display or the like
  • control unit with the gripping and / or handling device is preferably coupled in such a way that the at least partially unwound and / or used roles independently from the respective installation position removed and new roles with matching direction of rotation and / or appropriate direction of rotation conforming orientation independently in the preferred
  • Embodiments existing at least two mounting positions can be used.
  • an algorithm can be stored on the control unit, wherein the above
  • the gripping and / or handling device for clamping fixation of the new rolls designed as hollow bodies may comprise a preferably cylindrically shaped holding mandrel with an adjustable maximum cross-sectional diameter. The adjustment of the cross-sectional diameter can be made via the control unit or be specified by the control unit.
  • the handling device may have a movable gripper arm, wherein the retaining pin is arranged at the free end of the gripper arm.
  • the gripping and / or handling device may be preceded by a horizontal conveying device designed for transporting new rolls, which extends into a working region of the gripping and / or handling device and which can be read by the control unit taking into account a removal of new rolls by the gripping and / or or handling device with clocked operation can be controlled.
  • a horizontal conveying device designed for transporting new rolls, which extends into a working region of the gripping and / or handling device and which can be read by the control unit taking into account a removal of new rolls by the gripping and / or or handling device with clocked operation can be controlled.
  • Handling device new roles on pallets or the like Be provided. It is also possible to place new rolls in a container or the like, which is located in the work area of the gripping and / or handling area and over which the gripping and / or handling device new roles are provided.
  • the new roles can be random or with any orientation in the
  • Fig. 1 shows a schematic perspective view of a first embodiment of a device according to the invention.
  • Fig. 1 illustrates a conceivable
  • Fig. 2 shows a schematic perspective view of a second
  • Fig. 3 shows a total of seven schematic views of a clipboard, as it can be used in the second embodiment of the device according to FIG. 2.
  • 4 shows a schematic perspective view of two installation positions for
  • FIG. 5 shows the mounting positions of Fig. 4 with inserted new role for the second mounting position.
  • Fig. 6 shows the mounting positions of Figures 4 and 5 with deducted outer
  • Fig. 7 shows a total of three perspective views
  • Fig. 8 shows in two further perspective views the
  • Fig. 9 shows in four views the positioning and removal steps in the insertion or removal of a roll from an installed position within the
  • FIG. 1 The schematic perspective view of Fig. 1 shows a first
  • FIG. 1 also illustrates a conceivable implementation of an embodiment of the inventive method described above.
  • the device 10 is used to handle flat packaging material such as shrink film or packaging films, which is wound on large, due to their weight usually not manually manageable rollers 12.
  • Fig. 1 Schematically indicated in Fig. 1 is a part of a packaging machine 14, which has a
  • gripping and / or handling device 16 new rollers 12 are supplied.
  • the gripping and / or handling device 16 embodied as a stationary arranged multi-axis robot 18 in the exemplary embodiment shown uses the respective new rolls 12 to be supplied to the packaging machine 14 in two different installation positions EB1 and EB2, which are only partially recognizable in FIG. 1 and in the detailed view of Fig. 4 are exemplified.
  • the clipboard 60 which forms an important part of the invention and serves to align the new rollers 12 to be used in the packaging machine 14 in the direction of rotation, is not shown in the illustration of FIG. 1, but only in the illustration of FIGS. 4 to 6 with FIGS. 1 and 2 show, by means of the gripping and / or handling device 16 or with the aid of the multi-axis or handling robot 18, individual new rollers 12 in one of the two installation positions EB1 and EB2, while in FIG the further installation position EB2 or EB1 is still a spent or partially used role 20, of which even during the onset of each new roll 12 is still a material web located thereon 22 is unwound, which is processed in the packaging machine 14 as packaging material.
  • FIG. 1 show, by means of the gripping and / or handling device 16 or with the aid of the multi-axis or handling robot 18, individual new rollers 12 in one of the two installation positions EB1 and EB2, while in FIG the further installation position EB2 or EB1 is still a spent or partially used role 20, of
  • Material web 22 of the nearly applied roller 20 is a compound or Welding of the outer layer 24 (see Fig. 6) of the new roll 12 with the web 22, whereby the device 10 can run in a continuous operation, without the packaging process would have to be interrupted for replacing an applied roll 20 against a new roll 12 ,
  • the new rolls 12 are each composed of the wound-up flat packaging material 22 or of the packaging or shrink film and a core 26 on which the packaging material 22 or the shrink film is wound up. To receive a new roll 12 from one in FIG. 1
  • indicated horizontal conveyor 28 dives the handling device 16 and the handling robot 18 via a movable end of his movable arm 30 movably arranged holding mandrel 32 frontally into a core 26 of a new roll 12 a.
  • An arm section 34 of the handling device 16 or of the handling robot 18 can for this purpose be rotated about an axis of rotation 36, as shown by way of example in FIG. 7A. After immersing the retaining mandrel 32 in the core 26 of the
  • Cross-sectional diameter of the retaining mandrel 32 is increased, so that the new roller 12, as shown in Fig. 7B, is fixed to the retaining mandrel 32 by clamping.
  • the core 26 is
  • Outer circumference with an inner circumferential surface of the core 26 is in communication.
  • Handling device 16 and the handling robot 18 new rolls 12 are provided in an uninterrupted sequence, so that when removing a new roll 12 from the horizontal conveyor 28 another new role 12 in the direction of the handling device 16 is moved or in the direction of gripping and / or handling device 16 moves.
  • the horizontal conveyor 28 can be clocked as needed in the desired manner or continuously with constant
  • control unit 38 which is only schematically indicated here and which not only controls the
  • Horizontal conveyor 28 controls in its conveying speed and / or timing, but also the handling robot 18 in its movements.
  • the control unit 38 processes the signals 40 of at least one room monitoring device 42, which may be formed in particular by an optical detection device or a camera 44, possibly also by a plurality of cameras 44, which detect at least the movement space 46 of the multi-axis robot 18 and its movements, including the exact movements of the boom 30 with the pivotally mounted thereto Holding mandrel 32 with respect to each to be detected new role 12 are meant.
  • the movement space 46 which can be detected optically by means of the space monitoring device 42 formed by the camera 44, is indicated in the representation of FIG. 1 for better illustration by a fan beam with the broken lines. In Fig. 1 can be seen further in the region of the horizontal conveyor
  • manipulator 48 which is operated by a user 50 and over which new rolls 12 can be placed standing on the horizontal conveyor 28.
  • the new rollers 12 can, for example, be delivered standing on a pallet 52, from which they are received by the user 50 by means of the manipulator 48 that can be controlled by him in his movements and by means of a manipulator 48 located there
  • Holding mandrel 54 can place on the horizontal conveyor 28.
  • a working area of the manipulator 48 therefore extends over the pallet 52 as well as over one
  • Handling device 16 to provide a clipboard for the new rollers 12 to non-directional detection by the retaining mandrel 32 of the
  • Handling robot 18 to be able to put the rollers 12 there, the retaining mandrel 32 to pull out of the core 26 and to detect the role 12 at its other end again to use them in the required direction of rotation for the mounting positions EB1 or EB2 in the packaging machine 14 ,
  • Such a clipboard, its function and its interaction with the gripping and / or handling device 16 and with the room monitoring device 42 are exemplary based on
  • Fig. 1 also shows an open-topped container 56, located in the
  • Work area 46 of the gripping and / or handling device 16 is located. If the supply of packaging material or shrink film of a roller 12 or 20 placed in the packaging machine 14 is exhausted, by means of the handling robot 18 the core 26 of cellulose, plastic, wood or cardboard is taken out of the packaging machine 14 and empty Container 56 stored. Only after removal of the core 26, a new roller 12 in the respective installation position EB1 or EB2 of the packaging machine 14 are used, so that the gripping and / or handling device 16 and the handling robot 18 first removes the core 26 and temporally subsequent thereto uses a new roll 12 in the respective installation position EB1 and EB2. As already mentioned, the horizontal conveyor 28, the gripping and / or
  • Handling device 16 or the multi-axis robot 18 and the packaging machine 14 in conjunction with the control unit 38.
  • This control unit 38 can in particular specify the clocked operation of the horizontal conveyor 28, initiate insertion and removal of rollers 12 and 20 by the handling device 16 from the two installation positions EB1 and EB2.
  • it can, as described in more detail below, a unwinding of packaging material or shrink film of the rollers 12 used in the packaging machine 14 control. Substantially in the context of the present
  • Handling device 16 enable the fault-tolerant positioning and feeding of the new rollers 12 and their handling, since the exact detection of each new roll 12 by the retaining mandrel 32 of the handling robot 18 by means of at least one camera 44 can be effectively supported and controlled, so that the exact positioning of the rollers 12 on the horizontal conveyor 28 loses importance and can be compensated by the correspondingly tracked motion control of the handling robot 18 within its movement space 46.
  • the indicated in Fig. 1 positioning of the camera 44 is merely exemplary understood.
  • a camera 44 or several cameras 44 may be positioned at other locations, for example also in the area of the packaging machine 14, in the area of the handling robot 18 or possibly even on its pivot arm 30, provided that the movement space 46 is covered in the required manner and can be detected.
  • the control unit 38 can also have a display device 58 or a display via which / information about the direction of rotation or
  • Direction of rotation conforming orientation of new rollers 12 and / or other control or movement parameters of the multi-axis robot 18 and / or the horizontal conveyor 28 can be visualized for the user 50.
  • the direction of rotation or rotational direction-conforming orientation of the new rollers 12 is preferably determined and / or checked by the camera 44 or possibly also by a further camera, as described below by way of example with reference to FIGS. 4 to 6, with the control unit 38 in FIG Connection is or stand. Since the gripping and / or
  • Handling device 16 can remove the respective core 26 of an empty roll 20 from the packaging machine 14 and with the help of the camera 44 and the other cameras new roles 12 with matching direction of rotation or with
  • the device 10 can be operated fully automated at least from the beginning of receiving new rolls 12 of the horizontal conveyor 28.
  • FIG. 2 illustrates a second
  • Packaging machine 14 does not differ significantly from the previous one
  • the device 10 in turn serves the handling of flat packaging material such as. Shrink film or
  • Packaging films the packaging machine 14 according to the
  • Handling device 16 the new rollers 12 to be supplied in each case to the packaging machine 14 into two different installation positions EB1 and EB2, which are explained in more detail with reference to the detailed views of FIGS. 4 to 6.
  • the second variant of the device 10 shown in FIG. 2 dispenses with one
  • Packaging machine 14 are used. To accommodate a new roll 12 from one of the in-range, i. within the movement space 46 of the gripping and / or
  • Handling device 16 or the multi-axis robot 18 standing pallets 52 dives the handling device 16 and the handling robot 18 on the end of his movable boom 30 movably arranged holding mandrel 32 frontally into a core 26 of a new roll 12, as already described with reference to FIG was explained.
  • An arm portion 34 of the handling device 16 and the For this purpose, handling robot 18 can be rotated about an axis of rotation 36, as shown by way of example in FIG. 7A.
  • the cross-sectional diameter of the retaining mandrel 32 is increased, so that the new roller 12, as shown in Fig. 7B, is fixed to the retaining mandrel 32 by clamping.
  • the core 26 is hollow cylindrical, the shape of the retaining mandrel 32 thereto
  • Handling device is to place. This delivery can take place by means of suitable industrial trucks, for example by means of so-called FTS (driverless transport systems), which are formed by self-propelled, remotely controlled and / or own sensor systems for steering transport vehicles, for example.
  • FTS driverless transport systems
  • Each a pallet 52 with rollers 12 placed in it can move the movement space 46.
  • Transport systems or FTS can be operated clocked as desired in the desired manner. Their operation is preferably predetermined by the schematically indicated control unit 38, which not only controls the FTS (not shown here) in its conveying speed and / or timing, but also controls the handling robot 18 in its movements to replace the rollers 12 in the packaging machine 14.
  • the control unit 38 also processes the signals 40 of at least one room monitoring device 42, which may also be formed in the variant of FIG. 2, in particular by an optical detection device or a camera 44, possibly also by a plurality of cameras 44, at least the movement space 46 of
  • Multi-axis robot 18 and detect its movements, which also the exact
  • Movements of the cantilever arm 30 with the pivoting mandrel 32 pivotally mounted thereto are meant with respect to each new roller 12 to be detected.
  • the movement space 46 which can be detected optically by means of the space monitoring device 42 formed by the camera 44, is indicated in the representation of FIG. 1 by an ellipse with interrupted ruling. Because of the sufficiently dimensioned movement space 46, not only the horizontal conveyor can be dispensed with in the variant of the device according to FIG. 2, but also the manipulator interacting therewith, via which new rollers 12 can be placed standing on the horizontal conveyor (cf. FIG. 1 ). In contrast, in Fig. 2 in the movement space 46 of the gripping and handling device 16 and in the immediate vicinity of a clipboard 60 for the new rollers 12 can be seen, which serves in the normally unclassified on the pallets 52 direction of rotation of the rollers 12, the indispensable
  • the retaining mandrel 32 of the handling robot 18 detects each individual roller 12, which stands on the pallet 52, without the direction of rotation already being checked.
  • suitable optical control or by detection in any other way eg inductively, by means of transponders or the like
  • Clipboard 60 are stored, after which the retaining mandrel 32 is pulled out of the core 26 of the stored roll 12 to detect the role 12 at its other end again to then in each required direction of rotation for the mounting positions EB1 or EB2 in the packaging machine 14th to be able to use.
  • Room monitoring device 42 are explained in more detail by way of example with reference to the embodiment of FIG. 2 and the detailed views of FIG. 3.
  • the standing in Fig. 2 within the movement space 46 user 50 usually holds there only for maintenance purposes, but not during operation of the gripping and / or handling device, which possibly also by the
  • Room monitoring device 42 can be controlled.
  • Work area 46 of the gripping and / or handling device 16 is located. Is the supply of packaging material or shrink film of a placed in the packaging machine 14 rolls 12 and 20 exhausted, by means of handling robot 18 of existing cellulose, plastic, wood or cardboard core 26 of an empty roll 20 from the Packing machine 14 removed and stored in the container 56. Only after removal of the core 26, a new roll 12 can be used in the respective installation position EB1 or EB2 of the packaging machine 14, so that the gripping and / or handling device 16 and the handling robot 18 first removes the core 26 and temporally following a insert new roller 12 in the respective installation position EB1 or EB2.
  • the gripping and / or handling device 16 or the multi-axis robot 18, the controllable clipboard 60 for the rollers 12 and the packaging machine 14 are in communication with the control unit 38, which can be supplied to the FTS, which is optionally not shown here of the pallets 52 can control.
  • the control unit 38 can thus specify in particular the timed operation of the FTS, insertion and removal of rollers 12 and 20 by the
  • Handling device 16 from the two installation positions EB1 and EB2 initiate, and if necessary to use the clipboard 60 to ensure the correct direction of rotation of a new roll 12 to be used.
  • it can, as described in more detail below, a unwinding of packaging material or shrink film of the rollers 12 used in the packaging machine 14 control.
  • the room monitoring device 42 in cooperation with the control unit 38, a movement control of the gripping and / or handling device 16 under need of inclusion
  • Clipboard 60 allows creating a fault-tolerant positioning
  • a camera 44 or several cameras 44 may be positioned at further locations, for example also in the area of the packaging machine 14, in the area of the handling robot 18 or optionally also on its pivot arm 30, provided that the movement space 46 is covered in the required manner and can be detected.
  • the camera 44 or the room monitoring device 42 then serves its purpose fulfill in an optimal manner, if they can cover the movement space 46 largely completely and if they are the movements of the gripping and / or
  • Handling device 16 its retaining mandrel 32 and the various target positions of the retaining mandrel 32 during recording and positioning of the rollers 12 can accurately detect and track. To ensure this reliably, it may be useful if the rollers 12, but at least the retaining mandrel 32, optionally also the pivot arm 30 of the handling robot 18 are provided with suitable reference marks that can be formed, for example, by visually uniquely recognizable in space marks, so that they can serve the camera system 44 as clearly recognizable and spatially assignable markings.
  • the control unit 38 can also have a display device 58 or a display via which / information about the direction of rotation or
  • Direction of rotation conforming orientation new roles 12 and / or other control or movement parameters of the multi-axis robot 18 and / or the FTS for the user 50 can be visualized.
  • the direction of rotation or rotational direction-conforming orientation of the new rollers 12 is preferably determined and / or checked by the camera 44 or possibly also by a further camera, as described below by way of example with reference to FIGS. 4 to 6, with the control unit 38 in FIG Connection is or stand. Since the gripping and / or handling device 16 can remove the respective core 26 of an empty roll 20 from the packaging machine 14 and with the help of the camera 44 and the other cameras new roles 12 with matching direction of rotation or with direction of rotation in the orientation
  • Packaging machine 14 uses independent, the device 10, at least from the beginning of receiving new rolls 12 of the respective pallet 52nd
  • Handling robot 18 could optionally be present in double or triple version, provided that the movement spaces 46 of the two or more
  • Handling robot 18 are matched to one another in a way that there can be no collisions. Since, however, a longer uninterrupted operation is normally ensured due to the web lengths on the rollers 12, the rollers 12 do not have to be replaced so frequently that the use of two or more handling robots 18 would be necessary for this purpose.
  • a useful embodiment variant can provide that a gripping and / or handling device 16 or a single handling robot 18 can supply two packaging lines or two packaging machines 14, wherein the movement space 46 is expediently located between the two packaging machines 14 arranged approximately parallel to one another that also the feed area for new rolls 12 with the horizontal conveyor 28 (see Fig. 1) and the
  • Pallet delivery (see Fig. 2) between the two packaging machines 14 and in the vicinity of the handling robot 18 and within its movement space 46 is located.
  • the handling robot 18 can alternately supply the two normally operating packaging machines 14 with new rolls 12 and, if necessary, transfer the used rolls 20 into a common container 56 for subsequent or cyclical disposal. If the movement space 46 can not be monitored with a single camera 44 because it is partially shaded, for example, several cameras 44 may be present for monitoring the space.
  • FIG. 3 shows a total of seven schematic views of the clipboard 60, as used in both variants of the device 10 according to FIG. 1 and FIG. 2, when the direction of rotation of the roller 12 does not occur after being picked up by the holding mandrel 32 of the handling robot 18 for the intended installation position in the
  • Packaging machine 14 is right.
  • the handling robot 18 sets the roller 12 onto the prism-like (see Figures 3A to 3C) upper support surface 62 of the arranged in the movement space 46 clipboard 60 by appropriate pivoting movement of its multi-axially movable arm 30, pulls the retaining pin 32 from the roller core 26 and leads him on the opposite end of the roll 12 back into the roll core 26 a.
  • the roller 12 on the retaining mandrel 32 of this can take up the roller 12 by corresponding movement of the boom 30 and insert it into the intended installation position of the packaging machine 14.
  • the first variant of the clipboard 60 shown in FIGS. 3A to 3C with the prism-like upper bearing surface 62 ensures the exact central positioning of the roller 12 during depositing and prevents its lateral rolling or twisting.
  • the upper support surface 62 may also be formed as shown in FIG. 3D by a plurality of parallel rollers 94 which are arranged in a row, that the juxtaposed inner rollers 94 are lower than the higher two externa ßeren rollers 94. This arrangement the rollers 94 allows the exact Storage of a new roll 12, which can be stored there by means of the handling robot 18 (see Fig. 3E).
  • At least one of these rollers 94 which are rotatably mounted in vertical frame plates 96 front side, may be provided with a drive to rotate the roller 12 by a defined angular amount about its longitudinal axis, for example.
  • a drive to rotate the roller 12 by a defined angular amount about its longitudinal axis, for example.
  • These drives can in particular be formed by the illustrated rollers 94 according to FIGS. 3D to 3G, which are integrated in the support surface 62 or which form this support surface 62.
  • the optional drives are not shown in detail in the illustrations of FIGS. 3A to 3C, but only in the illustrations of FIGS. 3D to 3G.
  • FIG. 3C Front views of Figures 3B and 3G as well as the top view of FIG. 3C reveals the clipboard 60 is formed as a bearing block 64, which may optionally be anchored fixedly on the ground in the region of the movement space 46.
  • movable bearing block 64 which can be rotated, for example, about a vertical central axis 66 (see Fig. 3C) to adjust the direction of rotation of the roller 12 in the desired manner or to the roller 12 in the desired manner for the recovery by the retaining pin 32 of the
  • the clipboard 60 or the bearing block 64 can be assigned suitable optical detection means, such as a camera or the like, which is preferably coupled to the control unit 38 (see Fig. 2), so that the exact positioning of one on the support surface 62 located roller 12 whose orientation and the sense of rotation or angle of rotation can be checked and recorded to the
  • a further option may provide that the clipboard 60 as a whole is movable, for example, if it is also designed as a so-called.
  • FTS driverless transport system
  • it can in this variant in their movements and
  • FIGS. 3A to 3G also show clamping jaws 68 which can press on both sides on the end faces of a roller 12 placed on the support surface 62, provided that they are delivered there to both end faces of the roller 12. In this way, after lateral delivery of the jaws 68, the roller 12 are held in position until the retainer mandrel 32 has been retracted to re-take the roller 12 in the roller core 26 and fixed there, so that the roller 12 in the
  • Installation position in the packaging machine 14 can be transported.
  • the delivery drive and mechanism 98 for the jaws 68 deliverable or revealable in the direction of longitudinal extension of the rollers 94 can be seen in FIGS. 3D and 3E and is located underneath the rollers 94 and abuts on both sides
  • Bound frame plates 96 which form the bearing part of the bearing block 64 in this embodiment variant.
  • FIG. 3E illustrates the process of depositing a new roll 12 on the rotatable and drivable rollers 94, which form the trough-shaped upper bearing surface 62 of the bearing block 64.
  • the roll 12 is deposited by means of the handling robot 18 on the clipboard 60, after which the retaining mandrel 32 is pulled out of the roll core 26 at the end of the gripping arm 34, the roll 12 is rotated in the desired manner by means of the rollers 94 and / or by means of the deliverable clamping jaws 68 in the axial direction Direction on the support surface 62 can be positioned.
  • FIG. 3G Front view of Fig. 3G illustrate a further embodiment of the
  • Clipboard 60 in which instead of the two parallel frame plates 96 (see Figures 3D and 3E), a closed housing 100 for receiving and supporting the rollers 94 and the adjustable jaws 68 together with their ZuStellantrieb and / or
  • Delivery mechanism 98 is provided.
  • the remaining construction of the clipboard 60 according to FIGS. 3F and 3G largely corresponds to the variant according to FIGS. 3D and 3E.
  • FIG. 4 The schematic perspective view of Fig. 4 illustrates the previously mentioned mounting positions EB1 and EB2 for the rollers 12, which in the
  • Packaging machine 14 according to the variants according to FIG. 1 and / or Fig. 2 are defined.
  • Each of the mounting positions EB1 and EB2 is defined by its own rotatable mandrel 70. On each of these two horizontally oriented
  • the mandrels 70 are each a new role 12 attached by means of the gripping and / or handling device (see Figures 1 and 2) and by means of magnification of the Diameter of the mandrels 70 fixed by clamping the roller core 26 on the respective mandrel 70 by clamping.
  • the Fig. 4 also leaves a
  • Welding bar 72 which for connecting an outer layer 24 (see Fig. 5, Fig. 6) of the inserted into the respective mounting position EB1 and EB2 new roller 12 (see Fig. 5) with the remaining material in the packaging machine 14 material web 22 is provided and this is lowered vertically.
  • the tempered welding bar 72 is lifted vertically and brought into the position shown in FIG.
  • a virtually worn-out roller 20 rests on the receiving mandrel 70 of the first installation position EB1 and is moved in rotation by the mandrel 70 or by the removal of the material web 22.
  • the packaging material or the shrink film of the seated on the mandrel 70 of the first installation position EB1 roller 20 is unwound.
  • Installation position EB2 ready for receiving a new roll 12 with packaging material.
  • Each of the mounting positions EB1 and EB2 may be associated with a separate sensor system or camera 74, by means of which at least approximately fully developed and / or used-up rollers 20 can be optically detected. If a roll 20 is at least approximately completely processed and / or used up, the respective camera 74 sends information about the respective at least approximately completely processed and / or used roll 20 to the control unit 38.
  • the previously mentioned control unit 38 controls on the basis of numerous data so also the cameras 74 within the
  • Packaging machine 14 the gripping and / or handling device 18 and the handling robot 18 (see Figures 1 and 2) for removing the respective at least approximately completely unwound and / or applied roller 20 or for removing the core 26 of the respective at least approximately completely
  • Installation position EB1 or EB2 can be removed, a previously formed between the respective roller 20 and the mandrel 70 clamping end Connection solved. This is typically done by reducing the cross-sectional diameter of the respective mandrel 70, whereby the
  • Reduction of the cross-sectional diameter of the receiving mandrels 70 is further specified by the control unit 38.
  • the gripping and / or handling device 16 dives into the core 26 of the at least approximately completely unwound via its retaining mandrel 32 (see FIG and or
  • Control unit 38 predetermined. After fixing the at least approximately completely unwound and / or applied roll 20 on the retaining mandrel 32, the at least approximately completely unwound and / or depleted roll 20 by means of gripping and / or handling device 16 and under specification by the
  • Control unit 38 in the direction of the container 56 moves and stored there by reducing the cross-sectional diameter of the retaining mandrel 32.
  • a check of the direction of rotation or direction of rotation conforming orientation of the respective new roll 12 - preferably with the aid of the clipboard 60 and the bearing block 64 (see Fig. 3), as previously described - take place.
  • the device 10 can be operated in this way automated. It should be mentioned at this point that the exemplary embodiment according to FIG. 4 is to be understood merely as an example, so that further embodiments can be envisaged in which two mounting positions EB1 and EB2 only one camera 74 is assigned whose detection range is determined by the two mounting positions EB1 and EB1 EB2 extends.
  • Installation position EB1 unwound, so that the packaging machine 14 (see Figures 1 and 2) can be operated even when replacing the roller 20 from the first installation position by switching to the new roll 12 of the second mounting position EB2. If a new roll 12 is then subsequently inserted into the first installation position EB1, then packaging material 22 or shrink film can be unwound from the roll 12 of the second installation position EB2, whereby the required continuous and uninterrupted operation of the packaging machine 14 can be ensured.
  • the new roller 12 of the second mounting position EB2 of FIG. 5 may preferably have an optically detectable adhesive mark 76, which may be formed in particular by a reflective or inductive or otherwise detectable adhesive mark 76, which on the outer layer 24 of the new roll 12 in the area free end is applied.
  • the second mounting position EB2 associated camera 74 is now able to check by means of the adhesive mark 76, whether the new roll 12 with the appropriate direction of rotation or with direction of rotation conforming orientation on the
  • FIG. 5 A synopsis of Figures 5 and 6 can illustrate that with new role 12 of the second mounting position EB2 the externa ßere layer 24 is guided from above over the roller 12 and dives downwards. If the roller 12 with the wrong direction of rotation or incorrect direction of rotation conforming orientation placed on the arbor 70 of the second mounting position EB2, the externa ßere would Position 24 pointing away from the roll 12 in the direction downwards and would be difficult or impossible for this reason. In addition, this might possibly disrupt the rolling behavior within the packaging machine 14 or the course of the material web. An alignment below the welding bar 72 would thus not be possible.
  • Positioning new rollers 12 in conformity with the direction of rotation or inserting new rollers 12 into the respective installation position EB1 or EB2 with a suitable direction of rotation is therefore essential in order to ensure trouble-free operation of the device 10 or the packaging machine 14 in the subsequent material conveyance of the material webs 22 can.
  • the adhesive marker 76 could be detected by means of the respective camera 74, then the receiving mandrel 70 is moved in rotation until the adhesive marker 76 points in the direction of the opposite installation position EB1 or EB2. Only after this alignment of the adhesive marking 76 can a merely shown in Fig. 6 schematically gripping bar 78 in the packaging machine 14 between the mounting positions EB1 and EB2 and the welding bar 72 movable gripping and / or handling device (not shown), the outer layer 24 of the new Role 12 grip and below the
  • This gripping bar 78 can, for example, by means of vacuum suction and grip the externa ßere layer 24 of the roller 12.
  • the new rollers 12 have no such reflective adhesive mark 76 (corresponding to FIG. 5) and in which the cameras 74 have an outer layer 24 of new rollers 12 or the free end regions of FIG recognize new roles 12 without additional visual markings of the new roles 12.
  • the optically detectable adhesive markings 76 have a coding, which is not explained here in further detail, which can be recognized by the cameras 74.
  • Coding may preferably in addition to the localization of the end portion of the externa ßeren layer 24 and the direction of rotation of the roll 12 clearly identify, so that the
  • Adhesive marking 76 already in the handling of the new roll 12 to be used with the handling robot 18 to determine the direction of rotation and the right one
  • Positioning of the end region of the outer layer 24 can be used, if necessary with the additional inclusion of the clipboard 60.
  • the adhesive marking 76 can preferably be detected by the room monitoring devices 42 or the camera 44 and the information content evaluated and made available to the control unit 38. to control the handling robot 18 and / or the clipboard 60 in the required manner.
  • the installation positions EB1 and EB2 of FIGS. 4 and 5 with the outer layer 24 removed from the new roller 12 inserted into the second installation position EB2 show the schematic perspective view of FIG. 6.
  • Packaging machine 14 (see Figures 1 and 2) to be able to guarantee.
  • Information about at least approximately completely processed and / or used up rollers 20 are passed from the cameras 74 to the control unit 38, which can specify an alignment correction of new rollers 12 and a replacement of at least approximately unwound and / or used up rollers 20 by new rollers 12. This can in particular be done in a manner as already described with reference to FIGS. 2 and 3 with the optional inclusion of the
  • Direction of rotation correction usable clipboard 60 has been explained. In order to determine the correct direction of rotation, it makes sense, however, primarily to use the camera 44 and only subordinated to the cameras 74, to then check again after inserting the roller 12 in the packaging machine 14, the correct direction of rotation.
  • FIGS. 7A and 7B show a part of the handling robot 18 which forms the gripping and / or handling device 16 for handling the rollers 12 in the device 10.
  • Arm portion 34 of the handling robot 18 is pivotable about the horizontally oriented axis 36, so that the retaining mandrel 32 of the handling robot 18 can be aligned for immersion in the core 26 of the respective new roll 12 with vertical orientation of its longitudinal axis.
  • the new roller 12 can be rotated by a new pivotal movement of the gripping arm 34 about the axis 36 and in time to their respective assigned installation position EB1 or EB2 (see.
  • FIGS. 4 to 6 are identical to FIGS. 4 to 6).
  • Figures 7A and 7B show an optional additional camera 80.
  • This optional camera 80 is fixedly coupled to the gripping arm 34 mechanically so that it is guided with the gripper arm 34 moving therewith. If the gripper arm 34 is pivoted about the axis 36, so by means of the camera 80 a
  • Direction of rotation or direction of rotation compliant orientation of one or more new roles 12 are determined.
  • the camera 80 is connected to the control unit 38, which receives a new roll 12, which has a suitable direction of rotation or rotational direction-conforming orientation, by means of the handling device 16 controls from the pallet 52.
  • FIG. 7B shows the gripping and / or handling device 16 after receiving a new roll 12 with direction of rotation-conforming orientation of a pallet 52 (see Fig. 7A).
  • the gripper arm 34 was moved from the position of FIG. 7A about the axis 36, which in FIG
  • Image plane runs, pivoted.
  • the new role 12 now has at least one
  • Installation position EB1 and EB2 are used in the packaging machine 14. A removal of the at least approximately completed and / or
  • used-up roller 20 from the respective installation position EB1 or EB2 also takes place with a horizontal orientation.
  • To remove the at least approximately completely unwound and / or depleted roll 20 from their respective installation position EB1 or EB2 dives the holding mandrel 32 of the handling robot 32 in the core 26 of at least approximately completely unwound and / or depleted role 20, resulting in different tools can be supported, which are explained below with reference to Figures 9 and 10 in more detail.
  • Cross-sectional diameter of the retaining mandrel 32 is specified via the control unit 38.
  • FIG. 7C illustrates the process of depositing a holding mandrel 32 of the extension arm 34 of the handling robot 18 held new roll 12 on the rotatable and drivable rollers 94, which form the trough-shaped upper support surface 62 of the bearing block 64 of the clipboard 60.
  • the roll 12 is deposited by means of the handling robot 18 on the clipboard 60, after which the retaining mandrel 32 is pulled out of the roll core 26 at the end of the gripping arm 34, the roll 12 is rotated in the desired manner by means of the rollers 94 and / or by means of the deliverable clamping jaws 68 in the axial direction Direction on the
  • Support surface 62 can be positioned in order to then resume them in the appropriate direction of rotation with the retaining mandrel 32 to use them finally in the packaging machine 14.
  • the clipboard is also in this embodiment of FIG. 7C in turn equipped with a closed housing 100 for receiving and supporting the rollers 94 and the adjustable jaws 68 together with their ZuStellantrieb and / or feed mechanism 98 (see, see Figures 3F and 3G).
  • Fig. 8A already shows a short distance to one
  • the handling robot 18 can be released again from the roller 12 and fed to new tasks.
  • FIG. 9A illustrates the different operating states of one in the intended Installation position EB1 or EB2 in the packaging machine 14 (see Figures 4 to 6) on the take-up mandrel 70 located roller 12 (Fig. 9A) and a remote therefrom (Fig. 9B). While the roll 12 in the illustration of FIG. 9A is ready to roll off in the intended installation position EB1 or EB2, it was pushed down from the take-up mandrel 70 in the illustration of FIG. 9B by displacing the axial stop 84 and, for example, from the handling robot 18 taken over (not shown). The displaceable axial stop 84 is located on a parallel to the
  • the entire pedestal 90 together with its drive 92 and the rotatably driven receiving mandrel 70, can also be designed to be displaceable along the two parallel horizontal guides 88, which is particularly advantageous for the equipping of the
  • FIG. 9C shows a roller 12 positioned on the mandrel 70
  • Socket 90 with the drive 92 is in this case at a right stop, in which the roll 12 is ready for unwinding in the packaging machine 14.
  • the axial stop 84 has moved with its base 86 against the base 90, so that it is in no touching contact with the roller 12.
  • 9D also shows the roll 12 positioned on the mandrel 70.
  • the base 90 with the drive 92 is displaced to the left here, as is the axial stop 84, which abuts with its base 86 on the base 90 and thus likewise moved to the left is.
  • the rotatably mounted on the base 70 receiving arbor 70 together with the roller 12 thereon is here moved out of the installation position EB1 or EB2 a piece, so that the roller 12 is in any position that is suitable for unwinding, but in a sampling or placement position at which it can be easily taken over by the handling robot 18 or transferred to the packaging machine 14.
  • the position shown in FIG. 9D may form the home position for pushing down the roller 12 from the mandrel 70 when the pedestal 90 with the mandrel 70 is moved to the right to the original operative position (corresponding to FIG. 9C) while the base 86 with the axial stop 84 in place (corresponding to Fig. 9D) remains.
  • the mandrel 70 moves out of the roller core 26, while the axial stop 84 bears against the end face of the roller 12 and holds it in place. As a result, the retaining mandrel 32 of the handling robot 18 can be pushed into the released core 26 and the roll 12 finally take over from the mandrel 70 and pull off.

Abstract

L'invention concerne un procédé et un dispositif d'acheminement, de fourniture, de manipulation et/ou d'échange de rouleaux (12, 20) comportant un matériau plat et/ou un matériau sous forme de film, enroulé sur ces derniers, servant de matériau d'emballage (22) pour l'emballage de charges isolées, fûts ou ensembles d'articles similaires. Dans ce dispositif et selon ce procédé, des rouleaux (20) au moins pratiquement entièrement dévidés et/ou épuisés sont prélevés à partir d'une position de montage (EB1, EB2) d'une machine d'emballage (14) puis un nouveau rouleau (12) comportant un matériau plat et/ou sous forme de film est introduit respectivement dans la position de montage respective (EB1, EB2). De nouveaux rouleaux (12) de la machine d'emballage (14) sont fournis selon un acheminement défini et sont introduits au moyen d'au moins un dispositif de préhension et/ou de manipulation (16) dans la position de manipulation (EB1, EB2) respective, après le prélèvement au préalable d'un rouleau (20) consommé. Un élément de réception intermédiaire (60) pour un rouleau (12) à insérer dans la machine d'emballage (14), servant de support (62) pour le rouleau (12), en particulier pour la réception, la fourniture conforme au sens de rotation et pour une nouvelle réception dudit rouleau par le dispositif de préhension et/ou d'acheminement (16) en vue de son transfert dans la machine d'emballage (14) est associé au dispositif de préhension et/ou d'acheminement (16).
PCT/EP2016/058183 2015-04-30 2016-04-14 Procédé et dispositif d'acheminement, de fourniture et d'échange de rouleaux comportant un matériau d'emballage dans une machine d'emballage WO2016173853A1 (fr)

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CN201680022825.0A CN107683249B (zh) 2015-04-30 2016-04-14 输送、提供和在包装机中更换带有包装材料的卷筒的方法和设备
EP16716218.9A EP3288873B1 (fr) 2015-04-30 2016-04-14 Procédé et dispositif d'acheminement, de fourniture et d'échange de rouleaux comportant un matériau d'emballage dans une machine d'emballage

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DE102015208122.2 2015-04-30
DE102015208122.2A DE102015208122A1 (de) 2015-04-30 2015-04-30 Verfahren und Vorrichtung zur Zuförderung, Bereitstellung und zum Austausch von Rollen mit Verpackungsmaterial in einer Verpackungsmaschine

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EP4306462A1 (fr) * 2022-07-15 2024-01-17 Ishida Co., Ltd. Dispositif de remplacement de rouleau de film, procédé d'alimentation de rouleau de film et procédé d'élimination de rouleau de film
EP4306463A1 (fr) * 2022-07-15 2024-01-17 Ishida Co., Ltd. Dispositif d'alimentation de rouleau de film
CN111532847B (zh) * 2019-02-07 2024-05-17 Bhs波纹机械和设备制造有限公司 隔离覆层移除设备

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CN108621455A (zh) * 2018-04-27 2018-10-09 嘉兴市博荣新材料有限公司 一种塑料薄膜生产设备
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CN117902375A (zh) * 2022-03-14 2024-04-19 浙江大学台州研究院 一种滤布收卷辊自动下辊系统
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CN111532841A (zh) * 2019-02-07 2020-08-14 Bhs波纹机械和设备制造有限公司 料幅进给设备
CN111532841B (zh) * 2019-02-07 2024-03-05 Bhs波纹机械和设备制造有限公司 料幅进给设备
CN111532847B (zh) * 2019-02-07 2024-05-17 Bhs波纹机械和设备制造有限公司 隔离覆层移除设备
EP4306462A1 (fr) * 2022-07-15 2024-01-17 Ishida Co., Ltd. Dispositif de remplacement de rouleau de film, procédé d'alimentation de rouleau de film et procédé d'élimination de rouleau de film
EP4306463A1 (fr) * 2022-07-15 2024-01-17 Ishida Co., Ltd. Dispositif d'alimentation de rouleau de film

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EP3288873B1 (fr) 2020-08-26
CN107683249B (zh) 2020-05-29
CN107683249A (zh) 2018-02-09
DE102015208122A1 (de) 2016-11-03

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