WO2020156694A1 - Robot de préhension destiné à recevoir et à déposer des bouteilles habillées et/ou des emballages habillés, installation de traitement de bouteilles et/ou d'emballages, et procédé destiné à faire fonctionner l'installation de traitement de bouteilles et/ou d'emballages - Google Patents

Robot de préhension destiné à recevoir et à déposer des bouteilles habillées et/ou des emballages habillés, installation de traitement de bouteilles et/ou d'emballages, et procédé destiné à faire fonctionner l'installation de traitement de bouteilles et/ou d'emballages Download PDF

Info

Publication number
WO2020156694A1
WO2020156694A1 PCT/EP2019/078866 EP2019078866W WO2020156694A1 WO 2020156694 A1 WO2020156694 A1 WO 2020156694A1 EP 2019078866 W EP2019078866 W EP 2019078866W WO 2020156694 A1 WO2020156694 A1 WO 2020156694A1
Authority
WO
WIPO (PCT)
Prior art keywords
bottles
containers
transport
bottle
orientation
Prior art date
Application number
PCT/EP2019/078866
Other languages
German (de)
English (en)
Inventor
Michael Jogsch
Original Assignee
Krones Ag
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 Ag filed Critical Krones Ag
Publication of WO2020156694A1 publication Critical patent/WO2020156694A1/fr

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
    • B65B27/00—Bundling particular articles presenting special problems using string, wire, or narrow tape or band; Baling fibrous material, e.g. peat, not otherwise provided for
    • B65B27/04—Bundling groups of cans or bottles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
    • B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
    • 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
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/003—Packaging lines, e.g. general layout
    • 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
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/24—Feeding, e.g. conveying, single articles by endless belts or chains
    • 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
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/44—Arranging and feeding articles in groups by endless belts or chains

Definitions

  • Gripping robot for picking up and putting down of equipped bottles and / or equipped containers, treatment system for bottles and / or containers and method for operating the treatment system for bottles and / or containers
  • the present invention relates to a gripping robot for picking up and putting down bottles and / or equipped containers according to the preamble of claim 1, a treatment system for bottles and / or containers according to the preamble of claim 4 and a method for operating the treatment system for bottles and / or container according to claim 10.
  • DE 297 01 564 U1 discloses a picker line for converting individual products into containers which can hold a certain number of individual products.
  • a line camera for controlling the picker
  • the position of each individual product on the product belt and its position is determined at a defined point, namely the line scanned by the camera, in front of the picker area during the passage of the product belt, and in the computer taking into account the transport speed of the products as well as the distance between the scanned line and the picker position further processed in order to control the picker precisely for gripping the individual products and transferring them into the container including the necessary rotation of the product.
  • the container belt and the product belt can be moved in the opposite direction; counting individual products in the opposite direction can be omitted.
  • a gripping robot for picking up and setting down equipped bottles and / or equipped containers each of which comprises equipment, such as one or more labels, one or more sleeves or printing with one or more printed images, comprises a control device, a movable gripping arm, wherein the gripping arm gripping means for receiving an equipped bottle or an equipped container, moving means for moving and setting down the accommodated, equipped bottle or the accommodated, equipped container and rotating means for rotating the accommodated, equipped bottle or the accommodated, equipped container.
  • the gripping robot further comprises a camera, which is designed to detect an orientation of the equipment of the accommodated, equipped bottle or the accommodated, equipped container, and means for forwarding the detected orientation to the control device, which is designed, for information on one Access target orientation of the equipment and determine a rotation angle for the rotating means from the detected orientation and the target orientation, so that after rotating around the rotation angle, the picked up, equipped bottle or the picked up, equipped container can be switched off with the target orientation.
  • a camera which is designed to detect an orientation of the equipment of the accommodated, equipped bottle or the accommodated, equipped container, and means for forwarding the detected orientation to the control device, which is designed, for information on one Access target orientation of the equipment and determine a rotation angle for the rotating means from the detected orientation and the target orientation, so that after rotating around the rotation angle, the picked up, equipped bottle or the picked up, equipped container can be switched off with the target orientation.
  • the bottles can comprise different types of bottles, wherein the bottles can have round or non-round cross sections, such as oval or angular. Bottles with non-round cross sections can also be referred to as shaped bottles.
  • Bottles of one type are generally combined in one container. However, it can also be provided that various types of bottles are combined to form a container.
  • the camera can be provided on the gripping arm. If the camera is provided on the gripping arm, an orientation of the equipment can also be detected while the bottle is being rotated or moved with the gripping robot without, for example, shadowing from parts of the gripping robot.
  • the control device may include a memory and the information about the targeting may be stored in the memory.
  • the information on the goal orientation can be present for each of the bottles equipped. For example, a plurality of Bottles are moved from the first to the second transport device and are rotated individually in order to obtain, for example, an alignment of the respective bottles, as is preferred in a container composed of these bottles. If the second transport device has two or more aisles, which include guide rails, for example, bottles with a non-round cross section can no longer rotate after being brought into the aisles and maintain their orientation. It can therefore be particularly advantageous for non-round bottles if they can be picked up beforehand using the gripping robot, rotated into their target orientation and then placed in the streets with the target orientation.
  • the gripper robot can place bottles in or on one or more packaging materials for subsequent processing in a packaging machine to produce finished containers.
  • a treatment plant for bottles and / or containers comprises a first transport device with a single lane, which is designed to transport equipped bottles or equipped containers in a first transport direction, and a second transport device with two or more lanes, which are configured, the equipped bottles or to transport the equipped containers in a second transport direction, the first and the second transport direction being oriented in opposite directions.
  • the treatment system comprises a gripping robot as described above or below, which is arranged between the first transport device and the second transport device.
  • the gripping robot comprises a control device, a movable gripping arm, the gripping arm gripping means for receiving the equipped bottle or the pack from the first transport device, moving means for moving and placing the picked up, equipped bottle or the picked up, equipped pack on the second Transport device and rotating means for rotating the accommodated, equipped bottle or the accommodated, equipped container.
  • the gripping robot comprises a camera, which comprises the gripping robot and which is designed to detect an orientation of the equipment of the bottle received, from the bottle or the container equipped, and means for transmitting the detected orientation to the control device, which is designed is to access information on a target orientation of the equipment and to determine an angle of rotation for the rotating means from the detected orientation and the target orientation, so that after being rotated by the angle of rotation the picked up, equipped bottle or the picked up, equipped container with the target orientation on the second transport device is adjustable. Since the equipped bottles / containers can be converted in the opposite direction, the use of a comparatively short second transport device is possible. In addition, the alleys of the second transport device can be operated at different, graded speeds.
  • a first buffer device with a first outlet can be provided after the first transport device, wherein, for example, the first outlet, like the second transport device, can include two or more aisles.
  • the first buffer device can be used when there is a backflow of bottles.
  • a packaging machine for the equipped bottles can be provided next to the second transport device, wherein the packaging machine can be designed to combine several of the equipped bottles into containers and wherein the packaging machine can comprise a second outlet onto which a third Transportvor direction can follow, which can be designed to transport the container in a third transport direction, for example, the third transport device can comprise a single aisle.
  • a second buffer device can be provided after the third transport device, which can comprise a third outlet, which can be followed by a fourth transport device, which can be designed to transport the containers in a fourth transport direction.
  • the second buffer device can be used if there is a backlog of containers.
  • the treatment machine can further comprise a palletizer, which can be designed to arrange containers on pallets.
  • the palletizer can comprise a gripping robot as described above or further below for bottles, in which the gripping means are designed to hold a container.
  • the two or more aisles of the second transport device can include guide railings.
  • a method for operating the treatment system as described above or below comprises the steps:
  • the method can further comprise a step of combining several equipped bottles into bundles by means of a packaging machine.
  • the method can further comprise a step of arranging several containers on a pallet by means of a palletizer.
  • Placing the equipped bottle on the second transport device with the targeting can include that the equipped bottle can be placed in or on one or more packaging materials.
  • Figure 1 is a plan view of a schematic representation of a treatment system for bottles and containers and
  • Figure 2 is a flow chart for a method for operating a treatment system for bottles and containers.
  • FIG. 1 shows a top view of a schematic representation of a treatment plant for bottles and containers.
  • a device 1 for arranging an equipment for example a label, can be supplied with bottles 2, on which the equipment 3 is arranged in the device 1, so that the apparatus 1 leaves bottles 4.
  • the outfitted bottles 4 are transported on a first transport device 5 in a first transport direction 6.
  • a gripping robot 7 is provided.
  • the gripping robot 7 is arranged between the first transport device 5 and a second transport device 8, so that it is equipped bottles 4 from the Pick up the first transport device 5, if necessary, rotate it and place it on the second transport device 8.
  • the second transport device 8 exemplarily comprises four lanes 9, the second transport device 8 transporting the equipped bottles 4 in a second transport direction 10, which is opposite to the first transport direction 6.
  • the gripping robot 7 comprises a movable gripping arm 11 which is designed to be rotatable about an axis 12 running perpendicular to a transport plane and which has two swivel joints 13, so that picking up an equipped bottle 4, rotating a picked-up bottle 14 made of it and transferring it of the received, equipped bottle 14 is possible from the first 5 to the second transport device 8.
  • the gripping arm 7 comprises gripping means 15.
  • the gripping robot 7 comprises a camera 16, which is arranged here on the gripping arm 11.
  • the camera 16 is designed to detect an orientation of the equipment 3 of the bottle 14 that has been taken out and equipped. Detection can take place when the equipped bottle 4 is picked up and also while the bottle 14 is being picked up. With means for forwarding the detected orientation, the detected orientation can be forwarded to a control device 17, which is designed to access information on a target orientation of the equipment 3 and to determine an angle of rotation from the detected orientation and the target orientation, so that after rotating by the angle of rotation, the equipped bottle 14 with the target orientation can be placed on the second transport device 8.
  • a first buffer device 18 with a first outlet 19 is provided next to the first transport device 5, the first outlet 19 like the second transport device 7 four Alleyways.
  • the device 18 Puffervorrich can be activated.
  • a packaging machine 20 is provided for the equipped bottles 4, the packaging machine 20 being designed to combine a plurality - here eight - of the equipped bottles 4 into a container 21.
  • the packaging machine 20 comprises a second outlet 22, followed by a third transport device 23, which is designed to transport the container 21 in a third transport direction 24.
  • a second buffer device 25 is provided after the third transport device 23, which comprises a third outlet 26, followed by a fourth transport device 27, which is designed to transport the container 21 in a fourth transport direction 28 transport.
  • the containers 21 arrive at a palletizer 29 which is designed to arrange containers 21 on pallets.
  • FIG. 2 shows a flow diagram for a method for operating a treatment system for bottles and containers as described above.
  • bottles can optionally be equipped with equipment, for example with one or more labels, one or more sleeves and / or printing with one or more printed images.
  • equipment for example with one or more labels, one or more sleeves and / or printing with one or more printed images.
  • a labeling machine, a sleeve system and / or a printing machine can be used accordingly and can be seen in the treatment system.
  • step 101 equipped bottles are transported in a first transport direction with a first transport device.
  • step 102 one of the equipped bottles is picked up with a gripping robot as described above.
  • step 103 an orientation of the equipment of the received, equipped bottle with a camera is detected.
  • a rotation angle is determined from a target orientation and the detected orientation.
  • the detected orientation can be forwarded to a control device of the gripping robot by means of forwarding the detected orientation.
  • the control device can access information on a target orientation of the equipment and determine an angle of rotation from the detected orientation and the target orientation, so that after being rotated by the angle of rotation, the bottle fitted and equipped with the target orientation can be placed on the second transport device.
  • a determined angle of rotation can also be zero degrees; in this case the loaded, equipped bottle is not rotated, which can be viewed as a rotation through a rotation angle of zero degrees.
  • step 105 the picked up, equipped bottle is rotated around the rotation angle in order to achieve the target orientation.
  • step 106 the equipped bottle is placed on a second transport device with the target orientation, the second transport device carrying the equipped bottle can transport in a second transport direction, which is opposite to the first transport direction.
  • step 107 several equipped bottles are combined into packs by means of a packaging machine.
  • step 108 multiple containers are arranged on a pallet by means of a palletizer.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot de préhension destiné à recevoir et à déposer des bouteilles ou emballages habillés, comprenant un dispositif de commande, un bras de préhension mobile comprenant des moyens de préhension destinés à recevoir une bouteille ou un emballage, des moyens de déplacement destinés à déplacer et à déposer la bouteille ou l'emballage, des moyens de rotation destinés à mettre en rotation la bouteille ou l'emballage, une caméra destinée à détecter une orientation de l'habillage de la bouteille reçue ou de l'emballage reçu, et des moyens destinés à transmettre l'orientation détectée au dispositif de commande, lequel peut accéder à des informations destinées à l'orientation cible de l'habillage, et peut déterminer un angle de rotation pour le moyen de rotation à partir de l'orientation détectée et de l'orientation cible, de telle sorte que, après rotation selon l'angle de rotation, la bouteille ou l'emballage puisse être déposé(e) selon l'orientation cible. L'invention concerne en outre une installation de traitement pour des bouteilles ou des ensembles comprenant des premier et second dispositifs de transport comprenant des directions de transport opposées, et le robot de préhension situé entre les premier et second dispositifs de transport.
PCT/EP2019/078866 2019-01-31 2019-10-23 Robot de préhension destiné à recevoir et à déposer des bouteilles habillées et/ou des emballages habillés, installation de traitement de bouteilles et/ou d'emballages, et procédé destiné à faire fonctionner l'installation de traitement de bouteilles et/ou d'emballages WO2020156694A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019201229.9 2019-01-31
DE102019201229.9A DE102019201229A1 (de) 2019-01-31 2019-01-31 Greifroboter zum Aufnehmen und Abstellen von ausgestatteten Flaschen und/oder ausgestatteten Gebinden, Behandlungsanlage für Flaschen und/oder Gebinde und Verfahren zum Betreiben der Behandlungsanlage für Flaschen und/oder Gebinde

Publications (1)

Publication Number Publication Date
WO2020156694A1 true WO2020156694A1 (fr) 2020-08-06

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PCT/EP2019/078866 WO2020156694A1 (fr) 2019-01-31 2019-10-23 Robot de préhension destiné à recevoir et à déposer des bouteilles habillées et/ou des emballages habillés, installation de traitement de bouteilles et/ou d'emballages, et procédé destiné à faire fonctionner l'installation de traitement de bouteilles et/ou d'emballages

Country Status (2)

Country Link
DE (1) DE102019201229A1 (fr)
WO (1) WO2020156694A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN113601500A (zh) * 2021-07-12 2021-11-05 广东工业大学 一种单目视觉机器人及应用其的三维匹配定位方法

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DE102021133125A1 (de) 2021-12-14 2023-06-15 Krones Aktiengesellschaft Getränkekasten mit Zentrierfunktion für Flaschen und zusätzlicher Aussparung für Serialisierungsanwendung

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DE29701564U1 (de) 1997-01-30 1997-03-27 Gerhard Schubert GmbH, 74564 Crailsheim Pickerstraße mit entgegengesetztem Traytransport
WO2008036745A1 (fr) * 2006-09-19 2008-03-27 Meadwestvaco Packaging Systems, Llc Dispositif d'alignement d'article
EP2363288A1 (fr) * 2010-03-03 2011-09-07 KAMMANN Maschinenbau GmbH Dispositif et procédé d'alignement d'objets
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WO2018013345A1 (fr) * 2016-07-14 2018-01-18 Siemens Healthcare Diagnostics Inc. Procédés et appareil pour des ajustements de position dynamiques d'un dispositif de préhension de robot sur la base de données d'imagerie de porte-échantillon
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FR2652059A1 (fr) * 1989-09-19 1991-03-22 Ouest Conditionnement Machine pour l'emballage d'objets tels que bouteilles ou boites de conserve a l'etat groupe et oriente.
DE29701564U1 (de) 1997-01-30 1997-03-27 Gerhard Schubert GmbH, 74564 Crailsheim Pickerstraße mit entgegengesetztem Traytransport
WO2008036745A1 (fr) * 2006-09-19 2008-03-27 Meadwestvaco Packaging Systems, Llc Dispositif d'alignement d'article
EP2363288A1 (fr) * 2010-03-03 2011-09-07 KAMMANN Maschinenbau GmbH Dispositif et procédé d'alignement d'objets
DE102011106759B3 (de) * 2011-07-05 2012-09-13 Khs Gmbh Verfahren zur Herstellung von Gebinden
WO2018013345A1 (fr) * 2016-07-14 2018-01-18 Siemens Healthcare Diagnostics Inc. Procédés et appareil pour des ajustements de position dynamiques d'un dispositif de préhension de robot sur la base de données d'imagerie de porte-échantillon
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