WO2024068217A1

WO2024068217A1 - Packing head and method for packing or unpacking containers

Info

Publication number: WO2024068217A1
Application number: PCT/EP2023/074519
Authority: WO
Inventors: Alexander Mann; Frank Dinges
Original assignee: Khs Gmbh
Priority date: 2022-09-26
Filing date: 2023-09-07
Publication date: 2024-04-04
Also published as: DE102022124595A1

Abstract

The invention relates to a packing head (1) which is intended for packing or unpacking containers, preferably bottles or cans, and comprises gripper bars (3) and guide elements (4), which cross over the gripper bars (3), wherein, on a carriage (7), packing bells (9) for gripping the containers are arranged at at least one crossover point (8) of the gripper bars (3) and guide elements (4), wherein the carriages (7) are displaceable along gripper bars (3) and guide elements (4), characterized in that at least one of the gripper bars (3) and at least one of the guide elements (4) comprises a respective drive (10, 11), by means of which the respective gripper bar (3) or guide element (4) is displaceable independently of an adjacent gripper bar (3) or guide element (4), and therefore, when the respective gripper bar (3) or guide element (4) is being displaced, the carriages (7) arranged at the corresponding crossover points (8) are displaced correspondingly. The invention also relates to a method for packing or unpacking containers.

Description

Packing head and method for packing or unpacking containers

The invention relates to a packing head and a method for packing or unpacking containers.

Such packing heads are used, for example, in beverage bottling to pack filled containers. The containers, for example bottles or cans, can be or will be used in packaging, for example cardboard boxes or the like, or boxes such as beverage crates. Accordingly, packing heads can also be used to unpack containers, for example to remove them from packaging or boxes.

A packing head is known from EP 2 183 162 B1. In this known packing head, cross slides are guided along rod-like guide and actuating elements. Packing tulips for gripping containers are arranged on the cross slides. A first number of guide and actuating elements is arranged essentially perpendicular to a second number of guide and actuating elements, with the cross slides being arranged at intersection points of the respective guide and actuating elements. The guiding and actuating elements of the first number are arranged parallel to one another, and the guiding and actuating elements of the second number are arranged parallel to one another. A first guide and actuating element and a second guide and actuating element arranged perpendicular to the first guide and actuating element extend through each cross slide. By adjusting the guide and actuating elements, the position of the cross slides can be adjusted equally. For this purpose, the packing head has a first drive for the first number of guiding and actuating elements and a second drive for the second number of guiding and actuating elements, all of which are arranged parallel to one another Drives guide and actuating elements in such a way that they are moved at least symmetrically to one another. In other words, the guiding and actuating elements are moved in the same way or while maintaining symmetry. In addition, some of the cross slides can be designed in such a way that they have an auxiliary slide with an auxiliary drive, via which the packing tulip can be moved relatively. This means that the packing tulips can be moved individually.

However, this solution of providing the cross slides with auxiliary drives and auxiliary slides is comparatively complicated and time-consuming. In addition, due to the relatively high number of carriages or packing tulips, a comparatively large number of additional drives are necessary, which makes maintenance more difficult and can also increase the susceptibility to errors in the event of a failure of one of the auxiliary drives. Since only some of the carriages should have auxiliary drives and auxiliary carriages, changing the format of the containers to be packed or unpacked is hardly or only possible with difficulty.

It is therefore the object of the present invention to overcome these disadvantages. The present invention makes it possible to provide a format change in a simple and uncomplicated manner. In addition, the packing head of the present invention is designed to be simpler in terms of apparatus.

This object is achieved by a packing head with the features of claim 1 and a method with the features of claim 11. The subclaims relate to advantageous embodiments of the invention.

A first aspect of the invention relates to a packing head for packing or unpacking containers, preferably bottles or cans, wherein the packing head has at least one individual head, wherein the individual head has at least two gripper strips extending in a first plane, wherein the packing head has guide elements crossing with the gripper strips, which extend in a second plane, and a plurality of slides, wherein the slides are arranged at intersection points of the gripper strips and the guide elements are arranged and can be moved along the gripper strips and the guide elements, wherein a packing tulip for gripping a container is arranged on at least one, preferably each, of the slides, characterized in that at least one, preferably each, of the gripper strips has a gripper strip drive which is set up to move the gripper strip independently of an adjacent gripper strip parallel to the direction of extension of the guide elements, so that when the gripper strip is moved, the slides arranged at the intersection points of the respective gripper strip with the guide elements are moved along the guide elements, and wherein at least one, preferably each of the guide elements has a guide element drive which is set up to move the guide element independently of an adjacent guide element parallel to the direction of extension of the gripper strips, so that when the guide element is moved, the slides arranged at the intersection points of the respective guide element with the gripper strips are moved along the gripper strips.

Because the gripper strips and/or the guide elements have their own drives, they can be moved individually and independently of neighboring gripper strips or guide elements. This also means that the carriages and the packing tulips arranged on the carriages can be moved to predetermined positions easily and simply. In particular, format changes can be implemented easily and simply. A packaging machine with the packing head does not have to be stopped to change the format, as the carriages can assume the respective positions by adjusting the gripper strips and/or the guide elements. Likewise, an ongoing process or procedure does not have to be interrupted for a format change.

“Move independently” can mean that a distance between adjacent gripper strips and/or guide elements can be set as desired within predetermined ranges. “Move independently” can mean that the gripper strip drive and/or Guide element drive can be individually controlled and/or actuated. “Move independently” can mean that the gripper strip drive and/or guide element drive can be controlled and/or actuated independently of other gripper strip drives and/or guide element drives. “Move independently” can mean that a gripper strip and/or guide element can be or can be moved at a speed, can be or can be moved in a direction and/or can be or can be accelerated, which is not dependent on the speed, direction and/or or acceleration of at least one other, several or all other gripper strips and/or guide elements depends on and/or may differ from these.

The containers can be or have bottles, e.g. plastic bottles such as PET or PEP bottles, or glass bottles, and/or cans. The containers can be filled with drinks and/or liquids. The containers can have a dimension, e.g. a measurement, height or diameter. Container format can mean an arrangement, container formation, dimension, measurement, height, diameter, type, e.g. bottles or cans, number or location of provision or deposit of containers, e.g. provided container. Format change can mean that containers with a container format that is different from previously provided containers are or will be provided. In the case of a format change, containers can be or will be provided that can differ from previously provided containers, for example in their arrangement, container formation, dimension, measurement, height, diameter, type, e.g. bottles or cans, number or location of provision. If a format change is carried out or occurs, it can be provided that the gripper strips and/or the guide elements, or the carriages and packing bells, are or can be adapted to the container format now present.

The second level can be spaced substantially parallel to the first level. It can be provided that the guide elements are arranged above or below the gripper strips. It can be provided that Gripper strips and guide elements are arranged in such a way that they do not contact each other. Gripper strips and guide elements can be aligned essentially perpendicular to one another. The guide elements can be arranged parallel to one another. The gripper strips can be arranged parallel to one another.

The carriages can slide onto the gripper strips. It can be provided that each carriage is assigned a gripper strip on which it can slide. The gripper strip can guide the carriage while sliding.

The gripper strips can have a rail element on which the carriages can rest and/or which can be gripped by the carriages. In some embodiments, a gripper strip can have two rail elements. The rail elements can be arranged opposite one another.

The carriages can have at least one groove in which a respective rail element can be accommodated. If the gripper strip has more than one rail element, the carriage can have a corresponding number of grooves.

The guide elements can be or have push rods. The carriages can be arranged between two respective push rods. The push rods can be set up to push and/or contact the carriages when moving the carriages in the direction of extension of the gripper strips.

The packing head can have at least two individual heads. In some embodiments, the packing head can have at least four or at least six individual heads. The guide elements can cross the gripper strips of all individual heads. The individual heads can be arranged next to one another, for example in the direction of extension of the guide elements. A single head may have at least two gripper strips. In some embodiments, a single head may have at least four gripper strips.

The packing head can have at least four guide elements, so that each gripper strip can have at least four crossing points. A carriage can be arranged at or in each crossing point. In some embodiments, the packing head can have at least six guide elements, so that each gripper strip can have at least six crossing points or carriages arranged at the respective crossing points.

The first level can be below the second level. The carriages can protrude above the first level in such a way that they can extend through the second level.

The gripper strip drive can have a pneumatic drive, a linear motor, and/or a servo motor. The guide element drive can have a pneumatic drive, a linear motor, and/or a servo motor. In some embodiments, the gripper strip drive may comprise a pneumatic drive and the guide element drive may comprise a linear motor or a servo motor.

In some embodiments, a camera can be provided in particular as the optical container detection device, which can be set up to detect a container formation of the containers to be gripped by the packing tulips. In some embodiments, a control unit may be provided that can control the gripper strip drives and/or guide element drives. Gripper strips and/or guide element drives can be moved or moved based on control commands from the control unit. It can be provided that the camera is connected to the control unit and that the control commands are based on the data captured by the camera Container formation is calculated, created and/or output by the control unit.

Further aspects of the invention relate to a packing device and a method for packing or unpacking containers. This packing device can have any of the packing heads described above. Alternatively, the packing device can have one of the packing heads described below. These packing heads have at least some of the same elements and components as the packing heads described above. The elements and components are therefore named the same. In principle, the individual head, the gripper strip, the guide element, the carriage, the gripper strip drive and the guide element drive can therefore be the elements already described, so that all previously described aspects can be transferred accordingly.

In general, the packing device with one of the packing heads described above is a further development of the inventive concept of the packing head. However, the packing device is also an independent inventive subject matter, which is characterized in that the packing device is designed to move the packing tulips of the packing head into a gripping position for gripping containers, which is determined based on container information recorded by an optical container detection device, in particular the positions and/or the container formation of the containers to be gripped.

This means that the packing tulips or the packing head can be controlled depending on the situation. Although this is advantageous with one of the packing heads described above, it is also fundamentally possible with packing heads constructed differently. The particular advantages here are that the potential for error situations is reduced. It also reduces the need for additional format parts that are typically used to form and precisely position the containers. Instead of more complex alley sheets or Corrective frames, simple railings are sufficient. You can also achieve a packing device that is at least largely independent of the container and container sizes. Using the optical container detection device, the containers or containers can be recognized and each individual packing tulip can be placed in the ideal place during the packing process. This means that tolerances in the containers and containers can be compensated directly for each cycle.

In detail, the further aspects include the following additional individual aspects:

1 . Packing device for packing or unpacking containers, the packing device having the following: a packing head, in particular one of the packing heads described above, for packing or unpacking containers with a plurality of packing tulips which are arranged to be movable in different positions on the packing head; an optical container position detection device for detecting container information, in particular the position and / or the container formation, of containers to be gripped, wherein the packing device is designed to move the packing tulips of the packing head for gripping containers into a gripping position, which is based on the Container information recorded by the optical container detection device, in particular the position and / or the container formation, of the containers to be gripped, is determined.

The packing tulip can generally be any type of gripper that is suitable for gripping a container. The containers can generally be any type of article or packaged goods. In general, it would of course be conceivable to use a container detection device that is not based on an optical detection system. It is relevant that the container detection device is suitable for detecting container information, in particular the position and/or the container formation of containers to be gripped.

2. Packing device according to aspect 1, wherein the packing head has at least one individual head, wherein the individual head has at least two in a first Has plane-extending gripper strips, wherein the packing head has guide elements crossing the gripper strips, which extend in a second plane, which is preferably spaced substantially parallel from the first plane, and a plurality of carriages.

In particular, the carriages are arranged at intersections of the gripper strips and the guide elements and are designed to be movable along the gripper strips and the guide elements, with one of the packing tulips being arranged on at least one, preferably each, of the carriages for gripping a container.

The packing head preferably has at least two individual heads, particularly preferably at least four or six individual heads, with the guide elements crossing respective gripper strips of all individual heads. Furthermore, an individual head preferably has at least two, particularly preferably at least four, gripper strips.

3. Packaging device according to aspect 2, wherein at least one, preferably each, of the gripper strips has a gripper strip drive which is designed to move the gripper strip independently of an adjacent gripper strip.

In particular, the gripper strip drives are designed to move the gripper strip parallel to the direction of extension of the guide elements, so that when the gripper strip is moved, the carriages arranged in the intersection points of the respective gripper strip with the guide elements are moved along the guide elements.

4. Packing device according to aspect 3, wherein at least one, preferably each, of the guide elements has a guide element drive which is designed to move the guide element independently of an adjacent guide element. In particular, the guide element drive is designed to move the guide element parallel to the direction of extension of the gripper strips, so that when the guide element is moved, the carriages arranged in the intersection points of the respective guide element with the gripper strips are moved along the gripper strips.

5. Packaging device according to aspect 3 or 4, wherein the gripper strip drive and/or guide element drive comprises a pneumatic drive, a linear motor, and/or a servo motor, or wherein the gripper strip drive comprises a pneumatic drive and the guide element drive comprises a linear motor or a servo motor.

6. Packing device according to aspect 5, wherein the packing device is designed to access the gripper strip drive and/or the guide element drive for positioning the packing tulips based on container information recorded by means of the optical container detection device, in particular the position and/or the container formation, of the containers to be gripped steer.

7. Packaging device according to one of the previous aspects, wherein the optical container position detection device is designed as a camera.

As a camera, the container position detection device is designed to capture container information, in particular the position and/or the container formation, of the containers to be gripped as an image.

8. Packaging device according to one of the preceding aspects, wherein the packaging device has a control unit which is designed to control the gripper strip drives and/or guide element drives.

In particular, the control unit is designed to generate control commands, i.e. to calculate or create and/or output them. The gripper strip drives and/or the guide element drives are then designed to trained to receive the control commands and to move based on the control commands.

9. Packaging device according to aspect 8, wherein the control unit is designed to be connected to the container position detection device and is designed to control the gripper strip drives and/or guide element drives based on container information detected by the container position detection device, in particular the position and/or the container formation.

In particular, the control unit is designed to calculate, create and/or output control commands based on container information recorded by the container position detection device, in particular the position and/or the container formation, of the containers to be gripped.

10. A method for packing or unpacking containers, in particular by means of one of the packing devices described above, the method having the following steps: detecting container information, in particular the position and / or the container formation, of containers to be gripped, in particular by means of an optical container position detection device ; Determining a gripping position of grippers, in particular packing tulips, of a packing head based on the recorded container information; and moving the grippers, in particular the packing tulips, of the packing head into the specific gripping position.

A second aspect of the invention relates to a method for packing or unpacking containers, comprising the following steps:

Providing containers in a first container arrangement at a staging location; Moving a packing head according to one of the preceding claims 1 to 10 into a gripping position above the delivery location, wherein when moving the packing head, the gripper strips and / or the guide elements are moved in such a way that the carriages and / or packing tulips arranged on the carriages are in the gripping position of the Packing heads are arranged above the containers;

Grabbing the provided containers with the packing tulips;

Moving the packing head into a settling position above a settling location at which the containers are deposited in a second container arrangement, wherein when the packing head is moved into the settling position, the gripper strips and the guide elements are driven in such a way that the carriages and/or packing tulips arranged on the carriages are spaced apart according to the second container arrangement;

Depositing the containers gripped by the packing tulips at the deposition location, so that the containers are arranged in the second container arrangement after deposition.

After the containers gripped by the packing tulips have been placed down, the process may include the following further steps:

Providing containers in a third container arrangement, different from the first container arrangement, at the provision location or a second provision location;

Moving the packing head into a gripping position above the staging location or the second staging location, wherein when the packing head is moved, the gripper strips and the guide elements are driven in such a way that the carriages and/or on the carriages arranged packing tulips are spaced according to the third container formation, so that the packing tulips can grip the other containers in the third container formation.

The procedure may include the following further steps:

Gripping provided containers with the packing tulips and moving the packing head into a depositing position above the depositing location or above a second depositing location at which the containers are deposited in a fourth container arrangement, the fourth container arrangement being different from the second container arrangement, wherein in the method of Packing head into the setting position, the gripper strips and the guide elements are driven in such a way that the carriages and / or packing tulips arranged on the carriage are spaced apart from one another in accordance with the fourth container arrangement, so that the containers are arranged in the fourth container arrangement after setting down.

Before gripping the containers provided in the first container arrangement and/or the third container arrangement, preferably when providing the containers and/or before or when moving the packing head into the gripping position, the container formation of the containers provided in the first and/or third container arrangement can be recorded by a camera, wherein when moving the packing head, the gripper strips and/or the guide elements can be moved depending on the recorded container formation.

The method can be carried out repeatedly, wherein in at least one repetition of the method the containers can be provided and/or deposited in a container arrangement different from a previous execution of the method, so that a format change can be carried out without interrupting the method. The invention is further explained with reference to the following figures. They show:

Fig. 1: an embodiment of a packing head according to the invention in a perspective view;

Fig. 2: the embodiment shown in Fig. 1 in a plan view;

Fig. 3: the embodiment shown in Figs. 1 and 2 in a side view;

Fig. 4: the embodiment shown in Figs. 1 to 3 in one

front view; and

Fig. 5: a detail of the embodiment shown in Figs. 1 to 4.

Figures 1 to 5 show an embodiment of a packing head 1 according to the invention. Figure 1 shows a perspective view, Figure 2 a top view, Figure 3 a side view and Figure 4 a front view. Figure 5 shows an enlargement of a section of Figure 1, in particular an individual head 2 of a packing head 1 according to the invention. The packing head 1 has an individual head 2 and guide elements 4. The individual head 2 has at least two gripper strips 3 which intersect with the guide elements 4. A carriage 7 is arranged at at least one intersection point 8 of the gripper strips 3 with the guide elements 4. A packing tulip 9 can be arranged on the carriage 7.

In some embodiments, the packing head 1 can have more than one individual head 2. For example, the packing head 1 can have one, two, three, four, five, six or more individual heads 2. At least one of the individual heads 2 can have more than two gripper strips 3. For example, one, several or all of the individual heads 2 can have two, three, four or more gripper strips 3. The individual head(s) 2 can be arranged such that the respective gripper strips 3 intersect with the guide elements 4 at intersection points 8. If the packing head 1 has more than one individual head 2, the individual heads 2 can be arranged next to one another, for example along an extension direction F of the guide elements 4. In some embodiments, the packing head 1 can have at least four or at least six guide elements 4. In some embodiments, the packing head 1 can have at least six, at least twelve, at least 18, at least 24, at least 36, at least 72 or at least 144 slides 7 and/or gripper tulips 9. In some embodiments, an individual head 2 can have at least six, at least twelve, at least 18 or at least 24 slides 7 and/or gripper tulips 9.

The gripper strips 3 of the individual head 2 can be arranged parallel to one another. The gripper strips 3 can extend in an extension direction G and/or be arranged and/or aligned parallel to this. The guide elements 4 can be arranged parallel to one another. The guide elements 4 can extend in an extension direction F and/or be arranged and/or aligned parallel to this. Gripper strips 3 and guide elements 4 can be aligned essentially perpendicular to one another.

A carriage 7 can be arranged at or in at least one intersection point 8, preferably each intersection point 8, of the gripper strips 3 and guide elements 4. A packing tulip 9 can be arranged at at least one of the carriages 7, preferably each of the carriages 7. The packing tulip 9 can be attached to the carriage 7.

Gripper strips 3 and guide elements 4 can be movable. The carriage 7 can be movable and/or moved in the direction of extension F of the guide elements 4 and in the direction of extension G of the gripper strips 3, or parallel thereto. In the examples shown in the figures, the respective gripper strips 3 of the individual heads 2 can each be moved together in the direction of extension F. The gripper strips 3 of a Individual heads 2 can be moved and/or positioned in such a way that adjacent gripper strips 3 of an individual head 2 contact each other. The guide elements 4 shown in the figures can be moved and/or positioned in such a way that adjacent guide elements 4 do not contact each other.

By moving the carriages 7, the packing tulips 9 arranged on the carriages 7 and/or connected to the carriages 7 can be or will be moved accordingly.

The gripper strips 3 can be or will be movable and/or adjustable in the extension direction F of the guide elements 4. The guide elements 4 can be or will be movable and/or adjustable in the direction of extension of the gripper strip 3. When adjusting a gripper strip 3 in or parallel to the direction of extension F of the guide elements 4, the gripper strip 3 to be adjusted and/or adjusted at or in the respective intersection points 8 with the guide elements 4 can be or will be adjusted equally parallel to the direction of extension F of the guide elements 4. When adjusting a guide element 4 in or parallel to the direction of extension G of the gripper strips 3, the at or in the respective intersection points 8 of the guide element 4 to be adjusted and/or adjusted with the gripper strips 3 can be or will be adjusted equally parallel to the direction of extension G of the gripper strips 3.

At least one, several or all of the gripper strips 3 can have a gripper strip drive 10. In some embodiments, each of the gripper strips 3 may have a gripper strip drive 10. The gripper strip drive 10 can be set up to move a corresponding gripper strip 3 relative to another gripper strip 3, for example an adjacent gripper strip 3. At least one, several or all of the guide elements 4 can have a guide element drive 11. In some embodiments, each of the guide elements 4 may have a guide element drive 11. The guide element drive 11 can be set up to move a corresponding guide element 4 relative to another guide element 4, for example an adjacent guide element 4. Gripper strip drive 10 can move the corresponding gripper strip 3 independently of an adjacent gripper strip 3 and/or guide element 4. Guide element drive 11 can move the corresponding guide element 4 independently of an adjacent guide element 4 and/or gripper strip 3. By “moving independently” it can be meant that a distance between adjacent gripper strips 3 and/or guide elements 4 can be adjusted as desired within predetermined ranges. By “moving independently” it can be meant that the gripper strip drive 10 and/or the guide element drive 11 can be controlled and/or actuated individually. By “move independently” it can be meant that the gripper strip drive 10 and/or guide element drive 11 can be controlled and/or actuated independently of other gripper strip drives 10 and/or guide element drives 11. By “move independently” it can be meant that a gripper strip 3 and/or guide element 4 can be or can be moved at a speed, can be or can be moved in a direction and/or can be or can be accelerated that is not dependent on the speed or direction or acceleration of at least one other, several or all other gripper strips 3 and/or guide elements 4 depends on and/or may differ from these.

The gripper strip drive 10 can comprise a pneumatic drive, a linear motor, a stepper motor and/or a servo motor. The guide element drive 11 can comprise a pneumatic drive, a linear motor, a stepper motor and/or a servo motor. In some embodiments, the gripper strip drive 10 can comprise a pneumatic drive and the guide element drive 11 can comprise a linear motor or a servo motor. In some embodiments, the gripper strip drive 10 can comprise a linear motor and the guide element drive 11 can comprise a linear motor or a servo motor. The gripper strip drive 10 and/or guide element of the drives 4 can be controlled in such a way that the gripper strip 3, guide element 4 and/or carriage 7 can be moved to predetermined positions. The predetermined position can correspond, for example, to a position in which containers, e.g. bottles and/or cans, can be gripped and/or deposited by the packing bells 9. The predetermined position can correspond, for example, to a container arrangement and/or container formation.

In some embodiments it can be provided that only some and/or not all of the gripper strips 3 and/or the guide element 4 have a drive and/or can be moved. In some embodiments it can be provided that at least one or more packing tulips 9 are not or will not be moved, and/or other packing tulips 9 remain in their respective positions during the movement.

The carriage 7 can rest and/or slide on the gripper strip 3. The gripper strip 3 can have a rail element 12. In some embodiments, the gripper strip 3 may have two rail elements 12 and/or be formed by two rail elements 12. The rail element 12 can be set up to guide a carriage 7. The carriage 7 can encompass the rail element 12 and/or slide on the rail element 12. It can be provided that the carriage 7 has a groove 13 which surrounds the rail element 12 and/or is or will be accommodated in this rail element 12. In some embodiments, the gripper strip 3 can have two rail elements 12, which can be spaced apart from one another, e.g. can be aligned parallel to one another, and the carriage 7 can have two grooves 13 in which the respective rail elements 12 can be received.

The guide element 4 can have a push rod 14. In some embodiments, the guide element 4 can have two push rods 14 that are spaced apart from one another, for example aligned parallel to one another have and/or be formed by them. The push rod or push rods 14 can contact the carriage 7 laterally, so that when the guide element 4 or the push rod 14 is displaced, the carriage 7 is displaced in the same way and/or is or is guided by the push rod 14. In some embodiments, the push rod 14 may have a rectangular cross-sectional area. The push rod 14 can be plate-shaped and/or slat-shaped. It can be provided that the shape of the push rod 14 is or will be selected such that a large contact area with the carriage 7 results. In some embodiments, the carriage 7 may have a substantially straight or flat side surface, and the push rod 14 may also essentially have a straight or flat side surface, so that the contact area of the respective side surfaces is comparatively large. In some other embodiments, the push rod 14 can also be at least partially rounded and/or have a cross-sectional area other than a rectangle.

In some embodiments, the gripper strips 3 can be arranged in a first plane

5. The guide elements 4 can be arranged in a second plane 6. The second plane 6 can be aligned parallel to the first plane 5. The second plane 6 can be arranged above the first plane 5. It can be provided that the carriages 7 move through the second plane

6. The slides 7 can thus be or become contacted by the guide elements 4. The gripper strip 3 and the guide element 4 can be or become controlled and/or moved independently of one another.

A packing tulip 9 can be arranged on at least one, several or all of the carriages 7. The packing tulip 9 can be attached to or with the carriage 7. The packing tulip 9 can be designed to grip a container, e.g. a can and/or a bottle. The packing tulip 9 can be designed to release and/or set down a gripped container. The packing tulip 9 can be controlled or actuated in a suitable manner for this purpose. In some embodiments, the packing tulip 9 extends perpendicular to the direction of extension F of the guide elements 4 and the direction of extension G the gripper strip 3. In some embodiments, the packing tulip 9 extends downwards. In some embodiments, the packing tulip 9 can be movable in order to grip and/or set down a container. The packing tulip 9 can be and/or have a packing tulip known to those skilled in the art.

The packing head 1 can have frame elements 15. The frame elements 15 can form a frame on or with which the gripper strips 3 and the guide elements 4 can be movably attached and/or arranged.

The head 1 may have one or more fasteners 16 to fasten and/or assemble the packing head 1. Packing head 1 can be held via the fastening elements 16 and/or moved and/or moved between different positions via the fastening elements 16.

The packing head 1 can be and/or be moved between a gripping position and a depositing position. The gripping position can be arranged above a provision location at which containers to be gripped by the packing head 1 and/or the packing tulips 9 are or can be provided. The depositing position can be arranged above a depositing location at which containers gripped by the packing head 1 and/or the packing tulips 9 are to be deposited. The packing head 1 and/or a packaging machine having the packing head 1 can be set up to carry out a method for packing and/or unpacking containers. The containers can be or have bottles, for example plastic bottles, e.g. PET bottles or the like, or glass bottles, and/or cans.

The packing head 1 can be designed to pack and/or unpack containers. Packing containers can comprise placing containers in packages and/or boxes or the like. Unpacking containers can comprise gripping containers that can be provided in packages, boxes or the like. The packaging can comprise a Cardboard box. The box can be or have a box, e.g. a drinks crate or beverage box. In some embodiments, it can be provided that the packing head 1 is set up and/or controlled accordingly so that the packing head 1 packs containers and then unpacks other containers, and/or vice versa, without the method or process and/or the packaging machine or system having the packing head 1 being stopped or interrupted.

It can be provided that containers, for example bottles and/or cans, are or can be provided in a first container arrangement at the provision location. In some embodiments, the containers can be arranged evenly in the first container arrangement, for example regularly spaced apart. In some embodiments, the first container arrangement can have one or more rows of containers arranged one behind the other. If the first container arrangement has more than one row, the rows can be arranged parallel to one another. However, it can also be provided that some, several or all of the containers in the first container arrangement can be arranged and/or spaced apart irregularly.

When moving the packing head 1 into the gripping position, it can be provided that one, several or all of the gripper strips 3 and/or guide elements 4 are or are controlled and/or moved in such a way that the carriages 7 and/or the packing tulip 9 can be arranged in the gripping position above the containers provided. One, several or all of the gripper strips 3 and/or guide elements 4 can be or are controlled and/or moved in such a way that the carriages 7 and/or the packing tulip 9 are spaced apart from one another essentially in accordance with the first container arrangement. The packing head 1 and/or the packing tulips 9 can then grip the containers provided. The packing head 1 can then be moved or moved into the depositing position. It can be provided that the gripped containers are to be deposited in a second container arrangement at a depositing location above which the depositing position can be arranged. The second container arrangement can be different from the first container arrangement. It can be provided that the containers in the second container arrangement can be arranged and/or spaced differently from one another than in the first container arrangement. One or more packages, boxes or the like can be arranged at the depositing location, into which the gripped containers are to be deposited. It can be provided that in the second container arrangement groups of containers, which can be closer to one another than to the other containers, are to be deposited, for example in the packages and/or boxes.

When moving the packing head 1 into the depositing position, it can be provided that one, several or all of the gripper strips 3 and / or guide elements 4 are or are controlled and / or moved in such a way that the carriage 7 and / or the packing tulip 9 are in the depositing position accordingly the second container arrangement can be arranged. One, several or all of the gripper strips 3 and/or guide elements 4 can be controlled and/or moved in such a way that the carriages 7 and/or the packing tulip 9 are spaced apart from one another essentially in accordance with the second container arrangement. The packing head 1 and/or the packing tulips 9 can then place the containers provided. For example, the containers can be or will be placed in provided packaging, boxes or the like. The remote containers may be in the second container arrangement.

It can be planned to repeat these steps several times. In at least one repetition it can be provided that the containers are or can be provided in a third container arrangement. The third container arrangement can differ from the first and/or second Distinguish container arrangement. For example, the containers in the third container arrangement can be spaced differently from one another compared to the first container arrangement. It can be provided that the containers in the third container arrangement can be spaced apart from one another regularly and/or irregularly. In some embodiments it can be provided that the third container arrangement comprises a different number of containers compared to the first container arrangement. For example, compared to the containers provided in the first container arrangement, several or even fewer containers can be provided in the third container arrangement. In some embodiments it can be provided that the containers provided in the third container arrangement differ from those in the first container arrangement. For example, cans can be provided in the first container arrangement and bottles can be provided in the third container arrangement, or vice versa. It can also be provided that some, several or all of the containers provided in the third container arrangement differ from that of the first container arrangement in their dimensions, for example diameter, height, width, weight, volume or the like, or in their format. It can be provided that the provision location of the third container arrangement can be different from the provision location of the first container arrangement. For example, the containers in the third container arrangement can be or will be provided at a second provision location. In this case, it can be provided that the packing head 1 can be moved or moved into a gripping position above the second provision location in order to grip the containers provided in the third container arrangement. When moving the packing head 1 into the gripping position above the staging location and/or the second staging location, it can be provided that one, several or all of the gripper strips 3 and/or guide elements 4 are or are controlled and/or moved in such a way that the carriages 7 and / or the packing tulip 9 can be arranged in the gripping position above the provided containers of the third container arrangement. One, several or all of the gripper strips 3 and/or guide elements 4 can be controlled in this way and/or be or will be moved so that the carriage 7 and/or the packing tulip 9 are spaced apart from one another essentially in accordance with the third container arrangement. The packing head 1 and/or the packing tulips 9 can then grip the provided containers of the third container arrangement.

In at least one repetition of the method, it can be provided that the gripped containers are deposited in a fourth container arrangement. The fourth container arrangement can differ from the first, second and/or third container arrangement. For example, the containers in the fourth container arrangement can be spaced apart from one another at different distances compared to the second container arrangement. It can be provided that the containers in the fourth container arrangement can be spaced apart from one another regularly and/or irregularly. It can be provided that the deposit location of the fourth container arrangement can be different from the deposit location of the second container arrangement, i.e. the containers can be or can be deposited at a second deposit location in the fourth container arrangement. At the deposit location and/or the second deposit location, one or more packages, boxes or the like can be arranged, into which the gripped containers are to be deposited. It can be provided that in the fourth container arrangement, groups of containers that can be closer to one another than to the other containers are to be deposited, for example in the packages and/or boxes. If containers are placed in packages, boxes or the like in both the second and fourth container arrangements, some, several or all of the respective packages, boxes and/or the like of the second and fourth container arrangements may differ from one another, for example in the number of containers per package, box and/or the like, or the format of the containers to be accommodated.

In at least one repetition, the containers can be provided and/or deposited in a container arrangement that differs from a previous execution of the method. This enables an uninterrupted format change. In other words, a format change, e.g. a Packing or unpacking a first number of containers provided and a subsequent packing or unpacking of a second number of containers provided, which differ from the first number of containers provided, for example in their format, dimensions, volume, weight, filling, or the like, can be made possible without the process having to be stopped or the packaging machine or system having to be stopped. In other words, the separate control or separate movement of the respective gripper elements 3 and/or guide elements 4 and thus the carriages 7 and packing bells 9 makes it possible to change the format of the containers to be packed and/or unpacked during the ongoing process or procedure and while the packaging machine and/or system is running. This means that set-up processes and downtimes that would otherwise be necessary to adapt the guides of the carriages 7 or packing bells 9 when the format of the containers changes can be eliminated.

In some embodiments, the provision location and/or the second provision location can comprise a table, e.g. a container table. The table can provide containers and/or containers can be or be fed to the table in order to provide them on the table. In some embodiments, the deposit location and/or the second deposit location can comprise a box and/or packaging. It can be provided that when carrying out the method and/or the steps, the containers provided are or will be packed.

In some embodiments, the provision location and/or the second provision location can comprise packaging and/or a box in which the containers can be or are provided. In some embodiments, the drop-off location and/or the second drop-off location can comprise an alley or the like. The containers placed in the alley or alleys can be or are transported away. It can be provided that when the method and/or the steps are carried out, the containers provided are or are unpacked. In some embodiments, the steps necessary and/or to be performed to unpack containers may be the reverse of those for packing containers.

It can be provided to provide and/or arrange a camera at or near the provision location and/or the second provision location. The camera can be set up to record a container arrangement or container formation of containers provided at the provision location and/or the second provision location. If the packing head 1 is moved into the gripping position above the provision location and/or the second provision location, it can be provided to move the gripper strips 3 and/or the guide elements 4 depending on the container formation or container arrangement recorded by the camera, so that the packing tulips 9 can be arranged in the gripping position above the containers. The containers can thus be provided in essentially any container formation or arrangement and yet be gripped without interrupting the process or method and without stopping the packaging machine or system. The control of the gripper strips 3 and/or the guide elements 4 can thus be easily adapted to the container formation or container arrangement of the containers provided. In addition, the accuracy of the alignment of the packing bell 9 in the gripping position over the containers provided can be or will be improved, so that a secure gripping of the containers provided is or will be possible. Alternatively or additionally, the container formation or the distances between the containers in the container arrangement can be or will be predetermined by a control unit or the like.

The camera functions as an optical container position detection device, so that a packing device with an optical container position detection device is specified. The features disclosed in the claims, the description and/or the figures may be essential for the realization of the invention individually or in any combination.

Reference character list

Packing head 1

Single head 2

Gripper strips 3

Guide element 4 first level 5 second level 6

Sledge 7

Crossing point 8

Packing tulip 9

Gripper strip drive 10

Guide element drive 11

Rail element 12

Slot 13

Push rod 14

Frame element 15

Fastener 16

Extension direction F

Direction of extension G

Claims

Claims Packing head (1) for packing or unpacking containers, preferably bottles or cans, wherein the packing head (1) has at least one individual head (2), wherein the individual head (2) has at least two gripper strips (3) extending in a first plane (5), wherein the packing head (1) has guide elements (4) crossing with the gripper strips (3), which extend in a second plane (6), which is preferably spaced essentially parallel from the first plane (5), and a plurality of slides (7), wherein the slides (7) are arranged at intersection points of the gripper strips (3) and the guide elements (4) and can be moved along the gripper strips (3) and the guide elements (4), wherein a packing tulip (9) for gripping a container is arranged on at least one, preferably each, of the slides (7), characterized in that at least one, preferably each, of the gripper strips (3) has a gripper strip drive (10) which is designed to move the gripper strip (3) independently from an adjacent gripper strip (3) parallel to the direction of extension of the guide elements (4), so that when the gripper strip (3) is moved, the slides (7) arranged at the intersection points of the respective gripper strip (3) with the guide elements (4) are moved along the guide elements (4), and wherein at least one, preferably each of the guide elements (4) has a guide element drive (11) which is set up to move the guide element (4) independently of an adjacent guide element (4) parallel to the direction of extension of the gripper strips (3), so that when the guide element (4) is moved, the slides (7) arranged at the intersection points of the respective guide element (4) with the gripper strips (3) are moved along the gripper strips (3). Packing head (1) according to claim 1, wherein the slides (7) slide on the gripper strip (3). Packing head (1) according to claim 1 or 2, in which the gripper strips (3) have a rail element (12), preferably two rail elements (12), on which the carriages (7) rest and/or which are encompassed by the carriages (7). Packing head (1) according to claim 3, wherein the carriages (7) each have at least one groove (13), preferably two grooves (13), in which a respective rail element (12) is received. Packing head (1) according to one of the preceding claims, in which the guide elements (4) are or have push rods (14) and the carriages (7) are arranged between two respective push rods, wherein the push rods (14) are designed to push and/or contact the carriages (7) when the carriages (7) are moved in the extension direction of the gripper strips (3). Packing head (1) according to one of the preceding claims, in which the packing head (1) has at least two individual heads (2), preferably at least four or six individual heads (2), wherein the guide elements (4) cross respective gripper strips (3) of all individual heads (2). Packing head (1) according to one of the preceding claims, in which an individual head (2) has at least two, preferably at least four gripper strips (3). Packing head (1) according to one of the preceding claims, which has at least four, preferably at least six, guide elements (4), so that each gripper strip (3) has at least four, preferably at least six, crossing points, wherein a carriage (7) is preferably arranged at each crossing point. Packing head (1) according to one of the preceding claims, in which the first level (5) lies below the second level (6), and in which the carriages (7) protrude above the first level (5) in such a way that they extend through the second level (6). Packing head (1) according to one of the preceding claims, in which the gripper strip drive (10) and/or guide element drive (11) has a pneumatic drive, a linear motor, and/or a servo motor, or in which the gripper strip drive (10) has a pneumatic drive and the guide element drive (11) has a linear motor or a servo motor. Method for packing or unpacking containers, comprising the following steps:

- Providing containers in a first container arrangement at a provision location;

- moving a packing head (1) according to one of the preceding claims 1 to 10 into a gripping position above the provision location, wherein during the movement of the packing head (1) the gripper strips (3) and/or the guide elements (4) are moved in such a way that the carriages (7) and/or packing tulips (9) arranged on the carriages (7) are arranged above the containers in the gripping position of the packing head (1);

- Gripping the containers provided with the packing tulips (9);

- Moving the packing head (1) into a depositing position above a depositing location at which the containers are deposited in a second container arrangement, the gripper strips (3) and the guide elements (4) being driven in this way when the packing head (1) is moved into the depositing position ensure that the carriages (7) and/or on the carriages (7) arranged packing tulips (9) are spaced apart from one another in accordance with the second container arrangement;

- Depositing the containers gripped by the packing tulips (9) at the deposition location, so that the containers are arranged in the second container arrangement after deposition. Method according to claim 11, in which after the containers gripped by the packing tulips (9) have been set down, the method comprises the further steps:

- providing containers in a third container arrangement, which is different from the first container arrangement, at the provision location or a second provision location;

- Moving the packing head (1) into a gripping position above the provision location or the second provision location, wherein during the movement of the packing head (1) the gripper strips (3) and the guide elements (4) are driven in such a way that the carriages (7) and/or packing tulips (9) arranged on the carriages (7) are spaced apart according to the third container formation, so that the packing tulips (9) can grip the other containers in the third container formation. Method according to one of the preceding claims 11 or 12, which comprises the further steps:

- Gripping provided containers with the packing tulips (9) and moving the packing head (1) into a depositing position above the depositing location or above a second depositing location at which the containers are deposited in a fourth container arrangement, the fourth container arrangement being different from the second container arrangement is, whereby when the packing head (1) is moved into the depositing position Gripper strips (3) and the guide elements (4) are driven in such a way that the carriages (7) and/or packing tulips (9) arranged on the carriages (7) are spaced apart from one another in accordance with the fourth container arrangement, so that the containers are placed in the fourth container arrangement are arranged. Method according to method according to one of the preceding claims 11 to 13, in which before the containers provided are gripped in the first container arrangement and/or the third container arrangement, preferably when the containers are prepared and/or before or during the movement of the packing head (1) in the gripping position, the container formation of the containers provided in the first and/or third container arrangement is captured by a camera, wherein when the packing head (1) is moved, the gripper strips (3) and/or the guide elements (4) depend on the captured container formation be proceeded. Method according to one of the preceding claims 11 to 14, in which the method is carried out repeatedly, wherein in at least one repetition of the method the containers are provided and / or placed in a container arrangement that is different from a previous implementation of the method, so that a format change is possible without interruption of the procedure is carried out.