Transport device for stockpiles containing packaging material

Abstract

The present invention discloses a transport device (1) for a stock roll containing packaging material. The transport device (1) includes at least one unmanned transport vehicle (2) and at least one adapter (3). The adapter (3) is preferably capable of being connected to and disconnected from the unmanned transport vehicle (2). Furthermore, the adapter (3) is designed to hold at least one stock roll (8).

Description

Technical Field

[0001] The present invention relates to a transport device for a stock roll containing packaging material, a packaging system, and a method for operating the packaging device. Background Technology

[0002] In practice, when grouping and assembling goods such as beverage containers, shrink film is often used to bind the goods together to prevent them from slipping or falling off the assembly during transportation. Secondary packaging, for example, known from the prior art, comprises four, six, or more containers. Furthermore, such secondary packaging is one of the most common variations of sales units for beverage containers or bottles made of PET plastic. Therefore, it is desirable to assemble such secondary packaging as quickly as possible without interrupting individual processing steps in order to achieve high throughput.

[0003] To provide packaging material or shrink film for secondary packaging, apparatus and methods for unwinding material from one or more rolls are known. Following this, individual secondary containers or corresponding goods, intended for use in the secondary packaging, are then wrapped with the packaging material. Unwinding the packaging material from the roll can be performed by machine. For example, apparatus for extracting packaging material from a roll via rollers is known, wherein the corresponding roll is moved in a rotating manner. If the stock of packaging material in a roll is depleted, the corresponding roll must be replaced, or a new roll must be used.

[0004] For example, a method is known from DE 40 40 545 A1, which allows for the supply of reserve rolls to a packaging device. The device known from the German patent application has several reserve rolls containing strip material, arranged side-by-side in a packaging machine. The cores of these rolls are each placed on a common shaft diameter. The beginnings of the strip material are pre-connected to rollers that draw the strip material from the respective rolls and cause it to leave the device in a downward direction. In the device according to the German patent application, these rolls are transported to the packaging machine by the user, who then places them on the shaft diameter of the packaging machine. It is desirable to have the possibility of operating such a packaging device in a way that reduces manual labor.

[0005] An apparatus with a film bonding station is known from DE 10 2004 026 312 A1, in which the film web of a newly loaded roll into a packaging machine is supplied to a welding device with the auxiliary support of a holding device. The holding device is specifically designed as a manually operable clamp by which the film beginning is pulled from the new roll and supplied to a transport device that ensures the supply of the film beginning to the welding device, by which the film beginning is welded to the film web already in the packaging machine. The clamp is here referred to as an auxiliary device that allows for easy manual handling, by which the film web can be brought into the appropriate position. However, the clamp is loose, i.e., not connected to the machine or the welding device.

[0006] DE 42 21 052 A1 discloses an apparatus for handling rolls composed of wound webs of material, which should primarily be used as packaging material in a packaging machine. Here, these rolls are received, transported, and lowered at the packaging machine by a roll conveyor capable of moving above the processing machine. This roll conveyor has a roll holder that grasps one roll at a time. The roll holder should be capable of variable displacement relative to the roll conveyor, thereby allowing the rolls to be brought to any position and lowered. Such a roll conveyor requires a large space and, where possible, is prone to error. It is desirable to have the possibility of changing reserve rolls in a low-manual manner. Summary of the Invention

[0007] For this reason, one object of the present invention is to provide a possibility, relative to the prior art, that makes it possible to simply supply reserve rolls to packaging equipment. Furthermore, this possibility of supplying reserve rolls to packaging machines should be less susceptible to interference.

[0008] This invention relates to a transport device for a stock roll containing packaging material. For example, the packaging material may be formed from shrink film or thermoplastic packaging material. The stock roll may have a hollow cylindrical core on which the packaging material is wound.

[0009] The transport device includes at least one driverless transport vehicle or at least one driverless system (FTS) or at least one ground transport device with its own driving drive, which is automatically controlled. Further, the transport device includes at least one adapter connected to the at least one driverless transport vehicle, preferably in a detachable manner, and designed to hold at least one reserve roll.

[0010] One proven implementation involves designing the at least one adapter such that the at least one autonomous transport vehicle can drive under it. In another implementation, the at least one autonomous transport vehicle may remain in its designated position, and the at least one adapter may slide onto the at least one autonomous transport vehicle.

[0011] Furthermore, the at least one adapter may include at least one retaining mandrel on which a corresponding reserve roll can be inserted. In another embodiment, the at least one adapter may include at least one retaining device that can apply force to the outside of the corresponding reserve roll to hold the corresponding reserve roll at the at least one adapter. It is also conceivable that the at least one adapter includes a shelf or forms a shelf on which the reserve roll can be placed, thereby allowing the at least one adapter to hold the reserve roll.

[0012] Alternatively, the at least one adapter may have a frame structure that supports the at least one retaining mandrel. Support legs may be arranged at the frame structure, allowing the at least one adapter to stand upright on the ground. Alternatively, the frame structure may not include support legs, and in one embodiment of the method described below, the frame structure is placed on the at least one driverless transport vehicle.

[0013] A proven implementation involves the at least one retaining spindle being designed to be movable back and forth between at least one operating position and at least one driving position. This can be achieved by the at least one retaining spindle of the at least one adapter connected to the corresponding autonomous transport vehicle extending beyond the sidewall of the corresponding autonomous transport vehicle or FTS in the at least one operating position, or being located outside the sidewall of the corresponding autonomous transport vehicle or FTS.

[0014] Furthermore, the at least one retaining spindle of the at least one adapter connected to the corresponding autonomous transport vehicle may be located at least partially or completely behind the sidewall of the at least one autonomous transport vehicle in the at least one driving position. This keeps the risk of accidental collision with the reserve roll during the movement of the autonomous transport vehicle at a low level. It also reduces the risk that the autonomous transport vehicle, along with the already received reserve roll, may accidentally tip over during movement due to the typically high mass of such reserve rolls.

[0015] It is conceivable that the at least one adapter has at least one support arm, and the at least one retaining spindle is arranged at the at least one support arm. Further, the at least one support arm may be designed to pivot about a horizontally oriented axis, for transferring the corresponding at least one retaining spindle arranged at the at least one support arm from the at least one working position to the at least one traveling position, and from the at least one traveling position to the at least one working position.

[0016] Alternatively or additionally, the at least one adapter may have at least one support arm, with at least one retaining spindle arranged at the at least one support arm, wherein the transport device also has at least one linear drive, with the at least one support arm connected to the linear drive.

[0017] The at least one support arm can be displaced in a linear direction via the at least one linear drive device, for transferring the corresponding at least one retaining spindle arranged at the at least one support arm from the at least one working position to the at least one traveling position, and from the at least one traveling position to the at least one working position.

[0018] Alternatively, the transport device may have at least one linear drive or at least one additional linear drive, through which the at least one retaining spindle can move up and down in the vertical direction.

[0019] A proven implementation is that the at least one adapter has at least one tilting mechanism, via which the tilting displacement of the at least one retaining spindle relative to the at least one bearing arm about a horizontally oriented axis can be actuated, preferably electrically or by means of an electric actuator.

[0020] Accordingly, the transport device may have at least one electric motor, via which tilting displacement of the at least one retaining mandrel relative to the at least one carrying arm about a horizontally oriented axis can be achieved. In an alternative embodiment, the at least one adapter may be configured to have at least one tilting mechanism, via which tilting displacement of the at least one retaining mandrel relative to the at least one carrying arm about a horizontally oriented axis can be achieved by actuation and by pneumatic or hydraulic means.

[0021] Here, the transport device may have at least one cylinder when appropriate, via which the at least one retaining spindle can be tilted relative to the at least one bearing arm about a horizontally oriented axis.

[0022] As described above, in another embodiment, the at least one adapter may include at least one retaining device that can apply force to the outside of the corresponding reserve roll to retain the corresponding reserve roll at the at least one adapter. In such an embodiment, the at least one adapter may have at least one tilting mechanism, via which tilting displacement of the at least one retaining device relative to the at least one support arm about a horizontally oriented axis can be actuated, preferably electrically, pneumatically, or hydraulically.

[0023] Furthermore, the transport device may include at least one tilt sensor, an actuator, and an open-loop and / or closed-loop control device connected to the at least one tilt sensor and the actuator. Additionally, the actuator may be formed by at least one cylinder or at least one electric motor. The open-loop and / or closed-loop control device may be designed to identify the actual tilt of the corresponding at least one retaining mandrel relative to the carrier arm by means of the at least one tilt sensor.

[0024] Furthermore, the open-loop and / or closed-loop control device can be designed to automatically control the actuator to adjust the tilt position of the at least one retaining mandrel as long as the actual tilt angle of the at least one retaining mandrel relative to the support arm, as identified by the at least one tilt sensor via the open-loop and / or closed-loop control device, deviates from a predetermined target tilt angle.

[0025] A proven implementation is that the at least one driverless transport vehicle is capable of independently receiving the at least one adapter and independently connecting to the at least one received adapter in a disconnectable manner.

[0026] Alternatively or additionally, in various embodiments, the at least one driverless transport vehicle may be configured to independently disconnect from the existing connection with the at least one received adapter and independently drop off the at least one received adapter.

[0027] Furthermore, the at least one driverless transport vehicle and / or the at least one adapter may have a lifting mechanism when appropriate, via which the at least one adapter can be lifted relative to the at least one transport vehicle for independent reception, thereby causing the at least one adapter to lose contact with the previously existing surface of the ground.

[0028] Alternatively or additionally, the at least one driverless transport vehicle and the at least one adapter may work together via a centering mechanism that aligns the at least one adapter relative to the at least one transport vehicle during independent reception via the at least one transport vehicle.

[0029] Alternatively or supplementarily, the at least one autonomous transport vehicle and the at least one adapter may be configured such that, through the combined action of a tensioning bolt and a tensioning mechanism, the at least one adapter can be secured at least substantially immobile to the autonomous transport vehicle. The tensioning bolt may be designed as an integral part of the at least one adapter. The tensioning mechanism may be designed as an integral part of the at least one autonomous transport vehicle.

[0030] The at least one autonomous transport vehicle may be connected to at least one sensor system, via which the at least one autonomous transport vehicle can identify the actual location of the at least one adapter and move to a receiving position suitable for independently receiving the at least one adapter, taking into account the identified actual location. The at least one sensor system may, for example, include a laser scanner, via which the at least one autonomous transport vehicle can identify the actual location of the at least one adapter and move to a receiving position suitable for independently receiving the at least one adapter, taking into account the identified actual location.

[0031] Alternatively, the at least one autonomous transport vehicle may have a plug, and the at least one adapter may include a mating plug corresponding to the plug of the at least one transport vehicle. Here, the plug of the at least one autonomous transport vehicle and the mating plug of the at least one adapter can be inserted into each other via an actuator designed as part of the transport device, thereby enabling an electrical and / or fluid connection to be established between the at least one autonomous transport vehicle and the at least one adapter.

[0032] For example, it has been confirmed that the at least one driverless transport vehicle has an actuator via which the plug of the at least one driverless transport vehicle can extend or move upward in the vertical direction. The at least one driverless transport vehicle may also have a lifting device, wherein the plug of the at least one driverless transport vehicle can be inserted into the mating plug of the at least one adapter by means of the lifting of the lifting device.

[0033] The transport device may also include an adjustment mechanism via which a corresponding reserve roll can be moved relative to the driverless transport vehicle along an axis, the reserve roll being held via at least one adapter connected to the driverless transport vehicle, preferably in a detachable manner, the axis being oriented parallel to or substantially parallel to the ground and perpendicular to the longitudinal axis of the corresponding reserve roll.

[0034] Furthermore, the present invention relates to a packaging system for packaging goods such as beverage containers. Embodiments of the transport device described above can be components of the packaging system according to the present invention. Accordingly, all embodiments of the at least one transport vehicle described above can be components of the packaging system according to the present invention. Alternatively or additionally, all embodiments of the at least one adapter described above can be components of the packaging system according to the present invention.

[0035] The packaging system includes at least one packaging device capable of unwinding packaging material from a stock roll and designed for applying the unwound packaging material to merchandise. The packaging device may include at least one machine spindle designed to receive the stock roll in a clamping manner and capable of rotational movement for unwinding the packaging material via the packaging device.

[0036] In a preferred embodiment, the packaging apparatus may include at least two machine spindles on which new reserve rolls are alternately placed as appropriate. To connect the packaging material of the new reserve rolls to packaging material already in operation within the packaging apparatus, the packaging apparatus may include welding rods that bring the packaging material of the respective new reserve rolls into contact with the surface of the packaging material already received in the packaging apparatus and connect them by applying heat.

[0037] Furthermore, the packaging system includes at least one driverless transport vehicle that works in conjunction with the at least one packaging unit to supply reserve rolls to the at least one packaging unit.

[0038] In addition, the packaging system comprises at least one adapter capable of connecting to the at least one driverless transport vehicle, preferably in a detachable manner, and designed to hold at least one reserve roll.

[0039] The packaging system may include a handling device, preferably designed as an articulated robot, for transferring reserve rolls to at least one adapter configured for supplying the at least one packaging device. The at least one adapter is connected to the at least one autonomous transport vehicle, preferably in a detachable manner. It has been demonstrated that the handling device, preferably designed as an articulated robot, has a tension mandrel via which it can receive and transfer the reserve rolls to the at least one autonomous transport vehicle.

[0040] The handling device, preferably designed as an articulated robot, is configured such that it can remove packaging from the stock rolls. Alternatively or supplementarily, the handling device, preferably designed as an articulated robot, is configured such that it can check whether the stock rolls meet a predetermined quality standard, and, where appropriate, generate a message or alert whenever a deviation is detected between the identified quality standard and the predetermined quality standard.

[0041] Additionally, the transport device can receive additional reserve rolls when appropriate and transfer them to the at least one adapter, which is connected to the at least one driverless transport vehicle, preferably in a disconnectable manner, and the additional reserve rolls meet predetermined quality standards.

[0042] The packaging system may also include at least one orientation aid, which preferably has a triangular geometry. Here, the at least one autonomous transport vehicle may have a sensor system that enables it to identify the location of the orientation aid. Furthermore, the autonomous transport vehicle may be designed to independently approach a transfer location, configured to transfer the reserve rolls to the at least one packaging device, taking into account the location of the orientation aid identified by the sensor system.

[0043] Therefore, the at least one driverless transport vehicle can be designed to independently transfer reserve rolls to the at least one packaging device via the at least one adapter. Such implementations are characterized by a high degree of automation.

[0044] Furthermore, the present invention relates to a method for operating a packaging apparatus. The features described above for various embodiments of the packaging system according to the invention or various embodiments of the transport apparatus according to the invention may also be incorporated into the embodiments of the method according to the invention described below, and will not be repeated hereafter.

[0045] Furthermore, the features described below for various embodiments of the method according to the invention can each be incorporated into the embodiments of the packaging system and the transport device according to the invention already described. The packaging system described above can be configured or designed for implementing or performing the methods described below, as appropriate.

[0046] One step of the method according to the invention is configured to supply at least one reserve roll to at least one packaging device by means of at least one unmanned transport vehicle.

[0047] In the next step, packaging material is unwound from the at least one reserve roll, which is supplied to the at least one packaging device by means of the at least one driverless transport vehicle. The packaging material unwound from the reserve roll is then applied to the goods.

[0048] The configuration is such that at least one adapter is connected to the at least one autonomous transport vehicle, preferably in a detachable manner, but in another embodiment, also in a fixed manner, for supplying reserve rolls to the at least one packaging device, after which the at least one autonomous transport vehicle transports at least one reserve roll to the at least one packaging device along a defined transport path, the reserve roll being held via the at least one adapter connected to the at least one autonomous transport vehicle, preferably in a detachable manner, and then the at least one reserve roll transported to the at least one packaging device is placed into the at least one packaging device.

[0049] Here, at least one reserve roll, which is to be transported to at least one packaging device, is placed into the at least one packaging device via the at least one adapter, which is connected to the at least one driverless transport vehicle, preferably in a detachable manner.

[0050] A proven implementation involves at least one driverless transport vehicle independently approaching and subsequently independently connecting to the approaching adapter.

[0051] Alternatively, the at least one driverless transport vehicle and / or the at least one adapter may have a lifting mechanism, via which the at least one adapter is lifted relative to the at least one driverless transport vehicle after the at least one driverless transport vehicle approaches, so as to lose its contact with the ground surface.

[0052] Specifically, the at least one driverless transport vehicle may first move to a position where it is located below the at least one adapter, and thereafter the at least one driverless transport vehicle lifts the at least one adapter at that position via a lifting mechanism, thereby causing the at least one adapter to lose its contact with the ground surface.

[0053] Alternatively or additionally, the at least one driverless transport vehicle and the at least one adapter may together form a centering mechanism, which aligns the at least one adapter relative to the at least one driverless transport vehicle during independent reception via the at least one driverless transport vehicle.

[0054] Alternatively or additionally, the at least one driverless transport vehicle and the at least one adapter may work together via a tensioning bolt and a tensioning mechanism to connect the at least one adapter and the at least one transport vehicle.

[0055] Furthermore, the at least one driverless transport vehicle may have at least one sensor system, via which the at least one driverless transport vehicle identifies the actual location of the at least one adapter and moves to a receiving location with regard to the identified actual location, the receiving location being suitable for independently receiving the at least one adapter.

[0056] It is also conceivable that the at least one adapter includes at least one retaining mandrel that receives at least one reserve roll in the working position, the at least one reserve roll being configured to be supplied to the at least one packaging device, and then transferred together with the at least one reserve roll to the travel position. Thus, by means of the transfer of the at least one retaining mandrel from the working position to the travel position, the center of gravity of the transport device and the at least one reserve roll received by the transport device is shifted towards the center of the transport device. Here, the at least one retaining mandrel may be located in the travel position while transporting the at least one reserve roll along the defined transport path.

[0057] Specifically, the transfer of the at least one retaining spindle from the working position to the traveling position can be achieved by a pivoting motion of at least one support arm of at least one adapter, the at least one retaining spindle being disposed at the at least one support arm. Alternatively or additionally, the transfer of the at least one retaining spindle from the working position to the traveling position can be achieved by the movement of the at least one retaining spindle via at least one linear drive device.

[0058] It is conceivable that the at least one autonomous transport vehicle has a plug, and the at least one adapter includes a mating plug. The plug and the mating plug may correspond to each other. Here, the plug of the at least one autonomous transport vehicle and the mating plug of the at least one adapter may be inserted into or plugged into each other via an actuator designed as part of the transport device, thereby establishing an electrical and / or fluid or pneumatic and / or hydraulic connection between the at least one autonomous transport vehicle and the at least one adapter.

[0059] Alternatively or supplementally, the driverless transport vehicle and the at least one adapter may be designed such that a connection can be formed between the driverless transport vehicle and the at least one adapter via induction for powering the at least one adapter.

[0060] It has also been confirmed that at least one orientation aid is arranged at a defined location within the area of ​​the at least one packaging device, and the at least one orientation aid preferably has a triangular geometry. Furthermore, the at least one autonomous transport vehicle may have a sensor system by which it identifies the location of the at least one orientation aid, wherein the autonomous transport vehicle approaches a specific transfer location with regard to the identified location of the at least one orientation aid, and then transfers at least one reserve roll to the at least one packaging device at that transfer location. Attached Figure Description

[0061] In the following, embodiments of the invention and their advantages will be explained in more detail with reference to the accompanying drawings. The dimensional proportions of individual elements in the drawings do not always correspond to actual dimensional proportions, as some shapes are simplified and others are enlarged for better illustration compared to other elements.

[0062] Figure 1 A schematic perspective view of one embodiment of the adapter is shown, which can be configured for various embodiments of the transport device according to the invention.

[0063] Figure 2 Showing according to Figure 1 A schematic side view of an implementation of the adapter.

[0064] Figure 3 Showing according to Figures 1 to 3 A bottom view of an implementation of the adapter.

[0065] Figure 4A and Figure 4B A schematic perspective view of one embodiment of an unmanned transport vehicle is shown, which can be configured for various embodiments of the transport device according to the invention.

[0066] Figure 5 A schematic perspective view of one embodiment of a packaging apparatus is shown, which can be configured for various embodiments of the packaging system according to the invention.

[0067] Figure 6 Showing according to Figure 5 The various details of the implementation of the packaging device.

[0068] Figure 7 Two alternative implementations of the machine spindle are shown, which can be incorporated into various implementations of the packaging apparatus.

[0069] Figures 8A to 8D illustrate one embodiment of the transport device according to the invention and explain the various steps that can be incorporated into various embodiments of the method according to the invention.

[0070] Figure 9 A handling device is shown, which can be incorporated as a component in various embodiments of the packaging system according to the invention.

[0071] Figures 10A to 10F The image shows the receipt of reserve rolls via a transport device, such receipt being possible in various embodiments of the method according to the invention.

[0072] Figures 11A to 11F show the removal of the applied reserve roll from one embodiment of the packaging device via a transport device according to the invention.

[0073] Figure 12A to Figure 12E This illustrates one embodiment of placing new reserve rolls into a packaging device using a transport device according to the invention.

[0074] Figures 13A to 13F The illustration shows the transfer of a hollow cylindrical core of a used reserve roll to a handling device by an embodiment of the transport device according to the invention.

[0075] Figures 14A to 14D show one implementation of placing the adapter via an unmanned transport vehicle.

[0076] Figures 15 to 20 Another embodiment of the transport device according to the present invention is shown.

[0077] Figure 21 Further aspects are shown, which can be incorporated into various embodiments of the transport device according to the invention. Detailed Implementation

[0078] The same reference numerals are used for elements of the same invention or those having the same effect. Furthermore, for clarity, only reference numerals necessary for the description of the corresponding figure are depicted in a single drawing. The embodiments shown are merely examples of how the invention can be implemented and do not imply conclusive limitations.

[0079] The embodiments, examples, and variations described in the preceding paragraphs, or the descriptions and drawings that follow, including their various views or corresponding individual features, may be used independently or in any combination thereof. Features described in conjunction with one embodiment apply to all embodiments, unless these features are contradictory.

[0080] Although the illustrations and views described below are generally "schematic," this in no way implies that the depiction of the drawings and their description are secondary to the disclosure of the invention. Those skilled in the art are fully capable of obtaining sufficient information from the schematic and abstractly drawn illustrations to simplify their understanding of the invention without being affected, for example, by the drawn and possibly not perfectly scaled dimensions. Therefore, these drawings enable those skilled in the art, as readers, to better understand the ideas of the invention presented in a more general and / or more abstract manner in the general section of the description, by means of the functional principles of the methods and devices according to the invention, as specifically explained.

[0081] The solutions according to the present invention include different combinations of features, particularly defined by the following sequentially numbered embodiments:

[0082] 1. A transport device (1) for a stock roll (8) with packaging material wound on it, the transport device (1) comprising at least one unmanned transport vehicle (2) and at least one adapter (3), characterized in that the at least one adapter (3) is capable of being connected to the at least one unmanned transport vehicle (2) and is designed to hold at least one stock roll (8).

[0083] 2. The transport device according to embodiment 1, wherein the at least one adapter (3) is capable of being disconnected from the at least one driverless transport vehicle (2) and is designed to hold at least one reserve roll (8).

[0084] 3. According to embodiment 1, in the transport device, the adapter (3) includes at least one retaining mandrel (6) on which a corresponding reserve roll (8) can be inserted.

[0085] 4. According to embodiment 3, in the transport device, the at least one retaining spindle (6) is designed to be movable back and forth between at least one working position (AP) and at least one traveling position (FP), wherein - the at least one retaining spindle (6) of the at least one adapter (3) connected to the corresponding unmanned transport vehicle (2) extends out of or is located outside the side of the corresponding at least one unmanned transport vehicle (2) in the at least one working position (AP), and wherein - the at least one retaining spindle (6) of the at least one adapter (3) connected to the corresponding unmanned transport vehicle (2) is at least partially or completely located behind the side of the corresponding at least one unmanned transport vehicle (2) in the at least one traveling position (FP).

[0086] 5. According to embodiment 4, in the transport device, the at least one adapter (3) has at least one support arm (12), the at least one retaining spindle (6) is arranged at the at least one support arm (12), and the at least one support arm (12) is pivotable about a horizontally oriented axis for transferring the corresponding at least one retaining spindle (6) arranged at the at least one support arm from the at least one working position (AP) to the at least one traveling position (FP), and from the at least one traveling position (FP) to the at least one working position (AP), and / or in the transport device (1), the at least one adapter (3) has At least one support arm (12), at least one retaining spindle (6) is arranged at the at least one support arm (12), and wherein the transport device (1) has at least one linear drive device (90), the at least one support arm (12) is connected to the linear drive device, wherein the at least one support arm (12) is configured to be displaced in a linear direction by the at least one linear drive device (90) for transferring the corresponding at least one retaining spindle (6) arranged at the at least one support arm from the at least one working position (AP) to the at least one traveling position (FP), and from the at least one traveling position (FP) to the at least one working position (AP).

[0087] 6. According to embodiment 5, in the transport device, the at least one adapter (3) has at least one tilting mechanism, via which the tilting displacement of the at least one retaining spindle (6) relative to the at least one bearing arm (12) about a horizontally oriented axis (H2) can be achieved in an actuated manner.

[0088] 7. According to embodiment 6, in the transport device, the tilt displacement of the at least one retaining spindle (6) relative to the at least one bearing arm (12) about a horizontally oriented axis (H2) can be achieved by actuation and electric means or via an electric adjusting cylinder (17).

[0089] 8. The transport device according to embodiment 6, the transport device having at least one tilt sensor, an actuator, and an open-loop and / or closed-loop control device (S) connected to the at least one tilt sensor and the actuator, wherein the open-loop and / or closed-loop control device (S) is designed to identify, by means of the at least one tilt sensor, the actual tilt of the at least one retaining mandrel (6) relative to the corresponding bearing arm (12), and wherein, as long as the actual tilt of the at least one retaining mandrel (6) relative to the corresponding bearing arm (12) identified by means of the at least one tilt sensor via the open-loop and / or closed-loop control device (S) deviates from a predetermined target tilt, the open-loop and / or closed-loop control device (S) is able to automatically control the actuator to adjust the tilt position of the at least one retaining mandrel (6).

[0090] 9. According to any one of embodiments 1 to 8, in the transportation device, the at least one driverless transport vehicle (2) is capable of independently receiving the at least one adapter (3) and independently connecting to the at least one received adapter (3) in a disconnectable manner, and / or in the transportation device, the at least one driverless transport vehicle (2) is capable of independently disconnecting from the existing connection with the at least one received adapter (3) and independently putting down the at least one received adapter (3).

[0091] 10. The transport device according to embodiment 9, wherein the at least one driverless transport vehicle (2) and / or the at least one adapter (3) have a lifting mechanism (51) via which the at least one adapter (3) is lifted relative to the at least one transport vehicle (2) for independent reception, thereby causing the at least one adapter (3) to lose contact with the previously existing surface of the ground, and / or in the transport device, the at least one driverless transport vehicle (2) and the at least one adapter (3) work together via a centering mechanism, which enables the at least one adapter (3) to be aligned relative to the at least one transport vehicle (2) during independent reception via the at least one transport vehicle (2), and / or in the transport device, the at least one driverless transport vehicle (2) and the at least one adapter (3) work together via a tensioning bolt (34) and a tensioning mechanism (58), via which the at least one adapter (3) is fixed at least substantially immobile at the driverless transport vehicle (2).

[0092] 11. The transport device according to embodiment 9, wherein the at least one driverless transport vehicle (2) is connected to at least one sensor system (55), via the at least one sensor system (55), the at least one driverless transport vehicle (2) is able to identify the actual location of the at least one adapter and move to a receiving location with regard to the identified actual location, the receiving location being suitable for independently receiving the at least one adapter (3).

[0093] 12. The transport device according to embodiment 10, wherein the at least one driverless transport vehicle (2) is connected to at least one sensor system (55), via the at least one sensor system (55), the at least one driverless transport vehicle (2) is able to identify the actual position of the at least one adapter and move to a receiving position with regard to the identified actual position, the receiving position being suitable for independently receiving the at least one adapter (3).

[0094] 13. A transport device according to any one of embodiments 1 to 8, wherein the at least one driverless transport vehicle (2) has a plug (44) and the at least one adapter (3) includes a mating plug (46) corresponding to the plug (44) of the at least one transport vehicle (2), wherein the plug (44) of the at least one driverless transport vehicle (2) and the mating plug (46) of the at least one adapter (3) are insertable into each other via an actuator designed as part of the transport device (1), thereby enabling an electrical and / or fluid connection to be established between the at least one driverless transport vehicle (2) and the at least one adapter (3).

[0095] 14. A transport device according to any one of embodiments 1 to 8, the transport device comprising an adjustment mechanism (76) via which a corresponding reserve roll (8) is movable relative to the unmanned transport vehicle (2) along an axis, the reserve roll being held via the at least one adapter (3) connected to the unmanned transport vehicle, the axis being oriented parallel to or substantially parallel to the ground and perpendicular to the longitudinal axis of the corresponding reserve roll (8).

[0096] 15. A packaging system (100) for packaging goods such as beverage containers, the packaging system comprising: - at least one packaging device (20) capable of unwinding packaging material from a stock roll (8) and designed to apply the packaging material unwinding from the stock roll (8) to the goods; and - at least one unmanned transport vehicle (2) cooperating with the at least one packaging device (20) for supplying the stock roll (8) to the at least one packaging device, the packaging system (100) characterized by at least one adapter (3) capable of being connected to the at least one unmanned transport vehicle (2) and designed to hold at least one stock roll (8).

[0097] 16. The packaging system according to embodiment 15, wherein the at least one adapter (3) is detachably connected to the at least one driverless transport vehicle (2) and is designed to hold at least one reserve roll (8).

[0098] 17. The packaging system according to embodiment 15, the packaging system including a handling device (80) designed to transfer a reserve roll (8) to the at least one adapter (3), the reserve roll being configured to supply the at least one packaging device (20), the at least one adapter being connected to the at least one driverless transport vehicle (2).

[0099] 18. The packaging system according to embodiment 17, wherein the handling device (80) is designed as an articulated arm robot (82).

[0100] 19. A packaging system according to one of embodiments 15 to 18, the packaging system having at least one orientation aid (38) having a preferably triangular geometry, wherein the at least one unmanned transport vehicle (2) has a sensor system (55) by means of which the at least one unmanned transport vehicle (2) is able to identify the position of the at least one orientation aid (38), and wherein the unmanned transport vehicle (2) is designed to independently approach a transfer location taking into account the position of the at least one orientation aid (38) identified by means of the sensor system (55), the transfer location being configured to transfer the reserve roll (8) to the at least one packaging device (20).

[0101] 20. A method for operating a packaging device, the method comprising the steps of: - supplying at least one stock roll (8) to at least one packaging device (20) by means of at least one unmanned transport vehicle (2); - unwinding packaging material from the at least one stock roll (8), the at least one stock roll being supplied to the at least one packaging device (20) by means of the at least one unmanned transport vehicle (2); and - applying the packaging material unwinding from the stock roll (8) to goods, the method characterized in that at least one adapter (3) is connected to the unmanned transport vehicle (2) for supplying at least one stock roll (8) to the at least one packaging device (20), thereafter the at least one unmanned transport vehicle (2) transports at least one stock roll (8) to the at least one packaging device (20) along a defined transport path, the stock roll being held via the at least one adapter (3), the at least one adapter being connected to the at least one unmanned transport vehicle (2), and then placing the at least one stock roll (8) transported to the at least one packaging device (20) into the at least one packaging device (20).

[0102] 21. According to the method of embodiment 20, in which the at least one adapter (3) is capable of being disconnected from the driverless transport vehicle (2).

[0103] 22. The method according to embodiment 20, wherein the at least one driverless transport vehicle (2) independently approaches the at least one adapter (3) and thereafter independently connects to the approaching at least one adapter (3).

[0104] 23. According to the method of embodiment 20, in the method - the at least one unmanned transport vehicle and / or the at least one adapter (3) has a lifting mechanism (51) via which, after the at least one unmanned transport vehicle (2) approaches the at least one adapter (3), the at least one adapter (3) is lifted relative to the at least one unmanned transport vehicle (2) to lose its surface contact with the ground, and / or in the method - the at least one unmanned transport vehicle (2) and the at least one adapter (3) together form a centering mechanism, which aligns the at least one adapter relative to the at least one unmanned transport vehicle (2) via the centering mechanism during independent reception via the at least one unmanned transport vehicle (2), and / or in the method - the at least one unmanned transport vehicle (2) and the at least one adapter (3) work together via a tensioning bolt (34) and a tensioning mechanism (58) to connect the at least one adapter (3) and the at least one transport vehicle (2).

[0105] 24. According to the method of embodiment 22, in the method - the at least one unmanned transport vehicle and / or the at least one adapter (3) has a lifting mechanism (51) via which, after the at least one unmanned transport vehicle (2) approaches the at least one adapter (3), the at least one adapter (3) is lifted relative to the at least one unmanned transport vehicle (2) to lose its surface contact with the ground, and / or in the method - the at least one unmanned transport vehicle (2) and the at least one adapter (3) together form a centering mechanism, which aligns the at least one adapter relative to the at least one unmanned transport vehicle (2) via the centering mechanism when independently received by the at least one unmanned transport vehicle (2), and / or in the method - the at least one unmanned transport vehicle (2) and the at least one adapter (3) work together via a tensioning bolt (34) and a tensioning mechanism (58) to connect the at least one adapter (3) and the at least one transport vehicle (2).

[0106] 25. The method according to one of embodiments 20 to 24, wherein the at least one unmanned transport vehicle (2) has at least one sensor system (55) via the at least one sensor system (55) the at least one unmanned transport vehicle (2) identifies the actual position of the at least one adapter and moves to a receiving position with regard to the identified actual position, the receiving position being suitable for independently receiving the at least one adapter (3).

[0107] 26. The method according to one of embodiments 20 to 24, wherein the at least one adapter (3) automatically places the at least one stock roll (8) held therein into the at least one packaging device (20) after being transported along a defined transport path, the at least one adapter being connected to the at least one driverless transport vehicle (2).

[0108] 27. The method according to one of embodiments 20 to 24, wherein the at least one adapter (3) includes at least one retaining mandrel (6) receiving at least one reserve roll (8) at at least one working position (AP), the at least one reserve roll being configured to be supplied to the at least one packaging device (20), and then being transferred together with the at least one reserve roll (8) to at least one travel position (FP), thereby shifting the center of gravity of the transport device (1) and the at least one reserve roll (8) received by the transport device (1) toward the center of the transport device (1) by means of transferring the at least one retaining mandrel (6) from the at least one working position (AP) to the at least one travel position (FP), and wherein the at least one retaining mandrel (6) is located at the at least one travel position (FP) while transporting the at least one reserve roll (8) along a defined transport path.

[0109] 28. The method according to embodiment 27, wherein the transfer of the at least one retaining spindle (6) from the at least one working position (AP) to the at least one traveling position (FP) is achieved by pivoting motion of at least one support arm (12) of the at least one adapter (3) in an actuated manner, the at least one retaining spindle (6) being arranged at the at least one support arm (12), and / or wherein the transfer of the at least one retaining spindle (6) from the at least one working position (AP) to the at least one traveling position (FP) is achieved by the movement of the at least one retaining spindle (6) via at least one linear drive device (90).

[0110] 29. The method according to one of embodiments 20 to 24, wherein the at least one unmanned transport vehicle (2) has a plug (44) and in the transport device, the at least one adapter (3) includes a mating plug (46) corresponding to the plug (44) of the at least one transport vehicle (2), wherein the plug (44) of the at least one unmanned transport vehicle (2) and the mating plug (46) of the at least one adapter (3) are inserted into each other via an actuator designed as part of the transport device (1), thereby establishing an electrical and / or fluid connection between the at least one unmanned transport vehicle (2) and the at least one adapter (3).

[0111] 30. According to one of embodiments 20 to 24, in the at least one orientation aid (38), the at least one orientation aid (38) has a triangular geometry and is arranged at a defined position within the area of ​​the at least one packaging device (20), wherein the at least one unmanned transport vehicle (2) has a sensor system (55) by means of the sensor system (55) to identify the position of the at least one orientation aid (38), and wherein the unmanned transport vehicle (2) approaches a specific transfer position with regard to the identified position of the at least one orientation aid (38), and then transfers at least one reserve roll (8) to the at least one packaging device (20) at the transfer position.

[0112] Figure 1 A schematic perspective view of one embodiment of adapter 3 is shown, which can be configured for various embodiments of the transport device 1 according to the invention. Adapter 3 includes a support structure 5 having an upper frame 7 and several diagonal braces 9 arranged at the upper frame 7. Further, adapter 3 has several legs 11 connected to the support structure 5, and adapter 3 stands upright on the ground via these legs 11.

[0113] As will be described below, adapter 3 can be connected to unmanned transport vehicle 2, wherein adapter 3 is carried by unmanned transport vehicle 2. To prevent accidental contact with unmanned transport vehicle 2, a cover 13 is arranged between the diagonal braces 9.

[0114] The adapter 3 has two retaining mandrels 6, which can receive one reserve roll 8 in a clamping manner by enlarging their respective cross-sectional diameters (see...). Figure 6The corresponding retaining spindle 6 is fixed at the corresponding bearing arm 12. Each bearing arm 12 is equipped with its own actuator 14, such that when the corresponding actuator 14 is actuated, the bearing arm 12, together with the corresponding retaining spindle 6 arranged at that bearing arm, can pivot independently and individually about a horizontally oriented axis H1. The actuator 14 is designed as an electric motor. Here, the pivoting movement can be performed about an angle of 180° or at least approximately 180°. Such pivoting movement originates from... Figure 1 and Figure 2 The combination diagram is clearly visible.

[0115] In alternative embodiments, it is conceivable that, for example, a gripper, prism, and / or articulated robot for receiving the reserve roll 8 is connected to the frame structure 5 without being connected to the retaining mandrel 6. However, embodiments with the retaining mandrel 6 have been shown to receive the reserve roll 8 in a simple manner.

[0116] exist Figure 1 In the middle, keep spindle 6 positioned in the driving position FP. Figure 1 As shown in the diagram, adapter 3 can be transported via unmanned transport vehicle 2 to packaging device 20 (see...). Figure 5 It travels in the direction of the packaging device 20 or moves in the direction of the packaging device 20. Here, the spindle 6 is kept back behind the side of the driverless transport vehicle 2, so that the transport device 1 is designed to be very compact during its movement.

[0117] Since reserve roll 8 can have relatively high quality, when holding mandrel 6 is arranged according to Figure 1 The driving position FP shown also largely prevents the transport device 1 from accidentally tipping over during the transport of the reserve roll 8. As long as the reserve roll 8 is located at the holding mandrel 6, when the holding mandrel 6 is moved from according to... Figure 2 The working location AP is moved according to Figure 1 When the vehicle is in the driving position FP, the center of gravity of the adapter 3 or the center of gravity of the transport device 1 shifts in the direction towards the center of the adapter 3, thereby enabling high-stability transport of the reserve roll 8.

[0118] As will be described below, the driverless transport vehicle 2 travels beneath the adapter 3 to receive the adapter, wherein the driverless transport vehicle 2 enters the tunnel 15 provided by the frame structure 5 of the adapter 3. The spindle 6 is kept in position according to... Figure 1 The driving position FP is also advantageous here, because otherwise, the support arm 12, along with the retaining spindle 6 located at the support arm, would block the passage into the tunnel 15 on one side (see...). Figure 2 ).

[0119] In order to transfer the reserve roll 8 arranged at the holding mandrel 6 to the packaging device 20, the corresponding carrier arm 12, together with the corresponding holding mandrel 6 and the corresponding reserve roll 8 arranged at the carrier arm, pivots to the position according to... Figure 2 The working position. Because reserve roll 8 must be pushed or passed to the machine spindle 60 of packaging device 20 in the next step (see...). Figure 6 Therefore, it may be necessary to transfer the corresponding retaining mandrel 6 and the corresponding reserve roll 8 arranged at the retaining mandrel to the horizontal direction in advance.

[0120] Here, we can get from Figure 1 and Figure 2 Each retaining mandrel 6 is equipped with its own adjusting cylinder 17, which allows the respective retaining mandrel 6 to pivot about an additional horizontally oriented axis H2. The adjusting cylinder 17 may be formed by a pneumatic cylinder or a hydraulic cylinder, but in the preferred embodiment it is formed by an electric cylinder, and together with the connector, forms a tilting mechanism for the respective retaining mandrel 6.

[0121] Even when receiving a new reserve roll 8 via the retaining mandrel 6, it may be necessary to first pivot the corresponding retaining mandrel 6 via the corresponding adjusting cylinder 17 and shift it to an orientation in which the longitudinal axis of the corresponding retaining mandrel 6 is vertical or at least approximately vertical. Figure 10C and Figure 10D Each of them shows such an orientation for maintaining the spindle 6.

[0122] Because inaccurate alignment of retaining mandrel 6 can cause problems when transferring reserve roll 8 to packaging device 20, and because inaccurate alignment of retaining mandrel 6 can also cause problems when receiving new reserve roll 8 via the corresponding retaining mandrel 6, each retaining mandrel 6 is equipped with a sensor that identifies the corresponding actual tilt or position, i.e., orientation, of the corresponding retaining mandrel 6 relative to the corresponding support arm 12.

[0123] The corresponding sensors provide information to the open-loop and / or closed-loop control device S regarding the actual tilt, position, or orientation of the corresponding holding mandrel 6, which is designed as part of the transport device 1. The open-loop and / or closed-loop control device S then checks whether the identified actual tilt or position corresponds to a predetermined target tilt or position. If any deviation exists between the identified actual tilt or position and the predetermined target tilt or position, the adjusting cylinder 17 is controlled as needed to correct the actual tilt or position. Thus, the actual tilt or position of the holding mandrel 6 is very accurately aligned with the predetermined target tilt or position, thereby allowing the corresponding reserve roll 8 to be safely transferred to the packaging device 20, and enabling the corresponding holding mandrel 6 to accurately receive new reserve rolls 8.

[0124] The working position AP of the support arm 12 can be varied within a predetermined angle range or tilt range. Thus, from the storage roll 8 to the packaging device 20 (see...) Figure 5 When this happens, compensation can be made for corresponding conditions, such as uneven ground. In practice, height differences within a range of 300mm are very common.

[0125] Furthermore, reference numeral 16 refers to a junction box mounted on the upper frame 7 of the frame structure 5. Electronic components are arranged in the junction box 16, via which the actuator 14 is powered. Further, open-loop and / or closed-loop control devices are arranged within the junction box 16, which, for example, can control the regulating cylinder 17.

[0126] also, Figure 2 A schematic side view shows a pressure cylinder 22 arranged at the support arm 12, which can move the pressure plate 23 back and forth in a linear direction and parallel to the longitudinal extension of the retaining mandrel 6. This allows the reserve roll 8 or the hollow cylindrical core 9 of the depleted reserve roll (see Figure 11F) mounted on the retaining mandrel 6 to be ejected from the retaining mandrel 6 when appropriate, in contact with the surface of the pressure plate 23.

[0127] Furthermore, control of the pressure cylinder 22 is also performed via an open-loop and / or closed-loop control device S, which is designed as part of the transport device. Upon receiving a new reserve roll 8, the pressure plate 23 is pulled back via the pressure cylinder 22. Figure 2 The location shown.

[0128] In order for the adapter 3 to be received by the unmanned transport vehicle 2, it is necessary that the unmanned transport vehicle 2 can move accurately and without collision into the tunnel 15 of the adapter 3 (see Figure 1Therefore, the adapter 3 has two reference bars 19, each with a triangular geometry, arranged herein between the two legs 11 of the adapter 3. By sensing the reference bars 19, the autonomous transport vehicle 2 can identify the position of the adapter 3 and thus accurately move into the tunnel 15 provided by the adapter 3. Helpfully, the autonomous transport vehicle 2 reduces its initial speed upon entering the tunnel 15.

[0129] Figure 3 The diagram shows that, according to Figure 1 and Figure 2 A bottom view of the implementation of adapter 3. In order to place adapter 3 at the unmanned transport vehicle 2, it is necessary to mechanically connect adapter 3 to unmanned transport vehicle 2 and establish an electrical connection between adapter 3 and unmanned transport vehicle 2.

[0130] In order to receive the adapter 3 via the unmanned transport vehicle 2, as described above, the unmanned transport vehicle 2 first moves into the tunnel 15 provided by the adapter 3. As will be described in detail below, the unmanned transport vehicle 2 then lifts the adapter 3, where the outriggers 11 lose contact with the ground surface. In order for the adapter 3 to be moved stably by the unmanned transport vehicle 2, and for the adapter 3 to operate reliably thereafter, it is necessary that the adapter subsequently carried by the unmanned transport vehicle 2 be positioned very accurately relative to the predetermined position of the unmanned transport vehicle 2.

[0131] Therefore, the adapter 3 has several centering bolts 36, which are inserted into the corresponding centering sleeves 56 of the unmanned transport vehicle 2 whenever the adapter 3 is lifted via the unmanned transport vehicle 2 (see...). Figure 4A and Figure 4B This aligns the adapter 3 with the unmanned transport vehicle 2, and the adapter is then precisely positioned relative to the predetermined location of the unmanned transport vehicle 2.

[0132] It is also confirmed here that the open-loop and / or closed-loop control device S is designed such that it can recognize that the centering pin 36 has been inserted into the centering sleeve 56. It can be configured such that the open-loop and / or closed-loop control device S allows the unmanned transport vehicle 2 to move only if it recognizes that the centering pin has been inserted into the centering sleeve 56. This prevents the unmanned transport vehicle 2, which receives the adapter 3 which may be incorrectly installed on it, from moving in the direction of the packaging device 20 for supplying the reserve roll 8 to the packaging device 20.

[0133] Accordingly, whether the adapter 3 is installed on the unmanned transport vehicle 2 can be identified by inserting the centering pin into the centering sleeve 56. Furthermore, the relative position of the adapter 3 with respect to the unmanned transport vehicle 2 can be identified using reference bar 19.

[0134] This eliminates the related problems that occur when the reserve roll 8 is mistakenly transferred to the packaging device 20, which are caused by the adapter 3 being installed in the wrong orientation on the unmanned transport vehicle 2.

[0135] To secure the adapter 3 to the unmanned transport vehicle 2 after entering tunnel 15, the adapter 3 also includes several connecting devices 32, each designed as a tension bolt 34. The connecting devices 32 or tension bolts 34 work in conjunction with the tensioning mechanism 58 of the unmanned transport vehicle 2, which... Figure 4A and Figure 4B It is displayed in the middle.

[0136] via Figure 3 The two tensioning bolts 34 shown and via Figure 4A and Figure 4B The two tensioning mechanisms shown can keep the adapter 3 stationary and clamp it to the unmanned transport vehicle 2. Furthermore, the corresponding drive of the tensioning mechanism 58 can be predetermined via an open-loop and / or closed-loop control device S, thereby eliminating the need for manual intervention in the mechanical connection between the adapter 3 and the unmanned transport vehicle 2.

[0137] Here, the confirmed implementation is that the open-loop and / or closed-loop control device S enables the connection between the adapter 3 and the unmanned transport vehicle 2 only when the open-loop and / or closed-loop control device S has recognized that the centering bolt 36 has been correctly inserted into the centering sleeve 56.

[0138] Furthermore, a mating plug 46 is located on the bottom surface of the adapter 3. When the adapter 3 is received by the autonomous transport vehicle 2, this mating plug is inserted into the corresponding plug 44 of the autonomous transport vehicle 2. This establishes an electrical connection between the autonomous transport vehicle 2 and the adapter 3. The plug 44 of the autonomous transport vehicle 2 is vertically displaced or lifted via a cylinder (not shown) to insert into the mating plug 46 of the adapter 3. After connecting the plug 44 of the autonomous transport vehicle 2 to the mating plug 46 of the adapter 3, the autonomous transport vehicle 2 can supply power to the adapter 3 via this plug.

[0139] In another embodiment, it is conceivable that the transport device 1 does not have such a plug connection. For example, powering the adapter 3 can also be done inductively. The transmission of work instructions from the unmanned transport vehicle 2 to the adapter 3 can also be done wirelessly or via radio, as appropriate. In another embodiment, the adapter 3 can be lifted by the transport vehicle 2, causing the plug 44 and the mating plug 46 to insert into each other.

[0140] Figure 4A and Figure 4B Each figure shows a schematic perspective view of one embodiment of the unmanned transport vehicle 2, which can be configured for various embodiments of the transport device 1 according to the invention. For identification of reference bar 19, the unmanned transport vehicle 2 has two sensor systems 55 arranged in two corner regions of the unmanned transport vehicle 2, and these sensor systems can be designed, for example, as laser scanners. Such laser scanners can serve as safety laser scanners for the unmanned transport vehicle 2.

[0141] Two receiving bars 52 are arranged on the upper side of the unmanned transport vehicle 2, and these two receiving bars are connected to the lifting mechanism 51 or the lifting unit 50.

[0142] Figure 4A and Figure 4B The combined illustration depicts the operational movement of the unmanned transport vehicle 2, in which the lifting unit 50, or lifting mechanism 51, is lifted together with the receiving bar 52. This operational movement is performed by the unmanned transport vehicle 2 after entering the tunnel 15 containing the adapter 3, wherein the adapter 3 moves upward along with the lifting unit 50 during the movement of the lifting unit 50. Once the receiving bar 52 makes surface contact with the adapter 3, such contact is detected by open-loop and / or closed-loop control devices. When the adapter 3 is lifted, the outrigger 11 loses its surface contact with the ground.

[0143] Figure 5 A schematic perspective view of one embodiment of the packaging apparatus 20 is shown, which can be configured for various embodiments of the packaging system 100 according to the invention (see Figures 11A to 11F). With the aid of the packaging apparatus 20, packaging material or film material can be unwound from a reserve roll 8 and subsequently applied to the goods.

[0144] In order for the packaging device 20 to apply packaging materials or film materials to goods, the reserve rolls 8 already located in the packaging device 20 must be supplied to the packaging device 20 periodically, whenever the reserve film materials or packaging materials are used or about to be used. To supply the reserve rolls 8 to the packaging device 20, a transport device 1 is provided, which includes an unmanned transport vehicle 2 and an adapter 3. The transport device 1 can be described according to Figures 12A to 12B below. Figure 12E The steps shown supply reserve roll 8 to packaging device 20.

[0145] also, Figure 5 As shown, two orientation aids 38 are positioned in the vicinity of the packaging device 20, and these two orientation aids have a triangular geometry. The packaging device 20 has two machine spindles 60, via which the packaging device 20 can unload packaging material from the reserve roll 8 in each case. Each machine spindle 60 is assigned an orientation aid 38. With the aid of the sensor system 55 described above, the unmanned transport vehicle 2 can identify the position of the orientation aid 38 and thereby accurately move to the location suitable for transferring the reserve roll 8 to the packaging device 20, together with the received adapter 3. Thus, the movement of the unmanned transport vehicle 2 is achieved by means of sensor detection, in which the position of the orientation aid 38 is used as a reference.

[0146] Figure 6 The stereoscopic view shows according to Figure 5 The packaging apparatus 20 is described in detail below. As explained above, the packaging apparatus 20 has two machine spindles 60, each on which a reserve roll 8 can be placed. Whenever the packaging material reserve in the reserve roll 8 is used up, packaging material can be unloaded from the reserve roll 8 arranged on the other machine spindle 60, thereby allowing the packaging process to continue or only be interrupted briefly.

[0147] To extract the packaging material, or the free end region of the packaging material, from the new reserve roll 8, the packaging device 20 includes an adsorption shaft 67. The adsorption shaft 67 can clamp the corresponding free end region via negative pressure and then move it along with the free end region under the welding rod 64. To connect the extracted free end region of the packaging material from the new reserve roll 8 to the packaging material already received in the packaging machine 20, the welding rod 64 is then moved downward in a vertical direction, wherein the welding rod 64 guides the extracted free end region against the packaging material already received in the packaging machine and applies heat. This connects or welds the extracted free end region of the packaging material from the new reserve roll 8 to the packaging material already received in the packaging device 20.

[0148] exist Figure 6In the illustration, the new roll 8 can be seen not yet fully pushed onto the machine spindle 60 to which it was assigned. The transport device 1 or its adapter 3 has previously placed the new reserve roll 8 onto the machine spindle 60 to which it was assigned and has already moved away from the new reserve roll 8. To fully push or push the new reserve roll 8 onto or towards the stop position on the machine spindle 60, the packaging device includes a push plate 62.

[0149] exist Figure 6 In this process, the push plate 62 is already in surface contact with the end face of the new reserve roll 8. By moving the push plate 62 axially parallel to the longitudinal axis of the machine spindle 60, the push plate 62 can push the new reserve roll 8, which has been placed on the assigned machine spindle 60, to the stop position of the machine spindle 60, thereby positioning the new reserve roll 8 in a position in the packaging device 20 that is configured for unwinding packaging material or film material.

[0150] To this effect, it is also conceivable that the pusher plate 62 remains in its position, and the machine spindle 60, together with the placed reserve roll 8, moves axially, thereby pushing the placed reserve roll 8 to the stop position. Alternatively, the pusher plate 62 can be switched between machine spindles 60, allowing the pusher plate 62 to push the reserve roll 8 onto both machine spindles 60. It has been confirmed here that the pusher plate 62 is mechanically connected to the adsorption shaft 67.

[0151] Figure 7 The perspective view shows two alternative embodiments of machine mandrels 60 and 60', which can be configured as components in various embodiments of the packaging apparatus 20. Machine mandrel 60 represents a preferred embodiment that can be configured for the packaging apparatus 20.

[0152] The free end 61 of the machine spindle 60 ( Figure 7 The right side is designed to be conical, so that even if the new reserve roll 8 does not accurately hit the machine spindle 60, it can be safely pushed onto the machine spindle 60.

[0153] The free end 61' of the machine spindle 60' ( Figure 7 The right side is designed as a bolt shape and is locally tapered or can be designed as a cylinder where appropriate. The machine spindle 60, with a tapered free end 61, is... Figure 5 and Figure 6 Part of an embodiment of the packaging device 20.

[0154] Figures 8A to 8D each illustrate one embodiment of the transport device 1 according to the present invention and explain the various steps that can be incorporated into various embodiments of the method according to the present invention.

[0155] Furthermore, the transport device 1 includes an unmanned transport vehicle 2 and an adapter 3, which is not yet fixed to the unmanned transport vehicle 2 in Figure 8A. The adapter 3 has two retaining spindles 6, each of which can receive a reserve roll 8. Therefore, the adapter 3 can hold the reserve roll 8 until the reserve roll is transferred to the packaging device 20.

[0156] The combined illustrations of Figures 8A and 8B depict the unmanned transport vehicle 2 moving into tunnel 15 of adapter 3 to receive or accept adapter 3. Furthermore, the defined movement of the unmanned transport vehicle 2 into tunnel 15 of adapter 3 can be achieved by means of identifying the corresponding position of reference bar 19 via sensor system 55, which is designed as an integral part of the unmanned transport vehicle 2 (see Figure 8A). Figure 4A and Figure 4B ).

[0157] There is also the possibility that the unmanned transport vehicle 2 may move into the adapter 3's tunnel 15 using laser navigation and reflector markings and / or information from a two-dimensional map, stored in an open-loop and / or closed-loop control device S designed as an integral part of the transport device 1. The unmanned transport vehicle 2 could reduce its initial speed upon entering the tunnel 15, thereby further reducing the risk of an accidental collision with the adapter 3.

[0158] In the view of Figure 8B, the driverless transport vehicle 2 is now positioned such that it can receive the adapter 3.

[0159] The lifting unit 50 of the unmanned transport vehicle 2 is lifted and comes into surface contact with the adapter 3, as described above. Figure 4A and Figure 4B As already described. The combined illustrations of Figures 8B and 8C illustrate the steps of the method. Just as the receiving strip 52, positioned at the lifting unit 50, contacts the adapter 3, the open-loop and / or closed-loop control device S can perform further lifting based on approval of a security request sent to the open-loop and / or closed-loop control device S. Within the scope of such a security request, the open-loop and / or closed-loop control device can, for example, check whether the centering bolts 36 are each arranged in their respective centering sleeves 56, and / or whether the adapter 3 is secured to the unmanned transport vehicle 2 via the tensioning bolts 34 and the tensioning mechanism 58.

[0160] Therefore, the open-loop and / or closed-loop control device S can check for the presence of other parameters, such as whether there is a predetermined relative position of the autonomous transport vehicle 2 to the adapter 3, and, based on the corresponding results determined within the scope of the check, enable or prevent the lifting of the adapter 3. Alternatively, the open-loop and / or closed-loop control device S may have a display designed as a touchscreen, through which the user can enable the lifting of the adapter 3 via the autonomous transport vehicle 2. However, in a preferred embodiment, the reception and connection between the autonomous transport vehicle 2 and the adapter 3 is fully automated, thus generally requiring no human intervention.

[0161] The adapter 3 is clearly visible in the combined illustration of Figures 8C and 8D as it is lifted or received by the unmanned transport vehicle 2. Here, the support leg 11 loses its surface contact with the ground. In practice, the unmanned transport vehicle 2 may be equipped with a laser scanner, which allows the unmanned transport vehicle 2 to orient itself toward the packaging device 20 during movement, thereby ensuring personal safety at the same time.

[0162] These laser scanners can be positioned on one or two opposite sides of the autonomous transport vehicle 2, or, as described above, at the corners of the autonomous transport vehicle 2. The adapter 3 can be raised relative to the ground in such a way that, after raising the adapter 3, the laser scanners are no longer obstructed by the adapter 3, allowing the autonomous transport vehicle 2 to continue orienting itself using the laser scanners even when the adapter 3 is in place.

[0163] Figure 9 A schematic perspective view shows a handling device 80, which can be incorporated as a component of various embodiments of the packaging system 100 according to the invention (see Figures 11A to 11F). The handling device 80 is designed as an articulated robot 82, or herein as a robot with a series motion mechanism or a 6-axis robot. A tension mandrel 84, which is designed as a component of the handling device 80 or the articulated robot 82, is used to receive new reserve rolls 8 from a tray 70.

[0164] The transfer to transport device 1 can be based on the following Figures 10A to 10F The description in the document is as follows. In order to accurately grasp the reserve roll 8, the handling device 80 or the articulated arm robot 82 has a camera system 86, through which the handling device 80 or the articulated arm robot 82 can identify the position of the reserve roll 8 and move the tension mandrel 84 according to the identified position.

[0165] There is also the possibility that the camera system 86 may determine whether the reserve roll 8 is potentially damaged. In such a case, the handling device 80 will not accept the damaged reserve roll 8, but instead will inspect another reserve roll with predetermined characteristics, or one that is not damaged.

[0166] Alternatively, the handling device 80 or the articulated robot 82 may be equipped with a tool switching system, enabling it to perform tasks beyond the scope of the handling reserve roll 8. In practice, the handling device 80 or the articulated robot 82 may also be surrounded by protective devices, such as fences, to prevent unintentional contact by operators.

[0167] The protective device or fence may have a gate, door or roller shutter, through which the unmanned transport vehicle 2, together with the adapter 3 fixed to the unmanned transport vehicle, enters the vicinity of the handling device 80 or the articulated robot 82.

[0168] Alternatively, the handling device 80 or the articulated robot 82 may have a sensor system via which it identifies when an operator approaches. The handling device 80 or the articulated robot 82 can then automatically prevent further movement and, in particular, automatically shut down.

[0169] Figure 9 The diagram also shows a turning station 88. When transferring the reserve roll 8 to the packaging device 20, the reserve roll 8 needs to be transferred to the packaging device 20 in a predetermined rotational direction or in a manner consistent with the rotational direction. The handling device 80 can identify the corresponding rotational direction using a camera system 86.

[0170] As long as the corresponding rotation direction does not correspond to the predetermined target rotation direction, the handling device 80 or the articulated robot 82 can place the already received reserve roll 8 on the turning station 88 and then receive it again from the opposite side, so that the corresponding rotation direction in the packaging device 20 is consistent with the predetermined target rotation direction, or so that the handling device 80 or the articulated robot 82 can transfer the reserve roll 8 received via the tension mandrel 84 to the transport device 1 in the predetermined rotation direction.

[0171] Alternatively, the packaging system 100 may include several packaging units 20, to which the reserve rolls 8 are supplied via exactly one transport unit 1 or also via several transport units 1. In such an embodiment, the handling unit 80 may continue to pass the reserve rolls 8 to the exactly one transport unit 1 or several transport units 1. The coordination or control of the handling unit 80 and the several transport units may be performed by means of a control system or a central computer unit, as appropriate.

[0172] Figures 10A to 10F A schematic perspective view shows the reception of reserve roll 8 via transport device 1, such reception can be carried out in various embodiments of the method according to the invention. Figures 10A to 10F The embodiment also includes a handling device 80 designed as an articulated arm robot 82, which has already been... Figure 9 As shown and described in [the document]. Therefore, for detailed embodiments of the handling device 80 and the articulated robot 82, please refer to [the document / reference]. Figure 9 .

[0173] Figure 10A and Figure 10B The combined illustration shows that, in the first step, the transport device 1 moves to the handling device 80 and stops there at a predetermined position suitable for receiving the reserve roll 8. Furthermore, the movement or navigation of the transport device to this position can be accomplished by means of a sensor system 55 or by laser navigation.

[0174] According to Figures 10A to 10F In one embodiment, the transport device 80 or the articulated robot 82 has a triangular geometry within the area of ​​its base, which allows the transport device to sense the position of the transport device 80. In another embodiment, the transport device 1 may also be configured to have a camera, which allows the transport device to identify the position of the storage roll 8.

[0175] Further steps from Figure 10B and Figure 10C The combination diagram is clearly visible. The retaining spindle 6 of the transport device 1 is moved from... Figure 10B The driving position pivots to according to Figure 10C The working position AP. Then, the longitudinal axis of the mandrel 6 is kept perpendicular to the orientation of the working position AP. Alternatively, it is conceivable that the working position AP is characterized by keeping the mandrel 6 in a horizontal direction, or, where appropriate, in an inclined direction. Furthermore, according to Figure 10C In one embodiment, the mandrel 6 is kept outside the side of the driverless transport vehicle 2, which is designed as part of the transport device 1.

[0176] The conveying device 80 can insert the reserve roll 8 onto the retaining mandrel 6 in the working position AP of the retaining mandrel 6. Therefore, according to... Figure 10D The conveying device 80 inserts its tensioning mandrel 84 into the hollow cylindrical core 9 of the reserve roll 8 (see Figure 11F), and then enlarges the cross-sectional diameter of the tensioning mandrel 84, thereby allowing the reserve roll 8 to... Figure 10D It is fixed to the tensioning mandrel 84 of the conveying device 80 by clamping.

[0177] exist Figure 10EIn the middle, the handling device 80 has placed the reserve roll 8 on the holding mandrel 6 of the transport device 1, and then according to... Figure 10F The tensioning mandrel 84 of the conveying device 80 is pulled out from the hollow cylindrical core of the storage roll 8.

[0178] After the tensioning mandrel 84 has left the hollow cylindrical core 9 of the reserve roll 8, the transport device 1 can move the holding mandrel 6 together with the reserve roll 8 from the... Figure 10E The working position AP pivots to according to Figure 10F The travel position FP is maintained, and the reserve roll 8 is transported in the direction of the packaging device 20, wherein the holding spindle 6 and the travel position FP of the reserve roll 8 carried by the holding spindle 6 are maintained.

[0179] Schematic perspective views of Figures 11A to 11F show the removal of the applied reserve roll from one embodiment of the packaging device 20 via a transport device 1 according to the invention.

[0180] As described above, the transport device 1 can be moved to the vicinity of the packaging device 20 by means of the orientation assist device 38.

[0181] As can be seen from Figure 11B, the packaging device 20 can be made possible by means of a machine spindle 60 capable of displacement in the axial direction (see Figure 11B). Figure 6 Remove the hollow cylindrical core 9 of the applied reserve roll from the packaging device 20.

[0182] Then, the combined illustrations of Figures 11C and 11D show that the hollow cylindrical core 9 is pushed onto the retaining mandrel 6 of the transport device 1, and then the transport device 1 clamps and fixes the hollow cylindrical core 9 at the retaining mandrel 6.

[0183] Then, according to Figure 11E, the transport device 1 leaves the packaging device 20 and pulls the hollow cylindrical core 9 from the machine spindle 60 of the packaging device 20. Alternatively, the transport device 1 may first remain in its position, while the machine spindle 60 moves back to the packaging device 20 in the axial direction, during which the hollow cylindrical core 9 is pulled from the machine spindle 60.

[0184] Then, the combined illustrations of Figures 11E and 11F illustrate the pivoting of the retaining mandrel 6, which carries the hollow cylindrical core 9, from the previously described working position AP to the traveling position FP. Then, the transport device 1 moves in the direction of the handling device 80 (see...). Figure 9 The retaining mandrel 6, which carries the hollow cylindrical core 9, remains in the traveling position FP. Then, the handling device 80 receives the hollow cylindrical core 9 from the transport device 1 and places it at a predetermined position, or, if appropriate, discards it into a container for disposal.

[0185] Schematic perspective views of Figures 12A to 12D show an embodiment of placing a new reserve roll 8 into a packaging device 20 by means of a transport device 1 according to the invention.

[0186] In the illustration of Figure 12A, the transport device 1, together with the reserve roll 8, moves in the direction of the packaging device 20, the reserve roll being held by the adapter 3 of the transport device 1. In Figure 12A, the retaining mandrel 6 of the adapter 3 is located in the working position AP described above, the retaining mandrel 6 of the adapter fixing the reserve roll 8.

[0187] In Figure 12B, the transport device 1 has moved closer to the packaging device 20 and uses the orientation aid 38 for reference, the position of which is identified by the transport device 1 in a sensing manner.

[0188] Then, Figure 12C shows the transport device 1 pushing the reserve roll 8 onto the machine spindle 60 of the packaging device 20, and then, according to Figure 12D, the transport device leaves the packaging device 20.

[0189] Alternatively, the transport device 1 may remain in its position, wherein the machine spindle 60 moves in the axial direction and thereby receives the reserve roll 8. Then, according to Figure 12E The reserve roll 8 is then pushed onto the machine spindle 60 using the push plate 62.

[0190] Figure 12E The other components shown are based on Figure 6 The illustrations are designed accordingly, so please refer to the relevant descriptions.

[0191] Figures 13A to 13F The schematic perspective view shows the transfer of a hollow cylindrical core 9 of a used reserve roll to a conveying device 80 by a conveying device 1 according to an embodiment of the invention.

[0192] Transport device 1 first from according to Figure 13A Move the position according to Figure 13B The location, where navigation or movement can continue to be carried out with the help of sensor system 55.

[0193] Then, Figure 13B The combined illustration with Figure 13C shows that the retaining mandrel 6 is pivoted, with a hollow cylindrical core 9 arranged at the retaining mandrel, such that the retaining mandrel 6 and the hollow cylindrical core 9 arranged at the retaining mandrel are oriented perpendicularly. In another embodiment, the retaining mandrel 6 may be pivoted, with the hollow cylindrical core 9 arranged at the retaining mandrel, such that the retaining mandrel 6 is thus oriented horizontally.

[0194] Following this, the conveying device 80 inserts its tensioning mandrel 84 into the hollow cylindrical core 9, and then clamps the hollow cylindrical core at the tensioning mandrel 84, as shown in FIG13D. Then, the hollow cylindrical core 9 is lowered to a predetermined position via the conveying device 80, and then... Figure 13F The conveying device 80 is ready to receive another hollow cylindrical core 9.

[0195] An alternative implementation could be conceived in which the transport device 1 places the used reserve roll 1 at a defined location, for which the retaining mandrel 6 is pivoted to a specific position and then released. Depending on the inclination of the retaining mandrel 6, the hollow cylindrical core 9 can be moved as appropriate by gravity or by means of... Figure 2 The pressure plate 23, as already described, is pushed out to hold the spindle 6. After lowering, navigation is possible. Figure 13F The position shown is for receiving another hollow cylindrical core 9. This alternative solution can reduce the load on the handling device 80 if needed.

[0196] Schematic perspective views in Figures 14A to 14D show one embodiment of placing the adapter 3 via an unmanned transport vehicle 2. The unmanned transport vehicle 2 and the adapter 3 together form one embodiment of the transport device 1 according to the invention.

[0197] The transport device 1 moves from the position according to Figure 14A to the position according to Figure 14B, which is configured to lower the adapter 3. Then, the transport device 1 can release the fixed connection between the driverless transport vehicle 2 and the adapter 3. For example, it is conceivable that this is achieved by tensioning bolt 34 (see Figure 14B). Figure 3 The connection established between the tensioning mechanism 58 and the tensioning mechanism 58 (see...) Figure 4A and Figure 4B () was lifted.

[0198] In Figure 14C, the adapter 3 is placed on the ground via the unmanned transport vehicle 2, for which the lifting unit 50 or lifting mechanism 51 is lowered (see Figure 14C). Figure 4A and Figure 4B Then, according to Figure 14D, the driverless transport vehicle 2 can leave the lowered adapter 3.

[0199] Figure 15 A schematic perspective view shows another embodiment of the transport device 1 according to the present invention. Furthermore, according to... Figure 15 The transport device 1 of the embodiment has an unmanned transport vehicle 2 and an adapter 3, which is connected to the unmanned transport vehicle 2. Figure 15 The marked parts correspond to the parts according to Figures 1 to 3 The implementation method is described above.

[0200] According to Figures 1 to 3 Compared to the implementation method, according to Figure 15 The difference in the implementation of the transport device 1 is that the adapter 3 has exactly one retaining spindle 6 and exactly one actuator 14, through which exactly one retaining spindle 6 can be pivoted together with the support arm 12, and the exactly one retaining spindle 6 is fixed at the support arm.

[0201] According to Figure 15 In one embodiment, the transport device 15 moves back and forth between the packaging device 20 and the handling device 80 several times to remove the hollow cylindrical core 9 from the packaging device 20 using the exact holding mandrel 6, and then places the reserve roll 8 into the packaging device 20 using the exact holding mandrel 6. (This is in accordance with...) Figures 1 to 3 Compared to the implementation method, according to Figure 15 The implementation method has a simple structure and is inexpensive to manufacture.

[0202] Figure 16A and Figure 16B The schematic diagram illustrates another embodiment of the transport device 1 according to the present invention. (Compared to...) Figures 1 to 3 Compared to the implementation shown, according to Figure 16A and Figure 16B The embodiments differ in the design structure of the adapter further shown in reference numeral 3.

[0203] According to Figures 1 to 3 In the embodiments, the support leg 11 exists according to Figure 16A and Figure 16B In the embodiment, this is not provided. To place the adapter 3 on the unmanned transport vehicle 2, a transport device may be provided where appropriate, which either places the adapter 3 onto the unmanned transport vehicle 2 from above or pushes the adapter onto the unmanned transport vehicle 2 from the front. If the adapter 3 is not needed, it can be placed on a bracket via the transport device where appropriate.

[0204] Figure 17A A schematic side view illustrates another embodiment of the transport device 1 according to the invention. Figure 17A In this embodiment, the adapter 3 also has a retaining spindle 6 on which a reserve roll 8 is arranged. The retaining spindle 6 is located at the support arm 12, which has several joints and thus allows the support arm to pivot. Reference numeral 90 denotes a linear drive.

[0205] like Figure 17AAs indicated by the arrow, the support arm 12, together with the retaining mandrel 6 and the reserve roll 8 held by the retaining mandrel 6 in a clamping manner, can move back and forth on the unmanned transport vehicle 2 to transfer the reserve roll 8 to the packaging device 20 when appropriate, and retreat behind the side of the unmanned transport vehicle 2 during the travel of the transport device 1.

[0206] according to Figure 17B The embodiment of the transport device 1 also has according to Figure 17A The corresponding linear drive device 90 of the embodiment. Additionally, a further linear drive device 91 is provided, which can vertically raise and lower the support arm 12, the retaining mandrel 6, and the reserve roll 8 received via the retaining mandrel 6.

[0207] Here, Figure 17B and Figure 17C The combined illustration shows the switching of the holding spindle 6 from the travel position FP to the working position AP, in which the holding spindle 6 is at the same height as the machine spindle 60 of the packaging device 20, and the reserve roll 8 can be passed to the machine spindle 60 of the packaging device 20. The movement from the travel position FP to the working position AP is carried out by means of linear drives 90 and 91.

[0208] In various embodiments, it is conceivable that only an additional linear drive 91 is provided, wherein the linear drive device 90 for realizing the horizontal movement of the receiving spindle 6 may be omitted. Here, the additional linear drive device 91 may be arranged in the area on the front side of the adapter 3 or according to... Figure 17C The location.

[0209] Figure 18A and Figure 18B A schematic side view illustrates another embodiment of the transport device 1 according to the invention. Figure 18A and Figure 18B The embodiment also includes an additional linear drive device 91, which can raise and lower the support arm 12 and the retaining spindle 6 in the vertical direction.

[0210] Figure 18A and Figure 18B The combined illustration also shows that the retaining mandrel 6 can be arranged such that it points downwards by means of the tilting movement of the support arm 12. This allows the reserve roll 8 to be received directly via the retaining mandrel 6 of the transport device 1. In such an embodiment, the [missing information - likely a component or element] can be omitted. Figure 9 A conveying device 80 is provided for transferring the reserve roll 8 to the holding mandrel 6.

[0211] Figure 19Another embodiment of the transport device 1 according to the invention is shown in a schematic side view. Figure 19 The difference between the transport device 1 and the previous embodiment is that the unmanned transport vehicle 2 is smaller in height or size and is designed as part of the transport device 1. Here, the holding spindle 6 of the packaging device 20 and the machine spindle indicated by reference numeral 60 are initially aligned with each other, and then slightly height-compensated as appropriate by means of the linear drive device 91. Therefore, the reserve roll 8 can be directly passed to the machine spindle 60 of the packaging device 20 without requiring a large displacement of the holding spindle 6.

[0212] Figure 20 Another embodiment of the transport device 1 according to the invention is shown. In order to transfer the reserve roll 8 to the machine spindle 60 of the packaging device 20 in the previously described embodiment, the holding spindle 6 having the reserve roll 8 is brought into the working position AP (see...). Figure 17C At the working position AP, the mandrel 6 and the reserve roll 8 are kept outside the side enclosure of the unmanned transport vehicle 2.

[0213] According to Figure 20 In this embodiment, the transport device 1 is designed such that it can partially travel under the packaging device 20. Therefore, the reserve roll 8 can be passed to the machine spindle 60 without the reserve roll 8 and the retaining spindle 6 needing to be moved beforehand out of the side of the driverless transport vehicle 2.

[0214] Figure 21 Further aspects are shown, which can be incorporated into various embodiments of the transport device 1 according to the invention. In particular, various components of one embodiment of the driverless transport vehicle 2 are shown again.

[0215] In another implementation, Figure 21 The components shown can also be designed as part of the adapter 3, or arranged at the adapter 3. For example, it is conceivable that these components are arranged at or within the area of ​​the retaining mandrel 6. The unmanned transport vehicle 2 has an adjustment mechanism 76 having two cylinders 72 and 74. A slider (not shown) of the adapter 3 connected to the unmanned transport vehicle 2 can move back and forth via cylinders 72 and 74. At least one retaining mandrel 6 is fixed at the slider, which can carry the reserve roll 8.

[0216] Here, the movement is carried out along a direction or axis that is parallel to the ground and perpendicular to the longitudinal axis of the storage roll 8. As long as the storage roll 8 does not precisely collide with the machine spindle 60 of the packaging device 20, the storage roll 8 can be displaced by such a transverse movement to the packaging device 20. Cylinders 72 and 74 are supplied with the pressure required to adjust the movement via pneumatic lines 78.

[0217] Alternatively, the reserve roll 8 may strike the retaining spindle 60 of the packaging machine, and only after this, or after the reserve roll 8 has contacted the retaining spindle 60, will it perform a transverse movement to the packaging device 20 as needed. Here, cylinders 72 and 74 may perform a return motion, or hold in the extended position when appropriate.

[0218] As described above, the transport device 1 may include a tilt sensor. Pressure application can be made taking into account the values ​​provided by the tilt sensor. Thus, even under sloping ground conditions, the corresponding reserve roll 8 can be accurately held in the corresponding position, because in such an embodiment, the pressure application can be adjusted to adapt to the ground conditions determined by the tilt sensor.

[0219] The alternative cylinders 72 and 74 may also be equipped with additional actuators that displace the slider in the described direction. Suitable examples include, for instance, electric cylinders capable of achieving the described displacement. Alternatively, the alternative cylinders may be equipped with a mechanical structure that displaces the slider in the described direction.

[0220] It should be clearly stated at this point that all aspects and embodiments explained in connection with the apparatus according to the invention also relate to or may be part of aspects of the method or system according to the invention. Therefore, if certain aspects and / or interrelationships and / or effects are mentioned in the description of the apparatus according to the invention or at any point in the claims defining the apparatus according to the invention, this also applies to the method and system according to the invention. The same principle applies in reverse, such that all aspects and embodiments explained in connection with the method according to the invention also relate to or may be part of aspects of the apparatus according to the invention. Therefore, if certain aspects and / or interrelationships and / or effects are mentioned in the description of the method according to the invention or at any point in the claims defining the method according to the invention, this also applies to the apparatus according to the invention.

[0221] List of icon numbers

[0222] 1. Transport device

[0223] 2 driverless transport vehicles

[0224] 3 adapters

[0225] 5. Frame Structure

[0226] 6. Maintain the axis

[0227] 7. Upper frame

[0228] 8 reserve volumes

[0229] 9 (Reserve Volume 8) Hollow cylindrical core

[0230] 11 legs

[0231] 12-arm support

[0232] 13 Covering parts

[0233] 14 actuators

[0234] 15 tunnels

[0235] 16 junction box

[0236] 19 Reference Articles

[0237] 20 Packaging Units

[0238] 22 pressure cylinder

[0239] 23 Pressure Plate

[0240] 32 Connecting Device

[0241] 34 tension bolts

[0242] 36 Heart Stabilizer

[0243] 38 Orientation Auxiliary Device

[0244] 44 plug

[0245] 46 Matching plug

[0246] 50 lifting units

[0247] 51 Upgrading Organization

[0248] 52 Acceptance Clause

[0249] 55 sensor system

[0250] 56-piece set

[0251] 58 tensioning mechanisms

[0252] 60 machine spindles

[0253] 61 (Machine spindle 60) Free end

[0254] 62 push plate

[0255] 64 welding rod

[0256] 67 Adsorption axis

[0257] 70 pallets

[0258] 72 cylinders

[0259] 74 cylinders

[0260] 76 regulating mechanisms

[0261] 78 Pneumatic piping

[0262] 80 conveying device

[0263] 82-Articulated Arm Robot

[0264] 84 tensioning mandrels

[0265] 86 camera system

[0266] 88 Turning Station

[0267] 90 linear drive unit

[0268] 91. Other linear drive devices

[0269] 100 Packaging Unit

[0270] AP working position

[0271] FP driving position

[0272] H1 horizontally oriented axis

[0273] H2's other horizontally oriented axis

[0274] S Open-loop and / or closed-loop control device

Claims

1. A transport device (1) for a stock roll (8) wound with packaging material, the transport device (1) comprising at least one driverless transport vehicle (2) and at least one adapter (3), characterized in that, The at least one adapter (3) is capable of connecting to the at least one unmanned transport vehicle (2) and is designed to hold at least one reserve roll (8), wherein - The at least one driverless transport vehicle (2) is capable of independently receiving the at least one adapter (3) and independently connecting to the at least one receiving adapter (3) in a disconnectable manner, and / or in the transport device - The at least one driverless transport vehicle (2) is capable of independently disconnecting from the existing connection with the at least one received adapter (3) and independently dropping off the at least one received adapter (3), and in the transport device, The at least one driverless transport vehicle (2) has a plug (44), and in the transport device, the at least one adapter (3) includes a mating plug (46) corresponding to the plug (44) of the at least one driverless transport vehicle (2), wherein the plug (44) of the at least one driverless transport vehicle (2) and the mating plug (46) of the at least one adapter (3) are capable of being inserted into each other via an actuator designed as part of the transport device (1), thereby enabling an electrical and / or fluid connection to be established between the at least one driverless transport vehicle (2) and the at least one adapter (3).

2. The transport device according to claim 1, wherein the at least one adapter (3) is capable of being disconnected from the at least one driverless transport vehicle (2) and is designed to hold at least one reserve roll (8).

3. The transport device according to claim 1, wherein the adapter (3) includes at least one retaining mandrel (6) on which a corresponding reserve roll (8) can be inserted.

4. The transport device according to claim 3, wherein the at least one retaining spindle (6) is designed to be able to move back and forth between at least one working position (AP) and at least one traveling position (FP), wherein -At least one retaining spindle (6) of at least one adapter (3) connected to the corresponding unmanned transport vehicle (2) extends out of the side wall of the corresponding at least one unmanned transport vehicle (2) in the at least one working position (AP), or is located outside the side wall of the corresponding unmanned transport vehicle (2), and wherein - The at least one retaining spindle (6) of the at least one adapter (3) connected to the corresponding driverless transport vehicle (2) is located at least partially or completely behind the side of the corresponding driverless transport vehicle (2) in the at least one driving position (FP).

5. The transport device according to claim 4, wherein in the transport device - The at least one adapter (3) has at least one support arm (12), the at least one retaining spindle (6) is arranged at the at least one support arm (12), and the at least one support arm (12) is each pivotable about a horizontally oriented axis for transferring the corresponding at least one retaining spindle (6) arranged at the at least one support arm from the at least one working position (AP) to the at least one traveling position (FP), and from the at least one traveling position (FP) to the at least one working position (AP), and / or in the transport device (1) - The at least one adapter (3) has at least one support arm (12), the at least one retaining spindle (6) is arranged at the at least one support arm (12), and the transport device (1) has at least one linear drive device (90), the at least one support arm (12) is connected to the linear drive device, wherein the at least one support arm (12) is configured to be displaced in a linear direction by the at least one linear drive device (90) for transferring the corresponding at least one retaining spindle (6) arranged at the at least one support arm from the at least one working position (AP) to the at least one traveling position (FP), and from the at least one traveling position (FP) to the at least one working position (AP).

6. The transport device according to claim 5, wherein the at least one adapter (3) has at least one tilting mechanism, via which the tilting displacement of the at least one retaining spindle (6) relative to the at least one bearing arm (12) about a horizontally oriented axis (H2) can be actuated.

7. The transport device according to claim 6, wherein the tilt displacement of the at least one retaining mandrel (6) relative to the at least one bearing arm (12) about a horizontally oriented axis (H2) can be achieved by actuation.

8. The transport device according to claim 6, wherein the transport device has - At least one tilt sensor, an actuator, and an open-loop and / or closed-loop control device (S) connected to the at least one tilt sensor and the actuator, wherein the open-loop and / or closed-loop control device (S) is designed to identify, by means of the at least one tilt sensor, the actual tilt of the corresponding at least one retaining mandrel (6) relative to the corresponding bearing arm (12), and wherein the open-loop and / or closed-loop control device (S) is able to automatically control the actuator to adjust the tilt position of the at least one retaining mandrel (6) as long as the actual tilt of the at least one retaining mandrel (6) relative to the corresponding bearing arm (12) identified by means of the at least one tilt sensor via the open-loop and / or closed-loop control device (S) deviates from a predetermined target tilt.

9. The transport device according to claim 1, wherein in the transport device - The at least one unmanned transport vehicle (2) and / or the at least one adapter (3) have a lifting mechanism (51) via which the at least one adapter (3) can be lifted relative to the at least one unmanned transport vehicle (2) for independent reception, thereby causing the at least one adapter (3) to lose contact with the previously existing surface of the ground, and / or in the transport device - The at least one driverless transport vehicle (2) and the at least one adapter (3) work together via a centering mechanism, which enables the at least one adapter (3) to be aligned relative to the at least one driverless transport vehicle (2) during independent reception via the at least one driverless transport vehicle (2), and / or in the transport device - The at least one driverless transport vehicle (2) and the at least one adapter (3) work together via a tension bolt (34) and a tensioning mechanism (58) to secure the at least one adapter (3) at least substantially immobile to the driverless transport vehicle (2).

10. The transport device according to claim 1, wherein the at least one driverless transport vehicle (2) is connected to at least one sensor system (55), via which the at least one driverless transport vehicle (2) is able to identify the actual location of the at least one adapter and move to a receiving location with regard to the identified actual location, the receiving location being suitable for independently receiving the at least one adapter (3).

11. The transport device according to claim 9, wherein the at least one driverless transport vehicle (2) is connected to at least one sensor system (55), via which the at least one driverless transport vehicle (2) is able to identify the actual location of the at least one adapter and move to a receiving location with regard to the identified actual location, the receiving location being suitable for independently receiving the at least one adapter (3).

12. The transport device according to any one of claims 1 to 8, the transport device comprising an adjustment mechanism (76) via which a corresponding reserve roll (8) is movable relative to the unmanned transport vehicle (2) along an axis, the reserve roll being held via the at least one adapter (3) connected to the unmanned transport vehicle, the axis being oriented parallel to or substantially parallel to the ground and perpendicular to the longitudinal axis of the corresponding reserve roll (8).

13. The transport device according to claim 6, wherein the tilt displacement of the at least one retaining mandrel (6) relative to the at least one bearing arm (12) about a horizontally oriented axis (H2) can be achieved electrically.

14. The transport device according to claim 6, wherein the tilt displacement of the at least one retaining mandrel (6) relative to the at least one bearing arm (12) about a horizontally oriented axis (H2) can be achieved via an electrically adjustable cylinder (17).

15. A packaging system (100) for packaging goods, characterized in that, The packaging system includes: - At least one packaging device (20) capable of unwinding packaging material from a stock roll (8) and designed to apply the packaging material unwound from the stock roll (8) to goods, and - At least one unmanned transport vehicle (2), which works in conjunction with the at least one packaging device (20) to supply reserve rolls (8) to the at least one packaging device, wherein the packaging system (100) includes at least one adapter (3) which is capable of being connected to the at least one unmanned transport vehicle (2) and is designed to hold at least one reserve roll (8), and the transport device (1) includes the at least one unmanned transport vehicle (2) and the at least one adapter (3), and wherein - The at least one driverless transport vehicle (2) is capable of independently receiving the at least one adapter (3) and independently connecting to the at least one receiving adapter (3) in a disconnectable manner, and / or in the transport device - The at least one driverless transport vehicle (2) is capable of independently disconnecting from the existing connection with the at least one received adapter (3) and independently dropping off the at least one received adapter (3), and in the transport device, The at least one driverless transport vehicle (2) has a plug (44), and in the transport device, the at least one adapter (3) includes a mating plug (46) corresponding to the plug (44) of the at least one driverless transport vehicle (2), wherein the plug (44) of the at least one driverless transport vehicle (2) and the mating plug (46) of the at least one adapter (3) are capable of being inserted into each other via an actuator designed as part of the transport device (1), thereby enabling an electrical and / or fluid connection to be established between the at least one driverless transport vehicle (2) and the at least one adapter (3).

16. The packaging system according to claim 15, wherein the at least one adapter (3) is capable of being disconnected from the at least one driverless transport vehicle (2) and is designed to hold at least one reserve roll (8).

17. The packaging system of claim 15, the packaging system comprising a handling device (80) designed to transfer a reserve roll (8) to the at least one adapter (3), the reserve roll being configured to supply the at least one packaging device (20), the at least one adapter being connected to the at least one unmanned transport vehicle (2).

18. The packaging system according to claim 17, wherein the handling device (80) is designed as an articulated arm robot (82).

19. The packaging system according to any one of claims 15 to 18, the packaging system having at least one orientation aid (38) having a triangular geometry, wherein the at least one unmanned transport vehicle (2) has a sensor system (55) by means of which the at least one unmanned transport vehicle (2) is able to identify the position of the at least one orientation aid (38), and wherein the unmanned transport vehicle (2) is designed to independently approach a transfer location taking into account the position of the at least one orientation aid (38) identified by means of the sensor system (55), the transfer location being configured to transfer the reserve roll (8) to the at least one packaging device (20).

20. The packaging system of claim 15, wherein the commodity is a beverage container.

21. A method for operating a packaging apparatus, the method comprising the following steps: - At least one reserve roll (8) is supplied to at least one packaging device (20) by means of at least one unmanned transport vehicle (2). - Packaging material is unloaded from the at least one reserve roll (8), which is supplied to the at least one packaging device (20) by means of the at least one unmanned transport vehicle (2); as well as - The packaging material unwound from the reserve roll (8) is applied to the goods. The method is characterized in that the transport device (1) includes the at least one unmanned transport vehicle (2) and at least one adapter (3), the at least one adapter (3) being connected to the unmanned transport vehicle (2) for supplying at least one reserve roll (8) to the at least one packaging device (20), thereafter the at least one unmanned transport vehicle (2) transports at least one reserve roll (8) to the at least one packaging device (20) along a defined transport path, the reserve roll being held via the at least one adapter (3), the at least one adapter being connected to the at least one unmanned transport vehicle (2), and then the at least one reserve roll (8) transported to the at least one packaging device (20) is placed into the at least one packaging device (20), and wherein the at least one unmanned transport vehicle (2) independently approaches the at least one adapter (3) and thereafter independently connects to the approaching at least one adapter (3), and in the method, The at least one driverless transport vehicle (2) has a plug (44), and in the transport device, the at least one adapter (3) includes a mating plug (46) corresponding to the plug (44) of the at least one driverless transport vehicle (2), wherein the plug (44) of the at least one driverless transport vehicle (2) and the mating plug (46) of the at least one adapter (3) are inserted into each other via an actuator designed as part of the transport device (1), thereby establishing an electrical and / or fluid connection between the at least one driverless transport vehicle (2) and the at least one adapter (3).

22. The method according to claim 21, wherein the at least one adapter (3) is capable of being disconnected from the driverless transport vehicle (2).

23. The method according to claim 21, wherein in the method - The at least one unmanned transport vehicle and / or the at least one adapter (3) has a lifting mechanism (51) via which, after the at least one unmanned transport vehicle (2) approaches the at least one adapter (3), the at least one adapter (3) is lifted relative to the at least one unmanned transport vehicle (2) to lose its contact with the ground surface, and / or in the method - The at least one unmanned transport vehicle (2) and the at least one adapter (3) together form a centering mechanism, which aligns the at least one adapter relative to the at least one unmanned transport vehicle (2) during independent reception via the at least one unmanned transport vehicle (2), and / or in the method - The at least one driverless transport vehicle (2) and the at least one adapter (3) are connected to the at least one driverless transport vehicle (2) via a tensioning bolt (34) and a tensioning mechanism (58).

24. The method according to claim 21, wherein in the method - The at least one unmanned transport vehicle and / or the at least one adapter (3) has a lifting mechanism (51) via which, after the at least one unmanned transport vehicle (2) approaches the at least one adapter (3), the at least one adapter (3) is lifted relative to the at least one unmanned transport vehicle (2) to lose its contact with the ground surface, and / or in the method - The at least one unmanned transport vehicle (2) and the at least one adapter (3) together form a centering mechanism, which aligns the at least one adapter relative to the at least one unmanned transport vehicle (2) during independent reception via the at least one unmanned transport vehicle (2), and / or in the method - The at least one driverless transport vehicle (2) and the at least one adapter (3) are connected to the at least one driverless transport vehicle (2) via a tensioning bolt (34) and a tensioning mechanism (58).

25. The method according to any one of claims 21 to 24, wherein the at least one unmanned transport vehicle (2) has at least one sensor system (55) via the at least one sensor system (55) the at least one unmanned transport vehicle (2) identifies the actual position of the at least one adapter and moves to a receiving position with regard to the identified actual position, the receiving position being suitable for independently receiving the at least one adapter (3).

26. The method according to any one of claims 21 to 24, wherein the at least one adapter (3) automatically places the at least one stock roll (8) held therein into the at least one packaging device (20) after being transported along the defined transport path, the at least one adapter being connected to the at least one unmanned transport vehicle (2).

27. The method according to any one of claims 21 to 24, wherein the at least one adapter (3) comprises at least one retaining mandrel (6), the at least one retaining mandrel (6) - At least one reserve roll (8) is received at at least one working position (AP), the at least one reserve roll being configured to be supplied to the at least one packaging device (20), and then transferred together with the at least one reserve roll (8) to at least one travel position (FP), thereby shifting the center of gravity of the transport device (1) and the at least one reserve roll (8) received by the transport device (1) toward the center of the transport device (1) by means of transferring the at least one retaining mandrel (6) from the at least one working position (AP) to the at least one travel position (FP), and wherein the at least one retaining mandrel (6) is located at the at least one travel position (FP) while the at least one reserve roll (8) is transported along the defined transport path.

28. The method according to claim 27, wherein the transfer of the at least one retaining spindle (6) from the at least one working position (AP) to the at least one traveling position (FP) is achieved by a pivoting motion of at least one support arm (12) of the at least one adapter (3) in an actuated manner, the at least one retaining spindle (6) being disposed at the at least one support arm (12), and / or wherein it is configured to The transfer of the at least one holding spindle (6) from the at least one working position (AP) to the at least one driving position (FP) is achieved by the movement of the at least one holding spindle (6) via at least one linear drive device (90).

29. The method according to any one of claims 21 to 24, wherein the at least one orientation aid (38) has a triangular geometry and is arranged at a defined location within the area of ​​the at least one packaging device (20), wherein the at least one unmanned transport vehicle (2) has a sensor system (55) by means of which the at least one unmanned transport vehicle (2) identifies the location of the at least one orientation aid (38), and wherein the unmanned transport vehicle (2) approaches a specific delivery location with regard to the identified location of the at least one orientation aid (38), and then transfers at least one reserve roll (8) to the at least one packaging device (20) at the delivery location.

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