Clamping head, lifting assembly and beverage filling and packaging equipment

Abstract

The utility model discloses a clamping head, a lifting assembly and beverage filling and packaging equipment. The gripping head has a plurality of suction grippers (28) which are arranged in a suction region (30) and can be subjected to vacuum. The gripping head (12) is used to apply a vacuum to the suction gripper (28) to grip the packaging unit (14) by cooperating with an upper side (16) of the packaging unit (14) at an upper side position on the packaging unit (14) and receiving the packaging unit (14). The clamping head (12) is equipped with at least two centering claws (20) which are arranged on two opposite sides of a suction region (30) having a suction gripper (28) located therein and which are movable relative to the suction region (30) in a direction parallel to a longitudinal central axis of the suction gripper (28).

Description

Technical Field

[0001] The utility model relates to a clamping head with a plurality of suction clamps for clamping a packaging unit. In addition, the utility model relates to a lifting assembly, comprising a clamping head and at least one packaging unit to be clamped by vacuum. Background Art

[0002] If the user wishes to group individual similar articles and combine them into packaging units, there are different possibilities available to him. For example, beverage containers are often combined and packaged into bundles of four, six or more beverage containers by means of shrink film. Another packaging variant consists in inserting a defined number of articles (which can be formed, for example, of beverage containers or bottles) into a cardboard outer packaging prepared for this purpose, so that the articles or containers are accommodated there side by side.

[0003] The production of such bundles or packaging units is unavoidable in many cases, since they represent the most common variant of sales units for beverage containers (e.g. PET plastic bottles). For transport, the bundles are sometimes combined again and / or layered and stacked on pallets. The above-mentioned cardboard outer packaging is particularly suitable for mineral glass beverage bottles, since the glass bottles are thus given additional mechanical protection.

[0004] In order to handle such cardboard outer packaging, which may also be designated as a secondary packaging for receiving beverage containers regarded as primary packaging, a correspondingly equipped handling device may be used. An example of such a handling device is a movably suspended gripping head having gripping jaws or gripping paddles movable relative to one another, between which individual outer packaging or secondary packaging may be gripped in order to be lifted, rotated and brought to the desired position and aligned. For example, such a handling operation may be used to insert an outer packaging or secondary packaging into a prepared tertiary packaging or to place it in a storage location that can be used for palletizing.

[0005] In addition to such gripping heads with gripping jaws or gripping paddles movable relative to one another, gripping heads operating under vacuum control can also be used in order to grip and lift the outer or secondary packages to be processed in this way by means of suction grippers. By switching off the vacuum at the suction grippers, the outer package previously gripped by the gripping head can be placed at the desired destination, optionally by means of a previous rotation, sliding or by means of a combined movement mode.

[0006] Since some outer packages equipped with primary or secondary packages such as beverage containers are not stable enough under all conditions that occur, for example, due to the use of flexible packaging materials made of relatively thin cardboard materials, it may be necessary to provide additional stabilizing devices on the gripper head, such as formed by a support holder or centering cage, which support and stabilize the vertical side walls when the gripper head is placed on a suitable flat upper side of the relevant outer package. Although such additional devices on the gripper head can compensate for the lack of dimensional stability of deformed outer packages or secondary packages, they do not allow handling of outer packages of different formats or sizes because the position of such a holding or centering cage must be matched to a specific packaging format. Summary of the Utility Model

[0007] The main object of the present utility model can be regarded as being able to improve the handling and gripping of packaging units, especially to safely handle outer packages or secondary packages by a suction gripper operated by vacuum, while mechanically stabilizing the outer packages to be gripped.

[0008] To achieve the above object, the present utility model proposes a gripper head having a plurality of suction grippers, which are particularly positioned in a suction area within the gripper head in a regular arrangement, such that an object located at the bottom of the suction gripper can be gripped and moved. The gripper head is used to grip a packaging unit by applying a vacuum to the suction grippers. The vacuum applied to the suction grippers must be at least strong enough so that the suction grippers together placed at a position on a corresponding packaging unit are able to receive the packaging unit and lift it from the base.

[0009] The gripper head itself can be arranged on a suitable suspension, which allows it to move in space according to the processing tasks to be completed. Thus, the gripper head can be fixed, for example, on a gantry suspension that can move along two or three axes. Alternatively, a parallel kinematics robot can also be suitable as a suspension for the gripper head, or optionally, can also be suitable as a suspension on a multi-axis robotic arm. All these suspensions can allow the desired mobility and positionability of the gripper head, so as to allow it to grip a packaging unit and reposition the packaging unit by activating the vacuum-controlled suction grippers.

[0010] In addition to this main function of the gripper head (which is intended to grip and receive objects, such as especially packaging units), the gripper head also has means for mechanical stabilization, especially for maintaining the dimensional stability of the packaging unit to be gripped. For this purpose, at least two movable centering claws are provided on two opposite sides of the gripper head, which can move relative to the suction area in a direction parallel to the longitudinal central axis of the suction gripper. This especially means the height adjustability and mobility of the centering claws in the vertical direction, because the suction grippers usually grip the packaging unit from above.

[0011] In each case, the object held by the suction gripper, in particular the packaging unit to be held, is located between these centering claws and is mechanically stable during processing because the gripping head abuts against the two lateral centering claws. On the one hand, the centering claws are intended to prevent the packaging unit from losing its dimensional stability due to being held and lifted by the suction gripper on the upper side. For example, because once the packaging unit is lifted, the articles located in the packaging unit will deform the thin-walled packaging material of the packaging unit. On the other hand, when the packaging unit is lifted and repositioned, the centering claws can stabilize and support the already slightly deformed packaging unit or, for example, the packaging cardboard that has not yet been fully formed. Such packaging cardboard can be, for example, a folding box that has not yet been fully closed.

[0012] Since a single suction gripper is usually not sufficient to lift a cardboard outer packaging containing multiple liquid containers, in terms of the suction force that can be achieved when applying a vacuum, the gripping head according to the present utility model has a suction area in which a plurality of suction grippers are installed, and each suction gripper is appropriately arranged at the same height so that the flat upper side of the packaging unit or the cardboard outer packaging can be held and lifted by the plurality of suction grippers arranged in the suction area.

[0013] If it is necessary to hold and lift an irregularly shaped packaging unit with a non-smooth or structured upper side, in some cases, it may also be advantageous to provide multiple groups of suction grippers in the suction area with lower suction bells having different positions, so that, for example, a single suction gripper can be placed at a lower level than adjacent suction grippers. In addition, in such a case, it may be useful to control different groups of suction grippers in different ways and, for example, apply a vacuum to them at different times.

[0014] In the case where the suction grippers in the suction area are all positioned at the same height and are constructed in the same way, they can be synchronously controlled and the required vacuum can be applied to each of them at the same time in order to establish contact with the upper side of the packaging unit to be held, and in order to firmly suck in the upper side and be able to lift the entire packaging unit with the gripping head and bring it to the desired destination.

[0015] When referring to a packaging unit in this context, this can in particular refer to a cardboard outer packaging or other secondary packaging made of flat packaging material, which can be used to accommodate grouped articles such as beverage containers, bottles, beverage cans, etc. Generally, these packaging units or cardboard outer packagings have a smooth surface and a flat upper side at least in those areas where the suction grippers are placed and then a vacuum is applied, because otherwise an airtight contact between the effective surface of the suction gripper and the upper side of the relevant packaging unit cannot be ensured.

[0016] In addition to this secondary packaging in the form of cardboard outer packaging, the term "packaging unit" used here should generally also include other bundling variants, such as adhesive bundling, in which several articles are connected to each other on their sheath sides by adhesive points. Inside such an adhesive bundling, beverage containers that are usually grouped and arranged in a rectangular pattern or packaged in a spherical shape are glued and connected to each other, which can be achieved by applying adhesive points or linear adhesives to the surface of the container sheath and then connecting the containers to each other in a desired arrangement. If the upper side of such an adhesive bundling can be clamped by a clamping head according to the present utility model, for example, by using a flat packaging blank made of cardboard or plastic material applied to the upper side of the adhesive bundling, then such an adhesive bundling also belongs to the term "packaging unit" that interacts with the clamping head used here.

[0017] The centering claws provided on the clamping head can have different designs and, for example, consist of flat portions that abut laterally against the vertical sides of the packaging unit or outer packaging to be clamped. The mobility of the centering claws avoids their contact or collision with the packaging unit to be clamped in an undesirable manner, as they are basically intended to support its shape and external contour and prevent the outer packaging from deforming due to lifting or during operation, as well as its external shape from changing beyond normal dimensions.

[0018] A variant of the clamping head according to the present utility model can be provided, in which the relatively arranged centering claws are angled in a direction away from the suction area and their respective suspensions on their lower sides facing away from the clamping head. This can particularly mean that the lower sides of the relatively arranged centering claws face away from each other, whereby the gap between the centering claws increases towards their lower sides.

[0019] Since such a packaging unit, especially one containing beverage containers or beverage bottles, can taper upwards, the proposed shape of the centering claws is particularly advantageous because this largely prevents collision with the upper tapered part of the packaging unit, while in the wider lower region, it is absolutely desirable for the centering claws to contact the flat surface on the side wall of the packaging unit in order to support and stabilize its external shape.

[0020] When the clamping head is placed on the packaging unit to be clamped from above, the above-described shape of the centering claws avoids collision with the upper side of the packaging unit at its lower side edge. Instead, the centering claws slide downwards without collision on the vertical sides of the packaging unit or outer packaging until the suction gripper in the suction area has reached the horizontal upper side of the packaging unit and can apply a vacuum.

[0021] Furthermore, according to the preferred embodiment variant, the surfaces of the centering claws are aligned parallel to each other in their upper regions and a constant distance is formed therebetween, so that they can contact the packaging unit on both sides and lie flat thereon, thereby supporting the external shape of the packaging unit when the packaging unit and its contents are lifted. Since a plurality of, for example, six or eight filled beverage bottles represent a considerable weight, which may cause deformation of the thin wallpaper board outer packaging, the centering claws help to avoid such undesirable deformation when the packaging unit is lifted.

[0022] Since in the clamping head according to the present invention, the centering claws are coupled to each other and are pair-wise height-adjustable within the clamping head, they can support the packaging unit on both sides and effectively prevent the cardboard material of the outer packaging from yielding.

[0023] As described above, the centering claws are not rigidly fixed to the clamping head, but are supported in the clamping head in a height-adjustable manner, wherein the height of the centering claws is adjustable relative to the suction area. Therefore, it is possible to ensure the adaptability of the packaging unit to be clamped in each case to different conditions, such as different shape deviations, etc. Therefore, it is not absolutely necessary for the centering claws to fully abut against the opposite sides of the packaging unit, but it is also sufficient if the angled lower parts of the centering claws support on the correspondingly inclined upper parts of the packaging unit, thereby stabilizing the entire packaging unit by stabilizing these areas.

[0024] Optionally, the centering claws can be assigned a motor drive for controlled height-adjustability. However, a variant of the clamping head may also be useful, in which the centering claws move to a lower position by their gravity and / or spring force and move upward against their gravity and / or the restoring force of at least one spring.

[0025] Furthermore, the centering claws can be formed by pair-wise mutually coupled height-adjustable centering plates, the flat sides of which are aligned parallel to each other.

[0026] To achieve the above object, the present invention also provides a lifting assembly, which is formed by a clamping head according to one of the foregoing embodiment variants and at least one packaging unit that can be clamped and / or lifted. In such a lifting assembly, the upper side of the packaging unit cooperates with the suction gripper of the clamping head placed there and to which a vacuum is applied during vacuum-induced clamping. As described above, the packaging unit can in particular be formed by a cardboard outer packaging or a secondary packaging made of cardboard for receiving a plurality of individual articles inserted therein, such as beverage containers, beverage bottles or beverage cans, etc.

[0027] In this case, the upper side of the packaging unit or cardboard outer packaging to be received and / or clamped by the clamping head usually has a smaller area than its lower side. In order to take into account this typical shape of the packaging unit or cardboard outer packaging to be clamped, in the lifting assembly according to the present utility model, at least two opposite sides of the packaging unit or cardboard outer packaging to be clamped by the clamping head are preferably at least partially inclined towards the upper side of the packaging unit or cardboard outer packaging and thus taper upwards, for example due to the typical contour of the bottles or containers located in the packaging unit or cardboard outer packaging.

[0028] In the lifting assembly according to the present utility model, when the clamping head is placed on the packaging unit or cardboard outer packaging to be clamped and / or received, the centering claws can slide along the side of the packaging unit or cardboard outer packaging, wherein the spacing of the centering claws approximately corresponds to the width of the packaging unit or cardboard outer packaging therebetween.

[0029] Furthermore, when the clamping head is placed on the packaging unit or cardboard outer packaging to be clamped and / or received, as long as the distance between the sides of the packaging unit or cardboard outer packaging to be clamped is greater than the distance between the centering claws at at least one position, the centering claws can deflect upwards.

[0030] In this way, it can be ensured that in the placed state of the clamping head, the centering claws contact and / or surround the clamped packaging unit or cardboard outer packaging on two opposite sides. Furthermore, in the placed state of the clamping head, the mutually facing lower sides of the centering claws are usually at least slightly spaced apart from the sides of the packaging unit or cardboard outer packaging.

[0031] Finally, the present utility model includes a beverage filling and packaging device, comprising a filling device for filling containers, a packaging module for packaging the containers into packaging units, and at least one clamping head according to one of the above-described implementation variants. This beverage filling and packaging device consists of a plurality of modules, which are connected to each other in terms of conveying technology. For example, among others, it includes a filling device for filling containers and a packaging module for packaging the containers into packaging units as described above. According to one of the above-described embodiments, the packaging module is equipped with at least one clamping head. The device can be used for the manufacture, filling, and further processing of beverage containers made of, for example, plastic, mineral glass, or organic cellulose materials.

[0032] The module sequence of the beverage filling and packaging device can start, for example, from the so-called wet part, where the beverage is filled into the containers prepared for this purpose. These containers can be formed by the above-described beverage containers or bottles and are conveyed from the wet part to other processing modules through a continuous conveying part, such as an optional labeling module or a direct printing module for directly printing ink onto the surface of the container sheath. It is also possible to omit such labeling or printing of the containers, which may be useful for colored or designed containers or containers otherwise packaged.

[0033] If the beverage containers are made of plastic or, for example, a suitable organic cellulose material, the container manufacturing module can be located at the beginning of the conveying path. However, if the beverage filling and packaging equipment only uses, processes, fills, and packages beverage containers made of mineral glass, such a container manufacturing module is not required because such containers require different manufacturing processes and are generally not suitable for being manufactured in the upstream production stages of such equipment. In this case, the initially arranged module can be configured as, for example, a conveying module for beverage bottles for washing, cleaning, and inspection.

[0034] Downstream is a filling machine through which pre-manufactured and optionally additionally dried and / or internally coated plastic or cellulose containers are filled with liquid, especially beverages. Downstream is a packaging and handling module for the now grouped containers. At this point, depending on the required packaging variant, for example, there can be an outer packaging module which can be used to equip the grouping of previously formed containers with a suitable secondary packaging. These secondary packagings can especially be formed by cardboard outer packagings with which a defined number of grouped containers can be wrapped. Optionally, the secondary packaging can also be formed by beverage cartons into which a defined number of grouped containers can be inserted.

[0035] The above-mentioned packaging unit is manufactured in the outer packaging module. Instead of the outer packaging module, a packaging module for wrapping the container grouping with a secondary packaging made of paper can also be optionally provided. Similarly, instead of the outer packaging module or another wrapping module, a strapping station can be provided for equipping the container grouping with prestressed strapping bands made of plastic or paper.

[0036] Furthermore, instead of the outer packaging module, another wrapping module, or the strapping station, an application station for equipping the container grouping with an adhesive connection can be provided, thereby forming an adhesive bundle of a plurality of containers adhesively connected to each other. In principle, such an adhesive connection can also be regarded as a variant of the secondary packaging.

[0037] Then, a further processing module, such as a layer forming station, can follow in the conveying direction. In this other processing module or layer forming station, the positioning, sliding, and / or rotation of the packaging unit or bundle conveyed for the purpose of layer formation can be achieved, especially by means of suitable manipulators or handling devices, that is, for example, by means of gripping robots. Each manipulator is equipped with a gripping head as described above.

[0038] For example, the gripping heads forming the manipulators, which are suspended on a gantry robot, a parallel kinematic robot, or a gripping arm robot that can also move on multiple axes, grip the packaging units individually, in pairs, or in larger groupings to form four or more packaging units pushed together in order to transfer them into a prepared tertiary packaging or to bring them to a layer arrangement for subsequent stacking and palletizing.

[0039] If another processing module is formed by a layer forming station, then after passing through the layer forming station and being processed there by a manipulator including a gripping head, the layers that are pushed together with the container grouping or packaging unit are subsequently transferred to a palletizing device or a palletizing station, where in each case, larger palletizing units or palletizing stacks can be formed by stacking from the previously formed layers. Description of the Drawings

[0040] Hereinafter, embodiments of the present utility model and their advantages will be explained in more detail with reference to the drawings. The dimensional ratios of individual elements to each other in the drawings do not always correspond to the actual dimensional ratios, because some shapes are represented in a simplified manner, and other shapes are represented enlarged compared to other elements for better illustration.

[0041] Figure 1A A schematic perspective view showing a first implementation variant of a gripping head for gripping a packaging unit is shown.

[0042] Figure 1B It shows according to Figure 1A A schematic side view of the gripping head placed on the packaging unit is shown.

[0043] Figure 1C It shows according to Figure 1A A schematic perspective view of the gripping head and the packaging unit held therein is shown.

[0044] Figure 1D It shows according to Figure 1C A schematic side view of the gripping head and the packaging unit held by it is shown.

[0045] Figure 2A A schematic perspective view showing a second implementation variant of a gripping head for gripping a packaging unit is shown.

[0046] Figure 2B It shows according to Figure 2A A schematic side view of the gripping head placed on the packaging unit is shown.

[0047] Figure 2C It shows according to Figure 2A A schematic perspective view of the gripping head and the packaging unit held therein is shown.

[0048] Figure 2D It shows according to Figure 2C A schematic side view of the gripping head and the packaging unit held by it is shown.

[0049] Figure 3 A schematic top view showing an implementation variant of a complete beverage filling and packaging device with its cooperating modules is shown, wherein the device is equipped with at least one gripping head according to Figures 1A to 2D is shown. DETAILED DESCRIPTION OF THE INVENTION

[0050] Identical or functionally equivalent elements of the present invention are designated by the same reference numerals. Additionally, for the sake of clarity, only those reference numerals that are necessary for the description of the respective figures are depicted in a single figure. The embodiments shown are merely examples of how the lifting assembly or the gripper head according to the present invention can be configured and do not represent an ultimate limitation.

[0051] Figures 1A to 1D A first embodiment variant of the gripper head 12 is shown, which together with two packaging units 14 held thereby forms the above-described lifting assembly 10. Figure 1A (Perspective view) and 1B (side view) show a first state of the gripper head 12, where the gripper head is placed on the upper side 16 of the cardboard outer packaging 18 of two adjacent packaging units 14. In this first state, the centering claws 20 hanging on the gripper head 12 are located above the packaging unit 14 and initially do not yet contact the packaging unit.

[0052] Furthermore, Figure 1C (Perspective view) and 1D (side view) show a second state of the gripper head 12, in which the centering claws 20 are lowered and contact the side 22 of the packaging unit 14.

[0053] The exact function and mode of operation of the gripper head 12 configured in this way and its interaction with at least one packaging unit 14, with two or more packaging units 14, in order to grip, lift, and transfer them, also referred to here as the lifting assembly 10, will be considered in more detail below.

[0054] As Figures 1A to 2D shown by two embodiments of the gripper head 12 and the lifting assembly 10 operating therewith, the gripper head 12 can be particularly used for handling packaging units 14 that do not have a cuboid shape but taper gradually in the direction towards the upper side 16 starting from the lower side 24, such that the upper side 16 has a smaller surface area than the lower side 24.

[0055] In Figures 1A to 1D a first embodiment shown in various views and the activated state of the gripper head 12, two packaging units 14 placed side by side and in contact with each other on their longitudinal sides 26 facing each other are lifted by the gripper head 12, which is equipped with a total of six suction grippers 28. These six suction grippers 28 in total are located on the same horizontal plane in the suction area 30 of the gripper head 12 and are preferably synchronously controlled, i.e., when placed on the flat upper side 16 of the packaging unit 14 to be gripped, a vacuum is applied to the suction bells 32 on their lower sides (see Figure 1A and 1B ).

[0056] In the illustrated embodiment, each of the two packaging units 14 to be gripped is formed by a cardboard outer packaging 18 or a secondary packaging 34 consisting of cardboard, the cardboard outer packaging enclosing a total of six beverage containers 36 inserted therein, thereby forming a so-called six-pack. The beverage containers 36 have a typical bottle shape, with a cylindrical sheath region 38, a tapering neck 40 adjoining upwards, and an upper opening 42 closed by a container lid 44.

[0057] The cardboard outer packaging 18 or the secondary packaging 34 extends from the lower side 24 onto the two longitudinal sides 26 of the beverage containers 36, the beverage containers being connected and grouped with each other in a 2×3 rectangular arrangement and covering the container lids 44 with their upper sides 16, while the narrow sides 27 of the arrangement of the six beverage containers 36 remain free and open (see Figure 1A and 1C ). Above the cylindrical sheath region 38, the cardboard outer packaging 18 follows the contour of the beverage containers 36, the beverage containers tapering in the neck 40, thereby producing Figures 1A to 1D the typical shape of such a packaging unit 14 shown.

[0058] In this packaging unit 14, the cardboard outer packaging 18 or the secondary packaging 34 slopes towards the upper side 16 of the packaging unit 14 at the upper parts of its opposite longitudinal sides 26; thus, due to the typical contour of the bottles or beverage containers 36 located in the packaging unit 14 or the cardboard outer packaging 18, these longitudinal sides 26 taper upwards.

[0059] Since it is difficult to ensure that the packaging unit 14 maintains its exact dimensional stability during gripping and / or lifting by means of a suction gripper 28, especially when a thin cardboard material is used for this type of cardboard outer packaging 18, centering claws 20 which are movably suspended on the gripping head 12 can ensure that such a packaging unit 14 deformed due to lifting is stably and laterally supported.

[0060] As Figures 1A to 1D shown in the combined view of Figure 1B and 1D , when the gripping head 12 is placed on the two packaging units 14, the centering claws 20 can slide along the inclined sides 22 of the respective cardboard outer packaging 18 or secondary packaging 34, and these two packaging units 14 are generally subsequently gripped and lifted by means of a suction gripper 28, whereby

[0061] When the suction gripper 28 is activated, the centering claws 20 can be pressed downward by an elastic actuating force such that, after the gripping head 12 has been placed on the packaging unit 14 to be gripped and / or received, it can move upward against these actuating forces as soon as the distance between the opposite sides 22 of the packaging unit 14 to be gripped is greater than the distance between the two centering claws 20.

[0062] In the illustrated embodiment, the centering claws 20, which are movably arranged on the gripping head 12 in the vertical direction, are formed by flat metal plate parts 46 that laterally adjoin the vertical or inclined sides 20 of the packaging unit 14 to be gripped and can slide therealong. The relatively arranged metal plate parts 46 forming the centering claws 20 are angled at their lower edges 48, with the result that they can rest flat against the inclined sides 20 of the respectively contacted packaging unit 14.

[0063] Before the metal plate part 48 with the curved edge 52 transitions to the higher vertical region 54 of the respective centering claw 20, the angled lower region 50 of the respective metal plate part 48 located directly above the lower edge 48 can advantageously have a width of several centimeters. The width of the angled lower region 50 of the metal plate part 48 can be, for example, between two and five centimeters or slightly larger.

[0064] Furthermore, a reasonable angle between the angled lower region 50 and the vertical region 54 separated therefrom by the curved edge 52 can be a value between approximately 10° and 25° above the lower region 50, which value can preferably roughly correspond to the helix angle of the respective packaging unit 14 to be gripped by the gripping head 12.

[0065] To achieve its purpose, the two lower regions 50 of the centering claws 20 are angled in such a way that the lower edges 48 of the two flat metal plate parts 46 are further apart from each other than the upper vertical regions 54, thereby defining the centering claws 20 as being open downward so as to be able to reliably grip and surround the sides 22 thereof when placed on the packaging unit 14.

[0066] The two relatively arranged centering claws 20 can optionally extend over the entire longitudinal side of the packaging unit 14 to be gripped and can be dimensioned accordingly. However, as Figure 1A and 1C shown, centering claws 20 of shorter dimensions also achieve their purpose and do not have to extend over the entire longitudinal side but can, for example, only cover 50 to 80% of its length.

[0067] As described above, the flat metal plate portion 46 serving as the centering jaw 20 is not rigidly fixed to the gripping head 12 by its angled lower edge 48, but is supported on the gripping head 12 in a height - adjustable manner. Thus, its height can be adjusted relative to the suction area 30, thereby ensuring its adaptability to different conditions, such as different shape deviations of the packaging unit 14 to be gripped in each case, etc.

[0068] Thus, Figure 1A and 1B shows the centering jaws 20 located above two adjacent packaging units 14, which are pulled upward in the direction towards the suction area 30 against the elastic restoring force of the spring - supported linear guide 56. The linear guide 56 allows a vertical relative movement of the centering jaws 20 relative to the suction area 30 in the gripping head 12. Conversely, Figure 1C and 1D shows the angled lower region 50 of the centering jaws 20 located on the inclined side 22 of the packaging unit 14, which is illustrated by the expansion coil springs 58 on the linear guide 56. In addition, these coil springs 58 located outside the linear guide 56 allow the centering jaws 20 to move upward when encountering an obstacle or when the lower edge 48 of the flat metal plate portion 46 has reached the side 20 of the packaging unit 14 and stays there.

[0069] Finally, the centering jaws 20 can be assigned a motor drive (not shown in detail here) for controlled height - adjustability. Thus, the centering jaws 20 can be pulled upward along the linear guide 56 in the direction of the suction area 30 against the restoring force of the coil spring 58 in order to bring it to Figure 1A and 1B the upper position shown.

[0070] In addition, schematically Figures 2A to 2D shows a second implementation variant of the gripping head 12, which together with a total of four packaging units 14 held by it forms the above - mentioned lifting assembly 10. Figure 2A (Perspective view) and 2B (side view) show the first state of the gripping head 12, where the gripping head 12 is placed on the upper side 16 of the cardboard outer packaging 18 of the packaging units 14 arranged in pairs side by side. In this first state, the centering jaws 20 hanging on the gripping head 12 are located above the packaging units 14 and initially do not yet contact the packaging units.

[0071] In addition, Figure 2C (Perspective view) and 2D (side view) show the second state of the gripping head 12, in which the centering jaws 20 are lowered and contact the outer side 22 of the packaging units 14 connected together in a 2×2 rectangular arrangement.

[0072] Even in Figures 2A to 2DThe container shape of the beverage container 36 in the second implementation variant of the lifting component 10 and the gripper head 12 shown is slightly different from that of the first implementation variant ( Figures 1A to 1D ). In the second implementation variant, the packaging unit 14 is also formed by a so-called six-pack, that is, it consists of a total of six beverage containers 36 combined in a rectangular arrangement. These beverage containers 36 are held together by a cardboard outer packaging 18 or a secondary packaging 34 made of cardboard material. Similarly, the packaging unit 14 does not have a cuboid shape, but tapers gradually from its lower side 24 towards the upper side 16, so that the upper side 16 has a smaller surface area than the lower side 24.

[0073] In Figures 2A to 2D a second embodiment showing different views and activation states of the gripper head 12, a total of four pairs of packaging units 14 arranged side by side are lifted by the gripper head 12, and thus arranged in a 2×2 manner and in planar contact on their longitudinal sides 26 facing each other. The gripper head 12 is equipped with a total of twelve suction grippers 28. Therefore, in each case, the arrangement of three aligned suction grippers 28 can be used to grip one packaging unit. The gripper head includes a total of four such groups of three suction grippers 28.

[0074] These twelve suction grippers 28 in total are located at the same height in the corresponding larger-sized suction areas 30 of the gripper head 12 and are synchronously controlled, that is, if necessary, when placed on the flat upper side 16 of the packaging unit 14 to be gripped, a vacuum is applied to the suction bells 32 on their lower sides (see Figure 2A and 2B ).

[0075] As in the first embodiment, in the second embodiment, a total of four packaging units 14 to be gripped are each formed by a cardboard outer packaging 18 or a secondary packaging 34 made of cardboard, which wraps a total of six beverage containers 36 inserted therein, resulting in the formation of a so-called six-pack in each case. The beverage containers 36 have a typical bottle shape, with a cylindrical sheath region 38, a tapered neck 40 adjacent upwards, and an upper opening 42 closed by a container cap 44. The cardboard outer packaging 18 of the second embodiment has no substantial difference from the cardboard outer packaging 18 of the first embodiment, so reference should be made to the above statements in this regard.

[0076] As Figures 2A to 2D shown in the combined view of, when the gripper head 12 is placed on a total of four packaging units 14, the centering claws 20 can slide along the inclined sides 22 of the corresponding cardboard outer packaging 18 or secondary packaging 34, and these packaging units 14 will be simultaneously gripped and then lifted by the suction grippers 28, where Figure 2B and 2DThe side views each show that the centering claws 20 are slightly closer to each other than the total width of the two packaging units 14 located therebetween at their narrow sides 27.

[0077] When the suction gripper 28 is activated, the centering claws 20 can be elastically pressed downward by the actuating force, such that after the gripping head 12 is placed on the packaging unit 14 to be gripped and / or received, once the distance between the opposite sides 22 of the packaging unit 14 to be gripped is greater than the distance between the two centering claws 20, it can move upward against these actuating forces.

[0078] The centering claws 20, which are movably arranged in the vertical direction on the gripping head 12, have substantially the same profile as previously explained with reference to the first embodiment, and thus a repeated description can be omitted at this point. However, Figure 2A and 2C shows that there are a total of four metal plate portions 48 on the gripping head 12, because for each pair of packaging units 14, there is a pair of separate centering claws 20, which are formed by the metal plate portions 48, and each metal plate portion 48 is angled outward in its lower region 50.

[0079] Similarly, the flat metal plate portion 46 serving as the centering claw 20 is not rigidly fixed to the gripping head 12 by its angled lower side edge 48 or lower region 50, but is supported on the gripping head 12 in a height-adjustable manner. Therefore, its height can be adjusted relative to the suction area 30, thereby ensuring its adaptability to different conditions, such as different shape deviations of the packaging unit 14 to be gripped in each case, etc.

[0080] Therefore, Figure 2A and 2B shows the centering claws 20 slightly resting on the respective sides 22 of two adjacent pairs of packaging units 14. In this case, the centering claws 20 are pulled downward by gravity. In the second embodiment, instead of a linear guide, a shear mechanism 60 is provided, by means of which the centering claws 20 are suspended on the gripping head 12, and the shear mechanism 60 allows a vertical lifting movement of the centering claws 20 relative to the suction area 30. Although the centering claws 20 initially only slightly rest on the side 22 of the packaging unit 14 ( Figure 2A and 2B ), but Figure 2C and 2D shows the upper horizontal portion of the centering claws 20 resting on the upper side 16 of the packaging unit 14 and the angled lower region 50 of the centering claws 20 resting on the inclined side 22 of the packaging unit 14, which is shown by the separately movable shear mechanism 60 according to Figure 2D .

[0081] Since no further spring support is required or present other than the shearing mechanism 60 that operates under gravity, the centering jaws 20 can move upward once they encounter an obstacle or when the lower edge 48 of the flat metal sheet portion 46 has reached the side 20 of the packaging unit 14 and stays there.

[0082] Finally, a motor drive, not shown in detail here, can be assigned to the centering jaws 20 and their shearing mechanism 60 for controlled height adjustability. In this way, the centering jaws 20 can be vertically pulled upward in the direction of the suction area 30 against the downward-acting gravity, or optionally pushed vertically downward in the direction of the packaging unit 14.

[0083] As explained below Figure 3 The schematic top view shown below shows a possible implementation variant of the beverage filling and packaging device 70, which includes a plurality of modules connected to each other in terms of conveying technology, such as a filler 86 for filling containers and a packaging module 90 for packaging the containers into packaging units 14, as described above. According to one of the above embodiments, the packaging module 90 is equipped with at least one gripping head 12.

[0084] Figure 3 A useful module sequence for manufacturing, filling, and further processing beverage containers 36 made of plastic, mineral glass, or organic cellulose materials is shown. Thus, a practically relevant implementation variant of the complete beverage filling and packaging device 70 and its cooperating modules is shown, where the lower part of the entire device 70 is formed by a packaging machine 72, and further processing elements for palletizing the packaged or otherwise completed packaging units 14 are arranged behind the packaging machine 72. The packaging machine 72 shown in the lower right part of the beverage filling and packaging device 70 can be, for example, a so-called wraparound packaging machine, a pallet packaging machine, etc.

[0085] The module sequence of the beverage filling and packaging device 70 shown schematically starts from the so-called wet part 74 (upper left), where beverages are filled into containers prepared for this purpose. These containers formed by the above beverage containers 36 or bottles are conveyed from the wet part 74 via successive conveying parts 76 ( Figure 3 upper right middle) and 78 ( Figure 3 middle left middle) to an optional labeling module 80 located in the center of the lower third of the figure. In the optionally considered labeling module 80, the liquid containers 36 or bottles usually conveyed in rows (see Figures 1A to 2D ) can be respectively equipped with labels.

[0086] Instead of this label module 80, it is also optionally possible to provide a direct printing module in the conveying path of the beverage filling and packaging device 70 for directly printing ink onto the surface of the container sheath. It is also possible to omit such labeling or printing of the container, which may be useful for containers that are colored or designed or otherwise packaged.

[0087] If the beverage container 36 is a container manufacturing module 82 made of plastic or, for example, a suitable organic cellulose material, the container manufacturing module 82 can be located at the beginning of the illustrated conveying path. If the beverage container 36 manufactured in the container manufacturing module 82, for example, by blow molding or by other suitable methods, requires further processing steps because it must, for example, be coated on the inside, this can be carried out in a coating module 84 arranged downstream of the container manufacturing module 82. However, such a coating module 84 should be understood as optional, as well as an optional drying module for drying the container 36.

[0088] However, if the beverage container 36 made of mineral glass is only used, processed, filled, and packaged together with the beverage filling and packaging device 70, the container manufacturing module 82 is not required because such a container 36 requires a different manufacturing process and is generally not suitable for being manufactured in the upstream production stage of such a device 70. In this case, the module 82 can be configured as a conveying module for beverage bottles, for example, for washing, cleaning, and inspection.

[0089] Downstream of the coating and / or drying module 84, there is usually a filler 86 through which pre-manufactured and optionally additionally dried and / or internally coated plastic or cellulose containers are filled with liquid, in particular beverages.

[0090] In the immediate vicinity of this filler 86, the illustrated beverage filling and packaging device 70 can optionally be equipped with another module 88 for manufacturing suitable closures. These closures, further referred to above as container lids 44, can optionally be made of metal, plastic, or a suitable cellulose material, for example, of the same material as that also used for the container 36 or the bottle, as long as it is not a glass bottle. Thus, the module 88 can be a closure manufacturing module 88, which can be connected to a suitable processing module that ensures the closure of the container 36 by using the container lid 44 manufactured in the module 88.

[0091] The packaging and handling module for the current grouped containers 36 is located downstream behind the second conveying section 78 and (optionally) behind the labeling module 80. Depending on the desired packaging variant, a primary packaging module 90 can be located at this position, which can be used to equip the previously formed grouped containers with a suitable secondary packaging (not shown here). These secondary packagings can in particular be formed by cardboard outer packagings, with which a defined number of grouped containers 36 can be wrapped. Optionally, the secondary packaging can also be formed by beverage cartons, into which a defined number of grouped containers 36 can be inserted.

[0092] The above-mentioned packaging unit 14 is manufactured in the primary packaging module 90.

[0093] Instead of the primary packaging module 90 mentioned here only as an example, a packaging module for wrapping the grouped containers with a secondary packaging made of paper can also be provided optionally. Similarly, a strapping station can be provided instead of the primary packaging module 90 or another wrapping module, for equipping the grouped containers with pre-tensioned strapping made of plastic or paper.

[0094] Optionally, instead of the primary packaging module 90, another wrapping module or the strapping station, an application station for equipping the grouped containers with a packaging blank can be provided, where such a packaging blank can be considered as a secondary packaging.

[0095] Furthermore, instead of the primary packaging module 90, another wrapping module or the strapping station, an application station for equipping the grouped containers with an adhesive connection can be provided, thereby forming an adhesive bundle of a plurality of containers adhesively connected to each other. In principle, such an adhesive connection can also be regarded as a variant of the secondary packaging.

[0096] For example, downstream of the primary packaging module 90 or an alternative provided packaging or handling module, there can be another processing module 92, which can be used for the post-processing of the previously manufactured packaging unit 14, for example for installing additional equipment. Such equipment can be printing or additional labeling, etc. After passing through this optional processing module 92, the packaging unit 14 is further conveyed by a conveying device 94 adjacent to the module 92.

[0097] In the illustrated embodiment, the conveying device 94 configured as a horizontal conveying device can also be considered as the third conveying section here, which is described as being deflected by 180° and continuing in a straight conveying section 96.

[0098] After the conveying device 94 is deflected by 180° and the straight conveying section 96, another processing module 98 can be formed, for example, by a layer forming station 100. In this another processing module 98 or layer forming station 100, the positioning, sliding and / or rotation of the packaging unit 14 or bundle conveyed for the purpose of layer formation can be achieved, in particular by means of a suitable manipulator 102 or processing device, that is, for example, by means of a gripping robot.Figure 3 In the schematic diagrams shown, only the manipulator 102 is equipped with a gripper head 12 in each case, as previously referenced Figures 1A to 2B as described by way of example.

[0099] For example, the gripper head 12 that is suspended on a gantry robot, a parallel kinematic robot, or a gripper arm robot that can also move on multiple axes and forms the manipulator 102 grips the packaging units 14 individually, in pairs (reference Figures 1A to 1D ) or in larger groups to form four (reference Figures 2A to 2D ) or more pushed-together packaging units 14 in order to transfer them to the prepared tertiary packaging or to bring them to a layer arrangement for subsequent stacking and palletizing.

[0100] If another processing module 98 is formed by the layer forming station 100, then after passing through the layer forming station 100 and being processed there by the manipulator 102 including the gripper head 12, the layers that are pushed together with the container groups or packaging units 14 are subsequently transferred to a palletizing device or palletizing station 104, where in each case, larger palletizing units or palletizing stacks can be formed by stacking from the previously formed layers, however, this is not shown in more detail here.

[0101] Contrary to the illustration in Figure 3 , the palletizing device or palletizing station 104 can optionally be considered as part of the packaging equipment or packaging machine 72, but can also optionally be considered as an independent module connected to the packaging equipment or packaging machine 72. Depending on the selected system, the layer forming station 100 together with its assigned manipulator 102 or processing device can be considered as part of the palletizing device or palletizing station 104 because assembling the container groups or packaging units 14 into stackable bale layers is directly related to stacking, i.e., directly related to the palletizing of these bale layers.

[0102] In addition, the palletizing device 104 can be assigned a palletizing transport module 106 through which the palletizing is conveyed in order to be able to place the palletizing layers for forming the palletizing stack thereon. Another optional module that can be connected to the palletizing device or palletizing station 104 is an interlayer inserter 108 for processing and positioning the interlayers between the continuously stacked palletizing layers, which is shown as a schematic element in Figure 3 .

[0103] The cooperating modules of the beverage filling and packaging equipment 70 are generally each equipped with their own control module, however, these are not shown in the drawings here. In addition, a central control unit can be provided, but is also not shown. These control modules as well as the central control unit can each process different sensor signals as input variables in order to generate control signals for the different equipment modules therefrom.

[0104] List of Reference Numerals

[0105] 10 Lifting component

[0106] 12 Gripping head

[0107] 14 Packaging unit, bale

[0108] 16 Upper side

[0109] 18 Cardboard outer packaging

[0110] 20 Centering jaw

[0111] 22 Side

[0112] 24 Lower side

[0113] 26 Long side

[0114] 27 Narrow side

[0115] 28 Suction gripper

[0116] 30 Suction area

[0117] 32 Suction bell

[0118] 34 Secondary packaging

[0119] 36 Beverage container

[0120] 38 Sheath area

[0121] 40 Neck

[0122] 42 Opening

[0123] 44 Container lid

[0124] 46 Flat metal plate part

[0125] 48 Lower side edge

[0126] 50 Lower region, lower angled region

[0127] 52 Curved edge

[0128] 54 Upper region, upper vertical region

[0129] 56 Linear guide

[0130] 58 Helical spring

[0131] 60 Shearing mechanism

[0132] 70 Beverage filling equipment, beverage packaging equipment, beverage filling and packaging equipment

[0133] 72 Packaging machine

[0134] 74 Wet part

[0135] 76 Conveyor part, first conveyor part

[0136] 78 Conveyor part, second conveyor part

[0137] 80 Label module

[0138] 82 Container manufacturing module

[0139] 84 Coating module, drying module, coating and / or drying module

[0140] 86 Filler

[0141] 88 Another module, closure manufacturing module

[0142] 90 Outer packaging module

[0143] 92 Another processing module

[0144] 94 Conveyor part, third conveyor part

[0145] 96 Conveyor part, linear conveyor part, fourth conveyor part

[0146] 98 Another processing module

[0147] 100 Layer forming station

[0148] 102 Manipulator, handling device

[0149] 104 Palletizing station

[0150] 106 Palletizing transport module

[0151] 108 Intermediate layer inserter.

Claims

1. A gripping head (12), having a plurality of suction grippers (28) arranged within a suction area (30) and to which a vacuum can be applied, the gripping head (12) being adapted to apply a vacuum to the suction grippers (28) to grip a packaging unit (14) by engaging an upper side position on the packaging unit (14) with the upper side (16) of the packaging unit (14) and receiving the packaging unit (14). It is characterized in that The gripping head (12) is equipped with at least two centering claws (20), the two centering claws being arranged on two opposite sides of the suction area (30) having the suction grippers (28) located therein and being movable relative to the suction area (30) in a direction parallel to the longitudinal central axis of the suction grippers (28).

2. The gripping head (12) according to claim 1, wherein the oppositely arranged centering claws (20) are angled in a direction away from the gripping head (12) on their lower sides (50) remote from the suction area (30) and their respective suspensions.

3. The gripping head (12) according to claim 1, wherein the lower sides (50) of the oppositely arranged centering claws (20) face away from each other, whereby the gap between the centering claws (20) increases towards their lower sides (50).

4. The gripping head (12) according to claim 1, wherein the surfaces of the centering claws (20) are aligned parallel to each other in their upper regions (54) and form a constant distance therebetween.

5. The gripping head (12) according to any one of claims 1 to 4, wherein the centering claws (20) are coupled to each other and are height-adjustable in pairs within the gripping head (12).

6. The clamping head (12) according to claim 5, wherein the centering jaws (20) are supported in the clamping head (12) in a height-adjustable manner, wherein, The height of the centering claws is adjustable relative to the suction area (30).

7. The gripping head (12) according to any one of claims 1 to 4, wherein the centering claws (20) are assigned a motor drive for controlled height-adjustability.

8. The gripping head (12) according to any one of claims 1 to 4, wherein the centering claws (20) move to a lower position by their gravity and / or spring force and can be moved upwards against their gravity and / or the restoring force of at least one spring (58).

9. The gripping head (12) according to any one of claims 1 to 4, wherein the centering claws (20) are formed by centering plates that are height-adjustable and coupled to each other in pairs, the flat sides (46, 54) of which are aligned parallel to each other.

10. A lifting assembly (10), comprising a gripping head (12) according to any one of claims 1 to 9 and at least one packaging unit (14), in each case the packaging unit being grippable by a vacuum and the upper side (16) of the packaging unit (14) cooperating with the suction grippers (28) of the gripping head (12) placed there and to which a vacuum is applied during gripping caused by the vacuum.

11. The lifting assembly (10) according to claim 10, wherein the upper side (16) of the packaging unit (14) to be gripped by the gripping head (12) has a smaller area than its lower side (24).

12. The lifting assembly (10) according to claim 10, wherein at least two opposite sides (22) of the packaging unit (14) to be gripped by the gripping head (12) are at least partially inclined towards the upper side (16) of the packaging unit (14) and taper upwards.

13. The lifting assembly (10) according to any one of claims 10 to 12, wherein, When the gripping head (12) is placed on the packaging unit (14) to be gripped, the centering claws (20) slide along the opposite sides (22) of the packaging unit (14), wherein the spacing of the centering claws (20) approximately corresponds to the width of the packaging unit (14) therebetween.

14. The lifting assembly (10) according to claim 13, wherein, When the gripping head (12) is placed on the packaging unit (14) to be gripped, the centering claws (20) can be deflected upwards as long as the distance between the opposite sides (22) of the packaging unit (14) to be gripped is greater than the distance between the centering claws (20) at at least one position.

15. The lifting assembly (10) according to any one of claims 10 to 12, wherein, In the placed state of the gripping head (12), the centering claws (20) contact and / or surround the gripped packaging unit (14) on two opposite sides (22).

16. The lifting assembly (10) according to claim 15, wherein in the placed state of the gripping head (12), the downward sides (50) of the centering claws (20) facing away from each other are at least slightly spaced apart from the opposite sides (22) of the packaging unit (14).

17. A beverage filling and packaging device (70), the beverage filling and packaging device comprising a filling machine for filling containers (36), a packaging module (90) for packaging the containers (36) into packaging units (14), and at least one gripping head (12) according to any one of claims 1 to 9.

Images