Packaging machine

Abstract

A packaging machine (10) having a programmed manipulator (14) or a plurality of programmed manipulators is disclosed. The robot (14) is associated with a sensor system for detecting external influences acting on the robot (14). The signal data detected by the sensor system is provided as input variables to the manipulator controller (32) for adapting the manipulating movements performed by the manipulator (14) in each case to the external influences detected by the sensor system. At least a defined portion of the manual impact preset by the user (42) and detected by the sensor system is recorded and processed for creating a new movement routine of the programmed manipulator (14) or for modifying an existing movement routine of the programmed manipulator (14).

Description

Technical Field

[0001] The utility model relates to a packaging machine with at least one program-controlled manipulator.

[0002] The invention is particularly suitable for use in the field of packaging machines, which for example form part of an integrated beverage filling and packaging device or can be arranged downstream of a beverage filling and handling device. Background Art

[0003] In the processing, assembly, grouping and packaging of articles such as beverage containers, cans and the like, several different types of packaging are available, i.e., combining articles or containers into portable, relatively convenient packaging units, which are often also referred to as containers or container units. For example, shrink-wrap containers, strapping containers or cardboard containers are known, wherein these container variants can also be combined with one another.

[0004] Shrink film packaging, paper packaging, or cardboard packaging, often also called secondary packaging, is used for multiple items or primary packaging that are combined with it. It is usually supplied to the packaging machine as a continuous material, usually provided as a roll. The paper, cardboard, or film material can be continuously unwound from this magazine roll, divided into sections of suitable lengths, and placed around the groupings of items or containers, for example, using a folding module. In the case of paper or cardboard materials, gluing the overlapping sections is useful, while the packaging film around the respective groupings of items or containers can be subjected to a heat treatment. This, in the case of shrinkable film, results in the desired length reduction, resulting in a shrink film package that is securely stretched around the groupings of items or containers.

[0005] The unwinding of the packaging material or shrink film from a roll serving as a magazine is typically done mechanically in a continuous process. If this roll is unwound and the supply of packaging material is depleted, the used roll must be replaced to maintain the continued supply of packaging material. While the automated replacement of a used roll with a new roll, on which the packaging material is wound, within the packaging machine generally presents no difficulty and can be performed very quickly due to the known position of the rolls in the respective magazines, the automated replacement of the roll with a new roll generally involves considerable effort to avoid undesirable delays or interruptions in the process sequence.

[0006] DE 10 2021 100 035 A1 discloses a packaging system for packaging articles, such as beverage containers, in which packaging material is supplied to a packaging machine from at least one supply roller. The packaging material is used to group the articles within the packaging machine. In the packaging system disclosed therein, an unmanned transport vehicle is used to supply the supply rollers to the packaging machine and / or to transport used supply rollers away. Furthermore, a handling device configured as an articulated-arm robot may be provided, with which the supply rollers can be removed from the packaging machine and / or the unmanned transport vehicle, inserted into the packaging machine, or placed on a transport vehicle.

[0007] Other handling systems are also known, for example handling systems with stationary or mobile handling robots.

[0008] Automated procedures are ideal for all of the aforementioned exchange processes, particularly due to the high personnel costs associated with manual handling of rolls. Furthermore, manual intervention carries not only the risk of incorrect handling but also a substantial risk of injury, as rolls containing packaging material are typically of high quality and can therefore only be handled with machine assistance. Eliminating manual intervention and having all handling processes performed by automated, controllable handling devices, such as portal or articulated-arm robots, requires precisely defined receiving, transfer, and placement positions. Otherwise, there is a risk of permanent failure, for example, if the robot wishes to receive a roll from a supply location that is not exactly in the expected position.

[0009] To reduce the risk of malfunctions, it is possible to use collaborative robots that are equipped and configured to enable essentially safe interaction between the robot and humans. WO 2018 228 727 A1 proposes the use of such collaborative robots for collaboration within container handling machines during component replacement. The purpose of this utility model is to operate the collaborative robot without a separate protective device, enabling a user within the robot's movement space to directly control the handling process to be performed by the robot. To minimize the risk of collisions with humans within the collaborative robot's environment, it is also recommended to equip the collaborative robot with a suitable safety system.

[0010] The use of such collaborative robots does make it possible to react to variable receiving or takeover positions for consumable material supplies, such as rolls of film or paper, which are received and inserted into the packaging machine. However, the use of collaborative robots requires increased monitoring and control efforts to minimize risks for the user, who inevitably must remain within the robot's motion volume to assist with its positioning movements. Furthermore, increased labor costs arise, as the robot requires human assistance to execute more complex movement routines and avoid malfunctions. Summary of the Invention

[0011] In view of these known drawbacks, the main object of the present invention can be considered to be to provide a packaging machine with a supply of consumables that is as fault-tolerant as possible, wherein such a process should be assisted by robotics. At the same time, with reduced or minimal manual assistance, repeated feeding and / or exchange operations can be achieved, wherein further consumables are made available to the packaging machine.

[0012] To achieve the aforementioned objectives, the present invention provides a packaging machine comprising at least one programmable robot, which is assigned a sensor system for detecting external influences acting on the robot. Sensor and / or signal data detected by the sensor system are provided as input variables to a robot controller for adapting the manipulator's manipulator movements in each case to the external influences detected by the sensor system. This manipulation of the robot can also be considered cobot control in the broadest sense, as will be explained in more detail below.

[0013] In the packaging machine according to the invention, it is further provided that the robot controller can be operated in a programming mode that provides a record of at least those external influences detected by the sensor system, which are based on manual influences of a user who is within the movement range of the robot. In this programming mode, program steps for creating new movement routines for the programmable robot and / or for modifying existing movement routines for the programmable robot can be derived from the manual influences of the robot that are traceable to the user.

[0014] The movement routines of the programmable manipulator or robot, which must be created and / or programmed in programming mode, can be viewed particularly in conjunction with the supply of consumables, which are supplied to the packaging machine periodically or as needed and consumed in the packaging machine. Consumables can be, for example, packaging materials such as films, shrink film, paper materials, etc., which are used to wrap or equip individual items, groups of items, groups of containers, etc., in order to form packaging units or container units.

[0015] Switching to COBOT mode can be initiated, in particular, by a sensor system provided for this purpose, such as a light barrier or ultrasonic sensor that detects when a person enters the manipulator or robot's movement space. COBOT operation can be terminated by sensor recognition of a human-free movement space or by manual presetting.

[0016] The sensor system assigned to the manipulator or robot can be formed, for example, by optical sensors, such as cameras with downstream image evaluation, or, for example, by acoustic sensors. Preferably, however, it can be useful to design the sensor system in such a way that the drive torque of the electric servomotors of the manipulator or robot is evaluated, so that inferences can be drawn from this about external influences and / or about users who are located in the manipulator's movement space and are influencing the manipulator.

[0017] The packaging machine according to the invention is equipped with the described manipulator or robot technology, which is protected from human access by means of safety drive technology, to some extent in the form of COBOT technology or by means of suitable sensor technology, making possible a fast and non-staff-intensive maintenance and replacement process for loading the packaging machine with consumables. As soon as the machine needs to be loaded and equipped with a new film roller, a responsible and well-trained user can enter a safety area that is not normally accessible, which is within the range of the robot arm or movable manipulator part. In this case, the manipulator or robot is switched to guided COBOT operation, which is no longer operated autonomously, so that the movable manipulator or robot arm can be guided by the user and brought to all relevant positions. One of these positions can in particular be the take-over position for the consumables that have to be brought into the packaging machine, for example on the floor or on a pallet where the roller with the packaging film is located.

[0018] After the roll is inserted into the packaging machine, which can also preferably occur during cobot operation, the first pass for programming the manipulator or robot's movement control is completed. This process can be repeated several times, essentially any number of times. All movements performed by the movable manipulator or robot part in a user-guided manner are entered into a correspondingly equipped memory area of ​​the manipulator controller so that they can be recalled for future movement sequences.

[0019] Optionally, after a certain number of such learning passes or learning cycles, the manipulator or robot controller may display or otherwise signal by optical and / or acoustic signals that the sequence is now known and may subsequently be executed by the manipulator or robot in an automated and substantially autonomous manner, i.e., without additional human guidance. If desired, user verification or confirmation may be useful before the user leaves the safe area near the manipulator or robot.

[0020] In the further course of events, the autonomous and / or automated sequence can continue at least until one of the starting or target positions of the movable manipulator or robot arm reaches a new and previously unknown position, for example due to the delivery of a new pallet containing consumables that has been placed in a different position than the pallet previously placed there. In this case, the user can start another programming cycle and train the manipulator or robot in the COBOT operation with the new movement routine, programmed in the manner described above.

[0021] A major advantage of a correspondingly equipped packaging machine and the method according to the invention explained below is that the user only has to accompany the loading process for a relatively short time, while the manipulator or robot can carry out most of the loading process autonomously and / or automatically. There is no need for precise setting and programming of the movable manipulator or robot parts, as this can be done in a simple and relatively fast manner by programming the manipulator or robot in cobot operation.

[0022] This enables a faster, largely trouble-free and relatively ergonomic loading process. In addition, high precision is not required when feeding blanks and cardboards, as different storage positions can be compensated by reprogramming the handling devices in the cobot operation.

[0023] The following will explain the steps involved in programming the movement routines of at least one programmable robot used in a packaging machine. This robot is assigned a sensor system for detecting external influences on the robot. The term "external influence" as used here generally refers to manual influences by a user who resides within the robot's movement range. If a human user resides within the robot's movement range, the manipulating movements performed by the robot are preferably adapted to the external influences detected by the sensor system. This means that the movable parts of the robot can be guided to a certain extent by the human user, and the movement direction is predetermined by the user.

[0024] When the above conditions are met, a manipulator controlled in this way can be called a collaborative manipulator or collaborative robot, which is suitable and equipped to operate optionally as a conventionally operated and purely programmed robot, optionally using and additionally processing sensor signals to detect its surroundings, or to operate in interaction between the robot and humans, that is, as a partially programmed robot or manipulator.

[0025] The terms programmed manipulator or programmed robot used here and in the context of the entire description are to be understood as handling devices whose movement sequences and movement routines are preset and controlled by a computer or a computer-assisted control unit, so that the movement sequences and movement routines are in particular essentially or completely programmed processes, which, however, does not exclude the additional use and processing of various sensor signals to modify and influence the movement sequences and / or movement routines.

[0026] Such sensor signals can be, for example, output signals from different detection devices which detect the foreground or the moving space of the handling device and can, for example, identify unexpected objects or persons remaining in the moving space, so that after processing of such sensor signals in a computer or a computer-assisted control unit, an unexpected collision with an object or person can be prevented.

[0027] Furthermore, in this context, the term collaborative manipulator or collaborative robot is to be understood as a handling device whose movement sequences and movement routines are not completely predetermined and controlled by a computer or computer-assisted control unit, but rather take into account the interaction between the robot and a human, such that such a collaborative manipulator or collaborative robot is equipped with devices and sensor systems that allow interaction with a human user, enabling it to collaborate with the human user to complete specific tasks and to perform sub-steps of such processes itself or to participate in such processes in an assistive manner. For example, a collaborative manipulator or collaborative robot can lift and position components or objects that a collaborative user is no longer able to handle alone, while the user is relieved of the heavy lifting tasks and essentially only maneuvers the component or object into the correct position, for example within a machine.

[0028] In particular, the term collaborative manipulator or collaborative robot as used herein is to be understood as a COBOT as known to those skilled in the art.

[0029] At least a limited portion of the manual influences preset by the user and detected by the sensor system are recorded and processed for creating new movement routines for a programmable robot or for modifying existing movement routines for a programmable robot. All of these movement routines to be programmed for a programmable robot or robot can be considered in particular in conjunction with the supply of consumables consumed in the packaging machine. These consumables can be, for example, packaging materials such as film, shrink film, paper, etc.

[0030] This means that at least one programmable robot used in a packaging machine can be used in two different operating modes, switching from one operating mode to the other and back again as needed. If the available program routines are insufficient to complete the robot's upcoming handling task, for example because a new takeover position for a heavy load to be detected and transferred to a known location within the packaging machine is not yet known, an operating mode requiring human interaction can be selected to transfer a new, previously unknown movement routine to the robot's program controller. This new movement routine, which the robot executes using pre-set and supplementary manual influence, is recorded and used in the robot's program controller to create a new movement routine or modify an existing one.

[0031] The structure of the manipulator or robot can be designed in various ways. Thus, the manipulator can be, for example, a fixed or movable articulated-arm robot with an arm portion movable along multiple axes and a gripping arm arranged at the end, wherein the pivotally connected arm portions can be pivoted relative to each other via a motor drive. Alternatively, it can also be a gantry robot, whose tool head can also be attached to an articulated arm suspended from the top. Other variations are conceivable, such as so-called parallel locomotion robots, etc.

[0032] Furthermore, the tool head of such a robot or manipulator can optionally have a clamping arm with clamping jaws or other special-purpose clamping devices that are movable relative to one another. Such clamping devices can be formed, for example, by a clamping mandrel with which a heavy roll onto which wrapping material is wound can be clamped, since the clamping mandrel is vertically immersed from above into the hollow cylindrical seat of the roll core and is firmly clamped there after immersion, so as to be able to clamp and lift the roll standing upright in the supply position and to introduce it into a predetermined mounting position within the wrapping machine, wherein this mounting position usually provides a horizontal mounting with a horizontal center axis.

[0033] Thus, the movement routine of a correspondingly programmed robot is exemplarily explained, which is intended to clamp, lift, for example, a roll loaded with film material, which is delivered and placed next to the wrapping machine standing upright on a pallet, to pivot it through 90° and to bring it into a horizontal position, and to bring it into a predetermined mounting position in the wrapping machine in this alignment, in which position the film can be unwound from the roll in order to serve as wrapping material for individual goods, articles or container groups, etc.

[0034] Thus, it can be understood that any change in the supply position of a pallet, which is delivered, for example, by an industrial transport vehicle, on which new rolls loaded with wrapping film or other consumables are placed, which are to be received from there by the programmed robot or manipulator and transferred to the mounting position within the wrapping machine, must result in a necessary small change in the movement routine preset by the control program for the movable clamping arm of the robot or manipulator.

[0035] However, if these changes relate to an entire batch with several newly delivered rolls, it can be sufficient after a reprogramming of the user-assisted robot controller to switch back to another operating mode and to allow the robot to automatically detect all other rolls loaded with wrapping material, since after the first training with the first roll the robot already knows all other takeover positions and can continue to work in a programmed mode without human assistance.

[0036] In the simplest variant or minimum equipment, the sensor system of the robot or manipulator mentioned here knows the required drive torques of the various cooperating joint parts and the electrical behavior of the respective drive motor and to a large extent also all conceivable positions and masses and the center of gravity of the object being grasped in each case, so that it is already possible to infer the influence of the user from a comparison of the expected drive torques and expected current consumption with the actually measured values. Since the sensor system working in this way can react sensitively to all conceivable manual influences and since the movement sequence in connection with the programming of a new movement routine can also be slowed down significantly relative to pure robot operation, it is possible by means of a manual steering with a comparatively small force consumption to preset a very precise movement pattern of the robot or manipulator arm.

[0037] Optionally, in an extended or alternative configuration, the sensor system can also include optical and / or acoustic detection devices, such as cameras with downstream image evaluation or ultrasonic sensors with downstream signal evaluation, which record impacts and movements and can additionally be used to program future movement routines of the robot.

[0038] Furthermore, it can be provided that the sensor system of the manipulator or robot can detect corresponding defined positions and movement patterns preset by the user over a plurality of consecutive runs. After recording, the sensor values ​​can be adjusted and can all be used to preset and program new movement patterns and movement routines for the programmed operation of the manipulator or robot, so that after human intervention, influence, and presetting, a modified reprogramming of the movement control of the manipulator or robot is again available when handling objects, machine parts, and / or consumables to be introduced into or removed from the packaging machine.

[0039] Thus, taking into account slight position changes of the consumables stored there, the possibly changing takeover position can be reprogrammed again and again by retraining the robot in cobot operation, for example, this can be a replacement roller on which film material or the like is wound.

[0040] For example, any decision regarding whether a cobot operation is necessary can be made based on sensor-detectable and sensor-recognizable markers, but can also optionally be made by manual presetting. That is, if necessary, the manipulator or robot can automatically recognize whether a new training is required due to a change in the takeover position of another object to be detected, or whether the position to be approached has not changed compared to the previous movement and control cycle.

[0041] Previously programmed and used movement routines can be optionally discarded or deleted, as each realignment of the detection or output position to be approached must be relearned. However, previously used movement routines can optionally be stored in a library for later use. In this case, some marker, whether optical, inductive, RFID-controlled, or otherwise detectable, can be used again to identify whether a new movement routine is necessary or due, or whether an old movement routine can be further used.

[0042] The switch from programmed robot operation to COBOT operation can preferably be initiated by a separate sensor system, for example by suitable light barriers, ultrasonic sensors, etc., which detect the movement space and / or the direct environment of the manipulator or robot. Thus, when the respective user enters the movement space of the robot or manipulator, the robot or manipulator can switch to COBOT mode and can then remain in this mode until the user leaves the movement space again or leaves the direct environment of the manipulator or robot.

[0043] As soon as the user leaves the movement space again or leaves the manipulator or robot's direct environment, the robot or manipulator can switch again to regular operation, in which the robot or manipulator works under program control and does not affect the human user, but in this case the robot or manipulator uses the movement routine previously learned in cobot operation to perform its current handling task.

[0044] As mentioned above, a manipulator or robot can be used, for example, as a so-called loading robot, which can be used for lifting and positioning tasks that cannot be effectively handled manually, for example, to bring consumables to a packaging machine and supply it to the packaging machine. For this purpose, the manipulator or robot, which is fixed or movable, is preferably positioned close to the packaging machine so that the packaging machine is located within the robot's range of motion.

[0045] Thus, consumables can be detected and located within the mobile space so that they can be inserted into the packaging machine by the robot. However, since the storage location of new consumables can be easily changed each time they are restocked, the robot learns the location of the movable supply location of new consumables again and again during the cobot operation.

[0046] Such a switchable mode is advantageous in particular when the entire magazine is available, so that by knowing the take-up position of a first consumable unit, the take-up positions of all other consumable units of the corresponding package or the corresponding batch are also known.

[0047] In all the described variants, it is conceivable that the movement of the manipulator or robot is assisted by additional sensors, for example collision sensors, which can detect obstacles by optical and / or acoustic means and prevent collisions with the manipulator and / or consumables grasped by the manipulator. However, since any additional sensor system means an increase in equipment and cost expenditure, it is basically sufficient to detect only the approach of a human user to the movement space and the user's presence in the movement space of the manipulator or robot, so as to be able to switch between autonomous or program-controlled robot operation and human-assisted and / or influenced COBOT operation. This detection can also be carried out in the manner described above, for example by light barriers, simple light barrier sensor systems or in other ways, for example by ultrasonic monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In the following, embodiments of the present invention and their advantages will be explained in more detail with reference to the accompanying drawings. The size ratios of the individual elements in the drawings do not always correspond to the actual size ratios, as some shapes are simplified and others are enlarged compared to other elements for better illustration.

[0049] Figure 1 A schematic perspective view shows a partial section through an embodiment variant of the packaging machine according to the invention.

[0050] Figure 2 A schematic perspective view shows a partial section through another embodiment variant of the packaging machine according to the invention.

[0051] Figure 3 A section of a robot arm is shown, which is guided in its movement by a user while a roll of packaging material is received by a pallet.

[0052] Figure 4 Shown according to Figure 3 A robotic arm that can operate autonomously without user intervention to insert a roll of packaging material into a packaging machine. DETAILED DESCRIPTION

[0053] exist Figures 1 to 4 Throughout the drawings, identical reference numerals are used for identical or identically functioning elements of the present invention. Furthermore, for the sake of clarity, only reference numerals necessary for the description of the respective figure are depicted in the individual figures. The illustrated embodiments merely represent examples of how to design a packaging machine or method according to the present invention and are not intended to be definitive limitations.

[0054] Figure 1 The schematic perspective view of FIG. 1 shows a first embodiment variant of a packaging machine 10 according to the invention in detail.

[0055] Flat packaging material, such as shrink film or packaging film, is processed in the packaging machine 10, which is not shown in more detail here. Figure 1 The illustration of is intended to illustrate the handling of this packaging material when a new consumable unit is supplied to the packaging machine 10. The packaging material, ie shrink film or wrapping film, is wound on a large roll 12 and cannot usually be handled manually due to its weight.

[0056] If necessary, new rolls 12 can be fed to the packaging machine 10 by means of a robot 14, which will be described in more detail below. In the embodiment shown, the robot 14 is designed as a fixedly arranged articulated-arm robot 16, which in each case inserts the new rolls 12 fed to the packaging machine 10 into two different mounting positions 18 and 20, which are located in the packaging machine 10. Figure 1 Only partially visible.

[0057] With the help of a manipulator 14 or with the help of an articulated-arm robot 16 with a cantilever 22 that can be pivoted on multiple axes, a single new roller 12 can be inserted into one of the two installation positions 18 or 20, while in the other installation position 20 or 18 there is still a used or partially used roller 24, from which the material web located thereon continues to be unwound during the insertion of the corresponding new roller 12, which is processed into packaging material in the packaging machine 10.

[0058] When the material web is further unwound from the partially unwound or almost used-up roller 24 in one of the two mounting positions 18 or 20, the outer layer of the newly inserted roller 12 can in particular be connected or welded to the material web still located in the packaging machine 10, with the result that the packaging machine 10 can operate continuously without having to interrupt the packaging process to replace the used-up roller 24 with a new roller 12.

[0059] In each case, the new roll 12 consists of a wound flat packaging material or packaging film or shrink film and a core 26 on which the packaging material or shrink film is wound. Figure 1 The horizontal conveyor 28 shown receives the new roll 12, which is then transported upright to the packaging machine 10. The manipulator 14 or articulated-arm robot 16 then immerses the mandrel 30, which is movably arranged at the end of its movable cantilever 22, into the core 26 of the new roll 12. To this end, the arm 22 of the mandrel 14 or articulated-arm robot 16 can rotate about an axis of rotation. After the mandrel 30 is immersed in the core 26, the cross-sectional diameter of the mandrel 30 increases, so that the new roll 12 is fixed to the mandrel 30 in a clamping manner. The core 26 is a hollow cylindrical design, and the shape of the mandrel 30 corresponds thereto, so that the mandrel 30 is connected to the inner surface of the core 26 via its outer circumference to clamp the new roll 12 and securely grip it.

[0060] By means of the horizontal conveyor 28, new rollers 12 can be continuously supplied to the manipulator 14 or the articulated-arm robot 16, so that when a new roller 12 is removed from the horizontal conveyor 28, another new roller 12 is moved further in the direction towards the manipulator 14 or further in the direction of the manipulator 14. Depending on the requirements, the horizontal conveyor 28 can be operated cyclically in the desired manner or continuously at a constant speed. Its operation is preset by a manipulator controller 32, which is only shown schematically here and which can control not only the conveying speed and / or the timing of the horizontal conveyor 28, but also the movement of the cantilever 22 of the manipulator 14. The manipulator controller 32 processes the signals 34 of at least one spatial monitoring device 36, which can, for example, be formed by an optical detection device such as a camera or by a light barrier.

[0061] The space monitoring device 36 detects and monitors the movement space 38 of the articulated arm robot 16, in particular the movement of its cantilever 22, which also means the precise movement of the cantilever 22 with the holding mandrel 30 arranged pivotably thereon relative to each new roller 12 to be detected. For better illustration, the movement space 38, which can be detected optically, for example, by a camera or a light barrier of the space monitoring device 36, can be detected in FIG. Figure 1 In the representation of , it is represented by a beam fan with a dashed line.

[0062] Figure 1 Also shown is a lifting device 40 located in the region of the horizontal conveyor 28, which is operated by a user 42 and by means of which new rollers 12 can be placed upright on the horizontal conveyor 28. For example, new rollers 12 can be supplied upright on a pallet 44, from which the user 42 can receive them via the lifting device 40, the movement of which is controlled by the user 42, and place them on the horizontal conveyor 28 via the holding mandrel 30 located there and pointing vertically downward.

[0063] Thus, the working area of ​​the lifting device 40 extends over the pallet 44 and over the path portion of the horizontal conveyor 28. However, the control and feeding variant shown represents only one example among many alternatives. Continuous feeding variants that do not require any manual auxiliary handling are also possible, as shown in reference Figure 1 If the feed is not configured in this way, it may be useful, for example, to provide an intermediate storage for new rolls 12 in the movement space 38 of the manipulator 14 or articulated-arm robot 16 so that the roll 12 can be placed there if the holding mandrel 30 of the articulated-arm robot 16 detects a non-compliant direction of rotation, the holding mandrel 30 is pulled out of the core 26 and the roll 12 is detected again at its other end so that it can be inserted in the desired direction of rotation at the installation location 18 or 20 in the packaging machine 10. Figure 1 In the variant of the packaging machine 10 shown, the task of the user 42 remains to ensure the respectively correct positioning of the rollers 12 on the horizontal conveyor 28 , in particular with regard to their correct direction of rotation in the respective installation position 18 or 20 .

[0064] Figure 1 Also shown is a container 48 with an open top, located in the working area 38 of the robot 14. When the supply of packaging material or shrink film of one of the rolls 12 or 24 placed in the packaging machine 10 is exhausted, the core 26 of the empty roll 24, which consists of cellulose, plastic, wood or cardboard, is removed from the packaging machine 10 by the articulated-arm robot 16 and stored in the container 48. Only after the core 26 has been removed can a new roll 12 be inserted into the corresponding mounting position 18 or 20, respectively, of the packaging machine 10, so that the robot 14 or the articulated-arm robot 16 first removes the core 26 and then simultaneously inserts the new roll 12 into the corresponding mounting position 18 or 20, respectively.

[0065] Optionally, in addition to the manipulator 14 or the articulated-arm robot 16, the horizontal conveyor device 28 and some modules of the packaging machine 10 can also be connected to the manipulator controller 32 for signals. Advantageously, some operation-related parameters are detected by the spatial monitoring device 36, processed by the manipulator controller 32, and the data obtained thereby are made available in a prepared form to the packaging machine 10 and the manipulator 14, so that the manipulator 14 can ensure that the rollers 12 are positioned as precisely as possible in the installation locations 18 and 20, and the responsible modules of the packaging machine 10 can ensure that the material web is unrolled as precisely as possible.

[0066] Firstly, however, the robot controller 32 makes it possible to control the movements of the robot 14 formed by the articulated-arm robot 16, as a result of which precise positioning and feeding of new rolls 12 as well as their handling are possible, even if the precise position of the rolls 12 on the horizontal conveyor 28 cannot be ensured in all cases, in particular when the rolls 12 are positioned manually with the aid of the lifting device 40. It is important, however, that precise detection of each new roll 12 by the holding mandrel 30 of the articulated-arm robot 16 and precise positioning of the rolls 12 in the respective mounting locations 18 and / or 20 within the packaging machine 10 are ensured by means of precisely pre-set movement routines of the robot controller 32.

[0067] Figure 2 The schematic perspective view of FIG shows a second embodiment of the packaging machine 10 according to the present invention. Figure 1 The previously described variants are not significantly different.

[0068] In this case, there is again provided a device for handling flat packaging materials, such as shrink film or packaging film, which are individually supplied to the packaging machine 10 by a robot 14 designed as an articulated arm robot 16 on a roller 12 according to the replenishment requirements related to consumption. Figure 1 In a first variant, the robot 14 inserts a respective new roll 12 to be supplied to the packaging machine 10 in two different mounting positions 18 and 20 .

[0069] for Figure 1 and Figure 2 The implementation variant of Figure 3 and Figure 4 As an explanation, it may be noted that a user 42 within the range of motion 38 of the manipulator 14 typically prevents fully automated and autonomous operation of the manipulator 14. Such a stay of the user 42 within the range of motion 38 typically causes the manipulator 14 or articulated-arm robot 16 to switch to cobot operation, as will be explained in detail below.

[0070] Figure 2The second variant of the device 10 shown omits the horizontal conveying device and instead delivers the new rollers 12 in each case onto trays 44, each of which has four upright rollers 12, each of which is individually received by a manipulator 14 designed as an articulated-arm robot 16 and inserted into the packaging machine 10. In order to receive a new roller 12 from one of the accessible trays 44, i.e. within the movement space 38 of the manipulator 14 or articulated-arm robot 16, the manipulator 14 or articulated-arm robot 16 dips into the core 26 of the new roller 12 via a holding mandrel 30 movably arranged at the end of its movable cantilever 22, as already described with reference to the drawings. Figure 1 Explained.

[0071] To this end, the arm portion of the manipulator 14 or articulated arm robot 16 can be rotated about the rotation axis. After the holding mandrel 30 is immersed in the core 26, the cross-sectional diameter of the holding mandrel 30 is increased so that the new roller 12 is fixed to the holding mandrel 30 in a clamping manner. The core 26 is a hollow cylindrical design, and the shape of the holding mandrel 30 corresponds thereto, so that the holding mandrel 30 is connected to the inner surface of the core 26 via its outer circumference to clamp the new roller 12.

[0072] In each case, the pallets 44 with four new rollers 12 that are delivered regularly in the movement space 38 are continuously provided to the manipulator 14 or articulated-arm robot 16 in an uninterrupted sequence, so that when all the new rollers 12 have been removed from one of the pallets 44, this empty pallet 44 can be replaced by a new pallet 44 with another four rollers 12, which new pallet 44 is in turn placed in the movement space 38 of the manipulator 14. This delivery can be achieved by suitable industrial transport vehicles, for example by so-called FTS (driverless or unmanned transport systems), which can be formed by transport vehicles with self-propelled, remote control and / or own sensor system for steering, and each of which can, for example, transport the pallet 44 with the rollers 12 placed thereon into the movement space 48.

[0073] As required, such a transport system or FTS can be timed to operate in a desired manner. If desired, its operation can be timed and controlled by a robot controller 32 which can control not only the movement of the FTS (not shown here), its respective conveying speed and / or timing, but also the movement of the robot 14 to replace the rollers 12 in the packaging machine 10. The robot controller 32 also processes the signals 34 of the space monitoring device 36 and, in accordance with the Figure 2 In a variant, the spatial monitoring device 36 can also be formed in particular by an optical detection device, a camera, a light barrier or optionally by ultrasonic monitoring or the like.

[0074] The space monitoring device 36 is also important for monitoring the movement space 38 of the articulated arm robot 16 because it operates in a different mode when the user 42 is within the movement space 38 than when the user 42 is outside the movement space 38. Figure 2 In the illustration of FIG, a movement space 38 which can be detected optically, for example, by means of a space monitoring device 36 formed by a camera, is represented by an ellipse with a dashed line.

[0075] exist Figure 2 In the illustrated variation of the packaging machine 10, an intermediate storage device 50 for optionally storing new rollers 12 is located within the movement space 38 of the robot 14 and in close proximity to the robot 14. When the direction of rotation of the rollers 12 is not generally set on the tray 44, the intermediate storage device 50 can be used to ensure that each roller 12 is positioned substantially in accordance with the direction of rotation when inserted into the packaging machine 10. In practice, the holding mandrel 30 of the articulated-arm robot 16 grasps each individual roller 12 on the tray 44 without checking the direction of rotation.

[0076] By means of suitable optical inspection or by other means (e.g., induction, transponder, etc.), during the movement of the boom 22 with the roller 12 conveyed on the holding mandrel 30 in the direction of the packaging machine 10, it is checked whether the roller 12 can be positioned directly there without being moved, or whether the roller 12 may have the wrong direction of rotation. If this is the case, the roller 12 can be deposited on the intermediate storage device 50 by appropriate movement control of the articulated-arm robot 16, after which the holding mandrel 30 is pulled from the core 26 of the deposited roller 12 in order to re-engage the roller 12 at its other end so that the roller 12 can then be inserted in the desired direction of rotation at the installation location 18 or 20 in the packaging machine 10. The design of the intermediate storage device 50, its precise function, and its interaction with the robot 14 and, if applicable, the spatial monitoring device 36 are not the subject of further detail here.

[0077] exist Figure 2 In the embodiment, a user 42 standing upright in the movement space 38 typically stays there only for maintenance and / or programming purposes, and not during the ongoing normal handling operation of the manipulator 14, which can also be monitored by the space monitoring device 36. Figure 3 and Figure 4 The programmed operation of the robot 14 is explained in more detail, which according to the present invention will also be referred to as so-called COBOT operation.

[0078] exist Figure 2Also visible is a container 48 with an open top, which is located in the working area 38 of the manipulator 14 formed by the articulated-arm robot 16. When the supply of packaging material or shrink film of one of the rolls 12 or 24 placed in the packaging machine 10 is exhausted, the core 26 of the empty roll 24 consisting of cellulose, plastic, wood or cardboard is removed from the packaging machine 10 by the articulated-arm robot 16 and stored in the container 48. Only after the core 26 has been removed can a new roll 12 be inserted into the corresponding installation position 18 or 20, respectively, of the packaging machine 10, so that the manipulator 14 or the articulated-arm robot 16 first removes the core 26 and then simultaneously inserts the new roll 12 into the corresponding installation position 18 or 20, respectively.

[0079] Figure 3 and Figure 4 The schematic diagram of FIG. 1 shows a portion of an articulated arm robot 16 forming a manipulator 14 for handling rollers 12 on and in a packaging machine 10. The pivotable cantilever or arm portion 22 of the articulated arm robot 16 can be moved around Figure 3 The axis 52 extending horizontally in the center is pivoted so that the holding mandrel 30 of the articulated-arm robot 16 can be aligned with the vertical orientation of its longitudinal axis in order to be immersed in the core 26 of the respective new roll 12. If the respective new roll 12 is gripped by the articulated-arm robot 16 or the holding mandrel 30, the new roll 12 can be rotated about the axis 52 by a further pivoting movement of the gripping arm 22 and can then be temporarily inserted into its respective associated mounting location 18 or 20 (see Figure 1 and Figure 2 ).

[0080] In addition, reference will be made to Figure 3 and Figure 4 A method sequence is described for programming a movement routine during positioning of a cantilever 22 and a holding mandrel 30 located at the end of the cantilever 22, the holding mandrel 30 being used to receive a new roller 12 standing upright on a pallet 44, if the exact position of the roller 12 and its core 26 is not known to the manipulator controller 32 of the articulated arm robot 16.

[0081] For this purpose, it is possible to detect with the aid of the space monitoring device 36 when the user 42 is located in the movement space 38 (see Figure 1 and Figure 2 ), so that the manipulator controller 32 is switched to so-called COBOT operation, in which the user 42 guides and predefines the movements of the cantilever 22 and the holding spindle 30 to such an extent that the articulated-arm robot 16 can follow these predefinements of the user 42 or external influences 54 (see Figure 3 ), and the holding mandrel 30 can be guided very precisely to the core 26 of one of the rollers 12 and immersed therein.

[0082] Furthermore, the external influences 54 exerted by the user 42 can be recorded and stored in the robot controller 32 in order to be used in the creation of new movement routines or for modifying existing movement routines of the programmed robot 14. Whenever the exact position of a newly delivered roller 12 on the pallet 42 or the horizontal conveyor 28 is not known, the robot controller 32 can be reprogrammed in the manner described or additionally programmed until the robot 14 can resume the automated sequence without manual presetting by the user 42.

[0083] exist Figure 4 3 shows such an automated sequence with the arm 22 of the articulated-arm robot 16 moving within the movement space 38 and the roller 12 fixed to the holding mandrel 30. Since the user 42 has left the movement space 38, which was in particular recognized by the space monitoring device 36, and since the programming of the movement routine of the movable arm 22 stored in the robot controller 32 was successful, the roller 12 can be inserted into one of the installation locations 18 or 20 in the packaging machine 10 in an approximately horizontal alignment.

[0084] The aforementioned sensor system of the manipulator 14 or articulated-arm robot 16 can preferably be implemented by evaluating the drive torque of the electric servomotor of the manipulator 14 or robot 16 , from which external influences of the user 42 can be inferred.

[0085] The sensor system of the manipulator 14 or robot 16 mentioned here generally knows the required drive torques of the various cooperating joint parts and the electrical behavior of the corresponding drive motors, and is largely aware of all conceivable positions and masses, as well as the center of gravity of the gripped object or roller 12 in each case. This allows the influence of the user 42 to be inferred from the comparison of the expected drive torques and expected current consumption with the actual measured values. Since the sensor system operating in this way can react sensitively to all conceivable manual influences, and since the movement sequences associated with programming new movement routines can also be significantly slowed down compared to purely robotic operations, very precise movement patterns of the manipulator or robot arm can be preset by manual steering with relatively little effort.

[0086] Optionally, in an extended or alternative configuration, the sensor system can also include optical and / or acoustic detection devices, such as cameras with downstream image evaluation or ultrasonic sensors with downstream signal evaluation, which record impacts and movements and can additionally be used to program future movement routines of the robot.

[0087] The present invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or variations may be made to the present invention without departing from the scope of protection of the appended claims.

[0088] Reference Signs List

[0089] 10 Packaging Machine

[0090] 12 rollers, new

[0091] 14 Robot

[0092] 16 Articulated Arm Robot

[0093] 18 Installation position, first installation position

[0094] 20 Installation position, second installation position

[0095] 22 Cantilever, pivoting cantilever, pivoting arm

[0096] 24 Rollers, Used Rollers, Partially Unwound Rollers, Partially Used Rollers, Empty Rollers

[0097] 26 core, roller core

[0098] 28 Horizontal conveyor device

[0099] 30 Holding mandrel, pivotable holding mandrel

[0100] 32 Robot controller

[0101] 34 output signals, signals, spatial data, movement data, sensor data

[0102] 36 Space Monitoring Device

[0103] 38 Mobile Space

[0104] 40 lifting device

[0105] 42 User, Operator

[0106] 44 pallets

[0107] 46 Hold the mandrel, keep the mandrel vertical

[0108] 48 containers

[0109] 50 Intermediate storage device

[0110] 52 (cantilever) pivot axis

[0111] 54 Influence, manual influence, external influence.

Claims

1. A packaging machine (10) comprising at least one programmable robot (14) to which is assigned a sensor system for detecting external influences acting on the robot (14), wherein: The signal data detected by the sensor system are provided as input variables to a manipulator controller (32) for adapting the manipulating movement performed in each case by the manipulator (14) to the external influences detected by the sensor system, Characterized in that the manipulator controller (32) operates in a programming mode, which provides a record of at least those external influences detected by the sensor system, which external influences are based on manual influences of a user (42) located within the movement space (38) of the manipulator (14), wherein in the programming mode, program steps for creating new movement routines of the programmed manipulator (14) and / or for modifying existing movement routines of the programmed manipulator (14) are derived from the manual influences of the manipulator (14) that must be traced back to the user (42).

2. The packaging machine according to claim 1, characterized in that The robot (14) is coupled to a separate sensor system, by means of which the switch to programming mode is triggered.

3. The packaging machine according to claim 1 or 2, characterized in that: The drive torque of the drive motor of the manipulator (14) is detected and evaluated, from which the extent of the manual influence is derived.

4. The packaging machine according to claim 3, characterized in that The detected external influence based on the manual influence is stored in the robot controller (32) and is called to preset a movement routine of the programmable robot (14).

5. The packaging machine according to claim 3, characterized in that The created new movement routine or modified existing movement routine of the program-controlled robot (14) is the movement routine necessary to provide the consumables used by the packaging machine (10).

6. The packaging machine according to claim 4, characterized in that The created new movement routine or modified existing movement routine of the program-controlled robot (14) is the movement routine necessary to provide the consumables used by the packaging machine (10).

7. The packaging machine according to claim 3, characterized in that The drive torque of the drive motor of the manipulator (14) is detected and evaluated, from which the extent of the manual influence is derived and can be made available to the manipulator controller (32).

8. The packaging machine according to claim 4, characterized in that The drive torque of the drive motor of the manipulator (14) is detected and evaluated, from which the extent of the manual influence is derived and can be made available to the manipulator controller (32).

9. The packaging machine according to claim 1, characterized in that The sensor system of the manipulator (14) performs several passes to identify a defined position, in each pass it being assisted by the user (42) by exerting the manual influence on the manipulator (14).

10. The packaging machine according to claim 1, characterized in that The manipulator (14) communicates with a separate sensor system by means of which switching into and out of the programming mode is triggered.

11. The packaging machine according to claim 10, characterized in that Switching between normal operation and programming modes is achieved by identifying the position of the user (42) within the movement space (38) of the robot (14).

12. The packaging machine according to claim 1, characterized in that The manipulator (14) can be used as a loading robot for manually unmanageable lifting tasks or manually unmanageable positioning tasks on or in the packaging machine (10).

13. The packaging machine according to claim 12, characterized in that The manipulator (14) can be used as a loading robot for manually unmanageable lifting tasks or manually unmanageable positioning tasks of consumables for packaging operations of the packaging machine (10).

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