Packaging machines used for transporting and packaging goods.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-12
- Publication Date
- 2026-08-14
Smart Images
Figure CN224632013U_ABST
Abstract
Description
[0001] This invention relates to a packaging machine for transporting and packaging goods.
[0002] In continuous horizontal transport of goods, items are conveyed in uninterrupted columns or parallel, uninterrupted columns to successive processing stations. If items need to be processed in groups starting from a certain point in time, such as assembling them into a bundle, it is necessary to separate the required number of items from the uninterrupted and typically seamless flow of goods. For this purpose, a sorter is often used in practice, which briefly accelerates the preceding items to separate them from the following items, thus forming item groups.
[0003] In practice, it often happens that a group of items is subsequently contacted by a push rod, and the push rod accompanies the group of items along the transport path. As long as the push rod accompanies at least one item, the corresponding position of that item precisely matches the intended target position. This precise match between the intended target position and the current actual position of the item is necessary in practice to enable reliable grasping and manipulation of the items by the industrial robot. If manipulation of at least one item is desired, it is still possible that the push rod may obstruct such manipulation, either because the at least one item may be ungraspable by the industrial robot due to its back being against the push rod, or because the push rod, after grasping the at least one item, hinders its limited movement.
[0004] Therefore, the object of the present invention is to provide a possibility for packaging articles, which enables reliable and highly flexible handling of the articles.
[0005] This objective is achieved through a packaging machine used for transporting and packaging goods.
[0006] This invention relates to a packaging machine. The packaging machine includes a first transport section for articles, the first transport section including a plurality of first push rods that are cyclically guided such that they accompany the articles in a back-to-back manner as the articles move along the first transport section. Therefore, the first transport section may include two parallel, continuous traction devices at which the plurality of first push rods are arranged and cyclically guided. These two parallel, continuous traction devices may, in particular, consist of two parallel link chains or two parallel belts.
[0007] The first transport section of the packaging machine may include at least one first horizontal conveyor on which the articles stand upright as they move along the first transport section. In various embodiments, the speed at which the plurality of first push rods are cyclically guided and the speed at which the articles move on the at least one first horizontal conveyor may be designed to be the same or substantially the same. Thus, in such an embodiment, the plurality of first push rods may remain abutting against the back of the articles, rather than the plurality of first push rods displacing the articles on the at least one first horizontal conveyor.
[0008] It is also conceivable that the first transport section includes a plate on which the items stand upright as they move along the first transport section. In this case, it is possible that the several first push rods push the items along the first transport section, wherein the items slide on the plate of the first transport section.
[0009] Furthermore, it is possible for items to be conveyed seamlessly along at least one column, wherein the plurality of first pushers are cyclically guided such that they accelerate the item at the forefront of the at least one column relative to the subsequent items in that column and, in this case, separate them from the subsequent items in that column. In such an embodiment, the plurality of first pushers can be used to form a respective group of items into a group of items, which is then manipulated by at least one first industrial robot in a pusher-free second transport section, or the respective packaging is applied to the respective group of items by at least one second industrial robot in a third transport section.
[0010] It is also possible that the packaging machine includes several conveyor belts arranged upstream of or designed as part of the first transport section. At least one of the conveyor belts can operate intermittently so that, through this intermittent operation, at least one item positioned at the forefront in each case is transferred in a rhythmic fashion to a subsequent conveyor belt, thereby separating the corresponding at least one item positioned at the forefront from the subsequent items.
[0011] Furthermore, it is possible that the packaging machine includes a mechanism and / or workstation arranged upstream of the first transport section along the direction of movement of the articles, and that the mechanism and / or workstation is designed to form an article group from several articles that have been conveyed seamlessly up to this point along at least one column. Therefore, in such an embodiment, it is possible that the first push rods are cyclically guided such that they contact the back of the article group already formed by the workstation and / or mechanism.
[0012] Furthermore, the packaging machine includes a pusherless second transport section for articles, which follows the first transport section and includes at least one first industrial robot for manipulating articles located within the area of the second transport section. In various embodiments, the at least one first industrial robot may be designed to manipulate individual articles located within the area of the second transport section. Alternatively or additionally, the at least one first industrial robot may be designed to manipulate groups of articles located within the area of the second transport section.
[0013] Furthermore, the packaging machine also includes a third transport section for the articles, which follows the second transport section and includes at least one second industrial robot for applying packaging to the articles. This third transport section includes several second push rods that are cyclically guided such that they accompany the corresponding articles in a back-to-back manner as the at least one second industrial robot applies the corresponding packaging to the corresponding group of articles. In this configuration, the at least one second industrial robot is designed to apply the corresponding packaging to a corresponding group of articles. In such an embodiment, the several second push rods can be cyclically guided such that they accompany the articles in a back-to-back manner as the at least one second industrial robot applies the corresponding packaging to the corresponding group of articles.
[0014] Therefore, the third transport section may also include two parallel continuous traction devices or two additional parallel continuous traction devices, at which the plurality of second push rods are arranged, and the plurality of second push rods are cyclically guided via the two parallel continuous traction devices or the two additional parallel continuous traction devices. The two parallel continuous traction devices or the two additional parallel continuous traction devices may specifically be formed by two parallel link chains or by two additional parallel link chains. Alternatively, the two parallel continuous traction devices or the two additional parallel continuous traction devices may be formed by two parallel belts or by two additional parallel belts.
[0015] Because the second transport section is designed without pushers, there is a high degree of flexibility in manipulating the corresponding items or groups of items within its area. The corresponding items or groups of items arrive at their respective positions in the second transport section, preceding the first pusher, and these positions coincide very accurately with the intended target positions. Therefore, manipulation can be performed with high reliability and low error risk. The application of corresponding packaging is also carried out with an extremely low error probability by subsequently re-accompanying the items with a second pusher within the area of the third transport section, because the second pusher accompanies the items during packaging application, thus ensuring that the corresponding positions of the items within the third transport section coincide with the intended target positions.
[0016] In various embodiments, the at least one second industrial robot can be designed to apply packaging to articles, each package having several openings into which corresponding articles can be inserted, thereby securing the corresponding article shape-fittingly within the corresponding opening of the corresponding packaging blank. Such packaging is also known in practice as top-clip packaging. In various embodiments, such packaging may have several retaining tabs arranged in the areas of the corresponding openings, which, when the corresponding article is inserted into the corresponding opening, secure the corresponding article shape-fittingly within the corresponding packaging.
[0017] A proven effective implementation is that the second transport section includes a horizontal conveyor for transporting articles, the transport speed of which differs from the speed at which the articles move along the first transport section by up to 10%. The horizontal conveyor may include a cyclically driven conveyor belt or a cyclically driven chain plate, on which the articles stand upright as they move along the second transport section.
[0018] It is also possible that the speed at which the second push rods are cyclically guided increases compared to the speed at which the first push rods are cyclically guided. In particular, it is possible that the speed at which the second push rods are cyclically guided increases by at least 5% to at most 30% compared to the speed at which the first push rods are cyclically guided. Therefore, the article can move at a speed within the area of the third transport section that is designed to increase compared to the speed at which the article moves within the area of the first transport section.
[0019] It is also conceivable that the at least one first industrial robot is designed to rotate an item or group of items around a vertically oriented axis.
[0020] Alternatively or additionally, it may be possible for the at least one first industrial robot to be configured and equipped such that the at least one first industrial robot can move the article tilted or perpendicular to its designed direction of movement within the area of the second transport section.
[0021] Alternatively or supplementarily, it may occur that the at least one first industrial robot is designed to apply straps to corresponding items or groups of items. The straps may be binding devices, particularly comprising cellulose-containing materials, which secure the items together when the corresponding straps are applied to them. In this case, such straps may be attached to the side surfaces of the items, which are then secured together.
[0022] In various embodiments, the at least one first industrial robot may include at least two grippers that can perform feeding motions to thereby grasp several items for corresponding manipulation.
[0023] Furthermore, it is possible that the at least one first industrial robot is formed by at least one first Delta kinematic robot, and / or the at least one second industrial robot is formed by at least one second Delta kinematic robot. It is also possible that the at least one first industrial robot is formed by at least one gantry system, and / or the at least one second industrial robot is formed by at least one gantry system. In practice, it is also conceivable that the at least one first industrial robot is formed by at least one articulated arm robot, and / or the at least one second industrial robot is formed by at least one articulated arm robot.
[0024] What may occur is that the packaging machine includes several first industrial robots for manipulating items in the pusherless second transport section. A control device can be provided, connected to the first industrial robots, to assign different items to different first industrial robots for manipulation. Therefore, the several first industrial robots can manipulate the items in a coordinated manner. Throughput can be increased in such an implementation. The several first industrial robots may specifically be formed from several first Delta kinematic robots.
[0025] It is also conceivable that the packaging machine includes several second industrial robots in the third transport section for applying packaging to the articles. A control device can be provided, connected to the second industrial robots, to assign different articles or groups of articles to different second industrial robots for packaging. Therefore, the several second industrial robots can coordinate with each other to apply packaging to the articles or groups of articles. Throughput can also be increased in such an implementation. The several second industrial robots can also be specifically formed as several second Delta kinematic robots.
[0026] The present invention also relates to a packaging machine according to one embodiment described above for use with articles, the articles being beverage containers, particularly beverage bottles or beverage cans.
[0027] The following describes a method for transporting and packaging articles. In this method, the articles first move along a first transport section, wherein during the movement of the articles along the first transport section, several first push rods, which are cyclically guided, accompany the articles in a manner that they are abutted against the back.
[0028] Further, the article moves from the first transport section into a second transport section without pushers, where at least one first industrial robot manipulates the article. Subsequently, the article is transferred from the second transport section to a third transport section, where at least one second industrial robot applies packaging to the article, and during the application of packaging, several cyclically guided second pushers accompany the article in a back-to-back manner.
[0029] Within the framework of this method, and in the case of the packaging machine already described above, the articles can be beverage containers, particularly beverage bottles and / or beverage cans.
[0030] In this method, it is possible for items to be conveyed seamlessly along at least one column, wherein the plurality of first pushers cause the items arranged at the forefront of the at least one column, in each case, to accelerate relative to and separate from the subsequent items of the at least one column. A mechanism and / or workstation may also be provided that accelerates the items arranged at the forefront of the at least one column, in each case, relative to and separates from the subsequent items of the at least one column, and feeds the corresponding at least one subsequently separated item into a first transport section, whereby the corresponding at least one separated item is contacted on its rear side by the first pushers.
[0031] It is also possible that a mechanism and / or workstation is provided that accelerates the items arranged at the forefront of the at least one column relative to the subsequent items of the at least one column and separates them as a group of items from the subsequent items of the at least one column, and then sends the corresponding group of items into the first transport section, whereby the corresponding group of items is contacted by the first push rod at the rear.
[0032] The corresponding item group can move from the first transport section into the pusherless second transport section, and is manipulated as an item group by the at least one robotic arm within the pusherless second transport section. Additionally, in various embodiments, it is possible for the items, as a manipulated item group, to be transferred from the second transport section to a third transport section, where the at least one second industrial robot applies corresponding packaging to the transferred item group, and during the application of the corresponding packaging, a cyclically guided corresponding second pusher accompanies the corresponding item group in a back-to-back manner.
[0033] It is also possible that items or groups of items are transported in the second transport section via a horizontal conveyor that moves the items or groups of items at a speed that differs from the speed at which the items or groups of items move along the first transport section by a maximum of 10%.
[0034] It is also conceivable that the speed of the cyclically guiding second pushers increases compared to the speed at which the first pushers are cyclically guided. In particular, it is possible that the speed of the cyclically guiding second pushers increases by at least 5% to at most 30% compared to the speed at which the first pushers are cyclically guided.
[0035] It is also possible that the at least one first industrial robot rotates an article or group of articles about a vertically oriented axis within the manipulated frame. Alternatively or additionally, it is possible that the at least one first industrial robot tilts or moves the article or group of articles within the manipulated frame in a direction of movement designed for it within the area of the second transport section.
[0036] What can happen is that the at least one first industrial robot applies the corresponding straps to the respective items or groups of items within the framework of the corresponding manipulation.
[0037] In the following, embodiments of the invention and their advantages will be explained in more detail with reference to the accompanying drawings. The dimensional proportions of individual elements in the drawings do not always correspond to actual dimensional proportions, as some shapes are simplified and others are enlarged for better illustration compared to other elements.
[0038] It should be further emphasized that the features mentioned above regarding embodiments of the packaging machine of the present invention also relate to or may be aspects of the method. Therefore, if embodiments of the packaging machine of the present invention are mentioned anywhere in the specification, this also applies to embodiments of the method.
[0039] The same principle applies in reverse, thus all aspects and variations of the method explained in conjunction with its implementation also relate to or may be parts of the packaging machine of the present invention. Therefore, if any aspect or effect of the method is mentioned anywhere in the specification, it also applies to the packaging machine of the present invention. Various embodiments of the method can also be performed or implemented by means of one embodiment of the packaging machine of the present invention.
[0040] Subsequent embodiments summarize and embody certain aspects of the invention previously explained in various embodiments, but should not be construed as contradicting the given embodiments. Rather, they should be understood holistically, and where in doubt, should be considered as more specific embodiments and / or variations. Thus, as mentioned several times above, articles, for example formed from beverage containers, are packaged using the packaging machine of the present invention. The articles or beverage containers are transported within the packaging machine and along a defined direction of movement using the packaging machine.
[0041] Packaging machines typically include a feeding section where articles are transported without interruption or at least with minimal gaps within its area. Thus, articles that are directly adjacent to each other are brought together in a defined direction of movement and, in this case, form surface contact with each other. The feeding section particularly includes a horizontal conveyor, which may be, for example, a recirculating conveyor belt.
[0042] Optionally, the feed section or the horizontal conveying device of the feed section can transport articles in each case in two columns oriented parallel to each other along the direction of movement. However, in practice, it is also possible to transport exactly one such column, or more than two such columns, such as exactly three or exactly four such columns, via the feed section in the direction of movement, after which the columns are substantially parallel to each other.
[0043] In order to enable the manipulation of articles by the first industrial robot, which will also be described below, and to enable the application of packaging to the articles by the second industrial robot, which will also be described below, it is necessary to pre-assemble several articles into article groups in each case. The corresponding article group in this case includes a limited number of articles, which should be packaged together into a corresponding bundle.
[0044] Thus, for example, it is possible for a group of items to consist of exactly six items or exactly six beverage containers, which should be packaged into a six-pack. It is also possible for a group of items to consist of exactly four items or exactly four beverage containers, which should be packaged into a four-pack. To form such groups of items, the horizontal conveyor of the feed section includes several conveyor belts, one of which preferably operates intermittently.
[0045] This intermittently operating conveyor belt transfers all items for a given group of items to the downstream conveyor belt within one cycle, then pauses temporarily until a defined gap is formed between the items already transferred to the downstream conveyor belt and the subsequent items in that column. Items for another group of items are then transferred to the downstream conveyor belt, thus forming another group of items.
[0046] Alternatively or additionally, the feed section may include several pushing elements or other mechanisms that briefly accelerate the items at the front of the column in order to separate these items as a group of items from the subsequent items in the column.
[0047] The articles, as a group of articles, enter the first transport section of the packaging machine from the feeding section. In this first transport section, the packaging machine may include several first push rods, which may be arranged, for example, at two continuous traction devices and cyclically driven via these devices. These continuous traction devices preferably move cyclically at a constant cyclic speed and feed rate.
[0048] A further continuous traction device can be provided after the continuous traction device, and push rods are additionally arranged at this additional continuous traction device. These continuous traction devices are typically each guided by several steering rollers. This allows the corresponding first push rod to come into contact with the back of the items in the corresponding item group, thereby accompanying the corresponding item group in a back-to-back manner as the corresponding item group moves along the first transport section. In this case, it is possible to push the corresponding item group along the first transport section via the corresponding first push rod.
[0049] However, in the packaging machine exemplarily described herein, the items of the respective group of articles stand upright on a horizontal conveyor designed as part of a first transport section, the transport speed of which substantially corresponds to the speed of the cyclically driven first push rod. Therefore, during the movement of the respective group of articles along the first transport section, the respective first push rod accompanies the respective group of articles, but in this case, the respective group of articles is not accelerated in the direction of movement via the respective first push rod.
[0050] By positioning the first push rod against the back of the item group, the corresponding item group can be ensured to reach its designated position in the second transport section immediately following the first transport section, a position that precisely matches the intended target location. Therefore, no additional sensors are needed to check the current actual position of the item group and correspondingly control the first industrial robot before it can be manipulated. The precise positioning of the item group by the first push rod eliminates the need for a corresponding sensor system, enabling a simplified packaging machine with reduced equipment.
[0051] The first industrial robot in the second transport section can, for example, be designed as a so-called Delta kinematic robot. Furthermore, the first industrial robot is connected to an associated control device. However, if only one first industrial robot is mentioned in this case, it is also possible for the second transport section to have several such first industrial robots, each of which is, where appropriate, designed as Delta kinematic robots and connected to a control device that operates the several first industrial robots in a coordinated manner.
[0052] The control device actuates the first industrial robot to receive the group of articles and, if necessary, tilt and move these groups of articles in the direction of movement, if this is necessary or advantageous for applying packaging to the respective groups of articles, as will be described below. Furthermore, the first industrial robot or the first Delta kinematic robot is capable of applying corresponding straps to the articles in the respective groups of articles. Within the area of the second transport section, the groups of articles move without push rods. Therefore, the first industrial robot is able to acquire the articles along their respective entire vertical extension without push rods potentially obstructing or interfering with the application of straps.
[0053] The corresponding straps are applied to the corresponding groups of articles by a first industrial robot, specifically by the first industrial robot placing the corresponding straps onto the corresponding groups of articles from top to bottom. The straps are already closed in this case, and therefore are preferably pre-made straps. The cross-section of the opening of the corresponding strap is designed such that when the strap is applied to the corresponding group of articles, the strap is stretched open by the articles in the corresponding group of articles.
[0054] Typically, the cohesive force of the items achieved by the corresponding straps is insufficient to securely fasten the items in the corresponding group together. After the corresponding straps are applied to the corresponding group of items, the group of items is transferred together with the applied straps to the third transport section of the packaging machine.
[0055] In this third transport section, the packaging machine preferably includes a second industrial robot, which in this case may be specifically designed as a second Delta kinematic robot. The second industrial robot or the second Delta kinematic robot is also connected to a control device.
[0056] In practice, the packaging machine may include several second industrial robots or several second Delta kinematic robots in the area of the third transport section, all of which are connected to the control device.
[0057] The second industrial robot applies the appropriate packaging to the corresponding group of items. This packaging serves as an additional solution to the existing fixing method achieved via straps, securing the items of the corresponding group of items together.
[0058] In this case, the packaging is preferably a so-called top-clamp packaging. Such a top-clamp packaging includes a corresponding opening for each item, into which the corresponding item or beverage container is inserted. Within the area of the corresponding opening, the packaging or top-clamp packaging specifically forms several retaining flaps. After the corresponding item or beverage container is inserted into the corresponding opening of the packaging, the corresponding item or beverage container is shaped and secured to the packaging via the retaining flaps formed within the area of the corresponding opening. The packaging is then positioned above a strap, which, as an additional feature of the packaging, secures the items of the corresponding item group together.
[0059] As the item group moves along the third transport section, the corresponding second push rod typically abuts against the back of the item group, and accompanies the item group in this back-to-back manner as the second industrial robot applies the corresponding packaging to it. Therefore, the position of the item group precisely matches the intended target position, thereby enabling reliable and accurate application of the corresponding packaging to the item group.
[0060] The second push rod is also preferably arranged at two continuous traction devices that are parallel to each other and cyclically guide the second push rod. The continuous traction device with the second push rod can be steered, for example, via a steering roller.
[0061] Within the third transport section, it is also possible for the item assembly to stand upright on a horizontal conveyor, with its transport speed substantially corresponding to the speed of the second push rod. Alternatively, a plate can be provided within the third transport section, on which the item assembly stands upright, and which can be slidably pushed along the plate by the second push rod.
[0062] The items, along with straps applied by the first industrial robot and packaging applied by the second industrial robot, leave the third transport section and then move to a subsequent workstation, such as a palletizing station.
[0063] The following will explain a series of reasonable method steps. In the first step, groups of items, each comprising several items formed from beverage containers, can move along a first transport section. In this case, during the movement of the items along the first transport section, several cyclically guided first push rods accompany these items in a back-to-back manner. The items then move from the first transport section into a second transport section without push rods.
[0064] In a subsequent second or further step, a first industrial robot applies straps to the group of items in a second transport section without pushers. The group of items with the applied straps is then transferred to a third transport section.
[0065] In a further step, or third step, a second industrial robot assigned to the third transport section applies packaging to the item group. During packaging application, the item group comes into contact with the second push rod on its back, and the second push rod accompanies the item group in a back-to-back manner as the item group moves along the third transport section.
[0066] The packaging is preferably designed to form a corresponding opening for each item, into which a second industrial robot inserts the item. The items can then be locked inside the opening.
[0067] Figure 1 A schematic view showing one embodiment of the packaging machine of the present invention is shown.
[0068] Figure 2 The flowchart illustrates various embodiments of a method that can be implemented individually or according to Figure 2 The combination shown provides the steps.
[0069] The same reference numerals are used for elements that are identical or have the same effect in this invention. Furthermore, for clarity, only the reference numerals necessary for the description of the corresponding figure are depicted in a single drawing. The embodiments shown are merely examples of inventive designs and do not represent conclusive limitations.
[0070] Figure 1 A schematic view showing one embodiment of the packaging machine 1 of the present invention is provided. Articles 2 are packaged using the packaging machine 1, and these articles are... Figure 1 The image is only schematically shown; in this figure, it represents a beverage container 4. The item 2 or beverage container 4 is transported via the packaging machine 1 along the direction of movement BR.
[0071] Packaging machine 1 includes a feeding section ZL. For example... Figure 1 As can be seen, the items 2 are transported without gaps within the area of the feed section ZL. Therefore, in the direction of movement BR, the items 2 that are directly connected in sequence are pressed against each other or form surface contact with each other. The feed section ZL includes a horizontal conveyor 7, which may be, for example, a circulating conveyor belt. In this figure, only a single column 3 can be seen, within which the items 2 or beverage containers 4 are transported without gaps.
[0072] In the direction of the image plane, there is another column of items 2 following column 3, so the feed unit ZL or the horizontal conveyor 7 of the feed unit ZL transports the items 2 in two columns oriented parallel to each other in the direction of movement BR. However, in practice, it is also possible to transport exactly one such column 3 in the direction of movement BR via the feed unit ZL, or more than two such columns 3, that is, for example, exactly three or exactly four such columns 3, which are then substantially parallel to each other.
[0073] In order to manipulate the articles 2 via the first industrial robot 24, which will be described below, and to apply packaging to the articles 2 via the second industrial robot 34, which will be described below, it is necessary to pre-assemble several articles 2 into article groups 8. The corresponding article group 8 in this case includes a corresponding number of articles 2, which should be packaged together into corresponding bundles.
[0074] Thus, for example, it is possible for an item group 8 to include exactly six items 2 or exactly six beverage containers 4, which should be assembled into a six-pack using packaging 37. It is also possible for an item group 8 to include exactly four items 2 or exactly four beverage containers 4, which should be assembled into a four-pack using packaging 37. To form such item groups 8, the horizontal conveyor 7 of the feed section ZL includes several conveyor belts, one of which operates intermittently.
[0075] The intermittently operating conveyor belt transfers all items for the corresponding item group 8 to the downstream conveyor belt within one cycle, then temporarily stops until a defined gap is formed between the items 2 that have been transferred to the downstream conveyor belt and the subsequent items 2 of the column 3. Subsequently, items 2 for another item group 8 are transferred to the downstream conveyor belt, thereby forming another item group 8.
[0076] Alternatively or additionally, the feed section ZL may include several pushing elements or other mechanisms that briefly accelerate the items 2 in front of the column 3 so as to separate these items 2 as item group 8 from the subsequent items 2 in the column 3.
[0077] Item 2, as part of item group 8, enters the first transport section TR1 of packaging machine 1 from the feed section ZL. In the first transport section TR1, packaging machine 1 includes several first push rods 16, which are arranged at two continuous traction devices 12 and cyclically driven via the continuous traction devices 12. The continuous traction devices 12 move cyclically at a constant speed.
[0078] In the direction of the image plane, Figure 1 A further continuous traction device is located behind the visible continuous traction device 12, and a push rod 16 is additionally arranged at this additional continuous traction device. The continuous traction device 12 and... Figure 1 Other, invisible, continuous traction devices are each guided by several steering rollers 18. For example... Figure 1As can be seen, the corresponding first push rod 16 is in contact with the back of the corresponding item 2 of the corresponding item group 8, and accompanies the corresponding item group 8 in such a way as it moves along the first transport section TR1. In this case, the corresponding item group 8 can be pushed along the first transport section TR1 by the corresponding first push rod 16.
[0079] However, according to Figure 1 In the packaging machine 1, the items 2 of the corresponding item group 8 are placed upright on a horizontal conveyor designed as part of the first transport section TR1, and the transport speed of the conveyor basically corresponds to the speed of the cyclically driven first push rod 16. Therefore, during the movement of the corresponding item group 8 along the first transport section TR1, the corresponding first push rod 16 accompanies the corresponding item group, but in this case, the corresponding item group 8 is not accelerated in the direction of movement BR via the corresponding first push rod 16.
[0080] By abutting the first push rod 16 against the back of the item group 8, it is ensured that the corresponding item group 8 reaches the corresponding position in the second transport section TR2, which follows the first transport section TR1, and this position precisely matches the expected target position. Therefore, no additional sensors are needed to check the current actual position of the corresponding item group and to correspondingly control the first industrial robot 24 before it is manipulated by the first industrial robot 24. The precise positioning of the item group 8 by the first push rod 16 eliminates the need for a corresponding sensor system, thus simplifying the structure of the packaging machine 1.
[0081] The first industrial robot 24 of the second transport section TR2 is designed as a Delta kinematic robot 25 and connected to a control device S. Only one first industrial robot 24 is shown in this figure. However, it is also possible for the second transport section TR2 to have several such first industrial robots 24, each of which is designed as a Delta kinematic robot 25 and connected to a control device S, which operates the several first industrial robots 24 in a coordinated manner.
[0082] The control device S actuates the first industrial robot 24 to receive the item group 8 and, if necessary, tilt these item groups in the direction of movement BR, if this is necessary or advantageous for applying the packaging 37 to the respective item group 8, as will be described below. Furthermore, the first industrial robot 24 or the first Delta kinematic robot 25 is capable of applying the corresponding straps 27 to the item 2 of the respective item group 8. Within the area of the second transport section TR2, the item group 8 moves without push rods. Therefore, the first industrial robot 24 is able to acquire the item along the corresponding entire vertical extension of the item 2 without push rods potentially hindering the application of the straps 27.
[0083] The corresponding straps 27 are applied to the corresponding item group 8 by the first industrial robot 24, specifically, the first industrial robot 24 places the corresponding straps 27 onto the corresponding item group 8 from top to bottom. The straps 27 are closed in this case. The cross-section of the opening of the corresponding straps 27 is designed such that when the straps 27 are applied to the corresponding item group 8, the straps 27 are stretched open by the items 2 of the corresponding item group 8.
[0084] Typically, the cohesive force of the articles 2 achieved by the corresponding straps 27 is insufficient to securely fasten the articles 2 of the corresponding article group 8 together. After the corresponding straps 27 are applied to the corresponding article group 8, the corresponding article group 8 is transferred together with the applied straps 27 to the third transport section TR3 of the packaging machine 8.
[0085] In the third transport section TR3, the packaging machine 1 includes a second industrial robot 34, which in this figure is designed as a second Delta kinematic robot 35. The second industrial robot 34 or the second Delta kinematic robot 35 is also connected to the control device S. In practice, the packaging machine 1 may include several second industrial robots 34 or several second Delta kinematic robots 35 within the area of the third transport section TR3, all of which are connected to the control device S. The second industrial robot 34 applies a corresponding package 37 to a corresponding group of articles 8, which, as an additional solution to the existing fixing via straps 27, secures the articles 2 of the corresponding group of articles 8 together.
[0086] In this figure, the packaging 37 is preferably a so-called top-clamp packaging. Such a top-clamp packaging includes a corresponding opening for each item 2, into which the corresponding item 2 or corresponding beverage container 4 is inserted. Within the area of the corresponding opening, the packaging 37 or the top-clamp packaging forms several retaining flaps. After the corresponding item 2 or corresponding beverage container 4 is inserted into the corresponding opening of the packaging 37, the corresponding item 2 or corresponding beverage container 4 is shaped-fitted and secured to the packaging 37 via the retaining flaps formed within the area of the corresponding opening. The packaging 37 is then positioned above a strap 27, which, as an additional feature of the packaging 37, secures the items 2 of the corresponding item group 8 together.
[0087] During the movement of item group 8 along the third transport section TR3, the corresponding second push rod 36 abuts against the corresponding item group 8 from the back, and accompanies the corresponding item group 8 in this back-to-back manner as the second industrial robot 34 applies the corresponding packaging 37 to the corresponding item group 8. Therefore, the position of the corresponding item group 8 is very accurately matched with the expected target position, thereby enabling the corresponding packaging 37 to be reliably applied to the corresponding item group 8.
[0088] The second push rod 36 is also preferably arranged at two continuous traction devices 32, which are parallel to each other and cyclically guide the second push rod 36. The continuous traction device 32 with the second push rod 36 can be steered, for example, via a steering roller 38.
[0089] Within the third transport section TR3, it is also possible for the item assembly 8 to stand upright on a horizontal conveyor, with its transport speed substantially corresponding to the speed of the second push rod 36. Alternatively, a plate may be provided within the third transport section TR3, on which the item assembly 8 stands upright, and along which the item assembly 8 is pushed in a sliding manner via the second push rod 36.
[0090] The item group 8 leaves the third transport section TR3 along with the straps 27 applied by the first industrial robot 24 and the packaging 37 applied by the second industrial robot 34, and then moves to a subsequent workstation, such as a palletizing station.
[0091] Figure 2 The flowchart illustrates various embodiments of method 100 that can be implemented individually or according to Figure 2 The combination shown provides the steps.
[0092] In step 110, item groups 8, each comprising several items 2 formed by beverage containers 4, are moved along the first transport section TR1. During this movement of item groups 8 along the first transport section TR1, several cyclically guided first push rods 16 accompany these item groups in a back-to-back manner. The item groups 8 then move from the first transport section TR1 into the push rod-free second transport section TR2.
[0093] In step 120, within the second transport section TR2 without push rods, straps 27 are applied to the item group 8 via the first industrial robot 16. Subsequently, the item group 8 with the applied straps 27 is transferred to the third transport section TR3.
[0094] In step 130, the second industrial robot 34, assigned to the third transport section TR3, applies packaging 37 to the item group 8. During the application of packaging 37, the item group 8 comes into contact with the second push rod 36 on its back, and the second push rod 36 accompanies the item group in a back-to-back manner as the item group moves along the third transport section TR3.
[0095] The packaging 37 is preferably a packaging that forms a corresponding opening for each item 2, and the corresponding item 2 is inserted into the opening by a second industrial robot 34.
[0096] The following is a supplementary explanation of the above implementation plan. Although combined with... Figure 1 The illustrated embodiments and their foregoing description are often, or even generally, "schematic" illustrations and views, but this in no way implies that the accompanying illustrations and descriptions are secondary to the disclosure of this invention. Those skilled in the art are fully capable of obtaining sufficient information from the schematic and abstractly drawn illustrations to aid their understanding of the invention without being affected, for example, by the dimensional relationships of the parts of packaging machine 1, its individual components, or other drawn elements, which may not be exactly to scale. Rather, these drawings enable those skilled in the art, as readers, to better understand the ideas of the invention presented in a more general and / or more abstract manner, at least in some respects, by means of the specific implementation of method 100 and the specific structure of the packaging machine 1 of the invention.
[0097] List of reference numerals
[0098] 1 Packaging machine
[0099] 2 items
[0100] 3 columns
[0101] 4. Beverage containers
[0102] 7. Horizontal Conveying Device
[0103] 8 Item Groups
[0104] 12 Continuous traction devices (first transport section)
[0105] 16 First putt
[0106] 18 steering rollers
[0107] 24 First Industrial Robot
[0108] 25 First Delta Kinematic Robot
[0109] 27 straps
[0110] 32 Continuous traction device (second transport section)
[0111] 34 Second Industrial Robot
[0112] 35 Second Delta Kinematic Robot
[0113] 36 Second putter
[0114] 37 Packaging
[0115] 38 steering rollers
[0116] 100 methods
[0117] 110 First Method Steps
[0118] 120 Second Method Steps
[0119] 130 Third Method Steps
[0120] S control device
[0121] TR1 First Transport Section
[0122] TR2 Second Transport Section
[0123] TR3 Third Transport Section
[0124] ZL Feeding Section
Claims
1. A packaging machine (1), the packaging machine comprising: - A first transport section (TR1) for the article (2), the first transport section comprising a plurality of first push rods (16) which are cyclically guided such that they accompany the article (2) in a back-to-back manner as the article (2) moves along the first transport section (TR1). - A pusherless second transport section (TR2) for the article (2), the second transport section following the first transport section (TR1) and including at least one first industrial robot (24) for manipulating the article (2), the first industrial robot being located within the area of the second transport section (TR2), and - A third transport section (TR3) for articles (2), which follows the second transport section (TR2) and includes at least one second industrial robot (34) for applying packaging (37) to articles (2), wherein the third transport section (TR3) includes several second push rods (36) which are cyclically guided such that they accompany the corresponding articles (2) in a back-to-back manner as the at least one second industrial robot (34) applies the corresponding packaging (37) to the articles (2).
2. The packaging machine (1) according to claim 1, characterized in that, The second transport section (TR2) includes a horizontal conveyor for transporting the article (2), the transport speed of which differs from the speed at which the article (2) moves along the first transport section (TR1) by a maximum of 10%.
3. The packaging machine (1) according to claim 1, characterized in that, The speed at which the second push rods (36) are cyclically guided increases compared to the speed at which the first push rods (16) are cyclically guided.
4. The packaging machine (1 ) according to claim 2, characterized in that, The speed at which the second push rods (36) are cyclically guided increases compared to the speed at which the first push rods (16) are cyclically guided.
5. The packaging machine (1) according to claim 3, characterized in that, The speed at which the second push rods (36) are cyclically guided is increased by at least 5% to at most 30% compared to the speed at which the first push rods (16) are cyclically guided.
6. The packaging machine (1 ) according to any one of claims 1 to 5, characterized in that, The at least one first industrial robot (24) is designed to rotate the article (2) about a vertically oriented axis.
7. The packaging machine (1 ) according to any one of claims 1 to 5, characterized in that, The at least one first industrial robot (24) is configured and equipped such that the at least one first industrial robot can move the article (2) tilted or perpendicular to its designed direction of movement (BR) within the area of the second transport section (TR2).
8. The packaging machine (1) according to claim 6, characterized in that, The at least one first industrial robot (24) is configured and equipped such that the at least one first industrial robot can move the article (2) tilted or perpendicular to its designed direction of movement (BR) within the area of the second transport section (TR2).
9. The packaging machine (1 ) according to any one of claims 1 to 5, characterized in that, The at least one first industrial robot (24) is designed to apply straps (27) to several items (2).
10. The packaging machine (1 ) according to any one of claims 1 to 5, characterized in that, The at least one first industrial robot (24) is formed by at least one first Delta kinematic robot (25), and / or the at least one second industrial robot (34) is formed by at least one second Delta kinematic robot (35).