Method for changing a unit on a packaging line and packaging line designed for this purpose

Abstract

Packaging line (1), designed for at least partially automatic changing of a robot (7), with - a basic frame (2), - several robots (7) attached to the base frame (2), in particular in the direction of travel (10) of the packaging line (1) one after the other, - a controller (1*) for controlling at least all robots (7) of the packaging line (1), characterized by - an assembly device (14) for the, in particular automatic, assembly or disassembly, i.e. permanent mechanical fixing, of the robot (7) at a defined assembly position, - a coupling device (13) for coupling or decoupling, in particular automatically, the data connection (9a) and / or the power connection (8a) of each robot (7) to corresponding counterpart connections (8b, 9b) of the packaging line (1), - wherein the controller (1*) is able to control at least the packaging line-side processes necessary for the at least partially automatic changeover process of a robot (7).

Description

I. Area of ​​application

[0001] The invention relates to packaging lines in which several robots arranged one behind the other transfer products into packaging, usually containers, e.g. so-called trays. II. Technical background

[0002] A packaging line usually includes a product belt on which the products to be processed are delivered, and usually also a container belt on which the empty containers are delivered and transported away filled with products.

[0003] At least one of them, preferably both, run within the packaging line in a flow direction which runs in the longitudinal direction of the packaging line, i.e. in the direction of its greatest extent, so that the flow direction of the products on the one hand and / or the containers on the other hand coincides with the longitudinal direction of the packaging line.

[0004] Only in this way is it possible to arrange several robots one behind the other in this longitudinal direction - and often also in two rows opposite each other with respect to the longitudinal center of the packaging line - which transfer the products into the containers.

[0005] A packaging line can also contain other units in addition to the robots, for example processing units such as welding, gluing or sealing units, or even non-movable units, such as a control unit that contains parts or the entire electronic control of the robot line in the form of a rack insert.

[0006] In addition, such a packaging line contains units in the form of drive units such as motor-gearbox units, hydraulic units such as hydraulic pumps, or pneumatic units such as overpressure or vacuum pumps.

[0007] During the operation of such a packaging line, it is always necessary to replace individual units, either because a unit, in particular a robot, is defective and needs to be replaced, or because such a change is advisable due to a new packaging task.

[0008] Until now, the robots in particular were changed manually by manually loosening the data and power connections, which usually comprised a screw connection, and also manually loosening the mechanical fastening of the robot to the base frame or a supporting structure carried by the base frame, manually removing the robot and also manually replacing it with a new robot.

[0009] On the one hand, this requires trained personnel, on the other hand, it takes a lot of time and contains potential sources of error.

[0010] Above all, however, for one or more operators to work in this way within the packaging line, the entire line usually has to be shut down, which leads to high downtimes.

[0011] For cleaning reasons, packaging lines today usually have a raised base frame in which upright support columns are connected at the upper end by longitudinal and transverse beams, which together form the base frame.

[0012] All of the units installed in it are supported by this base frame, whereby the robots in particular are usually not attached directly to the base frame, but to an upper support structure made up of longitudinal and / or transverse beams.

[0013] Since this upper support structure is located in the upper area of ​​the base frame, the robots can be attached in a suspended manner, i.e. with their base on the support structure and with one or more of their robot arms hanging downwards in order to be able to grasp the products running on the product belt in the lower area and place them in the packaging or trays located next to them, also in the lower area, usually on a container belt.

[0014] The product belt and container belt are also usually mounted at a distance above the floor, approximately at table height, by means of a lower support structure, so that the space below remains clear and can be easily cleaned.

[0015] In this context, the automatic changing of a tool, which is located at the free end of a robot arm, for example, by this robot arm itself is well known, e.g. from DE 202011110939 U1, DE 102017213861 A1 and DE 102009044163 A1. III. Description of the inventiona) Technical problem

[0016] It is therefore the object of the invention to provide a method for the rapid and at least partially automatic change of an aggregate on a packaging line, which preferably also does not require the entire packaging line to be shut down during the change, as well as a packaging line suitable for this purpose. b) Solution to the task

[0017] This object is achieved by the features of claims 1 and 10. Advantageous embodiments emerge from the subclaims.

[0018] With regard to the process, this task is solved by automatically releasing the mechanical fixation of the old unit as well as its power and data connection to the rest of the packaging line when it is removed, or automatically connecting it to the packaging line when a new unit is installed.

[0019] The introduction of the new unit into the packaging line preferably takes place up to a transfer position and is carried out - depending on the weight of the unit - manually or with the aid of a delivery device that carries the unit and introduces it, in particular pushes it, into the packaging line.

[0020] One of the main advantages of the robot exchange described below is that after automatic release of the connections, the robot can be automatically and unmannedly removed from the base frame and lowered to working height, so that no technician has to climb around on top of the base frame to release connections there and / or carry out repairs on the assembled robot.

[0021] Repairs to the robot are either carried out in a separate workshop, or at least next to the packaging line with the robot lowered to working height, or the faulty robot is returned to the manufacturer in a defective condition.

[0022] Such a delivery device can be operated manually or carry out the delivery process automatically. Preferably, the delivery device is a self-propelled vehicle that can be moved, for example, on the ground or on a support frame under the ceiling of the hall in which the packaging line is located.

[0023] Theoretically, the delivery device could also be mounted so that it can move along the base frame of the packaging line, but this should not lead to an increase in the overall height of the packaging line.

[0024] It goes without saying that already during the release of the mechanical fixation between the unit and the rest of the packaging line and during the entire period in which this mechanical connection is released, the unit must be supported, for example by being carried by a delivery device or resting on the delivery guides of the packaging line.

[0025] The transfer position at which the new unit is placed on or in the packaging line, in particular by the delivery device, can also be the final assembly position, but these two positions are usually different.

[0026] Therefore, the new unit must first be moved from the transfer position to the assembly position by a moving device attached to the packaging line, since only there is the coupling of the data connection and the power connection between the new unit and the packaging line carried out, as well as the mechanical fixing, preferably after prior precise positioning.

[0027] The exact positioning of the new unit, e.g. robot, in the packaging line is essential for the control system, since all movements of the robot are calculated and determined based on this.

[0028] In this context, it should be mentioned that, as a rule, the central control of the packaging line only distributes the program for the respective packaging order to the respective sub-controllers (VMS), each of which controls a group of robots, while all other control tasks are left to the sub-controllers, each of which controls a group of robots.

[0029] In order to bring the intended robot to the intended assembly position, preferably each assembly position for robots has its own identifier, in particular an identification number, and / or each robot as well, so that the central controller or sub-controller can carry out a unique change order based on the input of the corresponding identification numbers by the operator and / or error messages from the corresponding identification numbers.

[0030] The removal of the old unit and / or the insertion of the new unit is preferably carried out transversely to the longitudinal direction of the packaging line, with these two operations being carried out in opposite transverse directions.

[0031] Preferably, these processes, in particular the insertion process, are carried out by moving the unit along delivery guides which run in this delivery direction, i.e. preferably transversely to the longitudinal direction, the direction of travel of the packaging line.

[0032] The transfer position is then preferably specified by a delivery stop effective in the delivery direction, so that when this stop is contacted, the new unit is automatically placed at the transfer position reached by the delivery device, for example.

[0033] The movement between the transfer position and the assembly position takes place - if these are not identical - preferably in a direction that runs transversely to the delivery direction and can, for example, be directed longitudinally or, preferably, also transversely to this.

[0034] In a preferred embodiment, the units are moved horizontally transversely during delivery and collection to a transfer position on or within the packaging line, but are moved vertically between the transfer position and the assembly position. The assembly position is preferably located vertically above the transfer position.

[0035] At the assembly position, the new unit is first positioned precisely, preferably using mechanical positioning elements, and only then is it mechanically fixed.

[0036] If the unit to be replaced, whether the new or the old unit, can assume different spatial or physical states, for example, can be unfolded or folded together, it is first brought into a compact state, particularly its most compact state, for the removal process and / or the insertion process, in which this unit has its smallest possible dimensions in at least one spatial direction, preferably in all spatial directions. This minimizes the risk of collisions with other components of the packaging line during the replacement process.

[0037] If a robot is replaced, its robot arm is folded up as compactly as possible.

[0038] However, the unit to be replaced can also be a processing unit present in the packaging line, such as a gluing unit, a laser unit, a sealing unit or similar.

[0039] The unit to be replaced can also be another electrical, pneumatic or hydraulic unit, for example a drive unit or even just a pump, or it can be the control unit in which all or part of the control of the packaging line is physically housed.

[0040] The entire changeover process is preferably carried out in such a way that the packaging line can remain operational during the changeover process, with only the unit being changed being deactivated. In particular, the unit being changed is no longer supplied with power or data once the changeover process begins.

[0041] Preferably, after the new unit has been installed, the operational readiness of the new unit is checked using a test program.

[0042] A check of the actual mounting position of the newly installed unit can also be carried out.

[0043] A packaging line suitable for implementation comprises, first of all, the usual components such as a base frame, several robots arranged one after the other in the direction of flow, which are attached directly or indirectly to the base frame and a control system which controls at least all the robots, as well as all the other moving elements of the packaging line.

[0044] According to the invention, such a packaging line further comprises an assembly device for at least partially automatically assembling and disassembling the unit at a defined assembly position and further comprises a coupling device for automatically coupling and decoupling the data connection and / or the energy connection of the unit to be changed, e.g. robot, with the corresponding counter-connections of the packaging line.

[0045] In addition, the control system must be able to control the processes necessary for changing an aggregate, which must be carried out by the packaging line.

[0046] For this purpose, the control system preferably also includes a test program with which the automatically inserted and installed unit can be tested for its full functionality before it goes into regular operation and / or its correct installation position can be checked.

[0047] Then it is at least possible that - as soon as the new unit has reached the assembly position - it can be automatically fixed to the packaging line and the aforementioned connections can be connected to each other.

[0048] For this purpose, the assembly device preferably comprises, on the one hand, a positioning device for precise automatic positioning at the assembly position, for example, with the aid of mechanical positioning elements such as centering pins, which are inserted into corresponding centering recesses of the respective other component. The components to be positioned relative to each other are therefore the base frame or another supporting part of the packaging line, on the one hand, and the assembly, in particular the robot, on the other.

[0049] Preferably, the mounting device also comprises a fixing device for automatically mechanically fixing the unit, in particular after it has been automatically positioned precisely at the mounting position.

[0050] If the assembly position and the transfer position are not identical, the assembly device preferably also comprises a displacement device, in particular a lifting device, with which the unit can be automatically displaced between a transfer position and the assembly position.

[0051] Preferably, the base frame comprises delivery guides which run in the delivery direction, along which the unit to be changed can be moved, for example when being introduced from the outside and pushed in up to a transfer position which is preferably located within the packaging line.

[0052] Preferably, there is a transfer stop against which the unit to be inserted hits when it is inserted along the delivery guides and which defines the transfer position.

[0053] The base frame is preferably mounted on a stand.

[0054] The base frame therefore preferably consists of upright support columns which are connected to one another in their upper region, preferably at their upper end, by longitudinal cross members and cross members and which together form the base frame.

[0055] The robots are then attached either directly to the longitudinal beams and / or cross beams, but preferably indirectly by means of a supporting structure which is attached to the longitudinal and cross beams, wherein the robots are attached in a suspended manner, i.e. the robot base is attached to the beams or the supporting structure and at least one robot arm points downwards from the robot base.

[0056] Preferably, the base frame, in particular the previously described design of the base frame, is constructed in a modular manner, so that in particular a frame module, viewed from above, consists of four upright support columns arranged in a rectangle and two longitudinal cross members and two transverse cross members connecting these in the upper area, in particular at the upper end.

[0057] The product belt and / or container belt usually present in the packaging line, on the other hand, are mounted below and lower down at working height, usually on a lower supporting structure made up of longitudinal struts and cross struts, which is connected to the upright support columns. c) Examples of implementation

[0058] Embodiments of the invention are described in more detail below by way of example. They show: Fig. 1a: a packaging line in top view, Fig. 1b: the packaging line of the Fig. 1a in side view, i.e. transverse to its direction of travel, Fig. 1b1: an enlargement of Fig. 1b, Fig. 1c: the packaging line viewed in the direction of flow, Fig. 1c1: an enlargement of Fig. 1c, Fig. 2a: another packaging line in perspective view, Fig. 2b: the packaging line according to Fig. 2a in supervision, Fig. 2c: the packaging line according to Fig. 2a without security doors in side view, Fig. 2d: the packaging line according to Fig. 2a viewed in the direction of flow Fig. 3a - d: the changing of a robot shown on a single frame module of the packaging line according to Fig. 2a in perspective view, top view, viewed in the direction of flow, as well as in side view, Fig. 4: a detailed representation of the Fig. 2 and Fig. 3 shown robot in perspective view, Fig. 5: a single view of another robot in perspective view

[0059] The Fig. 1a, b, c first of all show a known packaging line, with the help of which products P are to be transferred into ready containers, so-called trays T, with the help of robots 7.

[0060] For this purpose, the products P are transported in a randomly distributed manner on a conveyor belt, the so-called product belt 25, in the throughput direction 10', while the empty trays T are transported on two conveyor belts, the container belts 26a, b, each running parallel to one of the long sides of the product belt 25 but in the opposite direction to it.

[0061] In the direction of travel 10' one behind the other and in the transverse direction 11' of the packaging line 1 in two rows next to each other, a plurality of robots 7 are arranged above the product belt 25 and container belts 26a, b, wherein their respective working area 27, viewed in plan view, covers a length range of one of the container belts 26a, b defined in the direction of travel 10' as well as a region of the product belt 25 adjoining it in the transverse direction, which extends at least to the longitudinal center of the product belt 25.

[0062] Each robot can thus pick up the products P located in its work area 27, lying on the container belt 25, individually or in groups, and place them in the tray T moving on the corresponding container belt 26a, b, whereby the belts 25, 26a, b generally move continuously, preferably constantly.

[0063] Accordingly, as in Fig. 1a - at the inlet end in the flow direction 10', the product belt 25 is loaded with many products P, and ideally, at the end of the transfer area where the robots 7 are located, there are no more products on the product belt. Conversely, the trays T are empty when they enter the transfer area and preferably leave this transfer area only completely filled with products P.

[0064] As is also known, the robots 7 are attached to the base frame 2 of the packaging line 1, suspended from above, i.e. with their robot base 7a, to which the robot arm 7b is attached, attached to the base frame 2, as in Fig. 1b, Fig. 1c can be seen.

[0065] In this case, the base frame 2 consists of several frame modules 2a, b, c that are connected one after the other in the direction of travel 10', either in contact or at a short distance, each of which, viewed from above - as best seen in Fig. 1a - consists of four vertical support columns 3 arranged in a rectangle, which are connected to one another in pairs in the longitudinal direction 10', i.e. the direction of passage 10', via a longitudinal cross member 4 each, and the pairs of support columns 3 located in the same longitudinal position are connected to one another via one of two cross members 5 each.

[0066] The robots 7 - of which here two are arranged one behind the other in the longitudinal direction and two opposite each other in the transverse direction 11', thus a total of four robots 7 per frame module, e.g. 2b - are preferably not suspended directly on the base frame, but on an upper support structure 6, which in turn is attached to the base frame 2, in particular its crossbeams 5 and / or longitudinal beams 6a, usually just below, and comprises, for example, longitudinal beams 6a running in the longitudinal direction 10', if necessary also crossbeams 6b, as in Fig. 1c.

[0067] Likewise, the product belt 25 running beneath the robots and the container belts 26a, b running parallel thereto within the base frame 2 are preferably also not fastened directly to the base frame 2 but to a lower support structure 6' which is fastened to the base frame 2 at a distance from the ground but at a height below the robots 7, usually approximately at knee height to hip height of an operator standing next to it.

[0068] In this case, the lower support structure 6' comprises longitudinal beams 6'a extending in the longitudinal direction 10', which preferably extend over the entire length of the product belt 25 and / or container belts 26a, b, and cross beams 6'b extending in the transverse direction 11' over the entire width of the base frame 2, in any case over the width of both rows of robots 7 attached thereto, and also the total width of the belts 25, 26a, b arranged next to one another.

[0069] The control system 1* controlling the entire packaging line 1 is usually arranged in one of the hollow longitudinal beams 4, as are other electrical, hydraulic or pneumatic units.

[0070] To explain how the at least partially automatic replacement of an aggregate intended according to the invention can take place, this is shown using a robot 7 as an aggregate, whereby aggregates such as the aforementioned hydraulic, pneumatic or electrical aggregates can also be replaced at least partially automatically in a manner analogous to robots 7.

[0071] To change a robot 7, the robot 7 to be removed should - as Fig. 1c shows - after being released from the packaging line 1 in the transverse direction 11', the new robot 7 to be used is delivered in the opposite transverse direction in the delivery direction 18', inserted into the base frame 2 and fixed and coupled there at the correct mounting position on the base frame 2.

[0072] The picking up and transporting away of the robot 7 to be replaced as well as the delivery of the new robot 7 is carried out by a delivery device 50, here in the form of a delivery device to be driven manually by an operator, for example a forklift truck 50, which is equipped here with conventional lifting tines 51a, b, which, however - not shown - can be equipped with specially adapted holding elements for picking up a robot 7 to be transported.

[0073] In Fig. 1c, for example, illustrates the delivery of the new robot 7, which rests with its robot base 7a on the lifting tines 51a, b, which are vertically movable relative to the forklift 50. The robot 7 rests with its transverse direction 11—which, in the mounted position in the packaging line 1, corresponds to the transverse direction 11' of the robot line 1—approximately in the direction of travel of the lifting tines 51a, b, i.e., with the longitudinal direction 10 of the robot 7 transverse to the direction of travel of the lifting tines 51a, b. The direction of travel of the lifting tines 51a, b is also the direction of travel of the forklift 50 when traveling straight ahead.

[0074] The forklift truck 50 or generally a delivery vehicle transporting the robots 7 to be replaced can also drive autonomously and is then preferably guided by means of appropriate sensors, in particular when introducing the new robot 7 into the packaging line 1.

[0075] For at least partially automatic changing and also automatic insertion of an aggregate such as a robot 7, an assembly device 14 is provided, which consists of several parts.

[0076] In the present exemplary embodiment, the robot 7 to be introduced is brought to a transfer position 20 with the aid of the delivery vehicle, i.e. the forklift truck 50, and placed there, and - in particular after removal of the delivery vehicle 50 - from there brought to an assembly position 21, the final position of the robot 7 in the base frame 2, in which it is functional after appropriate connection to the power and data supply.

[0077] In the embodiment of the Fig. 1, the assembly device 14 - except for the delivery vehicle 50 used - is completely part of the packaging line 1, i.e. essentially present at every potential robot position in the packaging line 1.

[0078] For moving to the transfer position 20, a pair of delivery guides 18 are provided in the upper area of ​​the base frame 2 in the transverse direction 11' at each potential robot position on the base frame, each of which has at least one upwardly facing support surface and a lateral boundary surface, as shown in Fig. 1b and especially the detailed enlargements of the Fig. 1b1.

[0079] Each robot 7 has in its upper region at least one robot guide part 7c, which has a downward-facing support surface on both sides, so that the robot 7 with its at least one robot guide part 7c - in the present case two separate robot guide parts 7c are shown - can be moved between the two delivery guides 18 with the aid of the delivery vehicle 50 and after lowering by means of the lifting tines 51a, b the support surfaces of the robot guide parts 7c rest on the support surfaces of the delivery rails 18 and at the same time are also guided laterally in the transverse direction to the delivery direction 18', namely in the longitudinal direction 10' of the packaging line 1.

[0080] This deposit at the transfer position 20 ( Fig. 1b (far left) only occurs when, when pushed in by means of the delivery vehicle 50, the robot 7, in particular its robot guide part 7c, rests in the transverse direction 11' against a delivery stop 19 which also defines the transfer position 20.

[0081] Then the robot 7 is already in the correct transverse position in the transverse direction 11' of the packaging line 1, but not yet in the correct height.

[0082] In order to achieve this, the assembly device 14 further comprises a displacement device 15, here in the form of a lifting device 15, which lifts the robot 7 in an assembly direction 21', which in this case is the vertical 12', up to the assembly position 21 according to Fig. 1c1.

[0083] The displacement device 15 in this case comprises a part of the length of the delivery rails 18 or the entire delivery rails 18 on which the robot 7 rests, which lifts the robot 7 by means of a lifting device 15 as a displacement device - as in Fig. 1b1 - that as a positioning device 16, the positioning elements 16a, b engage with each other, namely centering pins 16a and centering recess 16b, of which are preferably not just one but two on the one hand on the robot base 7a in its upper area, in particular the robot guide part 7c, and on the other hand on the parts of the base frame carrying the robots 7, in particular the upper support structure 6.

[0084] The raised state of the robot 7 after the transfer position 20 in the assembly position 21 with the help of the delivery rails 18 is in Fig. 1b in the third and subsequent positions starting from the left as well as the lifting process in the enlargement of the Fig. 1b1.

[0085] The Fig. 1b second robot position from the left shows a robot 7 which has already been raised to the assembly position 21, but in which the delivery rails 18 remain at the same height, i.e. the necessary displacement device 15 in the form of a lifting device 15 is effected by other parts.

[0086] For example, the lifting device 15 could not be a component of the base frame 1, but the lifting could also be effected by the external delivery vehicle 50, in that, after inserting the robot 7 between at least lateral guides 18 and stopping at the delivery stop 19, the latter lifts the robot 7 into the assembly position 21 by means of the lifting prongs 51a, b.

[0087] Preferably, by reaching and preferably fixing, in particular locking, by means of a coupling device 13 in the assembly position 21 not only by means of the centering elements as positioning elements 16a, b, the exact mechanical assembly position 21 is reached, but at the same time according to Fig. 1c1 the energy connection 8a and data connection 9a present on the robot 7 are automatically brought into operative connection with the corresponding counter elements 8b, 9b in the base frame 2 or the supporting structure 6, so that after reaching the assembly position 21 the robot is already ready for operation.

[0088] In order to permanently relieve the displacement device 15, here the lifting device 15, of the weight of the robot and to keep the centering elements and centering recesses permanently at the stop and thus the robot 7 always exactly in the assembly position 21, a fixing device 17 is also provided, which preferably secures the height of the robot 7 in this embodiment, as in Fig. 1b1 shown: Preferably, a fixing pin 17a is displaced - preferably transversely to the assembly direction 21', in particular in or opposite to the throughput direction 10' of the packaging line 1 - into a corresponding fixing recess 17b, which is located either in the corresponding part of the lifting device 15, here in a section of the delivery rail 18, or directly in the robot 7, in particular the robot guide part 7c. Preferably, the fixing pin 17a is wedge-shaped at its front end with an upwardly facing inclined surface inclined at an angle to its direction of movement, so that in the advanced position it holds the counter element—here, the underside of the recess into which the fixing pin 17a inserts—at the maximum achievable height. For this purpose, the fixing pin 17a is preferably force-controlled.

[0089] The Fig. 2 show a packaging line 1 of a different design of the base frame 2, and the Fig. 3 changing a robot on one of the frame modules.

[0090] The main difference of the base frame 2 in the Fig. 2a to 2d and also the individual module according to the Fig. 3 consists in the fact that the upper longitudinal beams 4 running in the throughput direction of the packaging line 1 are offset inward from the outer ends of the crossbeams 5 in the transverse direction of the packaging line 1 and thus of each individual module. The support columns 3, however, also support the crossbeams 5 near their outer ends.

[0091] In addition, at packaging line 1 in Fig. 2a, for the frame modules 2c to 2e, the safety doors 24 are also shown in the closed state, which close the free space between the support columns 3 of each module and thus prevent access by unauthorized persons to the interior of the packaging line 1 during operation.

[0092] Furthermore, the two container belts 26a, b running on both sides of the product belt 25 are designed such that their return run runs below the container belt 25.

[0093] In the packaging line 1, the first two frame modules 2a, b are used by the robots there to erect carton blanks from a flat state into a carton.

[0094] Therefore, on the longitudinal outer sides of the two frame modules 2a, b, a part of a blank magazine 28 is provided, which in operation contains a stack of blanks lying on top of one another, which are successively grasped individually by the robot 7 there and erected and glued by means of pushing through an erecting die (not shown) to form a carton which is open at the top.

[0095] The erected cartons are placed on one of the container belts 26a, b and from there into the Fig. 2a, b, c are transported from left to right, while on the product belt 25 in the opposite direction, i.e. in the direction of travel 10' from right to left, products are delivered which are transported from the Fig. 2a, b robots not shown are transferred into the erected boxes.

[0096] In frame module 2e, the filled carton is closed and, if necessary, transferred to another means of transport.

[0097] Just as in the Fig. 1 are also - as best in Fig. 2b - on both sides of the longitudinal center, two robots 7 are located opposite each other at the same longitudinal position, as in Fig. 2d clearly visible.

[0098] In the Fig. 3a to 3d show the change of one of the robots 7 on the first frame module 2a: In order for the robot 7 to be removed in the transverse direction to the throughput direction 10' of the packaging line, the blank magazine 28 located on the long side surface of this module 2a must first be removed from there, if necessary, in order to allow access on this side for a delivery device 50 - not shown here for reasons of clarity - which delivers the new robot 7.

[0099] In this case, the blank magazine 28 can be pivoted outwards by 90° around an upright axis between the upper and lower cross members 4 projecting outwards, as best shown in Fig. 3d and Fig. 3b, which exposes the side surface. The safety doors 24 on this side, which are no longer shown here and are usually located in the height range above the blank magazine 28, must also be opened in the same way.

[0100] In this design too, two delivery guides 18 are mounted under the longitudinal cross members 5 of the frame module 2a and run in the transverse direction 11' of the packaging line 1, each of which is located near one of the two cross members 4, which each have a lower, inwardly facing leg as a support surface when viewed in the transverse direction 11' and are mounted at such a distance from one another that the robot base 7a, from which the rest of the robot 7 hangs downwards, including the robot arm 7b, can be placed thereon with its two-sided ends pointing in and against the throughput direction 10'.

[0101] For this purpose, the approximately plate-shaped, horizontally lying robot base 7a in this case has two downwardly projecting rollers 23 at its lateral ends pointing in and against the throughput direction 10', with which the robot base 7a can be rolled further in the direction of the longitudinal center plane 10" after being placed on the support surface of the delivery guides 18.

[0102] How best Fig. 3a, the offset 29 by which the longitudinal cross members 5 of the base frame 2, i.e. each frame module such as 2a, are offset from the free ends of the delivery rails 18, is at least as large as the extension of the robot base 7a in the transverse direction 11' of the packaging line 1 in the assembled state or in the delivery state.

[0103] In Fig. 3a shows the previously removed defective robot 7 lying on the ground.

[0104] Since there is no obstacle in the area of ​​this setback 29 above the downwardly projecting leg of the delivery rail 18, the new robot 7 can be transported at a height with the robot base 7a and thus the rollers 23 there above this lower leg of the support surface 18 up to close to the longitudinal cross member 5 - for example with a delivery vehicle 50 as in the Fig. 1 - and then placed on the support surface of the two delivery rails 18 on both sides, as best shown in Fig. 3b can be seen.

[0105] The delivery rails 18, which run as a U-profile with each module, e.g. 2a, facing each other in the transverse direction 11', essentially over the entire width of the robot line 1, therefore have no free-ending leg of the U-profile in the area of ​​the setback 29 or a shortened one in the cross-sectional direction of the profile, in order not to hinder the lowering onto the lower free-ending leg of the robot base 7.

[0106] The remaining parts of the robot 7 hanging on the robot base 7a are 10' narrower in the direction of travel and do not protrude beyond the end faces of the robot base 7a in this direction.

[0107] The Fig. 4 shows the robot 7 to be changed individually, in a perspective view, looking at the front side of the robot base 7a facing the longitudinal center plane 10" and running in this direction.

[0108] It can be seen that this has two projecting positioning pins 16a arranged at a distance from one another, which, when the robot 7 is pushed forward along the delivery rails 18, plunge into corresponding locking recesses 16b and center them due to their conical shape, which in the best Fig. 3b, which also runs in the throughput direction 10' of the packaging line 1.

[0109] Between the positioning pins 16a, two energy connections 8a, b, for example for electrical current on the one hand and compressed air on the other hand, as well as a data connection 9a can be seen in the front surface of the robot base 7a.

[0110] These automatically engage with corresponding counter elements in the central cross member 30 as soon as the positioning pins 16a engage there.

[0111] In this locked and data-technically and energy-technically coupled position, the robot base 7a and thus the entire robot 7 can also be additionally fixed automatically by a fixing device (not shown), in particular automatically.

[0112] The robots of Fig. 1 to 4 have only two degrees of freedom, in that the upper and lower arms can only be pivoted in a vertical plane lying perpendicular to the throughput direction 10' of the packaging line 1 and two robot arms, each with a lower arm and an upper arm, are coupled to each robot.

[0113] Fig.5 shows a different design of the robot, which, however, has the same plate-shaped robot base 7a with all the features described thereon, such as rollers 23, energy and data connections and positioning pins, but the robot hanging from this robot base 7a has four degrees of freedom, in that the only robot arm present there with upper and lower arm can be pivoted in a horizontal plane and carries a lifting unit at the free end of the lower arm, which is vertically adjustable and rotatable about the vertical and carries a tool such as a suction cup at the lower end.

[0114] This makes it clear that any type of hanging robot 7 can be attached to such a robot base 7a, and if the robots 7 are not arranged hanging in the base frame but standing on it, they can also sit on the robot base 7a.

[0115] Instead of a robot, any other processing unit may be present on such a robot base 7a. LIST OF REFERENCE SYMBOLS 1 packaging line 1* Control, control unit 2 base frame 2a, b, c frame module 3 Support column 4 longitudinal cross members 5 cross beams 6 Supporting structure 7 robots 7a Robot Base 7b Robot arm 7c Robot guide part 8 Energy connection 9 Data port 10' Longitudinal direction, throughput direction of the packaging line 10 Cross direction robot 11' horizontal cross direction packaging line 11 Longitudinal direction robot 12 vertical direction, vertical 13 Coupling device 14 Mounting device 15 Relocation device 16 Positioning device 16 a, b Positioning element 17 Fixing device 17 a Fixing pin 17 b Fixing recess 18 Delivery Management 18' Delivery direction 19 Delivery stop 20 handover position 21 Mounting position 21' mounting direction 22 Mounting stop 23 roll 24 security door 25 Product band 26a, b container belt 27 Work area 28 cutting magazine 29 setback 30 central traverse 50 Delivery device, delivery vehicle 51a, b lifting tines P Product T-Tray

Claims

[1] Packaging line (1), designed for at least partially automatic changing of a robot (7), with - a base frame (2), - several robots (7) which are attached to the base frame (2), in particular one behind the other in the direction of travel (10) of the packaging line (1), - a controller (1*) for controlling at least all robots (7) of the packaging line (1), characterized by - an assembly device (14) for, in particular automatically, assembling or disassembling, i.e. permanently mechanically fixing, the robot (7) at a defined assembly position, - a coupling device (13) for, in particular automatically, coupling or decoupling the data connection (9a) and / or the power connection (8a) of each robot (7) with respect to corresponding counter-connections (8b, 9b) of the packaging line (1), - wherein the controller (1*) is capable of controlling at least the packaging line-side processes necessary for the at least partially automatic changing process of a robot (7). [2] Packaging line according to claim 1, characterized by , that - the packaging line comprises a delivery device (50), - which is designed in particular to be separate from the rest of the packaging line (1) and / or to be self-propelled, in particular to be self-propelled on the ground. [3] Packaging line according to one of the preceding claims, characterized by that the mounting device (14) - a positioning device (16) for automatically and precisely positioning the robot (7) at the assembly position (21) and / or - a fixing device (17) for automatically mechanically fixing the robot (7) at the mounting position (21) and / or - a displacement device (15), in particular a lifting device (15), for displacing the robot (7) from a transfer position (20) to an assembly position (21). [4] Packaging line according to one of the preceding claims, characterized by , that - the robots (7) are fastened to the base frame (2) by means of an upper supporting structure (6) of the base frame (2), which comprises longitudinal cross members (6a) and / or transverse cross members (6b). [5] Packaging line according to one of the preceding claims, characterized by that a part of the assembly device (14), in particular the displacement device (15), is a component of the delivery device (50). [6] Packaging line according to one of the preceding claims, characterized by that on the base frame (2) - as part of the assembly device (14), delivery guides (18) are provided for placing and / or moving and / or laterally guiding the robot (7) to be changed, which extend in a delivery direction (18'), - in particular as part of the positioning device (16) there is a transfer stop (19) for the robot (7) to be introduced, which is effective in particular in the delivery direction (18'). [7] Packaging line according to one of the preceding claims, characterized by , that - a delivery guide (18), in particular a pair of parallel, spaced-apart delivery guides (18), is provided at each robot position in the base frame (2) and / or - each delivery guide (18), in particular a pair of delivery guides (18), is a component of the displacement device (15), in particular of the lifting device (15), and can be displaced together with the robot (7) loaded on the at least one delivery guide (18). [8] Packaging line according to one of the preceding claims, characterized by , that - each assembly position (21) for robots (7) has its own identification, in particular identification number, and / or each robot (7) and / or - each robot (7) has one, in particular only one, server amplifier for all motors of the robot (7) together, and / or - the central controller (1*) of the packaging line (1), preferably only, distributes the program for the respective packaging order to the respective sub-controllers (VMS), each of which controls a group of robots (7). (Test program). [9] Packaging line according to one of the preceding claims, characterized by that the control (1*) includes a test program with which the inserted and mounted unit can be tested for its full functionality and / or exact mounting position (21). [10] Method for at least partially automatically changing a robot (7) on a packaging line (1) comprising at least one, in particular several, robots (7), by a) the data connection (9) and the power connection (8) between the old robot (7) to be removed and the rest of the packaging line (1) are automatically disconnected, b) the mechanical connections between the old robot (7) and the rest of the packaging line (1) are automatically released, c) the old unit is automatically removed from its assembly position (21) from the packaging line (1), d) the new robot (7) is introduced into the packaging line (1) up to the assembly position (21), e) the new robot (7) is mechanically coupled and fixed relative to the packaging line (1), in particular automatically, f) the data connection (9a) and the energy connection (8a) of the new robot (7) are automatically coupled to the corresponding counter-connections (8b, 9b) of the packaging line (1). [11] Method according to claim 10, characterized by , that - in step c) the old robot (7) is first moved to a transfer position (20) of the packaging line (1) and from there automatically removed from the packaging line (1) and / or - in step d) the new robot (7) is first moved to a transfer position (20) of the packaging line (1) and from there automatically to an assembly position (21) [12] Method according to claim 10 or 11, characterized by , that - the transfer position (20) is the assembly position (21) and - steps e) and f) are carried out at the transfer position (20). [13] Method according to one of the preceding method claims, characterized by , that - in step c) the old robot (7) is removed from the packaging line (1) in a removal direction (18'b) which is transverse to the longitudinal direction (10) of the packaging line (1) and / or - in step d) the new robot (7) is introduced into the packaging line (1) in a delivery direction (18'a) which is transverse to the longitudinal direction (10'), - in particular the removal direction (18'b) and the delivery direction (18'a) run in the same delivery direction (18'), but oppositely. [14] Method according to one of the preceding method claims, characterized by , that - the removal and / or insertion of the robot (7) is carried out by sliding it along delivery guides (18) running in a delivery direction (18') which are provided on the base frame (2) of the packaging line (1) and / or - the insertion up to the transfer position (20) and / or assembly position (21) up to a delivery stop (19) effective in the delivery direction (18'a) is specified. [15] Method according to one of the preceding method claims, characterized by that at the latest starting with step b) the old robot (7) and during steps d) and e) the new robot (7) is supported vertically. [16] Method according to one of the preceding method claims, characterized by , that - between the transfer position (20) and the assembly position (21) the robot (7) is automatically displaced in an assembly direction (21'), which runs in particular transversely to the delivery direction (18'), in particular in the vertical direction (12), - in particular when introducing a new robot (7), it is automatically raised or lowered from the transfer position (20) to the assembly position (21), in particular up to an assembly stop (22). [17] Method according to one of the preceding method claims, characterized by , that - during step e) the robot (7) is automatically positioned exactly opposite the base frame (2), - in particular by means of mechanical positioning elements (16a, b), in particular centering elements (16a, b), and / or - after step e) the position of the robot (7) in the base frame (2) is automatically determined. [18] Method according to one of the preceding method claims, characterized by , that - before step d), the new robot (7), if it can assume different spatial states, is brought into a compact, in particular its most compact, state, - in which it has its smallest possible dimensions in at least one spatial direction, preferably in all spatial directions. [19] Method according to one of the preceding method claims, characterized by , that - the removal or delivery of a robot (7) is carried out by means of a delivery device (50), in particular automatically, wherein in particular, - the delivery device (50) is capable of automatically introducing the new robot (7) into the packaging line (1) up to the transfer position (20), and / or - the delivery device (50) is designed to be self-propelled on the ground. [20] Method according to one of the preceding method claims, characterized by , that - the replacement of the robot (7) is carried out while the rest of the packaging line (1) is in operation and only the robot (7) to be replaced is deactivated, - in particular by switching off the energy supply, in particular also the data supply, of the robot (7) to be changed and / or separating it from the rest of the packaging line (1).

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