Device for automated handling of articles

Abstract

A device (1) for the automated handling of articles is described. The device (1) comprises a transport device (2) for transporting the articles along a conveyor line and at least one industrial robot (3) arranged along the conveyor line for handling articles and / or secondary packaging (4). The transport device (2) has a machine frame (20). The at least one industrial robot (3) has a support frame (30) which is supported by the machine frame (20) at least on one side of the conveyor line.

Description

[0001] The present invention relates to a device for the automated handling of articles according to the features of the preamble of the independent device claim.

[0002] Automated handling of articles typically involves the transport of articles along a conveyor line, accompanied by a manipulation, also referred to as handling, of at least some of the articles on or along the conveyor line.

[0003] The handling takes place during the conveyor route of a system, for example along the conveyor route or alternatively or additionally at the end of the conveyor route when the items are transferred from one system to another.

[0004] The automated handling of articles can, without claiming to completeness of the list, include handling individual articles, handling packages of several articles, handling groups of articles, or combinations thereof.

[0005] One goal of automated handling of articles can be to, for example, merge, align, arrange, or group them, such as combining several articles into larger packages.

[0006] A typical example is combining several items into a single sales unit, for instance using packaging or a packaging insert, or grouping several items or sales units into a pallet layer. Orienting, ordering, or arranging items in a specific order can also be useful, for example, to achieve a predetermined appearance for a sales unit. This includes, for example, the orientation of the labels on the items being grouped together or the sequence of labels within a sales unit or display.

[0007] Automated handling of articles can include, for example - without claiming to be exhaustive - moving, relocating, rotating or combinations thereof, with or without lifting.

[0008] Within a device for the automated handling of articles, referred to simply as a system, a transport unit handles the transport of articles along the conveyor path. The transport unit comprises a machine frame, also called a frame or simply frame, which is anchored to the floor of the installation site, typically a factory building. The transport unit can provide at least one section of the conveyor path, along which the articles are typically carried by the transport unit. A typical transport unit is a so-called horizontal conveyor.

[0009] To handle at least some of the items on or along the conveyor line, it is known to provide an industrial robot, also referred to as a manipulator or simply robot, along the conveyor line. The industrial robot is mounted on a support frame to withstand the forces and moments that occur when handling the items. The support frame, in turn, is supported independently of the conveyor line. For this purpose, the support frame has vertical supports extending to the floor of the building, by which it is founded independently of the conveyor line.

[0010] This results in disadvantages regarding: - accessibility for operating personnel, for example in the event of a malfunction, - visibility by operating personnel, for example for control purposes, - the handling of articles, for example when combining several articles by means of a packaging cut or similar, - the handling of articles, for example when completing article groupings (pallet layers) with supplementary / replacement articles to replace missing items caused by damaged or lost, rejected articles, - the supply of plant components with consumables, for example packaging blanks, supplementary items, etc.

[0011] The object of the invention is to create a device for the automated handling of articles, which is free from at least the aforementioned disadvantages.

[0012] The above problem is solved by the features of the independent claim. Further advantageous embodiments are described by the dependent claims.

[0013] Beyond solving the problem underlying the invention, advantages include, for example, a significant simplification of the assembly of such a system. This is due, among other things, to the fact that the invention provides a modular design that allows for the subsequent integration of handling equipment along a conveyor line. For example, an industrial robot, such as a delta kinematic robot, can be subsequently mounted on the machine frame of a transport device at the end of a conveyor line provided by the transport device, in particular a horizontal conveyor.

[0014] A particularly noteworthy advantage is the high performance of such a device, which can achieve up to forty cycles or more while simultaneously offering simplified operation.

[0015] This is achieved, among other things, by enabling automatic refilling of the magazine by an external robot through the extension and re-engagement of the magazine perpendicular to the transport or conveying direction.

[0016] Furthermore, the invention provides a frame concept and a modular design for a packaging machine, for example, a packaging machine for disposable containers. The frame concept takes advantage of the low accelerated masses of the tripods.

[0017] It is particularly important to emphasize that the invention provides a simple retrofit option for existing packaging machines with a transport device, enabling them to be retrofitted with an industrial robot for handling articles and / or secondary packaging without having to change the machine frame of the transport device.

[0018] Additional advantages arising besides a complete solution to the problem underlying the invention include, among others: - improved accessibility to the plant or plant components, in short: machine. - Improved or even entirely possible access to an intermediate storage area from the operator's side while the machine is running. Furthermore, the support frame on the machine frame allows the removal of secondary packaging from the magazines to be observed for control purposes. - Magazines arranged laterally along the conveyor track, which hold secondary packaging such as format parts, can be changed while the machine is running or reloaded directly in a disengaged position. Further advantages include overcoming the limited performance that occurs particularly with linear axes. By using a delta kinematic robot, the high accelerated masses of an industrial robot can be avoided. Due to the lower moving masses, decoupling of the machine frame and support frame is not necessary. The industrial robot's support frame can be directly supported by the machine frame of the transport system.

[0019] It is evident that the invention can be realized by a device designed as a packaging device for handling articles. The device is equipped with a transport unit designed as a horizontal conveyor for the items to be packaged. The transport unit comprises a machine frame with supports on both sides, i.e., to the left and right of the conveying path provided by the horizontal conveyor. The machine frame supports the horizontal conveyor and thus the conveying path. At least one industrial robot is arranged along the conveying path. The industrial robot has a support frame. The support frame bridges the transport device. Advantageously, the industrial robot is suspended below the support frame above the conveying path. The support frame is supported by the machine frame on at least one side of the conveying path.

[0020] Advantageously, the packaging device has at least one magazine. This magazine provides secondary packaging, in particular packaging blanks. The handling of the secondary packaging is carried out by at least one industrial robot. The magazine, together with the industrial robot bridging the horizontal conveyor, forms a so-called packaging module. Advantageously, the industrial robot is a tripod robot, also known as a delta kinematic robot.

[0021] The packaging module is supported by the machine frame of the horizontal conveyor on at least one side of the conveyor path. The packaging module is supported by the machine frame of the horizontal conveyor on at least one side of the conveyor path.

[0022] The following exemplary embodiments of the invention and its advantages will be explained in more detail with reference to the accompanying figures. The relative sizes of the individual elements in the figures do not always correspond to the actual relative sizes, as some shapes are simplified and others are enlarged for better illustration. Fig. Figure 1 shows a schematic view of a first embodiment of a device for the automated handling of articles transported along a conveyor track, viewed along a transport direction defined by the conveyor track. The device includes an industrial robot for handling articles and / or secondary packaging. The industrial robot has a support frame which is supported on one side of the conveyor track by the machine frame of a transport unit that provides the conveyor track. On the opposite side, the support frame is also supported by the machine frame. Additionally, the support frame has a vertical support spaced transversely to the transport direction from the machine frame, which is anchored directly to the floor. Fig. Figure 2 shows a schematic view of a second embodiment of a device for the automated handling of articles transported along a conveyor track, viewed along a transport direction defined by the conveyor track. The device includes an industrial robot for handling articles and / or secondary packaging. The industrial robot has a support frame, which is supported on one side of the conveyor track by the machine frame of a transport unit that provides the conveyor track. On the opposite side, the support frame is also supported by the machine frame. Additionally, the support frame has a first vertical support, located directly adjacent to the machine frame and anchored directly to the floor, and a second vertical support, positioned transversely to the transport direction and spaced from the machine frame, which is also anchored directly to the floor. Fig. Figure 3 shows a schematic view of a third embodiment of a device for the automated handling of articles transported along a conveyor track, viewed along a transport direction defined by the conveyor track. The device includes an industrial robot for handling articles and / or secondary packaging. The industrial robot has a support frame which is supported on one side of the conveyor track by the machine frame of a transport unit that provides the conveyor track. On the opposite side, the support frame rests independently on the floor, independent of the machine frame. For this purpose, the support frame has a first vertical support located directly adjacent to the machine frame and anchored directly to the floor, as well as a second vertical support spaced transversely to the transport direction from the machine frame, which is also anchored directly to the floor. Fig. Figure 4 shows a schematic view of an embodiment of a support frame equipped with two industrial robots in a perspective view. Fig. Figure 5 shows a schematic perspective view of an embodiment of a vertical support, arranged at a distance from the machine frame transversely to the transport direction and equipped with two magazines for providing secondary packaging next to the conveyor line. Advantageously, the vertical support carries the support frame, which can also be referred to as the upper part. Fig. 4 on one side of the conveyor line. Fig. Figure 6 shows a schematic view of an embodiment of an arrangement of an industrial robot equipped with a support frame comprising two delta kinematic robots. Fig. 4, the vertical support arranged at a distance from the machine frame transversely to the transport direction indicated by a double arrow, equipped with two magazines for providing secondary packaging next to the conveyor line Fig. 5 is carried on one side of the conveyor belt, in perspective view. Fig. Figure 7 shows a schematic perspective view of an embodiment of a device for the automated handling of articles transported along a conveyor line provided by a transport device, which device has two arrangements arranged one behind the other with respect to the transport direction. Fig. It is equipped with 6. Fig. Figure 8 shows a schematic view of the embodiment of the device for the automated handling of articles transported along a conveyor line provided by a transport device. Fig. 7 in a top view. Fig. Figure 9 shows a schematic view of a device for the automated handling of articles transported along a conveyor line according to the state of the art in a perspective view.

[0023] Identical reference numerals are used for identical or equivalently functioning elements of the invention. Furthermore, for the sake of clarity, only those reference numerals necessary for describing the respective figure are shown in the individual figures. The illustrated embodiments merely represent examples of how the device according to the invention may be configured and do not constitute an exhaustive limitation.

[0024] One in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8. Device 1, shown in whole or in part, for the automated handling of articles comprises a transport device 2 for transporting the articles along a conveyor line. The automated handling involves transporting the articles along a conveyor line and handling the articles on and / or along the conveyor line, also referred to as manipulation.

[0025] The transport device 2 handles a part of the automated process relating to the transport of the articles along the conveyor line.

[0026] The transport device 2 has a floor-supported machine frame 20 that carries the conveyor line.

[0027] The device 1 also includes at least one industrial robot 3 arranged in the course of the conveyor line for handling articles and / or secondary packaging 4.

[0028] The industrial robot 3 handles a part of the automated handling of the items transported on or along the conveyor line, relating to the handling of the items at the beginning, during or at the end of the conveyor line.

[0029] The at least one industrial robot 03 has a support frame 30. The at least one industrial robot 03 is preferably arranged above the transport device 02. For example, the industrial robot 03 hangs from the support frame 30 above the conveyor line.

[0030] The support frame 30 is supported by the machine frame 20 on at least one side of the conveyor section. For example, the support frame 30 is supported by the machine frame 20 on at least one side of the conveyor section. The support frame 30 can be supported by the machine frame 20 on at least one side of the conveyor section.

[0031] At the in Fig. In the device 1 shown, the industrial robot 3 has a support frame 30, which is supported on one side of the conveyor track by the machine frame 20 of a transport device 2 that provides the conveyor track. On the opposite side, the support frame 30 is also supported by the machine frame 20. In addition, the support frame 30 has a [missing information - likely a reference to a specific feature or component] extending transversely from the machine frame 20 to the [missing information - likely a reference to a specific feature or component]. Fig. 1 vertical support 31 spaced perpendicular to the plane of the drawing, which is directly founded on the ground 5, for example a hall floor of a factory hall.

[0032] At the in Fig. In the device 1 shown in section 2, the industrial robot 3 also has a support frame 30, which is likewise supported on one side of the conveyor track by the machine frame 20 of the transport device 2 that provides the conveyor track. On the opposite side, the support frame 30 is also supported by the machine frame 20. In addition to a support frame 30 extending transversely from the machine frame 20 to the conveyor track, the robot 3 also has a support frame 30. Fig. The support frame 30 has a second vertical support 32, arranged directly adjacent to the machine frame 20 and anchored directly to the ground 5, in addition to the first vertical support 31, which is spaced perpendicular to the plane of the drawing. The second vertical support 32 is arranged perpendicular to the plane of the drawing. The second vertical support 32 is located perpendicular to the plane of the drawing. Fig. The second vertical support 31, spaced perpendicular to the plane of the drawing and in the direction of transport, is also directly anchored to the floor 5. The floor 5 is, for example, the floor of a factory building. The second vertical support 32 is located on the same side of the machine frame 20 of the transport device 2 as the first vertical support 31. The first vertical support 31 is perpendicular to the plane of the drawing. Fig. 2 transport direction perpendicular to the plane of the drawing further away from the machine frame 20 of the transport device 2 than the second vertical support 32.

[0033] In device 1 in Fig. The industrial robot 3 also has a support frame 30, which is supported on one side of the conveyor track by the machine frame 20 of a transport device 2 that provides the conveyor track. On the opposite side, the support frame 30 rests independently on the floor 5, independent of the machine frame 20. For this purpose, the support frame 30 has a transverse bearing. Fig. The first vertical support 31 is arranged perpendicular to the plane of the drawing and spaced from the machine frame 20 in the direction of transport. It is directly anchored to the ground 5. The support frame 30 also has a second vertical support 32, which is located directly adjacent to the machine frame 20 and is likewise directly anchored to the ground 5. The first vertical support 31 is located on the side of the second vertical support 32 facing away from the machine frame 20 and perpendicular to the direction of transport. The second vertical support 32 is positioned perpendicular to the direction of transport between the machine frame 20 and the first vertical support 31.

[0034] The items themselves can preferably be handled by selectively and / or partially rotating them and / or shifting them in the transport direction in order to form a pre-grouping from several items that is aligned with a palletizable layer.

[0035] The secondary packaging 4 mentioned above can, in at least one embodiment, be packaging blanks with which such pre-grouped articles can be combined.

[0036] Advantageously, the industrial robot 3, or at least one of several industrial robots 3, is a delta kinematic robot 300. If several industrial robots 3 are planned, they can all be designed as delta kinematic robots 300.

[0037] As in Fig. 4 and Fig. Figure 6 shows that the industrial robot 3 particularly preferably comprises at least one delta kinematic robot 300.

[0038] The delta kinematic robot 300 can be characterized by a manipulator head 302 supported by three pairs of articulated arms, or articulated arms 301, which are advantageously held on the support frame 30 above the conveyor path.

[0039] The industrial robot 3 of the in Fig. The device 1 shown in Figure 4 comprises two delta kinematic robots 300. The industrial robot 3 has a support frame 30 with two parallel crossbeams 33. The crossbeams 33 extend transversely to the transport direction of the transport device 2. The delta kinematic robots 300 are advantageously arranged between the crossbeams 33 of the support frame 30. Fig. 4 and Fig. Figure 6 shows simplified schematic outlines of the envelopes 303, which indicate the spatial area that the manipulator heads 302 of the two delta kinematic robots 300 are able to reach. The envelopes 303 are not to be considered complete, at least in the vertical dimension. The delta kinematic robots 300, also referred to as tripods, are advantageously arranged at an angle to allow them to be positioned closer together. If they were oriented identically, the drives of the delta kinematic robots 300 would collide.

[0040] Advantages of a delta kinematic robot 300, also known as a tripod robot, compared to a conventional industrial robot are its low weight and resulting low moving mass. This makes decoupling from the transport device 2, which is designed, for example, as a horizontal conveyor, easier or even possible. The low weight simplifies decoupling the delta kinematic robot 300 from the transport device 2, even though the former is supported at least on one side of the conveyor track by its support frame 30 against the machine frame 20.

[0041] In particular, if the secondary packaging 4 consists of packaging blanks, at least one industrial robot 3 of the device can be part of a packaging module that provides consumables. The consumables can be secondary packaging 4, in particular packaging blanks, for at least partial packaging of the articles.

[0042] An advantageous further development of the device 1 provides that at least one magazine 6 for receiving consumables, in particular secondary packaging 4, is arranged next to the conveyor line, for example on the machine frame 20.

[0043] Advantageously, the magazine 6 is arranged below the support frame 30 next to or on the machine frame 20.

[0044] At the in Fig. 5, Fig. 6, Fig. 7, Fig. In the device 1 shown in Figure 8, the magazine 6 can be positioned at least transversely to a conveyor path defined by the conveyor section provided by the transport device 2 and in Fig. The transport direction 200, indicated by a double arrow, is movably arranged between a holding position 61, preferably located close to the conveyor, also referred to as the supply, operating, or engagement position, and a reloading position 62, preferably located away from the conveyor, also referred to as the empty or disengagement position. The magazine 6 can be movably arranged on the machine frame 20 between the holding position 61 and the reloading position 62.

[0045] The movable arrangement of the magazine 6 can include a linear movement transverse to the transport direction 200.

[0046] Alternatively or additionally, the movable arrangement of the magazine 6 can include a rotational movement about a vertical axis.

[0047] The movable arrangement of the magazine can alternatively or additionally include a rotational movement around a horizontal axis.

[0048] The axis around which a rotational movement takes place can be spaced away from a geometric center of the magazine 6, so that when the rotational movement is carried out, the magazine 6 performs a movement component perpendicular to the transport direction 200 and thereby releases or reoccupies an area between the conveyor line and the magazine 6.

[0049] At the in Fig. 5, Fig.The device 1, shown in whole or in part, can advantageously have treads 63 movably arranged below the support frame 30 in the area that can be occupied and released by the movably arranged magazine between its holding position 61 and its reloading position 62, and vice versa, next to the transport device. These treads 63 can be arranged between a walking position and a magazine position. The treads 63, which may be designed, for example, as perforated or corrugated plates, can be moved into a walking position when the magazine 6 releases the area. When the magazine 6 occupies the area, the treads 63 can be moved from their walking position into the magazine position.

[0050] The movable arrangement of the tread surfaces 63 can include a folding movement about a horizontal axis.

[0051] With the magazines 6, hereinafter referred to as extended, in their reloading position 62 and the correspondingly automatically lowered footplates 63, there is free access to the separating and application heads, intermediate storage areas and to the conveyor for the purpose of format part changes and troubleshooting.

[0052] Regardless of the number of devices 1, also referred to as modules, or their industrial robots 3, all magazines 6 can be simultaneously removed from the machine by appropriate selection.

[0053] By segmenting the footplates 63, the magazines 6 do not necessarily have to be completely removed from the machine to obtain sufficient accessibility for troubleshooting.

[0054] The described device 1 can be part of a packaging device for items to be packaged.

[0055] It is important to emphasize that the delta kinematic robots 300, also known as tripods, have lower moving masses, making it easier to forgo a separate support for the industrial robot 3 that is independent of the machine frame 20. This allows the support frame of the industrial robot 3 to be placed directly on the machine frame 20 of the transport system. The vibrations occurring in delta kinematic robots 300 are so low that the machine frame 20 and the industrial robot 3, which is configured, for example, as a packaging module, do not need to be decoupled.

[0056] The industrial robot 3 is advantageously part of a secondary packaging module 4, for example, in the aforementioned packaging module which provides 200 magazines 6 arranged transversely to the transport direction and attaches them to grouped articles. Such a packaging module bridges the transport device 2. The support frame 30 of the industrial robot, which forms part of the packaging module, is at least partially supported by the machine frame 20 of the transport device 2.

[0057] In addition, for example, tread surfaces designed as folding tread plates 63 can be folded back and forth, for example downwards.

[0058] The device 1 according to the invention allows existing packaging machines to be retrofitted modularly with a previously mentioned packaging module. For this purpose, safety doors can be removed from existing designs. The packaging module is then installed.

[0059] It is important to emphasize that when changing the operator side, the packaging modules can be rotated and do not need to be mirrored. A corresponding advantage of this is significant standardization in the production of retrofittable packaging modules.

[0060] The invention has been described with reference to a preferred embodiment. However, it is conceivable to a person skilled in the art that modifications or changes to the invention can be made without departing from the scope of protection of the following claims. Reference symbol list 1 Device 2 Transport equipment 3 industrial robots 4 Secondary packaging 5 Floor 6 Magazine 20 machine frames 30 support frames 31 Vertical support 32 Vertical support 33 Traverse 61. Precautionary Position 62 Reload position 63 tread surface 200 Transport direction 300 Delta kinematic robots 301 Articulated arm 302 Manipulator head 303 Envelope

Claims

[1] Device (1) for automated handling of articles, comprising a transport device (2) for transporting the articles along a conveyor line and at least one industrial robot (3) arranged in the course of the conveyor line for handling articles and / or secondary packaging (4), wherein the transport device (2) has a machine frame (20), characterized by , that the at least one industrial robot (3) has a support frame (30) which is supported at least on one side of the conveyor line by the machine frame (20). [2] Device according to claim 1, wherein at least the industrial robot (3) comprises at least one delta kinematic robot (300). [3] Device according to claim 1 or 2, wherein the secondary packaging (4) is packaging blanks. [4] Device according to one of the preceding claims, wherein at least one industrial robot (3) is part of a packaging module providing secondary packaging (4) for at least partial packaging of the articles. [5] Device according to one of the preceding claims, wherein it comprises at least one magazine (6) for receiving secondary packaging (4). [6] Device according to claim 5, wherein the magazine (6) is arranged below the support frame (30). [7] Device according to claim 5 or 6, wherein the magazine (6) is movably arranged at least transversely to a transport direction (200) specified by the transport device (2) between a holding position (61) and a reloading position (62). [8] Device according to claim 7, wherein in the area that can be occupied and released by the movably arranged magazine (6) between its holding position (61) and its reloading position (62) and vice versa, tread surfaces (63) are movably arranged, which, when the magazine (6) releases the area, can be moved into a walkable state, and which, when the magazine (6) occupies the area, can be moved out of their walkable state. [9] Device according to claim 8, wherein the movable arrangement of the tread surfaces (63) comprises a folding movement about a horizontal axis. [10] Device according to one of the preceding claims, wherein it is part of a packaging device for items to be packaged.

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