Device and method for assembling packaging sets

Abstract

A method for assembling packaging sets (12) comprises picking up a first package (8) by a first articulated robot (6) and picking up a second package (9) by a second articulated robot (7). The method further comprises positioning the first package (8) and the second package (9) side by side by the first articulated robot (6) and the second articulated robot (7), whereby the positioning of the first package (8) and the second package (9) side by side forms a first packaging set (12) comprising the first package (8) and the second package (9). The method further comprises picking up the first packaging set (12) by either the first articulated robot (6) or the second articulated robot (7).

Description

[0001] The invention relates to devices and methods for assembling packaging sets.

[0002] From EP 3 296 238 A1, a receiving device for packaging is known. This device uses two pivotable holding elements to fold two packaging sections together in such a way that the compartments of the first packaging section are arranged in spaces between the compartments of the second section, and vice versa. This solution has proven to be costly and inflexible. For example, different packaging formats require design modifications.

[0003] It is an object of the invention to provide improved devices and methods for assembling packaging sets. This object is achieved by a method with the features of claim 1 and by a device with the features of claim 11.

[0004] A method for assembling packaging sets is disclosed. The method comprises picking up a first package by a first articulated robot and picking up a second package by a second articulated robot. The method further comprises positioning the first package and the second package side by side by the first articulated robot and the second articulated robot, whereby the positioning of the first package and the second package side by side forms a first packaging set comprising the first package and the second package. The method further comprises picking up the first packaging set by either the first articulated robot or the second articulated robot.

[0005] By using two articulated robot arms to assemble the packaging set, the assembly process can be more flexibly adapted to different packaging formats. For example, adjustments to the programming of one or both articulated robot arms may be sufficient to adapt to a new format. In contrast, methods that use specialized fixtures, as known from the prior art, would require design changes, which can be more expensive. Furthermore, changing tools can cause downtime for the fixture.

[0006] The method can further include holding the first package on the first articulated robot arm by means of a first holding device. Additionally or alternatively, the method can include holding the second package on the second articulated robot arm by means of a second holding device. The first and / or the second holding device can each, for example, comprise one or more suction grippers and / or one or more suction cups, which can be selectively activated.

[0007] Furthermore, the method can include holding the first packaging set on the first articulated robot arm by means of a first fixing device. Additionally or alternatively, the method can include holding the first packaging set on the second articulated robot arm by means of a second fixing device. The first and / or the second fixing device can each, for example, comprise one or more retaining tabs and / or one or more gripping arms and / or gripping prongs.

[0008] The method can involve the first articulated robot and / or the second articulated robot picking up multiple packages. This allows several packages to be assembled simultaneously. For example, the method can involve a first picking device holding the first package and a third package on the first articulated robot, and a second picking device holding the second package and a fourth package on the second articulated robot.

[0009] Furthermore, the method can include positioning the third and fourth packages side by side by the first articulated robot and the second articulated robot, whereby a second packaging set can be formed by positioning the third and fourth packages side by side, which can include the third and fourth packages.

[0010] The method may further include holding the first packaging set on the first articulated robot arm by a first fixing device and holding the second packaging set on the second articulated robot arm by a second fixing device.

[0011] Furthermore, the method may include releasing the second package from the second articulated robot, e.g., from the second holding device, when and / or as soon as and / or after the first package set is picked up by the first articulated robot, e.g., held by the first fixing device. Furthermore, the method may include releasing the third package from the first articulated robot, e.g., from the first holding device, when and / or as soon as and / or after the second package set is picked up by the second articulated robot, e.g., held by the second fixing device.

[0012] During the process of arranging the first and second packages side by side, they can be nested. For example, the first and second packages can be aligned so that protrusions of the first package are positioned between protrusions of the second. These protrusions could be, for example, packaging recesses, which could be created by deep drawing.

[0013] During the process of arranging the third and fourth packages side by side, they can be nested. For example, they can be aligned so that protrusions of the third package are positioned between protrusions of the fourth. These protrusions could be, for example, packaging recesses, which could be created by deep drawing.

[0014] The invention also relates to a device for assembling packaging sets, wherein the device comprises a first articulated robot arm configured to pick up a first package and a second articulated robot arm configured to pick up a second package. The first articulated robot arm and the second articulated robot arm are configured to position the first package and the second package side by side, such that the first package and the second package form a first packaging set. The first articulated robot arm and / or the second articulated robot arm is configured to pick up the first packaging set.

[0015] The two articulated robot arms allow the device to be more flexibly adapted to different packaging formats. For example, adapting to a new format may only require adjustments to the programming of one or both articulated robot arms. In contrast, specialized devices, as known from the prior art, would require design modifications, which can be more expensive. Furthermore, changing tools can cause downtime for the device.

[0016] The first articulated robot can include a first gripping device, which can be configured to hold the first package on the first articulated robot. Additionally or alternatively, the second articulated robot can include a second gripping device, which can be configured to hold the second package on the second articulated robot. The first and / or the second gripping device can each include, for example, one or more suction grippers and / or one or more suction cups, which can be selectively activated.

[0017] Additionally or alternatively, the first articulated robot arm can include a first fixing device, which can be configured to hold the first packaging set on the first articulated robot arm. Additionally or alternatively, the second articulated robot arm can include a second fixing device, which can be configured to hold the first packaging set on the second articulated robot arm. The first and / or the second fixing device can each include, for example, one or more retaining tabs and / or one or more gripping arms and / or gripping prongs.

[0018] The first articulated robot and / or the second articulated robot, e.g., the first or second picking device, can each be configured to pick up multiple packages. This allows several packages to be assembled simultaneously. For example, the first articulated robot can include a first picking device that can be configured to hold the first package and a third package on the first articulated robot. The second articulated robot can include a second picking device that can be configured to hold the second package and a fourth package on the second articulated robot.

[0019] The first and second articulated robot arms can be configured to position the third and fourth packages side by side, so that they form a second packaging set. It can be particularly advantageous if the first and second articulated robot arms are configured to form the first and second packaging sets simultaneously.

[0020] The first articulated robot can include a first clamping device, which can be configured to hold the first packaging set on the first articulated robot. Alternatively or additionally, the second articulated robot can include a second clamping device, which can be configured to hold the second packaging set on the second articulated robot. It should be clear that articulated robots with different combinations of clamping devices are conceivable. Both the first and second articulated robots can each have no clamping devices or any number of them. It should simply be ensured that, in total, i.e., on all articulated robots, at least as many clamping devices are provided as there are packaging sets to be assembled. Alternatively or additionally, clamping devices can also be configured to hold multiple packaging sets each.Then fewer fixing devices can be provided than the number of packaging sets to be assembled. Preferably, each articulated robot arm can hold half as many packaging sets with its respective fixing device(s) as the number of packaging sets to be assembled.

[0021] The invention relates to a method and a device of the type described above. Advantageous embodiments are explained in more detail below by way of example with reference to drawings. Fig. Figure 1 shows a schematic top view of a device for assembling packaging sets with two articulated-arm robots. Fig. Figures 2-5 show schematic detailed views from above of components of the two articulated arm robots. Fig. 1.

[0022] In Fig. Figure 1 is a device 1 for assembling packaging sets, shown in a schematic top view. The device 1 can be configured to receive packaging from a dispensing device 2. As will be explained in more detail later, the device 1 can further be configured to assemble the received packaging into one or more packaging sets. The device can then be configured to place the one or more packaging sets onto a discharge device 3. The dispensing device 2 can be configured, as shown in Figure 1, to receive packaging from a dispensing device 2. Fig. As shown in Figure 1, the complete cutting tool 4 may be included. Alternatively or additionally, the supply device 2 may include one or more conveyors. The discharge device 3 may, as shown in Figure 1, comprise a complete cutting tool 4. Alternatively or additionally, the supply device 2 may comprise one or more conveyors. The discharge device 3 may, as shown in Figure 1, comprise a complete cutting tool 4. Alternatively ... Fig. 1 shown, comprising a conveyor 5.

[0023] As shown in the present embodiment, the device 1 can comprise a first articulated robot arm 6. Additionally, the device 1 can comprise a second articulated robot arm 7. The first articulated robot arm 6 can be configured to pick up a first package 8. The second articulated robot arm can be configured to pick up a second package 9. The first articulated robot arm 6 and the second articulated robot arm 7 can be configured to position the first package 8 and the second package 9 side by side, as e.g., in Fig. 3 shown.

[0024] As shown in the present embodiment, both the first articulated robot 6 and the articulated robot 7 can be configured to pick up multiple packages. The present embodiment shows articulated robots 6 and 7 configured to pick up two packages. However, articulated robots that can each be configured to pick up more than two packages are also conceivable. The first articulated robot 6 can be configured, as shown in the figures, to pick up the first package 8 and a third package 10. The second articulated robot 7 can be configured to pick up the second package 9 and a fourth package 11. The first articulated robot 6 and the second articulated robot 7 can be configured to position the third package 10 and the second package 11 side by side, as, for example, in Fig. 3 shown.

[0025] The first articulated arm robot 6 and the second articulated arm robot 7 can be configured, in particular by positioning the first packaging 8 and the second packaging 9 side by side, to form a first packaging set 12 (see below). Fig. 3) to assemble. The first articulated robot arm 6 and the second articulated robot arm 7 can additionally be configured, in particular by positioning the third packaging 10 and the fourth packaging 11 side by side, a second packaging set 13 (see Fig. 3) to assemble. The first packaging set 12 can include the first package 8 and the second package 9. The second packaging set 13 can include the third package 10 and the fourth package 11. The first articulated robot 6 and the second articulated robot 7 can be configured to assemble the first packaging set 12 and the second packaging set 13 simultaneously.

[0026] The first articulated robot arm 6 can include a first picking device 14. The first picking device 14 can be configured to support the operations described above, e.g., picking up the first package 8 and / or the third package 10 and / or positioning the first package 8 or the third package 10 next to the second package 9 or the fourth package 11, respectively. For example, the first picking device 14 can be configured to hold the first package 8 and / or the third package 10 on the first articulated robot arm 6.

[0027] The second articulated robot arm 7 can include a second holding device 15. The second holding device 15 can be configured to support the operations described above, e.g., picking up the second package 9 and / or the third package 10 and / or positioning the second package 9 or the fourth package 11 next to the first package 8 or the third package 10, respectively. For example, the second holding device 14 can be configured to hold the second package 9 and / or the fourth package 11 on the second articulated robot arm.

[0028] As shown in the present embodiment, the first articulated robot 6 can be configured to pick up the first packaging set 12. For example, the first articulated robot 6 can include a first fixing device 16. The first fixing device 16 can be configured to assist the first articulated robot 6 in assembling and / or picking up the first packaging set 12. For example, the first fixing device 16 can be configured to hold the first packaging set 12 on the first articulated robot 6. As shown in the figures, the first fixing device 16 can include one or more, in the present embodiment two, retaining tabs 17. The retaining tabs 17 of the first fixing device 16 can be pivotably connected to the first articulated robot 6.

[0029] As also shown in the present embodiment, the second articulated robot 7 can be configured to pick up the second packaging set 13. For example, the second articulated robot 7 can include a second fixing device 18. The second fixing device 18 can be configured to assist the second articulated robot 7 in assembling and / or picking up the second packaging set 13. For example, the second fixing device 18 can be configured to hold the second packaging set 13 on the second articulated robot 7. As shown in the figures, the second fixing device 18 can include one or more, in the present embodiment two, retaining tabs 17. The retaining tabs 17 of the second fixing device 18 can be pivotably connected to the second articulated robot 7.

[0030] In the Fig. Figures 2 to 5 are detailed views of the first articulated robot arm 6 and the second articulated robot arm 7, respectively, shown in a schematic top view. Each figure illustrates one step in the assembly of the first packaging set 12 and the second packaging set 13. Fig. 2. Packaging 8, 9, 10, 11 are similarly aligned, as already seen in Fig. 1. In the Fig. Figures 2 to 5 show more clearly that each of the packages can have one or more projections, in the illustrated embodiment three. The first package 8 can have three projections 19. The second package 9 can have three projections 20. The third package 10 can have three projections 21. The fourth package 11 can have three projections 22. Gaps can be arranged between the projections of each package. Gaps 23 can be arranged between the projections 19 of the first package 8. Gaps 24 can be arranged between the projections 20 of the second package 9. Gaps 25 can be arranged between the projections 21 of the third package 10. Gaps 26 can be arranged between the projections 22 of the fourth package.

[0031] As in the Fig. As shown in Figure 2, the packages 8, 9, 10, 11 can already be aligned upon approach such that the projections 19 of the first package 8 are arranged opposite the spaces 24 between the projections 20 of the second package 9 and vice versa, and that the projections 21 of the third package 10 are arranged opposite the spaces 26 between the projections 22 of the fourth package 11. As shown in Fig. 3. Packages 8, 9, 10, and 11 can be positioned next to each other after being moved further towards each other. In this state, the packages can be nested within each other; for example, they can be oriented such that the protrusions 19 of the first package 8 are arranged between the protrusions 20 of the second package 9, and vice versa, and that the protrusions 21 of the third package 10 are arranged between the protrusions 22 of the fourth package 11.

[0032] In the Fig. In the state shown in Figure 3, the fixing devices 16 and 18 can be activated so that they hold the first packaging set 12 on the first articulated robot arm 6 and the second packaging set 13 on the second articulated robot arm 7. This state is shown in Figure 3. Fig. Figure 4 shows that when the first packaging set 12 has been picked up by the first articulated robot 6 and the second packaging set 13 by the second articulated robot 7, the second packaging set 9 can be released by the second articulated robot 7 and the third packaging set 10 by the first articulated robot 6. Subsequently, the packaging sets 12 and 13 can be moved away from each other by the articulated robots 6 and 7. This state is shown in Figure 4. Fig. 5 shown. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] EP 3 296 238 A1

[0002]

Claims

[1] Method for assembling packaging sets (12) comprising: Picking up a first package (8) by a first articulated arm robot (6), Picking up a second package (9) by a second articulated robot arm (7), Positioning the first package (8) and the second package (9) side by side by the first articulated robot arm (6) and the second articulated robot arm (7), wherein by positioning the first package (8) and the second package (9) side by side a first package set (12) is formed which comprises the first package (8) and the second package (9), Picking up the first packaging set (12) by the first articulated robot arm (6) or the second articulated robot arm (7). [2] Method according to claim 1, further comprising holding the first packaging (8) on the first articulated robot arm (6) by means of a first receiving device (14) and / or holding the second packaging (9) on the second articulated robot arm (7) by means of a second receiving device (15). [3] Method according to claim 1 or 2, further comprising holding the first packaging set (12) on the first articulated robot arm (6) by a first fixing device (16) and / or holding the first packaging set (12) on the second articulated robot arm (7) by a second fixing device (18). [4] Method according to claim 1, further comprising holding the first package (8) and a third package (10) on the first articulated robot arm (6) by means of a first receiving device (14) and holding the second package (9) and a fourth package (11) on the second articulated robot arm (7) by means of a second receiving device (15). [5] Method according to claim 4, further comprising positioning the third package (10) and the fourth package (11) side by side by the first articulated robot arm (6) and the second articulated robot arm (7), wherein by positioning the third package (10) and the fourth package (11) side by side a second package set (13) is formed which comprises the third package (10) and the fourth package (11), [6] Method according to claim 5, further comprising holding the first packaging set (12) on the first articulated robot arm (7) by a first fixing device (16) and holding the second packaging set (13) on the second articulated robot arm (7) by a second fixing device (18). [7] Method according to one of the preceding claims, wherein during the arrangement of the first packaging (8) and the second packaging (9) side by side the first packaging (8) and the second packaging (9) are aligned to each other such that projections (19) of the first packaging (8) are arranged between projections (20) of the second packaging (9). [8] Method according to any one of claims 4 to 7, wherein during the arrangement of the third packaging (10) and the fourth packaging (11) side by side, the third packaging (10) and the fourth packaging (11) are aligned to each other such that projections (21) of the third packaging (10) are arranged between projections (22) of the fourth packaging (11). [9] Device (1) for assembling packaging sets (12), the device (1) comprising: a first articulated arm robot (6) configured to pick up a first package (8), a second articulated robot arm (7) configured to pick up a second package (9), wherein the first articulated robot arm (6) and the second articulated robot arm (7) are configured to position the first package (8) and the second package (9) next to each other, so that the first package (8) and the second package (9) form a first package set (12), wherein the first articulated robot arm (6) and / or the second articulated robot arm (7) is configured to pick up the first packaging set (12). [10] Device according to claim 9, wherein the first articulated robot arm (6) comprises a first receiving device (14) configured to hold the first packaging (8) on the first articulated robot arm (6), and / or wherein the second articulated robot arm (7) comprises a second receiving device (15) configured to hold the second packaging (9) on the second articulated robot arm (7). [11] Device according to claim 9 or 10, wherein the first articulated robot arm (6) comprises a first fixing device (16) configured to hold the first packaging set (12) on the first articulated robot arm (6) and / or wherein the second articulated robot arm (7) comprises a second fixing device (15) configured to hold the first packaging set (12) on the second articulated robot arm (7). [12] Device according to claim 9, wherein the first articulated robot arm (6) comprises a first receiving device (14) configured to hold the first package (8) and a third package (10) on the first articulated robot arm (6), and the second articulated robot arm (7) comprises a second receiving device (15) configured to hold the second package (9) and a fourth package (11) on the second articulated robot arm (7). [13] Device according to claim 12, wherein the first articulated robot arm (6) and the second articulated robot arm (7) are configured to position the third package (10) and the fourth package (11) side by side, such that the third package (10) and the fourth package (11) form a second package set (13). [14] Device according to claim 13, wherein the first articulated robot arm (6) and the second articulated robot arm (7) are configured to form the first packaging set (12) and the second packaging set (13) simultaneously. [15] Device according to claim 13 or 14, wherein the first articulated robot arm (6) comprises a first fixing device (16) configured to hold the first packaging set (12) on the first articulated robot arm (6), and the second articulated robot arm (7) comprises a second fixing device (18) configured to hold the second packaging set (13) on the second articulated robot arm (7).

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