Packing head and method for packing or unpacking containers

Abstract

The invention relates to a packing head (1) which is intended for packing or unpacking containers, preferably bottles or cans, and comprises gripper bars (3) and guide elements (4), which cross over the gripper bars (3), wherein, on a carriage (7), packing bells (9) for gripping the containers are arranged at at least one crossover point (8) of the gripper bars (3) and guide elements (4), wherein the carriages (7) are displaceable along gripper bars (3) and guide elements (4), characterized in that at least one of the gripper bars (3) and at least one of the guide elements (4) comprises a respective drive (10, 11), by means of which the respective gripper bar (3) or guide element (4) is displaceable independently of an adjacent gripper bar (3) or guide element (4), and therefore, when the respective gripper bar (3) or guide element (4) is being displaced, the carriages (7) arranged at the corresponding crossover points (8) are displaced correspondingly. The invention also relates to a method for packing or unpacking containers.

Description

[0001] Packing head and method for packing or unpacking containers

[0002] The invention relates to a packing head and a method for packing or unpacking containers.

[0003] Such packing heads are used, for example, in beverage bottling to pack filled containers. The containers, such as bottles or cans, can be inserted into packaging, e.g., cardboard boxes or similar, or into crates, such as beverage crates. Packing heads can also be used to unpack containers, for example, to remove them from packaging or crates.

[0004] A packing head is known from EP 2 183 162 B1. In this known packing head, cross slides are guided along rod-like guide and actuating elements. Packing tulips for gripping containers are arranged on the cross slides. A first number of guide and actuating elements is arranged essentially perpendicular to a second number of guide and actuating elements, wherein the cross slides are arranged at intersection points of the respective guide and actuating elements. The guide and actuating elements of the first number are arranged parallel to one another, and the guide and actuating elements of the second number are arranged parallel to one another. A first guide and actuating element and a second guide and actuating element arranged perpendicular to the first guide and actuating element extend through each cross slide.By adjusting the guide and actuating elements, the position of the cross slides can be adjusted equally. For this purpose, the packing head has a first drive for the first number of guide and actuating elements and a second drive for the second number of guide and actuating elements, each of which drives all of the parallel guide and actuating elements in such a way that they are moved at least symmetrically to one another. In other words, the guide and actuating elements are moved in the same way or while maintaining symmetry. In addition, some of the cross slides can be designed such that they have an auxiliary slide with an auxiliary drive, via which the packing head can be moved relative to one another. This allows the packing head to be moved individually.

[0005] However, this solution of equipping the cross slides with auxiliary drives and auxiliary carriages is comparatively complicated and time-consuming. Furthermore, due to the relatively high number of carriages or packing bells, a comparatively large number of additional drives are required, which complicates maintenance and can also increase the susceptibility to errors due to the failure of one of the auxiliary drives. Furthermore, since only some of the carriages are designed to have auxiliary drives and auxiliary carriages, changing the format of the containers to be packed or unpacked is hardly possible or even difficult.

[0006] The object of the present invention is therefore to overcome these disadvantages. The present invention enables a simple and uncomplicated format change. Furthermore, the packing head of the present invention is designed with simpler equipment.

[0007] This object is achieved by a packing head having the features of claim 1 and a method having the features of claim 11. The subclaims relate to advantageous embodiments of the invention.

[0008] A first aspect of the invention relates to a packing head for packing or unpacking containers, preferably bottles or cans, wherein the packing head has at least one individual head, wherein the individual head has at least two gripper strips extending in a first plane, wherein the packing head has guide elements crossing the gripper strips and extending in a second plane, and a plurality of carriages, wherein the carriages are arranged at intersection points of the gripper strips and the guide elements and are movable along the gripper strips and the guide elements, wherein a packing tulip for gripping a container is arranged on at least one, preferably each, of the carriages, characterized in that at least one, preferably each, of the gripper strips has a gripper strip drive which is designed toto move the gripper strip independently of an adjacent gripper strip parallel to the direction of extension of the guide elements, so that when the gripper strip is moved, the carriages arranged at the intersection points of the respective gripper strip with the guide elements are moved along the guide elements, and wherein at least one, preferably each of the guide elements has a guide element drive which is designed to move the guide element independently of an adjacent guide element parallel to the direction of extension of the gripper strips, so that when the guide element is moved, the carriages arranged at the intersection points of the respective guide element with the gripper strips are moved along the gripper strips.

[0009] Because the gripper strips and / or the guide elements have their own drives, they can each be moved individually and independently of neighboring gripper strips or guide elements. This also means that the carriages and the packing heads arranged on the carriages can be moved easily and simply into predetermined positions. In particular, this makes format changes easy and straightforward. A packaging machine equipped with the packing head does not have to be stopped for format changes, as the carriages can assume the respective positions by adjusting the gripper strips and / or the guide elements. Likewise, an ongoing process or procedure does not have to be interrupted for a format change.

[0010] "Independently operated" can mean that the distance between adjacent gripper strips and / or guide elements can be freely adjusted within specified ranges. "Independently operated" can mean that the gripper strip drive and / or guide element drive can be or be controlled and / or actuated individually. "Independently operated" can mean that the gripper strip drive and / or guide element drive can be or be controlled and / or actuated independently of other gripper strip drives and / or guide element drives.“Independently moved” may mean that a gripper strip and / or guide element can be or be moved at a speed, can be or be moved in a direction and / or can be or be accelerated that does not depend on the speed, direction and / or acceleration of at least one other, several or all other gripper strips and / or guide elements and / or can be different from them.

[0011] The containers can be or have bottles, e.g. plastic bottles such as PET or PEP bottles, or glass bottles, and / or cans. The containers can be filled with drinks and / or liquids. The containers can have a dimension, e.g. a measurement, height or diameter. Container format can mean an arrangement, container formation, dimension, measurement, height, diameter, type, e.g. bottles or cans, number or location of provision or deposit of containers, e.g. provided container. A format change can mean that containers with a container format that is different from previously provided containers are or will be provided. During a format change, containers can be or will be provided that differ from previously provided containers, for example in their arrangement, container formation, dimension, measurement, height, diameter, type, e.g. bottles or cans, number or location of provision.If a format change is carried out or occurs, it can be provided that the gripper strips and / or the guide elements, or the carriages and packing bells, can be adapted to the container format now in place.

[0012] The second plane can be spaced substantially parallel from the first plane. Provision can be made for the guide elements to be arranged above or below the gripper strips. Provision can be made for the gripper strips and guide elements to be arranged such that they do not contact each other. The gripper strips and guide elements can be aligned substantially perpendicular to each other. The guide elements can be arranged parallel to each other. The gripper strips can be arranged parallel to each other.

[0013] The carriages can slide on the gripper strips. Each carriage can be assigned a gripper strip on which it can slide. The gripper strip can guide the carriage as it slides.

[0014] The gripper strips can comprise a rail element on which the carriages can rest and / or which can be encompassed by the carriages. In some embodiments, a gripper strip can comprise two rail elements. The rail elements can be arranged opposite one another.

[0015] The carriages can have at least one groove into which a respective rail element can be accommodated. If the gripper strip has more than one rail element, the carriage can have a corresponding number of grooves.

[0016] The guide elements can be or comprise push rods. The slides can be arranged between two respective push rods. The push rods can be configured to push and / or contact the slides as they move in the direction of extension of the gripper strips.

[0017] The packing head can have at least two individual heads. In some embodiments, the packing head can have at least four or at least six individual heads. The guide elements can cross the gripper strips of all individual heads. The individual heads can be arranged next to one another, for example, in the direction of extension of the guide elements. An individual head can have at least two gripper strips. In some embodiments, an individual head can have at least four gripper strips.

[0018] The packing head can have at least four guide elements, so that each gripper strip can have at least four intersection points. A carriage can be arranged at or in each intersection point. In some embodiments, the packing head can have at least six guide elements, so that each gripper strip can have at least six intersection points or carriages arranged at the respective intersection points.

[0019] The first level can be located below the second level. The slides can protrude above the first level in such a way that they can extend through the second level.

[0020] The gripper strip drive may comprise a pneumatic drive, a linear motor, and / or a servo motor. The guide element drive may comprise a pneumatic drive, a linear motor, and / or a servo motor. In some embodiments, the gripper strip drive may comprise a pneumatic drive, and the guide element drive may comprise a linear motor or a servo motor.

[0021] In some embodiments, a camera can be provided, in particular, as the optical container detection device, which can be configured to detect a container formation of the containers to be gripped by the packing tulips. In some embodiments, a control unit can be provided that can control the gripper strip drives and / or guide element drives. Gripper strips and / or guide element drives can be moved or moved based on control commands from the control unit. It can be provided that the camera is connected to the control unit, and that the control commands are calculated, created, and / or output by the control unit based on the container formation detected by the camera.

[0022] Further aspects of the invention relate to a packing device and a method for packing or unpacking containers. This packing device can have any of the packing heads described above. Alternatively, the packing device can have one of the packing heads described below. These packing heads have at least some of the same elements and components as the packing heads described above. The elements and components are therefore named the same. In principle, therefore, the individual head, the gripper strip, the guide element, the carriage, the gripper strip drive, and the guide element drive can be the elements already described, so that all previously described aspects can be transferred accordingly here.

[0023] In general, the packing device with one of the packing heads described above is a further development of the inventive concept of the packing head. However, the packing device simultaneously represents an independent inventive subject matter, characterized in that the packing device is designed to move the packing tulips of the packing head into a gripping position for gripping containers, which is determined based on container information acquired by an optical container detection device, in particular the positions and / or container formation of the containers to be gripped.

[0024] This allows the packing tulips or the packing head to be controlled depending on the situation. While this is advantageous with one of the packing heads described above, it is also fundamentally possible with packing heads of a different design. The main advantages of this are that the potential for errors is reduced. The need for additional format parts that are usually used to form and precisely position the containers is also reduced. Instead of more complex aisle plates or correction frames, simple railings are therefore sufficient. This also results in a packing device that is at least largely independent of bundle and container sizes. Using the optical container detection device, the containers or bundles can be recognized and each individual packing tulip can be placed in the ideal position during the packing process. This means that tolerances in the bundles and containers can be compensated directly for during the respective cycle.

[0025] In detail, the further aspects include the following individual aspects:

[0026] 1. A packing device for packing or unpacking containers, the packing device comprising: a packing head, in particular one of the packing heads described above, for packing or unpacking containers with a plurality of packing tulips that are arranged to be movable into different positions on the packing head; an optical container position detection device for detecting container information, in particular the position and / or the container formation, of containers to be gripped, the packing device being designed to move the packing tulips of the packing head into a gripping position for gripping containers, which gripping position is determined based on container information detected by the optical container detection device, in particular the position and / or the container formation of the containers to be gripped.

[0027] The packing tulip can generally be any type of gripper suitable for gripping a container. The containers can, more generally, be any type of article or packaged goods. In general, it would of course be conceivable to use a container detection device that is not based on an optical detection system. What is relevant is that the container detection device is suitable for detecting container information, in particular the position and / or container formation of the containers to be grasped.

[0028] 2. Packing device according to aspect 1, wherein the packing head has at least one individual head, wherein the individual head has at least two gripper strips extending in a first plane, wherein the packing head has guide elements crossing with the gripper strips, which extend in a second plane, which is preferably spaced substantially parallel from the first plane, and a plurality of carriages.

[0029] In particular, the carriages are arranged at intersection points of the gripper strips and the guide elements and are designed to be movable along the gripper strips and the guide elements, wherein one of the packing tulips for gripping a container is arranged on at least one, preferably each, of the carriages.

[0030] The packing head preferably has at least two individual heads, particularly preferably at least four or six individual heads, with the guide elements crossing the respective gripper strips of all individual heads. Furthermore, an individual head preferably has at least two, particularly preferably at least four, gripper strips.

[0031] 3. Packaging device according to aspect 2, wherein at least one, preferably each, of the gripper strips has a gripper strip drive which is designed to move the gripper strip independently of an adjacent gripper strip.

[0032] In particular, the gripper strip drives are designed to move the gripper strip parallel to the direction of extension of the guide elements, so that when the gripper strip is moved, the carriages arranged at the intersection points of the respective gripper strip with the guide elements are moved along the guide elements.

[0033] 4. Packaging device according to aspect 3, wherein at least one, preferably each, of the guide elements has a guide element drive configured to move the guide element independently of an adjacent guide element. In particular, the guide element drive is configured to move the guide element parallel to the direction of extension of the gripper strips, so that when the guide element is moved, the carriages arranged at the intersection points of the respective guide element with the gripper strips are moved along the gripper strips.

[0034] 5. Packaging device according to aspect 3 or 4, wherein the gripper strip drive and / or guide element drive comprises a pneumatic drive, a linear motor, and / or a servo motor, or wherein the gripper strip drive comprises a pneumatic drive and the guide element drive comprises a linear motor or a servo motor.

[0035] 6. Packing device according to aspect 5, wherein the packing device is designed to control the gripper strip drive and / or the guide element drive for positioning the packing tulips based on container information detected by means of the optical container detection device, in particular the position and / or the container formation of the containers to be gripped.

[0036] 7. Packaging device according to one of the preceding aspects, wherein the optical container position detection device is designed as a camera.

[0037] As a camera, the container position detection device is designed to capture container information, in particular the position and / or the container formation, of the containers to be gripped as an image.

[0038] 8. Packaging device according to one of the preceding aspects, wherein the packaging device has a control unit which is designed to control the gripper strip drives and / or guide element drives.

[0039] In particular, the control unit is designed to generate, i.e., calculate or create, and / or output control commands. The gripper strip drives and / or the guide element drives are then designed to receive the control commands and move based on the control commands.

[0040] 9. Packaging device according to aspect 8, wherein the control unit is connected to the container position detection device and is designed to control the gripper strip drives and / or guide element drives based on container information detected by the container position detection device, in particular the position and / or the container formation.

[0041] In particular, the control unit is designed to calculate, create and / or output control commands based on container information detected by the container position detection device, in particular the position and / or the container formation, of the containers to be gripped.

[0042] 10. A method for packing or unpacking containers, in particular by means of one of the packing devices described above, the method comprising the following steps: detecting container information, in particular the position and / or the container formation, of containers to be gripped, in particular by means of an optical container position detection device; determining a gripping position of grippers, in particular packing tulips, of a packing head based on the detected container information; and moving the grippers, in particular the packing tulips, of the packing head into the determined gripping position.

[0043] A second aspect of the invention relates to a method for packing or unpacking containers, comprising the following steps:

[0044] Providing containers in a first container arrangement at a provision location; moving a packing head according to one of the preceding claims 1 to 10 into a gripping position above the provision location, wherein, during the movement of the packing head, the gripper strips and / or the guide elements are moved such that the carriages and / or packing tulips arranged on the carriages are arranged above the containers in the gripping position of the packing head;

[0045] Grasping the provided containers with the packing tulips;

[0046] Moving the packing head into a depositing position above a depositing location at which the containers are deposited in a second container arrangement, wherein, during the movement of the packing head into the depositing position, the gripper strips and the guide elements are driven such that the carriages and / or packing tulips arranged on the carriages are spaced from one another in accordance with the second container arrangement;

[0047] Setting down the containers gripped by the packing tulips at the setting down location so that the containers are arranged in the second container arrangement after setting down.

[0048] After the containers gripped by the packing tulips have been placed down, the process may include the following steps:

[0049] Providing containers in a third container arrangement different from the first container arrangement at the provision location or a second provision location;

[0050] Moving the packing head into a gripping position above the provision location or the second provision location, wherein during the movement of the packing head the gripper strips and the guide elements are driven such that the carriages and / or packing tulips arranged on the carriages are spaced apart according to the third container formation, so that the packing tulips can grip the further containers in the third container formation.

[0051] The procedure may include the following further steps:

[0052] Gripping provided containers with the packing tulips and moving the packing head into a depositing position above the depositing location or above a second depositing location at which the containers are deposited in a fourth container arrangement, wherein the fourth container arrangement is different from the second container arrangement, wherein during the displacement of the packing head into the depositing position the gripper strips and the guide elements are driven such that the carriages and / or packing tulips arranged on the carriages are spaced from one another in accordance with the fourth container arrangement, so that the containers are arranged in the fourth container arrangement after depositing.

[0053] Before gripping the containers provided in the first container arrangement and / or the third container arrangement, preferably during the provision of the containers and / or before or during the movement of the packing head into the gripping position, the container formation of the containers provided in the first and / or third container arrangement can be recorded by a camera, wherein during the movement of the packing head the gripper strips and / or the guide elements can be moved depending on the recorded container formation.

[0054] The method can be carried out repeatedly, whereby, during at least one repetition of the method, the containers can be provided and / or deposited in a container arrangement different from a previous implementation of the method, so that a format change can be carried out without interrupting the method. The invention is further explained with reference to the following figures. They show:

[0055] Fig. 1: an embodiment of a packing head according to the invention in a perspective view;

[0056] Fig. 2: the embodiment shown in Fig. 1 in a plan view;

[0057] Fig. 3: the embodiment shown in Figs. 1 and 2 in a side view;

[0058] Fig. 4: the embodiment shown in Figs. 1 to 3 in a

[0059] front view; and

[0060] Fig. 5: a section of the embodiment shown in Figs. 1 to 4.

[0061] Figures 1 to 5 show an embodiment of a packing head 1 according to the invention. Figure 1 shows a perspective view, Figure 2 a plan view, Figure 3 a side view and Figure 4 a front view. Figure 5 shows an enlargement of a section of Figure 1, in particular an individual head 2 of a packing head 1 according to the invention. The packing head 1 has an individual head 2 and guide elements 4. The individual head 2 has at least two gripper strips 3 which intersect with the guide elements 4. A carriage 7 is arranged at at least one intersection point 8 of the gripper strips 3 and the guide elements 4. A packing tulip 9 can be arranged on the carriage 7.

[0062] In some embodiments, the packing head 1 can have more than one individual head 2. For example, the packing head 1 can have one, two, three, four, five, six or more individual heads 2. At least one of the individual heads 2 can have more than two gripper strips 3. For example, one, several or all of the individual heads 2 can have two, three, four or more gripper strips 3. The individual head or heads 2 can be arranged such that the respective gripper strips 3 intersect with the guide elements 4 at intersection points 8. If the packing head 1 has more than one individual head 2, the individual heads 2 can be arranged next to one another, for example along an extension direction F of the guide elements 4. In some embodiments, the packing head 1 can have at least four or at least six guide elements 4.In some embodiments, the packing head 1 may have at least six, at least twelve, at least 18, at least 24, at least 36, at least 72, or at least 144 carriages 7 and / or gripper tulips 9. In some embodiments, a single head 2 may have at least six, at least twelve, at least 18, or at least 24 carriages 7 and / or gripper tulips 9.

[0063] The gripper strips 3 of the individual head 2 can be arranged parallel to one another. The gripper strips 3 can extend in an extension direction G and / or be arranged and / or aligned parallel to this direction. The guide elements 4 can be arranged parallel to one another. The guide elements 4 can extend in an extension direction F and / or be arranged and / or aligned parallel to this direction. The gripper strips 3 and the guide elements 4 can be aligned substantially perpendicular to one another.

[0064] A carriage 7 can be arranged at or in at least one intersection point 8, preferably each intersection point 8, of the gripper strips 3 and guide elements 4. A packing bell 9 can be arranged on at least one of the carriages 7, preferably each of the carriages 7. The packing bell 9 can be attached to the carriage 7.

[0065] Gripper strips 3 and guide elements 4 can be movable. The carriage 7 can be movable and / or moved in the direction of extension F of the guide elements 4 and in the direction of extension G of the gripper strips 3, or parallel thereto. In the examples shown in the figures, the respective gripper strips 3 of the individual heads 2 can each be moved together in the direction of extension F. The gripper strips 3 of an individual head 2 shown in the figures can be moved and / or positioned in such a way that adjacent gripper strips 3 of an individual head 2 contact each other. The guide elements 4 shown in the figures can be moved and / or positioned in such a way that adjacent guide elements 4 do not contact each other.

[0066] By moving the carriages 7, the packing tulips 9 arranged on the carriages 7 and / or connected to the carriages 7 can be or will be moved accordingly.

[0067] The gripper strips 3 can be or become movable and / or adjustable in the direction of extension F of the guide elements 4. The guide elements 4 can be or become movable and / or adjustable in the direction of extension of the gripper strip 3. When adjusting a gripper strip 3 in or parallel to the direction of extension F of the guide elements 4, the points of intersection 8 of the gripper strip 3 to be adjusted and / or adjusted with the guide elements 4 can be or become equally parallel to the direction of extension F of the guide elements 4. When adjusting a guide element 4 in or parallel to the direction of extension G of the gripper strips 3, the points of intersection 8 of the guide element 4 to be adjusted and / or adjusted with the gripper strips 3 can be or become equally parallel to the direction of extension G of the gripper strips 3.

[0068] At least one, several, or all of the gripper strips 3 can have a gripper strip drive 10. In some embodiments, each of the gripper strips 3 can have a gripper strip drive 10. The gripper strip drive 10 can be configured to move a corresponding gripper strip 3 relative to another gripper strip 3, for example, an adjacent gripper strip 3. At least one, several, or all of the guide elements 4 can have a guide element drive 11. In some embodiments, each of the guide elements 4 can have a guide element drive 11. The guide element drive 11 can be configured to move a corresponding guide element 4 relative to another guide element 4, for example, an adjacent guide element 4.Gripper strip drive 10 can move the corresponding gripper strip 3 independently of an adjacent gripper strip 3 and / or guide element 4. Guide element drive 11 can move the corresponding guide element 4 independently of an adjacent guide element 4 and / or gripper strip 3. “Independently moved” can mean that a distance between adjacent gripper strips 3 and / or guide elements 4 can be arbitrarily adjustable within predetermined ranges. “Independently moved” can mean that gripper strip drive 10 and / or guide element drive 11 can be or be controlled and / or actuated individually. “Independently moved” can mean that gripper strip drive 10 and / or guide element drive 11 can be or be controlled and / or actuated independently of other gripper strip drives 10 and / or guide element drives 11.“Independently moved” can mean that a gripper strip 3 and / or guide element 4 can be or be moved at a speed, can be or be moved in a direction and / or can be or be accelerated that does not depend on the speed, direction or acceleration of at least one other, several or all other gripper strips 3 and / or guide elements 4 and / or can be different from them.

[0069] The gripper strip drive 10 can have a pneumatic drive, a linear motor, a stepper motor and / or a servo motor. The guide element drive 11 can have a pneumatic drive, a linear motor, a stepper motor and / or a servo motor. In some embodiments, the gripper strip drive 10 can have a pneumatic drive and the guide element drive 11 can have a linear motor or a servo motor. In some embodiments, the gripper strip drive 10 can have a linear motor and the guide element drive 11 can have a linear motor or a servo motor. The gripper strip drive 10 and / or guide element of the drives 4 can be or can be controlled in such a way that the gripper strip 3, guide element 4 and / or carriage 7 can be or can be moved into predetermined positions. The predetermined position can, for example, correspond to a position in which containers, e.g.Bottles and / or cans can be gripped and / or deposited by the packing bells 9. The specified position can, for example, correspond to a container arrangement and / or container formation.

[0070] In some embodiments, it may be provided that only some and / or not all of the gripper strips 3 and / or the guide elements 4 have a drive and / or can be or be moved. In some embodiments, it may be provided that at least one or more packing tulips 9 are not or will not be moved, and / or that other packing tulips 9 remain in their respective positions during the movement.

[0071] The carriage 7 can rest and / or slide on the gripper strip 3. The gripper strip 3 can have a rail element 12. In some embodiments, the gripper strip 3 can have two rail elements 12 and / or be formed by two rail elements 12. The rail element 12 can be configured to guide a carriage 7. The carriage 7 can engage around the rail element 12 and / or slide on the rail element 12. It can be provided that the carriage 7 has a groove 13 which engages around the rail element 12 and / or is or will be received in this rail element 12. In some embodiments, the gripper strip 3 can have two rail elements 12, which can be spaced apart from one another at a distance, e.g. can be aligned parallel to one another, and the carriage 7 can have two grooves 13 into which the respective rail elements 12 can be received.

[0072] The guide element 4 can have a push rod 14. In some embodiments, the guide element 4 can have and / or be formed by two spaced-apart, for example parallel, push rods 14. The push rod(s) 14 can contact the carriage 7 laterally, so that when the guide element 4 or the push rod 14 is displaced, the carriage 7 is displaced in the same way and / or is or is guided by the push rod 14. In some embodiments, the push rod 14 can have a rectangular cross-sectional area. The push rod 14 can be plate-shaped and / or slat-shaped. It can be provided that the shape of the push rod 14 is or is selected such that a large contact area with the carriage 7 results.In some embodiments, the slide 7 can have a substantially straight or flat side surface, and the push rod 14 can also have a substantially straight or flat side surface, so that the contact area of ​​the respective side surfaces is comparatively large. In some other embodiments, however, the push rod 14 can also be at least partially rounded and / or have a cross-sectional area other than a rectangle.

[0073] In some embodiments, the gripper strips 3 can be arranged in a first plane

[0074] 5. The guide elements 4 can be arranged in a second plane 6. The second plane 6 can be aligned parallel to the first plane 5. The second plane 6 can be arranged above the first plane 5. It can be provided that the carriages 7 extend through the second plane

[0075] 6. Thus, the carriages 7 can be or become contacted by the guide elements 4. The gripper strip 3 and the guide element 4 can be or become controlled and / or moved independently of one another.

[0076] A packing tulip 9 can be arranged on at least one, several or all of the carriages 7. The packing tulip 9 can be fastened to or with the carriage 7. The packing tulip 9 can be designed to grip a container, e.g. a can and / or a bottle. The packing tulip 9 can be designed to release and / or set down a gripped container. The packing tulip 9 can be or be suitably controlled for this purpose. In some embodiments, the packing tulip 9 extends perpendicular to the extension direction F of the guide elements 4 and the extension direction G of the gripper strips 3. In some embodiments, the packing tulip 9 extends downwards. In some embodiments, the packing tulip 9 can be movable in order to grip and / or set down a container. The packing tulip 9 can be and / or have a packing tulip known to those skilled in the art.

[0077] The packing head 1 can have frame elements 15. The frame elements 15 can form a frame to which or with which the gripper strips 3 and the guide elements 4 can be movably attached and / or arranged.

[0078] The head 1 can have one or more fastening elements 16 for fastening and / or mounting the packing head 1. The packing head 1 can be held by the fastening elements 16 and / or moved and / or displaced between different positions by the fastening elements 16.

[0079] The packing head 1 can be and / or can be moved between a gripping position and a setting-down position. The gripping position can be arranged above a provision location at which containers to be gripped by the packing head 1 and / or the packing tulips 9 are or can be provided. The setting-down position can be arranged above a setting-down location at which containers gripped by the packing head 1 and / or the packing tulips 9 are to be set down. The packing head 1 and / or a packaging machine comprising the packing head 1 can be configured to carry out a method for packing and / or unpacking containers. The containers can be or comprise bottles, for example plastic bottles, e.g. PET bottles or the like, or glass bottles, and / or cans.

[0080] The packing head 1 can be configured to pack and / or unpack containers. Packing containers can comprise placing containers in packaging and / or boxes or the like. Unpacking containers can comprise gripping containers that can be provided in packaging, boxes or the like. The packaging can be or comprise a cardboard box. The box can be or comprise a box, e.g. a drinks crate or beverage case. In some embodiments, it can be provided that the packing head 1 is configured and / or is or is controlled accordingly so that the packing head 1 packs containers and then unpacks other containers, and / or vice versa, without the method or process and / or the packaging machine or system comprising the packing head 1 being stopped or interrupted.

[0081] It can be provided that containers, for example bottles and / or cans, can be or are initially provided at the provision location in a first container arrangement. In some embodiments, the containers can be arranged uniformly in the first container arrangement, for example at regular intervals. In some embodiments, the first container arrangement can have one or more rows of containers arranged one behind the other. If the first container arrangement has more than one row, the rows can be arranged parallel to one another. However, it can also be provided that some, several or all of the containers in the first container arrangement can be arranged and / or spaced irregularly.

[0082] When moving the packing head 1 into the gripping position, it can be provided that one, several or all of the gripper strips 3 and / or guide elements 4 are or are controlled and / or moved in such a way that the carriages 7 and / or the packing tulip 9 can be arranged above the containers provided in the gripping position. One, several or all of the gripper strips 3 and / or guide elements 4 can be or are controlled and / or moved in such a way that the carriages 7 and / or the packing tulip 9 are spaced from one another essentially in accordance with the first container arrangement. The packing head 1 and / or the packing tulips 9 can then grip the containers provided. The packing head 1 can then be or are moved or moved into the depositing position. It can be provided that the gripped containers are to be deposited in a second container arrangement at a depositing location, above which the depositing position can be arranged.The second container arrangement may be different from the first container arrangement. It may be provided that the containers in the second container arrangement may be arranged and / or spaced differently from one another than in the first container arrangement. At the point of sale, one or more packages, boxes, or the like may be arranged, into which the picked containers are to be placed. It may be provided that in the second container arrangement, groups of containers, which may be spaced closer to one another than to the other containers, are to be placed, for example, into the packages and / or boxes.

[0083] When moving the packing head 1 into the depositing position, it can be provided that one, several or all of the gripper strips 3 and / or guide elements 4 are or are controlled and / or moved in such a way that the carriages 7 and / or the packing bell 9 can be arranged in the depositing position corresponding to the second container arrangement. One, several or all of the gripper strips 3 and / or guide elements 4 can be or are controlled and / or moved in such a way that the carriages 7 and / or the packing bell 9 are spaced from one another essentially corresponding to the second container arrangement. The packing head 1 and / or the packing bell 9 can then deposit the provided containers. For example, the containers can be or are deposited in provided packaging, boxes or the like. The deposited containers can be in the second container arrangement.

[0084] It can be provided to repeat these steps several times. In at least one repetition, it can be provided that the containers can be or be provided in a third container arrangement. The third container arrangement can differ from the first and / or second container arrangement. For example, the containers in the third container arrangement can be spaced apart from one another at different distances compared to the first container arrangement. It can be provided that the containers in the third container arrangement can be spaced apart from one another at regular and / or irregular intervals. In some embodiments, it can be provided that the third container arrangement comprises a different number of containers compared to the first container arrangement. For example, more or fewer containers can be or be provided in the third container arrangement than the containers provided in the first container arrangement.In some embodiments, it can be provided that the containers provided in the third container arrangement differ from those of the first container arrangement. For example, cans can be or will be provided in the first container arrangement and bottles in the third container arrangement, or vice versa. It can also be provided that some, several or all of the containers provided in the third container arrangement differ from those of the first container arrangement in their dimensions, for example diameter, height, width, weight, volume or the like, or in their format. It can be provided that the provision location of the third container arrangement can be different from the provision location of the first container arrangement. For example, the containers in the third container arrangement can be or will be provided at a second provision location.In this case, it can be provided that the packing head 1 can be moved or displaced into a gripping position above the second provision location in order to grip the containers provided in the third container arrangement. When the packing head 1 is moved or displaced into the gripping position above the provision location and / or the second provision location, it can be provided that one, several or all of the gripper strips 3 and / or guide elements 4 are or are controlled and / or displaced in such a way that the carriages 7 and / or the packing bell 9 can be arranged in the gripping position above the containers provided in the third container arrangement. One, several or all of the gripper strips 3 and / or guide elements 4 can be or are controlled and / or displaced in such a way that the carriages 7 and / or the packing bell 9 are or are spaced from one another essentially in accordance with the third container arrangement.The packing head 1 and / or the packing tulips 9 can then grip the provided containers of the third container arrangement.

[0085] In at least one repetition of the method, it can be provided that the gripped containers are deposited in a fourth container arrangement. The fourth container arrangement can differ from the first, second and / or third container arrangement. For example, the containers in the fourth container arrangement can be spaced apart from one another at different distances than in the second container arrangement. It can be provided that the containers in the fourth container arrangement can be spaced apart from one another at regular and / or irregular intervals. It can be provided that the deposit location of the fourth container arrangement can be different from the deposit location of the second container arrangement, i.e. the containers can be or be deposited at a second deposit location in the fourth container arrangement.At the drop-off location and / or the second drop-off location, one or more packages, boxes, or the like can be arranged, into which the picked containers are to be deposited. It can be provided that in the fourth container arrangement, groups of containers, which may be closer to one another than to the other containers, are to be deposited, for example, into the packages and / or boxes. If containers are deposited in packages, boxes, or the like in both the second and fourth container arrangements, some, several, or all of the respective packages, boxes, and / or the like in the second and fourth container arrangements can differ from one another, for example in the number of containers per package, box, and / or the like, or the format of the containers to be picked up.

[0086] In at least one repetition, the containers can be provided and / or placed in a container arrangement which differs from a previous implementation of the method. This enables an uninterrupted format change. In other words, a format change, e.g. packing or unpacking a first number of provided containers and a subsequent packing or unpacking of a second number of provided containers which differ from the first number of provided containers, for example in their format, dimensions, volume, weight, filling or the like, can be or become possible without the method having to be stopped or the packaging machine or system having to be stopped. In other words, the separate control or separate movement of the respective gripper elements 3 and / or guide elements 4 and thus the carriages 7 and packing bells 9 enables the format change to be carried out during the ongoing process orThis process allows a format change of the containers to be packed and / or unpacked while the packaging machine and / or system is running. This eliminates setup processes and downtimes that would otherwise be necessary to adjust the guidance of the carriages 7 or packing bells 9 when the container format changes.

[0087] In some embodiments, the provision location and / or the second provision location may comprise a table, e.g., a container table. The table may provide containers and / or containers may be or be fed to the table in order to provide them on the table. In some embodiments, the set-down location and / or the second set-down location may comprise a box and / or packaging. It may be provided that the provided containers are or will be wrapped when the method and / or the steps are carried out.

[0088] In some embodiments, the provision location and / or the second provision location can comprise packaging and / or a box in which or in which the containers can be or will be provided. In some embodiments, the drop-off location and / or the second drop-off location can comprise an alley or the like. The containers placed in the alley or alleys can be or will be transported away. It can be provided that when the method and / or the steps are carried out, the provided containers are or will be unpacked. In some embodiments, the steps necessary and / or to be carried out for unpacking containers can correspond to those for packing containers in reverse order.

[0089] It can be provided to provide and / or arrange a camera at or near the provision location and / or the second provision location. The camera can be configured to capture a container arrangement or container formation of containers provided at the provision location and / or the second provision location. If the packing head 1 is moved into the gripping position above the provision location and / or the second provision location, it can be provided to move the gripper strips 3 and / or the guide elements 4 depending on the container formation or container arrangement captured by the camera, so that the packing tulips 9 can be arranged above the containers in the gripping position. The containers can thus be provided in essentially any desired container formation or arrangement and yet be gripped without interrupting the process or method and without stopping the packing machine or system.The control of the gripper strips 3 and / or the guide elements 4 can thus be easily adapted to the container formation or container arrangement of the provided containers. Furthermore, the accuracy of the alignment of the packing bell 9 in the gripping position over the provided containers can be improved, so that a secure gripping of the provided containers is enabled. Alternatively or additionally, the container formation or the distances between the containers in the container arrangement can be predetermined by a control unit or the like.

[0090] The camera functions as an optical container position detection device, thus providing a packaging device with an optical container position detection device. The features disclosed in the claims, the description, and / or the figures may be essential for the implementation of the invention, individually or in any combination.

[0091] List of reference symbols

[0092] Packing head 1

[0093] Single head 2

[0094] Gripper strip 3

[0095] Guide element 4 first level 5 second level 6

[0096] Sleigh 7

[0097] Intersection point 8

[0098] Packing tulip 9

[0099] Gripper strip drive 10

[0100] Guide element drive 11

[0101] Rail element 12

[0102] Slot 13

[0103] Push rod 14

[0104] Frame element 15

[0105] Fastening element 16

[0106] Extension direction F

[0107] Extension direction G

Claims

Claims Packing head (1) for packing or unpacking containers, preferably bottles or cans, wherein the packing head (1) has at least one individual head (2), wherein the individual head (2) has at least two gripper strips (3) extending in a first plane (5), wherein the packing head (1) has guide elements (4) intersecting with the gripper strips (3) and extending in a second plane (6), which is preferably spaced substantially parallel from the first plane (5), and a plurality of carriages (7), wherein the carriages (7) are arranged at intersection points of the gripper strips (3) and the guide elements (4) and are movable along the gripper strips (3) and the guide elements (4), wherein a packing tulip (9) for gripping a container is arranged on at least one, preferably each, of the carriages (7), characterized in that at least one, preferably each, of the gripper strips (3) has a gripper strip drive (10),which is configured to move the gripper strip (3) independently of an adjacent gripper strip (3) parallel to the direction of extension of the guide elements (4), so that when the gripper strip (3) is moved, the carriages (7) arranged at the intersection points of the respective gripper strip (3) with the guide elements (4) are moved along the guide elements (4), and wherein at least one, preferably each of the guide elements (4) has a guide element drive (11) configured to move the guide element (4) independently of an adjacent guide element (4) parallel to the direction of extension of the gripper strips (3), so that when the guide element (4) is moved, the carriages (7) arranged at the intersection points of the respective guide element (4) with the gripper strips (3) are moved along the gripper strips (3). Packing head (1) according to claim 1, wherein the carriages (7) slide on the gripper strips (3).Packing head (1) according to claim 1 or 2, wherein the gripper strips (3) have a rail element (12), preferably two rail elements (12), on which the carriages (7) rest and / or which are encompassed by the carriages (7). Packing head (1) according to claim 3, wherein the carriages (7) each have at least one groove (13), preferably two grooves (13), in which a respective rail element (12) is received. Packing head (1) according to one of the preceding claims, wherein the guide elements (4) are or have push rods (14) and the carriages (7) are arranged between two respective push rods, wherein the push rods (14) are configured to push and / or contact the carriages (7) when the carriages (7) are moved in the direction of extension of the gripper strips (3).Packing head (1) according to one of the preceding claims, in which the packing head (1) has at least two individual heads (2), preferably at least four or six individual heads (2), wherein the guide elements (4) cross respective gripper strips (3) of all individual heads (2). Packing head (1) according to one of the preceding claims, in which an individual head (2) has at least two, preferably at least four gripper strips (3). Packing head (1) according to one of the preceding claims, which has at least four, preferably at least six, guide elements (4), so that each gripper strip (3) has at least four, preferably at least six, crossing points, wherein a carriage (7) is preferably arranged at each crossing point. Packing head (1) according to one of the preceding claims, in which the first level (5) lies below the second level (6), and in which the carriages (7) protrude above the first level (5) in such a way that they extend through the second level (6). Packing head (1) according to one of the preceding claims, in which the gripper strip drive (10) and / or guide element drive (11) comprises a pneumatic drive, a linear motor, and / or a servomotor, or in which the gripper strip drive (10) comprises a pneumatic drive and the guide element drive (11) comprises a linear motor or a servomotor. Method for packing or unpacking containers, comprising the following steps: - Providing containers in a first container arrangement at a provision location; - Moving a packing head (1) according to one of the preceding claims 1 to 10 into a gripping position above the provision location, wherein during the movement of the packing head (1) the gripper strips (3) and / or the guide elements (4) are moved in such a way that the carriages (7) and / or packing tulips (9) arranged on the carriages (7) are arranged above the containers in the gripping position of the packing head (1); - Gripping the containers provided with the packing tulips (9); - Moving the packing head (1) into a depositing position above a depositing location at which the containers are deposited in a second container arrangement, wherein during the movement of the packing head (1) into the depositing position, the gripper strips (3) and the guide elements (4) are driven in such a way that the carriages (7) and / or on the carriages (7) arranged packing tulips (9) are spaced from each other according to the second container arrangement; - Setting down the containers gripped by the packing tulips (9) at the settling location, so that the containers are arranged in the second container arrangement after setting down. Method according to claim 11, wherein, after setting down the containers gripped by the packing tulips (9), the method comprises the further steps: - Providing containers in a third container arrangement, which is different from the first container arrangement, at the provision location or a second provision location; - Moving the packing head (1) into a gripping position above the provision location or the second provision location, wherein, during the movement of the packing head (1), the gripper strips (3) and the guide elements (4) are driven such that the carriages (7) and / or packing tulips (9) arranged on the carriages (7) are spaced apart according to the third container formation, so that the packing tulips (9) can grip the further containers in the third container formation. Method according to one of the preceding claims 11 or 12, comprising the further steps: - Gripping of provided containers with the packing tulips (9) and moving the packing head (1) into a depositing position above the depositing location or above a second depositing location, at which the containers are deposited in a fourth container arrangement, wherein the fourth container arrangement is different from the second container arrangement, wherein during the movement of the packing head (1) into the depositing position theThe gripper strips (3) and the guide elements (4) are driven in such a way that the carriages (7) and / or packing tulips (9) arranged on the carriages (7) are spaced apart from one another in accordance with the fourth container arrangement, so that the containers are arranged in the fourth container arrangement after being set down. Method according to one of the preceding claims 11 to 13, in which, before the containers provided in the first container arrangement and / or the third container arrangement are gripped, preferably during the provision of the containers and / or before or during the movement of the packing head (1) into the gripping position, the container formation of the containers provided in the first and / or third container arrangement is recorded by a camera, wherein, during the movement of the packing head (1), the gripper strips (3) and / or the guide elements (4) are moved depending on the recorded container formation.Method according to one of the preceding claims 11 to 14, in which the method is carried out repeatedly, wherein in at least one repetition of the method the containers are provided and / or deposited in a container arrangement different from a previous implementation of the method, so that a format change is carried out without interrupting the method.

Images