Apparatus and method for pushing products into a packaging-film tube in a tubular-bag packaging machine

Abstract

An apparatus (1) and a method for pushing products (P) into a packaging-film tube in a tubular-bag machine comprise a carry-along device (60) with a point of contact (61), which acts on the product (P) and pushes it in the conveying direction (F); sensor devices, which sense the position of the product (P) in the conveying direction (F); movable, planar coupling devices (10), to which the carry-along device (60) is attached, as a result of which the point of contact (61) can move in or counter to the conveying direction (F), and perpendicularly to the conveying plane (E), such that it can adopt substantially any desired position within a defined working region (A); and control devices for controlling the movement of the coupling devices (10) on the basis of a comparison of the position of the product (P) before and / or during the operation of being pushed into the film tube, the position being sensed by the sensor devices, with a defined setpoint position of the product (P) in a packaging unit to be formed in the tubular-bag machine. The coupling devices (10) comprise for example two rotatable crank members (20, 50) and two rotatable coupling members (30, 40), wherein the coupling members (30, 40) are connected movably to one another and are connected to the two crank members (20, 50) such that the first coupling member (30) is connected to the first crank member (20) and the second coupling member (40) is connected to the second crank member (50). A first drive device (12) rotates the first crank member (20) and a second drive device (15) rotates the second crank member (50). The carry-along device (60) is attached to one of the coupling members (30, 40). The defined working region (A), in which the point of contact (61) can therefore move, is substantially a planar, closed, regularly or irregularly delimited surface area which extends in the conveying direction (F) and perpendicularly to the conveying plane (E), wherein it intersects the conveying plane (E) and / or extends above and / or below the conveying plane (E).

Description

[0001] Device and method for inserting products into a packaging film tube in a tubular bag packaging machine

[0002] The invention relates to a device and a method for inserting products into a packaging film tube in a tubular bag packaging machine. The invention further relates to a tubular bag packaging machine comprising an insertion device according to the invention.

[0003] The invention fundamentally relates to the packaging of products in a packaging film using a flow-wrap packaging machine, in particular a horizontal flow-wrap packaging machine. In this case, pieced products or unit loads are inserted into a packaging film tube, which is then sealed and divided into individual packaging units. Plastic film or paper packaging materials are typically used as the packaging material.

[0004] In such a flow-pack packaging machine, the packaging film is fed in as a continuous belt or unwound from a film roll and formed into a continuous tube by suitable folding elements or a so-called folding box. The packaging material is placed or folded around the product to be packaged and sealed more or less tightly. This usually begins with a longitudinal sealing seam that runs in the conveying direction of the machine and by means of which the two lateral edges of the fed film tube wrapped around the product are connected to one another, in particular sealed. The individual products or product groups are thus inserted into this film tube successively and preferably at regular intervals and are then arranged in the film tube at regular intervals from one another in the conveying direction.

[0005] By means of suitable cross-sealing devices or a cross-sealing station, a cross-sealing seam is then formed in the film tube between each two successive products or product groups, said cross-sealing seam running transversely to the conveying direction of the machine. The cross-sealing station typically has a knife device by means of which the individual packaging units are separated from one another or from the film tube along the cross-sealing seam. The cross-sealing seam is divided into two parallel cross-sealings, namely a rear cross-sealing seam of a first, leading packaging unit, as seen in the conveying direction, and a front cross-sealing seam of a subsequent, second packaging unit, as seen in the conveying direction. By means of these closed cross-sealing seams and the longitudinal sealing seam, the respective packaging unit with the product or products accommodated therein is then completely formed and, in particular, tightly sealed.The separated individual packaging units are then removed. This process enables a fast and continuous process.

[0006] Such flow-wrapping machines, especially horizontal ones, are used, for example, in the packaging of confectionery products, such as chocolate bars, chocolate bars, muesli bars, and the like, which typically have a rectangular or cuboid shape. They are also commonly used for pharmaceutical products. Other products, such as industrial or technical ones, are also conceivable.

[0007] The products to be packaged are usually fed to the flow wrapping machine via separate distribution systems. The products are typically fed in randomly and / or at random, arbitrary distances from one another, making it necessary to align the products and arrange them regularly and orderly along the conveyor line. For example, rectangular chocolate tablets or bars are fed to the flow wrapping machine from an upstream depositing system in such a way that the long sides of the rectangle run perpendicular to the conveying direction (“long-side leading”). However, since it may be desirable for the short sides of the rectangle to run perpendicular to the conveying direction (“short-side leading”) for further processing and packaging, the products must first be rotated and aligned accordingly. In addition, defective products or products with incorrect dimensions are usually ejected from the conveyor line.

[0008] Typically, the products, or those remaining after defective products have been rejected, are fed "in accumulation", i.e. they are conveyed in a continuous, more or less closed product flow on one or more conveyor belts or conveyor chains connected in series. In addition to this latter type of "in accumulation" feeding, a so-called "zero pressure accumulation" feeding is also possible. Here, the products are positioned and / or aligned relative to one another via several belt transitions (for example, with more than seven separate conveyor belts in a row). The consecutive products are, for example, slightly spaced from one another and do not touch one another. This type of conveying is mainly used for "sticky" products (e.g. muesli bars), as these products would otherwise stick to one another.

[0009] The "accumulation" feeding and the "pressure-free accumulation" feeding can be used alternatively or cumulatively (i.e. one after the other). After the products have been initially fed "accumulation", for example, and thus arranged and / or aligned and / or defective products have been rejected, the products are then positioned correctly by suitable belt transitions. Here, the products are transferred from a first conveyor belt to a subsequent, second conveyor belt, with these two conveyor belts having different belt speeds. Typically, the second conveyor belt has a higher speed than the first conveyor belt, which increases the distance between the successive products in the conveying direction, i.e. the products are pulled apart by this belt transition.This ensures that the consecutive products are conveyed "zero pressure," correctly positioned and aligned, and at the required equal distance from each other so that they can subsequently be correctly inserted into the film tube. In this way, the product arrangement is synchronized with the work cycle of the packaging machine (machine cycle). It should already be mentioned at this point that the insertion device according to the invention ("single-cycle pusher") can also be used for "zero pressure" feeding systems.

[0010] The products are then fed into a so-called feed chain at this regular distance. The feed chain is typically a (further) conveyor belt or conveyor chain that has a number of flights that grab the products one after the other, push them along in a guided manner and finally insert them into the film tube. The feed chain runs at a constant speed, so that all flights on the feed chain move at the same speed. The flights are arranged at equidistant intervals on the conveyor belt or conveyor chain. In particular, the flights are removably inserted into the conveyor belt or conveyor chain in such a way that their distance and number on the feed chain can be changed. It should be noted that the so-called chain pitch, i.e. the distance between any two adjacent flights, must be an integer divisor of the length of the feed chain (chain length).

[0011] Depending on the format selected, i.e. the length of the packaging unit ultimately to be formed containing the product, the flow wrapping machine may have to be converted by adapting the chain pitch to the format in question. To do this, the flights on the feed chain are repositioned and their spacing and number are changed according to the respective format. In addition, it may be necessary to change the type and dimensions of the flights depending on the dimensions and / or properties of the respective product so that the product is guided correctly and gently by the flights. For example, the contact point of the flight, i.e. the point at which the flight engages the product, should be selected at around half the height of the product so that the contact point is, for example, central or symmetrical on the product.It is understood that such mechanical interventions required in the event of a format change may result in downtimes and thus in reduced performance of the flow-wrapping machine.

[0012] For safe and gentle handling of the products, it may also be necessary for delicate and / or tall products to provide a so-called dipping curve for the flight members. This curve is formed by a grooved curve that guides the flight member and ensures that the flight member initially tilts backwards in the opposite direction to the conveying direction, before moving out of the conveying plane in the conveying direction and then returning to the beginning of the conveying section to pick up the next product. Such a dipping curve is disadvantageous in that it limits the movement speed of the flight members and can therefore reduce the performance of the flow-wrapping machine. A key aspect of the flow-wrapping machines described above is that the products are fed from the feed chain precisely, i.e.They must be inserted into the film tube at the correct time and with the correct positioning, alignment, and spacing so that the respective packaging unit can be formed correctly. The products should essentially be arranged centrally within this packaging unit. To achieve this, it is necessary, for example, to ensure that the fed products do not end up in the area of ​​the subsequent transverse seal, as otherwise the products would be damaged during the formation of the transverse seal and the separation of the individual packaging units, resulting in a faulty, leaky packaging unit.

[0013] After the product has been inserted into the film tube of the flow-wrapping machine, it is typically guided through the film wrapped around it. It is important that the product no longer moves within the film tube. As mentioned above, deviations from the target position of the product within the tube can lead to disruptions in subsequent process steps (e.g., gusset folding, cross-sealing, etc.). Therefore, the positioning of the products in the film tube and the insertion process that achieves this positioning are of fundamental importance for the correct, trouble-free operation of the flow-wrapping machine.

[0014] Ideally, the product speed, i.e. the speed of the feed chain (chain speed), and the film speed are identical while the products are being inserted into the film tube. Deviations in the product speed from the film speed, regardless of whether they are over- or under-speeds, lead to a relative movement of the products in relation to the film tube. In particular, the products can be slowed down or accelerated by the film tube. Due to process-related or unavoidable disturbances (e.g. temperature fluctuations, start-stop scenarios, variations in film tension, changing product properties), exact and constant positioning of the products in the film tube, and thus in the packaging unit ultimately to be formed, cannot be guaranteed in practice if the product speed or chain speed and the film speed are not identical.In practice, deviations in the actual product position from the ideal or target product position may be expected under certain circumstances. This means that, due to the aforementioned process-related fluctuations, minor deviations in the product position within the film tube must always be taken into account. As will be shown in more detail below, chain speeds that are too high or too low relative to the film are generally unavoidable in conventional flow-wrapping machines. As already indicated above, this can result in product collisions with the sealing tools, product damage, and faulty packaging, particularly with compact packaging.

[0015] The speed of the packaging film (film speed VFoiie) can be formulated using the relationship (1). Here, the parameter n describes the cycle rate of the packaging machine, and the parameter s the pull-off length (length of repeating sections on the packaging film, i.e., essentially the length of a packaging unit in the conveying direction).

[0016] The speed of the feed chain (chain speed VChain) can be formulated using the relationship (2). Here, the parameter p describes the chain pitch (distance between two adjacent flights).

[0017] This clearly shows that the above-mentioned requirement, according to which the product speed or chain speed is ideally identical to the film speed (VChain = VFilm), is only met if the chain pitch p is equal to the take-off length s (p = s). However, since only integer divisors of the chain length can be considered as the chain pitch (distance between any two adjacent flights on the feed chain), this requirement is usually not feasible in practice, or only under certain conditions.

[0018] To illustrate this problem, the parameter y is used, which describes the speed ratio of chain speed VChain to film speed VFoiie. Ideally, y = 1:

[0019] ^Chain — lie*

[0020] However, this condition is only possible for specific take-off lengths s of the packaging film, i.e., identical speeds of chain and film are only possible for discrete take-off lengths s, as shown below in Fig. 1a for a typical and common chain length of 120 inches (= 120 inches = 304.8 cm; where: 1 inch = 1 inch = 2.54 cm). For this specific chain length and a typical take-off length s in a range (format range) of 50 mm to 360 mm, the following relevant chain pitches p result: p = (1, 2,) 3, 4, 5, 6, 8, 10, 12, 15 [inches] (4)

[0021] Fig. 1a shows the possible pull-off lengths s as a function of the speed ratio y for the chain pitches p possible according to condition (4) with a chain length of 120 inches for ideal insertion ratios where y = 1. As the points shown in Fig. 1a show, this condition is only possible for certain pull-off lengths s of the packaging film. At these points, the products are in their ideal, correct position within the packaging film tube to ultimately form an optimal packaging unit. From Fig. 1a, it can be seen, for example, that for a chain pitch of p = 4 inches, the pull-off length s = 101.6 mm and for a chain pitch of p = 8 inches, the pull-off length s = 203.2 mm, etc.

[0022] In order not to be limited to formats (i.e., lengths of the products or the resulting packaging units) that meet the above-mentioned conditions, but to achieve greater flexibility and cover a wider format range, i.e., to allow for more product and packaging lengths, the range of the permissible speed ratio for inserting the products into the film tube can be expanded. In practice, the following speed ratio y of chain speed VChain to film speed VFoiie is generally permitted: y « 1 (5)

[0023] For the speed ratio y, the following can apply, for example (as used below as an example):

[0024] For y > 1, the chain speed VChain is thus greater than the film speed VFoiie, meaning the product moves at an excess speed, i.e., faster than the film tube. Consequently, there are format ranges in which the product is inserted into the film tube at a corresponding, sometimes significant, excess speed. In exceptional cases, however, it is also possible for the product to be inserted into the tube at an insufficient speed (y < 1).

[0025] Fig. 1b shows the possible pull-off lengths s of the packaging film or the possible format ranges as a function of the speed ratio y for the chain pitches p possible according to condition (4) with a chain length of 120 inches for the insertion ratios extended according to conditions (5) and (6). The points shown in Fig. 1b where y = 1 correspond to the points shown in Fig. 1a. The results shown in Fig. 1b clearly show that, despite the compromise solution according to conditions (5) and (6) (y « 1 ), there are ranges of pull-off lengths s in which inadmissible speed ratios exist. These are the grey areas shown in Fig. 1b. These ranges should be avoided in practice or used only when necessary. The unusable ranges can be shifted in practice by using different chain lengths, but cannot be completely eliminated.As a result, it can be stated that despite the extended conditions or ratios for inserting the products into the film tube according to conditions (5) and (6), the entire format range cannot be completely covered, ie not all formats and pull-off lengths can be achieved.

[0026] An alternative approach to adjusting the speed at which a product is inserted into a packaging film tube is represented by systems generally referred to as "transport systems with magnetic movers." One well-known example is the XTS® system marketed by Beckhoff Automation GmbH & Co. KG. This is a linear, rail-based drive and transport system in which magnetically driven carriers (movers) move along a predefined path. The carriers can be controlled independently of one another, allowing any desired, individual movement and speed profiles to be realized on the movement path. Such systems are described, for example, in patent documents DE 10 2008 040 204 A1, DE 10 2009 029 314 A1, and US 9,327,855 B2.However, due to the fact that the carriers are tied to guide rails, such systems are only partially flexible and therefore cannot fully cover the entire desired format range of the packaging units to be produced. Furthermore, such systems are associated with high costs.

[0027] It is therefore an object of the present invention to overcome the disadvantages described above. In particular, the invention is intended to eliminate the above-described unusable or inadmissible ranges of the packaging film's cut-off lengths or format ranges (i.e., lengths of a packaging unit in the conveying direction). Thus, a device and a method for inserting products into a packaging film tube are to be created, by means of which the entire format range can be completely covered, i.e., any packaging formats and cut-off lengths can be used. At the same time, it is to be ensured that the products are precisely, i.e.,They must be inserted into the film tube at the right time and with the correct positioning, alignment, and spacing, so that the respective packaging unit can be formed correctly and as optimally as possible, i.e., without damaging the products and / or producing faulty packaging. Furthermore, the products should be handled gently during their conveyance through the flow-wrapping machine. Last but not least, the invention aims to create a cost-effective solution.

[0028] According to the invention, this object is achieved by an insertion device for inserting products into a packaging film tube in a tubular bag packaging machine according to claim 1, by a corresponding insertion device arrangement according to claim 13, and by a corresponding method according to claim 15. The stated object is also achieved by a tubular bag packaging machine according to claim 16.

[0029] The invention thus provides an insertion device for inserting products into a packaging film tube in a tubular bag packaging machine, in particular a horizontal tubular bag packaging machine, in a conveying direction in a conveying plane, wherein the insertion device has the following features: a driver device which has a contact point, wherein the contact point engages in phases on the rear side of the respective product, seen in the conveying direction, in order to push the product in the conveying direction;and sensor devices which, preferably continuously, detect the position of the respective product in the conveying direction, in particular the position of the product before and / or during insertion of the product into the packaging film tube. The insertion device according to the invention further comprises the following features: coupling devices to which the driver device is attached, wherein the coupling devices are designed and movable such that the contact point of the driver device can be moved in the conveying direction or opposite to the conveying direction and in a direction perpendicular to the conveying direction and perpendicular to the conveying plane, such that the contact point can assume essentially any desired position within a defined working area;and control devices for controlling the movement of the coupling devices on the basis of a comparison of the position of the respective product detected by the sensor devices before and / or during the insertion of the product into the packaging film tube with a defined target position of the respective product in a packaging unit to be formed from the packaging film tube in the tubular bag packaging machine;

[0030] According to the invention, it is therefore provided that the feed chain described above, which has previously been typically used, or similar systems (e.g. transport systems with magnetic carriers or movers or so-called XTS® systems) for inserting products into a packaging film tube in a flow-wrapping machine are avoided and replaced by a flexible coupling mechanism which can be controlled and / or regulated depending on the current position of the respective individual product or several consecutive products in the conveyor line such that a carrier guiding the respective product can be individually and arbitrarily positioned and moved within a defined working area. The movement path (trajectory) of the carrier can, in principle, be arbitrary within the defined working area and can run differently for the individual, consecutive products.Accordingly, the speed of movement of the carrier can vary for each individual product. The movement path and / or the speed of movement of the carrier is thus individually controlled for each individual product in the conveyor line so that the respective product is inserted or cycled into the packaging film tube as precisely as possible in terms of time and position, so that it ultimately assumes a defined target position in the packaging unit to be formed from the packaging film tube. For the purposes of the present disclosure, the insertion device according to the invention is therefore also referred to as a cycle-controlled pusher.

[0031] The insertion device according to the invention is thus particularly, but not exclusively, suitable for zero-pressure feed systems in which the successive products are in particular at a certain distance from one another and do not touch one another, so that the driver can engage in the gap formed between two successive products.

[0032] According to the invention, the above-described disadvantages of the known feed chain, which are caused by the carriers arranged at defined intervals on the conveyor chain and the correspondingly fixed chain pitch, are thus avoided. According to the invention, the situation is thus particularly avoided where there are unusable format ranges or packaging formats and cut-off lengths of the packaging film tube or the resulting packaging units, as described above in connection with Figs. 1a and 1b. Thus, the device according to the invention and the corresponding method allow all conceivable format ranges, packaging sizes, and cut-off lengths to be used arbitrarily, individually, and completely.

[0033] The defined working area provided according to the invention is preferably formed essentially by a flat, closed, regularly or irregularly delimited surface which extends in the conveying direction and perpendicular to the conveying plane, intersecting the conveying plane and / or extending above the conveying plane and / or below the conveying plane. With suitable design and dimensioning of the coupling devices, the contact point of the driver device of the insertion device according to the invention can navigate as desired within the closed surface, i.e. can preferably control and reach every point within this surface. The contact point of the driver device can therefore grip each individual product depending on its respective position and orientation and in each case at a speed orAcceleration continues until the product is inserted into the film tube in such a way that it is correctly positioned in the ultimately formed packaging unit.

[0034] The coupling devices of the insertion device according to the invention or of the single-stroke pusher according to the invention preferably comprise the following features: at least one crank member, each of which is rotatable about an axis, in particular rotatable by 360° about an axis; at least one drive device, wherein a first drive device is connected to a first crank member and drives and rotates this crank member; and at least one coupling member, each of which is rotatable about an axis, wherein a first coupling member is movably connected to the first crank member; wherein the driver device is attached to one of the coupling members; and wherein the axes of rotation of the at least one crank member and of the at least one coupling member run substantially parallel to one another and parallel to the conveying plane and perpendicular to the conveying direction of the tubular bag packaging machine.Accordingly, in principle, an equal number or a different number of crank links and / or drive devices and / or coupling links can be provided in the coupling devices of the insertion device according to the invention. Thus, in principle, it is also conceivable for there to be more crank links than drive devices or more drive devices than crank links.

[0035] Given the possibility thus given in principle that several and preferably an equal number of crank members and drive devices are provided, preferably one drive device is connected to one crank member in each case, wherein the respective drive device drives and rotates the respective crank member.

[0036] A first conceivable variant of the coupling devices of the insertion device according to the invention represents a four-link coupling mechanism comprising two crank links and one coupling link, wherein the coupling link is designed and movably connected to the two crank links in such a way that it connects the first crank link and the second crank link to one another. The two crank links and the one coupling link form three links of the four-link coupling mechanism. The fourth link of this coupling mechanism is typically formed by the frame or substructure of the tubular bag packaging machine.

[0037] A second conceivable, preferred variant of the coupling devices of the insertion device according to the invention represents a five-link coupling mechanism comprising two crank links and two coupling links, wherein the two coupling links are movably connected to one another and are designed and movably connected to the two crank links such that the first coupling link is connected to the first crank link and the second coupling link is connected to the second crank link. The two crank links and the two coupling links form four links of the five-link coupling mechanism. The fifth link of this coupling mechanism is typically formed by the frame or substructure of the tubular bag packaging machine.

[0038] In principle, coupling mechanisms with more than five links are also conceivable, with a six-link coupling mechanism, for example, having three coupling links connected in series, etc. To form and ensure the functionality of the movable coupling mechanisms described above, the crank links and the coupling links are preferably connected to one another via rotary joints whose axes of rotation run essentially parallel to one another and parallel to the conveying plane and perpendicular to the conveying direction of the flow-wrapping machine. The crank links and the coupling links are thus, for example, rods or elongated supports that lie in a plane that extends in the conveying direction and perpendicular to the conveying plane of the flow-wrapping machine.This plane thus extends in the same orientation as the above-mentioned defined working area, in which the contact point of the driver device of the insertion device according to the invention can move. However, this plane, in which the crank links and the coupling links are located and in which they move, is typically located outside, i.e., below or above the conveying plane of the tubular-wrapping machine, in order to avoid collisions of the coupling mechanism, in particular the moving crank links and coupling links, with the conveyed products and / or other components of the tubular-wrapping machine.

[0039] The elongated or rod-like coupling links thus have, for example, corresponding pivot joints or corresponding parts of a pivot joint at both ends, via which they are coupled in a chain-like manner either to one another or to an elongated or rod-like crank link. The respective crank link then has a corresponding pivot joint or corresponding part of a pivot joint at its one end facing the respective coupling link. A five-link coupling mechanism thus typically consists of a chain of elements connected to one another via pivot joints: crank link-coupling link-coupling link-crank link. Accordingly, a four-link coupling mechanism consists of a chain of elements connected to one another via pivot joints: crank link-coupling link-crank link.

[0040] Instead of the second crank link, a four-link coupling mechanism, in particular, can also comprise a rocker link that is rotatable about an axis but oscillates back and forth between two end positions, as disclosed, for example, in patent application PCT / EP2023 / 057075, which describes a device and method for forming a packaging film gusset in a tubular bag package. The four-link coupling mechanism according to the present disclosure then has the crank link-coupling link-rocker link pattern.

[0041] At its other end, facing away from the respective adjacent coupling link, i.e. at the respective end of the said chain of elements of the coupling mechanism, the respective crank link is preferably coupled to a respective drive device which drives the crank link and rotates it about its respective axis of rotation, which is aligned parallel to the axes of rotation of the aforementioned rotary joints. The axis of rotation of the respective crank link is thus preferably arranged at the respective outer end of the chain, i.e. at the end of the respective crank link facing away from the respective adjacent coupling link. It is understood, however, that the drive device and thus also the respective axis of rotation can be arranged at any other suitable position on the crank link.

[0042] In a five-link coupling mechanism, two drive devices are preferably provided, namely one drive device at each end of the chain of interconnected elements: crank link, coupling link, coupling link, crank link. A first drive device drives the first crank link and rotates it, and a second drive device drives the second crank link and rotates it. The same can also apply to a four-link coupling mechanism or a coupling mechanism with more than five links. However, a four-link coupling mechanism can also be controlled with just one drive, i.e., only one of the two crank links is driven by a drive device.

[0043] The one or more drive devices are preferably mounted on the frame or substructure of the tubular-bag machine. They are designed and arranged such that the respective crank link can preferably rotate a full 360° about its aforementioned axis of rotation. The coupling links coupled to the crank links then follow the movement of the crank links, i.e., the movement of the coupling links is caused, positively controlled, and / or limited by the movement of the crank links. The coupling links are pushed forward or pulled backward by the crank links, whereby the coupling links can simultaneously rotate about their axes of rotation. During these movements, the angles between the crank links and the coupling links thus change continuously.

[0044] The above-mentioned driver device is attached to one of the coupling links of the chain and grips the individual products via its contact point, conveys them and pushes them into the film tube. The driver device is preferably fixedly attached to this coupling link, i.e. not movable relative to this coupling link. Due to the above-described movement of the chain of interconnected crank links and coupling links, the contact point of the driver device is thus controlled to move in the above-described defined working area in or opposite to the conveying direction, i.e. forwards or backwards, and / or perpendicular to the conveying plane, i.e. upwards or downwards, above and / or below the conveying plane. The contact point of the driver device can preferably reach and assume any position in the defined working area and be guided on a corresponding trajectory.In this way, it can be ensured that the products monitored by the above-mentioned sensor devices are guided individually and individually depending on their respective current position, if necessary corrected with regard to their position and / or orientation, and inserted into the film tube in such a way that ultimately a packaging unit is formed with a product correctly placed therein.

[0045] Instead of the embodiments described above with two drive devices, in which a first drive device drives the first crank link and a second drive device drives the second crank link, it is in principle also conceivable for only one drive device to be provided, which drives and rotates the first crank link. In this case, it can then be provided that the second crank link is essentially rotatably mounted in the frame or substructure of the tubular bag packaging machine, but is not itself actively driven. The second crank link is thus only passively moved, starting from the single drive device on the first crank link, via the one or more intermediate coupling links. As already explained above, this variant is particularly possible with a four-link coupling mechanism, which is thus only controlled by one drive.In the case of a five-linked planar coupling mechanism, however, this variant is generally not feasible in practice, since a five-linked mechanism always has two degrees of freedom, ie two drives are always required.

[0046] In order to achieve the movement system described above, control devices are provided according to the invention which control the movement of the coupling devices (chain of crank links and coupling links), namely on the basis of a comparison of the position of the respective product detected by the sensor devices before insertion and / or during insertion of the product into the packaging film tube with a defined target position of the respective product in a packaging unit to be formed from the packaging film tube in the tubular bag packaging machine.The control devices are preferably designed to control the drive devices coupled to the crank links in such a way that the respective drive device accelerates, decelerates, or reverses the rotational movement of the respective crank link in phases, or that the respective drive device causes the crank link associated with it to move at a constant speed or to remain stationary in phases. These types of movement of the crank link thus alternate continuously and as needed. The control devices can also control the individual drive devices in such a way that the movement profiles or movements of the individual crank links are the same or different, or run in the same direction or in opposite directions, in phases.Overall, the products monitored by the sensor devices are guided individually and individually by means of the carrier device attached to one of the coupling links depending on the respective current product position and, if necessary, corrected with regard to their position and / or orientation.

[0047] The insertion device according to the invention is therefore designed in particular such that the driver device inserts the respective product into the packaging film tube at the correct time and in the correct position, i.e. at the right time and with the correct positioning and / or alignment, in the conveying direction. After the product has been inserted into the packaging film tube, the driver device returns to its starting position at the start of the conveying section, i.e. moves substantially outside the conveying plane substantially opposite to the conveying direction, i.e. upstream, in order to grip a next product conveyed in the tubular bag packaging machine in such a way that the contact point of the driver device acts in phases on the rear side of the respective next product, seen in the conveying direction, in order to insert this next product into the packaging film tube at the correct time and in the correct position in the conveying direction.The return of the carrier device to its starting position must therefore take place in such a way that the carrier device and also the components of the coupling mechanism (crank links and coupling links) do not collide with the conveyed products and the other components of the flow-wrapping machine.

[0048] The invention further provides an insertion device arrangement or insertion device group for inserting products into a packaging film tube in a tubular bag packaging machine, in particular a horizontal tubular bag packaging machine, in a conveying direction in a conveying plane.This insertion device arrangement or group comprises at least two of the above-described insertion devices according to the invention, wherein the at least two insertion devices are arranged and designed next to one another in such a way that the driver device of a first of the at least two insertion devices inserts a first product into the packaging film tube, and that the driver device of a second of the at least two insertion devices inserts a subsequent, next product into the packaging film tube, while the driver device of the first insertion device, after inserting the first product into the packaging film tube, moves essentially outside the conveying plane essentially opposite to the conveying direction, ie runs back to its starting point at the beginning of the conveying path in order to grasp another next product and insert it into the packaging film tube.If two insertion devices are provided in the group, the carrier devices of these two insertion devices alternate cyclically in conveying the successive products.

[0049] The aforementioned insertion device arrangement or insertion device group preferably also comprises control devices for controlling and synchronizing the movements of the at least two insertion devices on the basis of a comparison of the position of the respective product detected by the sensor devices before insertion and / or during insertion of the product into the packaging film tube with a defined target position of the respective product in a packaging unit to be formed from the packaging film tube in the tubular bag packaging machine.

[0050] In addition to the devices described above, the invention also provides a corresponding method for inserting products into a packaging film tube in a tubular bag packaging machine, in particular a horizontal tubular bag packaging machine, in a conveying direction in a conveying plane. The method according to the invention is therefore carried out using one of the insertion devices or insertion device arrangements or groups described above.

[0051] Finally, the invention also provides a tubular bag packaging machine, in particular a horizontal tubular bag packaging machine, for forming a packaging unit containing a product from a packaging film tube. The tubular bag packaging machine according to the invention comprises one of the above-described insertion devices or insertion device arrangements or groups according to the invention for inserting the products into the packaging film tube. The tubular bag packaging machine according to the invention further comprises a transverse sealing device for forming at least one transverse sealing seam in the packaging film tube running transversely to the conveying direction of the tubular bag packaging machine, and a cutting device for separating a packaging unit containing a product from the packaging film tube in the region of the transverse sealing seam.The insertion devices or insertion device arrangements or groups according to the invention ensure that the product is not damaged during its conveyance, that the product is inserted correctly and precisely into the film tube and is ultimately correctly positioned within the resulting packaging unit, and that, ultimately, a proper, preferably sealed packaging unit is formed. Further details and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings.

[0052] Fig. 1a and 1b show ratios of chain speed to film speed as a function of the pull-off length and the chain pitch for a conventional flow-wrapping machine.

[0053] Fig. 2a is a first schematic diagram of an insertion device or a single-stroke slider according to the invention.

[0054] Fig. 2b is a second schematic diagram of an insertion device or a single-stroke slider according to the invention.

[0055] Fig. 3a to 3c show exemplary movement trajectories of a driver device of the insertion device according to the invention in a defined working area.

[0056] Fig. 4a to 4d show different positions of a driver device of the insertion device according to the invention in a defined working area.

[0057] Fig. 5a shows an exemplary movement trajectory of a driver device of the insertion device according to the invention.

[0058] Fig. 5b shows exemplary web speed profiles of the driver device from Fig. 5a for different take-off lengths.

[0059] Fig. 6 shows different trajectories of the driver device of the insertion device according to the invention for inserting misplaced products.

[0060] 7a and 7b show two insertion devices according to the invention in a layered design. Figs. 2a and 2b show simplified schematic diagrams or models of an insertion device or a single-stroke pusher 1, which here comprises, by way of example, a flat five-link coupling mechanism 10. This coupling mechanism 10 consists of five links, namely a first crank link 20, a first coupling link 30, a second coupling link 40, a second crank link 50, and the frame or substructure of the tubular bag machine. This machine frame or machine substructure is not explicitly shown in the drawings. The first crank link 20 is movably connected to the first coupling link 30 via a pivot joint 23. The two coupling links 30, 40 are movably connected to one another via a pivot joint 34. The second coupling link 40 is movably connected to the second crank link 50 via a pivot joint 45.

[0061] The crank links 20, 50 and the coupling links 30, 40 are, for example, elongated rods or supports or the like. One of the pivot joints 23, 34, 45 or corresponding parts of these pivot joints are thus arranged at each end of the elongated coupling links 30, 40 and at the end of the respective elongated crank link 20, 50 facing the adjacent coupling link 30, 40. The five-link coupling mechanism 10 shown in Figs. 2a and 2b thus typically consists of a chain or series connection of the elements crank link 20 - coupling link 30 - coupling link 40 - crank link 50, which are interconnected via the pivot joints 23, 34, 45.

[0062] This coupling mechanism 10 has two degrees of freedom, namely a movement component in or opposite to the conveying direction F of the products P in the form-fill-seal machine, and a movement component perpendicular to the conveying direction F and perpendicular to the conveying plane E of the products P in the form-fill-seal machine. The conveying direction F and the conveying plane E of the products P are particularly evident in Fig. 2b.

[0063] This coupling mechanism 10 can thus be controlled by two drives. As shown in Figs. 2a and 2b, two separate drive devices 12, 15 are provided for this purpose, each formed, for example, by a servomotor. Each of these drive devices or servomotors 12, 15 is operatively connected to one of the crank links 20, 50, so that the two drive devices 12, 15 can rotate the two crank links 20, 50 separately, independently of one another, and individually, i.e., they can separately monitor and control the orientations of the crank links 20, 50.

[0064] If, instead of the five-link coupling mechanism 10 shown in Figs. 2a and 2b, a four-link coupling mechanism is used which has only a single coupling link 30 or 40, respectively, it is alternatively also conceivable that instead of two drives, only one drive device 12, 15 is provided, which is accordingly operatively connected to only one of the two crank links 20, 50 and drives and rotates it accordingly. The other of the two crank links 20, 50 is then rotatably mounted, for example, in the substructure or frame of the tubular bag machine and is not actively driven as such. As already explained above, this variant with only one drive is generally not feasible in practice with a five-link coupling mechanism.

[0065] Furthermore, a driver device or a format part 60 is attached to one of the coupling links 30, 40, in particular fixed in such a way that the driver device 60 cannot move relative to the respective coupling link 30, 40. In the embodiment shown in Figs. 2a and 2b, the driver device 60 is fastened to the coupling link 30. The driver device 60 has a contact point 61, which is also referred to as the tool center point (TCP). By means of this contact point 61, the driver device 60 engages in phases on the rear side of a respective product P, viewed in the conveying direction F, in order to move the product P in the conveying direction F in the conveying plane E of the tubular bag machine and to insert it into the packaging film tube in a controlled manner (see Fig. 2b).

[0066] The insertion device or the single-cycle pusher 1 further comprises sensor devices (not shown in the drawings) or cooperates with sensor devices provided elsewhere in the tubular bag machine, which detect the position of the respective product P in the conveying direction F, preferably continuously or continuously, in particular the position of the product P before insertion and / or during insertion of the product P into the packaging film tube. The insertion device or the single-cycle pusher 1 also comprises control devices (not shown in the drawings) that control the movement of the coupling mechanism 10 and in particular the drive devices 12, 15.This control is carried out on the basis of a comparison of the position of the respective product P detected by the sensor devices before and / or during the insertion of the product P into the packaging film tube with a defined target position of the respective product P in a packaging unit to be formed from the packaging film tube in the tubular bag packaging machine.

[0067] In particular, the control devices control the drive devices 12, 15 such that the respective drive device 12, 15 accelerates or decelerates the rotational movement of the respective crank link 20, 50 coupled to it in phases and as needed, or reverses its direction. The control devices can also control the drive devices 12, 15, if necessary, such that the respective affected crank link 20, 50 moves at a constant speed in phases or remains stationary. Typically, the movement profiles or patterns of the two crank links 20, 50 are irregular and / or different, but can also be regular and / or identical in phases.

[0068] Depending on the position of the respective crank link 20, 50 or both crank links 20, 50 controlled in this way, different positions of the contact point or tool center point 61 of the driver device 60 result. The possible positions of the contact point 61 depend in particular on the dimensions, in particular the length, of the crank links 20, 50 and / or the coupling links 30, 40 and / or the driver device 60. By combining or superimposing the movements of the individual links of the coupling mechanism 10 and by summarizing all of the possible positions of the contact point 61, a defined working area A of the single-cycle slide 1 or the contact point 61 results. This is preferably a closed area within which the contact point 61 can navigate, particularly with a suitable selection of the lengths of the links of the coupling mechanism 10.superimposed movement of the members of the coupling mechanism 10, the contact point 61 can therefore move in or opposite to the conveying direction F and in a direction perpendicular to the conveying plane E such that the contact point 61 can assume essentially any position within the defined working area A.

[0069] As can be seen from Figs. 2a and 2b, the defined working area A is thus preferably formed by a flat, closed, regularly or irregularly delimited surface which extends in the conveying direction F and perpendicular to the conveying plane E, intersecting the conveying plane E and / or extending above and / or below the conveying plane E. Figs. 3a to 3c show exemplary trajectories on which the contact point 61 of the driver device 60 can move within the defined working area A, which is also shown here as an example. It is understood that the movement trajectories and the working area A can also have other shapes.

[0070] However, with regard to the motion system described above, the nonlinear mechanics of the coupling mechanism 10 must also be considered. Thus, additional nonlinear phenomena, such as singularities, etc., must also be considered when designing the coupling mechanism 10.

[0071] As already described above, the basic function of the insertion device or single-cycle pusher 1 is to insert products P into the packaging film tube of a preferably horizontal flow-wrapping machine. The single-cycle pusher 1 thus replaces the previously described, previously used feed chain or similar known systems. The function of the insertion device or single-cycle pusher 1 is described below using Figs. 4a to 4d.

[0072] The products P conveyed in the flow wrapping machine in the conveying direction F in the conveying plane E (cf. e.g. Fig. 2b) are first pulled apart by one or more belt transitions in the conveying direction F, i.e. arranged at a distance from one another. This serves, among other things, to ensure that the carrier device 60 can then engage between two successive products P, as described below. By pulling the products P apart or even beforehand, the products can be arranged irregularly and / or lie one behind the other at different distances in the product stream. These irregularities are eliminated by the single-cycle pusher 1, so that a temporally and spatially correct and orderly insertion of the individual products into the film tube is guaranteed, so that ultimately a correct packaging unit containing the product can be formed.

[0073] Once the products P have been pulled apart in the conveyor line, the contact point 61 (tool center point) of the driver device 60 appears behind the product P (cf. Fig. 4a), moves towards the product P, i.e. it grips the product P at its rear (cf. Fig. 4b), guides and pushes the product P further in the conveying direction F, and finally pushes it into the film tube (cf. Fig. 4c). The contact point 61 then dives out of the conveying plane E and runs under the next product P following in the product stream, opposite to the conveying direction F, back to its starting point or to the beginning of the conveyor line (cf. Fig. 4d), in order to then grip this next product and again push it into the film tube in a controlled manner, i.e. the process of product guidance by the driver device 60 starts again.

[0074] As initially explained using the conventional feed chain and conditions (1) to (6) as well as Figs. 1a and 1b, correct insertion and correct positioning of the product P in the film tube is essential for ultimately forming a correct packaging unit. With the insertion device or single-cycle pusher 1 described above, it is now possible to avoid or eliminate areas in which impermissible or unsuitable speed ratios of the speeds of the components of the flow-wrapping machine that accomplish the product insertion and / or the conveying speed of the packaging film exist, and / or to avoid or eliminate areas of pull-off lengths s in which such impermissible speed ratios exist (as shown by way of example in Figs. 1a and 1b).The pull-off length s refers to the length of repeating sections on the packaging film, i.e., essentially the length of a packaging unit to be formed in the conveying direction, which is also referred to as the packaging format. In other words, with the above-described insertion device or single-cycle pusher 1, essentially all possible and conceivable pull-off lengths s and packaging formats can now be used and implemented, i.e., the entire format range can be completely covered.

[0075] By controlling the above-described insertion device or the single-phase pusher 1 within the possible operating range, a wide variety of speed profiles can now be realized. It is therefore possible to individually adapt the movement and / or speed of the single-phase pusher for each individual product depending on the given pull-off length, so that the condition y = 1 can be guaranteed across the entire format range, i.e., for any packaging format. According to the above-mentioned condition (3), the parameter y describes the speed ratio of chain speed VChain (i.e., the speed at which the products are conveyed) to film speed VFoiie.

[0076] 5a and 5b show possible web speed profiles as a function of the pull-off length s. Fig. 5a shows an example trajectory of the single-cycle pusher (or of the contact point 61 of the driver device 60). The product is inserted into the film tube between the shown times t = 0 and t = ti. Various speed profiles are conceivable for this movement path, which are specified by the web speed s (i.e. the speed of the contact point 61), as is shown by way of example for different pull-off lengths s in Fig. 5b. As described above, a constant web speed s or v is required for the insertion process (0 < t < ti ) (which is plotted on the y-axis in Fig. 5b). This fact enables more precise and reproducible positioning of the products in the film tube.

[0077] A further advantage of the above-described insertion device or single-cycle pusher is the ability to react to misplaced products and to individually correct the position and / or orientation of these products in the conveyor line.

[0078] With the conventional infeed concepts (e.g., feed chain) of the horizontal flow-wrapping machine described above, misplaced products cannot be ruled out. For example, the infeed product may miss the chain compartment of the feed chain or rest on a flight of the feed chain. This problem is usually avoided in existing processes by removing such misplaced products from the conveying process. Sensors monitor the infeed of the products into the conveyor system, and in the event of potential errors (e.g., a product would miss the chain compartment), the affected products are removed (e.g., pneumatically). However, it is understood that this situation reduces machine efficiency.

[0079] However, the option of controlling the single-cycle pusher, as described above, in a somewhat robotic manner, makes it possible to correct the positioning and / or conveying speed of such incorrectly placed products. This prevents the affected products from having to be ejected from the conveyor line, thus increasing machine efficiency. The actual product position is also recorded by sensors. Instead of ejecting individual misplaced products, however, the movement trajectory of the contact point 61 of the driver device 60 of the single-cycle pusher 1 can be individually and arbitrarily adjusted for each individual product within the defined working area A, as described above. This situation is illustrated as an example in Fig. 6 for various product positions, which are described by the offset Ax to a target position. Fig.Figure 6 thus shows possible trajectories of the carrier device 60 for inserting misplaced products. While it is understood that the possible corrections to the product positions may be physically limited, especially at high cycle rates, this nevertheless clearly results in an increase in machine efficiency.

[0080] A further advantage of the insertion device or the single-cycle pusher described above is, due to the given flexibility within the defined working area A, that the packaging format can be changed without the use of tools and / or without mechanical intervention in the single-cycle pusher (tool-free format change).

[0081] In the conventional feed chain described at the beginning, mechanical interventions are typically necessary as a result of format changes, i.e. when the machine is converted to pack a different product with different dimensions. For example, the flights on the feed chain usually have to be repositioned to adjust the chain pitch p, as described above. The flights also often have to be changed in order to adapt the point of attack or the contact point of the flight on the product for different product heights. Particularly with tall products, if the flights dive out of the conveying plane on a circular path of movement. This can lead to product damage. In such cases, so-called dive curves are often used in the conventional feed chain. Here, each flight is supplemented, for example, by a bolt that runs in an additional grooved curve.This allows for an adapted movement path of the driver during descent. However, it should be noted that the chain speed is limited due to the dry-running friction pairing (pin in grooved cam).

[0082] All of the aforementioned adjustments and mechanical interventions in the conventional feed chain during a format change are unnecessary with this single-cycle pusher due to its flexible adaptation of the driver's movement trajectory within the possible working range. Therefore, the results and advantages achieved through the aforementioned complex adjustments to the conventional feed chain during a format change can be easily realized with this single-cycle pusher due to its flexible and individual controllability and without comparable effort. Furthermore, the aforementioned speed limitation due to plunge curves for the driver is eliminated with this single-cycle pusher, since the movement path and movement speed of the driver are controlled solely by the drive devices (servo motors), thus completely eliminating the need for additional grooved curves, etc.

[0083] A further advantage of the above-described insertion device or single-stroke pusher is that any adjustments or changes to the insertion characteristics are possible even during machine operation. This allows the machine operator to adjust properties such as the point of engagement or contact of the pusher with the product during production in order to improve product handling. Adjustments to the movement trajectory and / or the insertion speed of the pusher, among other things, are also easily possible during operation. This avoids downtime of the flow-wrapping machine. It also simplifies machine commissioning.

[0084] A further advantage of the above-described insertion device or single-cycle pusher is that it allows for a more compact design of the flow-wrapping machine overall. Compared to the conventional feed chain described above, the single-cycle pusher described is significantly more compact, meaning it requires less installation space than the previous feed chain. Due to the wide variety of formats of the packaging to be produced, chain lengths that cover the entire format range as completely as possible are preferred for the conventional feed chain. The resulting machine length can be reduced accordingly by using this single-cycle pusher.

[0085] In summary, the insertion device or single-cycle pusher described above is superior to known feeding systems, and in particular to the conventional feed chain in a horizontal flow-wrapping machine, due to its high flexibility. As shown, the single-cycle pusher allows for individual adjustment of its movement profile and variation of the movement path and the movement speed of the single-cycle pusher's driver device at any time. This flexibility makes it possible, among other things, to adapt the insertion process to the respective product and / or the respective pull-off length without the need for tools. Furthermore, it is possible to react to misplaced products and correct their positioning. The insertion process can also be adjusted at any time during machine operation.Thus, the present single-stroke pusher increases the overall performance and efficiency of a flow-wrapping machine.

[0086] Furthermore, a group of several of the above-described insertion devices or single-action slides can be provided as an insertion device arrangement. In this case, several, possibly identical, single-action slides are arranged side by side or constructed in a layered design. Figs. 7a and 7b schematically show two single-action slides in a layered design in different positions of their respective coupling mechanisms and driver devices. Each of the two single-action slides shown comprises a five-link coupling mechanism 10, 10a, each with two crank links, two coupling links, and a driver device 60, 60a, each with a contact point 61, 61a. In this respect, reference is made to the above description of the five-link coupling mechanism.

[0087] In this layered insertion device arrangement, the driver device 60 of the first single-cycle pusher pushes a first product P1 into the packaging film tube (see Fig. 7a). The driver device 60a of the second single-cycle pusher then pushes a next product P2 into the packaging film tube, while the driver device 60 of the first single-cycle pusher moves outside the conveying plane E, opposite to the conveying direction F, back to its starting position (see Fig. 7b), in order to then grasp another next product P3 and push it into the packaging film tube. This layered insertion device arrangement also includes suitable sensor devices and control devices for monitoring, controlling, and synchronizing the movements of the coupling mechanisms 10, 10a.

[0088] Such layered insertion devices are particularly suitable for packaging machines with high cycle rates and / or short film pull-off lengths. Furthermore, such layered insertion devices can further increase machine performance, making this system particularly suitable for high-speed applications.

Claims

Patent claims 1 . Insertion device (1) for inserting products (P) into a packaging film tube in a tubular bag packaging machine, in particular a horizontal tubular bag packaging machine, in a conveying direction (F) in a conveying plane (E), having the following features: - a driver device (60) having a contact point (61), wherein the contact point (61) engages in phases on the rear side of the respective product (P) as seen in the conveying direction (F) in order to push the product (P) in the conveying direction (F); and - Sensor devices which detect the position of the respective product (P) in the conveying direction (F), in particular the position of the product (P) before and / or during insertion of the product (P) into the packaging film tube; characterized by the following features: - coupling devices (10) to which the driver device (60) is attached, wherein the coupling devices (10) are designed and movable in such a way that the contact point (61) of the driver device (60) can be moved in the conveying direction (F) or opposite to the conveying direction (F) and in a direction perpendicular to the conveying plane (E) such that the contact point (61) can assume essentially any desired position within a defined working area (A); and - Control devices for controlling the movement of the coupling devices (10) on the basis of a comparison of the position of the respective product (P) detected by the sensor devices before insertion and / or during insertion of the product (P) into the packaging film tube with a defined target position of the respective product (P) in a packaging unit to be formed from the packaging film tube in the tubular bag packaging machine.

2. Insertion device (1) according to claim 1, wherein the defined working area (A) is formed essentially by a flat, closed, regularly or irregularly delimited surface which extends in the conveying direction (F) and perpendicular to the conveying plane (E), intersecting the conveying plane (E) and / or extending above the conveying plane (E) and / or below the conveying plane (E).

3. Insertion device (1) according to claim 1 or 2, wherein the coupling devices (10) comprise the following features: - at least one crank member (20, 50) which is rotatable about an axis, in particular rotatable about an axis by 360°; - at least one drive device (12, 15), wherein a first (12) of the at least one drive device (12, 15) is connected to a first (20) of the at least one crank member (20, 50) and drives and rotates this crank member (20); and - at least one coupling member (30, 40) which is rotatable about an axis, wherein a first (30) of the at least one coupling member (30, 40) is movably connected to a first (20) of the at least one crank member (20, 50); - wherein the driver device (60) is attached to one (30) of the at least one coupling member (30, 40); and - wherein the axes of rotation of the at least one crank member (20, 50) and of the at least one coupling member (30, 40) run substantially parallel to one another and parallel to the conveying plane (E) and perpendicular to the conveying direction (F) of the tubular bag packaging machine.

4. Insertion device (1) according to claim 3, wherein a further one (15) of the at least one drive device (12, 15) is connected to a further one (50) of the at least one crank member (20, 50) and drives and rotates this further crank member (50), if this further crank member (50) is present.

5. Insertion device (1) according to claim 3 or 4, wherein the coupling devices (10) comprise the following features: - two crank links (20, 50); and - a coupling member (30, 40) which is designed and movably connected to the two crank members (20, 50) in such a way that it connects the first crank member (20) and the second crank member (50) to one another.

6. Insertion device (1) according to claim 3 or 4, wherein the coupling devices (10) comprise the following features: - two crank links (20, 50); and - two coupling members (30, 40) which are movably connected to one another and are designed and movably connected to the two crank members (20, 50) in such a way that the first coupling member (30) is connected to the first crank member (20) and the second coupling member (40) is connected to the second crank member (50).

7. Insertion device (1) according to claim 5 or 6, wherein the crank members (20, 50) and the coupling members (30, 40) are connected to one another via rotary joints (23, 34, 45), the axes of rotation of which run substantially parallel to one another and parallel to the conveying plane (E) and perpendicular to the conveying direction (F) of the tubular bag packaging machine.

8. Insertion device (1) according to one of claims 5 to 7, - comprising a drive device (12) which drives and rotates the first crank member (20), - wherein the second crank member (50) is substantially rotatably mounted in a frame of the tubular bag packaging machine.

9. Insertion device (1) according to one of claims 5 to 7, - wherein it has two drive devices (12, 15), - wherein a first drive device (12) drives and rotates the first crank member (20) and a second drive device (15) drives and rotates the second crank member (50).

10. Insertion device (1) according to one of claims 3 to 9, wherein the control devices are designed to control the drive devices (12, 15) such that the respective drive device (12, 15) accelerates or decelerates or reverses the rotational movement of the respective crank member (20, 50) in phases or causes the respective crank member (20, 50) to move or stand still in phases at a constant speed.

11. Insertion device (1) according to claim 10 as dependent on claim 9, wherein the control means control the two drive means (12, 15) such that the movement profiles of the two crank members (20, 50) are phase-wise the same or different.

12. Insertion device (1) according to one of the preceding claims, wherein it is designed to - that the driver device (60) inserts the respective product (P) into the packaging film tube in the conveying direction (F) at the correct time and position, and - that the driver device (60) moves after a product (P) has been pushed into the packaging film tube substantially outside the conveying plane (E) substantially opposite to the conveying direction (F) in order to grip a next product (P) conveyed in the tubular bag packaging machine in such a way that the contact point (61) of the driver device (60) acts in phases on the rear side of the respective next product (P) as seen in the conveying direction (F) in order to push this next product (P) into the packaging film tube in the conveying direction (F) at the exact time and in the exact position.

13. Insertion device arrangement for inserting products (P1, P2, P3) into a packaging film tube in a tubular bag packaging machine, in particular a horizontal tubular bag packaging machine, in a conveying direction (F) in a conveying plane (E), characterized by the following features: - at least two insertion devices (1) according to one of the preceding claims, - wherein the at least two insertion devices (1 ) are arranged and designed next to one another in such a way that o the driver device (60) of a first of the at least two insertion devices (1 ) inserts a first product (P1 ) into the packaging film tube, and that o the driver device (60a) of a second of the at least two insertion devices (1 ) inserts a next product (P2) into the packaging film tube, while the driver device (60) of the first insertion device (1 ) moves after the insertion of the first product (P1 ) into the packaging film tube substantially outside the conveying plane (E) substantially opposite to the conveying direction (F) in order to grip a further next product (P3) and insert it into the packaging film tube.

14. Insertion device arrangement according to claim 13, comprising: - Control devices for controlling and synchronizing the movements of the at least two insertion devices (1) on the basis of a comparison of the position of the respective product (P1, P2, P3) detected by the sensor devices before insertion and / or during insertion of the product (P1, P2, P3) into the packaging film tube with a defined target position of the respective product (P1, P2, P3) in a packaging unit to be formed from the packaging film tube in the tubular bag packaging machine.

15. A method for inserting products (P) into a packaging film tube in a tubular bag packaging machine, in particular a horizontal tubular bag packaging machine, in a conveying direction (F) in a conveying plane (E), characterized in that it is carried out with an insertion device (1) according to one of claims 1 to 12 or an insertion device arrangement according to one of claims 13 to 14.

16. A tubular bag packaging machine, in particular a horizontal tubular bag packaging machine, for forming a packaging unit containing a product (P) from a packaging film tube, characterized by the following features: - an insertion device (1) for inserting the products (P) into the packaging film tube according to one of claims 1 to 12 or an insertion device arrangement for inserting the products (P) into the packaging film tube according to one of claims 13 to 14; - a transverse sealing device for forming at least one transverse sealing seam in the packaging film tube running transversely to the conveying direction (F) of the tubular bag packaging machine; and - a cutting device for separating a packaging unit containing a product (P) from the packaging film tube in the area of ​​the transverse sealing seam.

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