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EP0253229A2 - Installation pour palettiser des récipients en matériau saisissable par magnétisme - Google Patents

Installation pour palettiser des récipients en matériau saisissable par magnétisme Download PDF

Info

Publication number
EP0253229A2
EP0253229A2 EP87109578A EP87109578A EP0253229A2 EP 0253229 A2 EP0253229 A2 EP 0253229A2 EP 87109578 A EP87109578 A EP 87109578A EP 87109578 A EP87109578 A EP 87109578A EP 0253229 A2 EP0253229 A2 EP 0253229A2
Authority
EP
European Patent Office
Prior art keywords
containers
belt
cans
feed belt
setting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP87109578A
Other languages
German (de)
English (en)
Other versions
EP0253229A3 (en
EP0253229B1 (fr
Inventor
Karl Heinz Bullinger
Ewald Hölderle
Ewald Fallenstein
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Staehle Blechpackungen GmbH
Original Assignee
Staehle Blechpackungen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Staehle Blechpackungen GmbH filed Critical Staehle Blechpackungen GmbH
Publication of EP0253229A2 publication Critical patent/EP0253229A2/fr
Publication of EP0253229A3 publication Critical patent/EP0253229A3/de
Application granted granted Critical
Publication of EP0253229B1 publication Critical patent/EP0253229B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/54—Feeding articles along multiple paths to a single packaging position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles

Definitions

  • the invention relates to a device for palletizing containers made of magnetically detectable material, in particular containers, the height of which is a multiple of the diameter.
  • Portal robots are used for loading pallets, boxes and the like, in which a gripper is held on a portal frame, which grips in several directions is movable.
  • these known machines can only be used for packaged goods that are stable in themselves and are provided with straight-walled surfaces in all three levels. These packaged goods must therefore have good stability.
  • Another disadvantage of these known gantry robots is the low speed in relation to the ejection speed of high-performance production lines, as are usually found for the production of round cylindrical cans.
  • the invention has for its object to design a device of the type mentioned in such a way that the containers in question are automatically unloaded into boxes.
  • an at least one feed belt spanning portal frame is provided, on which a transversely to the feed belt and vertically movable setting head is arranged with a lifting and lowering magnetic bar for detecting a number of containers that at the end of the feed belt a stop and movable side guides are provided, at least one packing station being arranged next to the end of the infeed conveyor, and in that the containers' entry into the end of the infeed conveyor, the movement and lowering of the setting head or the magnetic bar, and the removal of the filled cartons via computer-controlled single-axis positioning controls (CNC) is provided, with a higher-level coordination via a programmable logic controller (PLC).
  • CNC computer-controlled single-axis positioning controls
  • An advantageous embodiment is that the feed belt ends in two parallel belt parts and between the belt parts two packing stations are provided and that a set head is assigned to each band part.
  • Such a device has an output of about 300 cans per minute. This output can be increased to 500 cans per minute in that the tape part has two parallel tapes running directly next to one another, two setting heads with their respective magnetic strips being provided for two rows of cans.
  • stop is movable and controllable by means of the control device in order to achieve a row offset of the containers.
  • a switch controlled by the control device is provided at the transition of the feed belt into the belt parts and that the inflow of the containers to the ends of the belt parts can be regulated by means of allotment stars.
  • horizontal guide rods are arranged on the portal frame, on which a carrier plate is guided with the setting head and that the carrier plate is driven by means of a ball screw.
  • the setting head be attached to a vertically arranged driven ball screw.
  • the invention has the advantage that the containers are guided in the entire machine at the end of the production line so that the cans cannot tip over.
  • the control and holding devices are designed in such a way that, when the can stream is stopped and restarted, a single can or an entire row of cans cannot tip over.
  • a high volume capacity can be achieved by not picking up individual cans, but rather a whole row of a layer image and placing them in the carton. Here, too, the row of cans is forced into place until it is securely placed in the box and remains there.
  • the packing picture d. H. You can choose whether the cans are in rows next to each other or on gaps. Furthermore, the device can be adjusted to the size and the number (selection buttons)
  • Another feature of the invention is the feeding of the cardboard boxes (trays) to the two packing stations arranged between the belt parts. These boxes are brought into the machine via feed belts in the cycle of the machine or the loading process, fed to the two packing stations and aligned there in two directions in the horizontal plane.
  • Another advantage of the machine is that the basic principle of the work flow of the machine is reversible by another programming of the CNC control. Then the machine can be used as an unloader for the boxes, e.g. B. for loading filling lines, as they are usually used for filling aerosol cans.
  • FIG. 1 shows a top view of the entire device, the containers 1 coming from the production line being fed via a feed belt 2.
  • a switch 3 which divides the feed belt into two belt parts 4, 5.
  • the switch 3 is set with the aid of the counting star 28.
  • the control takes place essentially via light barriers 6.
  • Packing tapes 10 are provided parallel to the tape parts 4, 5.
  • the empty boxes are inserted with the aid of sliding cylinders 11.
  • movable side guides 12 are provided, the spacing of which can be changed with the aid of pressure cylinders 13. These side guides 12 serve to align the counted row of cans. The distance to the row of cans is chosen so that there is little play. Furthermore, at the end of the band parts 4, 5 there is a movable stop 14, which enables the rows of cans to be offset in the packing station 7. This stop 14 is provided with a pressure cylinder drive 15 (Fig. 5). The filled boxes 16 are then conveyed away via the belt 10.
  • setting heads 17 For gripping and moving a row of cans at the end of the band parts 4, 5 are used setting heads 17 which are arranged on a portal frame 18 so as to be displaceable. Each setting head 17 is provided with a magnetic strip (27), the length of which corresponds to the length of the row of cans to be detected.
  • the setting head 17 is in this case fastened to a vertical guide bushing 21 which in turn is held on a carrier plate 19.
  • the vertical guide bushing 21 receives a drive motor with a spindle in order to change the height of the setting head.
  • the carrier plate 19 is slidably arranged on horizontal guide rods 20, the guide rods 20 being supported on the portal frame 18.
  • the two spindles for the horizontal and vertical displacement are driven by disc-type motors in order to be able to precisely maintain the required displacement.
  • a safety device is provided in the setting head 17 in the event of malfunctions, for example when the height changes due to falling containers.
  • the setting head 17 is supported by a spring 23 and as soon as the position changes, the machine is switched off via corresponding limit switches.
  • the device operates as follows.
  • the containers or cans 1 coming from the production line via the feed belt 2 are distributed by means of the switch 3 to the two belt parts 4, 5 depending on the fill level.
  • the respective metering star 24 counts the corresponding quantity of cans onto the respective belt part 4, 5.
  • the over the control preselected row offset is achieved by means of the movable stop 14. If there is an empty carton 9 in the packing station 7, the counted row of cans in the belt part 4 or 5 is aligned by the movable side guides 12. From the row of cans thus aligned, the setting head 17 located on the vertical axis 21 moves down to the corresponding can height.
  • the magnetic bar 27 located in the setting head 17 is switched down.
  • the aligned row of cans is magnetically picked up by the setting head 17.
  • the row of cans located on the setting head 17 is moved upwards over the vertical axis corresponding to the guide bushing 21 until a command sets the horizontal axis in motion in accordance with the horizontal guide 22.
  • two mutually independent functions are triggered. First, the respective band part 4, 5 is free and is available for a new counting process, which is triggered immediately. Second, the setting head 17 moves down to the pack level. When the respective spindles have reached the packing level and report "target reached", the magnetic bar 27 located in the setting head 17 is switched upwards.
  • the packaged goods are released and stand on the cardboard in the packing station 7. Both setting heads 17 move into the starting position in order to pick up the next row of cans provided. This process is repeated until the box is filled.
  • the packing process is stopped.
  • the corresponding lock for the filled carton is opened and runs on a take-off belt, from where the carton in question can be placed on a pallet by hand.
  • After passing A light barrier releases the next empty box 9, which runs into the machine and is brought into the appropriate position in the packing station 7 or in front of the packing station 7. Then a new packing process is initiated.
  • the two machine halves work independently of each other.
  • the binary input signals coming from the process and from the CNC axis cards are processed sequentially by the central unit according to a program that is located in the program memory.
  • the central unit receives the binary input signals from the process and from the CNC axis cards and processes the binary input signals from the process and from the CNC axis cards.
  • the central unit processes sequentially by the central unit according to a program that is located in the program memory.
  • the associated binary outputs valves, contactors, lamps, etc.
  • All data for the changeover to a different product dimension are contained in the PLC and can be selected using the decade switch.
  • the single-axis positioning control is used for position control and for moving a motor-driven ball screw 22 into a specific position.
  • a certain number of positioning blocks with information on the traversing speed and the next traversing block to be processed is loaded into the memory of the CNC control using the programming and operating device.
  • the CNC control can connect to the PLC via two input / output interfaces. All functions of the CNC control are specified and controlled in the normal operating sequence by the PLC.
  • An analog interface controls the downstream pulse-width-modulated three-phase servo amplifier to control the motor.
  • the actual position of the ball screw 22 is detected by the incremental angle encoder, reported to the CNC control and evaluated there accordingly. This creates a closed position control loop that guarantees that the spindle is held precisely in the programmed position.
  • the control of the vertical circulation spindles 21 is carried out analogously.
  • the servo frequency converter has the task of converting the small analog signal coming from the CNC control into a large current for generating a rotary movement of the motor proportional to the analog signal.
  • the tachometer generator which is rigidly coupled to the motor, returns the output signal corresponding to the speed to the amplifier and ensures that the travel speed specified by the CNC is maintained.
  • the rotor position encoder built into the motor reports the respective rotor back to the frequency converter and ensures the correct energization of the three windings contained in the synchronous motor.
  • the programming and operating device enables various inputs to the CNC single-axis positioning controls. All commands required for handling are sent to the individual axes with the control unit.
  • FIG. 6 to 8 show a further embodiment of the device, the same parts being provided with the same reference numerals.
  • the band part 4, 5 is divided into two parallel belts 4 ⁇ , 4 ⁇ and 5 ⁇ , 5 ⁇ in its end region.
  • a stop 14 and side guides 12 for aligning the counted rows of cans 25 and 26, respectively.
  • set heads 17 with two magnetic strips 27, which can be moved relative to one another, are used.
  • These magnetic strips 27 capture the rows of cans End of the belts 4 ⁇ , 4 ⁇ or 5 ⁇ , 5 ⁇ and transport them into the empty cardboard boxes 9.
  • the setting head located on the outside is shifted towards the other setting head, so that the corresponding packing image is generated in the box.
  • FIG. 7 shows in the left part of the device the moment at which the rows of cans are gripped by the magnetic strips 27, while the right part of the figure shows the rows of cans in a packaging position.
  • the movable side guides 12 are located on the outside in each case. It has also proven to be advantageous in the area between the counter star 24 and the end of the belts 4, 5 or 4 4, 5 ⁇ or 4 ⁇ , 5 ⁇ instead of a conveyor belt for the containers 1 Provide drive chains.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Specific Conveyance Elements (AREA)
  • Wrapping Of Specific Fragile Articles (AREA)
EP87109578A 1986-07-11 1987-07-03 Installation pour palettiser des récipients en matériau saisissable par magnétisme Expired - Lifetime EP0253229B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3623342 1986-07-11
DE19863623342 DE3623342A1 (de) 1986-07-11 1986-07-11 Vorrichtung zum palettieren von behaeltnissen aus magnetisch erfassbarem material

Publications (3)

Publication Number Publication Date
EP0253229A2 true EP0253229A2 (fr) 1988-01-20
EP0253229A3 EP0253229A3 (en) 1989-10-04
EP0253229B1 EP0253229B1 (fr) 1992-04-08

Family

ID=6304907

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87109578A Expired - Lifetime EP0253229B1 (fr) 1986-07-11 1987-07-03 Installation pour palettiser des récipients en matériau saisissable par magnétisme

Country Status (3)

Country Link
EP (1) EP0253229B1 (fr)
JP (1) JPS6327322A (fr)
DE (2) DE3623342A1 (fr)

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0305896A2 (fr) * 1987-09-02 1989-03-08 Henkel Kommanditgesellschaft auf Aktien Procédé pour positionner des bâtonnets dans des barquettes et dispositif pour la mise en oeuvre du procédé
FR2768404A1 (fr) * 1997-09-17 1999-03-19 Ouest Conditionnement Machine de conditionnement de lots de produits
BE1013117A3 (fr) * 1995-09-06 2001-10-02 Matsushita Electric Ind Co Ltd Procede et dispositif pour le rangement de cellules dans des boites.
EP1584561A1 (fr) * 2004-03-31 2005-10-12 Jacob White (Packaging) Limited Machine d' emballage munie de plusieurs lignes d' emballage.
EP1602580A1 (fr) * 2004-05-31 2005-12-07 Packservice S.r.l. Machine de mise en boíte semi-automatique.
CN102992030A (zh) * 2011-09-09 2013-03-27 中国国际海运集装箱(集团)股份有限公司 集装箱板材自动上料系统
CN105035704A (zh) * 2015-06-08 2015-11-11 杭州娃哈哈集团有限公司 转向定位装置
DE102014221218A1 (de) * 2014-10-20 2016-04-21 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umgang mit Artikeln
CN105966670A (zh) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 一种包装软管自动上管封口装置
CN105966682A (zh) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 一种金属软管灌装封尾用自动上管装置
CN105966653A (zh) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 一种具有自动上管装置的软管灌装机
CN105966683A (zh) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 一种金属包装软管上管封口机
CN106043822A (zh) * 2016-06-29 2016-10-26 苏州市盛百威包装设备有限公司 一种包装软管自动上管装置
CN106241408A (zh) * 2016-08-31 2016-12-21 中冶华天工程技术有限公司 后置驱动的高速码垛系统
DE102015118248A1 (de) * 2015-10-26 2017-04-27 Krones Aktiengesellschaft Anlage zur Ausführung von Abfolgen von Umgängen mit Artikeln
CN107117454A (zh) * 2017-06-21 2017-09-01 浙江亿诺自动化有限公司 物流输送带推料机构
CN107444690A (zh) * 2017-09-08 2017-12-08 贵州科伦药业有限公司 一种新型塑料瓶夹具及控制方法
CN112591429A (zh) * 2020-11-30 2021-04-02 重庆檬泰生物科技有限公司 一种果蔬分料装置
US11660762B2 (en) 2018-05-11 2023-05-30 Mp Zenrobotics Oy Waste sorting robot
US12064792B2 (en) 2020-10-28 2024-08-20 Mp Zenrobotics Oy Waste sorting robot with gripper that releases waste object at a throw position
US12122046B2 (en) 2020-06-24 2024-10-22 Mp Zenrobotics Oy Waste sorting robot
US12151371B2 (en) 2018-04-22 2024-11-26 Mp Zenrobotics Oy Waste sorting gantry robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4242163C2 (de) * 1992-12-15 2001-06-21 Krones Ag Verfahren zum Behandeln von Gefäßen und Anlage zu dessen Durchführung
DE4327769A1 (de) * 1993-08-18 1995-03-02 Dirk Wilkening Vorrichtung zum maschinellen Entfernen von Schraubdeckeln von Flaschen
DE4433808A1 (de) * 1994-09-22 1996-03-28 Focke & Co Verfahren und Vorrichtung zum Handhaben von zylindrischen Gegenständen, insbesondere Keksrollen
WO1999055604A1 (fr) 1998-04-23 1999-11-04 Certus Maschinenbau Gmbh Dispositif pour le traitement de bouteilles
DE29807325U1 (de) * 1998-04-23 1999-09-16 Certus Maschinenbau GmbH, 86316 Friedberg Vorrichtung zum Sammeln und Palettieren von Flaschen
DE102011010162A1 (de) * 2011-02-02 2012-08-02 Krones Aktiengesellschaft Verfahren und System zum Ausrichten von Behältern und insbesondere von Flaschen
SE543130C2 (en) 2018-04-22 2020-10-13 Zenrobotics Oy A waste sorting robot gripper
CN110803522A (zh) * 2019-11-08 2020-02-18 湖南一肯照明有限公司 一种锂电池生产用放料机械手及锂电池生产装置

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FR2234192A1 (en) * 1973-06-22 1975-01-17 Dropsy Carton Packing machine for groups of bottles - pair of conveyors feed bottles to position below packaging sheets
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EP0132496A1 (fr) * 1983-05-20 1985-02-13 Ottmar Lingenfelder Dispositif de positionnement pour la palettisation des marchandises générales
DE3513507A1 (de) * 1984-05-09 1985-11-14 "LOESCH"-Verpackungstechnik GmbH & Co KG, 8602 Altendorf Vorrichtung zum einlegen von pralinen

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US2609133A (en) * 1945-06-27 1952-09-02 Odin Corp Magnetic grapple can loading machine
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FR2234192A1 (en) * 1973-06-22 1975-01-17 Dropsy Carton Packing machine for groups of bottles - pair of conveyors feed bottles to position below packaging sheets
US4222478A (en) * 1978-02-14 1980-09-16 Sig-Schweizerische Industrie-Gesellschaft Article feeding system for parallel-operating machines
DE2920128A1 (de) * 1979-05-18 1980-11-20 Hartenstein Kg Johannes A Flascheneinpacker
FR2499506A1 (fr) * 1981-02-06 1982-08-13 Roxane Expl Sources Machine pour la mise en container d'objets cylindriques tels que des bouteilles
EP0132496A1 (fr) * 1983-05-20 1985-02-13 Ottmar Lingenfelder Dispositif de positionnement pour la palettisation des marchandises générales
DE3513507A1 (de) * 1984-05-09 1985-11-14 "LOESCH"-Verpackungstechnik GmbH & Co KG, 8602 Altendorf Vorrichtung zum einlegen von pralinen

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Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0305896A2 (fr) * 1987-09-02 1989-03-08 Henkel Kommanditgesellschaft auf Aktien Procédé pour positionner des bâtonnets dans des barquettes et dispositif pour la mise en oeuvre du procédé
EP0305896B1 (fr) * 1987-09-02 1992-05-27 Henkel Kommanditgesellschaft auf Aktien Procédé pour positionner des bâtonnets dans des barquettes et dispositif pour la mise en oeuvre du procédé
BE1013117A3 (fr) * 1995-09-06 2001-10-02 Matsushita Electric Ind Co Ltd Procede et dispositif pour le rangement de cellules dans des boites.
FR2768404A1 (fr) * 1997-09-17 1999-03-19 Ouest Conditionnement Machine de conditionnement de lots de produits
EP1584561A1 (fr) * 2004-03-31 2005-10-12 Jacob White (Packaging) Limited Machine d' emballage munie de plusieurs lignes d' emballage.
US7219485B2 (en) 2004-05-31 2007-05-22 Packservice S.R.L. Semi-automatic boxing machine
EP1602580A1 (fr) * 2004-05-31 2005-12-07 Packservice S.r.l. Machine de mise en boíte semi-automatique.
CN102992030A (zh) * 2011-09-09 2013-03-27 中国国际海运集装箱(集团)股份有限公司 集装箱板材自动上料系统
CN102992030B (zh) * 2011-09-09 2015-04-29 中国国际海运集装箱(集团)股份有限公司 集装箱板材自动上料系统
DE102014221218A1 (de) * 2014-10-20 2016-04-21 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umgang mit Artikeln
US10604291B2 (en) 2014-10-20 2020-03-31 Krones Aktiengesellschaft Apparatus and method for handling articles
CN105035704B (zh) * 2015-06-08 2017-04-19 杭州娃哈哈集团有限公司 转向定位装置
CN105035704A (zh) * 2015-06-08 2015-11-11 杭州娃哈哈集团有限公司 转向定位装置
DE102015118248A1 (de) * 2015-10-26 2017-04-27 Krones Aktiengesellschaft Anlage zur Ausführung von Abfolgen von Umgängen mit Artikeln
CN105966682B (zh) * 2016-06-29 2018-07-20 泉州市易智通智能设备有限公司 一种金属软管灌装封尾用自动上管装置
CN105966670A (zh) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 一种包装软管自动上管封口装置
CN106043822A (zh) * 2016-06-29 2016-10-26 苏州市盛百威包装设备有限公司 一种包装软管自动上管装置
CN105966683A (zh) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 一种金属包装软管上管封口机
CN105966653A (zh) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 一种具有自动上管装置的软管灌装机
CN105966670B (zh) * 2016-06-29 2018-07-27 中山市港清包装机械有限公司 一种包装软管自动上管封口装置
CN105966682A (zh) * 2016-06-29 2016-09-28 苏州市盛百威包装设备有限公司 一种金属软管灌装封尾用自动上管装置
CN105966653B (zh) * 2016-06-29 2018-03-06 徐挺 一种具有自动上管装置的软管灌装机
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Also Published As

Publication number Publication date
EP0253229A3 (en) 1989-10-04
EP0253229B1 (fr) 1992-04-08
DE3623342A1 (de) 1988-01-21
JPS6327322A (ja) 1988-02-05
DE3778077D1 (de) 1992-05-14

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