EP4149845A1 - Movement device and movement method - Google Patents

Abstract

The invention relates to a movement device (200) for a handling device (250), comprising a hinge mechanism (201) on which the handling device (250) is received. The handling device (250) can be moved between a first position (202) and a second position (203) by the hinge mechanism (201). The hinge mechanism (201) has a four-hinge assembly (219) with at least one first control lever (204) and at least one second control lever (205), said first control lever (204) being connected to the second control lever (205) via at least one coupling (206). The coupling (206) comprises a receiving section (214) for receiving the handling device (250). The first control lever (204), the second control lever (205), and the coupling (206) match one another such that the handling device (250) is moved from the first position (204) into the second position (205) in a substantially straight line. In the method for moving a handling device (250) using such a movement device (200), the handling device (250) is moved between the first position (202) and the second position (203) in a substantially straight line by means of the hinge mechanism (201). A packing machine (1) for filling a product into bags comprises a filling module (100) comprising a filler neck (101), such a movement device (200), and a handling device (250).

Description

Displacement device and method of displacement

description

The present invention relates to a displacement device for at least one handling device, in particular for a gripper device of a packaging machine, comprising at least a hinge mechanism on which the handling device is received. The handling device can be displaced between at least one first position and at least one second position by means of the joint mechanism. The present invention also relates to a method for relocating a handling device with such a device

Displacement device and a packing machine with such a displacement device.

In many machines, components and in particular tools or other processing and / or handling modules are moved back and forth between different positions in order to carry out processing and / or to convey objects or products from one position to another.

For example, in automatic and / or semi-automatic packing machines z. B. for filling bulk material in sacks, for example, an empty sack is gripped from a supply by a gripper device and attached to a filler neck, depending on the configuration. The filled sack can then from the gripper device z. B. be conveyed to a locking station or the like.

Depending on the configuration of the packaging machine and / or depending on the arrangement of the individual assemblies with respect to one another, it is often necessary to To move the gripper device or the gripper arm back and forth.

In packing machines are z. B. for conveying a filled sack from the filling spout to a closure station, displacement systems have become known which have a parallelogram-shaped joint mechanism in order to move the sack.

A disadvantage of such systems, however, is that, due to the polygon effect, a lifting movement of the joint mechanism also acts on the sack, as a result of which the shape or the volume of the sack changes at least temporarily. Raising and lowering the head area can cause air turbulence. This can lead to undesired leakage of product.

In particular, when the sack is transported to a sealing station and the area of the later sack seam has already been cleaned, the escape of product and thus contamination of the later seam area must be avoided.

It is the object of the present invention to improve the disadvantages described above.

This object is achieved by a displacement device with the features of claim 1, by a method for displacing a handling device with the features of claim 11 and by a packing machine with the features of claim 12. Preferred developments of the invention are the subject of the subclaims. Further advantages and features of the present invention emerge from the general description and the description of the exemplary embodiment.

The displacement device according to the invention for at least one handling device, in particular for a gripper device of a packaging machine, comprises at least one articulation mechanism on which the handling device is received. The handling device is in between by means of the hinge mechanism at least one first position and at least one second position displaceable. According to the invention, the joint mechanism has at least one four-bar arrangement with at least one first link and at least one second link, the first link being connected to the second link via at least one coupling. The coupling includes at least one receiving section for receiving the handling device, with the geometries of the first link, the second link and the coupling being coordinated with one another in such a way that a substantially rectilinear displacement or displacement movement of the handling device from the first position to the second Position takes place.

The handling device is in particular one

Processing device, a handling device such as a machine, a tool, a processing assembly, a gripper device and / or the like, which can be moved back and forth by means of the joint mechanism.

In particular, the handling device is from the

Displacement device comprises or a part thereof. However, depending on the configuration, a separate handling device can also be provided, which is received or attached to the displacement device or to the joint mechanism.

The arrangement of the links and the coupling to one another is at least temporarily essentially parallelogram-like or trapezoidal, whereby parallelogram-like or trapezoidal is not to be understood as meaning that it is actually a parallelogram or a trapezoid. In at least one position, the two links can be parallel to one another.

The hinge mechanism or four-bar arrangement is designed in particular in the manner of a coupling mechanism, so that a particularly reliable, stable and specific shift from the first position to the second position and back can take place. The displacement device according to the invention offers many advantages. A significant advantage is that due to the special design of the hinge mechanism or the special design of the link and the coupling to each other, a substantially rectilinear displacement of the handling device and thus, in the example of a gripper device, also an essentially rectilinear movement of a filled sack attached to the gripper device is made possible.

In conventional displacement systems with an articulated mechanism in the manner of a parallelogram or the like, the polygon effect during the movement of the handling device causes the handling device to be raised and lowered, whereby these forces also act on the bag attached to the handling device. The end points are usually lower than the stroke movement. In the other case, if the end points are higher than the mean swing position, there would also be a stroke movement. In both cases, the volume of the interior of the sack would change briefly, which would lead to the escape or pumping out of product and thus to new contamination of the previously cleaned sack seam area.

It is the case that the transport path is essentially straight due to the special design of the joint mechanism, but depending on the design, the handling device can preferably tilt slightly during the displacement, which does not, however, result in a change in the stroke or in the change in the vertical one Alignment leads so that no lifting movement is triggered. It is particularly preferred that at least one point of the coupling is displaced in a straight line or linearly. Around this point, usually the central axis of the handling device or the gripper device, the rest can then tilt slightly depending on the configuration, depending on the position.

The first link and the second link are preferably of different lengths. In particular, the first link is shorter than the second link. Preferably the shorter handlebar is in particular in the first position or the basic position further away from the second position than the second link.

The lower articulation point of the first link and the lower articulation point of the second link are particularly preferably arranged at different heights. In particular, the first link or the shorter link is arranged higher or the lower articulation point of this link is arranged higher.

It is also preferred that the free ends or the lower articulation points of the links are articulated on a housing or a frame.

In advantageous developments, the coupling has at least one first section and at least one second section, wherein the first section and the second section can be arranged at an angle to one another and, in particular, are arranged at an angle to one another. In particular, a straight-line movement of the handling device can be achieved by such a design.

The first link is preferably articulated with a second articulation point on a first section of the coupling and the second link is articulated with its second articulation point between the first and the second section of the coupling and / or on the second section of the coupling.

The receiving section for receiving the handling device is preferably arranged on the second section of the coupling. The arrangement of the handling device on this section ensures a particularly straight-line displacement of the handling device.

In expedient developments, the arrangement of the second articulation point of the first link on the first section and the second articulation point of the second link on the second section of the coupling are coordinated with one another. Are there In particular, the design of the coupling, the dimensioning of the handlebars and the attachment of the handlebars are coordinated with one another.

At least one actuator device is preferably provided. By means of such an actuator device, the joint mechanism and thus the handling device can be conveyed from the first position to the second position and back.

The actuator device particularly preferably comprises at least one pneumatic device. This pneumatic device can in particular comprise at least one pressure cylinder or a pneumatic cylinder or can be made available by one of these.

The method according to the invention is suitable for displacing a handling device by means of a displacement device as described above. The handling device is displaced essentially in a straight line between the first and the second position by means of the joint mechanism.

In this context, straight-line is to be understood in particular to mean that there is no or no significant change in height or no lifting movement between the first position and the second position. However, depending on the design, the handling device can tilt at least slightly about the point moving in a straight line, but this does not lead to any or no relevant lifting movement.

The method according to the invention also offers the advantages already mentioned above.

The packaging machine according to the invention is suitable for filling product and in particular for filling bulk goods in sacks and comprises at least one filling module with at least one filling nozzle, at least one displacement device, as described above, and at least one handling device. The packaging machine according to the invention also offers the advantages already mentioned above.

Further advantages and features of the present invention emerge from the exemplary embodiment which is explained below with reference to the accompanying figures.

In the figures show:

Fig. 1 is a purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a perspective view;

2 shows a further purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a perspective view;

Fig. 3 is a next purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a perspective view;

Fig. 4 is a purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a view from the front;

Fig. 5 is a purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a view from the side of the bag removal;

6 shows a further purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a view from the side of the bag removal;

7 shows a next purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a view from the side of the bag removal; 8 shows another purely schematic representation of an exemplary embodiment of a packaging machine according to the invention in a view from the side of the bag removal;

9 shows a purely schematic representation of a

Exemplary embodiment of a packing machine according to the invention in a view from the side of the bag supply;

Fig. 10 is a purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a view from the side of the bag removal;

11 shows a further purely schematic representation of a

Exemplary embodiment of a packaging machine according to the invention in a view from the side of the bag removal;

FIG. 12 shows the view according to FIG. 11 with the transfer device extended;

13 shows a purely schematic representation of a

Embodiment of a transfer device;

14 shows an enlargement according to FIG. 13;

15 shows a further purely schematic illustration of an exemplary embodiment of a transfer device;

16 shows an enlargement according to FIG. 15;

17 shows a perspective view corresponding to the view from FIG. 15;

18 shows an enlargement according to FIG. 17;

19 is a purely schematic view of a

Embodiment of a transfer device with a cleaning device according to the invention; 20 shows a purely schematic representation of a cleaning device according to the invention in a perspective view;

21 shows a further purely schematic representation of a cleaning device according to the invention in a perspective view;

22 shows a next, purely schematic representation of a cleaning device according to the invention in a perspective view;

23 shows another purely schematic representation of a cleaning device according to the invention in a perspective view;

24 shows a further purely schematic representation of a cleaning device according to the invention in a perspective view;

25 shows a purely schematic representation of a

Exemplary embodiment of a transfer device and a bag removal system of a packing system according to the invention or a displacement device according to the invention in a perspective view;

26 shows a purely schematic representation of a

Exemplary embodiment of a transfer device and a bag removal system of a packing system according to the invention or a shifting device according to the invention in a front view;

27 shows a further purely schematic representation of a

Exemplary embodiment of a transfer device and a bag removal system of a packing system according to the invention or a shifting device according to the invention in a front view; 28 shows a next purely schematic representation of a

Exemplary embodiment of a transfer device and a bag removal system of a packing system according to the invention or a shifting device according to the invention in a front view;

29 shows details from FIGS. 27, 28 and 29;

30 shows a next exemplary embodiment of a packaging machine according to the invention in a perspective view;

31 shows the exemplary embodiment according to FIG. 30 in a front view;

32 shows the exemplary embodiment according to FIG. 30 in a rear view;

33 shows the exemplary embodiment according to FIG. 30 in a top view; and

34 shows the exemplary embodiment according to FIG. 30 in a side view.

In Figure 1, a packaging machine 1 according to the invention is shown in a perspective view. In the exemplary embodiment shown here, the packing machine 1 comprises a sack supply 2, a sack removal 3 and a transfer device 4 arranged in between. The sack supply 2, the sack removal 3 and the transfer device 4 are arranged in a line 12.

Pulled out of the line 12 and arranged next to the transfer device 4 in the exemplary embodiment shown here, a filling module 100 is provided. In the exemplary embodiment shown here, empty sacks are fed from the sack supply 2 to the filling module 100 by means of the transfer device 4. The sack thus fed to the filling module 100 is attached to the filling nozzle 101 of the filling module 100 and is filled by the Transfer device 4 is guided back into line 12 and fed to bag removal 3.

By arranging the filling module 100 next to it or pulling it out of the line 12, almost any desired filling module 100 can be used together with the modules or assemblies of the packaging machine 1 arranged in line 12. In particular, standard modules can also be used, so that no special configuration of a filling module 100 has to be provided for the packaging machine according to the invention, preferably modules for filling open sacks regardless of the filling technology.

In the exemplary embodiment shown here, the packaging machine 1 is provided in an encapsulated manner, for which purpose the individual assemblies or modules are provided in housing devices 11, 102. In the exemplary embodiment shown here, the assemblies arranged in line 12, namely the bag supply 2, the bag removal 3 and the transfer device 4 are provided in a common housing device 11. In the exemplary embodiment shown, the filling module 10 is provided in its own housing device 102.

By arranging the individual assemblies or modules in housing devices 11, 102 it is possible, depending on the configuration, to hermetically seal off the filling process so that dangerous or sensitive substances can also be filled using the packaging machine 1. In particular, a negative pressure can also be created in the packing machine 1 or in the housing devices 11, 102 or suction can take place, so that product escaping during filling cannot escape into the environment but can be safely disposed of or even recycled.

The bag supply 2 comprises the one shown here

Embodiment also a sack production 13, wherein for this purpose, starting from a film supply 14 sacks are produced and made available to the transfer device 4. In the exemplary embodiment shown here, the sack transport 3 comprises a closure device 15, by means of which the filled and still open sacks can be closed, and a conveyor belt 16 for transporting the filled and closed sacks away.

The fact that the bag supply 2, the bag removal 3 and the transfer device are arranged in a line 12 and the filling module 100 is arranged pulled out of this line 112 results in a T-shaped arrangement of the packaging machine 1 according to the invention.

As stated earlier, this offers many advantages. One advantage is that by arranging the filling module 100 next to it or by pulling the filling module 100 out of the line 12, almost any (standard) filling module can be used. In this way, on the one hand, already existing filling modules 100 can be used. On the other hand, the secondary arrangement means that a filling module can also be changed or exchanged quickly without too much effort. In known inline systems, that is to say systems in which everything is arranged in a line, it can be difficult for reasons of space to arrange the filling technology, in particular the air filling module 105 with pressure chamber 106 shown in the exemplary embodiment, in line. In addition, the operability and maintainability would be made more difficult.

Another advantage is that the T-shaped configuration or arrangement of the packaging machine enables a particularly compact design.

In FIGS. 2 to 4, two perspective views and a front view of the packing machine 1 are shown for better illustration of the packing machine 1, the housing panels 17, 103 not being shown in the case of the housing devices 11, 102 in order to provide overview views of the interior of the packing machine 1 or . to grant to the different modules or assemblies. In FIGS. 5 and 6, the view of the transfer device 4 from the side of the bag removal 3 is shown once in an overview view and once in an enlarged illustration.

In this view, it can be seen that the filling module 100 is provided or arranged next to the transfer device 4, whereby the filling nozzle 101 of the filling module 100 can also be seen in this view. Here one can also see the inlet funnel 104 of the filling module 100, which is connected to a silo (not shown) for the product to be filled. In this case, product is fed into the pressure chamber 106 within the filling module 100 or here the air filling module 105 to the filling nozzle 101 via the inlet funnel 104.

In this view it can be seen that the transfer device has a first gripper device 5 and a second

Gripper device 6 comprises which are received on different sides 7, 8 of the transfer device 4 or on a base body 18 of the transfer device 4.

It is shown here that the base body 18 of the transfer device 4 is constructed in the manner of a column here and is provided hanging in the exemplary embodiment shown here. In the exemplary embodiment shown, the base body 18 hangs on rails 19, as a result of which the base body 19 with the gripper devices 5, 6 can be pulled out of the line 12 to the left in this view. This displaceability of the transfer device 4 will be shown and described again in more detail later.

In addition to the displaceability of the transfer device 4 or the base body 18 of the transfer device 4, the base body 18 can also be rotated back and forth through 90 ° in the exemplary embodiment shown here. By turning the base body 18 of the transfer device 4 back and forth and by arranging the first gripper device 5 on one side 7 of the base body 18 and arranging the second gripper device 6 on the side 8 of the The base body 18 can be fed to the filling module 100 or the filling spout 101 by means of the transfer device 4 from the line 12 by turning the base body 18 to and fro by 90 °. If the base body 18 or the transfer device 4 rotates back, the second gripper device 6 comes into contact with the now filled sack at the filling spout 101 and can pick it up and, when the base body 18 is pre-rotated or rotated again, is guided back into the line 12 and the sack is transported away are fed.

The enlargement in FIG. 6 shows the first gripper device 5 and the second gripper device 6 on different sides 7, 8 of the base body 18 of the transfer device 4. One of the two gripper arms 9 of the first gripper device 5 can also be seen here.

As can be seen in more detail in the following figures, the gripper device 5 in the exemplary embodiment shown here comprises two gripper arms 9 which can be moved relative to one another so that they serve as a type of spreader. So it is possible that the gripping arms 9 of the first

Gripper device 5 pick up an open sack from the sack supply 2 or from the sack manufacture and attach it to the filling nozzle 101. For this purpose, the first gripper device 5 or for this purpose the gripper arms 9 can also be displaced forwards and withdrawn again in the exemplary embodiment shown here, which is shown purely schematically in FIGS.

In FIG. 9, the view of the transfer device 4 and the filling module 100 from the direction of the sack supply 2 is shown in a purely schematic manner. The base body 18 of the transfer device 4 is rotated in such a way that the second gripper device 6 is oriented in the direction of the filling nozzle 101 of the filling module 100. In this position, the first gripper device 5 is oriented in such a way that it can pick up an empty sack from the sack supply 2. FIG. 10 shows a purely schematic view of the transfer device 4 and the filling module 100 from the side of the bag removal 3.

It can be seen here that the second gripper device 6 is provided so that it can be displaced, so that the second gripper device 6 in the exemplary embodiment shown can be pivoted or displaced forwards in the direction of the filler neck 101 via a parallelogram-like structure 20. Thus, the clamping devices 10 of the second gripper device 6 can compress the still open sack walls of the filled sack and then move the sack back in the direction of the base body 18.

The base body 18 can then be rotated here clockwise by 90 °, so that the full sack can be shifted back into the line 12 and then fed to the sack sack removal system. At the same time, while the full sack is being removed by the second gripping device 6, a new, empty sack can be picked up by the first gripping device 5. When the full sack is turned into the line 12, a new, empty sack is then simultaneously moved out of the line 12 and fed to the filler neck 101.

In FIG. 10 it can also be seen that a cleaning device 50 according to the invention is provided above the second gripper device 6, which is explained in detail in the later figures.

In FIGS. 11 and 12, a side view of the packing machine 1 or the transfer device 4 and the filling module 100 from the direction of the bag removal 3 are shown again in a purely schematic manner. In a comparison of this view, it can be seen that the transfer device 4 or the base body 18, together with the gripper devices 5, 6 attached to it, is designed so that it can be moved or pulled out. For this purpose, as already stated above, in the exemplary embodiment shown here, the base body 18 is suspended in an upper region and can be displaced via a rail 19 or a rail system 19. Other technical components or parts for moving the base body 18 can also be used in an analogous manner.

Because, in the exemplary embodiment shown here, the transfer device 4 or the base body 18 of the transfer device 4 can be pulled out transversely to the line 12, sufficient space is made available for maintenance personnel to maintain the packaging machine 1, for example.

In this way, in the extended state of the base body 18, it is particularly possible to comfortably reach all the assemblies of the packaging machine 1 in the exemplary embodiment shown here. In particular, the filling module 100 can also be reached from the side of the filling nozzle 101. However, the bag supply 2, the bag removal and also the otherwise inaccessible side of the transfer device can be serviced and / or repaired.

In FIGS. 13 and 14, the transfer device 4 or the base body 18 of the transfer device 4 of the packaging machine 1 is shown in an overview and a detailed view.

In this exemplary embodiment, the first gripper device 5 and the second gripper device 6 are arranged offset by 90 ° on the different sides 7, 8. This arrangement ensures a superimposed mode of operation of the empty sack and full sack transfer or transport.

A cleaning device 50, which comprises a housing device 64, is provided above the second gripper device 6, a pivotable housing element 65 or a pivotable flap 66 being provided in the exemplary embodiment shown here. The cleaning device 50 will be explained in more detail in later figures. In addition, it can be seen that the first gripper device 5 is arranged on the side 7 of the base body 18, which in the exemplary embodiment shown here comprises two gripper arms 9, which here can be moved relative to one another or pivoted or displaced outward. The gripping arms thus act as a spreader and can pick up an empty sack from the sack supply 2 or take it over from it.

Furthermore, as can already be seen in the figures, the first gripper device 5 is provided pivotably so that it can be displaced forwards in the direction of the filling nozzle 101 and also in the direction of the bag supply 2. Depending on the configuration, telescopic gripping arms 9 or other components of the first gripping device 5 can also be provided, for example.

In FIGS. 15 and 16, the base body of the transfer device 4 is rotated in such a way that the first gripper device 5 is oriented in the direction of the filling nozzle 101 of the filling module 100. In this position, in the exemplary embodiment shown here, an open sack (not shown) is held on the gripping arms 9 by spreading the two gripping arms 9, the gripping device 5 being displaced forwards in order to attach the sack held open to the filler neck 101. In addition, the second gripper device 6 with the clamping devices 10 can be seen.

In Figures 17 and 18, the side view from Figures 15 and 16 is shown again in a slightly perspective view obliquely from above, with the cleaning device 50 above the second gripper device 6 being hidden in order to get a better impression of the clamping devices 10 of the second To obtain gripper device 6.

In FIGS. 19 to 24, the cleaning device 50 according to the invention provided above the second gripper device 6 in the exemplary embodiment shown here and its mode of operation are described in detail. In the exemplary embodiment shown here, the cleaning device 50 according to the invention is provided for cleaning the so-called head seam area of a sack to be closed with the aid of blown air.

In addition to the application of the cleaning device 50 according to the invention presented here, it can also clean any other work section, in particular with regard to the packaging machine 1 described here.

In Figure 19 is an overview of the

The transfer device 4 of the packaging machine 1 according to the invention is shown purely schematically, the cleaning device 50 according to the invention in the one shown here

Embodiment is arranged above the second gripper device 6.

In this exemplary embodiment, the cleaning device 50 comprises two blow bars 51, which cannot be seen in FIG. 19. In the exemplary embodiment shown here, the cleaning device 50 is provided encapsulated in a housing device 64. This makes it possible for the blow bars 51 and the working section to be cleaned to be hermetically sealed. In order to feed the working section or the sack to be cleaned to the cleaning device 50, the housing device 64 comprises a movable or here pivotable housing element 65 or a flap 66, which is shown in the closed state in the view shown.

In FIG. 20, a cleaning device 50 according to the invention can be seen in a perspective view, the movable housing element 65 or the flap 66 being shown in the open state. In this way, the view of the two blow bars 51 located within the housing device 64, shown here by way of example, becomes clear. In FIG. 21, the assembly of the cleaning device 50 is shown again separately in a perspective view in a perspective view. Here, too, the flap 66 or the pivotable housing element 65 is shown in the open state, so that the two blow bars 51 provided in the exemplary embodiment shown here can be seen.

In the exemplary embodiment shown here, the blow bars 51 each comprise a multiplicity of first nozzle devices 52, second nozzle devices 53 and third nozzle devices 54, which are here arranged in rows 60, 61, 62.

Air can be applied to the three rows 60, 61, 62 provided here by the first nozzle devices 52, the second nozzle devices 53 and the third nozzle devices 54 so that a moving air wave is blown out over the working section to be cleaned.

This is achieved in that the first nozzle devices 52 and the first row 60 of first nozzle devices 52 each have a first blow-out direction 55, which differs from the blow-out directions 56, 57 of other nozzle devices 53, 54 or rows 61, 62 of nozzle devices 53, 54 differs. In particular, it is preferred and also provided in this exemplary embodiment that the first nozzle devices 52, the second nozzle devices 53 and the third nozzle devices 54 each have a blow-out device 50, 56, 57, which are each different from one another.

Furthermore, a control device 58, not shown in any more detail in the figures, is provided which is suitable and designed to control the nozzle devices 52, 53, 54 at least at times in a temporally offset manner.

For this purpose, it is provided in the exemplary embodiment shown that for the three rows 60, 61, 62 of nozzle devices 52, 53, 54, separate air feeds 59 are in each case within the blow bars 51 are provided. This is provided here for both blower bars 51 and can be seen purely schematically in FIG. 22 by hiding the left blower bar 51. By hiding one of the blower strips 51, one can see the separate air inlets 59a located outside the blower strip 51 or the connections for the air inlets 59 of the blower strip 51.

In FIGS. 23 and 24 it is shown purely schematically that a suction device 63 can also be provided in order to suck off the air expelled by the blow bars 51 or also another fluid together with the swirled up particles.

For this purpose, the suction device 63 is in the embodiment shown here via an opening 67 in the

Housing device 64 in operative connection with the interior of the housing device 64.

In the embodiment shown, a suction pipe 68 is provided which is connected to this opening 67. Depending on the configuration, a further suction pipe 68 can also be provided on the left-hand side, for example, the opening 67 on the left-hand side being closed by a cover 69 here.

In the exemplary embodiment shown, it is provided, as already described above, that the closing of the movable housing element 65 or the flap 66 of the housing device 64 creates a hermetically essentially sealed cleaning space. Depending on the application, the suction device is then set in such a way that at least the volume of air or, in general, the volume that is blown into the housing 64 through the blow bars 51 is suctioned off. In particular, it is preferred that at least enough is sucked out that at least a slight negative pressure arises within the housing device 64. This is particularly important for systems that are used in the dust-ex area. In uncritical work environments or in general, a non-hermetically sealed Housing device 64 or no housing device 64 may be provided.

In FIGS. 23 and 24 it can also be seen once again that the different rows 60, 61, 62 of the first, second and third nozzle devices 52, 53, 54 are connected via different air inlets 59a per blow bar 51.

So the different control of the individual nozzle devices 52, 53, 54 or the individual rows 60, 61,

62 of these nozzle devices 52, 53, 54 also possible differently per blow bar 51. In the exemplary embodiment shown, an air wave or a moving air flow can be generated over the entire length and also over the width of the working section to be cleaned, which in particular simulates the outlet pattern of a pendulum nozzle without using moving parts. In the case of the blow-out pattern of a pendulum nozzle, when the bag section is cleaned for the later head seam, the bag walls to be connected later are blown apart, so that product located between the bag walls is removed.

In particular, a pendulous air jet ensures that when the bag mouth edge is cleaned prior to the closing or welding of the filled bag by the moving air stream, the bag walls or film layers lying on top of one another are opened by the air jet acting, so that the air jet hits the inner surfaces, which here the adhering dust or dirt particles are removed. By changing the air jet, with a corresponding configuration of the sack, the layers of the side gussets are also separated from one another, so that this area is also cleaned. The individual film layers are peeled open one after the other by the moving or oscillating air flow and cleaned by the air flow that penetrates in this way.

In FIGS. 25 to 29, the transfer of a filled sack by the transfer device 4 or a is shown in a purely schematic manner Displacement device 200 according to the invention for bag removal 3 is shown.

A substantially parallelogram-like structure 20 is provided on which, in the exemplary embodiment of a displacement device 200 according to the invention shown here, the second gripper device 6 with the clamping devices 10 is provided as the handling device 250. This structure 20 is also used to remove the full sack from the filling spout 101 or to bring the second gripper device 6 into contact with the filled sack.

In FIG. 25, a displacement device 200 according to the invention is shown in a purely schematic perspective view in order to describe the construction of the parallelogram-like structure 20 in more detail. The displacement device 200 here comprises the second gripper device 6 as a handling device 250, which in the previously described packing machine 1 removes the filled sack from the filler neck and feeds it to a closure device 15.

In this case, the displacement device comprises a hinge mechanism 201 to which the handling device 250 or processing device or, in the exemplary embodiment shown here, the second gripper device 6 is attached.

In the embodiment shown here, the hinge mechanism 201 is designed as a four-bar arrangement 219, which comprises a first link 204 and a second link 205, which are connected by a coupling 206 in the upper area.

The first link 204 and the second link 205 are each articulated at their lower pivot point 207, 208 on a housing. The upper, second articulation points 215, 216 are connected to the coupling 206 in an articulated manner. In order to achieve the desired rectilinear or essentially rectilinear displacement of the handling device 215, the length and the arrangement of the first link 204 and the second link 205 on the coupling 206 are geometrically coordinated with one another.

For this purpose, the coupling 206 in this exemplary embodiment has a first section 211 and a second section 212, which are arranged at an angle to one another to 113. The first link 204 is received on the first section 211 and the second link 205 on the second section 212.

The second section 212 is designed or arranged essentially horizontally here and offers a receiving section 214 for receiving the handling device 250 or, in the exemplary embodiment shown here, for receiving the second gripper device 6.

In the exemplary embodiment shown here, the first link 204 is shorter than the second link 205, the lower or first articulation point 207 of the first link 204 being arranged higher than the lower or first articulation point 208 of the second link 205.

Furthermore, in the exemplary embodiment shown here, the upper articulation point or the second articulation point 215 of the first link 204 is provided at a lower height or lower than the second articulation point 216 of the second link 205.

The dimensioning and arrangement of the links 204, 205 and the coupler 206, and the special attachment of the links 204, 205 and the handling device 250 to the coupler 206, results in the preferred, essentially straight-line displacement of the handling device 250 according to the invention by moving the hinge mechanism 201 from the first position 202 to the second position 203 enabled.

It can also be seen that in the shown

Embodiment an actuator device 217 is provided, in order to move the joint mechanism 201 and thus the handling device 250 back from the first position 202 to the second position 203.

In the exemplary embodiment shown here, the actuator device 217 comprises a pneumatic device 218, which here comprises a pneumatic cylinder 220.

In the basic state, which is shown in FIGS. 25 and 26, the handling device 250 or the second gripper device 6 in the first position 202 lies relatively close to the base body 18 of the transfer device 4 in the exemplary embodiment shown here. In the following FIGS. 27 and 28 it can be seen how the second gripper device 6 moves by moving the parallelogram-like structure 20 forwards via an intermediate position (FIG. 27) into the second position 203 (FIG. 28) in the direction of the bag removal 3.

The closure device 15 can also be seen here, which is designed as a welding station 21 in the exemplary embodiment shown here.

FIG. 29 shows, purely schematically, by showing the individual positions of the parallelogram-like structure 20 next to one another, that due to the special design of this parallelogram-like structure 20, the filled sack by means of the gripper device 6 of the transfer device 4 is roughly on a line or roughly in a straight line without a lifting movement is transferred to the bag removal 3.

Thus, in the embodiment of a displacement device 200 according to the invention shown here in a packing machine according to the invention, the filled sack is not subjected to any lifting movement during transfer to the closure device 15 and / or for the sack removal, as is otherwise also the case with conventional systems with a hinge mechanism in the Type of parallelogram is the case due to the polygon effect. It occurs during the movement of the handling device in known systems for raising and lowering the handling device, whereby these forces also act on the bag hanging on the handling device 250 or on the second gripper device 6. As a result, the volume of the bag interior changes briefly in the known displacement systems, which leads to the escape or dusting of product and thus contamination of the previously cleaned bag seam.

Due to the special design of the joint mechanism, the transport path is essentially straight, in this case horizontal, although the handling device 250 is attached to the

Displacement device 200 can easily tilt here, but this does not lead to a change in the stroke or the vertical alignment. In this case, the joint mechanism 201 is coordinated or designed with one another in such a way that a point of the coupling or of the second section 212 of the coupling 206 becomes linear. Around this point, the rest of it tilts slightly depending on its position.

A further exemplary embodiment of a packaging machine 1 according to the invention is shown purely schematically in FIGS. 30 to 34. The configuration of this exemplary embodiment essentially corresponds to the exemplary embodiment already described above.

In particular, the bag supply 2, the transfer device 4 and the bag removal 3 are arranged in a line 12. In contrast to the exemplary embodiment shown above, one filling module 100 is not pulled out of the line 12 and arranged next to the transfer device 4, but two filling modules 100 are arranged outside the line 12 next to one another.

In order to select which of the two filling modules 100 is used, the transfer device 4 in the exemplary embodiment shown here is provided so that it can be moved so that it can be arranged either in front of one or the other filling module 100. For example, a quick product change or maintenance of a filling module 100 can be carried out, for which purpose the Transfer device 4 can be pushed or moved in front of the filling module 100 to be used or not to be serviced.

Parallel to the fact that the transfer device 4 can be shifted in the line 12, depending on the configuration, the transfer device 4 can also be moved or displaced transversely to the line 12, as in the exemplary embodiments shown above.

In order to ensure that bags are reliably picked up from the bag supply 2 and that the filled bags are reliably transferred by the transfer device 4 to the bag removal device 3, the individual components of the transfer device 4 can be provided so that they can be displaced accordingly.

Depending on the configuration, however, the bag supply 2 and / or the bag removal 3 can also be relocated so that there are always optimal distances between the individual assemblies.

List of reference symbols

1 packing machine 63 suction device

2 Bag supply 64 housing device

3 Sack removal 65 housing element

4 Transfer device 66 flap

5 first gripper device 67 opening

6 second gripper device 68 suction tube

7 page 69 Cover

8 page 100 filling module

9 Gripper arm 101 filling spout

10 clamping device 102 housing device

11 Housing equipment 103 Housing cover

12 Line 104 inlet funnel

13 Sack manufacture 105 Air filling module

14 Foil supply 106 pressure chamber

15 locking device 200 displacement device

16 Conveyor Belt 201 Link Mechanism

17 Housing cover 202 first position

18 base body 203 second position

19 rail 204 first link

20 parallelogram-like 205 second link structure 206 coupling

21 Welding station 207 lower pivot point

50 cleaning device 208 lower pivot point

51 Blower bar 209 height

52 first nozzle device 210 height

53 second nozzle device 211 first section

54 third nozzle device 212, second section

55 Direction of discharge 213 angle

56 Discharge direction 214 receiving section

57 discharge direction 215 second articulation point

58 control device 216 second articulation point

59 Air supply 217 Actuator device

59a Air supply 218 Pneumatic device

60 row 219 four-bar arrangement

61 series 220 pneumatic cylinders

62 series 250 machining device

Claims

Expectations 1. Displacement device (200) for at least one handling device (250), in particular for a gripper device (6) of a packaging machine (1), comprising at least one articulation mechanism (201) on which the handling device (250) is received, the handling device (250 ) is displaceable by means of the hinge mechanism (201) between at least a first position (202) and at least one second position (203), characterized in that the hinge mechanism (201) has at least one four-bar arrangement (219) with at least one first link (204) and has at least one second link (205), the first link (204) being connected to the second link (205) via at least one coupling (206), and that the coupling (206) has a receiving section (214) for receiving the handling device ( 250), the first link (204), the second link (205) and the coupling (206) being coordinated with one another in such a way that a substantially straight extension The handling device (250) is moved from the first position (204) to the second position (205). 2. Displacement device (200) according to claim 1, wherein the first link (204) and the second link (205) are of different lengths. 3. Displacement device (200) according to one of the preceding claims, wherein a lower articulation point (207) of the first link (204) and a lower articulation point (208) of the second link (205) are arranged at different heights (209, 210). 4. Displacement device (200) according to one of the preceding claims, wherein the coupling (206) has at least a first section (211) and a second section (212) 5. Displacement device (200) according to the preceding claim, wherein the first section (211) and the second section (212) are arranged at an angle (213) to one another. 6. Displacement device (200) according to the preceding claim, wherein the first link (204) with a second pivot point (215) is articulated on the first portion (211) of the coupling (206) and wherein the second link (205) with a second articulation point (216) articulated to the second section (212) or between the first section (211) and the second section (212) of the coupling (206) is included. 7. Displacement device (200) according to one of the two preceding claims, wherein the receiving section (214) for receiving the handling device (250) is arranged on the second section of the coupling (206). 8. Displacement device (200) according to one of the three preceding claims, wherein arrangement of the second articulation point (215) of the first link (204) on the first section (211) and the second articulation point (216) of the second link (204) on the second Section (212) are coordinated. 9. Displacement device (200) according to one of the preceding claims, wherein at least one actuator device (217) is provided. 10. Displacement device (200) according to the preceding claim, wherein the actuator device (217) comprises at least one pneumatic device (218). 11. The method for displacing a handling device (250) by means of a displacement device (200) according to one of the preceding claims, characterized in that the handling device (250) is essentially rectilinear by means of the hinge mechanism (201) between the first position (202) and the second Position (203) is shifted. 12. Packing machine (1) for filling product and in particular bulk goods in sacks, comprising at least one filling module (100) with at least one filling nozzle (101), at least one Displacement device (200) according to one of Claims 1 to 10 and at least one handling device (250).