DE102004026455A1 - Handling device for inserting packages, has bearing rail together with one of carriages building electromagnetic linear motor, where rail forms primary part, and carriages each are constructed as secondary part - Google Patents
Handling device for inserting packages, has bearing rail together with one of carriages building electromagnetic linear motor, where rail forms primary part, and carriages each are constructed as secondary part Download PDFInfo
- Publication number
- DE102004026455A1 DE102004026455A1 DE102004026455A DE102004026455A DE102004026455A1 DE 102004026455 A1 DE102004026455 A1 DE 102004026455A1 DE 102004026455 A DE102004026455 A DE 102004026455A DE 102004026455 A DE102004026455 A DE 102004026455A DE 102004026455 A1 DE102004026455 A1 DE 102004026455A1
- Authority
- DE
- Germany
- Prior art keywords
- head
- handling device
- carriages
- carriage
- mounting rail
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Die vorgeschlagene Neuerung betrifft vor allem die Verpackungsbranche und dort ein Handlingsgerät zum Ergreifen und wieder Absetzen von Gegenständen, insbesondere zum Aufnehmen von Packungen und zum Einbringen der Packungen in einen Sammelbehälter, z. B. einen Karton.The The proposed innovation concerns above all the packaging industry and there a handling device for gripping and settling objects, in particular for recording of packages and for introducing the packages into a collection container, e.g. B. a cardboard.
Aus
der
Die bekannte Vorrichtung hat den Nachteil, dass die Schlitten für ein extrem schnelles Verfahren bzw. Versetzen nicht geeignet sind.The known device has the disadvantage that the carriage for an extremely fast method or displacement are not suitable.
Der Erfindung liegt die Aufgabe zu Grunde, ein Handlingsgerät gemäß dem Oberbegriff des Anspruchs 1 derart weiterzubilden, dass dieser Nachteil beseitigt wird.Of the Invention is based on the object, a handling device according to the preamble of claim 1 such that eliminates this disadvantage becomes.
Gelöst ist die Aufgabe gemäß dem kennzeichnenden Teil des Anspruchs 1. Danach bildet die Tragschiene mitsamt dem ersten Schlitten einen elektromagnetischen Linearantrieb (Linearmotor), der zweite Schlitten ist, ebenso wie der erste Schlitten, entlang der Tragschiene bewegbar. Dabei bildet entweder die Tragschiene ein Sekundärteil des Linearmotors und die Schlitten bilden jeweils ein Primärteil des Linearmotors, oder die Tragschiene bildet einen Primärteil und die Schlitten fungieren jeweils als Sekundärteil.Solved is the Task according to the characterizing Part of claim 1. Then forms the support rail together with the first slide an electromagnetic linear actuator (linear motor), the second slide is, as well as the first slide, along the Support rail movable. Either the mounting rail forms secondary part of the linear motor and the slide each form a primary part of the Linear motor, or the mounting rail forms a primary part and the carriages each act as a secondary part.
Das vorgeschlagene Handlingsgerät hat den Vorteil, dass seine Schlitten extrem schnell an andere Stellen der Tragschiene gesetzt werden können. Dabei bewegen sich die Schlitten nach dem Magnetschwebeprinzip und somit unter vernachlässigbaren Reibungskräften entlang der Tragschiene, welche als Führung und als Antrieb dient. Dabei ist es gleich, ob die Tragschine als Primärteil oder als Sekundärteil fungiert. Die Schlitten bilden in jedem Fall jeweils ein Komplementärteil. Man könnte die Schlitten auch als Läufer bezeichnen, die sich entlang eines Stators bewegen. Auch hierbei können die Tragschiene und die Schlitten bezüglich ihrer Eigenschaften als Läufer und Stator vertauscht werden. An der Funktionsweise ändert dies nichts. Ein weiterer Vorteil des vorgeschlagenen Handlingsgerätes ist, dass nicht für jeden Schlitten ein separater Antrieb nötig ist, um die Schlitten unabhängig voneinander bewegen zu können. Statt dessen genügt ein Linearmotor, dem ein zweiter Schlitten hinzugefügt wird.The proposed handling device has the advantage that his sled extremely fast to other places the support rail can be set. The carriages move according to the magnetic levitation principle and thus negligible frictional forces along the mounting rail, which serves as a guide and as a drive. It does not matter whether the trolley acts as a primary part or as a secondary part. The carriages each form a complementary part in each case. you could the sled also as a runner denote moving along a stator. Also here can the support rail and the slide with respect to their properties as runner and stator are reversed. The way it works changes that Nothing. Another advantage of the proposed handling device is that not for Each carriage requires a separate drive to move the carriages independently to be able to move. Instead, that's enough a linear motor to which a second carriage is added.
Vorteilhafte Ausgestaltungen des erfindungsgemäßen Handlingsgerätes sind in den Ansprüchen 2 bis 11 beschrieben.advantageous Embodiments of the handling device according to the invention are in the claims 2 to 11 described.
Die weiteren Gelenke liegen und verbleiben in einer Horizontalebene, wenn gemäß Anspruch 2 in bekannter Weise mindestens ein Verbindungselement ein Parallelogrammgestänge mit einem parallelen Verbindungselement aufweist.The further joints lie and remain in a horizontal plane, if according to claim 2 in a known manner, at least one connecting element with a parallelogram having a parallel connection element.
Der Arbeitsbereich des Handlingsgerätes lässt sich an die Abmesssungen seines Einsatzortes, z. B. einer Sammelpackstation am Ende einer Verpackungslinie, anpassen, wenn gemäß Anspruch 3 jeweils eine Verstelleinrichtung zum Verstellen der Länge eines Verbindungselementes vorgesehen ist. Damit werden die Hubhöhe und die horizontale Wegstrecke des Kopfes verändert. In jedem Fall ist es sinnvoll, alle Verbindungselemente so bezüglich ihrer Länge einzustellen, dass die vom Kopf zurückgelegten Wege minimiert werden, was zu einer optimalen Arbeitsleistung des Handlingsgerätes führt. Es gibt eine Vielzahl von Verstelltechniken. So können die Verbindungselemente teleskopartig aufgebaut sein, Teile der Verbindungselemente können rasterartig verbunden werden, oder die Verbindungselemente können nach oben eine bestimmte Wegstrecke durch die oberen Gelenke gezogen und in dieser Position arretiert werden. Als Arretierungsmittel können Rastverbindungen oder Klemmverbindungen dienen. Der gleiche Vorteil wird ebenso erreicht, wenn analog zu Anspruch 4 die Verbindungselemente gegen Verbindungselemente anderer Länge ausgetauscht werden.Of the Work area of the handling device can be to the dimensions of his site, z. B. a multipack station at the end of a packaging line, adjust if in accordance with claim 3 each an adjusting device for adjusting the length of a Connecting element is provided. Thus, the lifting height and the horizontal path of the head changed. In any case, it makes sense all fasteners so regarding their length to minimize the distance traveled by the head, which leads to an optimal work performance of the handling device. It There are a variety of adjustment techniques. So can the fasteners be constructed telescopically, parts of the connecting elements can be connected like a grid or the fasteners can go up a certain Stretched through the upper joints and locked in this position become. As a locking agent can Rastverbindungen or clamp connections are used. The same advantage is also achieved if, analogous to claim 4, the connecting elements be exchanged for fasteners of different lengths.
Eine einfache Anbringung des Kopfes an den Verbindungselementen ist erreicht, wenn gemäß Anspruch 5 die mit dem Kopf verbundenen Gelenke direkt am Kopf vorgesehen sind.A simple attachment of the head to the connecting elements is achieved if according to claim 5 provided with the head joints connected directly to the head are.
Um dem Kopf eine größere Hubbewegung zu ermöglichen, ist es sinnvoll, in bekannter Weise die mit dem Kopf verbundenen Gelenke an einem Träger vorzusehen, wobei der Kopf unterhalt des Trägers angeordnet und über eine Verbindung mit dem Träger verbunden ist, und die Entfernung zwischen dem Träger und dem Kopf mittels eines Antriebes veränderbar ist (Anspruch 6). Dabei kann der Antrieb am Träger befestigt sein, die Verbindung durch den Träger geführt sein, und der Antrieb die Verbindung in vertikaler Richtung bewegen (Anspruch 7). Diese Hubbewegung kann extrem schnell ausgeführt werden, wenn der Antrieb ein Linearmotor ist, der ebenso wie der Antrieb für die Schlitten nach dem Magnetschwebeprinzip funktioniert.In order to allow the head a larger lifting movement, it makes sense to provide in a known manner, the joints connected to the head on a support, wherein the head is arranged support of the carrier and connected via a connection to the carrier, and the distance between the carrier and the head by means of a drive is changeable (claim 6). In this case, the drive can be attached to the carrier, the connection through the Carrier be guided, and the drive to move the connection in the vertical direction (claim 7). This lifting movement can be carried out extremely fast, if the drive is a linear motor, which works as well as the drive for the carriage according to the magnetic levitation principle.
Der Kopf kann nicht nur innerhalb einer Vertikalebene, sondern auch innerhalb eines Raumes bewegt werden, wenn gemäß Anspruch 9 ein weiterer Antrieb zum Bewegen des Kopfes in einer Richtung vorgesehen ist, welche senkrecht zur Richtung der Tragschiene und zur Vertikalen verläuft. Ist auch dieser Antrieb als Linearmotor mit einem Primärteil und einem Sekundärteil ausgeführt (Anspruch 10), so kann eine Bewegung des Kopfes in dieser Richtung ebenfalls extrem schnell erfolgen.Of the Head can not only within a vertical plane, but also be moved within a room, if according to claim 9, another drive is provided for moving the head in one direction, which perpendicular to the direction of the mounting rail and the vertical runs. is also this drive as a linear motor with a primary part and a secondary part accomplished (Claim 10), then a movement of the head in this direction also extremely fast.
Ist gemäß Anspruch 11 jeweils lediglich ein Verbindungselement zwischen einem Schlitten und dem Kopf vorgesehen, so dass es bei einer Relativbewegung der Schlitten aufeinander zu oder voneinander weg zu einer Kippbewegung des Kopfes um die Horizontalebene kommt, so kann der Kopf geschwenkt werden, um z. B. eine am Kopf hängende Packung in einen Thekenaufsteller bzw. ein Tray zu werfen.is according to claim 11 each only one connecting element between a carriage and the head provided so that it during a relative movement of Slide towards or away from each other to a tilting motion of the head comes around the horizontal plane, so the head can be swung be used to B. a hanging on the head pack to throw in a counter stand or a tray.
Im folgenden wird die Erfindung an Hand Ausführungsbeispiele darstellender Figuren näher beschrieben. Es zeigt:in the Following, the invention will be illustrative of manual embodiments Figures described in more detail. It shows:
Ein
Handlingsgerät
Jedes
Verbindungselement
Die
Tragschiene
Der
Kopf
Beim
Ausführungsbeispiel
der
Beim
Ausführungsbeispiel
der
Beim
Ausführungsbeispiel
der
Um
an den Saugorganen
- 11
- HandlingsgerätHandlinggerät
- 22
- Tragschienerail
- 3, 43, 4
- Schlittencarriage
- 55
- Kopfhead
- 66
- Saugorgansuction element
- 7, 87, 8th
- Verbindungselementconnecting element
- 9, 109 10
- Gelenkjoint
- 1111
- Primärteilprimary part
- 1212
- Sekundärteilsecondary part
- 1313
- Parallelogrammgestängeparallelogram
- 14, 1514 15
- paralleles Verbindungselementparallel connecting element
- 1616
- Verstelleinrichtungadjustment
- 1717
- Trägercarrier
- 1818
- Primärteilprimary part
- 1919
- Verbindungconnection
- 2020
- Antriebdrive
- 2121
- Antriebdrive
- 2222
- Sekundärteilsecondary part
- 2323
- Führungguide
- 2424
- GleitelementSlide
Claims (11)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004026455A DE102004026455A1 (en) | 2004-05-29 | 2004-05-29 | Handling device for inserting packages, has bearing rail together with one of carriages building electromagnetic linear motor, where rail forms primary part, and carriages each are constructed as secondary part |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004026455A DE102004026455A1 (en) | 2004-05-29 | 2004-05-29 | Handling device for inserting packages, has bearing rail together with one of carriages building electromagnetic linear motor, where rail forms primary part, and carriages each are constructed as secondary part |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102004026455A1 true DE102004026455A1 (en) | 2005-12-22 |
Family
ID=35433139
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102004026455A Withdrawn DE102004026455A1 (en) | 2004-05-29 | 2004-05-29 | Handling device for inserting packages, has bearing rail together with one of carriages building electromagnetic linear motor, where rail forms primary part, and carriages each are constructed as secondary part |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102004026455A1 (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006022192A1 (en) * | 2006-05-12 | 2007-11-15 | Rovema - Verpackungsmaschinen Gmbh | Device for welding a film web |
DE102006023003A1 (en) * | 2006-05-17 | 2007-11-22 | Rovema Verpackungsmaschinen Gmbh | Device has two welding jaws displaced towards each other to weld formed film web or tubular film, where each welding jaw is connected to separate jaw support, preferably by jaw holder as well as, one drive has two linear motors |
DE102006030993A1 (en) * | 2006-07-05 | 2008-01-10 | Rovema - Verpackungsmaschinen Gmbh | Bag-forming machine comprises a drive with linear motors aligned parallel to each other in the vertical direction |
DE102007001169A1 (en) * | 2007-01-05 | 2008-07-10 | Rovema - Verpackungsmaschinen Gmbh | Arrangement for producing filled and closed tray has guide preferably transverse to feed lines along which two mutually independent carriages can move driven by respective drives |
WO2010097098A1 (en) * | 2009-02-28 | 2010-09-02 | Abb Ag | Tooling device for a manipulator |
DE102016211172A1 (en) * | 2016-06-22 | 2017-12-28 | Krones Aktiengesellschaft | Device for handling articles and methods for their operation |
DE102016211169A1 (en) * | 2016-06-22 | 2017-12-28 | Krones Aktiengesellschaft | Device for handling articles |
BE1028746B1 (en) * | 2020-10-27 | 2022-05-24 | Anheuser Busch Inbev | A SYSTEM FOR HANDLING INDIVIDUAL PRIMARY PACKAGING HOLDERS |
US11713147B2 (en) | 2019-07-30 | 2023-08-01 | Anheuser-Busch Inbev S.A. | Article picking and treating apparatus |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3129172A1 (en) * | 1980-07-30 | 1982-03-25 | Nagoya Kiko K.K., Toyoake, Aichi | FEEDER |
DE3225416A1 (en) * | 1981-07-08 | 1983-01-27 | Tokyo Shibaura Denki K.K., Kawasaki, Kanagawa | CONVEYOR OR TRANSFER DEVICE |
DE3225936A1 (en) * | 1981-07-13 | 1983-02-03 | Diamond International Corp., New York, N.Y. | DEVICE FOR TRANSFERRING OBJECTS, IN PARTICULAR EGGS |
DE3234216A1 (en) * | 1982-09-15 | 1984-03-15 | Trumpf GmbH & Co, 7257 Ditzingen | DEVICES FOR THE MACHINING AND IN PARTICULAR UNLOADING OF MACHINING MACHINES |
DE10128186A1 (en) * | 2001-06-11 | 2002-12-19 | Fraunhofer Ges Forschung | Positioning mechanism for gripper arm for metal workpieces comprises a connecting arm attached at one end to arm mounting, at opposite end to control slide and at intermediate point to bearing slide |
DE10128185A1 (en) * | 2001-06-11 | 2002-12-19 | Fraunhofer Ges Forschung | Positioning mechanism for gripper arm for metal workpieces comprises connecting arms attached at one end to gripper mounting, each arm being attached at opposite end to its own slide moving along rail |
-
2004
- 2004-05-29 DE DE102004026455A patent/DE102004026455A1/en not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3129172A1 (en) * | 1980-07-30 | 1982-03-25 | Nagoya Kiko K.K., Toyoake, Aichi | FEEDER |
DE3225416A1 (en) * | 1981-07-08 | 1983-01-27 | Tokyo Shibaura Denki K.K., Kawasaki, Kanagawa | CONVEYOR OR TRANSFER DEVICE |
DE3225936A1 (en) * | 1981-07-13 | 1983-02-03 | Diamond International Corp., New York, N.Y. | DEVICE FOR TRANSFERRING OBJECTS, IN PARTICULAR EGGS |
DE3234216A1 (en) * | 1982-09-15 | 1984-03-15 | Trumpf GmbH & Co, 7257 Ditzingen | DEVICES FOR THE MACHINING AND IN PARTICULAR UNLOADING OF MACHINING MACHINES |
DE10128186A1 (en) * | 2001-06-11 | 2002-12-19 | Fraunhofer Ges Forschung | Positioning mechanism for gripper arm for metal workpieces comprises a connecting arm attached at one end to arm mounting, at opposite end to control slide and at intermediate point to bearing slide |
DE10128185A1 (en) * | 2001-06-11 | 2002-12-19 | Fraunhofer Ges Forschung | Positioning mechanism for gripper arm for metal workpieces comprises connecting arms attached at one end to gripper mounting, each arm being attached at opposite end to its own slide moving along rail |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006022192A1 (en) * | 2006-05-12 | 2007-11-15 | Rovema - Verpackungsmaschinen Gmbh | Device for welding a film web |
DE102006022192B4 (en) * | 2006-05-12 | 2009-08-27 | Rovema - Verpackungsmaschinen Gmbh | Device for welding a film web |
DE102006023003A1 (en) * | 2006-05-17 | 2007-11-22 | Rovema Verpackungsmaschinen Gmbh | Device has two welding jaws displaced towards each other to weld formed film web or tubular film, where each welding jaw is connected to separate jaw support, preferably by jaw holder as well as, one drive has two linear motors |
DE102006030993A1 (en) * | 2006-07-05 | 2008-01-10 | Rovema - Verpackungsmaschinen Gmbh | Bag-forming machine comprises a drive with linear motors aligned parallel to each other in the vertical direction |
DE102007001169A1 (en) * | 2007-01-05 | 2008-07-10 | Rovema - Verpackungsmaschinen Gmbh | Arrangement for producing filled and closed tray has guide preferably transverse to feed lines along which two mutually independent carriages can move driven by respective drives |
WO2010097098A1 (en) * | 2009-02-28 | 2010-09-02 | Abb Ag | Tooling device for a manipulator |
US8734083B2 (en) | 2009-02-28 | 2014-05-27 | Abb Ag | Tooling device |
CN102348542B (en) * | 2009-02-28 | 2014-12-17 | Abb股份公司 | Tooling device for a manipulator |
DE102016211172A1 (en) * | 2016-06-22 | 2017-12-28 | Krones Aktiengesellschaft | Device for handling articles and methods for their operation |
DE102016211169A1 (en) * | 2016-06-22 | 2017-12-28 | Krones Aktiengesellschaft | Device for handling articles |
US11713147B2 (en) | 2019-07-30 | 2023-08-01 | Anheuser-Busch Inbev S.A. | Article picking and treating apparatus |
BE1028746B1 (en) * | 2020-10-27 | 2022-05-24 | Anheuser Busch Inbev | A SYSTEM FOR HANDLING INDIVIDUAL PRIMARY PACKAGING HOLDERS |
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