EP2519463A1 - Faltvorrichtung zum falten biegeschlaffer werkstoffteile - Google Patents
Faltvorrichtung zum falten biegeschlaffer werkstoffteileInfo
- Publication number
- EP2519463A1 EP2519463A1 EP10800941A EP10800941A EP2519463A1 EP 2519463 A1 EP2519463 A1 EP 2519463A1 EP 10800941 A EP10800941 A EP 10800941A EP 10800941 A EP10800941 A EP 10800941A EP 2519463 A1 EP2519463 A1 EP 2519463A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- unit
- folding
- folding device
- material parts
- boxes
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H45/00—Folding thin material
- B65H45/02—Folding limp material without application of pressure to define or form crease lines
- B65H45/04—Folding sheets
-
- 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
- B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
- B65B11/56—Rolling articles with wrappers along a supporting surface
-
- 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
- B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
- B65B63/04—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged for folding or winding articles, e.g. gloves or stockings
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F89/00—Apparatus for folding textile articles with or without stapling
Definitions
- the invention relates to a folding device for folding rigid material parts and components thereof according to the preambles of the independent claims.
- DE 199 38 344 C1 discloses a napkin folding device comprising a folding unit designed as a cutlery roll-in station, which is provided for folding or rolling individual napkins, a storage unit designed as a collecting compartment, which is provided for receiving the folded napkins from the folding unit, a serving unit provided as a napkin storage station provided for holding unfolded napkins; a transport unit provided for feeding the unfolded napkins from the supply unit to the folding unit; and a serving unit configured as a cutlery storage station provided for holding cutlery for the folding unit , In the napkin storage station unfolded napkins are kept.
- the transport unit gradually removes the individual napkins to feed each of the cutlery.
- the cutlery roll-up station the cutlery is completely rolled into the napkin, secured with a napkin lock and released into the collection compartment.
- a napkin folding apparatus comprising a folding unit for folding individual napkins, a storage unit provided for receiving the folded napkins from the folding unit, a supply unit provided for holding unfolded napkins and one for feeding the unfolded napkins comprising provided from the delivery unit in the folding unit transport unit.
- the unfolded napkins are held in a stack. From this stack then removes a gripper system of the transport unit gradually the individual napkins to supply each of the folding unit.
- a napkin folding apparatus which comprises a folding unit provided for folding individual napkins and a storage unit provided for receiving the folded napkins from the folding unit.
- a single unfolded napkin is manually fed to the folding unit.
- the single napkin is folded in a double-walled housing and fed from there via rollers of the storage unit.
- a napkin folding apparatus comprising a folding unit for folding individual napkins.
- the folding unit comprises a plurality of folding devices for folding the individual napkins several times, the folding devices being used one after the other. Each folding device folds the single napkin along a predetermined axis.
- a napkin folding apparatus is known, the folding unit of which serves to fold individual napkins into a zig-zag shape.
- the napkin is placed on a receiving table with recesses. laid.
- the napkin is pressed by the folding unit into the recesses.
- the object of the invention is to provide a Napiettenfaltvorraum, with which a considerable improvement in the folding of napkins is made possible. Likewise, components should be created.
- a device for folding or handling non-bending material parts is characterized in that the provision unit provided for holding set parts for the folding unit comprises a removal unit for storing unsorted garniture parts and a depositing unit for receiving sorted clothing parts.
- the term "unit” should be understood to mean, in particular, an overall unit which may also consist of several individual units.Plus napkins may be provided as non-flexible material parts, while other non-flexible material components may be cloths, cloths, packaging cases, etc. made of textile, plastic, paper, leather or even rubber parts such as O-rings etc. Garnish parts may be parts of the same or different types which are added to the non-rigid material part, for example, they can be inserted into the folded limp material part or attached to the folded limp material part.
- the folding device is designed as Napiettenfaltvorraum, in the napkins as pliable Material parts are folded, which are equipped with cutlery as Garnit fertilize.
- a particular advantage of the invention is that the limp material parts are not only folded two-dimensionally, but their shape can be made three-dimensional, i. that the individual limp material parts can be brought into a desired spatial form.
- the folding device on a transport unit for conveying the clothing parts from the removal unit in the storage unit of the Vorhalteaji.
- the clothing parts are advantageously selected in a targeted manner, transported safely and gently and stored in a controlled manner on the laying unit.
- the folding unit is always sufficiently sorted Garnit telle available and ensures a smooth operation during operation.
- a feeding and direct insertion of the clothing parts in the pliable material part can be done as well as feeding the clothing parts and inserting into a memory / buffer forming storage unit to have a corresponding supply of correctly arranged sorted clothing parts, if, for example, in bulk longer time random not the desired garment judgment, eg a fork or the like, is available.
- the clothing parts can be detected and transported via a sensor system, in particular by a handling system, for example a robot.
- the transport unit expediently has a gripping and / or winding system and / or a hold-down system and / or an ironing system.
- the transport unit is designed such that tools of different design with different functions are available for changing in order to perform various work steps in the folding process. and be able to perform loading process of limp material parts. Since the transport unit automatically changes the different systems, the result is constant operation with calculable quantities.
- the gripping and / or winding system and / or the ironing system and / or the hold-down system is designed as a tool system of a handling system, for example a robot.
- the gripping system is designed such that even more complicated folding and winding techniques can be performed, whereby a variety of forms of limp material parts can be made automatically with Garnit tellen.
- a corresponding folding mechanism can be provided.
- the winding system is designed as a tool system of the handling system, for example a robot, or has a separate drive. It is particularly advantageous that the winding process of the limp material parts can alternatively be performed with a low-cost separate drive.
- This alternative design can be used as a low-cost alternative to handling system.
- the separate drive can also be used as an additional working unit in addition to the active handling system in order to increase the number of pieces equipped with clothing parts pliable material parts at peak demand.
- the folding device has a magazine, which is provided for providing tool systems for the transport unit.
- the transport unit has access to different tools in the magazine, which are used during operation in the folding and equipping process of the limp material parts. Due to the spatially close availability of the tool systems in the magazine, an undisturbed workflow is possible. Furthermore, the systematic and space-saving arrangement of the different tools allows short transport paths to the folding unit and thereby a time and cost savings.
- the transport unit has a change system for changing tool systems provided in the magazine, the change system comprising a handling system-side adapter and a tool-side adapter.
- the change system comprising a handling system-side adapter and a tool-side adapter. This is preferably a handling system side and a tool side
- the provision unit provided for holding unfolded limp material parts has a conveyor belt guided in a circumferential direction along a feed path for filling with unfolded limp material parts.
- the conveyor belt allows short paths of the limp material parts to the folding unit, whereby both time and space can be saved.
- the folding unit provided for folding individual flexible material parts is designed as a table, which is provided with a friction lining and / or a retractable fixing unit and / or a vacuum unit. direction and / or a separating device and / or a hold-down device is provided.
- the table serves not only for receiving unfolded limp material parts, in particular napkins, but also for the accommodation and integration of various functional devices, such as fixators and Separiervorraumen.
- the table and / or the folding unit and / or the gripping unit is designed to be rotatable.
- the table and / or the folding unit and / or the gripping unit are thereby freely positionable and thereby reduce the programming effort of the handling systems, for example one or more robots.
- a further advantageous development of the invention provides that the transport unit provided for feeding the unfolded limp material parts from the delivery unit into the folding unit has a gripping and / or winding system and / or an ironing system and / or a hold-down system.
- the transport unit is designed such that even complicated shapes of limp material parts can be produced automatically. It is particularly advantageous that the single pliable material part from the delivery unit in the folding unit can be transported in a fast yet gentle manner.
- the gripping and / or winding system and / or the ironing system and / or the hold-down system is designed as a tool system of a handling system, for example a robot.
- the handling system can accommodate the different tooling systems and thus perform a variety of motions to perform even more complicated folding and winding techniques, so that many desired shapes can be produced. Consequently the tool system of the transport unit acts as a supportive supplement to the handling system of the folding unit.
- the gripping and / or winding system as needle and / or Bernoulli Venturi and / or Coanda and / or mechanical
- the gripping system is connected via a Anpresshow with the handling system, such as a robot, or a frame construction of the folding device.
- the pressing unit exerts a defined pressure on a stack of flexible material parts, for example a napkin stack or a cloth stack.
- the pressure exerted by the pressing unit ensures that the gripping means of the gripping system engage in the material of the non-rigid material part, eg the fabric of a napkin or Attacking the material of the limp material part or can take the material of the looped material part.
- the Anpress unit compensates for any unevenness of the limp material part.
- the pressing unit according to the invention enables a fast and secure picking up of the limp material parts, whereby high numbers of pieces can be transported in a short time.
- the pressing unit has a sensor or a sensor device, for example a light barrier device, an inductive device, a mechanical device, etc., for detecting a height of a stack of limp material parts on the conveyor belt.
- a sensor or a sensor device for example a light barrier device, an inductive device, a mechanical device, etc.
- a targeted detection of the height of a stack of limp material parts is thereby possible in a simple manner.
- a faulty operation of the folding device is thereby safely avoided.
- this has a sensor unit for detecting limp material parts on the conveyor belt.
- the sensor unit is simple in construction and has only one sensor, which cooperates with the reflective surface of the conveyor belt. Despite the simple construction, a reliable detection of limp material parts by the sensor unit is possible.
- the folding unit interacts with the tool system of the transport unit and / or the tool system of the transport unit.
- the tooling system of the providing unit may cooperate with the tooling system of the transporting unit and take out unfolded limp material parts one by one from the transporting unit for wrapping, folding and / or ironing in the folding unit.
- a folding device for folding of limp material parts in particular a Napiettenfaltvornchtung, proposed, which comprises for receiving the folded limp material parts of the folding unit provided storage unit stackable boxes for filling with folded limp material parts.
- the storage unit comprises a storage station, which is provided for holding unfilled boxes and for receiving filled boxes, a filling station for a currently to be filled box, an intermediate station, which is provided for holding unfilled boxes, and a conveyor, which is provided for transporting unfilled boxes from the storage station into the filling station and / or the intermediate station and for transporting filled boxes into the storage station.
- the boxes are kept stacked in the storage station. It is also proposed that at least one box and / or at least one stack of boxes is accommodated on at least one mobile base. Preferably, these are boxes that are automatically filled with folded limp material parts during operation of the folding device and stacked on top of each other.
- the change of the filled mobile stack of boxes takes place at greater intervals manually, with an empty stack of boxes is always kept in the storage station.
- the loading of the storage station with boxes and / or crate stacks and / or the removal of the crates and / or crate stacks from the storage station preferably takes place manually, automatically and / or semi-automatically.
- the filling of individual boxes of a stack of boxes is first carried out, which are then removed without interrupting or disturbing the ongoing operation. During manual, automatic and / or semi-automatic removal, the second stack of boxes is already filled, saving time and money.
- the conveyor has a gripping system with grippers, which cooperate with gripper receptacles of the boxes.
- a gripping system with grippers which cooperate with gripper receptacles of the boxes.
- the safe transport of empty and filled boxes by the interaction of the gripper having gripping system with the gripper receptacles of the boxes to allow undisturbed provision of empty boxes and removal of the full boxes.
- a box on the loading station can always be positioned at the same height, so that the gripping system can always remove the full box at the same location or at least at a defined location and deposit a new empty box, thereby reducing the risk of disrupting the operation becomes.
- the conveying device is mounted movably along at least two axes on a frame construction of the folding device.
- the conveying device can be moved in a defined manner in the storage unit downwards to the uppermost empty box of one of the two stack of boxes or moved upwards for filling and removal of the box from the box stack or up to the filling station in order to deposit the empty box on the filling station.
- the simple and inexpensive designed conveyor the filled box from the filling station and on a store the two boxes stack or on one of the two mobile documents or in the intermediate station.
- a preferred embodiment of the folding device according to the invention provides a checking unit, which is provided for the detection of cutlery.
- the checking unit preferably recognizes first and foremost the position and the type of cutlery, the position of the respective limp material part and, in addition, additionally defined problems, such as, for example, damage and / or dirt. This reduces the risk of disturbances and interruptions due to incorrectly positioned trim parts and limp material parts during operation, which in turn saves time and money.
- a banding unit which is intended for banding folded pliable material parts.
- the stocked with garniture parts, folded and banded limp material parts can not unfold or open by themselves and are thus, for example in the case of a Napiettenfaltmaschine, very good for transport and serving by the catering staff.
- the Banderolierü it is possible with the Banderolierü to perform a strapping, labeling, a looping and / or strapping of the folded limp material parts. It is also conceivable that the printing of the banderole, the label or the like can be made on site, so that the user printing a print, for. change daily or as needed.
- Fig. 1 is a perspective view of a rear view of a Napietfaltvornchtung invention with a delivery unit, a transport unit, a
- Vorhalteium a folding unit, a storage unit and a transport unit, the Vorhalteiser, the folding unit and the storage unit at least partially surrounding housing;
- FIG. 2 shows the napkin folding apparatus according to the invention from FIG.
- FIG. 3 is a perspective view of a front view of the Napietfaltvornchtung invention with housing.
- FIG. 5 shows a perspective view of a side view of the Napietfaltvornchtung invention without housing.
- FIG. 6 shows a section of the napkin folding device in the region of the folding unit with the depositing unit of the holding unit, the transport unit and a transport unit
- FIG. 7 shows a plan view of the napkin folding device according to the invention
- FIG. 8 is a perspective view of the transport unit with a tool system having a needle gripping system, and / or a finger gripping system and / or a back gripping system and / or other gripping systems;
- 9a to 9c show a detailed view of the tool system of the transport unit from FIG. 8 in FIG. 9a, in a perspective view an alternative embodiment of a transport unit, with a sensor unit for the recognition of serviettes and a gripping system, which has a pressing unit with a 9b, and a plan view of the transport unit from FIG. 9b with the pressing unit, which has a sensor or a sensor device, for example a light barrier device, an inductive device, a mechanical device, etc., for detecting a Napkin stack height, in Fig. 9c;
- FIG. 10 is a perspective view of the transport unit with a changing system for changing tool systems provided in a magazine;
- FIG. 1 is a perspective view of a change system of the transport unit with a handling system-side adapter and a tool-side adapter;
- FIG. 12 is a perspective view of a tool system of the transport unit designed as a paddle
- FIG. 13 shows a perspective view of a tool system of the transport unit, which is designed as a cutlery gripping tool with a magnet unit and a centering device;
- Fig. 14 in a perspective view as a slotted
- FIG. 15 shows a winding system which is designed as a tool system of a handling system, for example a robot;
- 16 shows a winding system having a separate drive
- 17 is a perspective view of a side view of a banding unit for banding wound and / or folded napkins
- FIG. 18 is a perspective view of a section of the banding unit in the region of a storage device for a napkin to be banded;
- 19 is a perspective view of a top view of a wound napkin with a band
- 20a to 20c show a winding process of a napkin by means of the tool system designed as a slotted tube;
- FIG. 21 is a perspective view of a side view of a tool system designed as a roller unit
- 22a to 22c show a winding process of a napkin by means of the tool system designed as a roller unit;
- Fig. 23a to 23g a winding operation of a napkin by means of a
- 24a to 24c show a winding process of a napkin with a tool system designed as a gripping unit
- 25a to 25j is a representation of the sequence of movement of the boxes in the storage unit in a perspective view.
- FIG. 1 to 7 show a folding device according to the invention with a folding unit 10, which is provided for folding individual napkins 12, and a storage unit 14, which is provided for receiving the folded napkins 12 from the folding unit 10. Also includes the Folding device, a supply unit 16, which is provided for holding unfolded napkins 12, and a transport unit 18, which is provided for feeding the unfolded napkins 12 from the supply unit 16 in the folding unit 10.
- each unit 10, 14, 16 and 18 of the folding device are in operative connection with each other or are functionally interconnected, i. the delivery unit 16 is coupled to the transport unit 18, which in turn communicates with the folding unit 10, which in turn is coupled to the storage unit 14. That each individual napkin 12 passes through the four units 10, 14, 16 and 18 of the folding device.
- the provision unit 16 and the storage unit 14 are arranged one behind the other forming a gap 72 and sandwich the transport unit 18 and the folding unit 10, which are thereby arranged substantially next to one another.
- the units 10, 14, 16 and 18 which appear sensible to a person skilled in the art are also conceivable.
- the units 10, 14 and 18 are preferably housed in a common housing 66, preferably having a frame structure, which has at least one door 74, 76, 78 for accessibility to the units 10, 14 and 18.
- the complete folding device can be accommodated in a housing.
- the housing 66 is cuboid. This is preferably a housing 66 made of a metallic material, although other materials that appear appropriate to a person skilled in the art for the housing 66 are also conceivable.
- the doors 74, 76, 78 are made of a transparent material.
- the folding device on a Vorhalteaji 20 which is provided for holding cutlery 22 for the folding unit 10.
- the advance unit 20 comprises a removal unit 24 for storing unsorted cutlery 22 and a
- Laying-out unit 26 for receiving sorted cutlery 22 the removal unit 24 is a box for storing the unsorted cutlery 22 and at the laying-out unit 26 is a unit of e.g. Tray attached to the folding device for receiving the sorted cutlery 22.
- the storage unit is, for example, arranged vertically above the delivery unit.
- the advancing unit 20 is also disposed in the space 72 formed by the providing unit 16 and the storage unit 14.
- a transport unit 28 is provided for conveying the cutlery 22 from the removal unit 24 into the storage unit 26 of the advance unit 20 .
- the transport unit 28 has for this purpose a gripping and / or winding system 30.1.
- the transport unit 28 may also have a hold-down system 30.2 and / or an ironing system 30.3.
- the present embodiment the transport unit 28 has for this purpose a gripping and / or winding system 30.1.
- the transport unit 28 may also have a hold-down system 30.2 and / or an ironing system 30.3.
- the winding system 30.1a can be designed as a tool system 30 of the exemplary robot or have a separate drive 32 according to FIG. 16, as shown in FIG.
- the folding device comprises a magazine 34, which is for example shown in FIG. 10 and which is provided for providing tool systems 30 for the transport unit 28.
- the magazine 34 is like this designed such that the tool systems 30 can be removed in the direction of a vertical axis 64 of the folding device.
- the transport unit 28 has a change system 36 shown in detail in FIG. 11, which comprises a handling system-side adapter 36.1 and a tool-side adapter 36.2.
- FIG. 12 shows a tool system 30 of the transporting unit 28 designed as a paddle 31. 1, which on the one hand serves to hold down the napkin 12 during folding and on the other hand to remove the folded napkin 12 or insert the folded napkin 12 into a filling station 52 the storage unit 14 located box provided.
- FIG. 13 shows a tool system 30 of the transporting unit 28 designed as a cutlery gripping tool 31.
- FIG. 14 shows a tool system 30 of the transporting unit 28 designed as a slotted tube 31. 3 or a tube provided with a threading slit for producing a so-called "candle napkin", which according to FIGS.
- FIGS. 21, 22a to 22c, 23a to 23g, 24a to 24c three principles are provided for wrapping cutlery 22 in a napkin 12.
- a roll unit 31 .4 is provided as a tooling system for wrapping cutlery, which can be designed as a tool system of the handling system, for example a robot, or provided in a separate winding station.
- FIGS. 22a to 22c show the winding process with the roller unit 31 .4, in which, according to FIG. 22a, the napkin 12, together with the cutlery 22, is first positioned on the roller unit 31 .4. Subsequently, as shown in FIG.
- Fig. 22b the right side of the napkin 12 is turned by rotating the rollers of the roller unit 31 .4. The further rotation of the rollers causes according to Fig. 22c a completion of the wound napkin 12.
- Figs. 23a to 23g show the winding process with the flag 31 .5.
- Fig. 23a the positioning of the stocked with cutlery 22 napkin 12 on the flag 31 .5.
- the napkin 12 is shown with a turned-right corner.
- Fig. 23c the flag 31 .5 is taken and in Fig. 23d, the flag 31 .5 is completely wound with the utensil 22 comprising the cutlery 22.
- a gripping unit 31 .6 is provided as a tool system, in which first the napkin 12 with the cutlery 22 taken in is gripped on a right-hand side. Subsequently, as shown in FIG. 24b, the right corner of the napkin 12 and thereafter, according to FIG. 24c, the left one Turned corner of the napkin 12, wherein Fig. 24c, the finished napkin 12 shows.
- the supply unit 16 provided for holding unfolded napkins 12 has a conveyer belt 40 for feeding unfolded napkins 12 in the direction of a longitudinal axis 62 along a feed path, the conveyor belt 40 both with individual napkins 12 and with stacks of napkins 12 can be fitted.
- the folding unit 10 provided for folding individual napkins 12 is designed as a table which comprises a friction lining 42 and / or a retractable fixing unit 44 and / or a vacuum device (not shown here) and / or a separating device and / or one not shown here Here also not shown holding-down device is provided.
- the friction lining 42 in the table 10 is retractable or lowered into the table 10, so that the friction lining 42 can come as needed in use.
- the table 10 at least partially fixes the napkin 12 during the folding operation, for example, by the frictional forces exerted by the friction lining and / or by easy suction and / or hold-down.
- the separating device not shown here, is provided, which can separate or separate / separate the different layers of a folded napkin 12.
- the separating device is preferably designed similar to a hold-down device.
- the table 10 serves not only for receiving unfolded napkins 12 but also for accommodating and integrating fixing devices and separating devices.
- the table 10 which is preferably arranged in the region of one end of the provision unit 16, is rotatable.
- the On the table 10, folded napkins 12 reach the storage unit 14 via the tool system 30 or gripping system 30.1 of the transport unit 28 or an alternative transport unit which appears expedient to a person skilled in the art.
- the transport unit 18 provided for feeding the unfolded napkins 12 from the supply unit 16 into the folding unit 10 is arranged next to the folding unit 10 or next to the table and has a gripping and / or winding system 46.1 and / or an ironing system 46.2 and / or a hold-down system 46.3.
- the gripping and / or winding system 46.1 and / or the ironing system 46.2 and / or the hold-down system 46.3 is designed as a tool system 46 of an exemplary trained as a robot handling system.
- the drive of the tool system 46 can be done hydraulically, mechanically, pneumatically or electrically.
- the gripping and / or winding system 46.1 is in this case designed as a needle and / or Bernouli-Venturi and / or Coanda and / or mechanical gripping system 46.1 a and / or finger gripping system and / or Backeng ripe system 46.1 c.
- the gripping system 46.1 may comprise grippers which are in the form of a single-finger, two-finger or multi-finger gripper in a rigid, rigid-hinged or elastic design, the grippers preferably being fixedly secured to an arm of the exemplary robot, including both rotational movements and linear movements of the robot arm or the gripper allows.
- the folding unit 10 cooperates with the tool system 46 of the transport unit 18 and the tool system 30 of the transport unit 28.
- the tool system 46 of the transport unit 18 cooperates with the tool system 30 of the transport unit 28.
- the tooling system 46 of the transport unit 18 functions as a supplement to the tooling system 30 of the transporting unit 28.
- the table or folding unit 10 and / or the transport unit 28 and / or the transport unit 18 are designed to be rotatable.
- the table or the folding unit 10 and / or the transport unit 28 and / or the transport unit 18 are thereby freely positionable.
- the transport unit 18 shown in greater detail in FIGS. 8 and 9a is designed such that it can perform different tasks.
- a gripping system 46.1a is provided, which may be a needle gripping system and / or a finger gripping system and / or a back gripping system.
- the transport unit 18, the napkins 12 singulate, i.
- a napkin 12 is removed from the stack received on the conveyor belt of the delivery unit 16 by the transport unit 18 via the gripping system 46.1 a and transported to the table of the folding unit 10 and aligned on the table.
- the napkin 12 can be processed by the folding unit 11 and / or the tool system 46 of the transport unit 18 and / or the tool system 30 of the transport unit 28.
- the transport unit 18 can at least partially fold the napkins 12 and reinforce or iron the folds of the napkins 12 via the ironing system 46.2.
- the transport unit 18 has a sensor unit 92 for detecting napkins 12 or a stack of napkins 12 on the conveyor belt 40.
- the sensor unit detects whether a napkin 12 or a stack of napkins 12 lies on the conveyor belt 40 or not.
- FIGS. 9b and 9c show an alternative embodiment of a gripping and / or winding system 46.1 of the transport unit 18 with a gripping system 46.1b, which may be a needle and / or Bernoulli venturi and / or coanda and / or mechanical gripping system can, represented.
- the Greifsys Independently of the folding device described here, 46.1 b can also be used in other installations in which flexible material parts are separated, such as seat covers, for example for car seats, armchairs, chairs, or O-rings made of rubber or plastic.
- the gripping system 46.1 b a separation of the limp material parts of a stack of limp material parts.
- the gripping system 46.1b is connected via a pressing unit 88 to the handling system, for example a robot, or the frame construction 90 of the folding device.
- the pressing unit 88 comprises a linear axis unit 88.3 movable in the direction of a vertical axis 64 by means of a drive 88.2 according to FIG.
- an adapter unit 88.4 attachable to the linear axis unit 88.3, a guide unit 88.5 fixed to the adapter unit 88.4, in which a shaft 88.7 is guided in slide bearings 88.6 ,
- the shaft 88.7 is connected via a compensating element 88.8 and an adapter element 88.9 with the gripping system 46.1b for receiving a napkin 12 resting on the conveyor belt 40, wherein the gripper unit 46.1b is in operative connection with a connection unit 94 for connecting a pneumatic unit, not shown here.
- the compensating element 88.8 may in particular be an elastic element, for example a spring or a rubber element or the like.
- the pressing unit 88 may be connected to a handling system, such as a robot or the like.
- a handling system such as a robot or the like.
- other connections of the pressing unit 88, of the tool system 46 and / or of the connection unit 94 that appear meaningful to a person skilled in the art are also conceivable.
- the pressing unit 88 comprises a sensor device, for example a sensor or a sensor device 88.1, for example se a light barrier device, an inductive device, a mechanical device, etc., for detecting a height of a napkin 12 and / or a stack of napkins 12 on the conveyor belt 40.
- the sensor or the sensor device 88.1 for detecting the stack height is on the adapter unit 88.4 of Pressing unit 88 fixed in place.
- the sensor 92 now detects the stack of napkins 12 on the conveyor belt 40. However, the height of the stack is initially unknown. Then the linear axis unit 88.3 moves slowly with the adapter unit 88.4 and the guide unit 88.5, which has a self-weighting shaft 88.7 and is fastened to the adapter unit 88.4, until the gripper unit 46.1b connected to the shaft 88.7 touches the topmost napkin 12 of the stack. As a result, the downward movement of the shaft 88.7 is stopped.
- the shaft 88.7 When resting the gripper unit 46.1 b, the shaft 88.7 provides the mass to exert a defined pressure on the napkin stack 12. If the gripper unit 46.1 b now sits on the edge of the stack, which as a rule is uneven due to the seam of the napkins 12, the compensating element 88.8 is compressed and the gripping means of the gripper unit 46.1b can engage in the fabric of the napkin 12 in a defined manner. In addition, the compensation element 88.8 compensates for any unevenness of the napkin 12. By the sensor unit 92 is detected whether a new napkin stack is necessary, the height of which must be measured.
- opening the door 74 between the serving unit 16 serving to hold unfolded napkins 12 and the transport unit 18 is recognized so that a napkin stack, possibly manually inserted, may also be noticed, the height of which must then also be re-measured. An incorrect operation of the transport unit 18 can thus be reliably prevented.
- the storage unit 14 provided for receiving the folded napkins 12 from the folding unit 10 has stackable boxes 48 for filling with folded napkins 12.
- the boxes 48 are designed to be open on one side and upwards and have receptacles 60.2 for grippers 60.1 of a gripping system 60 on the two opposite sides.
- the storage unit 14 comprises a storage station 50, which is provided for holding unfilled boxes 48 and for receiving filled boxes 48, a filling station 52 for a currently filled box 48, an intermediate station 54, which is provided for holding unfilled boxes 48, and a conveyor 56, which is provided for transporting unfilled boxes 48 from the storage station 50 into the filling station 52 and / or the intermediate station 54 and for transporting filled boxes 48 into the storage station 50.
- the boxes 48 are preferably stored stacked in the storage station 50, in which case at least one box 48 and / or at least one box stack 48.1, 48.2 are accommodated on at least one mobile base 58.1, 58.2.
- the loading of the storage station 50 with boxes 48 and / or box stacks 48.1, 48.2 and / or the removal of the boxes 48 and / or box stack 48.1, 48.2 from the storage station 50 is carried out manually, automatically and / or semi-automatically.
- the conveyor 56 of the storage unit 14 has a gripping system 60 with grippers 60.1, which cooperate with the gripper receptacles 60.2 of the boxes 48.
- the conveyor 56 is movably attached along at least two axes 62, 64 to a frame construction 82 of the folding device.
- the frame construction 82 consists of two in
- the conveyor 56 includes a running in the direction of a vertical axis 64, the gripping system 60 with grippers 60.1 having column
- a drive 86 designed as a belt drive and preferably as a toothed belt drive is provided for this purpose.
- a drive not shown here is for moving the column 84 in the guide rails 82b of the frame structure 82 and the drive 86 designed as a belt drive is provided for moving the gripping system 60 along the axis 84 in the direction of the vertical axis 64 column 84 of the conveyor 56, wherein the gripping system 60 is attached to the belt of the belt drive 86.
- the filling station 52 in which the boxes 48 are preferably filled in a quantity-dependent manner, is arranged or fastened in the folding device substantially at the level of the folding unit 10.
- the filling station 52 is formed as a storage area for receiving a box 48.
- the box stacks 48.1, 48.2 are preferably mounted on the mobile supports 58.1, 58.2 and can be opened after the doors 76 have been opened,
- the housing 66 is preferably completely in the direction of a transverse axis 80 and / or a longitudinal axis 62 from the storage station 50 of the storage unit 14 and expedibetaine or pull out of the housing 66 of the folding device, this being used to remove the filled boxes 48 and for loading the storage unit 14 with empty boxes 48.
- FIGS. 25a to 25j show an illustration of the sequence of movement of the boxes 48 in the storage unit 14.
- FIG. 25a shows the initial state of the empty boxes 48 in the storage unit 50 of the storage unit, wherein a first stack of boxes 48.1 preferably with five boxes 48.1a to 48.1 e and a second box stack 48.2 with also preferably five boxes 48.2a to 48.2e in the storage station 50 are located.
- Fig. 25b the top, empty box 48.1 a is transported by the conveyor 56 into the filling station 52. During the filling of this box 48.1a with folded napkins 12, the conveyor 56 according to FIGS.
- 25c and 25d transports the remaining four empty boxes 48.1b to 48.1e of the first box stack 48.1 into the intermediate station 54 of the storage unit 14, whereby the mobile underlay 58.1 of FIG first box stack 48.1 is now unloaded in the storage station 50.
- the conveyor 56 according to FIG. 25e now transports it to the empty mobile base 58.1 of the first box stack 48.1 in the intermediate station 50.
- the conveyor 56 transports the topmost box according to FIG. 25f 48.1 e of the first box stack 48.1 into the filling station 52.
- 25g transports this to the first box 48.1a in the storage station.
- This process now continues until all filled boxes 48.1 a to 48.1 e of the first box stack 48.1 according to FIGS. 25h and 25i are stacked on the mobile base 58.1 in the storage station 50.
- Moving the boxes 48.2a to 48.2e of the second box Stack 48.2 is carried out in an analogous manner, wherein according to FIG. 25j first the upper, empty box 48.2a of the second box stack 48.2 is transported by the conveyor 56 into the filling station 52.
- the folding device has a checking unit 68, which is provided for detecting cutlery 22, wherein the checking unit 68 preferably monitors the holding unit 20 and in this case, in particular, the removal unit 24 and / or the laying unit 26.
- the checking unit 68 is preferably a camera with an image recognition system whose signals are provided for controlling the transport unit 28 so that the transport unit 28 takes both the correct cutlery 22 from the removal unit 24 of the advancing unit 20 and the folding unit 10 and / or the depositing unit 26 of the Vorhalteaji 20 supplies the correct cutlery 22.
- the camera it is also possible to use a scanner or, in the simplest case, one or more optical sensors.
- the checking unit 68 should first of all recognize the type and the position of the respective cutlery 22 and, in addition, additionally defined problems, such as, for example, damage, dirt, etc.
- the inspection unit 68 preferably triggers an audible and / or visual alarm or stop of the folding device when a fault is detected, for example, in the form of missing, soiled or damaged cutlery pieces. Failed folds can be detected and possibly repeated.
- the folding device has the banding unit 70 shown in FIGS. 17 and 18, which is provided according to FIG. 19 for banding folded napkins 12 and / or cutlery 22.
- the banding unit 70 has an unwinding device 70.1 for the banding material 71, a bullet frame 70.2 for the banding material 71 and a storage device 70.3 for the napkin 12.
- the banding unit preferably serves for banding of cutlery sets and / or "candle napkins.” Paper and / or foil and / or mixed forms are preferably provided as banding material 71.
- a handling system for example a robot , in the
- Banding unit 70 inserted.
- the napkin 12 is looped around with the band 71. Thereafter, the band 71 is welded. Subsequently, the bound set is removed from the handling system from the banding unit 70.
- Transport unit (cutlery of removal unit in deposit unit)
- Interchangeable system (transport unit) handling system adapter on the tool side adapter Interchangeable system (transport unit) handling system adapter on the tool side adapter
- Storage station storage unit
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
- Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009060965A DE102009060965A1 (de) | 2009-12-28 | 2009-12-28 | Serviettenfaltvorrichtung |
PCT/EP2010/070763 WO2011080251A1 (de) | 2009-12-28 | 2010-12-27 | Faltvorrichtung zum falten biegeschlaffer werkstoffteile |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2519463A1 true EP2519463A1 (de) | 2012-11-07 |
EP2519463B1 EP2519463B1 (de) | 2014-09-24 |
Family
ID=43728997
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10800941.6A Not-in-force EP2519463B1 (de) | 2009-12-28 | 2010-12-27 | Faltvorrichtung zum falten biegeschlaffer werkstoffteile |
Country Status (4)
Country | Link |
---|---|
US (1) | US20120329628A1 (de) |
EP (1) | EP2519463B1 (de) |
DE (1) | DE102009060965A1 (de) |
WO (1) | WO2011080251A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008031811A1 (de) * | 2008-06-26 | 2009-12-31 | Rofobox Gmbh | Serviettenfaltvorrichtung |
CN102423922B (zh) * | 2011-09-22 | 2013-02-13 | 浙江大学 | 餐巾纸折纸生产线的压痕对折模块 |
ES2685099B1 (es) * | 2017-03-31 | 2019-04-02 | Beernaert Eric Georges Andre | Maquina para doblar y/o enfundar una lamina de material destinada a ser usada como servilleta y metodo para doblar y/o enfundar dicha lamina |
DE102018105256B3 (de) | 2018-03-07 | 2019-03-21 | Brimato Catering Automation Technology GmbH | Wickelvorrichtung und Verfahren zur Herstellung eines Besteckpaketes mit einer derartigen Wickelvorrichtung |
DE102019105987B4 (de) * | 2019-03-08 | 2021-12-23 | Schmale-Holding Gmbh & Co. | Vorrichtung und Verfahren zum automatischen Falten und Stapeln von Tüchern |
KR20210145468A (ko) * | 2020-05-25 | 2021-12-02 | 엘지전자 주식회사 | 의류 폴딩 머신의 제어방법 |
CN116081036B (zh) * | 2022-12-16 | 2024-05-17 | 奥美(监利)医疗用品有限公司 | 水洗皱纹腹部垫自动折叠码放装置及其使用方法 |
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US1371349A (en) | 1919-05-07 | 1921-03-15 | Benjamin F Brownlow | Napkin-folding machine |
US2025246A (en) | 1933-11-16 | 1935-12-24 | John E Preston | Machine for folding and classifying towels, etc. |
US3394804A (en) * | 1966-02-10 | 1968-07-30 | Richard A. Reichel | Article aligning and sorting apparatus |
US4664588A (en) * | 1984-03-09 | 1987-05-12 | Applied Robotics Inc. | Apparatus and method for connecting and exchanging remote manipulable elements to a central control source |
DE3632151A1 (de) * | 1986-09-22 | 1988-03-31 | Schunk Fritz Gmbh | Programmierbares greifersystem |
DE3705123A1 (de) * | 1987-02-18 | 1988-09-01 | Nimak Automatisierte Schweisst | Automatisches werkzeug-wechselsystem |
DE3709190A1 (de) * | 1987-03-20 | 1988-09-29 | Schaefer Gmbh Fritz | Stapelfaehiger, kastenfoermiger behaelter |
US4865579A (en) | 1988-05-19 | 1989-09-12 | James Kirby | Napkin folder |
DD277424A1 (de) * | 1988-11-29 | 1990-04-04 | Petrolchemisches Kombinat | Adapter fuer den automatischen werkzeugwechsel an industrierobotern |
US5019112A (en) * | 1989-07-12 | 1991-05-28 | Carnegie-Mellon University | Robotic food service packaging system |
US5237801A (en) * | 1991-09-26 | 1993-08-24 | Technistar Corporation | Automated utensil packaging system |
US5469688A (en) * | 1993-07-26 | 1995-11-28 | Michael D. Dunbar | Method for wrapping silverware in a napkin |
JPH07275600A (ja) | 1994-04-07 | 1995-10-24 | Kansei Corp | 布ナプキン折り機 |
US6023908A (en) * | 1997-05-27 | 2000-02-15 | Vetsch; Kevin R. | Method and apparatus for folding a napkin around an eating utensil |
US6067775A (en) * | 1997-11-18 | 2000-05-30 | Stac-Pac Technologies Inc. | Packaging a strip of material by folding |
US6202387B1 (en) * | 1998-11-09 | 2001-03-20 | Reginald M. Mudd | Apparatus and method for banding wrapped silverware |
DE19938344C1 (de) * | 1999-08-13 | 2001-01-18 | Wolfgang Willner | Vorrichtung zum Einrollen von aus Essbesteckteilen bestehendem Essbesteck in eine rechteckige Serviette |
ES2241517T3 (es) * | 2000-03-03 | 2005-11-01 | Brimato Technologie Gmbh | Dispositivo de embalar cubiertos. |
US6615566B2 (en) * | 2001-01-12 | 2003-09-09 | Pureserve International Corp. | Apparatus and method for automatically wrapping silverware in a napkin |
US20020112445A1 (en) * | 2001-02-16 | 2002-08-22 | Benny Scaduto | Device for automatically wrapping eating utensils in a napkin |
US6835042B2 (en) * | 2002-06-21 | 2004-12-28 | Flexicell Inc. | Robotic loading cell for molded utensils |
US7404279B1 (en) * | 2002-09-03 | 2008-07-29 | Miano Mario L | Silverware and napkin rolling apparatus |
US7076932B2 (en) * | 2003-01-21 | 2006-07-18 | Richard Howard Rubin | Apparatus and method for wrapping |
US6918226B2 (en) * | 2003-07-03 | 2005-07-19 | Rebecca A. Heilman | Automatic utensil wrapping machine |
WO2005072418A2 (en) * | 2004-01-26 | 2005-08-11 | Convenience Enterprises, Inc. | Food service set assembly system |
US7210279B1 (en) * | 2005-12-14 | 2007-05-01 | Ahmed Ibrahim A | Device for wrapping a napkin about silverware and associated method |
US7322172B2 (en) * | 2006-05-24 | 2008-01-29 | Wrapmaster, Inc. | Utensil wrapping apparatus and method |
-
2009
- 2009-12-28 DE DE102009060965A patent/DE102009060965A1/de not_active Withdrawn
-
2010
- 2010-12-27 WO PCT/EP2010/070763 patent/WO2011080251A1/de active Application Filing
- 2010-12-27 EP EP10800941.6A patent/EP2519463B1/de not_active Not-in-force
-
2012
- 2012-06-27 US US13/534,733 patent/US20120329628A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
See references of WO2011080251A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP2519463B1 (de) | 2014-09-24 |
US20120329628A1 (en) | 2012-12-27 |
DE102009060965A1 (de) | 2011-06-30 |
WO2011080251A1 (de) | 2011-07-07 |
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