EP3288871B1 - Verfahren und vorrichtung zur zuförderung, bereitstellung und zum austausch von rollen mit verpackungsmaterial in einer verpackungsmaschine - Google Patents

Verfahren und vorrichtung zur zuförderung, bereitstellung und zum austausch von rollen mit verpackungsmaterial in einer verpackungsmaschine Download PDF

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Publication number
EP3288871B1
EP3288871B1 EP16716215.5A EP16716215A EP3288871B1 EP 3288871 B1 EP3288871 B1 EP 3288871B1 EP 16716215 A EP16716215 A EP 16716215A EP 3288871 B1 EP3288871 B1 EP 3288871B1
Authority
EP
European Patent Office
Prior art keywords
roll
rolls
new
handling device
packaging machine
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.)
Active
Application number
EP16716215.5A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3288871A1 (de
Inventor
Thomas Wimmer
Jürgen Werner
Herbert Spindler
Martin Bauer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krones AG
Original Assignee
Krones AG
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Filing date
Publication date
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Publication of EP3288871A1 publication Critical patent/EP3288871A1/de
Application granted granted Critical
Publication of EP3288871B1 publication Critical patent/EP3288871B1/de
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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
    • B65H19/00—Changing the web roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/32—Orientation of handled material
    • B65H2301/325—Orientation of handled material of roll of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/36—Positioning; Changing position
    • B65H2301/364—Positioning; Changing position of material in roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/417—Handling or changing web rolls
    • B65H2301/41702—Handling or changing web rolls management and organisation of stock and production
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/417—Handling or changing web rolls
    • B65H2301/4171—Handling web roll
    • B65H2301/4173—Handling web roll by central portion, e.g. gripping central portion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/50—Auxiliary process performed during handling process
    • B65H2301/54—Auxiliary process performed during handling process for managing processing of handled material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B65H2511/23—Coordinates, e.g. three dimensional coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/42—Cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/30—Multi-axis

Definitions

  • the present invention relates to a method for conveying, providing and/or for largely uninterrupted handling and/or for exchanging rolls with flat and/or film material wound thereon and serving as packaging material for packaging piece goods, bundles or similar item combinations within a packaging machine the features of independent method claim 1.
  • the invention also relates to a device for feeding, providing and/or largely uninterrupted handling and/or for exchanging rolls with flat and /or film material with the features of independent claim 9.
  • bundles For example beverage containers or the like, these are often held together in practice by shrink film in order to prevent them from slipping or becoming detached from the combination during further handling or transport.
  • bundles comprising four, six or more containers are known from the prior art.
  • Such containers form a very common variant of sales units for beverage containers or bottles made of PET plastic.
  • devices and methods which unwind the material from a roll or from several rolls, transport it within a packaging machine and thus wrap the individual containers or the wrap the respective article, which is to form the respective container, with the packaging material.
  • the unwinding of the packaging material from the roll is usually done mechanically and in a continuous process.
  • Devices are known in which the packaging material rolls from the thereby rotating roll is deducted. If a roll has been unwound and the supply of packaging material for the roll is exhausted, the respective roll must be exchanged or replaced with a new roll.
  • a role change is associated with an undesired interruption of the process of assembling and packaging packs.
  • a method and a device by means of which new rolls can be delivered and used rolls can be changed within a packaging machine, for example DE 40 40 545 A1 known.
  • This known device has a plurality of supply rolls of strip material which are arranged next to one another. The core of each roll is placed on a common pivot. A beginning of the strip material is previously engaged with a roller which pulls the strip material from the respective roll and guides it in a downward direction away from the device. In order to be able to operate this known device and unwind the material from the roll, the roll must be placed with its core on the pin in the same direction of rotation. The strip material or the first layer of strip material must descend towards the rollers, coming from above.
  • Devices for the automatic feeding of material wound up on rolls and for exchanging used rolls in processing or packaging machines are also known in different variants, for example devices for feeding and changing coils with strip material in a processing machine according to FIG DE 32 02 647 A1 or according to DE 41 42 256 A1 .
  • the DE 34 25 734 A1 discloses an automated system for feeding dunnage to assembly and/or packaging lines.
  • the system includes a magazine for the packaging material and a trolley equipped with an articulated arm for collecting the packaging material and feeding it to the processing machines located on the processing lines.
  • the cart with the articulated arm drives along routes that are determined by a computer system connected to the processing machines.
  • a facility for supplying packaging machines with consumables or packaging material is also from the EP 1 273 541 B1 known.
  • the material webs wound as bobbins are delivered on pallets and distributed to several manufacturing and packaging machines, with the pallets first being taken to interim storage by means of pallet conveyors, while individual bobbins are removed by separate bobbin conveyors and transported to a machine to be supplied.
  • the DE 10 2006 017 379 A1 discloses a device for handling reels of packaging material.
  • the facility includes a bobbin store with a portal in which the bobbins are stored on pallets.
  • a gantry robot with an articulated arm transfers bobbins to winding units located outside the gantry as required. From these, the webs of material are transported to opposite sides in a direction parallel to the longitudinal extension of the portal to the consumption machines.
  • Documents U.S. 5,593,107 and EP 0 551 854 disclose bobbin handling devices equipped with space monitoring devices. These space monitoring devices are used to automatically find rolls in the feed area and to center the trunnion in relation to the roll.
  • the known handling methods and devices generally require precise positioning and feeding of new bobbins or rolls with packaging material wound on them. If this exact positioning cannot be guaranteed, the smooth replacement of used rolls is endangered, which also means that the functionality of the packaging machine can no longer be guaranteed.
  • one aim of the present invention is to provide a device and a method with a high degree of automation for handling flat and/or film material wound onto rolls, by means of which flat and/or film material can be provided without interruption.
  • the device and the method should also function properly and with a pronounced degree of error tolerance in the case of imprecisely positioned roll feeds and ensure smooth roll replacement under all operating conditions.
  • the Invention proposes a method for conveying, providing, handling and/or exchanging rolls with flat and/or film material wound thereon and serving as packaging material for packaging piece goods, bundles or similar item combinations.
  • the method at least approximately completely unwound and/or used up rolls are removed from at least one installation position of a packaging machine and a new roll of flat and/or foil material is then inserted into the respective installation position or after removal of a respective roll.
  • an outer layer of the respective new roll is pulled off near or in the area of its free end and connected, in particular welded or glued, to a section of a material web of another roll guided in the packaging machine to form a continuous material web .
  • the process provides for new rolls of the packaging machine to be fed in a defined manner, e.g. by means of pallets, shelving systems, AGVs (i.e. driverless transport systems), a revolver magazine (rollers are e.g. arranged on a circular plate or rotating system in such a way that when the plate or a new role can be made available to the system), a feed system (e.g.
  • the rolls are preferably picked up independently from the ordered feed by means of handling and gripping devices and inserted into the packaging machine.
  • at least the positions of the rolls in the area of the defined feeding and/or provision and/or the gripping and/or handling device and/or their movement space are recorded by means of suitable optical sensor devices and/or space monitoring devices.
  • at least the movements of the gripping and/or handling device in the area of the defined supply and/or provision for the rolls or in their respective movement area are controlled.
  • the space monitoring devices mentioned are formed by at least one optical detection device, in particular a camera, which detects at least the movement space of the gripping and/or handling device and this movement space and the taking place movements of the gripping and / or handling device supplies imaging output signals.
  • the at least one optical detection device or the camera can be assigned to the gripping and/or handling device or mounted there, for example, so that it is able to detect the movements of the gripping and/or handling device and the orientation of each to check the new roll before or when it is used.
  • the camera can also cover the movement area by being installed in a fixed position in the room or on the packaging machine; additional or multiple cameras on the gripping and/or handling device are also possible.
  • several cameras or optical detection devices can be used, the output signals of which can be superimposed and used for the exact location of all parts, handling systems and/or rolls of packaging material to be moved.
  • the method according to the invention enables an exact positioning and feeding of new rolls with packaging material wound thereon to a packaging machine.
  • the exact positioning of the handling devices can ensure the smooth exchange of used rolls, which ensures the functionality of the packaging machine in an ideal way.
  • the method has a high degree of automation in the handling of flat and/or film material wound up on rolls for packaging purposes, so that flat and/or film material can be made available without interruption.
  • the process also works flawlessly with imprecisely positioned roll feeds, with a high degree of error tolerance, and can also ensure smooth roll replacement under all operating conditions.
  • the space monitoring devices in the movement space of the gripping and/or handling device detect a state of a core of a roll to be inserted in the respective installation position and supply information on the state of the core as output signals. In this case, it can be determined whether a core of a roll is damaged and therefore cannot be used in the respective installation position of the packaging machine or cannot be used without problems due to the damage. It is conceivable here that when damage to the core is detected, the respective roll that has the damaged core is separated out via the gripping and/or handling device and is not used in the respective installation position.
  • the gripping and / or handling device the respective role, which has the damaged core, on a for the separation of Place rolls on a specific pallet or transfer to a specific pallet for sorting out rolls.
  • the gripping and/or handling device can be assigned a clipboard for a roll to be inserted into the packaging machine, which serves as a support for the roll, in particular for storing the respective roll to be used and picking it up again by the gripping and/or Handling device for transferring the respective roll into the packaging machine.
  • Embodiments have proven successful in which the gripping and/or handling device positions a roll to be inserted into the respective installation position on the clipboard, optically detects the state of the core of the roll positioned on the clipboard and provides information on the state of the core as output signals .
  • the roll can be positioned horizontally or with its longitudinal extent horizontal on the clipboard.
  • Such embodiments have proven themselves in order to be able to check the condition of the core of the respective roll positioned on the intermediate layer easily and with little risk of incorrect identification of potential damage.
  • an optical detection device or a camera system can be provided, which looks through the core to determine or check for damage and is designed as a component of the gripping and/or handling device or is assigned to the gripping and/or handling device.
  • the camera system or the optical detection device can be arranged on an arm of the gripping and/or handling device and, if necessary, can be moved via the gripping and/or handling device into the area of the core of the respective roll.
  • the gripping and/or handling device can be formed in particular by a multi-axis robot that picks up new rolls from the defined feed and places them in the packaging machine.
  • the handling robot can optionally be assigned a separate camera, which can be attached to its movable extension arm, for example, so that it can capture all movements in space and the rolls to be picked up and positioned in the packaging machine.
  • the handling device or the multi-axis robot preferably has suitable gripping or holding elements in order to be able to pick up the rolls.
  • the gripping and/or handling device in the method according to the invention can also be formed by a driverless and/or remote-controlled transport system (FTS, at least one self-propelled shuttle) that picks up new rolls from the defined feed and places them in the packaging machine.
  • FTS driverless and/or remote-controlled transport system
  • This AGV or the shuttle of the AGV can, for example, have a gripper arm or the like for receiving and handling the rolls, with which it picks up the roll, places it on a transport support, after which it travels together with the roll to the packaging machine and uses the roll there .
  • the shuttle can be assigned its own camera in order to control its movements in space.
  • the clipboard can in particular be formed by a bearing block or the like, which occupies a fixed or variable position within the movement space of the gripping and/or handling device.
  • the bearing block itself can be designed as a shuttle of an AGV or driverless transport system, which means that it can be able to perform an automatic rotation of 180 degrees around its vertical axis when a roll is to be turned, in order to give the gripping and/or handling system the to have the roll stored there picked up again in the correct position.
  • provision can again be made for a camera to be assigned to the clipboard or the bearing block, as a result of which additional optical monitoring on the bearing block can be ensured in order to record the roll positions etc. and to move the bearing block or the gripping and/or handling device into to control the required way.
  • the bearing block can be assigned a rotary drive for rotating a roller lying thereon about its horizontal central axis, about its rotational position and/or to adjust an alignment of an edge of an outer web layer.
  • a suitable turning mechanism can be assigned to it in order to be able to perform a 180° rotation with the roller lying on it, in order to be able to bring the roller into the correct installation position.
  • the method can also provide for the packaging machine itself or its installation positions for the interchangeable rolls of packaging material to be monitored optically.
  • additional optical monitoring devices or cameras can be provided in the packaging machine, in particular in the area of the rolls to be replaced or in the area of their installation positions.
  • At least one visual identification is applied to a section of a new roll in the area of the free end of its outer material web and the new rolls are placed in their respective installation position or are aligned in their respective installation position before removing the respective outer layer in such a way that the optical markings point in the direction of a respective opposite installation position.
  • This at least one optical identifier can be applied to the respective new roll before it is inserted into its respective installation position, for example in such a way that the free end of the outer web of material of the respective new rolls is fixed at least largely immovably on the respective new roll by means of the optical identifier.
  • the method can provide for the optical identification to be applied, for example, to a new roll lying on the clipboard, possibly with the support of the camera monitoring the room or the camera arranged on the clipboard.
  • the optical markings can also be attached elsewhere in the area of the infeed, if necessary manually by a machine operator or an assistant. These optical markings can be particularly important to indicate the correct direction of rotation of the rolls and to ensure that the rolls are inserted into the packaging machine in their correct orientation.
  • optical markings mentioned can optionally be subsequently applied to the rolls in order to mark the start of the film or web of material.
  • it may also be desirable to already include such markings in the Incorporate material webs e.g. by printing the material webs in the immediate vicinity or in the area of the material web edge, which can make handling even easier compared to the subsequent application of optical markings, since it saves another handling step.
  • it makes sense to have an optical marking in the material web which indicates that the material web is about to end when the roll is unwound. This identification can be monitored and recorded optically, so that a roll that is almost used up can be recognized and a roll change can be prepared and initiated in good time.
  • the material web edge must be in contact with the underlying material web layer with sufficient adhesive force so that the beginning of the material web cannot detach from the roll surface unintentionally, e.g. during transport.
  • the adhesive force must be so low that the outer material web layer or film layer can be detached from the roll without any problems, preferably also using a pneumatic gripper, which can provide significantly less adhesive force than a mechanical gripper.
  • the detachment can be supported by mechanical aids within the packaging machine, e.g. by a pointed wedge, against which the roll is rotated so that it can slide under the material web edge of the outer material web or film web, whereby the adhesive force of the material web edge can be overcome.
  • New rolls can, for example, be moved into the area of the handling device via a horizontal conveyor device and can be removed directly from the horizontal conveyor device by means of the handling device. It is also possible to deliver new rolls on pallets, so that, for example, four standing rolls are arranged on a pallet, which are brought into the movement space of the gripping and/or handling device by means of a suitable delivery, in order to be picked up by it and placed in the packaging machine to be used, possibly including the clipboard, as described above as an option.
  • a control unit is coupled and connected to the handling device and the room monitoring device and, taking into account a respective pick-up of new rolls from the feed area and/or a horizontal conveyor device by the handling device, specifies clocked operation of the horizontal conveyor device. Likewise the Control unit specify the repeated recording of new roles from the delivered pallets.
  • the invention also proposes a device for conveying, providing, handling and/or exchanging rolls with flat and/or film material wound thereon and serving as packaging material for packaging piece goods, bundles or similar item combinations with the features of the independent device claim.
  • a device for conveying, providing, handling and/or exchanging rolls with flat and/or film material wound thereon and serving as packaging material for packaging piece goods, bundles or similar item combinations with the features of the independent device claim.
  • the device provides that at least approximately completely unwound and/or used up rolls can be removed from at least one installation position of a packaging machine and can be replaced by new rolls of flat and/or film material for the respective installation position, with an outside lying layer of the respective new roll in the vicinity or in the area of its free end and connected to form a continuous web of material with a section of a web of material guided in the packaging machine of another roll, in particular welded or glued.
  • the device according to the invention comprises devices for providing new rolls for the packaging machine in a defined feed, such as pallets, shelving systems, AGVs or the like, and at least one gripping and/or handling device for taking over the rolls from the defined feed and for inserting the new rolls in the respective installation position of the packaging machine and/or for removing used rolls from the respective installation positions of the packaging machine.
  • a defined feed such as pallets, shelving systems, AGVs or the like
  • at least one gripping and/or handling device for taking over the rolls from the defined feed and for inserting the new rolls in the respective installation position of the packaging machine and/or for removing used rolls from the respective installation positions of the packaging machine.
  • the rolls can be picked up independently from the ordered feed and inserted into the packaging machine, in particular by means of handling and gripping devices.
  • the device according to the invention is equipped with room monitoring devices for detecting at least the positions of the rolls in the area of the defined supply and/or provision and/or the positions and/or movements of the gripping and/or handling device within a movement space and for controlling the movements of the gripping and or Handling device equipped in the defined supply and / or provision for the roles depending on the detected by means of the room monitoring device room, movement and / or sensor data.
  • the space monitoring devices can be formed, for example, by at least one optical detection device, in particular a camera, which records at least the movement space of the gripping and/or handling device and images this movement space and the movements of the gripping and/or handling device taking place therein Delivers output signals and makes them available to a control system.
  • the at least one optical detection device or the camera can, for example, be assigned directly to the gripping and/or handling device.
  • a camera can be mounted there; This can then check the movements and the orientation of each new roll in the direction of rotation before or when it is inserted.
  • the camera can be arranged in space or several cameras can also be arranged in space and/or on the robot or the handling device.
  • the gripping and/or handling device can be formed in particular by a multi-axis robot that picks up new rolls from the defined supply and places them in the packaging machine.
  • the handling robot or the multi-axis robot can optionally be assigned a camera, which can be arranged, for example, on a movable or articulated gripping or extension arm in order to capture all detected objects and the respective environment in order to control the multi-axis robot better and more precisely to be able to
  • the handling device or the multi-axis robot has suitable gripping and/or holding means, which can be formed, for example, by a holding mandrel, which dips into the new roller designed as a hollow body, increases its maximum cross-sectional diameter or enlarges its cross-section over an area, and thus the each new role clamped to the handling device or the multi-axis robot fixed.
  • the gripping and/or handling device can be formed by a driverless and/or remote-controlled transport system (so-called AGV with at least one self-propelled shuttle) that picks up new rolls from the defined feed and places them in the packaging machine.
  • a camera can also be optionally assigned to this shuttle or AGV.
  • suitable aids are preferably available to check that the position of each roll to be newly inserted into the packaging machine corresponds to the direction of rotation while it is being handled by the gripping and/or handling device and, if necessary, i.e. if it is incorrectly positioned To be able to correct a role that has a loose end of web material lying in the wrong direction.
  • the gripping and/or handling device can be assigned a clipboard for a roll to be inserted into the packaging machine, which can serve as a support for the roll, in particular for storage, provision in the correct direction of rotation and picking up again by the gripping and/or handling device subsequent transfer to the packaging machine.
  • This clipboard which is optionally located in the movement space, can be formed, for example, by a bearing block that can assume a fixed or variable position within the movement space of the gripping and/or handling device. It can also be provided that the bearing block itself can form a movable and self-propelled shuttle of an AGV. In addition, a camera can optionally be assigned to the bearing block, which enables additional optical monitoring of the bearing block.
  • the bearing block can be equipped with a rotary drive for rotating a roll lying thereon about a horizontal longitudinal axis in order to adjust its rotational position and/or an alignment of an edge of an outer material web layer.
  • the bearing block can optionally have a turning mechanism in order to be able to perform a 180° turn when the roll is in contact. This function is already present when the clipboard is configured as a self-propelled shuttle.
  • the device can also provide additional optical monitoring devices or cameras in the packaging machine, particularly in the area of the rolls to be replaced or in the area of their installation positions.
  • the device can have additional devices in order to apply at least one optical identification to a batch of the new rolls in the area of the free ends of their outer webs of material, so that the new rolls can be inserted into their respective installation position by means of the handling device or before the respective rolls are pulled off outer layer can be aligned in their respective installation position in such a way that the optical markings point in the direction of a respective opposite installation position.
  • the at least one optical marking is applied to the respective new roll before it is inserted into its respective installation position in such a way that by means of the optical marking the free end of the outer web of material of the respective new rolls is fixed at least largely immovably on the respective new roll. It is particularly advantageous for the optical identification to be applied to a new roll lying on the clipboard, possibly with the support of the respective camera.
  • new rolls can be moved into the area of the handling device via pallets or, for example, via a horizontal conveyor device and can be removed directly from the pallet or from the horizontal conveyor device by means of the handling device.
  • a control unit is connected to the handling device and the room monitoring device and, taking into account the respective picking up of new rolls from the feed area and/or a pallet or the horizontal conveyor device by the handling device, specifies clocked operation of the horizontal conveyor device or the pallet feed .
  • the invention thus relates to a method for the uninterrupted handling of flat and/or film material that is wound up on rolls and is used as packaging material for piece goods, bundles or similar item combinations.
  • the flat and/or film material can be designed as a shrink film or as a conventional plastic film.
  • the rollers can have a core whose geometric shape corresponds to a hollow cylinder and which can consist at least partially of cellulose-containing material.
  • the respective new roll can thereby be placed on a pin of the packaging machine that corresponds to the core and can rotate on the pin when the packaging material is pulled off or removed from the roll.
  • At least partially unwound and/or used rolls are removed from at least one installation position of a packaging machine and a new roll of flat and/or film material is then inserted into the respective installation position or after removal of a respective roll.
  • at least two installation positions can be provided.
  • each of the at least two installation positions can have a pin on which the new roll is placed and on which the respective roll rotates for unwinding its respective flat and/or foil material.
  • the rollers can be clamped on the pin of their respective installation position. The pin can be driven in rotation and transmit a torque to the respective seated roll, so that the roll is moved in rotation over its pin for unwinding its flat and/or foil material.
  • a drive can be assigned to each pin, via which the respective pin is rotated.
  • the drives can be connected to a control unit, which is described in more detail below, or can be controlled via a control unit, which is described in more detail below, to rotate the pins.
  • the clamping connection between the pin and the roll can be released, so that the roll is then no longer firmly connected to the pin and can be removed from the pin .
  • the rotating movement of the trunnion can be interrupted until a new roller has been placed on the trunnion or inserted into the appropriate installation position. After a new roll has been inserted into its respective installation position, an outer layer of the respective new roll is usually pulled off near or in the area of its free end and connected to a section of a material web of another roll guided in the packaging machine to form a continuous material web.
  • the outer layer of the respective new roll used can be pulled off after insertion with a suitable gripping element, e.g. by means of a gripping and/or handling device that works with pneumatic suction pressure, mechanically clamping and/or electrostatically adhering, which moves between the at least two installation positions and moved.
  • a gripping and/or handling device that works with pneumatic suction pressure, mechanically clamping and/or electrostatically adhering, which moves between the at least two installation positions and moved.
  • the gripping element can alternately remove outer layers of the new rolls from the at least two installation positions.
  • the gripping element temporarily fixes the respective outer layer of a new roll by means of a vacuum.
  • a welding rod can be provided, which is moved in a downward direction and thereby welds the outer layer of the respective new roll to the material web guided in the packaging machine.
  • the respective outer layer can be moved into a working area of the welding rod via the gripping element.
  • the temperature-controlled welding rod can thus clamp the outer layer of the respective new roll against the material web guided in the packaging machine.
  • embodiments have proven themselves in which the welding rod is moved vertically up and down for this purpose and, in the case of a vertical lowering movement, the respective outer layer welded from a new roll to a web of material fed into the packaging machine.
  • the flat and/or film material of the further roll is not yet completely used up. It can be the case here that, for the purpose of continuous packaging operation, flat and/or foil material is unwound from at least one roll of the at least two installation positions without interruption.
  • the new roll can therefore be used while flat and/or film material is still being continuously unwound from the other roll in the packaging machine.
  • the direction of rotation and/or orientation that conforms to the direction of rotation can be determined and/or checked during or before the insertion of the new roller.
  • embodiments have proven themselves in which the The direction of rotation and/or orientation conforming to the direction of rotation is determined and/or checked by means of optical detection.
  • the invention is not limited to such exemplary embodiments, so that, for example, haptic and/or other mechanisms can also be provided in order to check the direction of rotation and/or orientation of the respective new roller that conforms to the direction of rotation.
  • the respective new roller can be inserted into its assigned installation position or remain in its respective assigned installation position. If an incorrect direction of rotation and/or incorrect positioning in accordance with the direction of rotation is determined, the respective new roller can be corrected in alignment or another new roller with a suitable direction of rotation and/or orientation that conforms to the direction of rotation can be selected for insertion and inserted into the respective installation position. This can be done in particular using the clipboard described above, which is located in the vicinity of the gripping and/or handling device or at least within its movement space.
  • a direction of rotation and/or a positioning of a new roller that conforms to the direction of rotation is checked. If an incorrect direction of rotation and/or incorrect positioning in accordance with the direction of rotation has been determined, the respective new roll can be placed on the intermediate storage before being inserted into the packaging machine, separated from the gripping and/or handling device and oriented or aligned in accordance with the direction of rotation or with a suitable direction of rotation resumed and then used in their respective installation position.
  • the orientation conforming to the direction of rotation or the orientation with a suitable direction of rotation as well as the insertion of the roll into its respective installation position can then take place before connecting or welding its outer layer to the material web still remaining in the packaging machine.
  • Flat and/or packaging material can be continuously unwound from another roll arranged in the packaging machine or in one of the at least two installation positions during the alignment of the new roll in the direction of rotation.
  • the device can have an optical display unit coupled to the control unit, such as a display or the like, via which information on the direction of rotation and/or orientation conforming to the direction of rotation is displayed.
  • an optical display unit coupled to the control unit, such as a display or the like, via which information on the direction of rotation and/or orientation conforming to the direction of rotation is displayed.
  • a message is output to a user via the optical display unit if the direction of rotation is incorrect or the orientation of new rollers is incorrect in accordance with the direction of rotation.
  • information on the direction of rotation and/or orientation conforming to the direction of rotation is output as an acoustic signal.
  • the gripping and/or handling device can be preceded by a horizontal conveying device designed to transport new rolls, which extends into a working area of the gripping and/or handling device and which can be controlled via the control unit, taking into account a removal of new rolls by the gripping and/or handling device with clocked operation.
  • the gripping and/or handling device is provided with new rolls on pallets or the like.
  • the new rolls can be placed in the container in a random order or with any orientation, with the direction of rotation and/or orientation conforming to the direction of rotation being able to be checked and/or ascertained by means of the optical detector.
  • the schematic perspective view of the 1 shows a first embodiment of a device 10 according to the invention 1 also a conceivable implementation of an embodiment for the method according to the invention described above.
  • the cross-sectional diameter of the holding mandrel 32 is increased so that the new roll 12, as also shown in FIG Figure 7B shown, is clamped to the retaining mandrel 32 fixed.
  • the core 26 is designed as a hollow cylinder, the shape of the holding mandrel 32 corresponding thereto, so that the holding mandrel 32 is connected via its outer circumference to an inner lateral surface of the core 26 for the clamping fixation of the new roll 12 .
  • New rolls 12 can be made available to the gripping and/or handling device 16 or the handling robot 18 in an uninterrupted sequence via the horizontal conveyor device 28, so that when a new roll 12 is removed from the horizontal conveyor device 28, another new roll 12 is moved in the direction of the handling device 16 is moved further or moves up in the direction of the gripping and/or handling device 16 .
  • the horizontal conveyor device 28 can be clocked in a desired manner or operated continuously at a constant speed. Their operation is determined by a control unit 38, indicated only schematically here, which not only Horizontal conveyor 28 controls in their conveying speed and / or timing, but also the handling robot 18 in its movements.
  • the control unit 38 processes the signals 40 of at least one room monitoring device 42, which can be formed in particular by an optical detection device or a camera 44, if necessary also by a plurality of cameras 44, which record at least the movement space 46 of the multi-axis robot 18 and its movements, with which also the exact movements of the cantilever arm 30 with the holding mandrel 32 pivotably arranged thereon in relation to each new roll 12 to be grasped are meant.
  • the movement space 46 that can be detected optically by means of the space monitoring device 42 formed by the camera 44 is shown in FIG 1 indicated by a ray fan with the broken lines for better illustration.
  • a manipulator 48 positioned in the area of the horizontal conveyor device 28 can also be seen, which is operated by a user 50 and via which new rolls 12 can be placed standing on the horizontal conveyor device 28 .
  • the new rolls 12 can, for example, be delivered standing on a pallet 52, from which the user 50 can take them using the manipulator 48, whose movements can be controlled by him, and place them on the horizontal conveyor 28 using a holding mandrel 54 located there.
  • a working area of the manipulator 48 therefore extends over the pallet 52 and over a section of the horizontal conveyor 28.
  • the control and conveying variant shown is only one example of many alternatives. Continuous conveying variants that do not require manual handling are also possible based on 1 is described.
  • the infeed is not arranged in this way, it may be useful to provide an intermediate storage area for the new rolls 12 in the movement space 46 of the gripping and handling device 16, so that the rolls 12 can be deposited there if the holding mandrel 32 of the handling robot 18 does not pick them up in the correct direction of rotation to pull the holding mandrel 32 out of the core 26 and to grasp the roll 12 again at its other end face in order to be able to use it in the required direction of rotation for the installation positions EB1 or EB2 in the packaging machine 14.
  • Such a clipboard, its function and its interaction with the gripping and/or handling device 16 and with the room monitoring device 42 are exemplified by the embodiment variant in FIG 2 explained in more detail.
  • the 1 also shows an open-topped container 56, which is located in the working area 46 of the gripping and/or handling device 16. If the supply of packaging material or shrink film for a roll 12 or 20 placed in the packaging machine 14 is exhausted, the handling robot 18 is used to remove the core 26, made of cellulose, plastic, wood or cardboard, from an empty roll 20 from the packaging machine 14 and place it in the Container 56 discarded. Only after the core 26 has been removed can a new roll 12 be inserted into the respective installation position EB1 or EB2 of the packaging machine 14, so that the gripping and/or handling device 16 or the handling robot 18 first removes the core 26 and then one new roller 12 is inserted into the respective installation position EB1 or EB2.
  • the horizontal conveyor device 28, the gripping and/or handling device 16 or the multi-axis robot 18 and the packaging machine 14 are connected to the control unit 38.
  • This can, in particular, specify the clocked operation of the horizontal conveyor device 28, insertion and removal of Initiate rollers 12 and 20 through the handling device 16 from the two installation positions EB1 and EB2.
  • it can control the unrolling of packaging material or shrink film from the rolls 12 used in the packaging machine 14 .
  • the room monitoring device 42 in cooperation with the control unit 38, enable movement control of the horizontal conveyor device 28 and in particular of the gripping and/or handling device 16, which enables error-tolerant positioning and conveying of the new rolls 12 and their handling , since the exact detection of each new roll 12 by the holding mandrel 32 of the handling robot 18 can be effectively supported and controlled with the aid of the at least one camera 44, so that the exact positioning of the rolls 12 on the horizontal conveyor device 28 becomes less important and can be tracked accordingly Movement control of the handling robot 18 can be compensated within its movement space 46.
  • Positions can be positioned, e.g. also in the area of the packaging machine 14, in the area of the handling robot 18 or possibly even on its swivel arm 30, provided that the movement space 46 can be covered and recorded in the required manner.
  • the control unit 38 can also have a display device 58 or a display via which information on the direction of rotation or the orientation of new rollers 12 in accordance with the direction of rotation and/or other control or movement parameters of the multi-axis robot 18 and/or the horizontal conveyor device 28 is/are available to the user 50 can be visualized.
  • the direction of rotation or the orientation of the new rollers 12 that conforms to the direction of rotation is preferred, as shown below by way of example with reference to FIG Figures 4 to 6 described, detected and/or checked by the camera 44 or possibly also by another camera, which is or are connected to the control unit 38 .
  • the gripping and/or handling device 16 can remove the respective core 26 of an empty roll 20 from the packaging machine 14 and, with the aid of the camera 44 or the other cameras, can independently load new rolls 12 with the appropriate direction of rotation or with an orientation that conforms to the direction of rotation starts, the device 10 can be operated completely automatically, at least from the start of receiving new rolls 12 from the horizontal conveyor device 28 .
  • the schematic perspective view of the 2 illustrates a second embodiment variant of the device 10 according to the invention and a sensible implementation of an embodiment for the method according to the invention.
  • the packaging machine 14 does not differ significantly from the variant described above according to FIG 1 .
  • device 10 is used to handle flat packaging material such as shrink film or packaging foils, which are made available individually on rollers 12 to packaging machine 14 according to the consumption-related replenishment requirement by means of gripping and/or handling device 16 designed as multi-axis robot 18.
  • the gripping and/or handling device 16 inserts the new rolls 12 to be fed to the packaging machine 14 into two different installation positions EB1 and EB2, which are shown on the basis of the detailed views in FIG Figures 4 to 6 be explained in more detail.
  • the second variant of the device 10 shown does not have a horizontal conveying device, but instead has the new rolls 12 delivered on pallets 52, with four rolls 12 arranged on edge standing on each pallet 52, which are each picked up individually by the handling robot 18 and inserted into the packaging machine 14.
  • the handling device 16 or the handling robot 18 moves over the end of its movable cantilever arm 30 movably arranged retaining mandrel 32 frontally in a core 26 of a new role 12, as already based on the 1 was explained.
  • an arm section 34 of the handling device 16 or of the handling robot 18 can be rotated about an axis of rotation 36, as shown in Figure 7A is shown as an example, are moved in rotation.
  • the cross-sectional diameter of the holding mandrel 32 is increased so that the new roll 12, as also shown in FIG Figure 7B shown, is clamped to the retaining mandrel 32 fixed.
  • the core 26 is designed as a hollow cylinder, the shape of the holding mandrel 32 corresponding thereto, so that the holding mandrel 32 is connected via its outer circumference to an inner lateral surface of the core 26 for the clamping fixation of the new roll 12 .
  • the holding mandrel 32 of the handling robot 18 grasps each individual roll 12 that is on the pallet 52 without the direction of rotation already being checked.
  • Appropriate optical control or detection in any other way e.g. inductively, by means of a transponder, etc. is checked during the movement of the cantilever arm 30 with the roller 12 conveyed on the holding mandrel 32 in the direction of the packaging machine 14, whether the roller 12 is there directly and can be positioned without repositioning or whether the roller 12 may have the wrong direction of rotation.
  • the roll 12 can be placed on the intermediate storage area 60 by appropriate movement control of the handling robot 18, after which the holding mandrel 32 is pulled out of the core 26 of the deposited roll 12 in order to grasp the roll 12 again at its other end so that they can then be used in the required direction of rotation for the installation positions EB1 or EB2 in the packaging machine 14.
  • the design of the clipboard 60, its exact function and its interaction with the gripping and / or handling device 16 and with the Room monitoring device 42 are exemplary based on the embodiment of 2 as well as the detailed views of the 3 explained in more detail.
  • the user 50 standing within the movement space 46 is normally only there for maintenance purposes, but not during ongoing operation of the gripping and/or handling device, which can also be monitored by the space monitoring device 42 if necessary.
  • the control unit 38 can also have a display device 58 or a display that visualizes information about the direction of rotation or the orientation of new rollers 12 that conforms to the direction of rotation and/or other control or movement parameters of the multi-axis robot 18 and/or the AGV for the user 50 can become.
  • the direction of rotation or the orientation of the new rollers 12 that conforms to the direction of rotation is preferred, as shown below by way of example with reference to FIG Figures 4 to 6 described, detected and/or checked by the camera 44 or possibly also by another camera, which is or are connected to the control unit 38 .
  • a sensible embodiment variant can provide that a gripping and/or handling device 16 or a single handling robot 18 can supply two packaging lines or two packaging machines 14, with the movement space 46 being sensibly located between the two packaging machines 14 arranged approximately parallel, see above that the feed area for new rolls 12 with the horizontal conveyor 28 (cf. 1 ) or the pallet delivery (cf. 2 ) between the two packaging machines 14 and in the vicinity of the handling robot 18 and within its movement space 46.
  • the handling robot 18 can alternately supply the two packaging machines 14 that are in regular operation with new rolls 12 and, if necessary, transfer the used rolls 20 to a common container 56 for subsequent or cyclical disposal. If the movement space 46 cannot be monitored with a single camera 44 because it is partially shaded, for example, multiple cameras 44 can be provided for space monitoring.
  • the prism-like upper bearing surface 62 ensures that the roll 12 is positioned exactly in the middle when it is set down and prevents it from rolling or twisting to the side.
  • drives can be provided in order to rotate the roll 12 by a defined angular amount about its longitudinal axis, e.g. in order to bring a material web edge into a desired position that is favorable for pulling off this material web edge after the roll has been inserted into the correct installation position of the packaging machine 14 is.
  • These drives can be formed, for example, by rollers that are integrated in the support surface 62 .
  • the optional drives are shown in the illustrations Fig. 3 (Figs. 3A to 3C ) but not clearly recognizable.
  • the clipboard 60 or the bearing block 64 can be assigned suitable optical detection means such as a camera or the like, which is preferably connected to the control unit 38 (cf. 2 ) is coupled, so that the exact positioning of a roller 12 located on the support surface 62, its orientation and its direction of rotation or angle of rotation can be checked and recorded in order to move the handling robot 18 and/or the optional drives, turning mechanisms, etc. to the intermediate storage 60 steer.
  • suitable optical detection means such as a camera or the like
  • the schematic perspective view of the 4 clarifies the installation positions EB1 and EB2 already mentioned above for the rollers 12, which correspond to the variants in the packaging machine 14 according to the variants 1 and or 2 are defined.
  • Each of the installation positions EB1 and EB2 is defined by its own rotatable receiving mandrel 70.
  • Each of these two horizontally aligned receiving mandrels 70 is gripped by means of the gripping and/or handling device (cf. figures 1 and 2 ) a new roll 12 is put on and fixed by clamping the roll core 26 on the respective mounting mandrel 70 by increasing the diameter of the mounting mandrels 70 .
  • the 4 also shows a welding bar 72, which is used to join an outer layer 24 (cf.
  • a clamping connection formed between the respective roller 20 and the receiving mandrel 70 is released beforehand. This is typically done by reducing the cross-sectional diameter of the respective receiving mandrel 70, as a result of which the roll core 26 can be pulled off. The release of the clamping connection or the reduction in the cross-sectional diameter of the receiving mandrels 70 is also specified by the control unit 38 .
  • the gripping and/or handling device 16 dips over its holding mandrel 32 (cf. Figure 7A ) into the core 26 of the at least approximately completely unwound and/or used up roll 20.
  • the respective at least approximately completely unwound and/or used up roll 20 is then fixed on the holding mandrel 32 of the handling device 16.
  • An increase in the cross-sectional diameter of the holding mandrel 32 for clamping the roll 20 or the roll core 26 is also specified via the control unit 38 .
  • the embodiment according to 4 is to be understood only as an example, so that further embodiments are conceivable in which two installation positions EB1 and EB2 only one camera 74 is assigned, the detection range of which extends over the two installation positions EB1 and EB2. There is also the possibility of using the cameras 74 to check a direction of rotation or an orientation that conforms to the direction of rotation of new rollers 12 inserted in the installation positions EB1 and EB2. If an incorrect direction of rotation or orientation of new rollers 12 in one of the two installation positions EB1 or EB2 that conforms to the direction of rotation has been determined, the control unit 38 can initiate an alignment correction of the respective new roller 12 via the gripping and/or handling device 16 .
  • FIG. 5 shows the installation positions EB1 and EB2 according to the 4 with a new roller 12 inserted for the second installation position EB2.
  • the gripping and/or handling device 16 cf. figures 1 and 2
  • a new role 12 onto the arbor 70 of the second installation position EB2.
  • packaging material 22 or shrink film is unwound from the roll 20 of the first installation position EB1 that is almost used up or unwound and will therefore soon be removed, so that the packaging machine 14 (cf. figures 1 and 2 ) can continue to be operated even when replacing the roller 20 from the first installation position by switching to the new roller 12 in the second installation position EB2.
  • packaging material 22 or shrink film can continue to be unwound from the roll 12 in the second installation position EB2, with which the required continuous and uninterrupted operation of the packaging machine 14 can be guaranteed.
  • Figure 7B the gripping and/or handling device 16 after picking up a new roll 12 with the same orientation as the direction of rotation of a Pallet 52 (cf. Figure 7A ).
  • the gripping arm 34 was starting from the position Figure 7A about the axis 36, which in Figure 7A runs in the direction of the image plane, panned.
  • the new roll 12 now has an at least approximately horizontal orientation and can be used in its respective assigned installation position EB1 or EB2 in the packaging machine 14 .
  • a removal of the at least approximately completely unwound and/or used up roll 20 from the respective installation position EB1 or EB2 also takes place with a horizontal orientation.
  • FIGS 9A and 9B illustrate the different operating states in the intended installation position EB1 or EB2 in the packaging machine 14 (cf. Figures 4 to 6 ) on the arbor 70 located roll 12 ( Figure 9A ) or a role removed from there ( Figure 9B ). While the role 12 in the representation of Figure 9A is ready to roll in the intended installation position EB1 or EB2, it was shown in the Figure 9B pushed down from the receiving mandrel 70 by moving the axial stop 84 and, for example, taken over by the handling robot 18 (not shown).
  • the Figure 9C shows a roll 12 positioned on the receiving mandrel 70.
  • the base 90 with the drive 92 is here at a right-hand stop, at which the roll 12 is in the packaging machine 14 ready for unwinding.
  • the axial stop 84 has moved against the base 90 with its base 86 so that it is not in physical contact with the roller 12 .
  • the Figure 9D also shows the roll 12 positioned on the arbor 70.
  • the base 90 with the drive 92 is shifted to the left, as is the axial stop 84, which rests with its base 86 on the base 90 and is therefore also moved to the left.
  • the mandrel 70 moves out of the roll core 26 while the axial stop 84 rests on the end face of the roll 12 and holds it in place.
  • the holding mandrel 32 of the handling robot 18 can be pushed into the released roll core 26 and the roll 12 can finally be taken over from the receiving mandrel 70 and pulled off.
  • the device 10 provides that the packaging machine 14 or the packaging machines 14 are supplied with new rolls 12 in a defined manner, for example by means of pallets 52 (cf. 2 ), horizontal conveyors 28 (cf. 1 ), shelving systems not shown here, or AGVs (i.e. driverless transport systems, not detailed here) as soon as they are needed, in order to then be taken over by the gripping and/or handling device 16 or the handling robot 18 and transferred to the packaging machine 14 be after there previously a used roll 20 was removed.
  • pallets 52 cf. 2
  • horizontal conveyors 28 cf. 1
  • shelving systems not shown here shelving systems not shown here
  • AGVs i.e. driverless transport systems, not detailed here
  • the three schematic representations of the 10 show other alternative variants of roll feed or magazines. This is how it shows Figure 10A a highly schematic representation of a revolver magazine 100, in which the new rollers 12 each rotate in a circular arrangement about a horizontal axis, with each further rotation of the magazine 100 a new roller 12 being able to be made available.
  • Figure 10B shows a highly schematic representation of a rotary transfer magazine 102, in which the new rolls 12 each rotate in a circular arrangement about a vertical axis, so that the packaging machine 14 or the gripping and/or handling device 16 (cf. 1 ) With each further rotation of the disk-like rotary cycle magazine 102, a new roll 12 can be made available.
  • the Figure 10C also shows a highly schematic representation of a paternoster magazine 104, in which the new rollers 12 are each arranged in a vertically conveying elevator system, so that the packaging machine 14 or the gripping and/or handling device 16 (cf. 1 ) each time the paternoster magazine 104 is raised, a new roll 12 can be made available.
  • the paternoster magazine 104 is in a plane 106 is filled, which is located below the upper level or the operating level 108, on which the packaging machine 14 and the other parts of the device 10 are arranged.
  • the lower level 106 can advantageously be driven over by industrial trucks, so that the loading of the paternoster magazine 104 can be carried out in a simplified manner.

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  • Basic Packing Technique (AREA)
  • Replacement Of Web Rolls (AREA)
EP16716215.5A 2015-04-30 2016-04-14 Verfahren und vorrichtung zur zuförderung, bereitstellung und zum austausch von rollen mit verpackungsmaterial in einer verpackungsmaschine Active EP3288871B1 (de)

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DE102015208136.2A DE102015208136A1 (de) 2015-04-30 2015-04-30 Verfahren und Vorrichtung zur Zuförderung, Bereitstellung und zum Austausch von Rollen mit Verpackungsmaterial in einer Verpackungsmaschine
PCT/EP2016/058174 WO2016173851A1 (de) 2015-04-30 2016-04-14 Verfahren und vorrichtung zur zuförderung, bereitstellung und zum austausch von rollen mit verpackungsmaterial in einer verpackungsmaschine

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DE102017206549A1 (de) * 2017-04-19 2018-10-25 Robert Bosch Gmbh Verbrauchsmaterialhandhabungsvorrichtung zu einem Transport und/oder zu einer Handhabung von zumindest einem Verbrauchsmaterial, insbesondere eines Verpackungsmaterials
DE102019203746A1 (de) * 2019-02-07 2020-08-13 Bhs Corrugated Maschinen- Und Anlagenbau Gmbh Klebestück
KR102145059B1 (ko) * 2020-01-14 2020-09-02 주식회사 호건에프에이 리와인딩 시스템
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EP3288871A1 (de) 2018-03-07

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