• 专利附录
  • 专利说明
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    • 专利摘要:
    A device for handling articles such as beverage containers (5) or the like is disclosed, comprising a conveyor belt for transporting the articles, at least one manipulator (20) comprising at least one working tool (8) per l. 'intermediary of which said at least one manipulator is made to, during a mode of operation of the system, manipulate the articles coming from the conveyor belt, at least one machine element (9) which is arranged in the environment of the manipulator (20 ) and through which the articles can be handled at least indirectly, in which the manipulator, in particular out of the service mode, is designed to perform format change, adjustment and / or repair work on the machine element (9). Figure for the abstract: Fig 8
    公开号:FR3092574A1
    申请号:FR2001452
    申请日:2020-02-13
    公开日:2020-08-14
    发明作者:Frank Winzinger
    申请人:Krones AG；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a system and method for handling articles such as beverage containers or the like.
    [0002] Prior art devices are already known which have a plurality of gripping heads in order to receive beverage containers and then place them in a beverage crate provided for the respective beverage containers. Such a device is disclosed for example by document EP 0 251 032 A1. The packing and unpacking machine disclosed in the European patent application has a transport path on which bottle crates are transported. Bottles are transported on another transport path positioned parallel to this transport path. Further, a gripping and supporting head is provided which can be moved up and down and which comprises a plurality of gripping elements through which bottles can be received from said other transport path, then moved in direction of a respectively associated bottle crate and be deposited inside the bottle crate. In order for the bottle crate to be reached in a targeted and precise manner, said gripper and support head has a guide frame. In the European patent application, the bottles are held by the gripping elements.
    [0003] In practice, according to the description of the European patent application, upstream of a packaging machine is often mounted an inlet having a plurality of partitions or guide components which are oriented parallel to each other and by means of which the bottles can be brought in rows parallel to the packaging machine. Then the packaging machine can receive at least one bottle from each of the parallel rows and deposit it in a respectively associated crate. If, in successive packaging operations, it is desired to transfer bottles of different geometry or of different volume into beverage crates, it is necessary to adapt beforehand the relative spacing of the partitions or guide components. In practice, such adaptations are time consuming and complicated. Devices are therefore already known which allow such adaptation in a time-optimized and simplified manner. For example, such a device is known from document WO 2014/135352 A1. The device according to WO has a gear assembly having a first output part and a second output part, to which output parts are respectively coupled guide components. An actuator may be selectively coupled to the output portions to thereby cause adjustment of the guide components communicating with the respective output portion. In the device described in WO, additional devices or a set of gears and a coupling of the partitions or guide components to respective output portions are required in order to be able to adjust the partitions or guide components to each other. compared to others. Possibilities that allow the adjustment of guide components or partitions in a simplified way would be desirable.
    [0004] The object of the invention is therefore to provide a device or a method of the type mentioned at the beginning which allows in a simple and uncomplicated way a change or adaptation to articles of different geometry.
    [0005] The invention relates to a system for handling articles such as beverage containers or the like. For example, the articles can be constituted by bottles or boxes. In preferred embodiments of the present invention, the system can be realized as a packing and/or unpacking machine for beverage containers in and/or crates or beverage crates.
    [0006] The system includes an entrance comprising a plurality of partitions, which plurality of partitions allows articles to be guided into several neighboring rows. The several partitions can be oriented parallel to each other. Thus, the several neighboring rows can extend parallel to each other. Immediately adjacent partitions can respectively form a path intended to receive or else to guide a stream to a row of articles or beverage containers.
    [0007] If necessary, the entrance can comprise at least one horizontal transport device by means of which the articles are transportable, in particular upright, between said several partitions or along the respective path formed between immediately adjacent partitions. This is why said several partitions can extend, in a transport direction of the horizontal transport device, at least in sections along the horizontal transport device.
    [0008] Furthermore, the system comprises at least one manipulator having at least one working tool by which said at least one manipulator is made to receive and move the articles guided in the several neighboring rows. Said at least one manipulator may comprise a vertically oriented lifting column on which is suspended a horizontal linear guide. Said at least one working tool can be made as a constituent part of an assembly of several working tools, which assembly can be received and removably deposited by said at least one manipulator. It is conceivable that the assembly can be moved together with said at least one working tool along the horizontal linear guide and that it can be moved up and down along the vertically oriented lifting column. Also, an articulated arm robot can be implemented to move the tool.
    [0009] In particular, said at least one manipulator may comprise a multitude of working tools which are each made to receive an article or beverage container. The number of working tools may correspond at least to a number of housings of a beverage crate or else of a crate which are provided for beverage containers. In this way, all the articles or beverage containers provided for a beverage crate can be, at least approximately at the same time, received and deposited in common in a beverage crate provided for these articles or beverage containers by said au least one manipulator or else the working tools of said at least one manipulator.
    [0010] The system may include another horizontal transport device on which beverage crates may be transported into a work area of said at least one manipulator. In this way, said at least one manipulator can move articles or drink containers received in the direction of the other horizontal transport device and can then deposit them in a drink crate respectively associated with the articles or drink containers received. Transport directions for the crates and for the beverage containers can be oriented perpendicular to each other in the working area of said at least one manipulator.
    [0011] When the articles are received by said at least one working tool, the articles can be between adjacent partitions or else in a path formed by immediately adjacent partitions. However, beyond this fact, it is conceivable that streams of single-row articles are formed by means of the plurality of partitions, which leave the partitions or else their respective path formed by immediately adjacent partitions and which, after having left the immediately adjacent partitions or else the path formed by immediately adjacent partitions, are received by the manipulator. In the context of this patent application, the term "inlet" is to be understood in a broad sense so that the manipulator does not have to take, in any conceivable embodiment, articles or beverage containers immediately in the Entrance.
    [0012] In addition, provision is made for said at least one working tool to be controllable to perform at least one determined operation or to execute at least one determined working movement, by means of which the several partitions can be adjusted relative to each other. other as to their relative spacing by mechanical cooperation with said at least one working tool and/or by means of which at least one stop device provided for said plurality of partitions can be loosened by mechanical cooperation with said at least one work tool. In this way, the system can be adapted in a simple and uncomplicated way to articles with different geometries.
    [0013] In particularly preferred embodiments, the system comprises at least two working tools by which said at least one manipulator is realized respectively to receive and move the articles guided in the several neighboring rows. To adjust the relative distance of the plurality of partitions with respect to each other, said at least two working tools can be made so as to be horizontally movable with respect to each other in a determined direction, which determined direction is oriented perpendicularly to the longitudinal extension of the partitions.
    [0014] Furthermore, it is possible that said at least two working tools are coupled to a common horizontal adjustment axis via which it is possible to induce a common horizontal movement, relative to each other, of said at least two working tools. work in the determined direction. For example, the common horizontal adjustment axis may have a thread which acts in concert with a respective corresponding counter-thread of said at least two working tools in order to horizontally move said at least two tools relative to each other. of work. The adjustment axis can be driven by an actuator.
    [0015] Also, it is possible that said at least two working tools are made so as to be horizontally movable relative to each other in another direction, which other direction extends parallel to the longitudinal extension of the plurality of partitions.
    [0016] In conceivable embodiments, the system may comprise an auxiliary instrument, by means of said auxiliary instrument said at least one stop device can be released. The auxiliary instrument can be temporarily received by said at least one working tool to loosen said at least one locking device.
    [0017] In particular, said at least one working tool can form a housing for receiving articles or beverage containers. In this case, it is possible that said at least one working tool can receive the auxiliary instrument by means of or inside the housing. Thus, a geometry of the auxiliary instrument can correspond to a geometry of articles or else of beverage containers to be received by the respective working tool. The housing of said at least one working tool can be made corresponding to respective articles to be received and correspondingly to an auxiliary instrument to be received if necessary. Therefore, in conceivable embodiments, a respective article or the auxiliary instrument can be selectively received by means of the housing of said at least one working tool.
    [0018] Furthermore, the stopper may form an adjusting element having a thread by means of which the stopper can be loosened. The auxiliary instrument can form a counter-thread corresponding to this thread. By cooperation between the thread and the counter-thread, the adjustment element can be actuated via the auxiliary instrument and the stop can be eliminated or loosened.
    [0019] Also, the system can comprise at least two work tools with different dimensions, said at least two work tools being able to be received selectively and exchangeably by said at least one manipulator. In this case, it is conceivable that a first assembly comprises a multitude of first working tools which have a first dimensioning. Additionally, a second assembly may include a multitude of second work tools that have a second sizing, the second sizing being different from the first sizing.
    [0020] When immediately adjacent partitions are at a relative distance from each other, in which a work tool cannot be led between the immediately adjacent partitions due to its dimensioning, said at least one manipulator can remove a connection to a first assembly having a multitude of first working tools and can receive, thereafter, a second assembly having a multitude of second working tools. A dimensioning of the second working tools can be smaller than a dimensioning of the first working tools of the first assembly so that the second working tools can be led, if necessary, also between immediately adjacent partitions which have a small relative distance between them. relative to each other.
    [0021] It is also conceivable that the system comprises a control device which is in communication with said at least one manipulator and on which information relating to a setpoint spacing provided for said plurality of partitions can be imposed. If necessary, given the information, the control device can be made to choose at least one respective working tool from said at least two working tools with different dimensions. Said at least one manipulator can be controlled via the control device to receive the respective chosen work tool.
    [0022] Further, the stopper may include at least one adjuster that is rotatable to loosen the stopper. Said at least one adjusting element and said at least one working tool can be made correspondingly to one another so that a mechanical coupling can be established between said at least one working tool and said at least one adjustment element. In this way, it is possible that, in one embodiment, no auxiliary instrument is provided or that the auxiliary instrument can be dispensed with. Said at least one adjustment element can be subjected via said at least one working tool, being mechanically coupled, to a rotational movement to loosen said at least one locking device.
    [0023] In particular, embodiments are proven therein in which said at least one working tool forms a housing for receiving a respective article, the mechanical coupling between said at least one adjustment element and said at least one working tool being able to be established through housing.
    [0024] In addition, the system can comprise at least one coach via which at least two partitions communicate with each other, said at least one coach transmitting an adjustment of one at least of said at least two partitions to an adjustment oriented in the direction opposite, at least one other of said at least two partitions. Such embodiments are distinguished by a simple adjustment of several or of said at least two partitions because, when a partition is adjusted, said at least one working tool can simultaneously adjust at least one other partition via said at least one less a trainer.
    [0025] Also, it is possible that a working tool or several working tools comprise(s) at least one gripping element; via said at least one gripping element, a connection by adhesion and/or removable positive engagement can be made between said one respective working tool or the several respective working tools and at least one of the several partitions.
    [0026] Beyond this fact, the invention relates to a method of handling articles such as beverage containers or the like. Features that have already been mentioned above with respect to possible embodiments of the device can also be provided in possible embodiments of the method, and for this reason they are not mentioned redundantly. In addition, features mentioned below with respect to various embodiments of the method can be provided in the device described above.
    [0027] guider une pluralité d’articles en plusieurs rangées entre une pluralité de cloisons voisines, recevoir et transférer les articles guidés en plusieurs rangées, par au moins un outil de travail d’au moins un manipulateur, après cela régler une distance relative les unes par rapport aux autres de ladite pluralité de cloisons voisines, et guider d’autres articles entre les plusieurs cloisons voisines, après avoir réglé la distance relative les unes par rapport aux autres de ladite pluralité de cloisons voisines. The method comprises the following steps consisting of: guiding a plurality of articles in several rows between a plurality of neighboring partitions, receiving and transferring the articles guided in several rows, by at least one working tool of at least one manipulator, thereafter setting a relative distance from each other of said plurality of neighboring partitions, and guiding other articles between the plurality of neighboring partitions, after adjusting the relative distance from each other of said plurality of neighboring partitions.
    [0028] la distance relative les unes par rapport aux autres desdites plusieurs cloisons voisines est ajustée mécaniquement à l’aide dudit au moins un outil de travail, et/ou qu' au moins un dispositif d’arrêt prévu pour l’une des cloisons ou plusieurs des cloisons est desserré mécaniquement avant l’ajustage de la distance relative à l’aide dudit au moins un outil de travail. It is further provided that the relative distance from each other of said several neighboring partitions is mechanically adjusted using said at least one working tool, and/or that at least one stop device provided for one of the partitions or several of the partitions is mechanically loosened before the adjustment of the relative distance using said at least one working tool.
    [0029] In preferred embodiments, provision may also be made for the system to comprise at least one driver via which at least two partitions communicate with each other, said at least one driver transmitting or else mechanically transmitting an adjustment of one at least of said at least two partitions to an adjustment oriented in the opposite direction, of at least one other of said at least two partitions.
    [0030] In addition, it is possible that said at least one working tool is positioned between two neighboring partitions, that, after that, said at least one working tool is brought into surface contact with one of the two neighboring partitions, then, said at least one working tool pushing this partition, while being in surface contact with this partition, in the opposite direction to another of the two immediately adjacent partitions to increase the relative distance. During the action of pushing, said at least one working tool can be moved horizontally or at least approximately horizontally.
    [0031] Furthermore, it is possible that said at least one working tool seizes with positive engagement and/or by adhesion at least one partition and that, after that, to adjust the relative distance, it moves the seized partition in the direction or in the opposite direction at least one other partition immediately opposite the seized partition.
    [0032] Also, it is conceivable that said at least one working tool establishes a mechanical coupling to said at least one stopping device, after that, said at least one stopping device being moved in a rotary manner by means of said at least one work while maintaining the mechanical coupling, whereby said at least one stop device is released. In this case, embodiments have proven themselves in which said at least one working tool achieves, in a housing designed to receive articles, a connection integral in rotation with an adjustment element of said at least one stop device , and then rotatably moves said adjusting member to loosen said at least one stopper.
    [0033] Furthermore, it is possible that said at least one work tool receives an auxiliary instrument and then establishes a mechanical coupling to said at least one stopping device via said auxiliary instrument. After that, said at least one working tool can be rotated together with the auxiliary instrument around an axis preferably oriented perpendicularly (to the center of the earth) and therefore cause loosening of said at least one stop or loosen, therefore, said at least one stop device.
    [0034] In addition, it is conceivable that a driver communicating with at least two partitions transmits or else mechanically transmits an adjustment of one at least of said at least two partitions to an adjustment oriented in the opposite direction, of at least one other of said at least two partitions.
    [0035] In addition, it is possible for two working tools of said at least one manipulator to detach, in particular at the same time, two stop devices from a partition and/or from two different partitions.
    [0036] Also, it is possible that two or more than two working tools of said at least one manipulator engage simultaneously on the respective surfaces of two or more than two partitions and that said two or more than two working tools adjust or move a many partitions.
    [0037] In principle, it would additionally be possible for said at least one manipulator to also move other parts besides the partitions, for example, he could exchange a holder for containers.
    [0038] une bande transporteuse destinée à transporter les articles, au moins un manipulateur comprenant au moins un outil de travail par l’intermédiaire duquel ledit au moins un manipulateur est réalisé pour, durant un mode de service du système, manipuler, par exemple recevoir et/ou déplacer les articles en provenance de la bande transporteuse, au moins un élément de machine qui est disposé dans l’environnement du manipulateur et par l’intermédiaire duquel les articles peuvent être manipulés au moins indirectement, dans lequel le manipulateur, en particulier hors du mode de service, est conçu pour réaliser des travaux de changement de format, de réglage et/ou de réparation sur l’élément de machine.The fundamental idea of the invention could also be expressed as follows: Device for handling articles such as beverage containers or the like, comprising a conveyor belt for transporting the articles, at least one manipulator comprising at least one work tool by means of which said at least one manipulator is designed to, during a service mode of the system, manipulate, for example receive and/or move the articles coming from the conveyor belt , at least one machine element which is arranged in the environment of the manipulator and via which the articles can be manipulated at least indirectly, in which the manipulator, in particular out of service mode, is designed to carry out format change, adjustment and/or repair work on the machine element.
    [0039] transporter des articles sur une bande transporteuse dans un mode de service, manipuler, en particulier recevoir et/ou déplacer les articles au moyen d’un outil de travail associé à un manipulateur, dans le mode de service, manipuler au moins indirectement les articles par un élément de machine qui est disposé dans l’environnement du manipulateur, réaliser, en particulier hors du mode de service, des travaux de changement de format, de réglage et/ou de réparation sur un élément de machine au moyen du manipulateur. As for the process, this could be represented as follows: Method comprising the following steps: transporting items on a conveyor belt in a service mode, manipulate, in particular receive and/or move the articles by means of a work tool associated with a manipulator, in the service mode, at least indirectly manipulate the articles by a machine element which is arranged in the environment of the manipulator, carry out format change, adjustment and/or repair work on a machine element, in particular outside the service mode, by means of the manipulator.
    [0040] By environment, we can mean the access zone of the manipulator.
    [0041] As for the device, it may in particular be a packaging machine on which the method can also be implemented if necessary.
    [0042] As for format change work, this can be, for example, an exchange of the machine element.
    [0043] For example, said machine element is a stationary track guide or else a partition for the articles at the entrance of the device. As for adjustment work, this is for example the adjustment of track guides or conveyor belts.
    [0044] As for the repair work, this is for example a dent removal of a track guide or an exchange of a motor, in particular for the drive of the conveyor belt. In this way, an additional crane can be dispensed with.
    [0045] In addition, repair work also includes re-greasing, for example of gears or conveyor belts, to reduce the build-up pressure. During regreasing, lubricant can be taken, if necessary, from a reserve placed next to the device or else the manipulator, in particular from a reservoir or lubricant cartridges.
    [0046] As for the machine element, it can be a drive motor or a track guide or a partition; but it can also be a (second) packaging head, a conveyor belt or a divider for secondary packaging (such as bottle crates). With regard to the conveyor belt, it can happen that it is completely exchanged by the manipulator.
    [0047] The purpose of examples of embodiments below is to explain the invention and its advantages in greater detail, based on the appended figures. The proportions of the individual elements to each other in the figures do not always correspond to the actual proportions because some shapes are shown in a simplified way and other shapes, for better illustration, are shown enlarged with respect to d other elements. Figure 1 shows a schematic top view of an embodiment of a system according to the invention; Figure 2 illustrates a schematic side view of the embodiment of the system of Figure 1; Figure 3 shows a schematic front view of the embodiment of the system of Figures 1 and 2; Figure 4 shows another schematic front view of the embodiment of the system of Figures 1 to 3 and makes clear a conceivable step as it can be provided within the framework of a conceivable embodiment of the method according to the invention; figure 5 illustrates another schematic front view of the embodiment of the system of figures 1 to 4 and makes clear another conceivable step as it can be provided within the framework of a conceivable embodiment of the method according to the invention ; Figure 6 shows a schematic side view of the embodiment of the system of Figures 1 to 5 and makes clear other aspects of the steps of the method according to Figure 5; figure 7 illustrates another schematic front view of the embodiment of the system of figures 1 to 6 and makes clear another conceivable step as it can be provided within the framework of a conceivable embodiment of the method according to the invention ; figure 8 shows a schematic side view of the embodiment of the system of figures 1 to 7 and makes clear another conceivable step as it can be provided within the framework of a conceivable embodiment of the method according to the invention ; figure 9 illustrates another schematic front view of the embodiment of the system of figures 1 to 8 and makes clear another conceivable step as it can be provided within the framework of a conceivable embodiment of the method according to the invention ; figure 10 illustrates another schematic front view of the embodiment of the system of figures 1 to 9 and makes clear another conceivable step as it can be provided within the framework of a conceivable embodiment of the method according to the invention ; FIG. 11 illustrates a schematic front view of another conceivable embodiment of the system according to the invention as well as a conceivable step such as it can be provided within the framework of a conceivable embodiment of the method according to invention; FIG. 12 illustrates a schematic front view of another conceivable embodiment of the system according to the invention as well as a conceivable step such as it can be provided within the framework of a conceivable embodiment of the method according to the invention; FIG. 13 illustrates a schematic front view of another conceivable embodiment of the system according to the invention as well as a conceivable step such as it can be provided within the framework of a conceivable embodiment of the method according to invention; FIG. 14 shows a schematic side view of another possible embodiment of the system according to the invention as well as a possible step such as it can be provided within the framework of a possible embodiment of the method according to FIG. 'invention; Figure 15 shows another schematic side view of the embodiment of the system of Figure 14 and makes clear another conceivable step as may be provided within the framework of a conceivable embodiment of the method according to the invention ; Figure 16 shows another schematic side view of the embodiment of the system of Figures 14 and 15 and makes clear another conceivable step as may be provided within the framework of a conceivable embodiment of the method according to the invention; Fig. 17 shows another schematic side view of the embodiment of the system of Figs. invention; Fig. 18 shows another schematic side view of the embodiment of the system of Figs. invention.
    [0048] Like reference numerals are used for elements of the invention which are the same or have the same effect. Furthermore, for the sake of clarity, only reference numerals are shown in the individual figures which are necessary for the description of the respective figure. The embodiments shown are only examples showing how the invention can be designed, and do not constitute a definitive limitation.
    [0049] Figure 1 shows a schematic top view of an embodiment of a system 1 according to the invention. The system 1 is provided for handling articles 3 which, in this case, are formed by beverage containers 5, in particular glass bottles or reusable plastic bottles. In the figures of this patent application, the system 1 is realized as a packaging machine 2 for beverage containers 5.
    [0050] The system 1 comprises an entrance 7 comprising a plurality of adjacent partitions 9 and oriented parallel to each other, which partitions 9 make it possible to guide the articles 3 or drink containers 5 in adjacent rows. In this case, immediately adjacent partitions 9 respectively form between them a path 6 for a single-row stream of articles 3 or beverage containers 5. The relative distance of immediately adjacent partitions 9 is thus designed in such a way that Articles 3 or beverage containers 5 can move with little clearance or else without being blocked in the path 6 formed by the respective immediately adjacent partitions 9. This is why, for a guide free from blocking of articles 3 or beverage containers 5, the relative distance or else the set distance, with respect to each other, of immediately adjacent partitions 9 is slightly greater than the diameter respective maximum of the articles 3 or beverage containers 5 to be guided by the partitions 9.
    [0051] The articles 3 or beverage containers 5 are moved first, at said entrance 7, in a disordered mass current in a direction perpendicular to the tracks (towards the left side in the drawing), are then directed by a guard -body 154 on a conveyor belt 155 moving backwards and enter, after that, due to the continuation of the build-up pressure, from behind and via conveyors 35 into a respective lane 6 formed by immediately adjacent partitions 9 and move in the lanes 6 or else between the partitions 9 in parallel rows to reach an input zone of a manipulator 20.
    [0052] Said manipulator 20 comprises a vertically oriented lifting column 22 on which a horizontally oriented linear guide 24 is suspended so that it can be moved up and down (via a vertically oriented linear guide 161). A jib 27 (cf. FIG. 3) on which is arranged in suspended manner an assembly or else a unit 13 comprising a plurality of working tools 8 (cf. FIG. 2) is in communication with said linear guide 24 oriented horizontally. Therefore, the boom 27 can be moved along the linear guide 24 oriented horizontally, together with the working tools 8 arranged on the boom 27. In addition, it can be moved up and down vertically along the lifting column 22 the linear guide 24 oriented horizontally together with the boom 27 and said plurality of working tools 8 arranged on the boom 27. To this end, a plurality of actuators are provided which are in communication with a control device S. By via the control device S, it is possible to induce a respective vertical raising or lowering of the boom 27 jointly with said plurality of working tools 8 arranged on the boom 27 as well as a displacement of the boom 27 jointly with the several working tools 8 arranged in a suspended manner on the boom 27.
    [0053] In the embodiment of Figure 1, a working area of the manipulator 20 extends, as already mentioned above, on said entrance 7 or on the partitions 9 of the entrance 7 so that articles 3 or beverage containers 5 can be received by the manipulator 20 from the channels 6 formed by the immediately adjacent partitions 9. To this end, each working tool 8 has a housing 11 (cf. FIG. 2), each housing 11 being designed to receive exactly one article 3 or beverage container 5. Thus, the working tool 8 is made as than packing tulip.
    [0054] Furthermore, the system 1 or the packaging machine 2 comprises a horizontal transport device 30 which extends through a working area of the manipulator 20 and on which beverage crates 4 can be transported in the direction of the manipulator 20. or in said working area of the manipulator 20. This is why the horizontally oriented linear guide 24 extends at least in sections on the said horizontal transport device 30 so that the boom 27 can be moved, together with the tools of work 8 arranged on the boom 27, in a position located above the horizontal transport device 30.
    [0055] The number of working tools 8 which are arranged on the arrow 27 corresponds at least to a number of articles 3 or drink containers 5 to be received in a respective drink box 4. In this way, articles 3 or beverage containers 5 can be received in a number intended for the respective beverage crate 4, at least approximately at the same time, by the working tools 8 of the manipulator 20 coming from the channels 6 formed by the partitions 9, and, after that, being moved in the direction of the respective beverage crate 4 and being deposited inside said beverage crate 4. In this case, the transport device can be operated continuously horizontal transport device 30 so that the articles 3 or drink containers 5 are deposited inside the respective drink crate 4 during the current movement of the horizontal transport device 30. Preferably, the horizontal transport device 30 can be moved in cadences.
    [0056] Beyond this fact, the system 1 or the packaging machine 2 of Figure 1 has a sensor 26 through which it is possible to detect a real position of rotation of the articles 3 or drink containers 5. The sensor 26 is coupled to the control device S. After the respective articles 3 or beverage containers 5 provided for a beverage crate 4 have been received by the manipulator 20, the working tools 8, under the impulse of the control device S, can rotate the received articles 3 or beverage containers 5 respectively while putting them in a rotational orientation intended for the articles 3 or beverage containers 5 and known by the control device S. manner, for example, a label applied to an outer side surface of the beverage containers 5 can be oriented so that the respective label has a determined orientation in the beverage crate 4. As described below again in r With reference to Figures 14 to 18, the rotary motion of work tools 8 can be used to loosen a stopper 32.
    [0057] In addition, another 26' sensor is shown. The position of the sensor 26, 26' is chosen in such a way that, at some time, when the articles 3 are lifted or after having lifted them and before depositing the articles 3 in the beverage crate 4, it detects an orientation rotation of the articles 3. If the respective sensor 26 or 26' is designed as a camera, the camera is located below a plane through which the articles pass during movement. It is also possible to provide several sensors, for example one sensor respectively on each packing tulip or respectively one sensor only on the outer packing tulips, which move at the same time as the articles 3 during the movement.
    [0058] In addition, one can see a stock 40 where several units 13 are arranged (cf. FIG. 2) each comprising several working tools 8. As mentioned above, the manipulator 20 has an arrow 27 on which a said respective unit 13 d work tools 8 is maintained in an exchangeable manner. By said arrow 27, the manipulator 20 can transfer a respective unit 13 of working tools 8 to the stock 40 and can receive another unit 13 of working tools 8. In this case, the working tools 8 of the units 13 arranged in the stock 40 can have a different dimensioning so that, taking into account an adjustment of the partitions 9 which will be described further below, the control device S can cause or else selectively induce a reception, by the manipulator 20, of a unit 13 comprising respective work tools 8.
    [0059] Figure 2 shows a schematic side view of the system embodiment 1 of figure 1. input of the manipulator 20. The inlet 7 comprises another horizontal transport device 35 by means of which the articles 3 or beverage containers 5 are moved along the partitions 9 or else in the tracks 6 formed between immediately adjacent partitions 9 (see figure 1). In this case, the horizontal transport device 30 is at a lower vertical level than that of the other horizontal transport device 35 of the entrance 7.
    [0060] In addition, one can see in Figure 2 housings 11 made by the working tools 8; in particular, respective mouth sections of the beverage containers 3 sinking with positive engagement into said housings 11 and then being fixed by vacuum or mechanically on the working tools 8 or else received by vacuum or mechanically by the work tools 8. As already mentioned above, the work tools 8 form a constituent part of a unit 13 which is exchangeably supported by the manipulator 20. The transport directions of the horizontal transport device 35 and the other horizontal transport device 30 are oriented perpendicular to each other. Thus, in this case, the transport direction of the horizontal transport device 30 extends in the direction of the image plane. In addition, the linear guide 24 extends perpendicular to the transport direction of the horizontal transport device 30.
    [0061] From the position shown in Figure 2, the boom 27 is lowered together with the unit 13 of working tools 8 in the direction of the articles 3 or drink containers 5 until the articles 3 or beverage containers 5 sink into the housings 11 of the working tools 8. After that, the articles 3 or else the drinking containers 5 are placed under vacuum via the working tools 8 or are gripped mechanically, with the result that the articles 3 or drink containers 5 are detachably connected to the working tools 8.
    [0062] If necessary, the work tools 8 can also be put under overpressure when this is introduced between a flexible pipe inside which the reception is made, and a box arranged around the flexible pipe and sealed with respect to the flexible pipe. , so that the flexible hose is pressed from the outside against the mouth of the containers.
    [0063] After that, the work tools 8 are moved together with the received articles 3 or beverage containers 5 along the vertical lifting column 22 and the horizontal linear guide 24 in the direction of a respective beverage crate 4 and are deposited in said respective drink box 4. Then the manipulator 20 or the work tools 8 of the manipulator 20 are moved in the direction of other articles 3 or drink containers 5 which the manipulator 20, as described, receives via the work tools 8 and transfers to another crate. beverage container 4. In addition, a stop (not shown) is provided which stops the beverage containers 5 at a straight edge of the conveyor 35 or else comes into contact with the beverage containers 5.
    [0064] Figure 3 shows a schematic front view of the embodiment of the system 1 of Figures 1 and 2. As can be clearly seen in Figure 3, the partitions 9 are oriented parallel to each other, in which, to guide the articles 3 or beverage containers 5 without them being blocked, a relative spacing with respect to each other of immediately adjacent partitions 9 is slightly enlarged with respect to a maximum cross-sectional diameter of the articles 3 or beverage containers 5. If it is then desired to handle other articles 3 or beverage containers 5 whose maximum cross-sectional diameter is different from the articles 3 or beverage containers 5 according to Figure 3, the relative distance from each other of immediately adjacent partitions 9 must be adapted to this in order to be able to guide without blocking or tilting, in the channels 6 formed by means of immediate partitions 9, the articles 3 or else receptacles. drink ients 5 to be handled next.
    [0065] Beyond this fact, Figure 3 illustrates a drive mechanism 52 which is associated with the lifting column 22 of the manipulator 20 and by means of which the work tools 8 can be raised and lowered in the vertical direction. along the lifting column 22. For the movement of the working tools 8 along the horizontally oriented linear guide 24, a drive mechanism is provided to which is referred, in Figure 3, by means of the numeral 54. An adjustment relative to each other of several working tools 8 of the unit 13 which, in FIG. 3, are arranged one behind the other in the direction of the image plane, can be brought about by means of a drive mechanism 56. In addition, there can be seen a drive mechanism bearing the numeral 58 by means of which the relative distance of working tools 8 can be adjusted or defined with respect to each other at an angle or else perpendicular to the longit extension udinale of partitions 9.
    [0066] FIG. 4 illustrates another schematic front view of the embodiment of the system 1 or of the packaging machine 2 of FIGS. conceivable embodiment of the method according to the invention. In FIG. 4, the inlet 7 (cf. FIG. 1) has not been supplied with other articles 3 or drink containers 5 so that there are no articles 3 or drink containers beverage 5 between the partitions 9 or in the channels 6 formed between immediately adjacent partitions 9. In order to be able to adjust the relative spacing of the partitions 9 with respect to each other, all the articles 3, as shown in FIG. 4, can be evacuated beforehand from the channels 6 formed between immediately adjacent partitions 9. At the start of an adjustment, the working tools 8 of the manipulator 20 are located above the partitions 9 and can be moved, for this purpose, vertically along the lifting column 22 as well as along the linear guide 24 oriented horizontally. A movement along the lifting column 22 or else along the horizontally oriented linear guide 24 takes place here, as already described in connection with Figure 3, with the aid of the drive mechanisms 52 and 54. In the figure 4, in the vertical downward direction, the working tools 8 are in alignment with the tracks 6 formed between immediately adjacent partitions 9.
    [0067] Fig. 5 illustrates another schematic front view of the system embodiment 1 of Figs. invention. From the position in Figure 4, the working tools 8 have been lowered vertically into the position shown in Figure 5 and are therefore between the partitions 9 or else in the channels 6 formed by immediately adjacent partitions 9. The descent takes place using the drive mechanism 52. In each of the tracks 6 formed between immediately adjacent partitions 9 is respectively arranged at least one working tool 8. After having been lowered vertically according to FIG. 5, the working tool 8 has a distance that is at least approximately identical with respect to the two partitions 9 forming the respective channel 6. Furthermore, it can be seen in Figure 5 that the working tools 8 are positioned at least approximately centrally with respect to the height or else the vertical extension of the partitions 9.
    [0068] Figure 6 shows a schematic side view of the embodiment of the system 1 of Figures 1 to 5 and makes clear other aspects of the step of the method according to Figure 5. This is also along the partitions 9 or else in the transport direction of the other horizontal transport device 35 than the assembly 13 or the manipulator 20 has several working tools 8. Before the working tools 8 are lowered vertically and/or during and/ or after the vertical descent of the working tools 8, the working tools 8 are moved along the linear guide 24 in a predetermined position, preferably in the horizontal medium or else seen in the transport direction of the partition 9. An assembly or unit 13 formed from working tools 8 is arranged, in the predetermined position, at least approximately centrally with respect to the longitudinal extension of the immediately adjacent partitions 9, which partitions 9 immed iament neighbors receive the respective assembly or the respective unit 13 of working tools 8. In this way, in each lane 6 (cf. Figure 5) are positioned several working tools 8 one behind the other or along the longitudinal extension of the respective walls 9 immediately adjacent. The working tools 8 can be moved along the horizontally oriented linear guide 24 and be led into the position according to Figure 6 by means of the drive mechanism 54 (cf. Figure 5). Furthermore, the reference numeral 170 refers to a guide for a respective partition 9 along which the respective partition 9 is supported and can be moved laterally transversely to the transport direction of the conveyor 35.
    [0069] Fig. 7 illustrates another schematic front view of the system embodiment 1 of Figs. invention. In particular, Figure 7 shows a process step such that it can immediately follow the process step described in connection with Figure 6.
    [0070] Thus, if we look at Figure 6 in combination with Figure 7, we can see that the relative distance of the working tools 8 from each other in the longitudinal direction of the partitions 9 or in the direction of transport of the other horizontal transport device 35 of the entrance 7 or along the horizontally oriented linear guide 24 has been enlarged. The manipulator 20 or the unit 13 has an adjustment axis 37 which is coupled to the working tools 8. Said adjustment axis 37 communicates with the drive mechanism 56 illustrated in FIG. 5 or is driven by that -this. By means of a drive of the adjustment axis 37, the relative distance of the working tools 8 from one another in the longitudinal direction of the partitions 9 or else in the transport direction of the other device horizontal transport 35 of the entrance 7 or along the horizontally oriented linear guide 24 can be selectively enlarged or reduced. This allows an application of force distributed over the longitudinal extension of the partitions 9 in the adjustment described below, in surface contact of the partitions 9 with the working tools 8.
    [0071] Figure 8 shows a schematic side view of the embodiment of the system 1 of Figures 1 to 7 and makes clear other aspects of a method step as it may follow the step according to Figure 7. In particular , FIG. 8 illustrates a step of the method such that it can immediately follow the step of the method described in connection with FIG. 7.
    [0072] As can be seen in Figure 8, the working tools 8 are coupled to another adjustment axis 39. Said other adjustment axis 39 is oriented perpendicular to the longitudinal direction of the partitions 9 or else perpendicular to the direction of transport of the other horizontal transport device 35 of the entrance 7 or perpendicular to the linear guide 24 oriented horizontally. The other adjustment axis 39 communicates with the drive mechanism 58.
    [0073] In addition, a movement of the working tools 8 caused by said other adjustment axis 39 takes place perpendicular to the longitudinal direction of the partitions 9 or else perpendicular to the direction of transport of the other horizontal transport device 35 of the entrance 7 or perpendicular to the linear guide 24 oriented horizontally. In the movement of the working tools 8 caused by the other adjustment axis 39, the relative distance from each other of immediately adjacent partitions 9 which form a respective channel 6 is increased. In this case, the working tools 8 come into surface contact with a partition 9 and push the respective partition 9 in the opposite direction to the respective immediately adjacent partition 9.
    [0074] In this way, the distance between immediately adjacent partitions 9 or the width of the respective track 6 formed by immediately adjacent partitions 9, which is oriented perpendicular to the transport direction of the other horizontal transport device 35, is increased. .
    [0075] Said control device S represented schematically can be imposed information relating to a dimensioning of articles 3 or of respective beverage containers 5 capable of being transferred into beverage crates 4. Consequently, the control device S can adapt or properly adjust, by means of the previously described movement of the working tools 8, a width of the respective track 6 formed by immediately adjacent partitions 9, which is oriented perpendicular to the transport direction of the other horizontal transport device 35. The drive mechanism 58 communicates with control device S, drive mechanism 58 being drivable or actuable by control device S to adapt or adjust the relative spacing to each other to others of immediately adjacent partitions 9.
    [0076] Fig. 9 illustrates another schematic front view of the system embodiment 1 of Figs. invention. Looking at Figure 8 in combination with Figure 9, it can be seen that the partitions 9 have been moved by the working tools 8 so as to present the set relative spacing shown in Figure 9. The width of the lanes 6 perpendicular to the transport direction of the other horizontal transport device 35 of the inlet 7 is identical for all the lanes 6. It can also be seen in FIG. 9 that the central partition of the five partitions 9 has not been moved actively or has not been pushed by a working tool 8 and is, just as before, in its position according to Figure 4.
    [0077] For example, the drive mechanism 58 may be coupled to a spindle 58a which has different pitches along its longitudinal extension on which the respective housings 11 are housed.
    [0078] Fig. 10 illustrates another schematic front view of the system embodiment 1 of Figs. invention. From the position shown in Figure 9, the working tools 8 have been moved in the opposite direction, the relative distance between the working tools 8 having been reduced in this case. To this end, said other adjustment shaft 39 has been rotated in the opposite direction via the actuator 58, under the impetus of the control device S. In FIG. 10, the working tools 8 are therefore located in the middle in their respective channel 6 formed by immediately adjacent partitions 9. In another step which is not shown in the figures of the present patent application, the working tools 8 are raised from the position of FIG. 10 along the vertical lifting column 22 so that, then, the working tools 8 are no longer located between the partitions 9 or else in the tracks 6 formed between immediately adjacent partitions 9.
    [0079] Given that a width of the lanes 6, oriented perpendicular to the direction of transport of the other horizontal transport device 35 is therefore adapted to the respective articles 3 to be handled or else to be transferred into beverage crates 4, the articles 3 or although beverage containers 5 of corresponding dimensioning can be introduced into the inlet 7 and be brought to the channels 6 formed between the immediately adjacent partitions 9. A manipulation or a transfer of the articles 3 or else beverage containers 5 in respectively associated beverage crates 4 is then done according to the previous description relating to Figures 1 to 3.
    [0080] FIG. 11 illustrates a schematic front view of another conceivable embodiment of the system 1 according to the invention as well as a conceivable step such as it can be provided within the framework of a conceivable embodiment of the method according to FIG. 'invention. In particular, FIG. 11 shows an adjustment or an adaptation of the relative distance with respect to each other of immediately adjacent partitions 9, in which or else a width of the tracks 6 oriented perpendicularly to the other horizontal transport device 35 of input 7 (see figure 7) is reduced. This step serves to reduce the relative distances of the partitions 9 from each other and is done in a service mode which follows the step of the method of Figure 10. To this end, as can be seen in Figure 11 , we continue to bring into surface contact with partitions 9 the working tools 8 by means of which articles 3 or beverage containers 5 can be received. As indicated by the representation of arrows, the working tools 8 move relative to each other during surface contact while pushing a respective partition 9 in the direction of a partition 9 immediately adjacent to said partition 9 respective and thus reduce the width of the tracks 6 formed by immediately adjacent partitions 9, which is oriented perpendicular to the transport direction of the other horizontal transport device 35 of the inlet 7. During this, the middle partition 9 or center is not moved by work tools 8.
    [0081] A movement of the working tools 8 also takes place with the aid of the other adjustment axis to which is referred by the number 39. Said other adjustment axis 39 is turned via the drive mechanism 58 under the pulse from the control device S.
    [0082] FIG. 12 illustrates a schematic front view of another conceivable embodiment of the system 1 according to the invention as well as a conceivable step such as it can be provided within the framework of a conceivable embodiment of the method according to FIG. 'invention. In the exemplary embodiment of FIG. 12, partitions 9 located on the outside each comprise a gripping finger 12 by means of which a respective connection can be made with positive engagement and/or by adhesion to a partition 9 in order to move the partition 9 while adjusting or adapting the relative distance between immediately adjacent partitions 9. The gripping fingers 12 protrude beyond a plane where contact surfaces with the articles 3 are located. In this way, the manipulator only has to lower the working tools 8 on a small path. Further, a lever with respect to the guide 170 (cf. Fig. 6) is made to be small. Furthermore, the movement of the working tools 8 takes place under the impetus of the control device S as well as by said other adjustment axis 39 driven via the drive mechanism 58. In FIG. work 8 is indicated by means of a representation of arrows.
    [0083] FIG. 13 illustrates a schematic front view of another conceivable embodiment of the system 1 according to the invention as well as a conceivable step such as it can be provided within the framework of a conceivable embodiment of the method according to FIG. 'invention. In the embodiment of a system 1 of FIG. 13, immediately adjacent partitions 9 which form between them a respective path 6 for guiding articles 3 or beverage containers 5 are coupled to each other by a coach 50 which transmits an adjustment or movement of a partition 9 in a given direction to an adjustment or movement in the opposite direction of the other respective immediately adjacent partition 9. In this way, the relative spacing of immediately adjacent partitions 9 can be adapted or adjusted in a simple and uncomplicated manner. Furthermore, embodiments according to FIG. 13, with mechanical coupling of several partitions 9 via a driver 50, allow very precise adjustment of their relative distance from each other. Trainer 50 can provide a scissor-like fit. In addition, individual transport routes 180 which are also adjusted at the same time can be coupled to this. In the case of a scissor fit 50, several levers 50a of equal length are coupled together via pivots 50b. The transport routes on the one hand and the partitions 9 on the other hand are coupled by articulation alternately on said pivots. The individual machine elements 9, 180 can be moved along vertical guides 50c and a horizontal guide, not shown. An adjustment via a coach 50 is also possible only for the partitions 9 alone, without the transport routes, for example when the articles 3 are all transported by a conveyor 35 having a common bearing surface.
    [0084] FIG. 14 shows a schematic side view of another conceivable embodiment of the system 1 according to the invention as well as a conceivable step such as it can be provided within the framework of a conceivable embodiment of the method according to the invention. The embodiment of Figure 14 also comprises a manipulator 20 according to the description given above in relation to Figures 1 to 13, as well as several partitions 9 of which one can see, in Figure 14, a partition 9 in side view. Since articles 3 or beverage containers 5 (cf. FIG. 1) come into contact with the partitions 9 when they are guided by means of the partitions 9, stop devices 32 are provided to hold the partitions 9 in their respective position on the guide 170.
    [0085] Each of the locking devices 32 has an adjusting element 28, the respective locking device 32 being able to be released by means of a rotary movement of its respective adjusting element 28. In FIG. 14, it can further be seen that the working tools 8 each form a housing 11 intended to receive an article 3 or a respective beverage container 5 . The adjusting elements 28 are designed correspondingly to the housings 11 of the working tools 8 so that the working tools 8 can establish via their housings 11 a removable connection to the adjusting elements 28.
    [0086] Fig. 15 shows another schematic side view of the system embodiment 1 of Fig. 14 and makes clear another conceivable step as may be provided within the framework of a conceivable embodiment of the method according to the invention. Looking at Figure 14 in combination with Figure 15, it can be seen that the working tools 8 have been lowered so that, accordingly, an adjusting element 28 is inside the housing 11 of a working tool 8. After having made a removable connection between the working tool 8 and the adjusting element 28 located in the housing 11 of this working tool 8, the adjusting element 28 is moved in a rotary manner via of this working tool 8, as indicated by the representation of arrows. In this way, the stopper 32 is released.
    [0087] Fig. 16 shows another schematic side view of the system embodiment 1 of Figs. 'invention. After having loosened the locking device 32 shown on the left in Figure 16, according to the description relating to Figure 15, the connection between the working tool 8 and the adjusting element 28 is removed, whereupon the manipulator 20 raises the working tool 8 so that the working tool 8 comes out of the grip of the adjusting element 28.
    [0088] Fig. 17 shows another schematic side view of the system embodiment 1 of Figs. 'invention. From the position of Figure 16, the working tools 8 of the manipulator 20 are moved along the horizontally oriented linear guide 24, in the direction of the stop device 32 shown on the right in Figure 17, until the working tools 8 are in the position represented in figure 17. In this case, the housing 11 of a working tool 8 or of the working tool 8 which, in figure 17, is located furthest on the right is aligned, in the downward vertical direction, with the adjusting element 28 of the stop device 32 shown on the right.
    [0089] Fig. 18 shows another schematic side view of the embodiment of the system of Figs. invention. In accordance with the operation already described in connection with FIG. 15, the working tools 8 are lowered again until the adjusting element 28 of the stop device 32 shown on the right is located in the housing 11 of work tool 8 located furthest to the right. After that, a detachable connection can be made between the rightmost working tool 8 and the adjusting element 28 of the stop device 32 shown on the right, whereupon the adjusting element 28 is moved from rotary manner by means of the working tool 8. In this way, the locking device 32 shown on the right is released. Then, the working tools 8 can be raised by means of the manipulator 20. An adjustment of the relative distance from each other of the immediately adjacent partitions 9 can be carried out after that according to an embodiment of the description given. previously as to figures 4 to 13.
    [0090] List of reference figures 1 system 2 packing machine 3 item 4 beverage crate 5 drink container 6 way 7 entry 8 working tool 9 bulkhead 11 housing 12 gripper, gripper finger 13 unit, assembly 20 keyer 22 lifting column 24 horizontally oriented linear guide 26 sensor 27 arrow 28 setting item 30 horizontal transport device 32 stop device 35 other horizontal transport device 37 adjustment axis 39 other adjustment axis 40 stocks 50 coach 52 drive mechanism (lifting column) 54 drive mechanism (linear guide oriented horizontally) 56 drive mechanism 58 drive mechanism 58a pin 154 railings 155 conveyor belt 161 linear guide 170 guides S control device
    权利要求:
    Claims (13)
    [0001]
    Device for handling articles (3) such as beverage containers (5) or the like, comprisinga conveyor belt (155) for transporting the articles, at least one manipulator (20) comprising at least one working tool (8) by means of which said at least one manipulator is produced for, during an operating mode of the system, manipulating the articles coming from the conveyor belt, at least one machine element (9) which is arranged in the environment of the manipulator and through which the articles can be handled at least indirectly, in which the manipulator, especially out of service mode, is designed to perform format change, adjustment and / or repair work on the machine element.
    [0002]
    An article handling device according to claim 1, characterized in that the machine element is a drive motor, and / or a track guide and / or a partition (9) for the articles at the entrance of the device, and / or a packaging head and / or a conveyor belt, and / or a divider for secondary packaging.
    [0003]
    An article handling device according to one of the preceding claims, characterized in that the manipulator (20) is designed to receive and / or move the articles (3, 5) from the system during an operating mode of the system. the conveyor belt (155).
    [0004]
    Device for handling articles according to one of the preceding claims, characterized in that the manipulator (20), in particular out of the operating mode, is designed to exchange the machine element.
    [0005]
    An article handling device according to one of the preceding claims,characterized in thatthe manipulator (20), in particular out of service mode, is designed tocarry out adjustment work on track guides or conveyor belts, and / or move the partitions (9).
    [0006]
    An article handling device according to one of the preceding claims,characterized in thatthe manipulator (20), in particular out of service mode, is designed todent a track guide, and / or exchange a motor, in particular for driving the conveyor belt, and / or regrease, for example gears or conveyor belts.
    [0007]
    Device for handling articles according to one of the preceding claims, characterized in that the machine element (9) is arranged in the access zone of the manipulator (20).
    [0008]
    Device for handling articles according to one of the preceding claims, characterized in that the device is a packaging machine.
    [0009]
    A method comprising the following steps of:transporting articles (3, 5) on a conveyor belt (155) in a service mode, manipulate the articles (3, 5) by means of a working tool (8) associated with a manipulator (20), in the service mode, manipulate at least indirectly the articles (3, 5) by a machine element (9) which is arranged in the environment of the manipulator (20), carry out, in particular out of service mode, format change, adjustment and / or repair work on a machine element (9) by means of the manipulator (20).
    [0010]
    Method according to claim 9, characterized in that the step of handling the articles consists of receiving and / or moving the articles (3, 5) by means of the working tool associated with the manipulator, in the service mode.
    [0011]
    Method according to Claim 9 or 10, characterized in that the format change work consists of exchanging the machine element.
    [0012]
    Method according to one of claims 9 to 11,characterized in thatadjustment work consists ofcarry out adjustment work on track guides or conveyor belts of the machine element, and / or move partitions (9) of the machine element.
    [0013]
    Method according to one of claims 9 to 12,characterized in thatrepair work consists ofremove a track guide from the machine element, and / or exchange a motor, in particular for driving a conveyor belt, the machine element and / or regrease, for example gears or conveyor belts.
    类似技术:
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    同族专利:
    公开号 | 公开日
    FR3049933A1|2017-10-13|
    CN206665011U|2017-11-24|
    FR3049933B1|2020-04-24|
    DE102016106360A1|2017-10-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE3620717A1|1986-06-20|1987-12-23|Seitz Enzinger Noll Masch|PACKING OR UNPACKING MACHINE|
    DE202010001712U1|2010-02-01|2011-06-09|RST Roboter-System-Technik GmbH, 93092|gripper head|
    DE102013102202A1|2013-03-06|2014-09-11|Krones Aktiengesellschaft|Device for positioning and / or aligning one or more adjustable guide components for guiding articles in a transport system|DE102018110556A1|2018-05-03|2019-11-07|Krones Aktiengesellschaft|Method and device for producing packaging units, each comprising at least one article and an outer packaging receiving the article|
    DE102019134315A1|2019-12-13|2021-06-17|Krones Ag|Transport module for articles to be packaged and method for preparing a transport module for a movement of articles|
    法律状态:
    2020-03-24| PLFP| Fee payment|Year of fee payment: 4 |
    2021-03-10| PLFP| Fee payment|Year of fee payment: 5 |
    2022-02-25| PLSC| Publication of the preliminary search report|Effective date: 20220225 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102016106360.6|2016-04-07|
    DE102016106360.6A|DE102016106360A1|2016-04-07|2016-04-07|System and method for handling articles such as beverage containers or the like|
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