PACKAGING PLANT

Abstract

The packaging plant comprises a packaging machine and a robot which is mounted on a transport truck that is repositionable along the packaging machine. The transport truck comprises a frame, a current collector, and a plurality of operating components. The frame is mounted so as to be movable along the packaging machine, has a bearing assembly for the robot, and supports the plurality of operating components. The current collector is configured to wirelessly connect to a current source. The plurality of operating components comprise at least one wireless data transmission device and one drive.

Claims

1. A packaging plant comprising: a packaging machine comprising a plurality of processing stations arranged successively in a processing direction of the packaging machine; and a robot mounted on a transport truck, wherein the transport truck is repositionable along the packaging machine; wherein the transport truck comprises a frame, a current collector, and a plurality of operating components; wherein the frame is mounted so as to be movable along the packaging machine, has a bearing assembly on which the robot is mounted, and supports the plurality of operating components; wherein the current collector for transmitting an electric current to the transport truck is configured to wirelessly connect to a current source; and wherein the plurality of operating components comprise, a data transmission device configured to wirelessly communicate with a machine controller of the packaging machine, and a drive for moving the transport truck along the packaging machine.

2. The packaging plant of claim 1, wherein the plurality of operating components further comprise at least one compressor.

3. The packaging plant of claim 2, wherein the at least one compressor is a compressed air compressor and/or a vacuum pump.

4. The packaging plant of claim 1, wherein the plurality of operating components further comprise at least one control device for controlling the drive and for controlling the robot.

5. The packaging plant of claim 1, wherein the transport truck comprises at least one first mains adapter and one second mains adapter which are in each case electrically connected to the current collector, wherein the first mains adapter for the electrical power supply of the plurality of operating components on the transport truck is configured to convert an input voltage to a first output voltage, and wherein the second mains adapter for the electrical power supply of the robot on the transport truck is configured to convert the input voltage to a second output voltage.

6. The packaging plant of claim 1, wherein the plurality of operating components further comprise at least one sensor, wherein the at least one sensor is selected from an optical sensor for identifying goods to be transported, for documenting the operation of the robot or for monitoring an environment of the robot, a position sensor for identifying the position of the transport truck or of the robot, an acceleration or vibration sensor for monitoring the transport truck or the robot.

7. The packaging plant of claim 1, wherein the packaging plant comprises at least one guide rail which runs along the packaging machine and extends at least in portions parallel to the processing direction, wherein the frame of the transport truck is mounted so as to be movable on the at least one guide rail.

8. The packaging plant of claim 1, wherein the transport truck comprises a plurality of casters and the frame of the transport truck by the plurality of casters is mounted so as to be movable on the at least one guide rail.

9. The packaging plant of claim 8, wherein the transport truck comprises a plurality of caster packs, wherein each of the plurality of caster packs comprises at least two casters of the plurality of casters and a support on which the at least two casters are rotatably mounted, wherein the support is mounted so as to be pivotable on the frame of the transport truck.

10. The packaging plant of claim 9, wherein a first caster of the at least two casters of each caster pack is adjustable in a direction perpendicular to a running surface of the at least one guide rail.

11. The packaging plant of claim 10, wherein the direction perpendicular to the running surface of the at least one guide rail is perpendicular to a rotation axis of the caster.

12. The packaging plant of claim 1, further comprising a current conductor, wherein the current collector of the transport truck is in sliding contact with the current conductor.

13. The packaging plant of claim 12, wherein the current conductor is a conductor cable or a conductor rail.

14. The packaging plant of claim 1, further comprising a rack which runs along the packaging machine, wherein the drive of the transport truck comprises a pinion which engages with the rack.

15. The packaging plant of claim 1, further comprising at least one further robot which is mounted on a further transport truck, wherein the further transport truck is repositionable along the packaging machine.

16. The packaging plant of claim 1, wherein the data transmission device is an optical data transmission device.

17. The packaging plant of claim 15, wherein the data transmission device comprises a first communications interface and a second communications interface, wherein the first communications interface is configured to communicate with the machine controller, and the second communications interface is configured to communicate with a data transmission device of the further transport truck.

18. The packaging plant of claim 1, wherein at least one first processing station of the plurality of processing stations is arranged in a clean room, and the robot in the region of the first processing station is also arranged in the clean room.

19. The packaging plant of claim 1, wherein the plurality of processing stations comprise at least one forming station, one filling station, one sealing station, one punching station, and one cartoner, wherein the robot is repositionable along all processing stations of the plurality of processing stations, and wherein the packaging plant comprises at least one assembly area for consumable material and the robot is configured to supply the plurality of processing stations with consumable material.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0048] FIG. 1 schematically shows a packaging plant according to one embodiment of the invention in a perspective view.

[0049] FIG. 2 schematically shows a transport truck of the packaging plant of FIG. 1 in a perspective view, with the components received by said transport truck.

[0050] FIG. 3 schematically shows a fragment of the packaging plant of FIG. 1 in a perspective sectional view.

[0051] FIG. 4 schematically shows the fragment of FIG. 3 in a perspective view.

[0052] FIG. 5 schematically shows a transport truck having a robot of FIGS. 1 to 4 in a perspective view.

[0053] FIGS. 6, 7 show a caster pack of the transport truck of FIGS. 1 to 5.

DETAILED DESCRIPTION

[0054] One embodiment of a packaging plant 2 according to the invention is schematically illustrated in FIG. 1. The packaging plant 2 comprises a packaging machine 4 as well as a robot 6 which is mounted on a transport truck 8. The transport truck 8 is repositionable along the packaging machine 4. The packaging machine 4 comprises a plurality of processing stations, such as, for example, a heating device 10, a forming station 12, a filling station 14, a sealing station 16, a punching station 18, as well as arbitrary further processing stations (not illustrated), which may include a transfer device, a transport device, a supply device for accompanying material in the pack, such as brochures or leaflets, and a cartoner, the aforementioned being downstream of the punching station 18. The plurality of processing stations 10, 12, 14, 16, 18 are arranged successively in a processing direction D of the packaging machine 4, said processing direction D being directed from an entry region 20 of the packaging machine 4 to an exit region 21 of the packaging machine 4.

[0055] The packaging machine 4 is preferably configured as a blister pack machine having an entry region 20 in which a forming film 22 on a roll 22a and a cover film 24 on a roll 24a can be provided. In this case, the forming film 22 runs through the heating device 10 for heating the forming film 22, the forming station 12 for forming product receptacles, such as blister cups, in the forming film 22, the filling station 14 for filling products into the product receptacles of the forming film 22, the sealing station 16 for sealing the cover film 24 on the forming film 22, and the punching station 18 for punching individual blister packs from the composite of the forming film 22 and the cover film 24.

[0056] The robot 6 is configured to interact with the packaging machine 4. The robot 6 is in particular configured to interact with the plurality of processing stations 10, 12, 14, 16, 18 and is therefore preferably repositionable along all processing stations of the plurality of processing stations 10, 12, 14, 16, 18. Thus, the packaging plant 2 can further comprise at least one assembly area 26, or, as illustrated, a plurality of assembly areas 26, for consumable material, and the robot 6 in this instance is configured to supply the plurality of processing stations 10, 12 14, 16, 18 with consumable material.

[0057] For example, further rolls 22a, 24a of the forming film 22, or of the cover film 24, respectively, can be provided in the assembly area 26 close to the entry region 20, and the robot 6 is configured to fill the packaging machine 4 in the entry region 20 with a new roll 22a, 24a, when required. The robot 6, in particular when changing the format, can also be configured to place a lead of the forming film 22 into the packaging machine 4. To this end, the robot guides a free end portion of the forming film 22 through the plurality of processing stations 10, 12, 14, 16, 18 and about deflection elements 28 in the packaging machine 4. In an analogous manner, the robot 6 can also be configured to place a lead of the cover film 24 into the packaging machine 4 in that said robot 6 guides a free end portion of the cover film 24 about deflection elements 28 in the packaging machine 4 and at least into the sealing station 16. Further, the robot 6 can be configured to replace at least one product hopper of the filling station 14 with a filled product hopper, or for filling the at least one product hopper with products, when required. The robot 6, in particular when changing the format, can further be configured to replace tools of the plurality of processing stations 10, 12, 14, 16, 18, such as, for example, a forming tool of the forming station 12, a sealing tool of the sealing station 16, or a punching tool of the punching station 18. Finally, the robot 6 can also be configured to clean at least one processing station of the plurality of processing stations 10, 12, 14, 16, 18, such as the filling station 14, for example. Suitable to this end is, for example, cleaning by compressed air or CO.sub.2.

[0058] At least one first processing station of the plurality of processing stations 10, 12, 14, 16, 18 can be arranged in a clean room R so that the robot 6 in the region of the first processing station is also arranged in the clean room. In the embodiment illustrated, the first processing station corresponds to the filling station 14. The clean room R is configured between borders indicated by dashed lines and therein usually delimited from the other processing stations 10, 12, 16, 18 of the plurality of processing stations 10, 12, 14, 16, 18 by suitable partitions.

[0059] A further robot 6′ which is mounted on a further transport truck 8 is indicated in FIG. 1, wherein the further transport truck 8′ is also repositionable along the packaging machine 4. As a result of the packaging plant 2 thus comprising a plurality of robots 6, 6′, said robots 6, 6′ can either be equipped with different tools for undertaking different tasks and/or be assigned to different processing stations of the plurality of processing stations 10, 12, 14, 16, 18.

[0060] The packaging plant 2 comprises at least one guide rail 30, preferably two parallel guide rails 30, 32, which run along the packaging machine 4, wherein the transport truck 8 is mounted so as to be movable on the guide rails 30, 32. The guide rails 30, 32 preferably run parallel to the processing direction D of the packaging machine 4. In order for the transport truck 8 to be introduced or removed, a turnout or switch 34 on which the transport truck 8 can be guided onto the guide rails 30, 32 or away from the guide rails, respectively, can further be provided.

[0061] The transport truck 8 is described in more detail hereunder with reference to FIGS. 2-5.

[0062] As can be seen in FIG. 2, the transport truck 8 comprises a plurality of operating components, which comprise, for example, a data transmission device 36 for wirelessly communicating with a machine controller of the packaging machine 4, a drive 38 for moving the transport truck 8 along the packaging machine 4, and at least one compressor 40, 41. The transport truck 8 moreover comprises a current collector 42 for transmitting an electric current to the transport truck 8.

[0063] The data transmission device 36 can be an optical data transmission installation. The transport truck 8 here comprises two compressors, one of which is configured as a compressed air compressor 40 and the other as a vacuum pump 41. The current collector 42 is configured to wirelessly connect to a current source. The compressor 40 can be a compressed air compressor for supplying the robot with compressed air and/or a vacuum pump for supplying the robot with negative pressure.

[0064] The transport truck 8 further comprises a frame 44 which supports the plurality of operating components, thus the data transmission device 36, the drive 38, and the compressor 40, as well as the current collector 42. The frame 44 of the transport truck 8 preferably also supports all further operating components and installations of the transport truck 8 that are described herein. For example, the plurality of operating components of the transport truck 8 also comprises a first control device 46 for controlling the drive 38 and a second control device 48 for controlling the robot 6.

[0065] Further, the plurality of operating components can comprise a first mains adapter 50 and a second mains adapter 52, each being electrically connected to the current collector 42. The first and the second mains adapter 50, 52 are provided for supplying electric power to the operating components on the transport truck 8 and to the robot 6, and convert an input voltage that is received from the current collector 42 to various output voltages. In particular, the first mains adapter 50 for supplying the plurality of operating components converts the input voltage to a first output voltage of, for example, 24 V. The second mains adapter 52 for supplying the robot 6 can convert the input voltage to a second output voltage of, for example, 600 V.

[0066] As can be seen in FIGS. 3-5, the frame 44 moreover comprises a bearing assembly 54 which supports the robot 6. The robot 6 here comprises a first through to a fourth arm 55a-d of which in each case two adjacent arms are connected to one another in an articulated manner about at least one axis 6a-f. Illustrated in FIG. 5 are a first axis 6a, a second axis 6b, a third axis 6c, a fourth axis 6d, a fifth axis 6e and a sixth axis 6f about which the arms 55a-d of the robot 6 are able to be moved. The robot 6, for moving the at least one adjacent arm 55a-d of the robot 6 about the respective axis 6a-6f, can have one servomotor for each axis 6a-6f. Each of these servomotors is electrically connected to the second mains adapter 52 and is connected so as to communicate with the second control device 48.

[0067] The frame 44 of the transport truck 8 is mounted so as to be movable along the packaging machine 4. To this end, the transport truck 8 comprises a plurality of casters 56, by which the frame 44 of the transport truck 8 is mounted so as to be movable on the guide rails 30, 32. The frame 44 can have one or a plurality of supports 58 on which the plurality of casters 56 are rotatably mounted. In the embodiment illustrated, the frame 44 has four supports 58, to each of which three casters 56 are attached. As a result, the transport truck 8 comprises a plurality of caster packs 60, each of which comprises at least two casters 56 of the plurality of casters 56 and one support 58. One preferred embodiment of the caster packs 60 as well as the mounting of the latter on the transport truck 8 is described with reference to FIGS. 6 and 7.

[0068] As can be seen in FIGS. 3 and 4, the guide rails 30, 32 preferably have a substantially C-shaped cross-sectional profile having in each case one first leg 30a, 32a and one second leg 30b, 32b and one third leg 30c, 32c. The second and the third leg 30b,c, 32b,c extend perpendicularly from in each case one end of the first leg 30a, 32a. The respective first leg 30a, 32a is vertically aligned, and each second and third leg 30b,c, 32b,c is horizontally aligned. As a result, the guide rails 30, 32 between the second and the third leg 30b,c, 32b,c form in each case a receptacle for the casters 56. In the normal operation, the lower two legs 30b, 32b of the guide rails 30, 32 support the load of the transport truck 8 having the robot 6. Moreover, the upper third legs 30c, 32c can absorb forces which result from a tilting moment during abrupt movements of the transport truck 8 or the robot 6. The casters 56 can particularly preferably also be axially supported on the respective first leg 30a, 32a of the guide rails 30, 32, as is derived from the description of FIGS. 6 and 7.

[0069] For moving the transport truck 8 along the packaging machine 4, the packaging plant 2 comprises a rack 62, and the drive 38 of the transport truck 8 comprises a pinion 64 which engages with the rack 62. A rotational driving movement of the drive 38 is converted to a translatory movement of the transport truck 8 along the rack 62 by way of the rack 62 and the pinion 64. The rack 62 runs along the packaging machine 4, preferably parallel to the guide rails 30, 32. As is illustrated, the rack 62 can also be arranged on a guide rail 30, in particular on the upper third leg 30c.

[0070] In order to avoid the accumulation of contamination between the teeth of the rack 62, the rack 62 and the pinion 64 are arranged so as to be horizontally next to one another. The rotation axis of the pinion 64 thus extends vertically. As a result, the teeth of the rack 62 and of the pinion 64 are directed towards the side. The tips or end faces of the teeth of the rack 62 in this instance run substantially vertically and not horizontally. It is prevented as a result that contamination can accumulate in the troughs between the teeth, good cleaning of the packaging plant 2 being facilitated as a result.

[0071] In order for the components on the transport truck 8 to be electrically supplied by way of the current collector 42, the packaging plant 2 comprises a current conductor 66 which here is configured as a conductor rail and is in sliding contact with the current collector 42. The current conductor 66 is connected to a voltage source of the packaging plait 2 and by way of the latter supplies the current collector 42 and thus the transport truck 8 with electric voltage. The current conductor 66 also runs parallel to the guide rails 30, 32, preferably so as to be spaced apart from the latter, in order to be readily accessible for the current collector 42. If two guide rails 30, 32 are provided, as is the case here, the current conductor 66 can be arranged between the two guide rails 30, 32 or preferably laterally outside the two guide rails 30, 32. The current collector 42 and the current conductor 66 preferably have a corresponding cross-sectional shape, such that the current collector 42 partially surrounds the current conductor 66 so as to ensure a reliable and uninterrupted current supply.

[0072] Further illustrated in FIGS. 3 and 4 is a cover 68 in the region of the guide rails 30, 32 which forms a casing in which the guide rails 30, 32 and preferably also the current conductor 66 and the rack 62 are received, as a result of which said guide rails 30, 32, said current conductor 66 and said rack 62 in relation to the plurality of processing stations 10, 12, 14, 16, 18 are protected against contamination. The cover 68 is configured in multiple parts and comprises a first cover portion 70, a second cover portion 72 and a third cover portion 74. The cover portions 70, 72, 74 are arranged in such a manner that said cover portions 70, 72, 74 form a gap 76, 78 above each guide rail 30, 32. In particular, a first gap 76 which is parallel to and above the guide rail 30 is configured between the first and the second cover portion 70, 72, and a second gap 78 which is parallel to and above the guide rail 32 is configured between the second and the third cover portion 72, 74. The transport truck 8 is mounted on the guide rails 30, 32 through the first and the second gap 76, 78, for example in that the supports 58 from the frame 44 extend through the first and/or the second gap 76, 78, respectively.

[0073] The ingress of contamination through the first and the second gap 76, 78 can further be minimized in that brushes (not illustrated) are arranged on each gap 76, 78, the bristles of said brushes extending transversely through the respective gap 76, 78 and thus retaining contamination, while at the same time not impeding the movement of the transport truck 8 along the guide rails 30, 32.

[0074] If the data transmission device 36 is an optical data transmission installation, as described at the outset, the data communication takes place by light beams. In order to avoid the data transmission being compromised and to ensure a reliable transmission quality, the data transmission by the data transmission device 36 takes place within the casing formed by the cover 68, this however not being mandatory. As can be seen in FIGS. 2 and 5, the data transmission device 36 can comprise a first communications interface 80 which is configured to communicate with the machine controller and below the frame 44 of the transport truck 8 is arranged on the latter. In particular, the first communications interface 80 is attached to a support 58 in order for said communications interface 80 to be placed below the cover 68.

[0075] The machine controller can be connected so as to communicate with a transmission installation 82 which is in particular configured as a transmitter. The first communications interface 80 is configured as a receiver so that the transmission installation 82 and the communications interface 80 can mutually communicate by way of a light beam 84, as is indicated in FIG. 2. It is understood that the first communications interface 80 as well as the transmission installation 82 can in each case be configured as a transmitter and receiver in order to enable bidirectional communication. It can be seen in FIG. 2 that the light beam 84 extends so as to be approximately at the height level of the casters 56. The light beam 84 is particularly preferably aligned so as to be parallel to the direction of movement and thus to the guide rails 30, 32 because said light beam thus guarantees a connection between the transmission installation 82 and the first communications interface 80, substantially irrespective of the position of the transport truck 8 relative to said transmission installation 82. In particular, the light beam 84 does not have to follow the movement of the transport truck 8 because the latter only moves parallel to the light beam 84.

[0076] If a plurality of robots 6, 6′ are provided along the packaging machine 4, it is advantageous for the data transmission device 36 to further comprise a second communications interface 86 (see FIG. 2) which is configured to communicate with a data transmission device 36′ of the further transport truck 8′. The second communications interface 86 is in particular configured as a transmitter but may also be configured as a transmitter and receiver so that the communication between the further transport truck 8′ and the transport truck 8 can take place in a bidirectional manner. The second communications interface 86 is preferably arranged and configured in a manner analogous to the first communications interface 80, with the difference that the first communications interface 80 faces the transmission installation 82 and the second communications interface 86 faces the further transport truck 8′. As a result, the further transport truck 8′ can receive a control signal which is sent from the transmission installation 82 to the first communications interface 80, is received by the latter and relayed to the second communications interface 86, and by the second communications interface 86 is sent to the further transport truck 8′ by a light beam 88.

[0077] A caster pack 60 is illustrated in more detail in FIGS. 6 and 7. The caster pack 60 comprises at least two, here three, casters 56 of the plurality of casters 56 and a support 58 on which the casters 56 are rotatably mounted. For example, the support 58 for each caster 56 has one receptacle 90 which receives and establishes a mounting 92 of the respective caster 56.

[0078] The support 58 can be configured so as to be integral with the frame 44 of the transport truck 8, can be fixedly connected to the frame 44, or can be mounted so as to be pivotable on the frame 44 of the transport truck 8, as illustrated. This can be achieved, for example, in that the support 58 comprises two bearing locations 94a,b that are preferably symmetrically arranged. The frame 44 has a recess 96 which receives the support 58 and has two bearing seats 98a,b that correspond to the bearing locations 94a,b of the support 58. The support 58 can have a substantially rectangular shape, wherein the bearing locations 94a,b are configured so as to be integral with the support 58 and in the form of a segment extend outwards from in each case a longitudinal periphery (or a broad side 58a) of the support 58. Accordingly, the bearing seats 98a,b as bearing shells are configured in the corresponding shape of a segment so that the bearing locations 94a,b and the bearing seats 98a,b are in mutual planar contact so as to permit the support 58 to pivot in the recess 96. To this end, the recess 96 in the regions next to the bearing seats 98a,b is larger than the support 58, as can be seen in FIG. 7. Further guiding of the support 58 in the recess 96 can take place on the narrow sides 58b of the support 58, in that the support 58 and the recess 96 also therein have a corresponding, preferably curved, shape and are in mutual planar contact.

[0079] Irrespective of the mounting or attachment, respectively, of the support 58 on the frame 44, it is further preferable for at least one caster 56 of the caster pack 60 to be adjustable in a direction perpendicular to a running surface of the at least one guide rail 30, 32 and preferably to a rotation axis 56a of the caster 56. In the embodiment illustrated, the central caster 56 is adjustable. The rotation axis 56a is aligned so as to be perpendicular to the drawing plane. The direction of adjustment is identified by the arrow V. The receptacle 90 of the adjustable caster 56 in the direction V is larger than the mounting 92 of the caster 56, while the width of the receptacle 90 in a direction transverse to the direction V corresponds substantially to the width of the mounting 92. As a result, the mounting 92 is received in the receptacle 90 so as to be displaceable in the direction V, and the caster 56 is correspondingly mounted so as to be displaceable in the direction V. The adjustment of the caster 56 can be performed by a threaded pin 100, for example, which is aligned so as to be parallel to the direction V.

[0080] The second and the third leg 30b,c of the C-shaped guide rail 30 are indicated by dashed lines in FIG. 7. By virtue of gravity, the two outer casters 56 bear on the second leg 30b and support the weight of the transport truck 8 and of the robot 6 on the guide rail 30. The central, adjustable caster 56 can now be precisely positioned in relation to the upper third leg 30c so that upwardly directed forces can also be transmitted to the guide rail 30 by way of said caster 56.

[0081] In principle, the transport truck 8 can also be laterally supported on the at least one guide rail 30. To this end, support casters 102 can be provided, the axis 102a of the latter being aligned so as to be perpendicular to the running surface of the guide rail 30. The support casters 102 can roll on the vertical first leg 30a, 32a of the respective guide rail 30, 32 and transmit a force to said leg 30a, 32a. The axis 102a of the support casters 102 is preferably aligned so as to be perpendicular to the axis 56a of the casters 56, and a transmission of force from the support casters 102 to the guide rails 30, 32 takes place in the axial direction of the casters 56. In one preferred embodiment, one support caster 102 is in each case rotatably mounted in a hub 56b of a caster 56, or in the mounting 92 of a caster 56.

[0082] The aspects pertaining to the arrangement and mounting of the transport truck 8 on the at least one guide rail 30, 32 described herein, in each case individually as well as in advantageous combinations, contribute towards particularly precise and reliable mounting and guiding of the transport truck 8 on the at least one guide rail 30, 32, in particular also under aggravating conditions, such as the increased mass of the transport truck 8 as a result of the latter receiving all components required for the operation, or by virtue of the stresses as a result of abrupt movements or the erroneous operation of the transport truck 8 or of the robot 6, as well as the reactive forces arising in large robots.