EP1798174A2 - Dispositif et méthode pour la manipulation de bobines dans une cellule d'automatisation et une cellule d'automatisation - Google Patents

Dispositif et méthode pour la manipulation de bobines dans une cellule d'automatisation et une cellule d'automatisation Download PDF

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Publication number
EP1798174A2
EP1798174A2 EP06077219A EP06077219A EP1798174A2 EP 1798174 A2 EP1798174 A2 EP 1798174A2 EP 06077219 A EP06077219 A EP 06077219A EP 06077219 A EP06077219 A EP 06077219A EP 1798174 A2 EP1798174 A2 EP 1798174A2
Authority
EP
European Patent Office
Prior art keywords
handling
axis
bobbins
bobbin
automation cell
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06077219A
Other languages
German (de)
English (en)
Other versions
EP1798174A8 (fr
EP1798174B1 (fr
EP1798174A3 (fr
Inventor
Peter Kägeler
Arnd Meier
Hans-Herbert Schmidt
Günther Hamann
Thorsten Knepper
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koerber Technologies GmbH
Original Assignee
Hauni Maschinenbau GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hauni Maschinenbau GmbH filed Critical Hauni Maschinenbau GmbH
Priority to PL06077219T priority Critical patent/PL1798174T3/pl
Publication of EP1798174A2 publication Critical patent/EP1798174A2/fr
Publication of EP1798174A8 publication Critical patent/EP1798174A8/fr
Publication of EP1798174A3 publication Critical patent/EP1798174A3/fr
Application granted granted Critical
Publication of EP1798174B1 publication Critical patent/EP1798174B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
    • B65H19/123—Lifting, transporting, or inserting the web roll; Removing empty core with cantilever supporting arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/417—Handling or changing web rolls
    • B65H2301/4171—Handling web roll
    • B65H2301/4173—Handling web roll by central portion, e.g. gripping central portion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/54—Cigarette making

Definitions

  • the invention relates to a device for handling bobbins within an automation cell between at least one bobbin changing device and at least one loading area for storing a plurality of bobbins, comprising a handling device with a handling element for the bobbins arranged thereon, wherein the handling element along several axes for receiving, transporting and delivering the Bobbins within the automation cell is movable.
  • the invention further relates to a method for handling bobbins within an automation cell between at least one bobbin changing device and at least one loading area for storing a plurality of bobbins, comprising the steps: a) initiating a bobbin change by a bobbin changing device, b) starting an automated device for handling bobbins d) transporting the bobbin to the bobbin change device, e) delivering the bobbin to the bobbin change device, wherein steps c) to e) are movable by means of a handling device movable along several axes or a handling element arranged thereon Device for handling the reels are performed.
  • the invention further relates to an automation cell for automated handling of bobbins, comprising at least one bobbin change device, at least one loading area for storing a plurality of bobbins and at least one device for handling the bobbins.
  • Such automation cells are used in particular in the tobacco processing industry.
  • the automation cells serve to provide various materials.
  • the wound on rolls, the so-called bobbins, wound material, such. Cigarette paper, tipping paper and other windable materials are continuously processed.
  • full bobbins of the Bobinen grillvorraum be supplied.
  • full bobbins are handled for processing.
  • the bobbin change device is fed another full reel, the web of which is connected to the path of the expiring reel. After completion of this Splicevorgangs the residual materials are removed.
  • the handling of the reels within the automation cells is performed by the device for handling the reels.
  • Automation cells are known with devices for handling the bobbins, in which the Bobinen functionalvor substances is spanned by a portal.
  • the portal also spans a loading area in which the full bobbins are stored on pallets or the like.
  • a gantry robot picks up the bobbins from the loading area, transports them to the bobbin changing device and delivers them to them.
  • the gantry robot is moved in three directions.
  • the portal or arranged on the portal handling element has three freely movable axes of movement, in a horizontal plane in the X direction and in the Y direction and in the vertical plane in the Z direction.
  • Such a device is for example the DE 40 18 266 A1 refer to.
  • the device described therein has a portal comprising three freely movable axes.
  • the handling element is firmly connected to the axles. This means that, for example, a movement of the handling element in the Z direction results in the Z axis moving upwards out of the portal in an upper position.
  • This has the disadvantage that a large space is required, in particular in the vertical direction, which considerably limits the field of use of such handling devices.
  • a device having the features mentioned above in that at least one of the axes, namely a vertical axis (Z-axis), immovable in the Z direction, wherein the handling element for vertical movement of the same in the Z direction is arranged along the vertical axis (Z-axis) movable carriage.
  • Z-axis vertical axis
  • the handling element for vertical movement of the same in the Z direction is arranged along the vertical axis (Z-axis) movable carriage.
  • the handling device is designed as a gantry robot.
  • a gantry robot is a particularly simple and stable and therefore safe construction, which allows a compact design.
  • the handling device is designed as Schwenkarmroboter. This design is also flexible and safe in operation and allows the handling of reels within automation cells with multiple reel change devices in a particularly reliable manner.
  • the object is also achieved by a method with the steps mentioned above in that a movement of the handling element along a vertical axis (Z-axis) is performed by a movable on the Z-axis in the Z direction slide.
  • the object is further achieved by an automation cell with the features mentioned, characterized in that the device for handling the bobbins according to one of claims 1 to 18 is formed.
  • the apparatuses shown and described below serve to change bobbins on one or more bobbin changing devices within automation cells, which are preferably used within a production line for the production of products of the tobacco processing industry.
  • the automation cell 10 shown in FIGS. 1 to 4 is designed to handle reels 11.
  • the automation cell 10 comprises at least one, in the embodiment described two Bobinenroarvortechniken 12 with a respective associated feed area 13.
  • the loading area 13 to each Bobinenroarvortechnik 12 is a kind of separate memory for a plurality of reels 11, preferably on pallets 14 or the like in stacks 15th are arranged.
  • each loading area 13 is designed to receive a pallet 14.
  • the loading areas 13 can also be dimensioned differently and designed to accommodate more than one pallet 14.
  • Adjacent feed areas 13 of the automation cell 10 are spatially separated from each other. This separation may be exemplified by a partition 17 or the like. Each loading area 13 is accessible via a gate 18 or the like. These usually trained as automatic gates accesses are u.a. by industrial trucks, operators or otherwise operable.
  • the working area of the bobbin changing device 12 is accessible to the operators via a door 19. In the area of the door 19, a collecting container 20 for residual materials (such as Bobinenkeme, remainders of material or the like) arising when changing the reels 11 is arranged.
  • each bobbin changing device 12 In the area of each bobbin changing device 12, an additional bobbins storage 21 is arranged or formed.
  • the memory 21 is independent of the actual loading area 13 and lying outside of it. This memory 21 serves to ensure the supply of the Bobinencicvor substances 12 during the pallet change within the loading area 13.
  • the two areas, ie the working area of the bobbin change device 12 and the loading area 13 are separated by a light barrier 22. This serves primarily to recognize whether an operator has moved from the working area of the reel-change device 12 into the loading area 13.
  • each Bobinen audiovoraires 12 a Bobinenwender 23 be assigned.
  • This Bobinenwender 23 is designed so that wrongly positioned bobbins 11, for example, with incorrect tearing direction, can be rotated by 180 °, so that it is then in the correct position.
  • the automation cell 10 has a measuring element for detecting the height of the stacks 15 in the respective feed area 13. With the measuring element, the individual stack heights can be determined on the pallet 14 and used to control the device 10 for handling the reels 11. This control can also serve to provide an operative connection between the device 16 for handling the bobbins 11 on the one hand and the entrances, namely the gate 18 and the door 19, on the other hand, so that as soon as one of the entrances is opened, the device 16 Safety reasons can be switched off.
  • the device 16 for handling the reels 11 for the automation cell 10 described above will now be described.
  • the device 16 comprises a handling device 24 with a handling element 25 arranged thereon.
  • the handling device 24 or the handling element 25 is movable within the automation cell 10 along several axes.
  • the apparatus 14 for handling bobbins 11 can be formed within an automation cell 10 with two bobbin change devices 12 and two feed areas 13. This embodiment is purely exemplary and does not preclude the handling of bobbins 11 within automation cells 10 with one or more bobbin change devices 12.
  • the handling element 25 is designed as a bobbin-gripper unit.
  • the bobbin-gripper unit is used in particular for receiving, fixing, transporting and delivering a bobbin 11 and is for receiving the bobbins 11 in the bobbin core 26th educated.
  • the bobbin-gripper unit is preferably associated with a gripper cylinder, by means of which segments within the gripper are radially displaceable.
  • the gripper cylinder is connected to the preferred common control of the device 16 and the automation cell 10.
  • the gripper unit is associated with at least one element for detecting the position of the reels 11. This element may for example be a laser sensor, by means of which the center of the reel 11 or of the reel core 26 can be found.
  • the handling device 24 may be formed in different embodiments.
  • the handling device 24 is designed as a gantry robot 27.
  • the portal robot 27 has a portal 28, which has two movable axes, namely an X-axis and a Y-axis.
  • the portal 27 is in the horizontal direction on guides which are arranged above the Bobinen functionalvorides 12 and part of a frame / frame 29, movable in the X direction and Y direction.
  • the portal 28 is thus linearly movable in two mutually perpendicular directions.
  • the portal 27 also has a vertical axis, namely a Z-axis.
  • This Z-axis is movable in X-direction and Y-direction, with respect to the Z-direction, however, the Z-axis is immovable. This means that the Z-axis at no time and in any position does not protrude upwards out of the portal robot 27 and more precisely out of the framework / frame 29.
  • the Z-axis is associated with the handling element 25.
  • a carriage 30 For the up and down movement of the handling element 25, a carriage 30 is provided, which is movable along the Z-axis in the Z direction. On this carriage 30, a transport arm 31 is arranged. At the free end of the transport arm 31, the handling element 25 is pivotally mounted.
  • This designated as Bobinenschwenker unit of transport arm 31 and pivotally arranged thereon handling element 25 allows pivoting lying within the feed area 13 in a horizontal position bobbins 11 by 90 ° in a vertical position for delivering the bobbins 11 to the Bobinenroarvor substances 12.
  • the pivot unit is pneumatic or operable in another known manner.
  • All axes namely the X-axis, Y-axis and Z-axis, or the movements in the direction of the respective axis are independently controllable, whereby the handling bobbins 11 is ensured within the automation cell 10 for the required purposes.
  • FIG. 5 is constructed essentially comparable to the embodiment shown in FIGS. 1 to 4, so that the description directed to the automation cell 10 applies in the same way to the automation cell 34 according to FIG. For the same parts, therefore, the corresponding reference numerals are used.
  • the handling device 24 is designed as a swivel-arm robot 35.
  • the Schwenkarmroboter 35 also has a vertical axis, namely the Z-axis.
  • the Z axis is immovable in the Z direction. This means that the Z-axis does not protrude up out of the automation cell 34 at any time and in any position.
  • the Z-axis is placed stationary, whereby the Z-axis is not movable in linear and horizontal X-direction nor in linear and horizontal Y-direction.
  • the Z-axis is associated with the handling element 25.
  • the Z-axis is associated with a carriage 36 which is movable along the Z-axis in the Z-direction.
  • a pivot arm 37 is arranged on the carriage 36.
  • This pivot arm 37 is pivotable about a vertically oriented axis, namely the ⁇ -axis.
  • the ( ⁇ axis and the Z axis are identical, in other words, the pivot arm 37 is pivotable about the Z axis, but the ⁇ axis may be offset from the Z axis.
  • the pivot arm 37 is radially aligned and defines the horizontal R axis.
  • the R-axis is immovable in the R direction and has a Carriage 38, which in turn is movable along the pivot arm 37 in the radial R-direction.
  • the handling element 25 is arranged, which is formed in the manner described for the first embodiment. With the carriage 38, the handling element 25 is movable in the R direction.
  • the Bobinen grillvoretti 12 In the case of using a gantry robot 27 of the embodiment described above, the Bobinen grillvorides 12 on the mandrel 33, which is aligned horizontally, so that the bobbins 11 in the vertical position to the Bobinen grill vortechnik 12 can be transferred.
  • the Bobinen grill grillvortechnik 12 is associated with a gripping ring 39.
  • the gripping ring 39 serves to receive the bobbins 11 and on the one hand rotatable through 180 °, so that incorrectly positioned bobbins 11 can be brought into the correct position, and on the other hand rotatable by 90 °, so that the bobbins 11 after horizontal placement in the vertical Position can be brought.
  • the gripping ring 39 has clamping elements 40, which are e.g. are pneumatically actuated. With these clamping elements 40, the bobbins 11 are gripped from the outside on its peripheral surface.
  • the portal 28 is initially in the waiting position. Once a Bobinen facialvorraum 12 has initiated a change of a reel 11, the portal 28 moves from the waiting position. The movements of the portal 28 for handling the reels 11 take place along the X-axis and the Y-axis in the horizontal direction. The movements of the carriage 30 take place in the vertical direction along the Z axis immovable in the Z direction. The portal 28 with the handling element 25 moves into the loading area 13 to receive a full reel 11 from the pallet 14. The stack of bobbins is approached, from which the last bobbin 11 was removed. If the started stacking position is empty, the handling device 24 moves to the next stack 15.
  • the stacks 15 of a row can also be processed alternately.
  • the front stack positions are empty, the next row on the pallet 14 is approached. If the last bobbin 11 has been removed from the pallet 14, a new pallet 14 is requested. If no reel 11 is on the pallet 14, the memory 21 is started. To pick up a reel 11 from the pallet 14 or from the memory 21, the reel 11 is approached and determined its center. This is done in the usual form by means of a suitable element for position detection.
  • the bobbin-type gripper unit dives into the bobbin core 26. By activating the gripper cylinder, segments in the gripper are displaced radially, so that the bobbin core 26 is clamped. The segments can be adapted to different core diameter of the reel 11.
  • the now connected to the handling element 25 Bobine 11 is then transported to the Bobinen facialvor substances 12.
  • the bobbin 11 In the event that the bobbin 11 has an incorrect position (for example, in the wrong tearing position), it is first fed to the Bobinenwender 23 and rotated by 180 ° of this. The Bobinenwender holds to the bobbin 11 on its peripheral surface and then rotates the bobbin 11. Then the handling device 24 moves back to Bobinenwender and takes over the bobbin 11 again. The now correctly aligned reel 11 is transported to the Bobinenroarvorides 12. The handling device 24 waits with the 90 ° pivoted, vertically upright bobbin 11 in front of the receiving position of a turntable Bobinen grillvorides 12. When the turntable has reached the correct Auflegeposition, the bobbin is pushed by the element 32 for pushing on the mandrel 33. Following the portal 28 moves to the waiting position.
  • the method principle with a swivel robot 35 as a handling device 24 substantially corresponds to the principle just described.
  • the movements of the Schwenkarmroboters 34 in the horizontal plane as pivotal movement about the ⁇ -axis and as a linear movement by means of the carriage 38 along the R-axis and in linear, vertical direction by means of the carriage 36 along the Z-axis.
  • the bobbin 11 removed by the swivel arm robot 34 from the pallet 14 or from the store 21 is positioned centrally in the grip ring 39, which is horizontally aligned so as to be folded away from the bobbin change device 12 for this purpose.
  • the reel 11 is fixed by the gripping ring 39 or its clamping elements 40.
  • the Schwenkarmroboter 34 As soon as the gripper ring 39 has grasped the reel 11, the Schwenkarmroboter 34. By means of the gripping ring, the reel 11 left or right around 90 ° in the correct position (for example, in the wrong tearing position) are rotated. The gripping ring 39 with the bobbin 11 now waits for the Bobinen functionalvorides 12 has the bobbin turntable in the receiving position. Then, the bobbin 11 can be pivoted by the gripping ring 39 by 90 ° in the vertical position and pushed onto the mandrel 33.
  • the handling device 24 removes the reel 11 from the memory 21.
  • the handling device 24 moves to the waiting position. Only then is the access (gate 18) to the loading area 13 automatically opened. The empty pallet 14 is removed and the new full pallet 14 is positioned. By an acknowledgment, e.g. can be done manually by the operator or automatically by autonomous vehicles, we closed the gate 18 again. The handling device 24 then begins to approach the new pallet 14 and to fill the memory 21. Prior to loading the memory 21, however, has the loading of the Bobinen grillvortechniken 12th
  • the handling device 24 is switched off with the handling element 25 as soon as an access, namely a gate 18 and / or a door 19, is opened.
  • the Bobinen grillfunktion is stopped while the normal Abspul congress the Bobinen grillvor substances 12 continues to run.
  • the stack 15 on the pallet 14 and in the memory 21 must be measured after starting the automation cell 10, 34 in terms of their height. The same applies in case an access has been opened. In the latter case, however, the calibration is only necessary if an operator has entered the loading area 13 and thus triggered the light barrier 22.
  • the first stack 15 viewed in the Y direction first becomes measured and then worked off.
  • the rear stack 15 in the Y direction can only be measured after the front stack 15 has been processed. It can also be a measurement and processing in progressing X-direction.
  • the robotic arm robot 35 the carriage 36 is moved along the Z-axis to its upper position. Then, the carriage 38 is moved along the R axis. Only then does the pivoting arm 37 pivot about the ⁇ -axis to the respective stacking position.

Landscapes

  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Specific Conveyance Elements (AREA)
  • Replacement Of Web Rolls (AREA)
EP06077219A 2005-12-13 2006-12-12 Dispositif et méthode pour la manipulation de bobines dans une cellule d'automatisation et une cellule d'automatisation Not-in-force EP1798174B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL06077219T PL1798174T3 (pl) 2005-12-13 2006-12-12 Urządzenie i sposób manipulowania bobinami w obrębie zautomatyzowanego gniazda produkcyjnego oraz zautomatyzowane gniazdo produkcyjne

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005060638A DE102005060638A1 (de) 2005-12-13 2005-12-13 Vorrichtung und Verfahren zum Handhaben von Bobinen innerhalb einer Automatisierungszelle sowie Automatisierungszelle

Publications (4)

Publication Number Publication Date
EP1798174A2 true EP1798174A2 (fr) 2007-06-20
EP1798174A8 EP1798174A8 (fr) 2007-08-15
EP1798174A3 EP1798174A3 (fr) 2008-12-03
EP1798174B1 EP1798174B1 (fr) 2013-02-13

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ID=37845138

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06077219A Not-in-force EP1798174B1 (fr) 2005-12-13 2006-12-12 Dispositif et méthode pour la manipulation de bobines dans une cellule d'automatisation et une cellule d'automatisation

Country Status (5)

Country Link
EP (1) EP1798174B1 (fr)
JP (1) JP2007161488A (fr)
CN (1) CN1982182B (fr)
DE (1) DE102005060638A1 (fr)
PL (1) PL1798174T3 (fr)

Cited By (6)

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WO2016033406A1 (fr) * 2014-08-28 2016-03-03 The Procter & Gamble Company Dérouleur robotisé
EP3473570A4 (fr) * 2016-06-22 2020-04-08 Zuiko Corporation Dispositif et procédé de convoi de rouleau
EP3489178A4 (fr) * 2016-06-22 2020-08-19 Zuiko Corporation Système et procédé d'alimentation en feuille
IT202000030662A1 (it) * 2020-12-14 2022-06-14 Futura Spa Impianto e processo per la movimentazione di bobine di cartone.
PL444502A1 (pl) * 2023-04-20 2024-10-21 International Tobacco Machinery Poland Spółka Z Ograniczoną Odpowiedzialnością System załadowania bobiny na urządzenie odwijające, głowica manipulatora do systemu załadowania bobiny oraz sposób załadowania bobiny
PL446553A1 (pl) * 2023-10-30 2025-05-05 International Tobacco Machinery Poland Spółka Z Ograniczoną Odpowiedzialnością System zasilania pasmami materiału, głowica manipulatora do systemu zasilania pasmami oraz sposób zasilania pasmami

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CN103879813B (zh) * 2014-03-22 2017-07-07 昆明鼎承科技有限公司 纸盘自动供应装置
CN106364957B (zh) * 2015-07-21 2018-11-02 中烟机械技术中心有限责任公司 用于供应两种纸盘的装置
DE102017206549A1 (de) 2017-04-19 2018-10-25 Robert Bosch Gmbh Verbrauchsmaterialhandhabungsvorrichtung zu einem Transport und/oder zu einer Handhabung von zumindest einem Verbrauchsmaterial, insbesondere eines Verpackungsmaterials
CN107310959B (zh) * 2017-07-25 2019-09-13 合肥国轩高科动力能源有限公司 一种自动换卷装置
CN107932497B (zh) * 2017-11-14 2020-12-04 南通大学 一种内定心结构纸盘取放机械手及其控制系统、控制方法

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Cited By (10)

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Publication number Priority date Publication date Assignee Title
WO2016033406A1 (fr) * 2014-08-28 2016-03-03 The Procter & Gamble Company Dérouleur robotisé
EP3473570A4 (fr) * 2016-06-22 2020-04-08 Zuiko Corporation Dispositif et procédé de convoi de rouleau
EP3489178A4 (fr) * 2016-06-22 2020-08-19 Zuiko Corporation Système et procédé d'alimentation en feuille
US10793384B2 (en) 2016-06-22 2020-10-06 Zuiko Corporation Roll transfer device and roll transfer method
US11034538B2 (en) 2016-06-22 2021-06-15 Zuiko Corporation Sheet supply system and sheet supply method
IT202000030662A1 (it) * 2020-12-14 2022-06-14 Futura Spa Impianto e processo per la movimentazione di bobine di cartone.
WO2022130427A1 (fr) * 2020-12-14 2022-06-23 Futura S.P.A. Installation et procédé de manipulation de bobines de carton
CN116685546A (zh) * 2020-12-14 2023-09-01 未来股份公司 用于对纸板卷轴进行处理的设备和方法
PL444502A1 (pl) * 2023-04-20 2024-10-21 International Tobacco Machinery Poland Spółka Z Ograniczoną Odpowiedzialnością System załadowania bobiny na urządzenie odwijające, głowica manipulatora do systemu załadowania bobiny oraz sposób załadowania bobiny
PL446553A1 (pl) * 2023-10-30 2025-05-05 International Tobacco Machinery Poland Spółka Z Ograniczoną Odpowiedzialnością System zasilania pasmami materiału, głowica manipulatora do systemu zasilania pasmami oraz sposób zasilania pasmami

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CN1982182B (zh) 2010-06-09
EP1798174A8 (fr) 2007-08-15
JP2007161488A (ja) 2007-06-28
EP1798174B1 (fr) 2013-02-13
DE102005060638A1 (de) 2007-06-14
EP1798174A3 (fr) 2008-12-03
PL1798174T3 (pl) 2013-07-31
CN1982182A (zh) 2007-06-20

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