EP3374268A1 - Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation - Google Patents

Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation

Info

Publication number
EP3374268A1
EP3374268A1 EP16790977.9A EP16790977A EP3374268A1 EP 3374268 A1 EP3374268 A1 EP 3374268A1 EP 16790977 A EP16790977 A EP 16790977A EP 3374268 A1 EP3374268 A1 EP 3374268A1
Authority
EP
European Patent Office
Prior art keywords
handling device
manipulator
piece goods
working distance
orientation
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
EP16790977.9A
Other languages
German (de)
English (en)
Other versions
EP3374268B1 (fr
EP3374268C0 (fr
Inventor
Helmut Schwarz
Herbert Spindler
Martin Bauer
Wolfgang Huber
Marcus SEIDL
Thomas Wimmer
Rudi BEZUIDENHOUT
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krones AG
Original Assignee
Krones AG
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=57233441&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP3374268(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Krones AG filed Critical Krones AG
Publication of EP3374268A1 publication Critical patent/EP3374268A1/fr
Application granted granted Critical
Publication of EP3374268B1 publication Critical patent/EP3374268B1/fr
Publication of EP3374268C0 publication Critical patent/EP3374268C0/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/003—Packaging lines, e.g. general layout
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/24—Enclosing bottles in wrappers
    • B65B21/245—Enclosing bottles in wrappers in flexible wrappers, e.g. foils
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B27/00—Bundling particular articles presenting special problems using string, wire, or narrow tape or band; Baling fibrous material, e.g. peat, not otherwise provided for
    • B65B27/04—Bundling groups of cans or bottles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices

Definitions

  • the present invention relates to a system for grouping and / or distribution of piece goods and a method for performing manipulation tasks in the range of a working distance.
  • thermoplastic In the packaging of articles in the prior art several piece goods are transported via a horizontal conveyor and subsequently manipulated. In this case, devices are known which produce a grouping from a plurality of piece goods and the groups below thermoplastic
  • thermoplastic packaging material with temperature, wherein the thermoplastic packaging material to the respective thermoplastic packaging material
  • Such a packaging machine is known for example from DE 20 2010 013
  • the DE utility model discloses a machine for packaging goods or packaging units with a horizontal conveyor belt. About the horizontal conveyor belt, the containers are transported to a packaging station, where they are wrapped by means of a Einschlag Anlagen with appropriately cut film webs. Subsequently, the container or the goods which form the container, moved together with the respective film web in a shrink tunnel.
  • Packing media such as thermoplastic films or cardboard, on which groupings on piece goods stand up, are manually fed to the respective manipulator in practice. Also, with the provision of packing media is therefore a time and personnel expenses in connection, which should be reduced in practice, if possible.
  • An object of the invention can therefore be seen to provide a system and a method for grouping and / or distribution of piece goods, by means of which a human cost can be at least reduced. Furthermore, the system should have a straightforward structure and the process can be easily implemented.
  • the invention relates to a system for grouping and / or distributing
  • the piece goods which are grouped or distributed over the system, can be designed, for example, as beverage containers or PET bottles.
  • a piece goods stream conveyed from m parallel rows can be formed from a piece goods flow conveyed via an inlet in n parallel rows with the aid of a manipulator.
  • the system can be designed here as a distribution system. However, in preferred embodiments, as described below, the system may be configured as a grouping and packaging system for piece goods be.
  • the packaging material may then be formed as a thermoplastic packaging material. It is also conceivable that the packaging material then as
  • Packaging materials can be used, which are not exhaustively enumerated in the present case.
  • the system includes a working distance.
  • Part of the working route is an inlet, which has at least one horizontal conveyor and via which inlet a plurality of piece goods in mass flow can be transported.
  • leading piece goods can be in contact with their directly following piece goods.
  • at least one guide rail or at least one guide element is provided, by means of which piece goods in parallel rows on the at least one
  • the relative distance between two guide rails in the feed to each other can correspond here at least approximately to the maximum diameter of the respective piece goods transported via the feed. Between two adjacent guide rails can thus be transported in each case a number of piece goods.
  • the relative distance of the guide rails of the inlet can, within the scope of conceivable embodiments of the present invention, as described below, be set or adjusted via at least one handling device.
  • the system further comprises a manipulation area following the inlet with at least one manipulator for grouping and / or distributing piece goods.
  • the at least one manipulator may be in communication with a control device via which the at least one manipulator can be controlled in order to form a grouping for a respective container from a plurality of piece goods. Then, as described below, packaging material can be applied to the grouping in order to combine the respective piece goods of the grouping into a respective container.
  • the at least one manipulator with a
  • Control device is in communication, via which the at least one manipulator is controllable to run out of a parallel rows with a number n
  • Embodiments may be that the number n is made smaller than the number m.
  • Manipulator in the manipulation at least one further manipulator downstream, which at least one further manipulator for applying preferably
  • thermoplastic packaging material on the distributed and / or grouped
  • Piece goods is formed.
  • the at least one manipulator and the at least one further manipulator can each be modified for different work processes.
  • At least one conveyor belt which passes through the at least one manipulator, can extend over the manipulation area.
  • the at least one conveyor belt can connect directly to the at least one horizontal conveyor device of the inlet.
  • the piece goods may be moved in the direction of a shrinking device or to a
  • the at least one manipulator is assigned at least one first conveyor belt.
  • at least one further manipulator which adjoins the at least one manipulator and is designed for applying packaging material to piece goods, can be assigned at least one further conveyor belt.
  • the at least one further conveyor belt can have a higher height than the at least one first conveyor belt
  • Piece goods leading piece goods against lagging piece goods are to be accelerated upon transfer to the at least one further conveyor belt.
  • guide elements can be arranged which extend parallel and in the transport direction of the piece goods.
  • the guide elements can be exchanged via the subsequently described at least one handling device and / or their relative distance can be adapted to each other.
  • the at least one manipulator may comprise a plurality of one-piece fingers or abutment members which abut with groupings to align piece goods of a respective grouping flush.
  • the Einteilfinger or Einteilstäbe can be performed all around.
  • the at least one manipulator has a conveyor belt which is clocked and / or operated at a varying transport speed in order to form a respective grouping from a plurality of piece goods.
  • a conveyor belt which is clocked and / or operated at a varying transport speed in order to form a respective grouping from a plurality of piece goods.
  • at least one further conveyor belt of present in preferred embodiments at least one further manipulator directly connect.
  • the at least one further manipulator may comprise a wrapping unit, via which the packaging material is placed around a grouping of piece goods.
  • the wrapping unit can comprise a plurality of encircling wrapping elements or wrapping bars which place the packaging material around the respective grouping of piece goods.
  • the impact elements or impact bars can from below a
  • the system may include at least one
  • the at least one shrinking device is possibly part of the
  • the at least one shrinking device can as
  • Shrink tunnel be formed and thus have a housing, in which
  • Handling device may be designed to receive packages.
  • the at least one handling device for receiving containers after Leaving the shrinking device is formed.
  • the at least one handling device can in this case replace an empty route.
  • the at least one shrinking device may have a horizontal conveyor to form groupings of piece goods together with their respective ones
  • Micronking device can connect to the previously described at least one conveyor belt, which optionally passes the at least one manipulator and the at least one further manipulator.
  • the system comprises at least one handling device which can be moved along the working section at least in sections and via which at least one handling device a) of the at least one manipulator and in preferred embodiments also the at least one further manipulator for different working processes can be modified and / or via which at least one
  • Handling device b) provided for piece goods and arranged in the course of the working distance guide elements are interchangeable and adjustable with respect to their relative spacing and / or over which at least one handling device c) can be acted on certain cargo, which is in or in the working distance located and / or via which at least one handling device d) packing media for at least one positioned in the manipulation area
  • the system according to the invention may comprise a driverless transport system or FTS, wherein the at least one
  • Handling device is designed as a driverless transport vehicle trained part of the driverless transport system.
  • the driverless transport system may comprise at least one optical, magnetic and / or inductive guideline, wherein the trained as a driverless transport vehicle at least one handling device with the aid of at least one optical, magnetic and / or inductive Guideline at least partially along the working distance is movable.
  • the driverless transport system may also comprise a plurality of transponders, wherein the at least one handling device embodied as a driverless transport vehicle can be moved at least in sections along the working path with the aid of the plurality of transponders. It is also conceivable that the at least one designed as a driverless transport vehicle handling device is designed to be movable at least in sections along the working distance by means of laser triangulation and / or GPS.
  • the at least one manipulator may comprise a plurality of one-piece fingers or one-piece rods to align piece goods of a respective grouping flush. It is conceivable that by means of at least one
  • the plurality of Einteilfinger or Einteilstäbe are interchangeable or that the at least one handling device for exchanging the plurality of Einteilfinger or Einteilstäbe is formed. It is also conceivable that the impact elements or impact bars of the at least one further manipulator can be exchanged by means of the at least one handling device.
  • the at least one handling device may comprise a working tool, for example a clamping and / or gripping device, in order to receive the plurality of turning bars and / or dividing bars and to replace them with further wrapping elements or wrapping bars.
  • a control device may be provided which is in communication with the at least one handling device and which predetermines a method or a movement of the at least one handling device along the working path. At least over a certain section of the manipulation area
  • Piece goods and / or groupings on piece goods by guide elements are steered.
  • guide elements such as guide rails or the like
  • the at least one handling device can independently replace or replace guide elements or guide rails.
  • the at least one handling device for exchanging or replacing the guide elements or guide rails is a working tool and in particular a clamping and / or Gripping device has.
  • the at least one handling device for adjusting or adjusting the relative distance of a plurality of guide elements to each other is formed.
  • the at least one handling device can comprise a swivel arm, by means of which swivel arm the at least one handling device can make an adjustment of the relative distance of a plurality of guide elements or guide rails from one another.
  • the at least one handling device can thus be described as
  • Two-axis robot and / or designed as a three-axis robot Two-axis robot and / or designed as a three-axis robot.
  • Packaging material is supplied.
  • manipulator In conceivable embodiments, it may also be provided that groupings of piece goods are positioned on a cardboard before the groupings possibly enter into the shrinking device already mentioned above as part of preferred embodiments.
  • the at least one handling device can provide cardboard boxes and possibly transport the cardboard boxes along the working distance.
  • the groupings on piece goods can be positioned on cardboard boxes via the at least one manipulator or via the at least one further manipulator.
  • a first manipulator can be provided via the at least one manipulator or via the at least one further manipulator.
  • additional manipulator located in the manipulation area or along the working route, which groups on piece goods positioned on cardboard.
  • the additional manipulator can be supplied via the at least one handling device with cardboard or with packaging material.
  • the optical detection device for detecting an orientation of piece goods in the working distance be provided.
  • the optical detection device can be arranged on the at least one handling device and thus, together with the at least one handling device, can be moved along the working path at least in sections. Also, it may be that the optical
  • Detection device is stationarily positioned in the region of the at least one manipulator and / or in the region of the at least one further manipulator and / or in the region of the inlet. Furthermore, a control device may be provided which is in communication with the optical detection device and is designed to compare the actual orientation of piece goods with a predetermined desired orientation of piece goods. In a deviation of the actual orientation of the predetermined target orientation can be provided that i) the at least one handling device via the control device for
  • Acting on certain cargo can be controlled and / or that ii) information for deviating an actual orientation of a predetermined target
  • Orientation can be displayed on a communicating with the control device display unit.
  • an optical indication is output on the display unit if an actual orientation of a piece good or several piece goods deviates from a predetermined desired orientation.
  • Handling device can be controlled via the control device such that the at least one handling device certain piece goods whose actual orientation deviates from the desired orientation, transferred to the desired orientation or brings in the desired orientation. It may also be that the at least one
  • Handling device via the control device is controlled such that the at least one handling device certain cargo, the actual orientation of which deviates from the desired orientation, singles.
  • control device can determine a deviation of the actual orientation from a desired orientation. Following this, the at least one
  • Handling device a working tool or a clamping and / or
  • the clamping and / or gripping device can be arranged on the swivel arm, which has already been referred to previously.
  • the optical detection device can be designed, for example, as a camera system or comprise at least one camera system. Also, the optical detection device, a light barrier or multiple light barriers for detecting an orientation of cargo in the manipulation area or along the
  • predetermined target orientation can be displayed on a communicating with the control device display unit, it can be provided that the
  • Display unit is designed as a display. Further, a rail system may be provided.
  • Handling device can be moved at least in sections along the working distance with the aid of the rail system.
  • the rail system can run linearly along the working path.
  • Rail system is positioned opposite to the at least one horizontal conveyor of the inlet at a vertically higher level.
  • Handling device can in this case attached hanging on the rail system or
  • the at least one handling device comprises at least one laser scanner.
  • the at least one handling device can be in operative connection with the
  • the at least one handling device may be associated with a satellite-based navigation system for its movement.
  • At least one handling device comprises at least one articulated-arm robot.
  • the at least one articulated arm robot may have at least 4 and preferably at least 5 pivot axes.
  • An axis may be formed as a vertically oriented axis of rotation for the at least one handling device.
  • Several axes can be used as joint axes of a swivel arm of the at least one handling device be educated.
  • Handling device for example, be designed as a parallel kinematic robot.
  • the at least one handling device along the entire working distance is movable.
  • the at least one handling device can move in the region of the inlet and in the region of the at least one shrinking device and the
  • Manipulation area happen. Due to the associated large range of at least one handling device is conceivable that the at least one handling device takes over several tasks. By way of example, the at least one handling device can thereby bring about a previously described modification of the at least one manipulator and / or the at least one further manipulator and, in addition, act on specific piece goods which are located in the course or in the region of the working route.
  • the invention further relates to a method for performing
  • the working section here comprises an inlet, via which a large number of piece goods are transported in a mass flow. Furthermore, a manipulation area following the inlet with at least one manipulator, wherein piece goods are grouped and / or distributed over the at least one manipulator.
  • the at least one manipulator can be followed by at least one further manipulator, wherein thermoplastic packaging material is preferably applied to grouped and / or distributed piece goods via the at least one further manipulator, wherein the at least one
  • Handling device modified in the context of a work, the at least one further manipulator for different work processes. It may be that the working route comprises a shrinking device, by means of which packaging material on the groupings of piece goods
  • the at least one further manipulator can in each case equip the groupings with thermoplastic packaging material, which is subsequently shrunk onto the respective grouping by means of a shrinking device. Also, the at least one further manipulator
  • the method according to the invention comprises the following steps:
  • Handling device in the context of several operations modified the at least one manipulator and the previously described at least one further manipulator for different work processes.
  • the at least one handling device can be driverless
  • Transport vehicle to be formed, which as part of a driverless
  • Moving system moved along the working distance in the specific work area is or which runs as part of an automated guided transport system along the working route in the particular work area.
  • an orientation of piece goods in the area of the working distance is detected optically, wherein the at least one handling device makes an alignment correction of this at least one piece good if an actual orientation of at least one piece goods deviates from a desired orientation this removed at least one piece goods from the range of the working distance.
  • the actual orientation of the piece goods can be detected, for example, with the aid of a camera system. Further it may be that piece goods in the range of the work distance under
  • the at least one handling device takes damaged and / or soiled cargo from the range of the working distance. If piece goods were taken from the area of the working distance, it is conceivable that the at least one handling device replaces the respective damaged and / or soiled piece goods by a non-damaged and / or non-contaminated piece goods or several non-damaged and / or non-soiled general cargo ,
  • Figure 1 shows a schematic view of a conceivable embodiment of a system according to the invention
  • Figure 2 shows a schematic view of another conceivable
  • FIG. 3 shows a schematic perspective view of a further embodiment of the system according to the invention.
  • FIG. 4 shows the embodiment of the system of Figure 3 illustrating further aspects
  • FIG. 5 shows a schematic perspective view of a further embodiment of the system according to the invention
  • FIG. 6 shows the embodiment of the system of FIG. 5, illustrating further aspects
  • FIG. 7 shows a schematic perspective view of a further embodiment of the system according to the invention.
  • Invention can be configured and do not represent a final limitation.
  • FIG. 1 shows a schematic view of a conceivable embodiment of a system 1 according to the invention.
  • the system 1 is provided for generating
  • the system 1 comprises an inlet 3 with a horizontal conveyor 11. On the horizontal conveyor 1 1 piece goods 5 and are in
  • the inlet 3 comprises a plurality of guide rails extending parallel to one another, with the aid of which the piece goods 5 are moved in a plurality of parallel paths.
  • a manipulation area 22 follows with a first manipulator 10 and a further manipulator 20, which is arranged downstream of the first manipulator 10.
  • About the first manipulator 10 is from a plurality of piece goods 5, a respective grouping 6 is formed by accelerating piece goods 5 of a grouping 6 against lagging piece goods 5 of a further grouping 6 accelerated.
  • the horizontal conveyor 1 1 of the inlet 3 is operated intermittently or with variable transport speed.
  • Horizontal conveyor 1 1 of the inlet 3 a higher transport speed.
  • one-piece elements 8 are provided which come into contact with piece goods 5 of a respective grouping 6.
  • the speed of movement of the dividing elements 8 essentially corresponds to the transport speed of the conveyor belt 12.
  • the further manipulator 20 which follows the first manipulator 10 in the manipulation area 22, applies thermoplastic packaging material 4a to the groupings 6 formed via the first manipulator 10. Meanwhile, the groups 6 stand on a conveyor belt 21, which passes through the further manipulator 20 or which groups 6 transported during the application of thermoplastic packaging material 4a. In the further manipulator 20, groupings 6 are wrapped with thermoplastic packaging material 4a.
  • the further manipulator 20 may have a plurality of impact means or impact bars.
  • the groupings 6 then leave the further manipulator 20 and are moved in the direction of a further manipulator 20 downstream shrinking device 30, which is designed as a shrink tunnel.
  • a further manipulator 20 downstream shrinking device 30 which is designed as a shrink tunnel.
  • the cargo 5 or the groupings 6 leave on the
  • Shrinking device 30 as a finished container 7, and are possibly transported in the direction of a not shown with palletizing.
  • the handling device 9 can be moved.
  • the working distance AS extends over the inlet 3, the manipulation area 22 and the shrinking device 30.
  • the handling device 9 has a pivot arm 14 which can be rotated about several parallel axes. In addition, the entire handling device 9 can rotate about a vertical axis.
  • the handling device 9 is formed in the embodiment of Figure 1 as a driverless transport vehicle and can be moved or moved as part of a driverless transport system with high accuracy along the working distance AS.
  • a patent application filed in the figures is not laid along the working distance AS with guideline shown as a tracking guide, which can follow the handling device 9.
  • embodiments have proven useful in which, for example, an optical, magnetic and / or inductive guideline is laid along the working path AS.
  • the handling device 9 may optionally have a camera, a Hall sensor and / or an antenna, detect the course of the guideline by means of the camera, the Hall sensor and / or the antenna and thereby move along the working distance AS.
  • successively container 7 are to be formed from piece goods 5 with different geometries, it may be that the first manipulator 10 and / or the further manipulator 20 must be modified or adapted for this purpose. For example, it may be necessary for the one-piece elements 8 to be replaced by further one-piece elements 8.
  • the handling device 9 can do this independently along the
  • a movement of the handling device 9 along the working distance AS is predetermined via a control device S, which is in communication with the handling device 9 for this purpose.
  • piece goods 5 tilt in the direction of the shrinking device 30 during their movement or during their transport from the inlet 3, so that problems with the production of groupings 6 or with the production of containers 7 are associated with this.
  • Handling device 9 may therefore be arranged an optical detection device or a camera system which detects an actual orientation of the piece goods 5 located in the region of the working distance AS and transmits information to the control device S for this purpose.
  • the control device S can then compare the respective actual orientation with a predetermined desired orientation. If the actual orientation deviates from the specified target orientation, the
  • Handling device 9 by means of the control device S along the Are moved working distance AS and correct the actual orientation of the respective piece goods or 5.
  • thermoplastic packaging material 4a In order to be able to apply thermoplastic packaging material 4a to groupings 6 via the further manipulator 20, sufficient thermoplastic packaging material 4a must be available to the further manipulator 20 for this purpose.
  • the thermoplastic packaging material 4a is provided to the further manipulator 20 by hand.
  • the handling device 9 In the case of the system 1 from FIG. 1, the handling device 9 is able to travel along the working distance AS and to supply the further manipulator 20 with packing media or thermoplastic packaging material 4a. The movement or the method of the handling device 9 is predetermined here via the control device S.
  • thermoplastic packaging material 4a thermoplastic packaging material 4a
  • a sensor or a plurality of sensors are provided, via which a supply state of the further manipulator 20 with thermoplastic packaging material 4a can be detected.
  • the one or more sensors can with the
  • Control device S are in communication, which, taking into account the supply state, the handling device 9 can move in order to provide the further manipulator 20 sufficiently sufficient thermoplastic packaging material 4a.
  • a plurality of guide elements or guide rails can be provided in the region of the inlet 3, by means of which the piece goods 5 are transported or guided in parallel paths. If a product change takes place or to adapt the guide elements on piece goods 5 with different geometries, their relative spacing must be adjusted to each other. In practice, the relative spacing of two adjacent guide rails or guide elements to each other substantially corresponds to the maximum diameter of the respective via the
  • control device S can cause a movement of the handling device 9 along the working distance AS, so that the handling device 9 is located in the region of the inlet 3 and the adaptation or adjustment of the relative distance adjacent guide rails makes each other independently.
  • the handling device 9 can have a working tool or with a Working tool in connection, on which working tool, the handling device 9, the replacement of the guide elements or
  • the exchange can make guide rails.
  • the exchange can also possibly via the
  • Control device S are given or initiated, which the
  • Groups 6 or container 7, which are located within the shrinking device 1, are driven out of the shrinking device 1. Since these are initially not further processed, it can be provided that the handling device 9 is moved into the region of the shrinking device 30 and container 7, which the
  • Leave shrink device 30 receives and possibly placed on a cache or drops.
  • the optical detection device By means of the optical detection device, the actual orientation of the piece goods 5 can be determined at least in a partial area of the working distance AS. Further, by means of the optical detection device, the
  • Detection device is connected to the control device S, information on the operation of the system 1 on a display unit or a display, which is coupled to the control device S, are output. If an actual orientation of piece goods 5 deviates from a predetermined desired orientation, a user can be informed about this via the display unit or the display.
  • the inlet 3, the manipulation area 22 and the shrink tunnel 30 form during
  • Embodiment of Figure 1 is a packaging line for piece goods 5. How
  • the handling device 9 is as a driverless
  • Transport vehicle trained there is the possibility for the trained as a driverless transport system handling device 9, between several
  • Figure 2 shows a schematic view of another conceivable
  • Embodiment of a system 1 according to the invention Part of the system 1 of Figure 2 are further an inlet 3, a manipulation area 22 and a
  • Shrinking device 30 may be formed according to the embodiment of Figure 1.
  • the handling device 9 can be seen, which has a pivot arm 14. According to the embodiment of Figure 1, the handling device 9 selectively in the region of the inlet 3, in the
  • FIG. 2 shows a rail system 24 with which the
  • Handling device 9 is mechanically coupled. With the help of the
  • the handling device 9 is moved or moved along the working distance AS.
  • the movement or the method of the handling device 9 is further specified via the control device S.
  • FIG. 3 shows a schematic perspective view of a further embodiment of the system 1 according to the invention.
  • the system 1 from the exemplary embodiment from FIG. 3 has an inlet 3, via which piece goods 5 can be moved in several rows in the direction of a downstream manipulation area 22.
  • the manipulation area 22 has a first manipulator 10 and a second manipulator 20, wherein the first manipulator 10 and the second one
  • each packaging material 4 (see Figure 1) can be applied to piece goods 5.
  • the inlet 3, the first manipulator 10 and the second manipulator 20 each have a frame construction and are designed as modules, with the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second manipulator 20 designed as a module blocked or can be placed directly behind each other and this for the packaging of cargo 5
  • the packaging line is a
  • Rail system 24 is positioned over which the handling device 9 along the packaging line or along a over the entire longitudinal extent of the
  • the rail system 24 in this case closes laterally on the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second module designed as a module
  • Manipulator 20 directly on and stands on a floor surface.
  • the design of the individual modules by means of their frame construction or the blocked installation can still be clearly seen in FIG.
  • the individual technical components, which are designed as components of the module, have been shown in FIG. 4 for reasons of
  • FIG. 5 shows a schematic perspective view of a further embodiment of the system 1 according to the invention.
  • the system 1 of the exemplary embodiment from FIG. 5 has a feed 3 designed as a module, a first manipulator 10 designed as a module and a second manipulator 20 designed as a module, the feed 3, the first manipulator 10 and the second manipulator 20 blocked or immediately
  • the installation of the system 1 of the embodiment of Figure 5 therefore corresponds to the installation of the system 1 of the embodiment of Figures 3 and 4.
  • system 1 comprises a rail system 24, which is located at a higher vertical level relative to a transport plane for piece goods 5.
  • Rail system 24 is arranged a handling device 9 hanging, which handling device 9 can be moved along the rail system 24 and can move along the working distance AS on the rail system 24 and thereby optionally a work area anelle and performs after reaching the work area manipulation tasks for the packaging line.
  • FIG. 6 also shows the embodiment of the system 1 from FIG. 5, with individual technical components not being shown for reasons of clarity. In particular, FIG. 6 again shows or illustrates the blocked or directly successive installation of the inlet 3 designed as a module, the first manipulator 10 designed as a module and the second manipulator 20 designed as a module
  • Rail system 24 connects immediately laterally to the frame construction of the individual modules and is, as previously mentioned, on a vertical higher level compared to a transport level for piece goods 5 formed by the system 1.
  • FIG. 7 shows a schematic perspective view of a further embodiment of the system 1 according to the invention.
  • the system 1 of the embodiment of FIG. 7 has an inlet 3 and a manipulation area 22, which feed 3 and which manipulation area 22 correspond to the embodiments from FIGS. 3 to 6 and are indicated only schematically in FIG.
  • the inlet 3 and the manipulation area 22 form a packaging line for piece goods 5.
  • the system 1 comprises two rail systems 24, wherein a first rail system 24 extends along the entire working distance AS and rests on a floor surface or is positioned in the area of a floor surface.
  • Another second rail system 24 is located at a higher vertical level relative to the first rail system 24 and extends over a portion of the working distance AS. For each rail system 24 is a separate
  • Handling device 9 is provided, wherein the handling devices 9 can be moved along their respective rail system 24 and perform after reaching a respective work area possibly manipulation tasks for the packaging line. Both handling devices 9 can not be coupled to a control unit shown in the figures, which selectively controls the two handling devices 9 as a function of a respective manipulation task to be performed for the packaging line and possibly moves along its respective rail system 24.
  • FIG. 7 furthermore shows that the handling device 9 connected to the rail system 24 positioned in the region of the floor surface is arranged on a pedestal 16 in order to increase the vertical working level for the handling device 9 for performing manipulation tasks.
  • a plurality of pedestals 16 may be provided which provide different vertical height levels for the handling device 9 and may be selectively mounted on the rail system 24.
  • an entire rail system 24 together with its respective handling device 9 can be designed vertically movable or raised and lowered vertically to adapt to a respective height level for the handling device 9.
  • the respective rail system 24 may be in communication with at least one hydraulic or pneumatic actuator which vertically raises or vertically lowers the respective rail system 24 as needed.
  • the at least one hydraulic or pneumatic actuator can furthermore be actuated via a control unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système (1) de regroupement et/ou de répartition de marchandises de détail (5). Le système (1) comporte une voie de travail (AS) comprenant - une alimentation (3), laquelle comporte au moins un dispositif de transport horizontal (11) et par le biais de laquelle une pluralité de marchandises de détail (5) peuvent être transportées dans le flux massique et - une région de manipulation (22) située à la suite de l'alimentation (3) et dotée d'au moins un manipulateur (10) pour le regroupement de marchandises de détail (5). Le système (1) comporte en outre au moins un dispositif de manipulation (9) qui est déplaçable au moins par sections le long de la voie de travail (AS) et par le biais duquel au moins un dispositif de manipulation (9) a) ledit au moins un manipulateur (10) peut être modifié pour différents processus de travail et/ou par le biais duquel au moins un dispositif de manipulation (9) b) des éléments de guidage prévus pour des marchandises de détail (5) et disposés le long de la voie de travail (AS) peuvent être remplacés et/ou leur écartement relatif les uns par rapport aux autres peut être réglé et/ou par le biais duquel au moins un dispositif de manipulation (9) c) on peut agir sur des marchandises de détail (5) déterminées qui se trouvent le long de la voie de travail (AS) et/ou par le biais duquel au moins un dispositif de manipulation (9) d) des milieux d'emballage pour au moins un manipulateur (20) positionné dans la région de manipulation (22) peuvent être fournis.
EP16790977.9A 2015-11-10 2016-11-02 Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation Active EP3374268B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015119320.5A DE102015119320A1 (de) 2015-11-10 2015-11-10 System zum Gruppieren und/oder Verteilen von Stückgütern sowie Verfahren zum Verrichten von Manipulationsaufgaben im Bereich einer Arbeitsstrecke mit wenigstens einer Handhabungseinrichtung
PCT/EP2016/076375 WO2017080881A1 (fr) 2015-11-10 2016-11-02 Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation

Publications (3)

Publication Number Publication Date
EP3374268A1 true EP3374268A1 (fr) 2018-09-19
EP3374268B1 EP3374268B1 (fr) 2023-12-20
EP3374268C0 EP3374268C0 (fr) 2023-12-20

Family

ID=57233441

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16790977.9A Active EP3374268B1 (fr) 2015-11-10 2016-11-02 Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation

Country Status (4)

Country Link
EP (1) EP3374268B1 (fr)
CN (1) CN209008944U (fr)
DE (1) DE102015119320A1 (fr)
WO (1) WO2017080881A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015119320A1 (de) 2015-11-10 2017-05-11 Krones Aktiengesellschaft System zum Gruppieren und/oder Verteilen von Stückgütern sowie Verfahren zum Verrichten von Manipulationsaufgaben im Bereich einer Arbeitsstrecke mit wenigstens einer Handhabungseinrichtung
DE102017210405A1 (de) 2017-06-21 2018-12-27 Krones Aktiengesellschaft Transporteinrichtung für eine verpackungsmaschine und verfahren zum tauschen eines umlaufend geführten transportmittels innerhalb einer verpackungsmaschine
DE102017129847A1 (de) 2017-12-13 2019-06-27 Krones Ag Vorrichtung und Verfahren zum Behandeln von Behältnissen mit fahrerlosen-Transportsystem
CN109436429B (zh) * 2018-11-28 2023-10-20 桂林电子科技大学 一种导电胶条自动分料装盒包装装置
DE102019134315A1 (de) * 2019-12-13 2021-06-17 Krones Ag Transportmodul für zu verpackende Artikel und Verfahren zum Vorbereiten eines Transportmoduls auf eine Bewegung von Artikeln
DE102021102769A1 (de) 2021-02-05 2022-08-11 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Transportieren von Artikeln wie Getränkebehälter oder dergleichen
CN116281171A (zh) * 2022-11-25 2023-06-23 中国建材国际工程集团有限公司 一种用于立式堆垛快速抓取两片平板玻璃的工艺方法及系统

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8708145U1 (de) 1987-06-06 1987-08-06 MSK-Verpackungs-Systeme GmbH, 4190 Kleve Vorrichtung zum Schrumpfen von Schrumpfhauben, die einen palettierten Gutstapel umgeben
DE4207725C2 (de) 1992-03-11 1995-04-13 Kisters Maschinenbau Gmbh Kontinuierlich arbeitende Vorrichtung zum Verpacken von kippgefährdeten Gegenständen
DE4242925A1 (de) 1992-12-18 1994-06-23 Khs Masch & Anlagenbau Ag Transporteinrichtung für Maschinen zum Behandeln von Flaschen o. dgl. Behälter
DE10064217A1 (de) 2000-12-22 2002-07-04 Schubert Gerhard Gmbh Verpackungsstraße
CN100567098C (zh) * 2003-05-21 2009-12-09 松下电器产业株式会社 物品管理系统和物品管理服务器
DE102004020891A1 (de) 2004-04-28 2005-11-24 Atlantic C Handels- Und Beratungs-Gmbh Einrichtung zur Verarbeitung von Einweg- und Mehrwegflaschen
US20080131255A1 (en) 2006-11-30 2008-06-05 Transbotics Corporation Palletizing systems and methods
DE102008029496A1 (de) 2008-06-20 2009-12-24 Krones Ag Bereitstellung von Zuschnitten bei der Herstellung von Gebinden
EP2169405A2 (fr) * 2008-09-30 2010-03-31 F.Hoffmann-La Roche Ag Stockage robotique
DE102009003556A1 (de) 2009-03-02 2010-09-09 Krones Ag Verpackungsmaschine und Verfahren zu deren Steuerung
US20100274396A1 (en) 2009-04-24 2010-10-28 Gm Global Technology Operations, Inc. Thermoelectric climate control
DE102009026220B4 (de) 2009-07-22 2023-11-30 Krones Aktiengesellschaft Verfahren und Verpackungsmaschine zum Gruppieren und Verbinden von Artikeln
DE102009044163A1 (de) 2009-10-01 2011-04-07 Krones Ag Verfahren zum Auswechseln von Werkzeugen bei einem Verpackungs- und Lagersystem, Computerprogramm hierzu und Verpackungs- und Lagersystem
DE202010000056U1 (de) 2010-01-18 2011-08-25 Autefa Automation Gmbh Verpackungseinrichtung
DE102010051324A1 (de) 2010-11-16 2012-05-16 Krones Aktiengesellschaft Verpackungsmodul für mit Folie zu umhüllende Gebinde oder Artikelgruppen
SI2546153T1 (sl) 2011-07-13 2016-01-29 Schuler Automation Gmbh & Co. Kg Naprava in postopek za skladanje delov, ki jih je moč skladati
DE202011050807U1 (de) 2011-07-26 2012-10-29 Ac-Automation Gmbh & Co. Kg Umpackeinrichtung
DE102011054890A1 (de) 2011-10-28 2013-05-02 Krones Aktiengesellschaft Behälterbehandlungsanlage und Handhabungsvorrichtung
DE102013202247A1 (de) 2013-02-12 2014-08-14 Krones Aktiengesellschaft Verfahren zur Störungsmeldung bei der Gruppierung von Artikeln
US9481518B2 (en) * 2013-02-24 2016-11-01 Intelligrated Headquarters Llc Order fulfillment system and method
DE102013110944A1 (de) 2013-10-02 2015-04-02 Krones Aktiengesellschaft Verfahren und Vorrichtung zum Wechseln von Trägereinheiten mit auf Vorratsrollen aufgewickeltem flächigem Verpackungsmaterial innerhalb einer Verpackungsmaschine
DE102014103159A1 (de) 2014-03-10 2015-09-24 Krones Ag Vorrichtung und Verfahren zum Umformen von Kunststoffvorformlingen zu Kunststoffbehältnissen mit automatischer Wechseleinrichtung für Garniturenteile
DE102015119320A1 (de) 2015-11-10 2017-05-11 Krones Aktiengesellschaft System zum Gruppieren und/oder Verteilen von Stückgütern sowie Verfahren zum Verrichten von Manipulationsaufgaben im Bereich einer Arbeitsstrecke mit wenigstens einer Handhabungseinrichtung

Also Published As

Publication number Publication date
EP3374268B1 (fr) 2023-12-20
DE102015119320A1 (de) 2017-05-11
WO2017080881A1 (fr) 2017-05-18
CN209008944U (zh) 2019-06-21
EP3374268C0 (fr) 2023-12-20

Similar Documents

Publication Publication Date Title
EP3374268B1 (fr) Système de regroupement et/ou de répartition de marchandises de détail ainsi que procédé pour effectuer des tâches de manipulation dans la région d'une voie de travail comprenant au moins un dispositif de manipulation
EP3554972B1 (fr) Dispositif et procédé de manutention de charges isolées déplacées les unes derrière les autres
EP4086220A1 (fr) Machine de traitement des recipients avec robot mobil pour changer des composants
DE102017205001B4 (de) Vorrichtung und Verfahren zum Umgang mit bewegten Stückgütern sowie Förder-, Verarbeitungs- und/oder Verpackungsanlage für Stückgüter
DE202011110784U1 (de) Vorrichtung zum Transport von Artikeln
EP3423361B1 (fr) Segment d'une ligne d'emballage pour des contenants de boisson et procédé de manipulation de contenants de boisson lors de leur transport le long d'une ligne d'emballage
WO2018024311A1 (fr) Système de préparation de commandes
DE102016211187A1 (de) Greifvorrichtung zum Erfassen mehrerer Stückgüter, System zum Umgang mit mehreren Stückgütern und Verfahren zum Manipulieren mehrerer Stückgüter
DE102013103886A1 (de) Vorrichtung und Verfahren zum Ausbilden einer vordefinierten Formation auf einem Transportband
DE102016205255A1 (de) Modulsystem zum Umgang mit Getränkebehältnissen und entsprechendes Verfahren hierfür
EP4335796A2 (fr) Dispositif et procédé de manipulation de marchandises de détail d'un flux de marchandises de détail
EP3501676A1 (fr) Machine de nettoyage de bouteilles destinée au nettoyage de bouteilles
DE102013202247A1 (de) Verfahren zur Störungsmeldung bei der Gruppierung von Artikeln
DE102017123563A1 (de) Vorrichtung und Verfahren zum Umgang mit in mindestens drei Reihen bewegten Stückgütern
EP3686113A1 (fr) Dispositif de manipulation et/ou d'emballage et procédé d'emballage des groupes d'articles
EP3549877B1 (fr) Dispositif d'emballage et procédé de transformation et / ou d'équipement d'un dispositif d'emballage
DE102020109565A1 (de) Verpackungsvorrichtung und Verfahren zum Verpacken von Artikeln
EP2785621B1 (fr) Procédé et système d'ordonnancement de plusieurs articles se déplaçant dans un flux massique
WO2024052043A1 (fr) Système et procédé de transport et de manipulation d'articles
EP3544780B1 (fr) Procédé et système pour le transport et la manipulation de récipients à boissons rassemblés en unités d'emballage ainsi que pour l'initialisation d'au moins un procédé déterminé dans le cas d'une dégradation d'une unité résultant d'une manipulation
EP3490917B1 (fr) Procédé de distribution d'un grand nombre d'articles d'un flux massique sur plusieurs voies et dispositif de manipulation d'un grand nombre d'articles d'un flux massique
EP3645404B1 (fr) Voie de transport et procédé d'adaptation aux dimensions d'unités de transport
DE102018132593A1 (de) Vorrichtung und Verfahren zum Umgang mit in mindestens einer Reihe hintereinander bewegten Stückgütern
DE102020110505A1 (de) Transportvorrichtung für Artikel und Verfahren zum Transportieren von Artikeln
EP3023337B1 (fr) Procede de commande d'une machine de collage de boite pliante comprenant un dispositif d'emballage en aval

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180314

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20201202

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230523

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20230711

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502016016289

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

U01 Request for unitary effect filed

Effective date: 20240109

P04 Withdrawal of opt-out of the competence of the unified patent court (upc) registered

Effective date: 20240112

U07 Unitary effect registered

Designated state(s): AT BE BG DE DK EE FI FR IT LT LU LV MT NL PT SE SI

Effective date: 20240117

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240321

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240321

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240320

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240420

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 502016016289

Country of ref document: DE

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

26 Opposition filed

Opponent name: KHS GMBH

Effective date: 20240920

U20 Renewal fee for the european patent with unitary effect paid

Year of fee payment: 9

Effective date: 20241007

P05 Withdrawal of opt-out of the competence of the unified patent court (upc) changed

Free format text: CASE NUMBER: APP_1997/2024

Effective date: 20240117

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231220

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20241102

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20241130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20241102

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20241102

U20 Renewal fee for the european patent with unitary effect paid

Year of fee payment: 10

Effective date: 20251008

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20161102

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20161102