Krones Ag

Other

Manuel Kollmuss

Erhard Beer

Arsalan Mehdi

Michael Astner

Richard Eschlbeck

Johannes Kirzinger

Michael Hartl

Frank Winzinger

Herbert Spindler

Juergen Werner

Thomas Wimmer

Kurt Perl

Thomas Stadler

Martin Osterhammer

Peter Koch

Andreas Kursawe

Christoph Klenk

Wolfgang Huber

Christian Napravnik

Thomas Hensel

Peter Zeiner

Josef Unterseher

Markus Gabler

Bernhard Schmid

Thomas Lehner

Tobias Gut

Heiner Schaefer

Peter Kirschner

Pino-Giuseppe Palumbo

Christian Westermeier

Albin Semmelrock

Christian Hastreiter

Dennis Fritsch

Christian Dany

Markus Stockbauer

Tolga Kuscular

Felix Schelling

Marco Ehberger

Bernhard Diener

Gerald Heckel

Andreas Fritsch

Sebastian Grimm

Felix Schwalb

Peter Graf

Josef Mohr

Johann Haas

The invention relates to a packaging or palletizing machine, a system and a method for automated generation of motion and position parameters for a packaging or palletizing machine for bundle arrangements. Layer and/or packaging parameters can be entered at a user interface that is used to generate parameters for controlling the packaging or palletizing machine. A digital twin of the packaging or palletizing machine can be used to generate or calculate the parameters. This allows the calculated parameters to be tested and validated by simulation using the digital twin. The parameters are generated such that the packaging machine being controlled using the parameters creates a package for a bundle according to the packaging and/or layer parameters and/or the palletizing machine being controlled using the parameters arranges bundles according to the layer and/or packaging parameters. After generating the parameters, the packaging or palletizing machine is configured based on the calculated parameters.

System and method for automated generation of motion and position parameters of a packaging or palletizing machine for bundle arrangements

The invention relates to a method to calibrate a handling device () including a handling robot or parallel kinematic robot (), with a tool head () suspended from at least two parallel kinematically movable arms (). Each of the at least two arms comprises an upper arm, which is movable between two end positions about a defined upper-arm swivel axis (). Each of the at least two arms also comprises a lower arm (), which is swivelably mounted on the upper arm. The upper arms are brought into approximately corresponding angular positions by detection of load torques and/or of angle positions. First one, than another of the upper arms is brought into one of the two end positions, and the angular position reached is detected and used for the position initialization or angle initialization of the particular upper arm, whereupon the upper arm is returned.

Method and control system for the calibration of a handling apparatus

The invention relates to a handling device or layer forming device () and a method for forming piece good layers. Piece goods () are conveyed on a horizontal conveying device () to a grouping station and/or layer forming station () comprising a manipulator (). In a work cycle, the manipulator () seizes at least one piece good () and moves it into a target position or target alignment, in particular with regard to a piece good layer to be formed. The horizontal conveying device (), which is arranged upstream of the grouping station and layer forming station (), comprises at least one sensor device () for obtaining positional data or dimensional data or alignment data of the transported piece goods (). Based on the obtained data, the control device () controls the movements of the manipulator () within the movement range for the purpose of the layer formation.

Device and method for the treatment and/or handling of piece goods moved in at least one row

The invention relates to an apparatus and a method handling moved piece goods. The apparatus comprises a manipulator for the piece goods, at least one transport device transporting the moved piece goods to a seizing range of the at least one manipulator and at least one horizontal conveying device assigned to the seizing range and/or to a movement range of the at least one manipulator, via which horizontal conveying device the moved piece goods are transported in the seizing range of the at least one manipulator. Furthermore, the apparatus comprises at least one detection device for obtaining space coordinates and/or position data and/or contour data of piece goods to be seized by the manipulator, wherein the at least one horizontal conveying device and the at least one transport device are calibratable and/or controllable based on the space coordinates and/or position data and/or contour data.

Apparatus and method for handling piece goods moved one after another

The invention relates to a method and an apparatus () for handling piece goods () moved one after another in at least one row (). Immediately consecutive piece goods () in a row () without spaces or with minimal spaces are transported as a closed formation (F). At least one transported piece good (*) is seized in a clamping and/or force-locking and/or form-locking manner from the closed formation (F); is spatially separated from the closed formation (F); and is brought into a specified relative target position (P) and/or target alignment in relation to subsequent piece goods ().

Method and apparatus handling piece goods moved in at least one row one after another

The invention includes a method and a handling system for manipulating and/or for handling piece goods () moved one after another in at least one row () in a transport direction (TR) on a horizontal conveying device (). In each work cycle, seizing at least one transported piece good () from the at least one row () by at least one handling device (); spatially separating it from the row (); and bringing it into a specified relative target position and/or target alignment relative to subsequent piece goods (). After a failure event with an at least a temporary standstill of the horizontal conveying device () and/or of the handling device (), the handling device () is initialized, and, after the failure has been remedied, the horizontal conveying device () automatically restarts and continues the previously interrupted process.

Handling system and method for handling piece goods

Provided is a method for packaging piece good groupings, in which a plurality of piece goods, particularly containers, are at least partially interconnected by a first connector, wherein at least two-piece goods of this plurality are directly interconnected by the connector. According to the embodiment, this plurality of piece goods connected by the connector is packaged with a second connector in the form of a second wrapping element, and said plurality of piece goods connected by a first connector is conveyed by a conveyor device to a packaging device and enclosed, particularly wrapped, with the second wrapping element by said packaging unit.

Method and device for forming container groupings

The invention relates to a method and an apparatus for handling piece goods () moved one after another being transported to a seizing range () of at least one manipulator (). Hereby at least two transported piece goods () are seized, spatially separated from the closed formation (F) and brought into a specified relative first target position (P) and/or target alignment in relation to the subsequent piece goods (). There at least one of the piece goods () is released. The at least one second piece good () seized from the formation (F) is seized again and is brought into a specified relative second target position and/or target alignment that is spaced apart from the first target position (P).

Method and apparatus for handling piece goods moved one after the other in at least one row

The invention relates to an apparatus () and method for handling moved piece goods (), and a conveying, processing, and/or packaging plant including the apparatus (). The apparatus () comprises at least one manipulator () for piece goods (), at least one transport device () by which the moved piece goods () are transportable to a seizing range () of the at least one manipulator (), and at least one movable optical detection device () assigned to the seizing range () and/or to a movement range of the at least one manipulator (). The optical detection device () obtains space coordinates and/or position data and/or contour data of at least one piece good () that is being moved. The at least one manipulator () and/or further conveyor components of the apparatus () can be calibrated and/or controlled based on the detected space coordinates and/or position data and/or contour data.

Apparatus and method for handling moving piece goods, and a conveying, processing and/or packaging plant with an apparatus for handling moving piece goods

The invention relates to a method and apparatus () for handling piece goods () for forming a palletizable layer or partial layer, with the piece goods () being moved in at least two parallel rows () and the layer comprising a plurality of piece goods (). At least two piece goods () that are transported beside each other in parallel rows () are seized in a clamping and/or force-locking and/or form-locking manner, are then spatially separated from the at least two parallel rows () and are then brought into a specified relative target position (P, P) and/or target alignment in relation to subsequent piece goods (). The apparatus () comprises at least one manipulator () for piece goods (), and at least one transport device (), where the piece goods () arranged in at least two parallel rows ().

Method and apparatus for handling piece goods moved in at least two parallel rows

The invention relates to a method and an apparatus () for handling piece goods () moved one after another, with the piece goods () being transported to a seizing range () of a manipulator (). At least one transported piece good () is seized in a clamping and/or force-locking and/or form-locking manner by at least two clamping elements and/or gripping elements () located opposite each other. The piece good is spatially separated from the subsequent piece goods () and is brought into a specified relative target position (P) and/or target alignment relative to subsequent piece goods (). A first vertical symmetry plane and which is oriented about perpendicular to a transport direction (TR), is spaced apart from a second vertical symmetry plane aligned about parallel thereto, with the second vertical symmetry plane being defined by the manipulator () or by the manipulator clamping elements and/or gripping elements ().

Method and apparatus for handling piece goods moved one after another

The invention relates to a palletizing apparatus () and a method for conveying articles (), piece goods, and/or bundles () and/or palletizable article layers, piece good layers, and/or bundle layers () with at least two conveyor line sections (), each in a particular conveying direction (). Each conveyor line sections include consecutive handling stations, grouping stations, and/or transfer stations (), which lead to a central loading station (), where the article layers, piece good layers, and/or bundle layers () are stacked on top of each other and/or palletized in a common loading place (). The loading station () is located between at least two vertically adjustable support surfaces and/or conveying surfaces (). The common loading place () is supplied with article layers, piece good layers, and/or bundle layers ().

Method and apparatus for conveying articles, piece goods and/or bundles within at least two conveying path sections

The present invention includes an apparatus () and a method for handling articles and comprises an upper suspension () with at least three rotatably driven positioning arms (), where the positioning arms () each comprise at least two arm sections () that are swivelable relative to each other and operated independently of one another. A manipulator () comprises one or more clamping jaws () and is mechanically coupled to the positioning arms () such the manipulator can be positioned by movement of one or more of the positioning arms (). At least one drive shaft () is linked non-rotatingly to the manipulator, such that the manipulator is rotated by movement of the at least one drive shaft (). Rotation of the at least one drive shaft () also controls the one or more clamping jaws () via the at least one actuating shaft ().

Apparatus and method for handling articles

Disclosed are a method and a device () for handling individual intermediate layers (). The method involves removing from each of at least two separate stacks of intermediate layers () an individual intermediate layer () arranged topmost on the particular stack of intermediate layers (). The removed individual intermediate layers () are moved into a detection range of a sensor system () of its own and the particular own sensor system () identifying, preferably by means of optical detection, an outer edge () of the particular intermediate layer (). Subsequently, the removed individual intermediate layers () move toward a particular target location (Z, Z), the particular, preferably optical detection thereby being taken into account, such that the intermediate layers () reach their particular target location (Z, Z) in a predetermined position.

Method and device for handling individual intermediate layers

Disclosed is a palletizing device () with a vertically mobile transfer station () which is in conveying communication with upstream conveying equipment () for conveying items, packaged goods, packages (), or the like, to be palletized. The transfer station () is followed in the conveying direction () by a vertically mobile loading station () which is in conveying communication with a stacking position () for palletizing the items, packaged goods, and/or packages (). The transfer () and loading stations () which are independently adjustable in the vertical positions thereof are associated with a common support structure, having separate guide devices () for vertically mobile guiding and drive devices for vertical position adjustment of the transfer () and loading stations (), respectively. In addition, a method for handling such a palletizing device () is disclosed wherein the base planes () of the transfer () and loading stations () are approximately flush at least while a layer of items, packaged goods, and/or packages () is pushed over between the two stations ().

Palletizing device and method for handling thereof

Growing community of inventors

Raubling, Germany

Manuel Kollmuss