EP1077875B1 - Packaging machine - Google Patents
Packaging machine Download PDFInfo
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- EP1077875B1 EP1077875B1 EP99932625A EP99932625A EP1077875B1 EP 1077875 B1 EP1077875 B1 EP 1077875B1 EP 99932625 A EP99932625 A EP 99932625A EP 99932625 A EP99932625 A EP 99932625A EP 1077875 B1 EP1077875 B1 EP 1077875B1
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- Prior art keywords
- motion
- time
- law
- packaging machine
- packaging
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
- B65C9/42—Label feed control
- B65C9/44—Label feed control by special means responsive to marks on labels or articles
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- 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
- B65B41/00—Supplying or feeding container-forming sheets or wrapping material
- B65B41/18—Registering sheets, blanks, or webs
Definitions
- the invention relates to a packaging machine for wrapping and / or enclosing products of varying dimensions, size and consistency in packaging material, such as paper, bags, cups and the like.
- individual processing units each of which is assigned a drive with a control unit, through which the specified movement laws (travel-time functions) are processed, as well as sensors for detecting the operating state, and if there are deviations from the synchronicity between the packaging material and the product to be packaged, the movement laws are changed and the resulting path-time law is continuously and continuously differentiable, the resulting speed-time law is continuously differentiable.
- Packaging machines are generally extensive systems that consist of a large number of processing units for shaping the packaging, filling, closing and labeling, but also provide units that serve for feeding, filling and closing prefabricated containers.
- the latter are mainly used for packing bulk goods, but especially for liquid and pasty products from the food sector, e.g. B. drinks, yogurt, cream etc.
- Their primary areas of application are the pharmaceutical, cigarette, food and beverage industries.
- a packaging machine consists of a mechanically or electronically designed vertical shaft, which serves as a leading axis, and from which drives with control units are connected in the sense of slave axes.
- the leading position is the input variable for the control unit of the drive that defines the target position of the following axis as the output variable.
- Each leading axis position is therefore assigned a defined position of the following axis, which is a path-path assignment.
- the overall movement is divided into individual movement sections, each of which is associated with a movement law by means of which the position of the following axis is assigned to the position of the leading axis.
- the entire representation of the movement of the individual processing units takes place in a movement plan.
- a single work cycle is usually made up of several movement sections.
- the vertical shaft determines the functional speed as the leading axis, so that the higher the leading axis speed, the higher the cycle performance of the packaging machine.
- Packaging machines generally have to incorporate products of different dimensions and external shape into a packaging, so that the machine has to be changed with every product change and adapted to the new packaging conditions.
- a control for servo-driven machines, in particular packaging machines, is described in US Pat. No. 5,724,786, in which a transport good to be packaged or filled is conveyed by a conveying device.
- a mark is assigned in each case in the conveyed goods and a sensor for detecting the position of the mark is available is, the transport speed can be changed depending on the position of the marking.
- the target positions are compared with the actual positions and the transport speed is increased or decreased accordingly in order to bring the goods to be conveyed into a desired position at a desired time.
- the respective position is recorded S times between the start and end of the conveying and the servomotors are controlled accordingly, ie the conveying speed is increased or decreased step by step in order to compensate for deviations of the actual from the target position.
- the term “law of motion” means any functional connection between distance and time, whereby distance can be understood to mean a distance / length or an angle.
- the task of the existing sensors is to record the current operating state (actual state) and to supply it to the control unit for evaluation. For example, it is necessary to apply the wrapping paper provided with images to the goods to be packed, in spite of the stretching and stretching of the paper in the machine itself, in such a way that the image is positioned centrally, ie in the middle of the goods. Moving the packaging paper would be completely unacceptable, with the result that the image would be cut up and only the peripheral areas of the image would be visible in the central area of the goods to be packaged.
- marginal markings are made on the packaging paper, which are detected by the sensor, so that the stretching, stretching and slippage of the paper can then be compensated for by appropriate control.
- the task of the sensor can also be, among other things, to determine the presence of the goods to be packaged and, in the event of defects, to transport the Slow down the packaging material and change the law of movement so that the feed is delayed and adapted to the lack of the packaging good instead of, as is customary in the prior art, the paper transport continues regardless of the missing packaging good and a section of the packaging paper is separated and due to the missing packaging object remains unused.
- synchronization takes place in that the path-time dependency, that is to say the advance of the packaging material, is selected such that the assignment to the packaging object is effected in the desired manner.
- the curve shape is changed.
- open transport within the packaging machine by a certain distance up to the closure with the lid may be required.
- the acceleration during change constantly during this operating phase.
- the laws of motion should be chosen so that only low acceleration values and no acceleration peaks occur.
- this requirement can then be waived and new, higher acceleration values motion laws can be used to increase performance.
- the laws of motion and also the transitions between the various laws of motion must be carried out in such a way that there is no significant acceleration in the machine, which would give rise to loads on bearings and increased noise pollution. Particularly high wear on the machine as well as a sudden increase in noise level are always obtained when the acceleration values change suddenly. Therefore, the invention requires in one of its features that the motion laws of the drives regardless of how the motion law was obtained (upsetting, stretching) and also in the transition areas with regard to the distance-time dependence not only a constant but also represents a continuously differentiable function. Mathematically, this means that the differential is unique and continuous at each function point over time.
- Law of motion is determined, i.e. a synthesis process carried out that does not require the use of output functions.
- a decisive advantage of the packaging machine according to the invention is that the deviations detected by the sensors immediately, i.e. the motion laws of the drives can be changed in real time and adapted to the current situation. Deviations in the manner of a control loop are thus eliminated immediately.
- the basic possibility that not immediately is reacted in real time to the deviations measured with the help of the sensors, but is processed at the movement section currently being processed in accordance with the previous setting and only at one of the next e.g. the immediately following movement section of the drive is only adapted to the new situation with regard to its movement law and is processed by the drive.
- the drive then responds to the detected deviations with a time delay.
- the packaging paper (1) is fed endlessly in the horizontal direction from left to right to a rotating cutting device (2).
- the feed movement (5) is also passed on to the evaluation unit (6).
- the drive (7) of the cutting device (2) is controlled via the evaluation unit (6) in accordance with the paper feed and the measured values of the sensor (4).
- the sensor ensures that despite displacements of the packaging paper in the direction of transport it is always ensured that the cutting device (2) cuts exactly in the desired position. It is crucial that the law of motion of the cutting device (2) is a constant and also continuously differentiable path-time function and the changes in acceleration are kept low, so that "soft" movements are ensured, which with regard to protecting the material, the life of the Machine, as well as the maximum performance bring significant advantages.
- FIG. 2 also shows a schematic representation of a part of the packaging machine in which labels are applied to bottles.
- the bottles (8) are successively moved past a label dispenser (9) in the horizontal direction, the respective position of the bottle being detected by a sensor (10) immediately before the label is applied.
- the movement of the bottle is recorded with the help of the sensor (11).
- the position of the supplied label is detected by the label sensor (12) and the information passed on to the evaluation unit (13). From there, appropriate control commands are sent to the drive (14) responsible for feeding the labels.
- the evaluation unit (13) ensures that the bottle (8) and the individual label are fed synchronously to one another and are therefore connected to one another with a precise fit.
- the law of motion of at least one drive here z. B.
- the drive (14) for the label feed in its law of motion changed and adapted to the new conditions, such that the path-time function of the law of motion of the motor is a continuous and continuously differentiable function.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
- Basic Packing Technique (AREA)
Description
Die Erfindung bezieht sich auf eine Verpackungsmaschine zum Einwickeln und/oder Umschließen von Produkten wechselnder Abmessungen, Größe und Konsistenz in Verpackungsmaterial, wie Papier, Tüten, Becher udgl. mit einzelnen Bearbeitungseinheiten, denen jeweils ein Antrieb mit einer Steuerungseinheit zugeordnet ist, durch die vorgegebene Bewegungsgesetze (Weg-Zeit-Funktionen) abgearbeitet werden, sowie Sensoren zur Erfassung des Betriebszustandes, und bei Abweichungen von der Synchronität zwischen Verpackungsmaterial und zu verpackendem Produkt die Bewegungsgesetze abgeändert werden und das resultierende Weg-Zeit-Gesetz stetig und stetig differenzierbar ist, das resultierende Geschwindigkeit-Zeit-Gesetz stetig differenzierbar ist.The invention relates to a packaging machine for wrapping and / or enclosing products of varying dimensions, size and consistency in packaging material, such as paper, bags, cups and the like. with individual processing units, each of which is assigned a drive with a control unit, through which the specified movement laws (travel-time functions) are processed, as well as sensors for detecting the operating state, and if there are deviations from the synchronicity between the packaging material and the product to be packaged, the movement laws are changed and the resulting path-time law is continuously and continuously differentiable, the resulting speed-time law is continuously differentiable.
Verpackungsmaschinen sind in der Regel umfangreiche Anlagen, die aus einer Vielzahl von Bearbeitungseinheiten zum Formen der Verpackung, Füllen, Verschließen und Etikettieren, bestehen, aber auch Einheiten vorsehen, die dem Zuführen, Füllen und Verschließen von vorgefertigten Behältnissen dienen. Letztere finden Einsatz vor allen Dingen beim Verpacken von Schuttgütern, insbesondere aber auch bei flüssigen und pastösen Produkten aus dem Lebensmittelbereich, z. B. Getränke, Joghurt, Sahne udgl. Deren vornehmliche Einsatzgebiete sind die Pharma-, Zigaretten-, Lebensmittel- und Getränkeindustrie.
In ihrem grundsätzlichen Aufbau besteht eine Verpackungsmaschine aus einer mechanisch oder elektronisch ausgebildeten Königswelle, die als Leitachse dient, und von der ausgehend im Sinne von Folgeachsen Antriebe mit Steuereinheiten angeschlossen sind. Dabei ist die Leitposition die Eingangsgröße für die Steuereinheit jenes Antriebes, der seinerseits als Ausgangsgröße die Sollposition der Folgeachse definiert. Jeder Leitachsenposition ist demzufolge eine definierte Position der Folgeachse zugeordnet, die eine Weg-Weg-Zuordnung ist. Die Gesamtbewegung wird in einzelne Bewegungsabschnitte unterteilt, denen jeweils ein Bewegungsgesetz zugehört, durch das eine Zuordnung der Position der Folgeachse zu der Position der Leitachse erfolgt.
Die gesamte Darstellung der Bewegung der einzelnen Bearbeitungseinheiten erfolgt in einem Bewegungsplan. Ein einzelner Arbeitstakt wird in der Regel aus mehreren Bewegungsabschnitten gebildet. Die Königswelle bestimmt als Leitachse die Funktionsgeschwindigkeit, sodaß die Taktleistung der Verpackungsmaschine umso höher ist, je höher die Leitachsengeschwindigkeit ist.
Verpackungsmaschinen haben in der Regel Produkte unterschiedlicher Abmessungen und äußerer Gestalt in eine Verpackung einzubringen, so daß die Maschine bei jedem Produktwechsel umzustellen und den neuen Verpackungsgegebenheiten anzupassen ist. Zu diesem Zweck ist es bekannt, bei stehender Maschine durch manuellen Eingriff die entsprechenden, für das nächste abzuarbeitende Produkt notwendige Bewegungsgesetze in die Maschine einzugeben. Hierzu werden bei mechanischen Steuerungen Kurvenscheiben entsprechender Gestalt ausgetauscht; bei elektronischen Steuerungen werden die Bewegungsgesetze durch Einlesen eines neuen Programmes oder durch Austausch eines Speicherbausteins an die neuen Verhältnisse angepaßt. Nach Inbetriebnahme erfolgt die Steuerung anhand der eingegebenen Bewegungsgesetze, wobei jedoch in nachteiliger Weise eine Einstellung oder gar eine Reaktion auf unvorhergesehene Einflüsse nicht stattfindet. Vielmehr wird das Bewegungsgesetz entsprechend den Vorgaben exakt abgearbeitet. Während des Betriebs auftretende Änderungen der geometrischen Verhältnisse, wie sie z. B. unter dem Einfluß von Wärmeeinwirkungen geschehen oder aber Abweichungen vom regulären Verfahrensablauf müssen deshalb unberücksichtigt bleiben und führen mitunter zu erheblichen Störungen, die zu manuellen Unterbrechungen Anlaß geben können. Weitere Gründe für Abweichungen vom Sollzustand ergeben sich bei fehlendem Verpackungsmaterial und/oder -gut, Fehler im Verpackungsmaterial sowie auch im Verpackungsgut sowie schließlich noch Änderungen des Betriebszustandes, wie Start, Stop, Notaus udgl.Packaging machines are generally extensive systems that consist of a large number of processing units for shaping the packaging, filling, closing and labeling, but also provide units that serve for feeding, filling and closing prefabricated containers. The latter are mainly used for packing bulk goods, but especially for liquid and pasty products from the food sector, e.g. B. drinks, yogurt, cream etc. Their primary areas of application are the pharmaceutical, cigarette, food and beverage industries.
In its basic structure, a packaging machine consists of a mechanically or electronically designed vertical shaft, which serves as a leading axis, and from which drives with control units are connected in the sense of slave axes. The leading position is the input variable for the control unit of the drive that defines the target position of the following axis as the output variable. Each leading axis position is therefore assigned a defined position of the following axis, which is a path-path assignment. The overall movement is divided into individual movement sections, each of which is associated with a movement law by means of which the position of the following axis is assigned to the position of the leading axis.
The entire representation of the movement of the individual processing units takes place in a movement plan. A single work cycle is usually made up of several movement sections. The vertical shaft determines the functional speed as the leading axis, so that the higher the leading axis speed, the higher the cycle performance of the packaging machine.
Packaging machines generally have to incorporate products of different dimensions and external shape into a packaging, so that the machine has to be changed with every product change and adapted to the new packaging conditions. For this purpose, it is known to enter the corresponding laws of motion necessary for the next product to be machined into the machine when the machine is stationary. For this are exchanged cam discs of corresponding shape in mechanical controls; in electronic controls, the laws of motion are adapted to the new conditions by reading in a new program or by replacing a memory module. After commissioning, the control is carried out on the basis of the movement laws entered, but in a disadvantageous manner there is no setting or even a reaction to unforeseen influences. Rather, the motion law is processed exactly according to the specifications. Changes in the geometric conditions occurring during operation, such as z. B. happen under the influence of heat or deviations from the regular process must therefore be disregarded and sometimes lead to significant disruptions that can give rise to manual interruptions. Further reasons for deviations from the target state arise in the case of missing packaging material and / or goods, errors in the packaging material and also in the packaging goods and finally changes in the operating state, such as start, stop, emergency stop and the like.
Aus der US 5,724,786 ist eine Steuerung für servogetriebene Maschinen, insbesondere Verpackungsmaschinen, beschrieben, bei denen ein zu verpackendes oder zu befüllendes Transportgut mit einer Fördereinrichtung gefördert wird. Zur Korrektur der Abweichungen des Förderguts von vorgegebenen Weg-Zeit-Gesetzen ist vorgeschlagen, daß im Fördergut jeweils eine Markierung zugeordnet wird und ein Sensor zur Erfassung der Lage der Markierung vorhanden ist, wobei die Transportgeschwindigkeit in Abhängigkeit der Position der Markierung veränderbar ist. Dazu werden die Soll- mit den Ist-Positionen verglichen und die Transportgeschwindigkeit entsprechend erhöht oder erniedrigt, um das Fördergut zu einer gewünschten Zeit in eine gewünschte Position zu verbringen. Dazu wird, zwischen Beginn und Ende der Förderung die jeweilige Position S-mal erfasst und die Servomotoren entsprechend angesteuert, d. h. die Fördergeschwindigkeit schrittweise erhöht oder erniedrigt, um Abweichungen der Istvon der Soll-Position zu kompensieren. Daraus resultiert, auch bei einer großen Anzahl der Schritte S bzw. einer Verringerung der Zeitintervale, zu denen die Positionen erfasst werden, nach wie vor in ruckartigen Bewegungsänderungen des Förderguts, was bedeutet, daß auch mit einer derartigen Steuerung, bei der sich die Geschwindigkeit des Fördergutes zu jedem Zeitinervall um einen endlichen Betrag, also unstetig, ändern können, oben beschriebene Beschleunigungsspitzen auftreten können, die zu erhöhtem Verschleiß der Maschine und/oder unerwünschter Lärmentwicklung führen können.
Allerdings wird auch erwähnt, daß die zur Herstellung der Synchronität notwendigen Beschleunigungen durch eine sin-Funktion realisiert werden können.A control for servo-driven machines, in particular packaging machines, is described in US Pat. No. 5,724,786, in which a transport good to be packaged or filled is conveyed by a conveying device. In order to correct the deviations of the conveyed goods from given path-time laws, it is proposed that a mark is assigned in each case in the conveyed goods and a sensor for detecting the position of the mark is available is, the transport speed can be changed depending on the position of the marking. For this purpose, the target positions are compared with the actual positions and the transport speed is increased or decreased accordingly in order to bring the goods to be conveyed into a desired position at a desired time. For this purpose, the respective position is recorded S times between the start and end of the conveying and the servomotors are controlled accordingly, ie the conveying speed is increased or decreased step by step in order to compensate for deviations of the actual from the target position. As a result, even with a large number of steps S or a reduction in the time intervals at which the positions are recorded, jerky changes in the movement of the conveyed material continue, which means that even with such a control, in which the speed of the Goods to be conveyed can change at any time interval by a finite amount, that is to say inconsistently, acceleration peaks described above can occur, which can lead to increased wear of the machine and / or undesirable noise development.
However, it is also mentioned that the accelerations required to establish the synchronicity can be realized by a sin function.
Hiervon ausgehend hat sich die Erfindung die Weiterentwicklung von Verpackungsmaschinen dahingehend zur Aufgabe gemacht, daß während des Betriebes eine Änderung und Anpassung der Bewegungsgesetze der Antriebe an die konkret vorliegenden Betriebsbedingungen möglich wird.Proceeding from this, the invention has made the further development of packaging machines the task of changing and adapting the movement laws of the drives to the specific operating conditions during operation becomes possible.
Gelöst wird diese Aufgabe erfindungsgemäß dadurch, daß die Bewegungsgesetze des entsprechenden Antriebs skaliert werden, d. h. im Hinblick auf die Zeitachse eine Dehnung oder Stauchung erfahren.This object is achieved according to the invention in that the laws of motion of the corresponding drive are scaled, i. H. experience stretching or compression with respect to the timeline.
Der Begriff "Bewegungsgesetz" meint im Sinne der Erfindung jeden funktionellen Zusammenhang zwischen Weg und Zeit, wobei unter Weg eine Strecke/Länge oder ein Winkel verstanden werden kann. Aufgabe der vorhandenen Sensoren ist, den augenblicklichen Betriebszustand (Ist-Zustand) zu erfassen und zur Auswertung der Steuerungseinheit zuzuführen. So ist es z.B. erforderlich, das mit Abbildungen versehene Verpackungspapier trotz der Dehnungen und Streckungen des Papiers in der Maschine selbst auf das zu verpackende Gut in der Weise aufzubringen, daß die Abbildung zentral, d.h. mittig auf der Ware positioniert wird. Völlig inakzeptabel wäre ein Verschieben des Verpackungspapieres unberücksichtigt zu lassen, mit dem Ergebnis, daß die Abbildung zerschnitten und im Zentralbereich des zu verpackenden Gutes nur noch die Randbereiche der Abbildung zu sehen wären. Zu diesem Zwecke sind am Verpackungspapier randseitige Markierungen angebracht, die durch den Sensor erfaßt werden, sodaß dann durch entsprechende Steuerung, die Dehnung, Streckung und Schlupf des Papieres ausgeglichen werden können.
Die Aufgabe des Sensors kann u.a. auch darin bestehen, das Vorhandensein des zu verpackenden Gutes festzustellen und bei Fehlstellen den Transport des Verpackungsmateriales zu verlangsamen und das Bewegungsgesetz so abzuändern, daß der Vorschub verzögert und an das Fehlen des Verpackungsgutes angepaßt wird, anstatt daß, wie im Stande der Technik üblich, der Papiertransport ungeachtet des fehlenden Verpackungsgutes ungebremst weiter erfolgt und ein Abschnitt des Verpackungspapieres abgetrennt und aufgrund des fehlenden Verpackungsobjektes ungenutzt bleibt.In the sense of the invention, the term “law of motion” means any functional connection between distance and time, whereby distance can be understood to mean a distance / length or an angle. The task of the existing sensors is to record the current operating state (actual state) and to supply it to the control unit for evaluation. For example, it is necessary to apply the wrapping paper provided with images to the goods to be packed, in spite of the stretching and stretching of the paper in the machine itself, in such a way that the image is positioned centrally, ie in the middle of the goods. Moving the packaging paper would be completely unacceptable, with the result that the image would be cut up and only the peripheral areas of the image would be visible in the central area of the goods to be packaged. For this purpose, marginal markings are made on the packaging paper, which are detected by the sensor, so that the stretching, stretching and slippage of the paper can then be compensated for by appropriate control.
The task of the sensor can also be, among other things, to determine the presence of the goods to be packaged and, in the event of defects, to transport the Slow down the packaging material and change the law of movement so that the feed is delayed and adapted to the lack of the packaging good instead of, as is customary in the prior art, the paper transport continues regardless of the missing packaging good and a section of the packaging paper is separated and due to the missing packaging object remains unused.
Ein Anpassen bei fehlender Synchronität zwischen Verpackungsmaterial und zu verpackendem Objekt geschieht dadurch, daß die Bewegungsgesetze (= Weg-Zeit-Funktion) hinsichtlich der Zeitachse gestaucht oder gedehnt werden. Es folgt also eine Anpassung der Bewegungsgesetze an die konkret vorliegenden Verhältnisse. Im vorgeschilderten Falle der Relativverschiebung zwischen Verpackungsmaterial und Verpackungsgut geschieht das Synchronisieren dadurch, daß die Weg-Zeit-Abhängigkeit, also der Vorschub des Verpackungsmateriales so gewählt wird, daß die Zuordnung zum Verpackungsobjekt in der gewünschten Weise zustande kommt.If the packaging material and the object to be packed are not synchronized, they are adjusted by compressing or stretching the movement laws (= travel-time function) with respect to the time axis. So there follows an adaptation of the laws of motion to the concrete circumstances. In the case of the relative displacement between the packaging material and the goods to be packaged, synchronization takes place in that the path-time dependency, that is to say the advance of the packaging material, is selected such that the assignment to the packaging object is effected in the desired manner.
In einer anderen Möglichkeit der Änderung der Bewegungsgesetze wird die Kurvenform geändert. So könnte beim Verpacken von flüssigen oder viskosen Nahrungsmitteln in Bechern ein offener Transport innerhalb der Verpackungsmaschine um eine bestimmte Strecke bis zum Verschluß mit dem Deckel erforderlich sein. Um zu gewährleisten, daß ein Überschwappen der zu transportierenden Flüssigkeit aus dem Becher nicht eintritt, hat die Beschleunigung während dieser Betriebsphase sich stetig zu ändern. Die Bewegungsgesetze sind also beim Transport offener Becher so zu wählen, daß nur geringe Beschleunigungswerte und keine Beschleunigungsspitzen auftreten. Beim Umstellen der Verpackungsmaschine auf anderes Gut kann dann von dieser Forderung abgegangen und neue, höhere Beschleunigungswerte aufweisende Bewegungsgesetze zur Leistungssteigerung genutzt werden.In another way of changing the laws of motion, the curve shape is changed. For example, when packaging liquid or viscous food in cups, open transport within the packaging machine by a certain distance up to the closure with the lid may be required. In order to ensure that the liquid to be transported does not spill over from the cup, the acceleration during change constantly during this operating phase. When moving open cups, the laws of motion should be chosen so that only low acceleration values and no acceleration peaks occur. When converting the packaging machine to other goods, this requirement can then be waived and new, higher acceleration values motion laws can be used to increase performance.
Für alle vorbeschriebenen Möglichkeiten gilt, daß die Bewegungsgesetze und auch die Übergänge zwischen den verschiedenen Bewegungsgesetzen hierbei so zu erfolgen haben, daß keine nennenswerte Beschleunigung in der Maschine, die zu Belastungen von Lagern und einer erhöhten Lärmbelästigung Anlaß geben würden, auftreten kann. Besonders hohen Verschleiß der Maschine als auch einen sprunghaften Anstieg des Lärmpegels erhält man immer dann, wenn sich die Beschleunigungswerte sprunghaft ändern.
Darum fordert die Erfindung in einem ihrer Merkmale, daß die Bewegungsgesetze der Antriebe unabhängig davon, auf welche Art und Weise das Bewegungsgesetz erhalten wurde (Stauchen, Dehnen) und auch in den Übergangsbereichen im Hinblick auf die Weg-Zeit-Abhängigkeit nicht nur eine stetige sondern auch eine stetig differenzierbare Funktion darstellt. Mathematisch bedeutet dies, daß das Differential nach der Zeit in jedem Funktionspunkt eindeutig und stetig ist. Eine weitere Bedingung kommt hinzu, daß das resultierende Geschwindigkeit-Zeit-Gesetz stetig differenzierbar ist, d. h. daß das Beschleunigung-Zeit-Gesetz stetig ist und damit keine Sprünge aufweist. Voraussetzung ist, daß das Geschwindigkeit-Zeit-Gesetz in allen Punkten differenzierbar ist. Die Änderung der Beschleunigung erfolgt stetig und ohne Sprünge. Die Übergänge werden dann ruckfrei.For all the options described above, the laws of motion and also the transitions between the various laws of motion must be carried out in such a way that there is no significant acceleration in the machine, which would give rise to loads on bearings and increased noise pollution. Particularly high wear on the machine as well as a sudden increase in noise level are always obtained when the acceleration values change suddenly.
Therefore, the invention requires in one of its features that the motion laws of the drives regardless of how the motion law was obtained (upsetting, stretching) and also in the transition areas with regard to the distance-time dependence not only a constant but also represents a continuously differentiable function. Mathematically, this means that the differential is unique and continuous at each function point over time. Another condition is that the resulting speed-time law is continuously differentiable, ie that the acceleration-time law is constant and thus has no cracks. The prerequisite is that the speed-time law can be differentiated in all points. The acceleration changes continuously and without jumps. The transitions will then be smooth.
Im Rahmen der Erfindung bleibt es hierbei grundsätzlich beliebig, auf welche Art und Weise die Bewegungsgesetze der Antriebe konkret erzeugt werden, ob also mehrere Generatoren parallel zueinander arbeiten, ihre Ausgänge addiert und hierdurch das gewünschte Bewegungsgesetz entsteht oder ob Kurvengeneratoren eingesetzt werden.In the context of the invention, it remains basically arbitrary in what way the motion laws of the drives are concretely generated, that is, whether several generators work in parallel with one another, their outputs are added and thereby the desired motion law arises or whether curve generators are used.
Die mit der Erfindung zu erreichenden Vorteile sind vielfältig:
Aufgrund entsprechender Wahl der Bewegungsgesetze und den "weichen" Übergängen läßt sich sicherstellen, daß stets nur geringe Beschleunigungen auftreten. Die Folge ist, daß die Verpackungsmaschine im Hinblick auf das Material als auch die Maschine selbst stoßfrei und weitgehend ruckfrei und damit schonend gefahren werden kann. Die Folge ist eine Erhöhung der Lebensdauer und eine geringere Anfäl ligkeit für Reparaturen. Andererseits läßt sich eine derartige Maschine mit im Vergleich zum Stand der Technik wesentlich höheren Leistungen fahren.
Entscheidend ist, daß bei kontinuierlichen Betrieb, d.h. ohne Maschinenstop eine Änderung der Bewegungsgesetze vorgenommen wird. Auch hierdurch läßt sich eine weitere erhebliche Steigerung der Wirtschaftlichkeit erreichen.The advantages to be achieved with the invention are numerous:
Due to the appropriate choice of the laws of motion and the "soft" transitions, it can be ensured that only slight accelerations occur at all times. The result is that the packaging machine can be operated smoothly and largely smoothly and therefore gently with regard to the material and the machine itself. The result is an increase in service life and a lower incidence repairs. On the other hand, such a machine can be operated with significantly higher performances compared to the prior art.
It is crucial that the motion laws are changed during continuous operation, ie without a machine stop. This also makes it possible to achieve a further significant increase in economy.
Bereits angedeutet wurde, daß die Art und Weise der Erzeugung des resultierenden Bewegungsgesetzes mit den vorgeschilderten Eigenschaften im Rahmen der Erfindung grundsätzlich beliebig ist. Eine der Möglichkeiten besteht darin, als Ausgangsfunktionen mathematische Standardfunktionen zu wählen, die entsprechender vorgeschilderter Lehren eine Veränderung durch Dehnung oder Stauchung entlang der Zeitachse und/oder ein Ändern der Kurvenform und/oder Verknüpfen und/oder eine Überlagerung erfahren und auf diese Weise das resultierende Bewegungsgesetz ergeben. Als Standardfunktion werden bezeichnet Polynome, Exponentialfunktionen, logarithmische Funktionen und trigonometrische Funktionen (sin, cos, tg, ctg). Somit können als Resultierende nur solche Bewegungsgesetze erhalten werden, die aus den Standardfunktionen herleitbar sind.It has already been indicated that the manner of generating the resulting motion law with the above-described properties is basically arbitrary within the scope of the invention. One of the possibilities is to choose mathematical standard functions as output functions, which according to the above-described teachings experience a change due to expansion or compression along the time axis and / or a change in the curve shape and / or linking and / or an overlay and in this way the resulting motion law result. Standard functions are polynomials, exponential functions, logarithmic functions and trigonometric functions (sin, cos, tg, ctg). As a result, only those laws of motion can be obtained that can be derived from the standard functions.
Als ausdrückliche Alternative ist zu nennen, daß die Bewegungsgesetze während des Betriebes und ohne Zugriff auf Ausgangsfunktionen erzeugt werden können. Durch geeignete Rechenverfahren wird das die vorgenannten Bedingungen erfüllende resultierende Bewegungsgesetz ermittelt, also ein Synthesevorgang durchgeführt, der ohne die Verwendung von Ausgangsfunktionen auskommt.An explicit alternative is that the laws of motion can be generated during operation and without access to output functions. By means of suitable calculation methods, the resulting result fulfilling the aforementioned conditions becomes Law of motion is determined, i.e. a synthesis process carried out that does not require the use of output functions.
Ein entscheidender Vorzug der erfindungsgemäßen Packmaschine besteht darin, daß bei den durch die Sensoren erfassten Abweichungen sofort, d.h. in Echtzeit die Bewegungsgesetze der Antriebe verändert und an die momentan stehende Situation angepasst werden können. Somit werden Abweichungen nach Art eines Regelkreises sofort beseitigt. Allerdings besteht auch die grundsätzliche Möglichkeit, daß nicht sofort d.h. in Echtzeit auf die mit Hilfe der Sensoren gemessenen Abweichungen reagiert wird, sondern an zunächst momentan in Bearbeitung befindliche Bewegungsabschnitt entsprechend der bisherigen Einstellung abgearbeitet wird und erst bei einem der nächsten z.B. den unmittelbar anschließend Bewegungsabschnitt der Antrieb hinsichtlich seines Bewegungsgesetzes erst an die neue Situation angepasst und durch den Antrieb abgearbeitet wird. Der Antrieb reagiert dann zeitverzögert auf die erfassten Abweichungen.A decisive advantage of the packaging machine according to the invention is that the deviations detected by the sensors immediately, i.e. the motion laws of the drives can be changed in real time and adapted to the current situation. Deviations in the manner of a control loop are thus eliminated immediately. However, there is also the basic possibility that not immediately is reacted in real time to the deviations measured with the help of the sensors, but is processed at the movement section currently being processed in accordance with the previous setting and only at one of the next e.g. the immediately following movement section of the drive is only adapted to the new situation with regard to its movement law and is processed by the drive. The drive then responds to the detected deviations with a time delay.
Bei bestimmten Produkten sind zwischen der Phase der Befüllung und dem Verschließen des Behältnisses besonders hohe Anforderungen zu erfüllen, um sicherzustellen, daß ein Überschwappen der abgefüllten Flüssigkeiten während der Transportphase zwischen Befüllen und Verschließen mit Sicherheit unterbunden ist. Beim Abfüllen von Getränken in Bechern und Papierverpackungen treten die vorgeschilderten Beschwernisse in typischer Weise auf. In derartigen Fällen wird in einer speziellen Ausgestaltung empfohlen entweder die Beschleunigungs-Zeit-Funktion unter einem vorgegebenen Wert, dem Schwellwert, zu wählen oder aber die Ruckfunktion, die die Änderung der Beschleunigungswerte beschreibt, stetig auszuformen. Aus mathematischen Gründen liegt eine Stetigkeit immer dann vor, wenn die Beschleunigung-Zeit-Abhängigkeit eine stetig differenzierbare Funktion darstellt. Klarzustellen ist, daß im Unterschied zur allgemeinsten Forderung der Erfindung, nämlich der stetigen Differenzierbarkeit des Weg-Zeit-Profiles einzig die Stetigkeit der Geschwindigkeit-Zeit-Funktion resultiert. Eine stetige Differenzierbarkeit der Beschleunigung-Zeit-Funktion wird im allgemeinsten Fall nicht gefordert.In the case of certain products, particularly high requirements have to be met between the filling phase and the closing of the container in order to ensure that spillage of the filled liquids during the transport phase between filling and closing is reliably prevented. When filling beverages in cups and paper packaging, the above-mentioned complications typically occur. In In such a case, it is recommended in a special embodiment either to select the acceleration-time function below a predetermined value, the threshold value, or to continuously shape the jerk function, which describes the change in the acceleration values. For mathematical reasons, there is always a continuity if the acceleration-time dependence represents a continuously differentiable function. It must be clarified that, in contrast to the most general requirement of the invention, namely the constant differentiability of the path-time profile, only the continuity of the speed-time function results. A constant differentiation of the acceleration-time function is not required in the most general case.
Weitere Einzelheiten, Merkmale und Vorteile der Erfindung lassen sich dem nachfolgenden Beschreibungsteil entnehmen, in dem anhand der in der Zeichnung wiedergegebenen Prinzipskizze die erfindungsgemäß beanspruchte Steuereinheit näher beschrieben ist. Es zeigen:
- Figur 1
- eine Vorrichtung zum Ablängen des Verpackungspapieres,
- Figur 2
- das Aufbringen von Etiketten auf Flaschen
- Figure 1
- a device for cutting the packaging paper to length,
- Figure 2
- the application of labels to bottles
In Figur 1 wird das Verpackungspapier (1) in horizontaler Richtung endlos von links nach rechts einer rotierenden Schneidevorrichtung (2) zugeführt.In Figure 1, the packaging paper (1) is fed endlessly in the horizontal direction from left to right to a rotating cutting device (2).
Im Randbereich des Papiers finden sich Markierungen (3), die mit Hilfe eines Sensors (4) erfasst werden. Gleichzeitig wird die Vorschubbewegung (5) ebenfalls an die Auswerteeinheit (6) weitergegeben.
Entsprechend dem Papiervorschub und den Meßwerten des Sensors (4) wird über die Auswerteeinheit (6) der Antrieb (7) der Schneidevorrichtung (2) angesteuert. Der Sensor sorgt dafür, daß trotz Verschiebungen des Verpackungspapieres in Transportrichtung stets sicher gestellt ist, daß die Schneidevorrichtung (2) exakt in der gewünschten Position schneidet. Entscheidend ist, daß hierbei das Bewegungsgesetz der Schneidevorrichtung (2) eine stetige und auch stetig differenzierbare Weg-Zeit-Funktion ist sowie die Beschleunigungsänderungen gering gehalten werden, sodaß "weiche" Bewegungen sicher gestellt sind, die im Hinblick auf die Materialschonung, die Lebensdauer der Maschine, als auch die die maximale Leistung wesentliche Vorteile bringen.In the edge area of the paper there are markings (3) which are detected with the aid of a sensor (4). At the same time, the feed movement (5) is also passed on to the evaluation unit (6).
The drive (7) of the cutting device (2) is controlled via the evaluation unit (6) in accordance with the paper feed and the measured values of the sensor (4). The sensor ensures that despite displacements of the packaging paper in the direction of transport it is always ensured that the cutting device (2) cuts exactly in the desired position. It is crucial that the law of motion of the cutting device (2) is a constant and also continuously differentiable path-time function and the changes in acceleration are kept low, so that "soft" movements are ensured, which with regard to protecting the material, the life of the Machine, as well as the maximum performance bring significant advantages.
In Figur 2 ist ebenfalls in schematischer Darstellung ein Teil der Verpackungsmaschine gezeigt, in der Etiketten auf Flaschen aufgetragen werden. Hier werden die Flaschen (8) in horizontaler Richtung sukzessive an einem Etikettenspender (9) vorbeigeführt, wobei die jeweilige Position der Flasche unmittelbar vor dem Aufbringen des Etikettes über einen Sensor (10) erfaßt ist. Die Erfassung der Flaschenbewegung erfolgt hierbei mit Hilfe des Sensors (11).
Die Position der zugeführten Etikette wird über den Etikettensensor (12) erfaßt und die Informationen an die Auswerteeinheit (13) weitergegeben. Von dort werden entsprechende Steuerbefehle an den für den Vorschub der Etiketten verantwortlichen Antrieb (14) geleitet. Auch hier sorgt die Auswerteeinheit (13) dafür, daß Flasche (8) als auch das einzelne Etikett synchron aufeinander zugeführt und deshalb paßgenau miteinander verbunden werden. Bei etwaigen Abweichungen wird das Bewegungsgesetz zumindest des einen Antriebes, hier z. B. des Antriebes (14) für den Etikettenvorschub in seinem Bewegungsgesetz geändert und an die neuen Verhältnisse angepaßt, derart, daß die Weg-Zeit-Funktion des Bewegungsgesetzes des Motors eine stetige und stetig differenzierbare Funktion ist.FIG. 2 also shows a schematic representation of a part of the packaging machine in which labels are applied to bottles. Here the bottles (8) are successively moved past a label dispenser (9) in the horizontal direction, the respective position of the bottle being detected by a sensor (10) immediately before the label is applied. The movement of the bottle is recorded with the help of the sensor (11).
The position of the supplied label is detected by the label sensor (12) and the information passed on to the evaluation unit (13). From there, appropriate control commands are sent to the drive (14) responsible for feeding the labels. Here too, the evaluation unit (13) ensures that the bottle (8) and the individual label are fed synchronously to one another and are therefore connected to one another with a precise fit. In the event of any deviations, the law of motion of at least one drive, here z. B. the drive (14) for the label feed in its law of motion changed and adapted to the new conditions, such that the path-time function of the law of motion of the motor is a continuous and continuously differentiable function.
Für die Erfindung entscheidend ist, daß beim Verlust der Synchronität, der eine Antrieb in seinem Bewegungsgesetz verändert und an die Ist-Situation angepasst wird, wobei erfindungswesentlich ist, daß in jeder Phase das Bewegungsgesetz der Weg-Zeit-Funktion stets stetig und stetig differenzierbar ist.It is crucial for the invention that when the synchronicity is lost, the drive's motion law is changed and adapted to the actual situation, it being essential to the invention that the motion law of the travel-time function is always and continuously differentiable in every phase ,
Claims (6)
- Packaging machine for wrapping and/or enveloping products of changing dimensions, size and consistency in packaging materials such as papers, bags, cups and the like, comprising individual processing unit, to which in each case a drive comprising a control unit is assigned, and by means of which predetermined motions (position-time functions) are executed, and sensors for registering the operating state and, in the event of deviations from the synchronicity between the packaging material and the product to be packaged, the laws of motion are changed and the resulting position-time law is continuous and continuously differentiable, the resulting velocity-time law is continuously differentiable,
characterised in that
the laws of motion of the corresponding drive are scaled, that is to say undergo extension or compression with respect to the time axis. - Packaging machine according to claim 1,
characterised in that mathematical standard functions are the initial functions for forming the resulting law of motion. - Packaging machine according to claim 1,
characterised in that the resulting law of motion is generated during operation. - Packaging machine according to claims 1 to 3
characterised in that the changes of the law of motion take place in real time or else with a time delay in one of the following operating cycles. - Packaging machine according to one of the preceding claims, characterised in that the acceleration-time function lies below a predetermined value.
- Packaging machine according to one of the preceding claims, characterised in that the acceleration-time function of the resultants is continuously differentiable.
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19819934 | 1998-05-05 | ||
DE19819934 | 1998-05-05 | ||
DE19841138 | 1998-09-09 | ||
DE19841138A DE19841138A1 (en) | 1998-05-05 | 1998-09-09 | Packaging machine |
PCT/DE1999/001349 WO1999057012A2 (en) | 1998-05-05 | 1999-05-05 | Packaging machine |
Publications (2)
Publication Number | Publication Date |
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EP1077875A2 EP1077875A2 (en) | 2001-02-28 |
EP1077875B1 true EP1077875B1 (en) | 2003-01-29 |
Family
ID=26045955
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP99932625A Expired - Lifetime EP1077875B1 (en) | 1998-05-05 | 1999-05-05 | Packaging machine |
Country Status (3)
Country | Link |
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US (1) | US6601371B1 (en) |
EP (1) | EP1077875B1 (en) |
WO (1) | WO1999057012A2 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10207096A1 (en) * | 2002-02-20 | 2003-08-28 | Iwk Verpackungstechnik Gmbh | Method of controlling a packaging machine, involves checking relative position of call time with regard to pushing time, with call time being shifted when it is within a tolerance time period |
DE10259904A1 (en) * | 2002-12-20 | 2004-07-01 | Rovema Verpackungsmaschinen Gmbh | Packaging machine and method for controlling a packaging machine |
DE10261050A1 (en) * | 2002-12-24 | 2004-07-15 | Rovema - Verpackungsmaschinen Gmbh | Packaging machine and method for operating a packaging machine |
US8012279B2 (en) | 2003-09-20 | 2011-09-06 | Herma Gmbh | Labeling method and device |
US20050279463A1 (en) * | 2004-06-21 | 2005-12-22 | Ridenour Guy K | Apparatus for dispensing labels to an operator without delay |
CN107000877B (en) * | 2014-12-10 | 2020-03-10 | 利乐拉瓦尔集团及财务有限公司 | Method for operating a device for applying drinking straws to packaging containers and device operated by said method |
Family Cites Families (14)
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US4391079A (en) * | 1980-08-21 | 1983-07-05 | Hayssen Manufacturing Company | Control system for cyclic machines |
US4554774A (en) * | 1983-04-30 | 1985-11-26 | Shibuya Kogyo Co., Ltd. | System for synchronizing two or more process units |
DE3532839A1 (en) * | 1985-09-14 | 1987-03-26 | Overbeck Gmbh & Co | METHOD FOR ATTACHING DRINKING STRAWS TO PACKAGING CONTAINERS, AND APPARATUS FOR CARRYING OUT THE METHOD |
JPH01267136A (en) | 1988-04-07 | 1989-10-25 | Fuji Mach Co Ltd | Empty bag preventive apparatus in packaging machine |
US5138815A (en) | 1991-11-12 | 1992-08-18 | Doboy Packaging Machinery, Inc. | Microprocessor controlled SCR motor drives for wrapping machine |
DE4216949C2 (en) | 1992-05-22 | 1997-07-24 | Christoph Prof Dr Dr Cremer | Non-enzymatic method for in situ hybridization on specific samples |
DK145493D0 (en) | 1993-12-23 | 1993-12-23 | Dako As | ANTIBODY |
US5724786A (en) | 1994-09-28 | 1998-03-10 | Tetra Laval Holdings & Finance S.A. | Control system having error correcting apparatus |
EP0727487A1 (en) | 1995-02-17 | 1996-08-21 | K.U. Leuven Research & Development | Multiple-tumor aberrant growth genes |
JP4494529B2 (en) | 1995-11-16 | 2010-06-30 | ダコ デンマーク アクティーゼルスカブ | In situ hybridization to detect specific nucleic acid sequences in eukaryotic samples |
DE19610255B4 (en) | 1996-03-15 | 2004-11-04 | Universität Heidelberg | Process for the preparation of nucleic acid sequences and process for the detection of translocations between chromosomes |
US5910090A (en) * | 1996-05-31 | 1999-06-08 | Riverwood International Corporation | DC drive positioning system |
EP0825198A1 (en) | 1996-08-22 | 1998-02-25 | K.U. Leuven Research & Development | Plag gene family and tumorigenesis |
US5826406A (en) * | 1997-05-01 | 1998-10-27 | Tetra Laval Holdings & Finance, S.A. | Servo-controlled conveyor system for carrying liquid filled containers |
-
1999
- 1999-05-05 EP EP99932625A patent/EP1077875B1/en not_active Expired - Lifetime
- 1999-05-05 US US09/674,972 patent/US6601371B1/en not_active Expired - Lifetime
- 1999-05-05 WO PCT/DE1999/001349 patent/WO1999057012A2/en active IP Right Grant
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US6601371B1 (en) | 2003-08-05 |
EP1077875A2 (en) | 2001-02-28 |
WO1999057012A2 (en) | 1999-11-11 |
WO1999057012A3 (en) | 1999-12-29 |
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