EP1352831B1 - Method and apparatus for placing articles into containers - Google Patents

Method and apparatus for placing articles into containers Download PDF

Info

Publication number
EP1352831B1
EP1352831B1 EP03405198A EP03405198A EP1352831B1 EP 1352831 B1 EP1352831 B1 EP 1352831B1 EP 03405198 A EP03405198 A EP 03405198A EP 03405198 A EP03405198 A EP 03405198A EP 1352831 B1 EP1352831 B1 EP 1352831B1
Authority
EP
European Patent Office
Prior art keywords
containers
storage element
piece goods
conveyor
feed conveyor
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.)
Expired - Lifetime
Application number
EP03405198A
Other languages
German (de)
French (fr)
Other versions
EP1352831A1 (en
Inventor
Emil Hüppi
Peter Dübendorfer
Frank-Peter Kirgis
Markus Sidler
Jacob Van Kogelenberg
Stephan Schüle
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1352831A1 publication Critical patent/EP1352831A1/en
Application granted granted Critical
Publication of EP1352831B1 publication Critical patent/EP1352831B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • 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
    • B65B35/02—Supply magazines
    • B65B35/04—Supply magazines with buffer storage devices

Definitions

  • the invention relates to a method and a device for filling of piece goods in containers according to the preamble of patent claim 1 and 10, respectively.
  • a generic method is known from EP-A-0'856'465.
  • piece goods and containers are guided in countercurrent along a picker road.
  • the relative speed of the delivered piece goods to the delivered containers is controlled by the control of the last picker in the conveying direction of the container so that only completely filled containers leave the working area of this last picker.
  • This method has the disadvantage that the piece goods and containers must be supplied in countercurrent.
  • packaging systems must be integrated into the entire production cycle, this greatly limits the spatial design of the system.
  • EP-A-0'749'902 discloses a method for filling piece goods in containers, in which the piece goods and containers are transported in cocurrent along a Pickerstrasse. Here are supplied with a counter the delivered Piece goods counted. The empty containers are stowed in front of the picker road. Only after reaching a sufficient to fill a container number of empty containers is released into the work area of the picker.
  • EP-A-1'160'166 Another device for filling of piece goods in containers by means of picker, here delta robot, is described in EP-A-1'160'166. Again, the location and position is detected by means of an optical detection station, communicated to the control of the individual picker and the piece goods individually inserted by means of the gripper device of the picker in the container.
  • a storage element is used and the relative speed between a container conveyor and a piece goods conveyor is controlled as a function of this storage element.
  • the relative speed remains constant until a maximum storage capacity is reached.
  • the relative speed is adjusted before reaching this capacity.
  • the speed of the supply of the containers in the area of the picker line or the individual picker is controlled.
  • only the speed of feeding the piece goods is controlled in the above range or both speeds are controlled.
  • the storage element is for storing piece goods, in other embodiments it is for storing containers.
  • the storage element is preferably arranged in front of a last picker in the conveying direction of the container.
  • the speed of a conveying path of the container conveyor in the region of this last picker takes place in preferred embodiments as a function of the capacity of this last picker. However, it is also possible not to control the speed in this area and to operate the conveyor line at a constant speed.
  • the inventive method and the device can be achieved at a relatively high packaging performance, that the containers are always completely filled. In addition, it is possible to ensure that all piece goods are always packed.
  • the device has a first supply conveyor 1 for the supply of piece goods S.
  • the feed conveyor 1 is preferably a conveyor belt. Other conveyor types are also possible.
  • the piece goods S are generally delivered in disordered formation on the first supply conveyor 1.
  • usually at least one optical detection station not shown here for detecting the position and / or orientation of the individual piece goods S is present, as is known from the prior art. If they are delivered in an orderly manner, the optical detection station is unnecessary or it is merely used for quality control.
  • At least one second supply conveyor 2 for supplying containers B is present.
  • two supply conveyors 2 are shown, which extend along each side of the first supply conveyor 1 and at least approximately parallel thereto. However, it is also possible that they are at an angle to it.
  • the second feed conveyors may also be belt conveyors or other known types of conveyors, depending on the type of containers.
  • the conveying directions of the first and second feed conveyors can be represented by antiparallel vectors, that is, the piece goods S and B are transported in countercurrent. The conveying directions are each marked with large arrows in the figures.
  • the device further comprises a picker line with a plurality of pickers P N , P N-1 .
  • pickers P N , P N-1 have gripping means for detecting the piece goods S from the first feed conveyor 1 and for storing the piece goods S in the container B.
  • pickers are known in the art. For example, so-called delta robots are suitable.
  • the device additionally comprises a storage element which temporarily stores containers B and / or piece goods S which are not yet completely filled.
  • this storage element is used for temporary storage of containers B in the picker line, which can not be completely filled yet.
  • the second supply conveyor 2 is divided into at least two conveyor lines 20, 21.
  • at least in the conveying direction of the container B last and penultimate picker P N , P N-1 two different conveyor lines 20, 21 are assigned.
  • a storage element in the form of a separately driven intermediate conveyor 3 is arranged in each case.
  • This intermediate conveyor 3 preferably forms a continuation of the conveying sections, so that the containers B are stowed therein until the last picker P N has sufficient capacity to completely fill the container B reaching the second conveying section 21.
  • the intermediate conveyor 3 may be the same type of conveyor as the second conveyor 2, the containers B being retained on the intermediate conveyor 3 by retaining means of known type and thus stowed. In one variant, a so-called yo-yo memory is used.
  • the intermediate conveyor 3 Within the storage element, here the intermediate conveyor 3, the number of containers B are detected and monitored by means of position sensors and / or distance measuring means. These sensors and means are known and therefore not described in detail.
  • the relative speed between the first and the second supply conveyors 1, 2, in this case between the first supply conveyor 1 and the first conveying path 20, is controlled according to the invention as a function of the storage element.
  • a control unit 5 for this purpose is shown schematically only in FIG. Control units for conveying speeds per se are known and are therefore not described in detail. Preferably, the relative speed is already controlled before the maximum capacity of the memory element is reached.
  • the speed of the second conveying path 21 is preferably controlled as a function of the last picker P N. In this way, it is also possible to ensure that not only all containers B are completely filled, but that at least approximately all packaged goods S are also stored in container B.
  • the control unit 5 receives in a preferred embodiment, signals from at least one picker, preferably the last picker, which are taken into account in the control.
  • FIG. 2 shows a second embodiment. It has essentially the same features as the embodiment according to FIG. 1. Here, however, the conveying directions of the first and the at least one second supply conveyors 1, 2 run parallel to each other, ie in direct current.
  • FIGS. 3 and 4 show further embodiments.
  • the storage element is arranged outside the conveying direction of the container B. This arrangement can be used both in systems with direct and countercurrent promotion.
  • the storage element is a return conveyor 3 ', which runs at least approximately parallel to the second supply conveyor 2. At a removal point E those containers B, which can not be completely filled, on the return conveyor 3 'passed. If there is enough capacity in the picker line again, then these temporarily stored containers B are again placed on the second supply conveyor 2 at a return point R.
  • the return point R is located in the conveying direction of the container B upstream of the removal point E. Again, the relative speed of the two feed conveyor is again controlled in dependence on the storage capacity.
  • the intermediate conveyor 3 ' is preferably arranged in the region of the last picker P N in the conveying direction of the container B.
  • it may be a conveyor belt or other conveyor suitable for transporting the containers B.
  • a transport system with individually driven containers B is also possible here.
  • the return promotion to the second supply conveyor 2 takes place after the first in / first out (first in / out first) principle.
  • This embodiment is therefore also suitable for the packaging of frozen, refrigerated or otherwise perishable piece goods S.
  • the storage element is a container storage conveyor 3 "running at least approximately perpendicularly to the second supply conveyor 2. This promotes the container B, which can not be completely filled, from a sampling point E of the second Feed conveyor 2 away and back to this sampling point out.
  • the removal point E is preferably located in the region of the last picker P N in the conveying direction of the container B.
  • various types of conveyors can be used as a storage element again.
  • the conveyor is provided with a reversible drive, so that the piece goods S can be kept as close as possible to the removal point E.
  • This memory element works on the principle of First in / Last out (first in / last out).
  • FIG. 5 shows a fifth embodiment.
  • the first and the at least one second supply conveyor 1, 2 now run parallel to one another, with the piece goods S and container B being transported in direct current.
  • a storage element in the form of a cargo storage conveyor 4 is present at the downstream end of the first supply conveyor 1.
  • This runs at least approximately parallel to the conveying direction of the piece goods S and thus forms the extension of the first supply conveyor 1.
  • it consists of the same type of conveyor as the first supply conveyor 1, for example, it is a conveyor belt. He is driven separately.
  • its drive is reversible, so that the piece goods S remain as possible in the working area of the last picker P N.
  • the temporarily stored piece goods S are taken from the last picker P N in order to completely fill the containers B.
  • the relative speed of the two feed conveyor is again controlled in dependence on the storage capacity.
  • both piece goods S and container B can be temporarily stored in the same system. It is also possible to arrange memory elements already along the picker line and not only in the area of the last picker.
  • the inventive device allows an efficient implementation of cargo in containers with as complete as possible filling of the container, regardless of the nature of the relative transport direction of the cargo and container to each other. It can be integrated in particular in DC as well as in countercurrent systems.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)

Abstract

The method involves controlling the relative speed between the feed of the containers (B) and the feed of the piece goods (S) at the vicinity of the picking line, as a function of a filling level of at least one storage member. An Independent claim is also included for a goods insertion apparatus.

Description

Technisches GebietTechnical area

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum Einfüllen von Stückgütern in Behälter gemäss Oberbegriff des Patentanspruchs 1 beziehungsweise 10.The invention relates to a method and a device for filling of piece goods in containers according to the preamble of patent claim 1 and 10, respectively.

Stand der TechnikState of the art

Ein gattungsgemässes Verfahren ist aus EP-A-0'856'465 bekannt. Hier werden Stückgüter und Behälter im Gegenstrom entlang einer Pickerstrasse geführt. Dabei wird die Relativgeschwindigkeit der angelieferten Stückgüter zu den angelieferten Behältern von der Steuerung des in Förderrichtung der Behälter letzten Pickers so gesteuert, dass nur vollständig gefüllte Behälter den Arbeitsbereich dieses letzten Pickers verlassen. Dieses Verfahren weist den Nachteil auf, dass die Stückgüter und Behälter im Gegenstrom angeliefert werden müssen. Da Verpackungsanlagen jedoch in den gesamten Produktionskreislauf integriert werden müssen, schränkt dies die räumliche Gestaltung der Anlage sehr stark ein.A generic method is known from EP-A-0'856'465. Here piece goods and containers are guided in countercurrent along a picker road. The relative speed of the delivered piece goods to the delivered containers is controlled by the control of the last picker in the conveying direction of the container so that only completely filled containers leave the working area of this last picker. This method has the disadvantage that the piece goods and containers must be supplied in countercurrent. However, since packaging systems must be integrated into the entire production cycle, this greatly limits the spatial design of the system.

Auch EP-A-0'749'902 offenbart ein Verfahren zum Einfüllen von Stückgütern in Behälter, bei welchem die Stückgüter und Behälter im Gleichstrom entlang einer Pickerstrasse transportiert werden. Hier werden mit einer Zähleinrichtung die angelieferten Stückgüter gezählt. Die leeren Behälter werden vor der Pickerstrasse gestaut. Erst nach Erreichen einer zur Füllung eines Behälters genügenden Stückzahl wird jeweils ein leerer Behälter in den Arbeitsbereich der Picker freigegeben.Also, EP-A-0'749'902 discloses a method for filling piece goods in containers, in which the piece goods and containers are transported in cocurrent along a Pickerstrasse. Here are supplied with a counter the delivered Piece goods counted. The empty containers are stowed in front of the picker road. Only after reaching a sufficient to fill a container number of empty containers is released into the work area of the picker.

Eine weitere Vorrichtung zum Einfüllen von Stückgütern in Behälter mittels Picker, hier Deltaroboter, ist in EP-A-1'160'166 beschrieben. Auch hier wird die Lage und Position mittels einer optischen Erfassungsstation erfasst, der Steuerung der einzelnen Picker mitgeteilt und die Stückgüter einzeln mittels der Greifvorrichtung der Picker in die Behälter eingesetzt.Another device for filling of piece goods in containers by means of picker, here delta robot, is described in EP-A-1'160'166. Again, the location and position is detected by means of an optical detection station, communicated to the control of the individual picker and the piece goods individually inserted by means of the gripper device of the picker in the container.

Diese bekannten Systeme weisen den Nachteil auf, dass sie relativ rasch an Grenzen hinsichtlich ihrer erreichbaren Verpackungsleistung stossen.These known systems have the disadvantage that they encounter limits in terms of their achievable packaging performance relatively quickly.

Darstellung der ErfindungPresentation of the invention

Es ist deshalb Aufgabe der Erfindung, ein Verfahren und eine Vorrichtung zum Einfüllen von Stückgütern in Behälter zu schaffen, welche eine Steigerung der Verpackungsleistung ermöglichen.It is therefore an object of the invention to provide a method and apparatus for filling piece goods in containers, which allow an increase in packaging performance.

Diese Aufgabe lösen ein Verfahren und eine Vorrichtung mit den Merkmalen des Patentanspruchs 1 beziehungsweise 10.This object is achieved by a method and a device having the features of patent claims 1 and 10, respectively.

Erfindungsgemäss wird ein Speicherelement verwendet und die Relativgeschwindigkeit zwischen einem Behälterförderer und einem Stückgutförderer in Abhängigkeit dieses Speicherelementes gesteuert.According to the invention, a storage element is used and the relative speed between a container conveyor and a piece goods conveyor is controlled as a function of this storage element.

In einer einfachen Variante des Verfahrens bleibt die Relativgeschwindigkeit konstant, bis eine maximale Speicherkapazität erreicht ist. In einer bevorzugten Variante des Verfahrens wird bereits vor Erreichen dieser Kapazität die Relativgeschwindigkeit angepasst. Vorzugsweise wird die Geschwindigkeit der Zufuhr der Behälter in den Bereich der Pickerstrasse bzw. der einzelnen Picker gesteuert. In einer anderen Variante wird nur die Geschwindigkeit der Zufuhr der Stückgüter in den oben genannten Bereich gesteuert oder es werden beide Geschwindigkeiten gesteuert.In a simple variant of the method, the relative speed remains constant until a maximum storage capacity is reached. In a preferred variant of the method, the relative speed is adjusted before reaching this capacity. Preferably, the speed of the supply of the containers in the area of the picker line or the individual picker is controlled. In another variant, only the speed of feeding the piece goods is controlled in the above range or both speeds are controlled.

In einer Ausführungsform dient das Speicherelement zur Speicherung von Stückgütern, in anderen Ausführungsformen dient es zur Speicherung von Behältern.In one embodiment, the storage element is for storing piece goods, in other embodiments it is for storing containers.

Das Speicherelement ist vorzugsweise vor einem in Förderrichtung der Behälter letzten Picker angeordnet. Die Geschwindigkeit einer Förderstrecke des Behälterförderers im Bereich dieses letzten Pickers erfolgt in bevorzugten Ausführungsformen in Abhängigkeit der Kapazität dieses letzten Pickers. Es ist jedoch auch möglich, die Geschwindigkeit in diesem Bereich nicht zu steuern und die Förderstrecke mit gleichbleibender Geschwindigkeit zu betreiben.The storage element is preferably arranged in front of a last picker in the conveying direction of the container. The speed of a conveying path of the container conveyor in the region of this last picker takes place in preferred embodiments as a function of the capacity of this last picker. However, it is also possible not to control the speed in this area and to operate the conveyor line at a constant speed.

Mit dem erfindungsgemässen Verfahren und der Vorrichtung lässt sich bei einer relativ hohen Verpackungsleistung erreichen, dass die Behälter stets vollständig gefüllt sind. Zudem lässt sich erreichen, dass stets alle Stückgüter verpackt werden.With the inventive method and the device can be achieved at a relatively high packaging performance, that the containers are always completely filled. In addition, it is possible to ensure that all piece goods are always packed.

Weitere vorteilhafte Varianten des Verfahrens und vorteilhafte Ausführungsformen gehen aus den abhängigen Patentansprüchen hervor.Further advantageous variants of the method and advantageous embodiments will become apparent from the dependent claims.

Kurze Beschreibung der ZeichnungShort description of the drawing

Im folgenden wird der Erfindungsgegenstand anhand von bevorzugten Ausführungsbeispielen, welche in der beiliegenden Zeichnung dargestellt sind, erläutert. Es zeigen:

Figur 1
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer ersten Ausführungsform;
Figur 2
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer zweiten Ausführungsform;
Figur 3
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer dritten Ausführungsform;
Figur 4
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer vierten Ausführungsform und
Figur 5
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer fünften Ausführungsform.
In the following the subject invention will be explained with reference to preferred embodiments, which are illustrated in the accompanying drawings. Show it:
FIG. 1
a schematic representation of an inventive device in a first embodiment;
FIG. 2
a schematic representation of an inventive device in a second embodiment;
FIG. 3
a schematic representation of an inventive device in a third embodiment;
FIG. 4
a schematic representation of an inventive device in a fourth embodiment and
FIG. 5
a schematic representation of an inventive device in a fifth embodiment.

Wege zur Ausführung der ErfindungWays to carry out the invention

Anhand der in Figur 1 dargestellten ersten Ausführungsform werden die allgemeinen Grundelemente der erfindungsgemässen Vorrichtung beschrieben. Die Vorrichtung weist einen ersten Zufuhrförderer 1 zur Zufuhr von Stückgütern S auf. Der Zufuhrförderer 1 ist vorzugsweise ein Förderband. Andere Fördertypen sind jedoch auch möglich. Die Stückgüter S werden im allgemeinen in ungeordneter Formation auf dem ersten Zufuhrförderer 1 angeliefert. In diesem Fall ist üblicherweise mindestens eine hier nicht dargestellte optische Erfassungsstation zur Detektion der Lage und/oder Orientierung der einzelnen Stückgüter S vorhanden, wie sie aus dem Stand der Technik bekannt ist. Werden sie geordnet angeliefert, erübrigt sich die optische Erfassungsstation oder sie wird lediglich zur Qualitätskontrolle eingesetzt.Based on the first embodiment shown in Figure 1, the general basic elements of the inventive device will be described. The device has a first supply conveyor 1 for the supply of piece goods S. The feed conveyor 1 is preferably a conveyor belt. Other conveyor types are also possible. The piece goods S are generally delivered in disordered formation on the first supply conveyor 1. In this case, usually at least one optical detection station not shown here for detecting the position and / or orientation of the individual piece goods S is present, as is known from the prior art. If they are delivered in an orderly manner, the optical detection station is unnecessary or it is merely used for quality control.

Ferner ist mindestens ein zweiter Zufuhrförderer 2 zur Zufuhr von Behältern B vorhanden. Hier sind zwei Zufuhrförderer 2 dargestellt, welche sich entlang je einer Seite des ersten Zufuhrförderers 1 und mindestens annähernd parallel zu diesem erstrecken. Es ist jedoch auch möglich, dass sie sich in einem Winkel dazu befinden. Die zweiten Zufuhrförderer können je nach Art der Behälter ebenfalls Bandförderer oder andere bekannte Arten von Förderern sein. Im hier dargestellten Beispiel lassen sich die Förderrichtungen der ersten und zweiten Zufuhrförderer durch antiparallele Vektoren darstellen, das heisst, die Stückgüter S und Behälter B werden im Gegenstrom transportiert. Die Förderrichtungen sind in den Figuren jeweils mit grossen Pfeilen gekennzeichnet.Furthermore, at least one second supply conveyor 2 for supplying containers B is present. Here, two supply conveyors 2 are shown, which extend along each side of the first supply conveyor 1 and at least approximately parallel thereto. However, it is also possible that they are at an angle to it. The second feed conveyors may also be belt conveyors or other known types of conveyors, depending on the type of containers. In the example shown here, the conveying directions of the first and second feed conveyors can be represented by antiparallel vectors, that is, the piece goods S and B are transported in countercurrent. The conveying directions are each marked with large arrows in the figures.

Die Vorrichtung weist ferner eine Pickerstrasse mit mehreren Pickern PN, PN-1 auf. Hier sind lediglich vier Picker dargestellt, wobei je zwei die Stückgüter S in die Behälter B eines zweiten Zufuhrförderers 2 legen. Üblicherweise sind jedoch mehrere Picker in Förderrichtung hintereinander angeordnet. Die Picker PN, PN-1 verfügen über Greifmittel zur Erfassung der Stückgüter S vom ersten Zufuhrförderer 1 und zur Ablage der Stückgüter S in die Behälter B. Je nach Art der gewünschten Umsetzung werden die Stückgüter S einzeln oder in Gruppen erfasst beziehungsweise in die Behälter B umgesetzt. Diese Picker sind im Stand der Technik bekannt. Es eignen sich beispielsweise sogenannte Deltaroboter.The device further comprises a picker line with a plurality of pickers P N , P N-1 . Here, only four pickers are shown, with two each place the piece goods S in the container B of a second supply conveyor 2. Usually, however, several pickers are arranged one behind the other in the conveying direction. The pickers P N , P N-1 have gripping means for detecting the piece goods S from the first feed conveyor 1 and for storing the piece goods S in the container B. Depending on the type of desired Implementation of the cargo S individually or in groups detected or implemented in the container B. These pickers are known in the art. For example, so-called delta robots are suitable.

Erfindungsgemäss umfasst die Vorrichtung zudem ein Speicherelement, welches noch nicht vollständig gefüllte Behälter B und/oder Stückgüter S zwischenspeichert. Im hier dargestellten Beispiel dient dieses Speicherelement zur Zwischenspeicherung von Behältern B in der Pickerstrasse, welche noch nicht vollständig gefüllt werden können. Hierfür ist der zweite Zufuhrförderer 2 in mindestens zwei Förderstrecken 20, 21 unterteilt. Vorzugsweise sind mindestens der in Förderrichtung der Behälter B letzte und vorletzte Picker PN, PN-1 zwei verschiedenen Förderstrecken 20, 21 zugeordnet. Zwischen den Förderstrecken 20, 21 ist jeweils ein Speicherelement in Form eines separat angetriebenen Zwischenförderers 3 angeordnet. Dieser Zwischenförderer 3 bildet vorzugsweise eine Fortsetzung der Förderstrecken, so dass die Behälter B darin gestaut werden, bis der letzte Picker PN genügend Kapazität hat, um die auf die zweite Förderstrecke 21 gelangenden Behälter B vollständig zu füllen. Der Zwischenförderer 3 kann derselbe Fördertyp sein wie der zweite Förderer 2, wobei die Behälter B durch Rückhaltemittel bekannter Art auf dem Zwischenförderer 3 zurückgehalten und somit gestaut werden. In einer Variante wird ein sogenannter Jojo-Speicher verwendet. Es ist jedoch auch möglich, ein Transportsystem für den zweiten Zufuhrförderer 2 wie auch für den Zwischenförderer 3 einzusetzen, bei welchem jeder Behälter B mit einem eigenen Motor versehen ist und somit einzeln steuerbar ist. Dadurch ist eine berührungs- beziehungsweise staudrucklose Bewegung und Speicherung im Transportsystem möglich.According to the invention, the device additionally comprises a storage element which temporarily stores containers B and / or piece goods S which are not yet completely filled. In the example shown here, this storage element is used for temporary storage of containers B in the picker line, which can not be completely filled yet. For this purpose, the second supply conveyor 2 is divided into at least two conveyor lines 20, 21. Preferably, at least in the conveying direction of the container B last and penultimate picker P N , P N-1 two different conveyor lines 20, 21 are assigned. Between the conveyor lines 20, 21, a storage element in the form of a separately driven intermediate conveyor 3 is arranged in each case. This intermediate conveyor 3 preferably forms a continuation of the conveying sections, so that the containers B are stowed therein until the last picker P N has sufficient capacity to completely fill the container B reaching the second conveying section 21. The intermediate conveyor 3 may be the same type of conveyor as the second conveyor 2, the containers B being retained on the intermediate conveyor 3 by retaining means of known type and thus stowed. In one variant, a so-called yo-yo memory is used. However, it is also possible to use a transport system for the second supply conveyor 2 as well as for the intermediate conveyor 3, in which each container B is provided with its own motor and thus is individually controllable. As a result, it is possible to move and store in the transport system without touching or accumulation pressure.

Innerhalb des Speicherelementes, hier dem Zwischenförderer 3, werden die Anzahl Behälter B mittels Lagesensoren und/oder Distanzmessmittel detektiert und überwacht. Diese Sensoren und Mittel sind bekannt und werden deshalb nicht detailliert beschrieben.Within the storage element, here the intermediate conveyor 3, the number of containers B are detected and monitored by means of position sensors and / or distance measuring means. These sensors and means are known and therefore not described in detail.

Die Relativgeschwindigkeit zwischen dem ersten und dem zweiten Zufuhrförderer 1, 2, in diesem Fall zwischen dem ersten Zufuhrförderer 1 und der ersten Förderstrecke 20, wird erfindungsgemäss in Abhängigkeit des Speicherelementes gesteuert. Eine hierfür vorhandene Steuerungseinheit 5 ist lediglich in Figur 1 schematisch dargestellt. Steuerungseinheiten für Fördergeschwindigkeiten an sich sind bekannt und werden deshalb nicht detailliert beschrieben. Vorzugsweise wird die Relativgeschwindigkeit bereits gesteuert, bevor die maximale Kapazität des Speicherelementes erreicht ist. Die Geschwindigkeit der zweiten Förderstrecke 21 wird vorzugsweise in Abhängigkeit des letzten Pickers PN gesteuert. Auf diese Weise lässt sich zudem sicherstellen, dass nicht nur alle Behälter B vollständig gefüllt sind, sondern dass auch mindestens annähernd alle Stückgüter S in Behälter B abgelegt werden. Die Steuerungseinheit 5 erhält in einer bevorzugten Ausführungsform auch Signale von mindestens einem Picker, vorzugsweise des letzten Pickers, welche bei der Steuerung berücksichtigt werden.The relative speed between the first and the second supply conveyors 1, 2, in this case between the first supply conveyor 1 and the first conveying path 20, is controlled according to the invention as a function of the storage element. A control unit 5 for this purpose is shown schematically only in FIG. Control units for conveying speeds per se are known and are therefore not described in detail. Preferably, the relative speed is already controlled before the maximum capacity of the memory element is reached. The speed of the second conveying path 21 is preferably controlled as a function of the last picker P N. In this way, it is also possible to ensure that not only all containers B are completely filled, but that at least approximately all packaged goods S are also stored in container B. The control unit 5 receives in a preferred embodiment, signals from at least one picker, preferably the last picker, which are taken into account in the control.

In Figur 2 ist eine zweite Ausführungsform dargestellt. Sie weist im wesentlichen dieselben Merkmale auf wie die Ausführungsform gemäss Figur 1. Hier verlaufen jedoch die Förderrichtungen des ersten und des mindestens einen zweiten Zufuhrförderers 1, 2 parallel, also im Gleichstrom, zueinander.FIG. 2 shows a second embodiment. It has essentially the same features as the embodiment according to FIG. 1. Here, however, the conveying directions of the first and the at least one second supply conveyors 1, 2 run parallel to each other, ie in direct current.

In den Figuren 3 und 4 sind weitere Ausführungsformen dargestellt. Hier ist das Speicherelement ausserhalb der Förderrichtung der Behälter B angeordnet. Diese Anordnung lässt sich sowohl in Anlagen mit Gleich- wie auch mit Gegenstromförderung einsetzen. Im Ausführungsbeispiel gemäss Figur 3 ist das Speicherelement ein Rückförderer 3', welcher mindestens annähernd parallel zum zweiten Zufuhrförderer 2 verläuft. An einer Entnahmestelle E werden diejenigen Behälter B, welche nicht vollständig gefüllt werden können, auf den Rückförderer 3' geleitet. Ist wieder genügend Kapazität in der Pickerstrasse vorhanden, so werden diese zwischengespeicherten Behälter B an einer Rückgabestelle R wieder auf den zweiten Zufuhrförderer 2 gelegt. Die Rückgabestelle R befindet sich dabei in Förderrichtung der Behälter B stromaufwärts von der Entnahmestelle E entfernt. Auch hier wird wiederum die Relativgeschwindigkeit der zwei Zufuhrförderer in Abhängigkeit der Speicherkapazität gesteuert. Der Zwischenförderer 3' ist vorzugsweise im Bereich des in Förderrichtung der Behälter B letzten Pickers PN angeordnet. Er kann wiederum ein Förderband oder ein anderer für den Transport der Behälter B geeigneter Förderer sein. Ein Transportsystem mit einzeln angetriebenen Behältern B ist auch hier möglich. Die Rückförderung auf den zweiten Zufuhrförderer 2 erfolgt nach dem First in/First out (zuerst rein/zuerst raus) Prinzip. Diese Ausführungsform eignet sich deshalb auch für die Verpackung von gefrorenen, gekühlten oder anderweitig verderblichen Stückgütern S.FIGS. 3 and 4 show further embodiments. Here, the storage element is arranged outside the conveying direction of the container B. This arrangement can be used both in systems with direct and countercurrent promotion. In the exemplary embodiment according to FIG. 3, the storage element is a return conveyor 3 ', which runs at least approximately parallel to the second supply conveyor 2. At a removal point E those containers B, which can not be completely filled, on the return conveyor 3 'passed. If there is enough capacity in the picker line again, then these temporarily stored containers B are again placed on the second supply conveyor 2 at a return point R. The return point R is located in the conveying direction of the container B upstream of the removal point E. Again, the relative speed of the two feed conveyor is again controlled in dependence on the storage capacity. The intermediate conveyor 3 'is preferably arranged in the region of the last picker P N in the conveying direction of the container B. In turn, it may be a conveyor belt or other conveyor suitable for transporting the containers B. A transport system with individually driven containers B is also possible here. The return promotion to the second supply conveyor 2 takes place after the first in / first out (first in / out first) principle. This embodiment is therefore also suitable for the packaging of frozen, refrigerated or otherwise perishable piece goods S.

In der Ausführungsform gemäss der Figur 4 ist das Speicherelement ein mindestens annähernd senkrecht zum zweiten Zufuhrförderer 2 verlaufender Behälter-Speicherförderer 3''. Dieser fördert die Behälter B, welche noch nicht vollständig gefüllt werden können, von einer Entnahmestelle E vom zweiten Zufuhrförderer 2 weg und wieder zu dieser Entnahmestelle E hin. Die Entnahmestelle E befindet sich vorzugsweise im Bereich des in Förderrichtung der Behälter B letzten Pickers PN. Auch hier lassen sich wieder verschiedene Arten von Förderern als Speicherelement einsetzen. Vorzugsweise ist der Förderer mit einem reversiblen Antrieb versehen, so dass die Stückgüter S möglichst im Bereich der Entnahmestelle E gehalten werden können. Dieses Speicherelement funktioniert nach dem Prinzip First in/Last out (zuerst rein/zuletzt raus).In the embodiment according to FIG. 4, the storage element is a container storage conveyor 3 "running at least approximately perpendicularly to the second supply conveyor 2. This promotes the container B, which can not be completely filled, from a sampling point E of the second Feed conveyor 2 away and back to this sampling point out. The removal point E is preferably located in the region of the last picker P N in the conveying direction of the container B. Again, various types of conveyors can be used as a storage element again. Preferably, the conveyor is provided with a reversible drive, so that the piece goods S can be kept as close as possible to the removal point E. This memory element works on the principle of First in / Last out (first in / last out).

In Figur 5 ist eine fünfte Ausführungsform dargestellt. Hier werden nicht die Behälter B sondern die Stückgüter S zwischengespeichert. In dieser Ausführungsform verlaufen nun der erste und der mindestens eine zweite Zufuhrförderer 1, 2 parallel zueinander, wobei die Stückgüter S und Behälter B im Gleichstrom transportiert werden. Am stromabwärts angeordneten Ende des ersten Zufuhrförderers 1 ist ein Speicherelement in Form eines Stückgut-Speicherförderers 4 vorhanden. Dieser verläuft mindestens annähernd parallel zur Förderrichtung der Stückgüter S und bildet somit die Verlängerung des ersten Zufuhrförderers 1. Vorzugsweise besteht er aus demselben Fördertyp wie der erste Zufuhrförderer 1, beispielsweise ist er ein Förderband. Er ist jedoch separat angetrieben. Vorzugsweise ist sein Antrieb dabei reversierbar, so dass die Stückgüter S möglichst im Arbeitsbereich des letzten Pickers PN verbleiben. Bei fehlenden Stückgütern S auf dem ersten Zufuhrförderer 1 werden die zwischengespeicherten Stückgüter S vom letzten Picker PN genommen, um die Behälter B vollständig zu füllen. Auch hier wird wiederum die Relativgeschwindigkeit der zwei Zufuhrförderer in Abhängigkeit der Speicherkapazität gesteuert.FIG. 5 shows a fifth embodiment. Here are not the container B but the piece goods S cached. In this embodiment, the first and the at least one second supply conveyor 1, 2 now run parallel to one another, with the piece goods S and container B being transported in direct current. At the downstream end of the first supply conveyor 1, a storage element in the form of a cargo storage conveyor 4 is present. This runs at least approximately parallel to the conveying direction of the piece goods S and thus forms the extension of the first supply conveyor 1. Preferably, it consists of the same type of conveyor as the first supply conveyor 1, for example, it is a conveyor belt. He is driven separately. Preferably, its drive is reversible, so that the piece goods S remain as possible in the working area of the last picker P N. In the case of missing piece goods S on the first supply conveyor 1, the temporarily stored piece goods S are taken from the last picker P N in order to completely fill the containers B. Again, the relative speed of the two feed conveyor is again controlled in dependence on the storage capacity.

Kombinationen der obengenannten Ausführungsformen sind möglich. So lassen sich in derselben Anlage sowohl Stückgüter S wie auch Behälter B zwischenspeichern. Auch ist es möglich, bereits entlang der Pickerstrasse und nicht nur im Bereich des letzten Pickers Speicherelemente anzuordnen.Combinations of the above embodiments are possible. Thus, both piece goods S and container B can be temporarily stored in the same system. It is also possible to arrange memory elements already along the picker line and not only in the area of the last picker.

Die erfindungsgemässe Vorrichtung ermöglicht eine effiziente Umsetzung von Stückgütern in Behälter bei möglichst vollständiger Befüllung der Behälter und zwar unabhängig von der Art der relativen Transportrichtung der Stückgüter und Behälter zueinander. Sie lässt sich insbesondere in Gleichstrom- wie auch in Gegenstromanlagen integrieren.The inventive device allows an efficient implementation of cargo in containers with as complete as possible filling of the container, regardless of the nature of the relative transport direction of the cargo and container to each other. It can be integrated in particular in DC as well as in countercurrent systems.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

SS
Stückgütercargo
BB
Behältercontainer
PN P N
letzter Pickerlast picker
PN-1 P N-1
vorletzter Pickerpenultimate picker
Ee
Entnahmestellesampling point
RR
Rückgabestellereturn point
11
erster Zufuhrfördererfirst feed conveyor
22
zweiter Zufuhrförderersecond feed conveyor
2020
erste Förderstreckefirst conveyor line
2121
zweite Förderstreckesecond conveyor line
2222
dritte Förderstreckethird conveyor line
33
Zwischenfördererintermediate conveyor
3'3 '
Rückfördererreturn conveyor
3''3 ''
Behälter-SpeicherfördererContainer storage conveyor
44
Stückgut-SpeicherfördererGeneral cargo storage conveyor
55
Steuerungseinheitcontrol unit

Claims (17)

  1. Method of inserting piece goods (S) into containers (B) by means of a picking line, wherein the relative speed between the feed of the containers (B) and the feed of the piece goods (S) being controlled in the area of the picking line, characterized in that the control of the relative speed is carried out as a function of a filling level of at least one storage element (3, 3', 3'', 4) for storing the container (B) and/or the piece goods (S).
  2. Method according to claim 1, characterized in that the at least one storage element (3, 3', 3'') stores at least some of the containers (B).
  3. Method according to one of the claims 1 to 2, characterized in that at least some of the containers (B) in the area of a last picker (PN) in the picking line, in the conveying direction of the containers (B), are led into the at least one storage element (3, 3', 3'').
  4. Method according to one of the claims 1 to 3, characterized in that the containers (B) are kept in the at least one storage element (3, 3', 3") until a last picker (PN) in the picking line in the conveying direction of the containers (B) has sufficient capacity to fill said containers completely.
  5. Method according to one of the claims 1 to 4, characterized in that the at least one storage element (3, 3', 3", 4) operates in accordance with the first in/first out principle or the first in/last out principle.
  6. Method according to one of the claims 1 to 5, characterized in that containers (B) stored in the at least one storage element (3', 3") are kept outside the conveying direction of the containers (B).
  7. Method according to one of the claims 1 to 6, characterized in that the speed of a conveying section (21) for the containers (B) which is located in the area of a last picker (PN) in the conveying direction of the containers (B) is controlled as a function of the capacity of this picker (PN), in particular of the control of this picker (PN).
  8. Method according to claim 1, characterized in that the at least one storage element (4) stores at least some of the piece goods (S).
  9. Method according to one of the claims 1 to 8, characterized in that the containers (B) and piece goods (S) are transported in cocurrent or in countercurrent outside the at least one storage element (3, 3', 3'', 4) and in the area of the picking line.
  10. Apparatus for inserting piece goods (S) into containers (B), having a first feed conveyor (1) for feeding the piece goods (S), having a second feed conveyor (2) for feeding the containers (B), having a picking line for inserting the piece goods (S) into the containers (B) and having a control unit (5) for controlling the relative speed between the second feed conveyor (2) and the first feed conveyor (1), characterized in that there is at least one storage element (3, 3', 3", 4) for storing the containers (B) and/or the piece goods (S), and in that the control unit (5) controls the relative speed as a function of a filling level of the at least one storage element (3, 3, 3'', 4).
  11. Apparatus according to claim 10, characterized in that the at least one storage element (3, 3, 3'', 4) is arranged in the area of the picking line.
  12. Apparatus according to one of the claims 10 or 11, characterized in that the at least one storage element (3, 3, 3", 4) is a conveying element.
  13. Apparatus according to one of the claims 10 to 12, characterized in that the second feed conveyor (2) is subdivided into at least two conveying sections (20, 21), and in that the at least one storage element (3) is arranged between the conveying sections (20, 21).
  14. Apparatus according to one of the claims 10 to 13, characterized in that the at least one storage element is a reverse conveyor (3') that runs at least approximately parallel to the second feed conveyor (2) which conveys the containers (B) from a removal point (E) back to the second feed conveyor (2) at a return point (R) placed upstream in the conveying direction of the containers (B).
  15. Apparatus according to one of the claims 10 to 14, characterized in that the at least one storage element (3") is a container storage conveyor (3") which runs at least approximately at right angles to the second feed conveyor (2), which conveys the containers (B) away from a removal point (E) from the second feed conveyor (2) and back to this removal point (E) again.
  16. Apparatus according to one of the claims 10 to 12, characterized in that the at least one storage element is a piece goods storage conveyor (4), which runs at least approximately parallel to the first feed conveyor (1) in the conveying direction and which, in the conveying direction of the piece goods (S), is arranged downstream at the end of the first feed conveyor (1).
  17. Apparatus according to one of the claims 10 to 16, characterized in that the first and second feed conveyors (1, 2) can be moved in cocurrent or in countercurrent in relation to each other.
EP03405198A 2002-04-02 2003-03-21 Method and apparatus for placing articles into containers Expired - Lifetime EP1352831B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH5472002 2002-04-02
CH5472002 2002-04-02

Publications (2)

Publication Number Publication Date
EP1352831A1 EP1352831A1 (en) 2003-10-15
EP1352831B1 true EP1352831B1 (en) 2006-07-12

Family

ID=28048295

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03405198A Expired - Lifetime EP1352831B1 (en) 2002-04-02 2003-03-21 Method and apparatus for placing articles into containers

Country Status (6)

Country Link
US (1) US6901726B2 (en)
EP (1) EP1352831B1 (en)
AT (1) ATE332840T1 (en)
CA (1) CA2423949C (en)
DE (1) DE50304180D1 (en)
ES (1) ES2268311T3 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7775373B2 (en) 2004-12-10 2010-08-17 Scanvaegt International A/S Method and a system for batching of objects
EP2586712A1 (en) 2011-10-31 2013-05-01 Veltru AG Method and device for inserting products into containers in a robot street
EP2669202A1 (en) 2012-05-31 2013-12-04 Multivac Sepp Haggenmüller GmbH & Co. KG Method for picker line and packaging plant

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NZ518851A (en) 2002-05-08 2004-12-24 Anzpac Systems Ltd Sorting apparatus and method
EP1586505B9 (en) * 2004-04-16 2007-10-31 Maja-Maschinenfabrik Hermann Schill GmbH & Co. KG Machine and method for orderly depositing flexible products in a container.
ITMI20040787A1 (en) * 2004-04-22 2004-07-22 Vortex Systems Srl SYSTEM OF TRANSFER OF FOOD PRODUCTS THROUGH COLLECTORS
DE102005023810A1 (en) * 2005-05-24 2006-11-30 Robert Bosch Gmbh Apparatus and method for filling containers
PL2040984T3 (en) * 2006-07-04 2010-06-30 Bosch Gmbh Robert Method for filling containers with bulk goods
DE102006061571A1 (en) 2006-12-27 2008-07-03 Robert Bosch Gmbh Packaged goods transferring method, involves transporting stacking position by stacking position conveyor within region of delivery of goods, where position is parallel but against conveying direction of goods conveyor
US20080277405A1 (en) * 2007-05-11 2008-11-13 Leach Michael P Dispensing Apparatus Containing a Glove Stack and Method of Folding Gloves Therein
US8931240B2 (en) 2008-10-27 2015-01-13 Formax, Inc. Shuttle system and method for moving food products into packaging
IT1394135B1 (en) * 2009-03-25 2012-05-25 Opm S P A METHOD AND PACKAGING SYSTEM TO INSERT PRODUCTS IN CONTAINERS THROUGH A ROBOT SERIES
EP2236424B1 (en) * 2009-03-30 2016-02-24 Veltru AG Method and device for inserting individual products into containers in a robot street
ES2418533T3 (en) * 2009-04-09 2013-08-14 Bosch Packaging Technology, Inc. Continuous motion line feeder
DE102009028441A1 (en) 2009-08-11 2011-02-17 Robert Bosch Gmbh Concept for increasing the efficiency of robot packaging systems
NL2003771C2 (en) * 2009-11-09 2011-05-11 Blueprint Holding Bv TRANSITION COMPOSITION.
IT1401405B1 (en) * 2010-07-30 2013-07-26 Ct Pack Srl MACHINE FOR PACKAGING ITEMS IN CONTAINERS.
EP2471728B1 (en) 2011-01-03 2019-06-12 Krones AG Assembly of several container treatment and/or container handling and/or container transport modules coupled together and method for transporting, handling and/or treating containers
CN102730244A (en) * 2011-04-13 2012-10-17 苏州澳昆智能机器人技术有限公司 Milk bag casing system
EP2520497B1 (en) 2011-05-04 2016-10-19 Matthias Ehrat Method for inserting individual products into containers in a robotic line
US8781616B2 (en) * 2011-06-27 2014-07-15 The Procter & Gamble Company Robotic unscrambler and method
EP2664553B1 (en) 2012-05-03 2017-09-20 Matthias Ehrat Method for inserting individual products into containers in a robotic line
DE102012011587B4 (en) * 2012-06-13 2016-03-31 Romaco Pharmatechnik Gmbh Device with conversion device, provisioning station, storage space and buffer space as well as position detection
US10766645B2 (en) * 2015-08-14 2020-09-08 Intercontinental Great Britain LLC Food conveyor and packaging systems and methods
EP3525990B1 (en) 2016-10-12 2022-11-30 ABB Schweiz AG A method and a system for controlling a velocity of a conveyance path
US11834211B2 (en) * 2019-09-19 2023-12-05 Korber Tissue S.p.A. Packing machine for paper product converting line and method for packing of paper products
DE102020203695A1 (en) 2020-03-23 2021-09-23 Multivac Sepp Haggenmüller Se & Co. Kg PACKAGING SYSTEM FOR FILLING DEEP-DRAWING CONTAINERS AND CARDBOARDS AND PROCESSES
IT202000016654A1 (en) * 2020-07-09 2022-01-09 Gd Spa DEVICE AND PROCEDURE FOR PACKAGING ITEMS TO BE PACKAGED
DE102021107944A1 (en) 2021-03-30 2022-10-06 Multivac Sepp Haggenmüller Se & Co. Kg Process for inserting products into trays and loading station
WO2024110175A1 (en) * 2022-11-21 2024-05-30 Gea Food Solutions Germany Gmbh System for processing food portions and method for operating a system of this type

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3729324A1 (en) * 1987-09-02 1989-03-16 Henkel Kgaa METHOD FOR SETTING PINS IN A TRAY AND DEVICE FOR CARRYING OUT THE METHOD
US5477663A (en) * 1993-02-17 1995-12-26 The West Company Robotic tray loader system, method and apparatus
NZ293837A (en) * 1994-10-28 1997-08-22 Riverwood Int Corp Container packaging machine; groups of containers pushed into open carrier sleeve
DE19522368C2 (en) 1995-06-20 1997-04-30 Schubert Gerhard Gmbh Picker Street
US5771657A (en) * 1996-05-07 1998-06-30 Merck Medco Managed Care, Inc. Automatic prescription filling, sorting and packaging system
FR2754239A1 (en) * 1996-10-08 1998-04-10 Euresko Supply system for packaging station for multiple items e.g. chocolates
EP0856465B1 (en) 1997-01-30 2001-09-05 Gerhard Schubert GmbH Tray conveyor moving in the opposite direction to the picker system
DE29817239U1 (en) 1997-11-07 1998-11-26 Hans Paal KG Maschinenbau (GmbH & Co.), 73630 Remshalden Intermediate storage device
CA2347572C (en) * 2000-05-31 2009-10-20 Sig Pack Systems Ag Method and apparatus for forming item groups
US6438928B1 (en) * 2000-12-15 2002-08-27 Supertonics, Llc Machine for automated boxing of soft stacked items
US6799411B2 (en) * 2002-02-13 2004-10-05 Sig Pack Systems, Ag Apparatus and process for inserting individual piece goods into containers

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7775373B2 (en) 2004-12-10 2010-08-17 Scanvaegt International A/S Method and a system for batching of objects
US8222543B2 (en) 2004-12-10 2012-07-17 Scanvaegt International A/S Method and a system for batching of objects
EP2586712A1 (en) 2011-10-31 2013-05-01 Veltru AG Method and device for inserting products into containers in a robot street
EP2669202A1 (en) 2012-05-31 2013-12-04 Multivac Sepp Haggenmüller GmbH & Co. KG Method for picker line and packaging plant

Also Published As

Publication number Publication date
CA2423949C (en) 2011-10-18
US20030182898A1 (en) 2003-10-02
ES2268311T3 (en) 2007-03-16
DE50304180D1 (en) 2006-08-24
EP1352831A1 (en) 2003-10-15
US6901726B2 (en) 2005-06-07
ATE332840T1 (en) 2006-08-15
CA2423949A1 (en) 2003-10-02

Similar Documents

Publication Publication Date Title
EP1352831B1 (en) Method and apparatus for placing articles into containers
DE19522189C2 (en) Grouping and buffering device
EP1681247B1 (en) Device for the sequence formation of cargo carriers using a buffer warehouse and method of intermediate storage
EP2669202B1 (en) Method for picker line and packaging plant
DE102006015689B4 (en) System and method for controlling a conveyor system using computer-aided image recognition
EP2996944B1 (en) Method of handling containers for groups of goods, including packages
EP2586712B2 (en) Method and device for inserting products into containers in a robot street
EP2236424A1 (en) Method and device for inserting individual products into containers in a robot street
EP2958838A1 (en) Device and method for transporting objects
DE102013202872A1 (en) Method for aligning or grouping number of series of one after other transported articles or containers, involves contacting each unit load to be moved or container using manipulation unit, which is movable in horizontal direction
EP2874926A1 (en) Method and device for loading a palette
CH709841A1 (en) Transfer device for transferring elongate, at least approximately hollow-cylindrical product units on a conveyor belt to supply a packing unit.
EP2343521A2 (en) Method and device for detection of goods on a conveyor line
DE102009015618B4 (en) Item feeder
DE2630438C2 (en)
DE3909865C2 (en)
EP2008952B1 (en) Method for storing and conveying products and a low-pressure storage device therefor
EP2254815B1 (en) Intermediate storage for bulk goods
DE19712839A1 (en) Picking process, picking system for carrying out the process and sorting buffer for this
DE19912392A1 (en) Chain store conveyor for intermediate storage of food packages e.g. chocolate bars on production line
EP2008953A1 (en) Assembly and method for conveying objects
DE2117719C3 (en) Machine for loading or unloading bottle crates, cardboard boxes and the like
DE202016103890U1 (en) picking
DE102007004324B4 (en) Transport device for transporting objects
EP3272678B1 (en) Picking system and method of removal of objects from a picking system

Legal Events

Date Code Title Description
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

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

17P Request for examination filed

Effective date: 20031117

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: ROBERT BOSCH GMBH

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

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

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20060712

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: 20060712

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: 20060712

Ref country code: IE

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: 20060712

Ref country code: SI

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: 20060712

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: 20060712

Ref country code: FI

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: 20060712

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: CH

Ref legal event code: NV

Representative=s name: ISLER & PEDRAZZINI AG

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REF Corresponds to:

Ref document number: 50304180

Country of ref document: DE

Date of ref document: 20060824

Kind code of ref document: P

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20060808

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

Ref country code: SE

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: 20061012

Ref country code: BG

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: 20061012

Ref country code: DK

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: 20061012

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

Ref country code: PT

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: 20061212

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2268311

Country of ref document: ES

Kind code of ref document: T3

EN Fr: translation not filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20070413

REG Reference to a national code

Ref country code: CH

Ref legal event code: PCAR

Free format text: ISLER & PEDRAZZINI AG;POSTFACH 1772;8027 ZUERICH (CH)

BERE Be: lapsed

Owner name: ROBERT BOSCH G.M.B.H.

Effective date: 20070331

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

Ref country code: BE

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

Effective date: 20070331

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 NON-PAYMENT OF DUE FEES

Effective date: 20070331

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

Ref country code: FR

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: 20070511

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: 20061013

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

Ref country code: AT

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

Effective date: 20070321

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

Ref country code: EE

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: 20060712

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

Ref country code: FR

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: 20060712

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

Ref country code: LU

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

Effective date: 20070321

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

Effective date: 20060712

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

Effective date: 20070113

Ref country code: TR

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: 20060712

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20120323

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20120326

Year of fee payment: 10

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: LI

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

Effective date: 20130331

Ref country code: CH

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

Effective date: 20130331

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20140610

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 NON-PAYMENT OF DUE FEES

Effective date: 20130322

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 50304180

Country of ref document: DE

Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 50304180

Country of ref document: DE

Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20200312

Year of fee payment: 18

Ref country code: GB

Payment date: 20200311

Year of fee payment: 18

Ref country code: DE

Payment date: 20200310

Year of fee payment: 18

Ref country code: IT

Payment date: 20200312

Year of fee payment: 18

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 50304180

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MM

Effective date: 20210401

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

Effective date: 20210321

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

Ref country code: NL

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

Effective date: 20210401

Ref country code: GB

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

Effective date: 20210321

Ref country code: DE

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

Effective date: 20211001

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

Ref country code: IT

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

Effective date: 20210321