EP2426053B1 - Closing assembly and method for automated closing of flexible containers and large bags - Google Patents
Closing assembly and method for automated closing of flexible containers and large bags Download PDFInfo
- Publication number
- EP2426053B1 EP2426053B1 EP20110007283 EP11007283A EP2426053B1 EP 2426053 B1 EP2426053 B1 EP 2426053B1 EP 20110007283 EP20110007283 EP 20110007283 EP 11007283 A EP11007283 A EP 11007283A EP 2426053 B1 EP2426053 B1 EP 2426053B1
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- EP
- European Patent Office
- Prior art keywords
- closure
- constriction
- filling
- adjustment
- closure arrangement
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- 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.)
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Images
Classifications
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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
- B65B7/00—Closing containers or receptacles after filling
- B65B7/02—Closing containers or receptacles deformed by, or taking-up shape, of, contents, e.g. bags, sacks
- B65B7/06—Closing containers or receptacles deformed by, or taking-up shape, of, contents, e.g. bags, sacks by collapsing mouth portion, e.g. to form a single flap
- B65B7/12—Closing containers or receptacles deformed by, or taking-up shape, of, contents, e.g. bags, sacks by collapsing mouth portion, e.g. to form a single flap and twisting
-
- 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
- B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
- B65B51/04—Applying separate sealing or securing members, e.g. clips
- B65B51/046—Applying a closure element to the mouths of bags
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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
- B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
- B65B51/04—Applying separate sealing or securing members, e.g. clips
- B65B51/08—Applying binding material, e.g. to twisted bag necks
Definitions
- the present invention relates to a closure arrangement for flexible containers, in particular large bags, with a closing device, which is arranged in an adjusting device and is adjustable between a rest position and a working position. In its working position, the closing device is located in the filling area of a flexible container arranged on the closing arrangement and is designed for attaching a closure closing the filling area.
- flexible containers and the like refer to the like. also "large bags”, i. so-called FIBCs (Flexible Intermediate Bulk Containers), which are also referred to as “big bags” and usually have a volume of about 500 to 2000 liters.
- FIBCs Flexible Intermediate Bulk Containers
- Such flexible containers often have a cuboidal or cylindrical shape, at their top often suspension loops and take filled about the footprint of a Euro pallet.
- Large bags are made of sewn or welded flexible fabric and can be additionally coated on the inside or have a foil inliner. They serve as transport packaging of bulk goods of all kinds (food, medicines, building materials, etc.).
- filling stations usually work only semi-automatically. While the filling and dosing process is largely automatic, an operator is required especially for hanging a flexible container or large sack and usually also for closing at the bottleneck, if necessary galleryrafft with a capping the filling and with a closure (cord, wire, cable ties , Clip).
- Such a filling station is for example from the EP 1 858 778 B1 in which the closure is attached by welding the filling area.
- the opposite walls of the filling area between two strips are pressed together and thermally fused.
- welded closures are not suitable for reusable containers.
- Another method is from the US 2003/0217528 A1 known.
- the large bag is first filled via a filling pipe connected to the filling, then the filling area is closed.
- the filling area fixed to the filling tube is rotated relative to the bag body, either by turning the filling tube or by rotating the bag body (for example, by rotating a platform carrying the bag body).
- the filling area is thereby twisted and forms a constriction, which is then fixed manually or mechanically by attaching a closure.
- a closure element In order to achieve a closure that is as dense as possible, a closure element should be attached as precisely as possible to the constriction in the area of the twist and fix it, since the filling area at the twisted constriction is maximally gathered and sealed. Due to the relatively high positional tolerances with which a flexible container, in particular a large bag in its filling is connected to a filling tube, as well as variations in material properties in the filling, different set characteristics of the contents and fluctuating filling levels in particular, the vertical position of a bottleneck produced by twisting only difficult to reproduce and predict. This complicates a fully mechanized attachment of the closure in the desired closing and sealing quality.
- closure arrangement in which a detection device is provided, by means of which the position of a bottleneck of the flexible container attached in the filling area can be detected and which emits a control signal defining the working position to the adjusting device, so that the closing device in its working position for Attaching the closure to the detected position of the Bottleneck of the filling area is positionable. This ensures that the working position for attaching the closure is always adapted to the actual position of the constriction and the closure can always be attached to the most suitable point of the filling area.
- the detection device detects the position of the bottleneck and, on the other hand, processes this information and emits a corresponding actuating signal defining the working position or the position of the bottleneck corresponding to the adjustment position.
- the closure device used can be relatively easily formed. For example, it does not need to apply large forces in order to form a constriction for attaching the closure by additionally tightening the filling area at a position deviating from the already formed constriction.
- the closure is always attached to the twisted bottleneck, so the most shirred and thus "densest" point of the filling area.
- the inventive method according to claim 13 comprises in addition to the usual process steps: providing a flexible container, forming a bottleneck at a filling area and attaching a closure also detecting the position of the bottleneck by means of a detection device, the dispensing of a detected position of the bottleneck corresponding control signal to a Adjustment and the setting of the bottleneck corresponding working position of a closing device by means of adjustment.
- this method can also be used to reliably close a wide variety of flexible containers and / or large-bag containers at a bottleneck formed in the filling area without the need for additional retrofitting and / or set-up measures.
- the position of the bottleneck is determined by a time and distance measurement. This is a sensor with a constant speed between move a contour area below and above the bottleneck. The vertical position of the bottleneck is determined by then halving the distance traveled by moving the work area at the same speed from the starting point to the bottleneck, and half as long as the period between the sensor's upper and lower limits moved contour area was traversed.
- this scan may also be acoustic (e.g., ultrasound), mechanical (by push-button), or otherwise (e.g., radar).
- All of the abovementioned methods and devices for detecting the bottleneck in the filling area have in common a downstream contour recognition module which generates the corresponding information about the detected position of the bottleneck and emits a corresponding actuating signal to the adjusting device. This applies regardless of whether the detection device for contour / bottleneck detection on the adjustment of the closing device or a separate adjustment mechanism is moved or whether - as in the case of a camera - is rigidly arranged.
- the contour can be detected without contact or by mechanical scanning.
- the adjusting device Since the position of the constriction at an approximately vertically extending, hose-like filling area varies mainly in height, the adjusting device has vertically acting adjusting means (eg a linear drive), which adjusts the vertical component or the height of the working position.
- vertically acting adjusting means eg a linear drive
- horizontally acting adjusting means may be provided to adjust, for example, the adjusting device in total in the horizontal direction in a working plane - the closing level in the amount of bottleneck - to the filling area (working position) or away from this (rest position). This facilitates, for example, the handling of large bags when inserting, twisting and removing.
- the vertical position (height) of the bottleneck to be detected varies only slightly.
- the entire closing device does not have to be moved vertically upwards or downwards (moved in parallel), but it is sufficient to adjust only one closing region on the closing device, which then actually acts on the bottleneck.
- the closing device is then held pivotably about a horizontal axis in the adjusting device and pivoted over the vertically acting adjusting means, so that a closing range remote from the horizontal pivot axis is adjustable in height.
- Adjusting means may be, for example, a spindle drive driven by a stepper motor.
- suitable linear drives e.g., even pitch cams
- the entire adjusting device can be designed as an industrial robot, which then the closing device -. via a suitable quick change interface - completely receives, positions and controls.
- the bottleneck can also be optionally provided with a second closure element.
- a closure assembly 1 which can be used together with a filling station 1.
- Fig. 1 shows a schematically and only partially shown filling station 1 with a flexible container disposed therein, which is designed here as a large bag 2, which is arranged over four suspension loops 3 in a suspension frame 4 in the filling station 1.
- the large bag 2 On its upper side, the large bag 2 has a filling section 5 designed as a tubular connecting piece, via which the large bag 2 is connected to a filling system (not shown).
- a filling system (not shown).
- a likewise not shown filler neck is provided, which can be introduced into the filling area 5 and there, for example, is sealed by a Blähmanschette. After filling, the filler neck is removed, the filling area 5 is closed and the large bag is removed from the hanger frame 4 and set down for further handling on the pallet 6.
- a closure assembly 10 is arranged, which is connected via a boom 11 fixed to the hanger frame 4.
- the boom 11 carries an adjusting device 12 via a closing device 13, which via a plurality of adjusting elements between a rest position ( Fig. 1 ) and an employment position ( Fig. 2 ) is adjustable and can also assume different intermediate positions ( Fig. 5 and 6 ).
- the capping device 13 (see Fig. 3 ) is in the illustrated embodiment, a so-called clipper with a drive unit 30 which is connected to a Verschmony Scheme 31, which is arranged in the working position in the region of the filling region 5, so that the constriction 7 is disposed within a closable guide shaft 32 at Verschmony Scheme 31 ( Fig. 2 ).
- the guide shaft 32 is over a adjustable guide jaw 33 closed, via a trained here as a pneumatic cylinder actuator 34. It is pivotally mounted on a hinge on Verschmony Scheme 31 and the guide shaft 32. When the guide jaw 33 is closed, the constriction 7 of the filling area 5 is fixed in the guide shaft 32.
- the drive unit 30 leads from an infeed magazine 35 an opened clip (similar to a staple) over the guide shaft 32 around the constriction 7 and plastically deforms the clip in the closure bottom 36 of the guide shaft 32, so that the deformed clip closes the constriction 7 of the Filling area 5 closes fixed.
- the guide jaw 33 is opened, so that the filling area 5 can pass out of the guide shaft 32, for example by bringing the closing device 13 into its rest position by means of the adjusting device 12 (FIG. Fig. 1 ).
- the filling region 5 is arranged as accurately as possible with its constriction 7 in the region of the guide shaft 32. Since the large bag 2 and the filling area 5 are made of flexible material and both the filling conditions and the material properties can vary, in particular the vertical position of the constriction 7 is variable.
- the constriction 7 is usually formed by the large bag is rotated relative to the filler neck fixed in the filling 5 - either by rotation of the filler neck together with the upper end of the filling 5 or by turning the bulk bag 2 itself relative to the upper end of the filling 5.
- the bottleneck 7 is centered on a longitudinal axis 8 of the filling area 5, but in different vertical positions (different heights) on this longitudinal axis 8.
- a plurality of adjusting elements are provided.
- horizontally acting adjusting means here linearly acting fluid cylinders 21 and 22, are provided, via which a in a linear guide 23 (FIG. Fig. 2 and 6 ) guided carriage 24, which carries the capping device 13, between the in Fig. 1 illustrated rest position and the in Fig. 2 shown working position is movable.
- the linear guide 23 itself is pivotable about a horizontal axis 25 in the boom eleventh taken and can be pivoted about a trained as a linear spindle 26 actuator so that the Verscherie Scheme 31 - due to the long effective lever arm between the horizontal axis 25 and Verschmony Scheme 31 - is adjusted substantially in the vertical direction, ie in height.
- the closure region 31 with the guide shaft 32 can always be brought into the vertical position of the constriction 7 corresponding height.
- the capping device 13 is additionally suspended pivotably about a vertical axis in the adjusting carriage 24.
- another adjusting element designed here as a fluid cylinder 27, is provided, which acts on the rear end of the drive unit 30 of the closing device 13.
- the adjustment / setting process is based on the Fig. 4 to 7 recognizable.
- the locking device In Fig. 4 the locking device is initially in its rest position.
- Fig. 5 it is partially adjusted in the direction of filling area 5 by extending the fluid cylinder 22 (intermediate position).
- the closing device In Fig. 6 the closing device is pivoted in the adjusting carriage 24 via the fluid cylinder 27, so that the closing region 31 can better be guided past the filling region 5 or the constriction 7 (the closing region 31 is shown here without guide shaft 32, guide jaw 33 and adjusting element 34).
- the correct height (corresponding to the position of the constriction 7) of the Verschdouble Schemes 31 is adjusted via the linear spindle 26 and brought by extension of the fluid cylinder 21 further into the region of the constriction 7 at the filling area 5, where then by further actuation of the fluid cylinder 27 of the Verschmony Scheme 31st is pivoted to the constriction 7 so that it enters the guide shaft 32 ( Fig. 2 and Fig. 7 ). In this position, the filling area 5 is then closed by attaching the clip. The resetting of the closing device 13 in its rest position takes place in the reverse order.
- a detection device 40 is provided, which in the in Fig. 8 is designed as a non-contact scanning device, which height adjustable to the large bag or filling area 5 and its Bottleneck 7 is arranged.
- the detection device 40 here has an optical sensor 41, which is adjustable in a vertical direction (S) via an adjusting mechanism 42.
- the optical sensor 41 detects the width B of the filling area 5 in each case at a specific setting height S.
- a signal B corresponding to the width B (eg b 0 ) is output to a control unit 43 together with an associated position signal (eg S 0 ) which indicates the vertical position in the control range S, where it is stored or further processed.
- the optical sensor 41 is moved incrementally along the adjustment path S. It detects this at each control position B and the width are each a corresponding signal (bo, b 1 ... b x) together with the associated position signal (S 0, S 1 ... S x) to the control unit from the 43rd This compares adjacent signals and thus identifies the bottleneck defining signal b e together with the associated height signal S e .
- control unit 43 generates a corresponding control signal and outputs it to the adjusting device 12, in particular a control signal corresponding to the detected position of the constriction 7 to the linear spindle 26, which brings the capping device 13 with its Verschmony Schemes 31 in the working position.
- the control unit 43 also controls the horizontal acting adjusting means, namely the fluid cylinders 21, 22 and 27, and switches the drive unit 30 of the capping device 13.
- the functional unit of the control unit 43 which detects the detected diameter values bo, b 1 ... B x of the filling area 5 and the associated vertical positions S 0 , S 1 ... S x , in this case represents a contour recognition module 44, while the unit for generating the corresponding actuating signals and optionally further actuating and switching signals represents the controller 45.
- the optical sensor 41 sits on the Verschieran Aunt 10 itself and can be adjusted together with this via the linear spindle 26 in height (pivoted), which emits a signal corresponding to their position to the control unit 43 and the contour detection module 44, where this together is processed with the detected in this position width B of the filling area 5.
- the bottleneck 7 at the filling area 5 is detected by scanning adjustment in the vertical direction of the adjusting device 12 itself.
- the horizontally acting adjusting means fluid cylinder 21, 22, 27
- the actuator 13 is actuated to bring the capping device 13 with its Verschmony Scheme 31 in the working position or to close the bottleneck 7 in the working position.
- the bottleneck 7 is here detected via a travel-time measurement, in which the sensor 41 'via the linear spindle 26 initially from a height h 1 and a certain width B and is moved at a constant actuating speed by the distance h until the same width B is detected in the underlying level h 2 . Since the constriction usually forms symmetrically between the heights h 1 and h 2 , in this embodiment, only the distance h needs to be halved in order to reach the vertical position h e of the constriction 7. The closing area can now be simply moved into this plane by the actuator 13 is moved at the same speed from the position h 2 in the position h e .
- the traversing process from h 2 to h e takes half as long as the traversing from h 1 to h 2 . In this way, even without precise determination of the contour itself, but only by determining the duration of the movement from h 1 to h 2, the position of the bottleneck can be determined with sufficient accuracy. This applies in particular when the contour of the filling region 5 extends approximately symmetrically below and above the constriction 7.
- acoustic, tactile or other sensors are used to detect the diameter or contour of the fill area 5 and the throat 7.
- Fig. 10 shows an embodiment in which the sensor itself is not arranged adjustable, but the detection device 40 includes a camera module 46 which detects the entire filling area 5 with its contour and forwards it to the control unit 43 and the contour recognition module 44.
- the contour detection module 44 thus determines the position S 0 of the bottleneck 7 and forwards a corresponding signal to the controller 45, which then outputs corresponding actuating and / or switching signals to the relevant components (linear spindle 26, fluid cylinder 21, 22, 27 capper 13) over which the closure assembly 10 is actuated.
- the closing device 13 is arranged on a trained as an industrial robot handling device, which also on the in connection with the Fig. 8 to 10 discussed control mechanisms can be controlled.
- the capping device 13 can be connected to the industrial robot via a quick-change coupling.
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Description
Die vorliegende Erfindung betrifft eine Verschließanordnung für flexible Behälter, insbesondere Großsäcke, mit einem Verschließgerät, welches in einer Verstellvorrichtung angeordnet ist und zwischen einer Ruhestellung und einer Arbeitsstellung verstellbar ist. In seiner Arbeitsstellung befindet sich dabei das Verschließgerät im Einfüllbereich eines an der Verschließanordnung angeordneten flexiblen Behälters und ist zum Anbringen eines den Einfüllbereich verschließenden Verschlusses ausgebildet.The present invention relates to a closure arrangement for flexible containers, in particular large bags, with a closing device, which is arranged in an adjusting device and is adjustable between a rest position and a working position. In its working position, the closing device is located in the filling area of a flexible container arranged on the closing arrangement and is designed for attaching a closure closing the filling area.
Im Zusammenhang mit der vorliegenden Erfindung bezeichnen flexible Behälter u.a. auch "Großsäcke", d.h. sogenannte FIBCs (Flexible Intermediate Bulk Container), die auch als "Big-Bags" bezeichnet werden und üblicherweise ein Volumen von etwa 500 bis 2000 Litern haben. Solche flexiblen Behälter haben oft eine quaderförmige oder zylindrische Gestalt, an ihrer Oberseite oft Aufhängeschlaufen und nehmen gefüllt etwa die Standfläche einer Europalette ein. Großsäcke bestehen aus vernähtem oder verschweißtem flexiblen Gewebe und können innen zusätzlich beschichtet sein oder einen Folien-Inliner aufweisen. Sie dienen als Transportverpackung von Schüttgütern aller Art (Lebensmittel, Medikamente, Baustoffe, etc.).In the context of the present invention, flexible containers and the like refer to the like. also "large bags", i. so-called FIBCs (Flexible Intermediate Bulk Containers), which are also referred to as "big bags" and usually have a volume of about 500 to 2000 liters. Such flexible containers often have a cuboidal or cylindrical shape, at their top often suspension loops and take filled about the footprint of a Euro pallet. Large bags are made of sewn or welded flexible fabric and can be additionally coated on the inside or have a foil inliner. They serve as transport packaging of bulk goods of all kinds (food, medicines, building materials, etc.).
Zum Befüllen weisen flexible Behälter und Großsäcke häufig einen flexiblen, schlauchartigen Einfüllbereich auf, in den zum Befüllen ein rohrartiger Füllstutzen eingeführt wird und dort - z.B. mittels einer sogenannten Blähmanschette - abgedichtet wird, so dass beim Befüllen kein Ladegut oder anfallender Staub aus dem Großsack gelangen kann. Nach dem Befüllen wird dieser Einfüllbereich unterhalb des Füllstutzens durch Zusammenraffen des Einfüllbereichs verengt und an dieser Engstelle verschlossen.For filling, flexible containers and large bags often have a flexible hose-like filling area into which a tubular filler neck is inserted for filling and is sealed there - eg by means of a so-called inflating sleeve - so that no load or accumulating dust from the large bag is filled can get. After filling, this filling area is narrowed below the filler neck by tightening the filling area and closed at this bottleneck.
Es gibt auch flexible Behälter, bei denen der Einfüllbereich als sog. Füllschürze ausgebildet ist. Bei solchen Behältern bleibt nach dem Befüllen ein bestimmter Bereich der Füllschürze selbst leer, so dass diese zusammengerafft und an der gebildeten Engstelle verschlossen werden kann.There are also flexible containers in which the filling area is designed as a so-called filling apron. In such containers after filling a certain area of Füllschürze itself remains empty, so that it can be gathered together and closed at the constriction formed.
Andere flexible Behälter dienen nur als sogenannter "Inliner" und werden in einen weitgehend starren, meist oben offenen Außenbehälter eingesetzt, der die Transport- und Umschlaglasten aufnimmt, während der flexible Behälter selbst nur als Ladeguthülle dient. Auch hier wird der obere Einfüllbereich eines solchen Inliners zusammengerafft und an der so entstehenden Engstelle verschlossen.Other flexible containers serve only as a so-called "inliner" and are used in a largely rigid, usually open-topped outer container, which receives the transport and handling loads, while the flexible container itself serves only as a cargo envelope. Here, too, the upper filling area of such an inliner is gathered together and closed at the resulting bottleneck.
Füllstationen arbeiten bisher meist nur halbautomatisch. Während der Füll- und Dosiervorgang weitgehend automatisch abläuft, ist insbesondere zum Einhängen eines flexiblen Behälters oder Großsacks und meist auch zum Verschließen an der Engstelle eine Bedienperson erforderlich, die ggf. mit einem Verschließgerät den Einfüllbereich zusammenrafft und mit einem Verschluss (Schnur, Draht, Kabelbinder, Clip) versieht.So far, filling stations usually work only semi-automatically. While the filling and dosing process is largely automatic, an operator is required especially for hanging a flexible container or large sack and usually also for closing at the bottleneck, if necessary zusammenrafft with a capping the filling and with a closure (cord, wire, cable ties , Clip).
Um Abfüllstationen mit erhöhtem Durchsatz realisieren zu können, ist es wünschenswert, auch diesen Vorgang automatisiert auszuführen und vollautomatisch am Einfüllbereich zuverlässig einen Verschluss anzubringen. Eine solche Füllstation ist beispielsweise aus der
Ein anderes Verfahren ist aus der
Weitere Verfahren und Vorrichtungen sind z.B. aus der
Um einen möglichst dichten Verschluss zu realisieren, sollte ein Verschlusselement möglichst genau an der Engstelle im Bereich der Verdrillung angebracht werden und diese fixieren, da der Einfüllbereich an der verdrillten Engstelle maximal zusammengerafft und abgedichtet ist. Durch die relativ hohen Lagetoleranzen, mit denen ein flexibler Behälter, insbesondere ein Großsack in seinem Einfüllbereich mit einem Füllrohr verbunden ist, sowie durch Schwankungen der Materialeigenschaften im Einfüllbereich, verschiedene Setzeigenschaften des Füllgutes und schwankenden Füllniveaus ist insbesondere die vertikale Lage einer durch Verdrillen hergestellten Engstelle nur schwer zu reproduzieren und vorherzusagen. Dies erschwert ein vollmechanisiertes Anbringen des Verschlusses in der gewünschten Schließ- und Dichtqualität.In order to achieve a closure that is as dense as possible, a closure element should be attached as precisely as possible to the constriction in the area of the twist and fix it, since the filling area at the twisted constriction is maximally gathered and sealed. Due to the relatively high positional tolerances with which a flexible container, in particular a large bag in its filling is connected to a filling tube, as well as variations in material properties in the filling, different set characteristics of the contents and fluctuating filling levels in particular, the vertical position of a bottleneck produced by twisting only difficult to reproduce and predict. This complicates a fully mechanized attachment of the closure in the desired closing and sealing quality.
Es besteht daher die Aufgabe, eine Verschließanordnung für flexible Behälter bzw. ein Verfahren zum Verschließen solcher Behälter bereitzustellen, mit deren Hilfe die oben beschriebenen Probleme wenigstens teilweise gelöst werden.It is therefore an object to provide a closure arrangement for flexible containers or a method for closing such containers, with the help of which the problems described above are at least partially solved.
Diese Aufgabe erfüllt die Verschließanordnung gemäß Anspruch 1, bei welcher eine Erfassungseinrichtung vorgesehen ist, mittels derer die Position einer im Einfüllbereich angebrachten Engstelle des flexiblen Behälters erfassbar ist und die ein die Arbeitsstellung definierendes Stellsignal an die Verstellvorrichtung abgibt, so dass das Verschließgerät in seiner Arbeitsstellung zum Anbringen des Verschlusses an der erfassten Position der Engstelle des Einfüllbereichs positionierbar ist. So kann sichergestellt werden, dass die Arbeitsstellung zum Anbringen des Verschlusses immer an die tatsächliche Position der Engstelle angepasst wird und der Verschluss immer an der am besten geeigneten Stelle des Einfüllbereichs angebracht werden kann. Die Erfassungseinrichtung erfasst zum einen die Position der Engstelle, und verarbeitet zum anderen diese Information und gibt ein entsprechendes die Arbeitsstellung definierendes bzw. der Position der Engstelle entsprechendes Stellsignal an die Verstellvorrichtung ab. Damit kann wiederum das verwendete Verschließgerät relativ einfach ausgebildet werden. Es braucht zum Beispiel keine großen Kräfte aufzubringen, um durch zusätzliches Zusammenraffen des Einfüllbereichs an einer von der bereits ausgebildeten Engstelle abweichenden Position eine Engstelle zum Anbringen des Verschlusses auszubilden. Zusätzlich wird der Verschluss auch immer an der verdrillten Engstelle, also an der am stärksten gerafften und damit "dichtesten" Stelle des Einfüllbereichs angebracht.This object is achieved by the closure arrangement according to
Das erfindungsgemäße Verfahren gemäß Anspruch 13 umfasst neben den üblichen Verfahrensschritten: Bereitstellen eines flexiblen Behälters, Bilden einer Engstelle an einem Einfüllbereich und Anbringen eines Verschlusses auch das Erfassen der Position der Engstelle mittels einer Erfassungseinrichtung, das Abgeben eines der erfassten Position der Engstelle entsprechenden Stellsignals an eine Verstellvorrichtung und das Einstellen einer der Engstelle entsprechenden Arbeitsstellung eines Verschließgeräts mittels Verstellvorrichtung. Damit können mit diesem Verfahren auch verschiedenste flexible Behälter und/oder Großsack-Gebinde prozesssicher an einer im Einfüllbereich ausgebildeten Engstelle verschlossen werden, ohne dass dazu zusätzliche Umrüst- und/oder Einrichtmaßnahmen erforderlich wären.The inventive method according to
Ausführungsbeispiele der nachfolgenden Erfindung werden anhand der Figuren beschrieben. Darin zeigt
- Fig. 1
- eine perspektivische Ansicht einer Abfüllstation für Großsäcke mit einer erfindungsgemäßen Verschließanordnung und einem Verschließgerät in Ruhestellung,
- Fig. 2
- eine perspektivische Ansicht der Abfüllstation aus
Fig. 1 mit dem Verschließgerät in Arbeitsstellung, - Fig. 3
- eine perspektivische Ansicht von schräg unten der in
Fig. 1 und2 dargestellten Verschließanordnung, - Fig. 4 bis 7
- schematisierte Darstellungen der in
Fig. 3 dargestellten Verschließanordnung in unterschiedlichen Zwischenstellungen beim Übergang aus der Ruhestellung in die Arbeitsstellung, - Fig. 8 bis 10
- schematisierte Funktionspläne zur Steuerung der Verschließanordnung,
- Fig. 11
- Verfahrensdiagramm
- Fig. 1
- a perspective view of a filling station for large bags with a closing arrangement according to the invention and a closing device in the rest position,
- Fig. 2
- a perspective view of the filling station
Fig. 1 with the capping device in working position, - Fig. 3
- a perspective view obliquely from below the in
Fig. 1 and2 shown closure arrangement, - Fig. 4 to 7
- schematized representations of in
Fig. 3 shown closure arrangement in different intermediate positions in the transition from the rest position to the working position, - Fig. 8 to 10
- schematic functional diagrams for controlling the closing arrangement,
- Fig. 11
- process diagram
Ergänzend zu den weiter unten im Zusammenhang mit den Figuren beschriebenen Ausführungsbeispielen gibt es weitere Ausführungen:
- Die Erfassungseinrichtung ist dazu vorgesehen, insbesondere im Einfüllbereich die Kontur des Großsacks oder flexiblen Behälters zu erfassen und eine darin ausgebildete Engstelle zu identifizieren. Dazu kann die Erfassungseinrichtung berührungsfrei arbeiten, indem sie zum Beispiel einen optischen Sensor aufweist, der zusammen mit der Verschließanordnung selbst verstellbar ist. Der Sensor erfasst dabei die gesuchte Position der Kontur des Einfüllbereichs und erkennt durch Abtasten und inkrementelle Vergleiche näherungsweise die Engstelle und über eine Stellungsinformation (z.B. über eine Wegmesseinrichtung) die zugehörige Weginformation, die der Position der im Einfüllbereich verlaufenden Engstelle entspricht. Über ein entsprechendes Stellsignal wird dann das Verschließgerät entsprechend der erfassten Position der Engstelle in seiner Arbeitsstellung positioniert.
- The detection device is intended, in particular in the filling region, to detect the contour of the bulk bag or flexible container and to identify a constriction formed therein. For this purpose, the detection device can operate without contact, for example by having an optical sensor which is adjustable itself together with the closure arrangement. The sensor detects the sought position of the contour of the filling area and recognizes by sampling and incremental comparisons approximately the bottleneck and position information (eg via a path measuring device) the corresponding path information that corresponds to the position of the bottleneck running in the filling. The closing device is then positioned in its working position according to the detected position of the bottleneck via a corresponding actuating signal.
In einer anderen Ausführung wird die Position der Engstelle über eine Zeit- und Wegmessung ermittelt. Dabei wird ein Sensor mit konstanter Geschwindigkeit zwischen einem unterhalb und oberhalb der Engstelle liegenden Konturbereich verfahren. Die vertikale Position der Engstelle wird dadurch ermittelt, dass anschließend die verfahrene Strecke halbiert wird, indem der Arbeitsbereich mit gleicher Geschwindigkeit vom Startpunkt ausgehend Richtung Engstelle verfahren wird, und zwar halb so lange, wie der Zeitraum, in dem der Sensor zwischen dem unteren und oberen erfassten Konturbereich verfahren wurde.In another embodiment, the position of the bottleneck is determined by a time and distance measurement. This is a sensor with a constant speed between move a contour area below and above the bottleneck. The vertical position of the bottleneck is determined by then halving the distance traveled by moving the work area at the same speed from the starting point to the bottleneck, and half as long as the period between the sensor's upper and lower limits moved contour area was traversed.
Es gibt Ausführungen, bei denen die Erfassungseinrichtung mit einem optischen Sensor den Querschnitt des Einfüllbereichs in einer Abtastebene erfasst und so die Engstelle durch einen internen Vergleich des abgetasteten Profils in unterschiedlichen Positionen erfasst. In anderen Ausführungen kann diese Abtastung auch akustisch (z.B. Ultraschall), mechanisch (durch Tastschalter) oder auf andere Weise (z.B. Radar) erfolgen.There are embodiments in which the detection device with an optical sensor detects the cross-section of the filling area in a scanning plane and thus detects the bottleneck by an internal comparison of the scanned profile in different positions. In other embodiments, this scan may also be acoustic (e.g., ultrasound), mechanical (by push-button), or otherwise (e.g., radar).
Es ist auch möglich, über eine Kamera ein Bild des Einfüllbereichs mit der dort verlaufenden Engstelle zu erfassen und über geeignete Bildverarbeitungsmodule die Position der Engstelle zu bestimmen und diese in entsprechende Stellsignale umzusetzen.It is also possible to capture a picture of the filling area with the bottleneck running there via a camera and to determine the position of the bottleneck via suitable image processing modules and to convert these into corresponding setting signals.
All diesen oben genannten Verfahren und Einrichtungen zur Erfassung der Engstelle im Einfüllbereich ist ein nachgeschaltetes Konturenerkennungsmodul gemeinsam, welches die entsprechende Information zur erfassten Position der Engstelle erzeugt und ein entsprechendes Stellsignal an die Verstellvorrichtung abgibt. Dies gilt unabhängig davon, ob die Erfassungseinrichtung zur Konturen-/Engstellenerkennung über die Verstelleinrichtung des Verschließgerätes oder einen eigenen Verstellmechanismus bewegt wird oder ob sie - wie im Fall einer Kamera - starr angeordnet ist. Die Kontur kann dabei berührungsfrei oder durch mechanisches Abtasten erfasst werden.All of the abovementioned methods and devices for detecting the bottleneck in the filling area have in common a downstream contour recognition module which generates the corresponding information about the detected position of the bottleneck and emits a corresponding actuating signal to the adjusting device. This applies regardless of whether the detection device for contour / bottleneck detection on the adjustment of the closing device or a separate adjustment mechanism is moved or whether - as in the case of a camera - is rigidly arranged. The contour can be detected without contact or by mechanical scanning.
Da die Position der Engstelle an einem etwa vertikal verlaufenden, schlauchartigen Einfüllbereich vor allem in der Höhe variiert, verfügt die Verstellvorrichtung über vertikal wirkende Stellmittel (z.B. einen Linearantrieb), welches die vertikale Komponente oder die Höhe der Arbeitsstellung einstellt. Zusätzlich können auch horizontal wirkende Stellmittel vorgesehen sein, um beispielsweise die Verstellvorrichtung insgesamt in horizontaler Richtung in einer Arbeitsebene - der Verschließebene in Höhe der Engstelle - zum Einfüllbereich hin (Arbeitsstellung) oder von diesem weg (Ruhestellung) einzustellen. Dies erleichtert beispielsweise die Handhabung der Großsäcke beim Einsetzen, Verdrehen und Entnehmen.Since the position of the constriction at an approximately vertically extending, hose-like filling area varies mainly in height, the adjusting device has vertically acting adjusting means (eg a linear drive), which adjusts the vertical component or the height of the working position. In addition, horizontally acting adjusting means may be provided to adjust, for example, the adjusting device in total in the horizontal direction in a working plane - the closing level in the amount of bottleneck - to the filling area (working position) or away from this (rest position). This facilitates, for example, the handling of large bags when inserting, twisting and removing.
In vielen Fällen schwankt die vertikale Position (Höhe) der zu erfassenden Engstelle nur geringfügig. In solchen Fällen muss nicht das gesamte Verschließgerät vertikal nach oben oder unten verstellt (parallel verschoben) werden, sondern es reicht aus, nur einen Verschließbereich am Verschließgerät zu verstellen, der dann tatsächlich an der Engstelle angreift. In einer geeigneten Ausführung wird dann das Verschließgerät um eine horizontale Achse verschwenkbar in der Verstellvorrichtung gehalten und über das vertikal wirkende Stellmittel verschwenkt, so dass ein von der horizontalen Schwenkachse entfernter Verschließbereich in der Höhe verstellbar ist. Stellmittel kann beispielsweise ein über einen Schrittmotor angetriebener Spindelantrieb sein. Es gibt aber auch andere geeignete Linearantriebe (z.B. Kurvenscheiben mit gleichmäßiger Steigung), die über eine Steuerfläche am Verschließgerät oder einem anderen geeigneten Element der Verstellvorrichtung angreifen.In many cases, the vertical position (height) of the bottleneck to be detected varies only slightly. In such cases, the entire closing device does not have to be moved vertically upwards or downwards (moved in parallel), but it is sufficient to adjust only one closing region on the closing device, which then actually acts on the bottleneck. In a suitable embodiment, the closing device is then held pivotably about a horizontal axis in the adjusting device and pivoted over the vertically acting adjusting means, so that a closing range remote from the horizontal pivot axis is adjustable in height. Adjusting means may be, for example, a spindle drive driven by a stepper motor. However, there are also other suitable linear drives (e.g., even pitch cams) which engage over a control surface on the capper or other suitable element of the adjustment device.
Um die horizontalen Stellwege zu minimieren und gleichzeitig eine einfache, genaue und reproduzierbare Einstellung einer horizontalen Arbeitsstellung zu gewährleisten, gibt es Ausführungen, bei denen Schwenk- und lineare Verstellmittel miteinander kombiniert sind. Dabei können Rahmenelemente einer Füllstation besser berücksichtigt werden.In order to minimize the horizontal travels and at the same time to ensure a simple, accurate and reproducible adjustment of a horizontal working position, there are versions in which pivoting and linear adjustment means are combined. Frame elements of a filling station can be better taken into account.
In einer weiteren Ausführung kann die gesamte Verstelleinrichtung als Industrieroboter ausgebildet sein, die dann das Verschließgerät - z.B. über eine geeignete Schnellwechselschnittstelle - komplett aufnimmt, positioniert und ansteuert.In a further embodiment, the entire adjusting device can be designed as an industrial robot, which then the closing device -. via a suitable quick change interface - completely receives, positions and controls.
Zum Verschließen des Einfüllbereichs gibt es mehrere Möglichkeiten:
- Insbesondere bei wiederverwendbaren flexiblen Behältern ist es wünschenswert, den Einfüllbereich so zu verschließen, dass dieser ohne Beschädigung des Behälters wieder zu öffnen ist. Dafür wird der Verschluss durch geeignete Verschlusselemente gebildet: z.B. plastisch verformbare Klammern - sogenannte Clips - aus Kunststoff oder Metall; Schnüre, mit denen die Engstelle abgebunden wird; Kabelbinder, mit denen eine selbst fixierende Schlinge um die Engstelle gelegt wird; oder aber auch Klettbänder, Klebebänder oder ähnliches.
- Especially with reusable flexible containers, it is desirable to close the filling area so that it can be opened again without damaging the container. For this, the closure is formed by suitable closure elements: eg plastically deformable clips - so-called clips - made of plastic or metal; Cords with which the bottleneck is tied; Cable ties with which a self-fixing Noose is placed around the bottleneck; or even Velcro tapes, adhesive tapes or the like.
Sind jedoch besonders dichte Verschlüsse erforderlich, so kann die Engstelle auch ggf. zusätzlich mit einem zweiten Verschlusselement versehen werden.However, if particularly tight closures are required, then the bottleneck can also be optionally provided with a second closure element.
Ausgehend von
An seiner Oberseite weist der Großsack 2 einen als schlauchförmigen Stutzen ausgebildeten Einfüllbereich 5 auf, über den der Großsack 2 mit einer nicht weiter dargestellten Füllanlage verbunden wird. Dazu ist ein ebenfalls nicht weiter dargestellter Füllstutzen vorgesehen, welcher in den Einfüllbereich 5 eingeführt werden kann und dort, beispielsweise über eine Blähmanschette abgedichtet wird. Nach dem Füllen wird der Einfüllstutzen entfernt, der Einfüllbereich 5 verschlossen und der Großsack aus dem Aufhängerahmen 4 entnommen und für den weiteren Umschlag auf der Palette 6 abgesetzt.On its upper side, the
Seitlich am Aufhängerahmen 4 ist eine Verschließanordnung 10 angeordnet, die über einen Ausleger 11 fest mit dem Aufhängerahmen 4 verbunden ist. Der Ausleger 11 trägt über eine Verstellvorrichtung 12 ein Verschließgerät 13, welches über mehrere Stellelemente zwischen einer Ruhestellung (
Das Verschließgerät 13 (siehe
Für eine einwandfreie Funktion des Verschließgeräts 13 und das sichere Anbringen der Verschlussclips ist es erforderlich, dass der Einfüllbereich 5 möglichst genau mit seiner Engstelle 7 im Bereich des Führungsschachts 32 angeordnet wird. Da der Großsack 2 und der Einfüllbereich 5 aus flexiblem Material bestehen und sowohl die Einfüllbedingungen als auch die Materialeigenschaften variieren können, ist insbesondere die vertikale Position der Engstelle 7 variabel. Die Engstelle 7 wird üblicherweise gebildet, indem der Großsack relativ zu dem im Einfüllbereich 5 fixierten Einfüllstutzen verdreht wird - entweder durch Drehung des Einfüllstutzens zusammen mit dem oberen Ende des Einfüllbereichs 5 oder durch Verdrehen des Großsacks 2 selber relativ zum oberen Ende des Einfüllbereichs 5. Dabei bildet sich die Engstelle 7 zentriert zu einer Längsachse 8 des Einfüllbereichs 5, aber in unterschiedlichen vertikalen Positionen (verschiedene Höhen) auf dieser Längsachse 8.For a perfect functioning of the
Um den Verschließbereich 31 bzw. den Führungsschacht 32 immer an der richtigen Position - insbesondere in der richtigen Höhe der Engstelle 7 aus der Ruhestellung in die Arbeitsstellung zu bringen, sind mehrere Stellelemente vorgesehen.In order to bring the
Dazu sind horizontal wirkende Stellmittel, hier linear wirkende Fluidzylinder 21 und 22, vorgesehen, über welche ein in einer Linearführung 23 (
Um das sichere Einführen der Engstelle 7 in den Führungsschacht 32 zu gewährleisten, ist das Verschließgerät 13 zusätzlich um eine Vertikalachse verschwenkbar im Stellschlitten 24 aufgehängt. Zum Ausführen der entsprechenden horizontalen Schwenkbewegung ist ein weiteres, hier als Fluidzylinder 27 ausgebildetes, Stellelement vorgesehen, das am hinteren Ende der Antriebseinheit 30 des Verschließgeräts 13 angreift.In order to ensure the safe insertion of the
Der Verstell-/Einstellvorgang ist anhand der
Die
Ein der Breite B entsprechendes Signal (z.B. b0) wird zusammen mit einem zugehörigen Positionssignal (z.B. S0), welches die vertikale Position im Stellbereich S angibt, an eine Steuerungseinheit 43 abgegeben und dort gespeichert bzw. weiter verarbeitet. Beim Abtasten wird der optische Sensor 41 inkrementell entlang der Verstellstrecke S verfahren. Er erfasst dabei an jeder Stellposition die Breite B und gibt jeweils ein entsprechendes Signal (bo, b1...bx) zusammen mit dem zugehörigen Stellungssignal (S0, S1...Sx) an die Steuerungseinheit 43 ab. Diese vergleicht jeweils benachbarte Signale und identifiziert so das die Engstelle definierende Signal be zusammen mit dem zugehörigen Höhensignal Se.A signal B corresponding to the width B (eg b 0 ) is output to a
Damit erzeugt die Steuerungseinheit 43 ein entsprechendes Stellsignal und gibt dieses an die Verstellvorrichtung 12 ab, insbesondere ein der erfassten Position der Engstelle 7 entsprechendes Stellsignal an die Linearspindel 26, welche das Verschließgeräts 13 mit seinem Verschließbereich 31 in die Arbeitsstellung bringt. Die Steuerungseinheit 43 steuert ebenfalls das oder die horizontal wirkenden Stellmittel, nämlich die Fluidzylinder 21, 22 und 27 an, und schaltet die Antriebseinheit 30 des Verschließgeräts 13. Die Funktionseinheit der Steuerungseinheit 43, welche die erfassten Durchmesserwerte bo, b1...bx des Einfüllbereichs 5 und die zugehörigen Vertikalpositionen S0, S1...Sx verarbeitet, stellt dabei ein Konturenerkennungsmodul 44 dar, während die Einheit zur Erzeugung der entsprechenden Stellsignale und ggf. weiterer Stell- und Schaltsignale die Steuerung 45 darstellt.Thus, the
Bei der in
Bei einer anderen, ebenfalls in
In anderen Ausführungen werden statt des optischen Sensors akustische, taktile oder andere Sensoren (z.B. Radar) zur Erfassung des Durchmessers bzw. der Kontur des Einfüllbereichs 5 und der Engstelle 7 verwendet.In other embodiments, instead of the optical sensor, acoustic, tactile or other sensors (e.g., radar) are used to detect the diameter or contour of the
In einer anderen Ausführung ist das Verschließgerät 13 an einem als Industrieroboter ausgebildeten Handhabungsgerät angeordnet, welches ebenfalls über die im Zusammenhang mit den
Die in
Claims (13)
- A closure arrangement (10) for flexible containers, particularly big bags, with a closure device (13) and an adjustment device (12), in which the closure device (13) is arranged so that the closure device (13) can be adjusted between a rest position and an operating position and is arranged in its operating position in the filling region (5) of a flexible container (2) arranged on the closure arrangement (10) and is constructed for attaching a closure closing the filling region (5),
characterised in that
the closure arrangement (10) comprises a detection device (40), by means of which the position of a constriction (7) of the flexible container (2) running in the filling region (5) can be determined, and which emits an adjustment signal defining the operating position to the adjustment device (12), so that
the closure device (13) can be positioned in its operating position in accordance with the determined position of the constriction (7). - The closure arrangement (10) according to Claim 1, in which the detection device (40) operates contactlessly.
- The closure arrangement (10) according to Claim 2, in which the detection device (40) comprises an optical sensor (41, 46).
- The closure arrangement (10) according to Claim 1, 2 or 3 with a control (45) which on the basis of the determined position of the constriction (7) emits a corresponding adjustment signal to the adjustment device (12).
- The closure arrangement (10) according to one of the preceding claims, in which the adjustment device (12) has a horizontally and a vertically acting adjustment means (21, 22, 27; 26) by means of which the closure device (13) can be adjusted between the rest and the operating positions.
- The closure arrangement (10) according to Claim 5, in which the closure device (13) is arranged pivotably about a horizontal axis (25) and a closure region (31) on the closure device (13) can be brought around the horizontal axis (25) into an operating position corresponding to the vertical position of the constriction (7) by means of the vertically acting adjustment means (26).
- The closure arrangement (10) according to Claim 5 or 6, in which the vertically acting adjustment means (26) has a linear drive constructed as a spindle drive.
- The closure arrangement (10) according to one of Claims 5, 6 or 7, in which the closure device (13) is arranged in the adjustment device (12) pivotably about a vertical axis by means of a first horizontally acting adjustment means (27) and displaceably by means of a second horizontally acting adjustment means (21, 22), and can be brought into an operating position corresponding to the horizontal position of the constriction (7) by means of the first and second horizontally acting adjustment means (27; 21, 22).
- The closure arrangement (10) according to one of the preceding claims, in which the adjustment apparatus (12) is constructed as an industrial robot.
- The closure arrangement (10) according to one of the preceding claims, in which the closure is formed by means of a closure element fixing the constriction.
- A filling station (1) with a closure arrangement (10) according to one of Claims 1 to 10.
- A method for closing flexible containers, particularly big bags (2) by means of a big-bag closure arrangement (10) according to one of Claims 1 to 10, comprising the steps:providing a flexible container (2),forming a constriction (7) on a filling region (5),determining the position of the constriction (7),creating an adjustment signal corresponding to the determined position of the constriction (7),setting an operating position of a closure device (13) by means of the adjustment signal,fixing the constriction by means of the closure device (13) in a closing manner.
- The method according to Claim 12, further comprising
attaching the flexible container (2) by means of the filling region (5) to a filling connection,
forming the constriction by rotating the flexible container (2) relatively to the filling connection.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE201010044530 DE102010044530B4 (en) | 2010-09-07 | 2010-09-07 | Closure arrangement and method for the automated closing of flexible containers and large bags |
Publications (2)
Publication Number | Publication Date |
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EP2426053A1 EP2426053A1 (en) | 2012-03-07 |
EP2426053B1 true EP2426053B1 (en) | 2013-01-09 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20110007283 Active EP2426053B1 (en) | 2010-09-07 | 2011-09-07 | Closing assembly and method for automated closing of flexible containers and large bags |
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EP (1) | EP2426053B1 (en) |
DE (1) | DE102010044530B4 (en) |
DK (1) | DK2426053T3 (en) |
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Publication number | Priority date | Publication date | Assignee | Title |
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FR3049268B1 (en) * | 2016-03-22 | 2019-07-26 | Condiconcept | DEVICE FOR FILLING A SOFT CONTAINER, AND CORRESPONDING METHOD |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CH187559A (en) * | 1935-07-04 | 1936-11-15 | Dikansky Leone Ing Dr | Machine for wrapping approximately spherical objects. |
US3401499A (en) * | 1964-07-27 | 1968-09-17 | Hydrahone Equipment Division O | Bag packaging device |
DE4405151C2 (en) * | 1994-02-18 | 1996-05-23 | Haver & Boecker | Filling machine for filling and subsequent closing of open sacks, especially large plastic sacks |
US6112504A (en) * | 1999-03-03 | 2000-09-05 | Slidell, Inc. | Bulk bagging machine |
GB2387588B (en) * | 2002-04-19 | 2005-09-14 | Webster Griffin Ltd | A method of filling a bag and an apparatus for filling a bag |
DE102005011813A1 (en) * | 2005-03-15 | 2006-09-21 | Nordenia Deutschland Emsdetten Gmbh | Flexible container and device for filling a flexible container |
-
2010
- 2010-09-07 DE DE201010044530 patent/DE102010044530B4/en not_active Expired - Fee Related
-
2011
- 2011-09-07 EP EP20110007283 patent/EP2426053B1/en active Active
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DE102010044530B4 (en) | 2014-01-16 |
DK2426053T3 (en) | 2013-03-11 |
DE102010044530A1 (en) | 2012-03-08 |
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