EP2520497B1 - Procédé d'insertion de produits individuels dans des récipients dans une suite de robots - Google Patents

Procédé d'insertion de produits individuels dans des récipients dans une suite de robots Download PDF

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Publication number
EP2520497B1
EP2520497B1 EP11164695.6A EP11164695A EP2520497B1 EP 2520497 B1 EP2520497 B1 EP 2520497B1 EP 11164695 A EP11164695 A EP 11164695A EP 2520497 B1 EP2520497 B1 EP 2520497B1
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EP
European Patent Office
Prior art keywords
container
belt
individual products
product
containers
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EP11164695.6A
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German (de)
English (en)
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EP2520497A1 (fr
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Matthias Ehrat
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Individual
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Individual
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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
    • 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

Definitions

  • the invention relates to a method for inserting individual products into containers in a robotic street and to a device for inserting individual products into containers in a robot line according to the preamble of the independent claims.
  • Such robot lines are used for converting individual products into storage groups, which can hold a certain number of individual products. But they are also used for weight-accurate packaging of unbalanced individual products.
  • the term container is used instead of the term storage group, which means less than the container as such, but much more the arrangement of the individual products or a group of individual products, which after the transfer by the Einlegeroboter in a defined position relative to a transport device and at most in a defined position within the group of individual products.
  • a product band can be a transport device on the ordered at fixed or variable distance, but in relation to the transport device stationary individual products or brought out disorderly. They can also be conveyor chains or chain link belts.
  • a container belt can be a transport device, on the fixed or variable distance, but in relation to the transport device itself stationary container or Cartesian certain deposit positions are introduced. It may be in container tapes but also thermoforming machines or conveyor chains, which are in fixed, or only due to the indexing variable distance troughs or containers.
  • the procedure has hitherto been that the containers were delivered to a first container band and were usually stored there, transferred from the first container band to a second container band, on which filling with the individual products occurred, and after complete filling to a third container band for removal the filled container was handed over again.
  • EP 0'749'902 A1 shows a robot road in which the individual products are counted by means of a relative to the picker base stationary counter at the inlet to the Umsetz Scheme the robot road and then an empty container is released when a number of individual products has been determined to fill the number of containers. It is further provided that all insertion robots are connected via a data bus with the control computer of the robot road and is updated with which individual products have already been implemented by deposit robots.
  • EP 1'285'851 A1 shows a robot road, in which the infeed robots are controlled due to the available individual products and due to the free container positions so that the infeed robots are used as evenly as possible. In this case, the performance of the infeed robots and the speed of the container belt is continuously determined due to side conditions to be observed.
  • the calculation of the corresponding time-discrete equation systems and their optimization proves to be extraordinarily computationally intensive in practice and requires correspondingly powerful control computer.
  • EP 2'233'400 A1 shows a robot road, in which the relative speed of the container belt and the product strip and the operating speed is controlled on the one hand depending on the level of additional storage elements and on the other hand, based on the amount of supplied at the inlet of individual products. Due to the loading and unloading of the storage elements, the performance of the robot road is unnecessarily high.
  • EP 1'352'831 A1 shows a robot road in which the relative speed of the container belt and the product band and the operating speed is controlled on the one hand depending on the level of additional, possibly designed as a conveyor elements, storage elements and on the other hand, based on the amount of supplied at the inlet of individual products. It is there so that both containers and individual products can be cached. In principle, this arrangement may be advantageous for relatively regularly brought up products. However, it requires additional conveying elements.
  • EP 0'856'465 A1 and EP 2'236'424 A1 show a robot road, in which the individual products and containers are introduced in countercurrent. Such robotic lines prove in practice as extremely efficient systems for packaging individual products in containers. In certain applications, however, the use of a countercurrent, in which the containers are directed against the production flow, is not desirable for hygienic or logistical reasons
  • EP 1'819'994 A1 and US 7'775'373 B2 show corresponding arrangements, where there the recirculation incomplete filled containers, a combination of equal and countercurrent bands or a stop of a container band to ensure complete filling are required.
  • WO / 2008/080760 a robot road for forming equilibrium groups, in which at least one transport device for the groups is designed in countercurrent mode and in which the recirculation and storage of individual products is provided.
  • WO / 2005/106405 discloses a method of packaging general cargo of different sizes in which the size of each piece of goods is estimated or determined and then its location registered on the feeder. Subsequently, it is determined in which container the cargo is stored. There it is also proposed that piece goods, which are outside the permissible size, are not processed. There is further provided that the container on the container band are spaced so that they can be closed with a top film. Also US 6'722'506 B1 assigns the cargo after weighing a preferred receiving station.
  • DE 29701564 U1 discloses a generic robotic street having a plurality of robots and a product belt and a container belt running in DC.
  • the product tape is scanned by a line scan camera at a fixed count position.
  • the invention relates to a method for the batchwise conversion of at least one sort of individual products into at least one sort of a specific number of individual product receiving containers by means of a robot road which contains at least two inlay robots.
  • the individual products are transported irregularly at an inlet of the robot road in order to take them individually in a Umsetz Scheme the robot road and implement in containers.
  • the individual products and the containers are transported in cocurrent on at least one product band and on at least one container band.
  • the invention is equally applicable to a single product band and a single container band and to multiple product and / or container bands. When reference is made below to slowest or fastest container or product bands, this is not meant to imply the presence of multiple bands.
  • each tape is considered to be the fastest and slowest.
  • the product belts and the container belts are included moving relative to each other at constant speeds. These speeds are predetermined for each batch and usually stored in the control of the robot road.
  • a container of a different design can be used, and the optimum speed of the product bands and the container bands, which is then constant relative to one another, can be retrieved on the controller.
  • one will tune this relative to each other constant speed so that as many storage positions are available in Umsetz Berlin. On each product band one counting position is determined per batch.
  • This position is determined for each product band so that a detected at a counting position individual product simultaneously reaches the outlet from the Umsetz Geb the robot road as a simultaneously on the slowest moving container belt in the inlet of the Umsetz Anlagenes the robot road controlled container. In the area of the counting position already converted individual products are not counted.
  • Each counting position is determinable in advance for each lot due to the constant relative speed of the product bands and the container bands. In practice, these will be stored on the controller and retrieved there as needed.
  • the individual products are counted on the product band leading to them at the counting position belonging to this product band. For product bands moving at different speeds, the individual products are counted at different counting positions. Single products on faster product lines are counted furthest back.
  • the release for the control of a next container to be filled on the associated container band is carried out as described in claim 3, when the number of individual products was determined at the counting positions, which still expected for the complete filling of a container relative to the counting position of the fastest moving product band becomes.
  • the actual number of fillings of the containers to be filled is usually release-determining.
  • the partial filling which has already taken place must be taken into account.
  • the release for the control does not necessarily cause a control of a container.
  • the enable for the Ein crabung causes that is checked on the slowest moving container belt by arithmetic continuation of the tape feed, when it has reached the virtual Einberichtposition of the container of the associated container band.
  • the actual control of the next container to be filled takes place when the slowest moving container band has reached the Einberichtposition of this container container band.
  • each individual product introduced a feature determination with respect to variety, weight, size, color or other feature.
  • These features of each individual product determine the assignment of the individual products in the implementation in the conversion area to a container transported on a container tape container. This allows the individual products to be converted into defined positions assigned to a characteristic. But it is also possible to form weight-controlled container. This is done by combining disparate individual products and according to the requirements of the total weight and the number of such a weight-controlled container.
  • the feeding of the containers takes place on at least two container bands.
  • the release of a next container to be filled onto the respective container band is then determined on the basis of the frequency distribution. It may well be that the container belts are operated at the same speed and the scattering of the frequency distribution is specifically compensated. If, for example, on a container belt with a desired after filling with four individual products target weight of 500g and on the other container belt container with a target after filling with two individual products target weight of 300g, then it is possible, with a mean weight of the individual products , which varies between 125g and 150g, to implement all individual products.
  • the average weight of the supplied individual products deviates upwards more containers are fed for filling with 300g and conversely more containers are fed to 500g if the average weight deviates downwards.
  • the number of individual products converted into containers differs from one container band to the other container band and that the target weight is identical.
  • the frequency distribution determines the conversion of the individual products into the containers and that the implementation is optimized with respect to another feature. If, for example, individual products are introduced with a large scattering of the individual weight and the conversion is to take place with regard to a specific total weight of the containers, then it should be striven to ensure that this dispersion is within the conversion range is continuously reduced, so that all individual products can be implemented before reaching the outlet from the conversion area. For this purpose, it is necessary for the first stacking robots in the running direction of the containers to implement individual products with a high and a low individual weight. As a result, towards the end of the transfer range, each container can be completely filled with individual products with an average weight.
  • An essential efficiency feature of a robotic line is the fullest possible conversion of the individual products into completely filled containers.
  • a desired level of the container determined. This is set increasing in the direction of the container in the transfer area and corresponds to the respective section of the quotient of the length of the already traversed sections relative to the total length of the Umsetz Kunststoffes.
  • no individual products are converted into containers in each subsection in which the filling of the containers has already reached the desired filling level. This ensures that the individual products are not converted into containers too early.
  • This cascading requires that the stacker robots are distributed as evenly as possible along the transfer area, since the length of the working area of each deposit robot is not determinative of the desired level at its position.
  • the conversion efficiency is continuously adjusted relative to the optimal conversion performance due to the individual products currently located in the work area of each inlay robot and due to the achieved fill level of the containers currently in the work area of each inserter robot so that the containers reach their desired fill level when leaving the work area. This ensures that a complete filling of the container can be guaranteed even in case of failure of a deposit robot. It is further achieved that the relatively constant speeds of the transport devices need not be adjusted. Finally, it is achieved that when starting the robot road after a batch change, the implementation of the individual products as quickly as possible reaches the desired increasing level of containers with individual products.
  • the speed of the product belts and the container belts can also be reduced while maintaining the constant relative speed if the desired fill level in a subsection is undershot to such an extent that the performance of the interposer robots in the remaining subsections is insufficient to prevent the container completely filled. This proves to be advantageous even if the number of supplied individual products can be predetermined. There, if one or more deposit robots fail, the transfer capacity of the installation can be reduced to the extent that the performance of the remaining deposit robots is sufficient to implement all the individual products supplied to the transfer area.
  • a further improvement results from a two-part design of the product bands.
  • the speed of the first upstream parts of the product belts can be controlled independently of the speed of the respective second part of the product belts.
  • the second, downstream portion of the product bands extends at least the length required by the counting position of the individual product determining count position.
  • an additional count of the individual products takes place in each case on the first part of the product band.
  • This additional count is taken into account in determining the speeds of the first and second part of each product band.
  • the relative speed of the second part of each product band and each container band is maintained constant. This ensures that the speed of the second part of each product band and each container band can be reduced.
  • Such a reduction of these speeds is desirable if the number of individual products fed on the / each first part drops significantly below the number conventionally introduced, and thus it can be ensured that the throughput time of the containers is increased by the conversion range, but the number the individual products located in the transfer area can be kept constant.
  • a direct connection of the robot road to a production process instead of the additional counting, a data transmission of the number of individual products brought up to this production process can take place.
  • each product band and each container band are temporarily stopped when in the respective additional count of the individual products on the first part of each product band no more such are introduced or if this temporarily on the first Part of each product band are accumulated.
  • This ensures that in the transfer area in the transport direction the products and containers decreasing density of the brought up and reacted individual products and the increasing level of the partially filled containers can be maintained even in the event of a gap or interruption in the production of individual products.
  • the count of the individual products for the control of the speed of the product belts and the container belts can be taken into account. If the count of the individual products occurs just above the infeed of the product line, then this count may be taken into account instead of the additional count for the control of the line speeds. It is then important to note that between the actual location of the count - here the inlet of the product band - and the effective process-determining counting position - always that point, which determines according to claim 1 due to the relative speed of the fastest product band and the slowest container band - distinguished becomes.
  • the actual location of the count corresponds to the position at which the counter is currently positioned or it corresponds to the position at which the number of the individual products brought up at this position are transmitted as a data stream to the control computer (s) of the robot line.
  • the process-determining counting position corresponds to the position at which by computational updating of the, possibly already implemented, individual products, the number of bypassed individual products is determined in order to control the release for the control of the next container to be filled.
  • a cyclic movement of at least one product band or a container band by a cyclic movement of at least one product band or a container band.
  • Each product band and each container band are thereby moved at cyclic rates relative to each other at constant speeds.
  • a cyclic movement of the container belt can be achieved that also intermittently working filling units in the region of this container belt or transversely to the belt direction running applicators or labelers can be arranged.
  • the preparation of the container is carried out directly by a cyclically operating packaging machine, in particular by a thermoforming machine with tactile shaping, filling and cutting.
  • each product band In order for the constant relative speed of the product and container belts is maintained, each product band must be moved forward for each cyclic movement of the container band, in particular every time an intermittent packaging machine, by that length, which corrected by the relative speed deduction length, ie the length the feed of the packaging machine between two bars, corresponds. Frequently moving product belts are often used in connection with aseptic liquid filling.
  • the chocolates produced in the one-shot process or on casting plates are also introduced cyclically.
  • the count of the individual products at the counting position on the advancing product band can, as described in claim 16 , be determined by arithmetic continuation of upstream-determined counting information.
  • the production information upstream of the respective counting position or a count preceding the respective counting position can be used.
  • actual counting devices they can be cameras, light sensors, proximity sensors, 3D image processing systems, or even weighing units.
  • the counting device can also extend across several product bands, for example as a line scan camera, and the information can be updated mathematically to the individual product bands.
  • a data bus can also be present for the upstream production process of the individual products or for the upstream and downstream control systems.
  • a transmitted data value can be used differently. For example, the feature of each individual product contained in a container may be stored for traceability purposes. If the container is to reach a certain target weight, then this target weight transmitted by the robot road as a data value can be used for control measurement and for the current correction within the robot road. Finally, the data value can also be used directly for the labeling and labeling of a container.
  • the invention also relates to a robotic line for the batchwise conversion of at least one sort of individual products into at least one sort of a specific number of containers receiving individual products.
  • the robot road comprises at least two infeed robots in order to individually grasp individual products in a transfer region of the robotic path and to convert them into the containers.
  • the robot road has at least one product band on which the individual products can be transported and at least one container band on which the containers can be transported in synchronism with the individual containers.
  • Each product band and each container band is, in particular per batch, movable at relatively constant speeds.
  • the or each product band has a counting device whose position is determined such that a counted at the position of the counting device individual product simultaneously reaches the outlet from the Umsetz Scheme the robot road as a simultaneously on the container belt or on the slowest moving container belt in the inlet of the Implementation area of the robot road controlled container.
  • FIG. 1 is in the supervision of a known from the prior art robot road 1, in the running direction 17, ie from left to right, individual products 2, which are arbitrarily arranged on a product belt 6 under deposit robots 4a, 4b, 4c, ... go through , In this case, a count takes place at the inlet into a transfer area 1b of the robot road.
  • a container belt 7 runs in a running direction 16, on which empty containers 3 which are partially filled in the further course are introduced.
  • the product belt 6 is driven by a drive 18 and the container belt 7 is driven by a drive 19.
  • the individual products are counted in a counting area 1a by means of a counting device 8.
  • the counting device 8 is connected to controls 11a, 11b, 11c of the infeed robots. In practice, these controls may also be implemented by a single central controller comprising a computer.
  • a container feeder 12 for example a Be unitedabstapler
  • empty containers are supplied and passed at the inlet of the container belt 7 to this.
  • the individual controllers 11a, 11b, 11c or a single control.
  • a transversely over the container belt 7 extending stopper may be provided, which in turn is to be connected to the controller 11 or the individual controllers 11a, 11b, 11c.
  • next empty, possibly jammed, container 3 is always released as soon as under the counter 8 such a number of individual products 2 have passed on the product belt 6, as it corresponds to the number of fillers of a container 3.
  • the distance between the individual containers which contain a larger number of fillings, must be greater so that the speed of the container strip is increased to such an extent can be moved, that the product band and the container band at about the same speed.
  • Such an increase in the distance is usually not desirable. If, for example, feature-specific, for example non-equilibrium, individual products 2 are to be formed as determined by characteristics as, for example, equilibrium, containers 3 are to be used there, the largest possible distribution of the features, in this example the individual weights, of the individual products 2 and accordingly containers 3 should not be too fast be guided through the transfer area 1b.
  • FIG. 2 a plan view of an inventive robot road 1 shown.
  • the individual products 2, arranged arbitrarily on a product band 6, run in the direction of movement 17, ie from left to right, under the stacking robots 4a, 4b, 4c, ... by.
  • the containers are brought in at a uniform distance by means of a conveyor belt or by means of a transport chain or thermoforming machine.
  • the distance of the containers is different from FIG. 1 so far reduced that twice as many containers are arranged on the container belt 7.
  • a counter 8 which is arranged in front of the transfer area 1b.
  • FIG. 2 Parallel to the product belt 6 runs a container belt 7, on which empty containers 3, which are partially filled in the further course, are introduced. Unlike in FIG. 1 are shown in FIG. 2 about twice as many containers in the transfer area 1b of the robot road.
  • the length of the counting area 1a corresponds approximately to the length of the conversion area 1b.
  • the counting device 8 is connected to the controls 11a, 11b, 11c of the infeed robots. In practice, these controls can also be controlled by a single centralized controller 11, which includes a computer to be realized.
  • FIG. 3 a further plan view of a robot road 1 according to the invention is shown.
  • the individual products 2 randomly arranged on a product band 6 run in the running direction 17, ie from left to right, under the inlay robots 4a, 4b, 4c,....
  • the containers are brought in at a uniform distance by means of a conveyor belt or by means of a transport chain or thermoforming machine.
  • the distance of the containers is opposite FIG. 2 stayed the same.
  • the amount of individual products supplied remained the same.
  • the containers are much smaller than in FIG. 1 and 2 shown.
  • a counting device 8 is shown, which is arranged in the transfer region itself.
  • the control of the robot road 1 takes place here with a single controller 11.
  • FIG. 3 Parallel to the product belt 6 runs a container belt 7, on which empty containers 3, which are partially filled in the further course, are introduced.
  • the containers take 3 in FIG. 3 four times less filling positions than the containers 3 in FIG. 2 .
  • the speed of the container belt 7 can be increased so far that all positions of the container 3 by the inlay robots 4a, 4b, 4c, ... can be occupied, it is necessary that the count of the zoomed individual products 2 in Umsetz Scheme 1b itself takes place, so that always an empty container 3 is controlled as soon as under the counter 8 such a number of individual products 2 have passed through on the product belt 6, as it is at the position of the Counting device 8 as expected for the complete filling of a container 3 still required number of individual products 2 corresponds to which container 3 reaches the outlet from the transfer area 1b at the same time with the position on the product strip 6, at which by means of the counter 8, the individual products 2 are counted.
  • the length of the counting region 1a corresponds approximately to half the length of the conversion region 1b.
  • the expected at the position of the counter 8 as expected for the complete filling of a container 3 number of individual products 2 can be determined in different ways.
  • the individual products 2 already converted into containers 3 can be updated by the controller 11 in the entire conversion area.
  • a cascaded filling of the containers 3 proves to be much more advantageous, which makes it possible for the counting of the individual products 2 and the release of a next container 3 to be filled to take place even without a complicated calculation within a counting within the conversion range 1b.
  • each individual stacker robot 4a, 4b, 4c, ... can be designed in a robotic line 1 such that regardless of the number of zoomed individual products 2 an increase in the filling of the container 3 in the direction of the 16th the container belt 7 is ensured.
  • the filling of the container 3 is then realized so that the increase of the filling levels of the container 3 in the transfer area 1b of the robot road 1 by each deposit robot 4a, 4b, 4c, ... is maintained independently and as accurately as possible.
  • a desired level is determined for each type of individual products 2 and for each associated container 3, which is to be achieved in the working area of the respective stacker robot 4a, 4b, 4c, ...
  • this deposit robot interrupts the further filling of this container 3, although possibly more individual products 2 are available in his workspace.
  • the inlay robots 4a, 4b, 4c, ... are outlined as delta robots in the supervision. However, these can also be other fast insertion robots, such as pickers, SCARA or comparable parallel or serial kinematics.
  • These inlay robots 4a, 4b, 4c, ... are each equipped with a gripping device, for example a sucker, which - after activation of a defined position in the horizontal plane by the controller 11 - lowers itself to a single product 2 located there, this then lifts and, after rotation about a vertical axis according to the desired, correct orientation in the container 3 lowers.
  • a gripping device for example a sucker
  • the grippers of the stacking robots 4a, 4b, 4c, ... know the individual positions on the continuously moving product strip 6 that must be approached, by means of a camera 9a assigned to the stacking robots 4a, 4b, 4c, ... 9b, 9c when passing through the individual products 2 under the respective camera 9a, 9b, 9c every position at which a single product 2 is registered, as well as the rotational position and possibly further features such as weight or color of the individual product 2 determined, and in the control 11 as well as considering the belt speed, which is not always constant in practice.
  • each of the product band 6 already removed individual product 2 is also considered by the controller 11, so the individual products 2 still to be present and to be converted can be converted by the subsequent stacking robot movements of the stacker robot 4a or the subsequent stacker robots 4b, 4c,...
  • the counting device 8 and the cameras 9a, 9b, 9c are combined in a single camera arranged in front of the conversion region 1b, which at the same time serves as counting device 8 and camera 9a, 9b, 9c for position, rotational position and possibly feature determination the individual products 2 is used.
  • the position of the count 1a of the individual products 2 can then be computationally pushed to the point which results from the relative speed of the product belt 6 and the container belt 7.
  • FIG. 4 is a plan view of another robotic road 1 according to the invention shown.
  • the individual products 2 arranged on a product band 6 run in the running direction 17, ie from left to right, under the stacking robots 4a, 4b, 4c,....
  • a counting device and an independently driven compensating belt are shown, which immediately in front of the product band and arranged on this product band counting device are arranged.
  • the product band is made in two parts and each part has a counting device.
  • the product band 6 is preceded by a compensating belt 21 here.
  • This has its own drive 20 and a compensating counter 22 whose detection range covers the inlet area of the compensating belt 21.
  • the compensating belt 21 can be brought to a standstill via the drive 20 until again individual products 2 are detected by the compensating counter 22.
  • On the compensating belt an exemplary arrangement 24 of individual products 2 is shown. So it may be that temporarily no products are delivered. Then the product belt 6 and the container belt 7 can be brought to a standstill until individual products arrive at the inlet of the product belt 6 again.
  • the arrangement 24 of the individual products 2 shows that after the interruption of production only three tracks are occupied by individual products 2.
  • the product belt 6 and the container belt 7 can be operated at half speed until all six tracks are again covered with individual products, as also shown in arrangement 24. If, as shown in the further course of the arrangement 24, a complete series of individual product 2 is missing, then the product band 6 and the container band 7 can be stopped briefly to compensate for the missing row.
  • the compensating belt 21 can also be required by means of a component required for the last production step of the individual products Transport device can be realized.
  • individual products 2 often go through a cooling tunnel at the end.
  • the compensation counter 22 can be arranged at the inlet of the cooling tunnel.
  • the speed of the compensating belt 21 can not be adjusted.
  • the compensation count and possibly also the determination of the characteristics of the individual products 2 takes place during the actual processing of the poultry and is transmitted as a data stream via a data bus to the controllers 11a, 11b, 11c or a single control. If this balance count or data stream is updated accordingly, taking into account the speed of the cooling belt or the chain guide, then the continuous adjustment of the speed of the product belt 6 and the container belt 7 can be due to this updated single product count.
  • FIG. 5 is a plan view of another robotic road 1 according to the invention shown. Again, the run on individual products 2 in the direction 17, ie from left to right, under the stacking robots 4a, 4b, 4c, ... by. However, these are arranged on three product bands 6a, 6b, 6c. A counter is shown for each product band.
  • the three product belts 6a, 6b, 6c run at different speeds.
  • the fastest product band 6a is twice as fast as the slowest moving container band 7a.
  • the slowest product belt 6c is only moved about 25% faster. This also results in the different counting positions 8a, 8b, 8c.

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Claims (18)

  1. Procédé destiné à déplacer par lots au moins une sorte de produits individuels (2) dans au moins une sorte de récipients (3) contenant un nombre déterminé de produits individuels (2) au moyen d'une chaîne automatisée (1) contenant au moins deux robots d'insertion (4a, 4b, 4c), les produits individuels (2) étant transportés irrégulièrement vers une entrée de la chaîne automatisée afin de les saisir individuellement dans une zone de déplacement (1b) de la chaîne automatisée et de les déplacer dans des récipients (3), les produits individuels (2) et les récipients (3) étant transportés en flux continu sur au moins une bande de produits (6 ; 6a, 6b, 6c) et sur au moins une bande de récipients (7 ; 7a, 7b, 7c),
    caractérisé en ce que
    chaque bande de produits (6 ; 6a, 6b, 6c) et chaque bande de récipients (7 ; 7a, 7b, 7c), avec notamment chaque lot, se déplace à vitesse constante par rapport à l'autre, en ce que
    pour chaque bande de produits (6 ; 6a, 6b, 6c), une position de comptage est déterminée, de sorte qu'un produit individuel (2) compté au niveau de la position de comptage (8a, 8b, 8c) et non déplacé atteint la sortie de la zone de déplacement (1b) de la chaîne automatisée (1) en même temps qu'un récipient (3) inséré dans l'arrivée de la zone de déplacement (1b) de la chaîne automatisée en même temps sur la bande de récipients (7) ou sur la bande de récipients (7a, 7b, 7c) se déplaçant le plus lentement, et en ce que
    les produits individuels sont comptés sur la bande de produits (6 ; 6a, 6b, 6c) qui les amène au niveau de la position de comptage (8a, 8b, 8c) correspondante de cette bande de produits.
  2. Procédé selon la revendication 1, caractérisé en ce qu'une position d'insertion (12af, 12bf, 12cf) virtuelle est déterminée pour chaque bande de récipients (7a, 7b, 7c), laquelle position d'insertion (12af, 12bf, 12cf) virtuelle détermine le moment de l'insertion d'un récipient (3) libéré sur la bande de récipients (7a, 7b, 7c) correspondant à cette position d'insertion (12af, 12bf, 12cf) virtuelle, de sorte que ce récipient (3) atteint la sortie de la zone de déplacement (1b) en même temps qu'un récipient (3) inséré directement dans l'arrivée de la zone de déplacement (1b) sur la bande de récipients (7a) se déplaçant le plus lentement.
  3. Procédé selon l'une des revendications 1 ou 2, caractérisé en ce que la libération pour insertion d'un autre récipient (3) à remplir sur la bande de récipients (7 ; 7a, 7b, 7c) correspondante a lieu lorsqu'a été déterminé au niveau des positions de comptage le nombre de produits individuels (2) attendu qui est encore nécessaire pour remplir entièrement un récipient (3) au niveau de la position de comptage de la bande de produits (6a) se déplaçant le plus vite et en ce que l'insertion de cet autre récipient (3) à remplir a lieu sur la bande de récipients correspondant à ce récipient lorsque la bande de récipients (7a) se déplaçant le plus lentement atteint la position d'insertion (12af, 12bf, 12cf) virtuelle de la bande de récipients correspondant à ce récipient (3).
  4. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce qu'une détermination des caractéristiques relatives à la sorte, au poids, à la dimension, à la couleur ou à une autre caractéristique de chaque produit individuel (2) inséré a en outre lieu et en ce que ces caractéristiques déterminent conjointement le déplacement des produits individuels (2) dans un récipient (3) transporté.
  5. Procédé selon la revendication 4, caractérisé en ce qu'une détermination de la répartition de la fréquence de ces caractéristiques mesurées a en outre lieu et en ce que cette répartition de la fréquence commande également la libération d'un autre récipient (3) à remplir.
  6. Procédé selon la revendication 5, caractérisé en ce que le transport du récipient (3) a lieu sur au moins deux bandes de récipients (7a, 7b, 7b) et en ce que la répartition de la fréquence détermine également la libération d'un autre récipient (3) à remplir sur la bande de récipients (7a, 7b, 7b) correspondante.
  7. Procédé selon l'une quelconque des revendications 5 ou 6, caractérisé en ce que la répartition de la fréquence détermine également le déplacement des produits individuels (2) dans les récipients (3) et en ce que le déplacement est optimisé par rapport à une autre caractéristique.
  8. Procédé selon l'une. quelconque des revendications précédentes, caractérisé en ce qu'un niveau théorique des récipients (3) est déterminé pour chaque section de la zone de déplacement (1b) parcourue par une bande de récipients (7 ; 7a, 7b, 7b), en ce que le niveau théorique des récipients (3) est déterminé de façon croissante dans le sens de marche (16) des récipients (3) dans la zone de déplacement (1b), en ce que le niveau théorique dans chaque section correspond au quotient défini à partir de la longueur des sections déjà parcourues par rapport à la longueur totale de la zone de déplacement (1b) et en ce que dans chaque section dans laquelle le remplissage des récipients (3) a déjà atteint le niveau théorique, aucun produit individuel (2) n'est plus déplacé dans les récipients (3).
  9. Procédé selon la revendication 8, caractérisé en ce qu'une capacité de déplacement optimale est préalablement déterminée pour chaque robot d'insertion (4a, 4b, 4c) pour chaque sorte de produits individuels (2) en fonction du nombre maximal transporté ou en fonction d'autres propriétés déterminant la capacité et en ce que, en fonction des produits individuels se trouvant actuellement dans la zone de travail de chaque robot d'insertion (4a, 4b, 4c) et en fonction du niveau déjà atteint des récipients (3) se trouvant actuellement dans la zone de travail de chaque robot d'insertion (4a, 4b, 4c), la capacité de déplacement est constamment adaptée par rapport à la capacité de déplacement optimale, de sorte que les récipients (3) atteignent autant que possible leur niveau théorique en quittant la zone de travail.
  10. Procédé selon l'une quelconque des revendications 8 ou 9, caractérisé en ce que la vitesse des bandes de produits (6 ; 6a, 6b, 6c) et des bandes de récipients (7 ; 7a, 7b, 7c) est réduite tout en conservant la vitesse relative constante lorsque le niveau théorique dépasse la limite inférieure dans une section, dans la mesure où la capacité des robots d'insertion (4a, 4b, 4c) ne suffit pas dans les sections restantes pour remplir entièrement les récipients (3).
  11. Procédé selon l'une quelconque des revendications 8, 9 ou 10, caractérisé en ce que chaque bande de produits (6 ; 6a, 6b, 6c) est conçue en deux parties dans le sens de marche (17) et en ce que la vitesse de chaque première partie disposée en amont est commandée indépendamment de la vitesse de la seconde partie correspondante et chaque seconde partie disposée en aval s'étend au moins sur la longueur qui est nécessaire en fonction de la position de comptage qui détermine le comptage des produits individuels (2).
  12. Procédé selon la revendication 11, caractérisé en ce qu'un autre comptage des produits individuels (2) a lieu sur chaque première partie de chaque bande de produits (6 ; 6a, 6b, 6c) et en ce que cet autre comptage est pris en compte lors de la détermination des vitesses de la première et de la seconde partie des bandes des produits et la vitesse relative de chaque bande de récipients (7 ; 7a, 7b, 7c) et de la seconde partie de chaque bande de produits (6 ; 6a, 6b, 6c) reste constante.
  13. Procédé selon la revendication 12, caractérisé en ce que chaque bande de récipients (7 ; 7a, 7b, 7c) et la seconde partie de chaque bande de produits (6 ; 6a, 6b, 6c) sont arrêtées temporairement lorsqu'aucun produit individuel n'est plus transporté ou lorsque ces produits individuels y sont accumulés lors du comptage supplémentaire des produits individuels (2) sur la première partie de chaque bande de produits (6 ; 6a, 6b, 6c).
  14. Procédé selon la revendication 10, caractérisé en ce que le comptage des produits individuels (2) est également pris en compte pour commander la vitesse des bandes de produits (6 ; 6a, 6b, 6c) et des bandes de récipients (7 ; 7a, 7b, 7c).
  15. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins une bande de récipients (7 ; 7a, 7b, 7c) ou au moins une bande de produits (6 ; 6a, 6b, 6c) se déplace par intermittence et chaque bande de produits (6 ; 6a, 6b, 6c) et chaque bande de récipients (7 ; 7a, 7b, 7c) se déplace par intermittence à vitesse constante l'une par rapport à l'autre.
  16. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que le comptage des produits individuels (2) a lieu au niveau de la position de comptage sur la bande de produits (6 ; 6a, 6b, 6c) transportant les produits par une mise à jour mathématique d'une détermination des données de production antérieure à la position de comptage ou d'un comptage antérieur à la position de comptage des produits individuels.
  17. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que, lors du départ d'un récipient (3) au niveau de la sortie de la zone de déplacement (1b) de la chaîne automatisée (1), une valeur de données correspondant à ce récipient (3) est transmise est même temps, laquelle valeur correspond aux caractéristiques individuelles ou à une valeur déterminée à partir de ces caractéristiques individuelles des produits individuels (2) insérés dans les récipients (3).
  18. Chaîne automatisée (1) conçue pour déplacer par lots au moins une sorte de produits individuels (2) dans au moins une sorte de récipients (3) contenant un nombre déterminé de produits individuels (2), comprenant
    - au moins deux robots d'insertion (4a, 4b, 4c) afin de saisir individuellement des produits individuels (2) dans une zone de déplacement (1b) de la chaîne automatisée (1) et de les déplacer dans les récipients (3),
    - au moins une bande de produits (6 ; 6a, 6b, 6c), sur laquelle les produits individuels (2) peuvent être transportés,
    - au moins une bande de récipients (7 ; 7a, 7b, 7c), sur laquelle les récipients (3) peuvent être transportés de façon synchronisée avec les produits individuels (2),
    la bande de produits ou chaque bande de produits présentant un dispositif de comptage (8),
    caractérisée en ce que
    chaque bande de produits (6 ; 6a, 6b, 6c) et chaque bande de récipients (7 ; 7a, 7b, 7c), avec notamment chaque lot, peuvent se déplacer à vitesse constante l'une par rapport à l'autre, et en ce que
    pour chaque bande de produits (6 ; 6a, 6b, 6c), une position de comptage (8a, 8b, 8c) est déterminée, de sorte qu'un produit individuel (2) compté au niveau de la position de comptage (8a, 8b, 8c) atteint la sortie de la zone de déplacement (1b) de la chaîne automatisée (1) en même temps qu'un récipient (3) inséré dans l'arrivée de la zone de déplacement (1b) de la chaîne automatisée en même temps sur la bande de récipients (7) ou sur la bande de récipients (7a, 7b, 7c) se déplaçant le plus lentement.
EP11164695.6A 2011-05-04 2011-05-04 Procédé d'insertion de produits individuels dans des récipients dans une suite de robots Not-in-force EP2520497B1 (fr)

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EP2471728B1 (fr) 2011-01-03 2019-06-12 Krones AG Agencement de plusieurs modules de manipulation et/ou de traitement et/ou de transport de récipients couplés ainsi que procédé de transport, de traitement et/ou de manipulation de récipients
EP2586712B2 (fr) 2011-10-31 2018-02-14 Veltru AG Procédé et dispositif d'insertion de produits dans des récipients dans une suite de robots
DE102013105002A1 (de) 2013-05-15 2014-11-20 Focke & Co. (Gmbh & Co. Kg) Verfahren zur Handhabung von Behältern, insbesondere Kartons, für Gruppen von Gegenständen, insbesondere Packungen
DE102015104151A1 (de) * 2015-03-19 2016-09-22 Textor Maschinenbau GmbH Bilden von Mischprodukten
IT201700047282U1 (it) * 2017-05-04 2018-11-04 Progetto Alfa S R L Dispositivo per il riempimento di un contenitore con rispettivi prodotti, preferibilmente da orientare

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DE4208818C2 (de) 1992-03-19 1994-09-08 Haensel Otto Gmbh Verfahren und Vorrichtung zum Einlegen von Artikeln in Verpackungseinsätze
DE19522368C2 (de) 1995-06-20 1997-04-30 Schubert Gerhard Gmbh Picker-Straße
EP0856465B1 (fr) 1997-01-30 2001-09-05 Gerhard Schubert GmbH Transport de plateaux à directions opposées pour table de préhension
DE29701564U1 (de) * 1997-01-30 1997-03-27 Gerhard Schubert GmbH, 74564 Crailsheim Pickerstraße mit entgegengesetztem Traytransport
WO2000023772A1 (fr) 1998-10-15 2000-04-27 Scanvægt International A/S Procede servant a former, au moyen d'une commande de poids, des lots d'articles de poids non uniforme
CH693710A5 (de) * 1999-07-02 2003-12-31 Sig Pack Systems Ag Verfahren zum Picken und Plazieren von Stückgütern.
US6826444B2 (en) 2001-08-22 2004-11-30 Robert Bosch Gmbh Method and apparatus for filling containers with piece goods
ATE332840T1 (de) 2002-04-02 2006-08-15 Bosch Gmbh Robert Verfahren und vorrichtung zum einfüllen von stückgütern in behälter
SE0401162L (sv) 2004-05-04 2005-08-09 Sverre Stenbom Förfarande vid packning av livsmedel och sorteringsanordning
BRPI0518046A (pt) 2004-12-10 2008-10-28 Scanvaegt Int As método de formação de lotes de objetos, e sistema para formação de lotes de objetos
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EP2236424B1 (fr) 2009-03-30 2016-02-24 Veltru AG Procédé et dispositif d'insertion de produits individuels dans des récipients dans une suite de robots

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