EP2664553B1 - 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
EP2664553B1
EP2664553B1 EP12191048.3A EP12191048A EP2664553B1 EP 2664553 B1 EP2664553 B1 EP 2664553B1 EP 12191048 A EP12191048 A EP 12191048A EP 2664553 B1 EP2664553 B1 EP 2664553B1
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EP
European Patent Office
Prior art keywords
container
belt
individual products
product
containers
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Not-in-force
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EP12191048.3A
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German (de)
English (en)
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EP2664553A3 (fr
EP2664553A2 (fr
Inventor
Matthias Ehrat
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Individual
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Individual
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Priority to EP12191048.3A priority Critical patent/EP2664553B1/fr
Priority to US14/070,449 priority patent/US20140123606A1/en
Publication of EP2664553A2 publication Critical patent/EP2664553A2/fr
Publication of EP2664553A3 publication Critical patent/EP2664553A3/fr
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Publication of EP2664553B1 publication Critical patent/EP2664553B1/fr
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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
    • 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
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • 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
    • B65B5/12—Introducing successive articles, e.g. confectionery products, of different shape or size in predetermined positions

Definitions

  • the invention relates to a method for inserting individual products into containers in a robot line and to such a robot line according to the preambles 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 tape can be included be a transport device on the fixed or variable distance, but in relation to the transport device stationary individual products ordered 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 and DE 297'01'564 U1 show a robot road in which the individual products are counted by means of a relative to the picker pedestal counter on the product band before entering the Umsetz Quarry the robotic street and then an empty container is released when a number of individual products corresponding to the number of fill of the container has been determined by the counter. 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.
  • the container as possible with the same, preferably constant speed are moved in parallel next to the individual products intended for a container.
  • the distance of the container on the container band to choose unnecessarily large.
  • the use of containers, which are introduced on the respective container belt with a fixed distance This is usually the case with thermoforming machines, such as in DE 25'064'46 A1 revealed the case.
  • There is a respective outlet side Drained tank when a new container is supplied on the inlet side. In the case of irregular introduction of the individual products, this makes the complete filling of the containers and the complete conversion of the individual products more difficult or the packaging material consumption unnecessarily high due to idle cycles caused by the time offset for the release of the next empty container.
  • 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 discrete-time equation systems and their optimization proves to be extraordinarily compute-intensive in practice and requires correspondingly powerful control computers.
  • 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 strip and the working speed on the one hand depending on the level additional, possibly as Conveyor elements running, storage elements and on the other hand controlled due to 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.
  • the invention relates to a method for the batchwise conversion of each batch of at least one sort of individual products into at least one sort of a particular filling number of individual products receiving container by means of a robot road containing at least two arranged in a Umsetz Scheme between an inlet and an outlet Einlegeroboter.
  • the filling number corresponds to a nominal value for the complete number-wise filling of a container with individual products in the transfer area of the robot line.
  • the individual products are transported irregularly at the entrance of the robot road in order to seize them individually in the transfer area of the robot road from the infeed robots and to convert them into containers. At most, a multiple gripper is used for gripping and moving the products. Then the individual products are usually taken one after the other individually and sold as a group in containers.
  • the individual products and the containers are transported in cocurrent on one or more product bands and on one or more container belts.
  • the invention is equally with a single product band and a single container band and with multiple product and / or Can be used container tapes.
  • slowest or fastest container or product bands this is not intended to imply the presence of multiple bands. Rather, in the case of individual product or container tapes, each tape is considered to be the fastest and slowest.
  • a reference to each product or container band in the case of only one band refers to that same band and does not imply the presence of multiple bands.
  • a maximum frequency of the individually introduced individual products ie a maximum expected for this batch product density of transported individual products, for example, per unit time or per unit length or area of the product bands or, given.
  • This maximum frequency is determined, for example, by the capacity of the upstream production process of the individual products. However, it can also be determined by the method of operation such as individual products manually or automatically, for example with a separating device, are placed on the associated product tape.
  • a speed is set in such a way that each product band and each container band has a relative velocity associated with a slowest container band, which is in particular different from zero.
  • the non-zero relative speed is required to optimally match the distance and the transport speed of a batch associated and brought up on the respective container band container on the fill number of this container.
  • containers with a large number of fillings can be achieved by this Container are transported relative to the individual products more slowly through the Umsetz Berlin and that according to the distance of the container can be kept low. This is particularly advantageous for container feeders which require a fixed distance, for example depressions of a thermoforming machine or packs of a horizontal tubular bag machine with underlying film feed.
  • a counting position For each product band, a counting position will be specified.
  • the specification of the counting position or optionally of the counting positions is carried out such that a counted at the respective counting position and unreacted individual product reaches a target position at the same time, as a simultaneously on the slowest container belt in the Umsetz Scheme the robot road controlled container.
  • This target position coincides with an exit from the transfer area of the robot line when each product band and each container band is moved with the speed set in relation to each batch.
  • the specification of the counting position is thereby adjusted to the maximum frequency of the individual products to be transported per batch.
  • the counting position is arranged in the conversion area itself - this may be necessary, for example, in containers which have only a small number of fillings, or if at least one product strip is moved more slowly than all container strips - the individual products already converted in the area of the counting position are not counted. It should be noted that some of the individual products could already be converted into containers.
  • the individual products are counted during the conversion on the leading them product band at the counting position corresponding to this product band.
  • the individual products can be counted at different, each one of the product bands associated counting positions. Single products on faster product lines are counted furthest back or upstream. Individual products on slower product bands corresponding further forward or downstream, ie closer to an inlet of the conversion area.
  • the counting of individual products can be done in different ways. For example, by optical recording devices, by weighing units, which check the product presence or by arithmetic continuation of production data. If the initial relative speeds of all product bands and of all container bands, which are predetermined as a function of the maximum frequency of a batch, are known, then it is conceivable to provide a single counter across the entire width of all product bands for counting the individual products whose arrangement is based on that initial relative speed determined, which requires the most rearwardly offset arrangement of the counting device on the fastest moving product band. All other combinations of the product belt speeds and the container belt speeds can in this case be determined by computational updating.
  • the current speed of the slowest container band is adjusted so that the same time achieved target position based on the outlet of the Umsetz Schemees offset to the counting position is.
  • This displacement of the target position enables the transport speed of the containers to be matched to the frequency of the individual products currently being brought up, on the basis of their fill number.
  • This displacement of the target position further allows the distance of the container can be kept constant, which is particularly advantageous for the supply of deep-drawn troughs or other formed from a film or paper roll in the transfer area contiguous containers.
  • thermoforming machine for supplying deep-drawn depressions
  • the at least one forming station and / or the at least one sealing station of a thermoforming machine for supplying deep-drawn depressions can be arranged independently of the conversion region of the robot road.
  • manual workstations or testing stations for controlling or completing the containers can be readily arranged.
  • the speed of the container tapes can be adjusted separately depending on a deviation from the batch-predetermined maximum frequency of the individually transported products.
  • the target position reached at the same time is thereby determined separately for each container band and offset separately from the counting position. This is particularly advantageous if different types of individual products are introduced on the product strip and these are converted into containers depending on their frequency of transported individual products. There, it may be necessary that the target position of a container band is further offset to the counting position, because of a certain variety of individual products less than the predetermined maximum frequency is introduced.
  • the containers can be fed at variable intervals, as is the case, for example, with stacks of containers, it may be necessary for the actual feeding of the container into the transfer area and the preceding stacking - or some other form of container separation and / or feeding - adapted and reconciled by arithmetic continuation of the tape feed.
  • the control of the containers for each of these container bands is to be adjusted accordingly.
  • the feed-in control there can also be determined by the type of individual products. This type of control of the container causes the container at the same time the then valid, that is to say reach the current target position, as the individual products required for their filling.
  • the containers are continuously formed on at least one container belt, for example, from a solid film or paper web and separated only after their filling be, it is advantageous if the containers, as described in claim 4 , are controlled at fixed intervals.
  • the packaging material is usually formed there at fixed intervals to trough-shaped or flat-lying containers, sealed and then separated together or at the same time with the seal.
  • the container spacing is predetermined by the cutting or separating device. Often it is also the case that the printing of the packaging material dictates the fixed distances.
  • the containers can be fed in isolated on at least one container band, it is advantageous if the containers, as described in claim 5 , are supplied at variable intervals.
  • the at least one container band may be a conveyor belt which does not specify any distances. But it can also be conveyor chains or belts with drivers act. There, the division of the driver while a distance from driver to driver before. It can be achieved there but by omission of drivers that the distance of the container is changed by a multiple of the pitch.
  • a feature determination is carried out for each zoomed product 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.
  • the individual products can be converted into defined positions of a container in a feature.
  • different containers can be controlled, for example by means of two successively arranged stackers, and that according to the frequency distribution of the respective container is supplied. It is particularly advantageous if the control of the containers takes place on at least two container bands. The release of a next container to be filled on the respective container band is then determined based on the frequency distribution of the features. In particular, if the distance between the containers on these at least two container bands is variable, it may well be that the container bands are operated at the same speed and the scattering of the frequency distribution is specifically compensated.
  • An essential efficiency feature of a robotic line is the fullest possible conversion of the individual products into completely filled containers.
  • a desired level the container is determined.
  • the predetermined imaginary subdivision of the Umsetz Maschinenwitz Maschinenes is chosen as fine as possible, thereby achieving a continuous filling of the container as possible.
  • the desired level is set in each subsection depending on the current target position.
  • the nominal filling level corresponds to the quotient of the length of the already passed subsections relative to the length of all subsections arranged in the direction of travel of the containers before the current target position.
  • the current total length of the conversion range determined by the current target position determines the desired fill level, and this desired fill level is continuously adjusted on the basis of the current deviation from the batch-determined maximum frequency of the transported individual products.
  • this desired fill level is continuously adjusted on the basis of the current deviation from the batch-determined maximum frequency of the transported individual products.
  • a target emptying level of the respective product band for each of a product band traversed portion of a predetermined imaginary subdivision of the Umsetz Anlagenes continuously determined a target emptying level of the respective product band.
  • the predetermined imaginary subdivision of the Umsetz Maschinenwitz Maschinenes is chosen as fine as possible, thereby achieving as continuous as possible emptying of the respective product band.
  • the target emptying level for each subsection of the respective product strip is determined as a function of the current deviation from the batch-predetermined maximum frequency of the individual products transported in this subsection.
  • the target emptying level corresponds to the deviation, weighted by the quotient of the length of the subsections already passed, relative to the length of all subsections arranged in the direction of travel of the containers in front of the current destination position, from the maximum frequency of the transported individual products.
  • the actual total length of the shift range determined by the current target position determines the target dump level and this is set continuously based on the current deviation from the batch Frequency of transported individual products adjusted.
  • the original deviation from the batch-specific frequency of the transported individual products in each subsection is taken into account.
  • no individual products are converted into containers in each subsection of the associated product band in which the target emptying level has already been reached. This ensures that the individual products are not converted into containers too early.
  • an intermediate storage of individual products can, if necessary, additionally be provided or provided, for example by a subdivision of the product band in the conversion region, such as, for example Fig. 5 and the corresponding description in section [0024] of EP 1'352'831 B1 described.
  • optimum conversion efficiency can be determined in advance for each batch of individual products due to their maximum frequency of the individual products brought in or due to other performance-determining properties for each inlay robot.
  • the transfer efficiency is due to the currently located in the work area each inlay robots individual products and due to the achieved level of currently located in the work area each inlay robot container and due to the emptying of the respective product band continuously compared to the optimal conversion performance adjusted so that the container when leaving the work area as possible their Sollhellstand and that the product bands reach their Sollentle mecanicsstand. This ensures that a complete filling of the container can be guaranteed even in case of failure of a deposit robot. This also ensures 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 bands and the container bands can be reduced if the desired level or the target emptying level is not reached in a section of the respective container band or the respective product band and the conversion capacity or performance the inlay robot in the remaining sections is insufficient to completely fill the containers and completely implement the individual products.
  • a further improvement results from a two-part design of the product band or at least one of the several product bands.
  • the speed of the respective first upstream part can be controlled independently of the speed of the second part.
  • the first, upstream part is arranged in the running direction completely in front of the counting position. This can bring the zoomed in on the first part Individual products on the respective second part of the product bands and according to the containers on each container band brought faster and distributed to the subsections of each insert robots. This proves to be helpful in the case of a large number of fillings of containers receiving individual products, since there a faster introduction of the individual products and the containers after a batch change is helpful in achieving the desired increasing fill level of the containers in the course of the conversion range.
  • 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. This ensures that the speed of the second part of the product bands and the container bands can be reduced.
  • Such a reduction of these speeds is desirable if the frequency of the individual products supplied on the / each first part drops significantly below the frequency conventionally introduced, and thus it can be ensured that the throughput time of the containers is increased by the conversion range, but the frequency the individual products located in the transfer area can be kept as constant as possible for each section passed through by a product band.
  • a direct connection of the robot road to a production process instead of the additional counting, a data transmission of the current frequency of the individual products brought up by this production process can take place.
  • a cyclic movement of at least one product band or at least one container band By 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 pre-feeding of the container is carried out directly by a cyclically operating packaging machine, in particular by a thermoforming machine with tactile shaping, filling, sealing and cutting.
  • the relative speed required in each case due to the deviation from the batch-predetermined maximum frequency the product and container belts is maintained, according to each product band and any non-intermittently moved container band must be moved forward for each cyclic movement of the at least one cyclically moving container band, in particular each time an intermittent packaging machine, by that length, which of the Relative speed corrected deduction length, ie the length of the feed of the packaging machine between two bars corresponds.
  • 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 counting of the individual products at the counting position on the product band leading them can, as described in claim 15 , 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. By means of the counting device or the production data transmission At best, it is also possible to determine the characteristics for each individual product introduced with regard to variety, weight, size, color or another characteristic.
  • a transmitted data value can be used differently.
  • the characteristic for example its production number, of each individual product contained in a container can 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 each batch of at least one sort of individual products into at least one sort of a particular filling number of individual products receiving container according to the features of claim 17.
  • each batch a maximum frequency of the total transported individually products can be specified.
  • the robot line comprises at least two insertion robots arranged in a transfer area between an inlet and an outlet, around individual products in the transfer area of the robot road to seize individually and implement in the container.
  • 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.
  • the robot road has at least one programmable control unit.
  • the control unit is designed and programmed in such a way that a speed can be predetermined for each product band and for each container band, so that each product band and each container band has a relative speed associated with a slowest container band, which is in particular different from zero.
  • a counting position can be predetermined for each product band, such that a counted at the counting position and unreacted individual product reaches a target position at the same time, as a simultaneously controlled on the slowest container band in the inlet of Umsetz Berlin Berlines the robot road container.
  • the or each product band may have a counting device at the counting position determined in this way.
  • only one counting device can also be provided for all product bands, in which case the corresponding parameters can be determined by computational updating as described above.
  • the counting of the individual products can be carried out for example by counting devices such as optical recording devices or by weighing units which check the product presence.
  • no counting device needs to be present, in which case the counting can be done at the counting position by mathematical updating of production data.
  • the target position can be specified in such a way that it ends with a Outflow from the transfer area of the robotic line coincides when each product band and each container band are moved with the speed which can be predetermined as a function of each batch. While the individual products are being converted, they can be counted by the counting device on the product band leading to them at the counting position belonging to this product band.
  • the speed of each container band can be adjusted in dependence on a deviation from the maximum frequency of the transported individual products such that the target position reached at the same time relative to the outlet of the conversion region can be displaced towards the counting position.
  • the control unit of the robot road is configured and programmed in its entirety for carrying out one of the variants of the method described here.
  • control unit may in any case also comprise a plurality of subunits, which may in particular also be distributed or spatially separated from one another in the robot road. Likewise, of course, a central control unit is conceivable.
  • the control unit also has direct or indirect connections with the various components of the robot road, that these components are controllable according to the method.
  • control unit typically has a memory unit for storing Having process parameters and a computing unit for their processing and for processing, for example, measured values or sensor signals of the components.
  • an input unit is usually present, which allows the input of process parameters such as a maximum frequency of the current batch.
  • the one or at least one of the plurality of product bands of the robot road can, as described in claim 18 , be designed in the direction of two-part.
  • the speed of the first, upstream part is controllable independently of the speed of the second part.
  • the first, upstream part is arranged in the running direction completely in front of the counting position.
  • 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 fiscallyabstapler, empty containers are supplied and passed at the inlet of the container belt 7 to this.
  • the container feeder 12 is also connected to the individual controllers 11a, 11b, 11c (or a single controller).
  • 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.
  • the next empty, possibly pent-up, container 3 is always released as soon as under the counter 8 such a number of individual products 2 have passed through on the product belt 6, as it corresponds to the filling number 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, unbalanced, individual products 2 are to be formed as determined by characteristics, for example equilibrium, containers 3, then the greatest possible frequency distribution of the features, in this example the individual weights, of the individual products 2 are to be used there and accordingly the 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 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 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.
  • the container belt 7 moves at half speed relative to the speed of the product belt 6. Accordingly, 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 realized here by a single central controller 11, which comprises a computer.
  • FIG. 3 is a plan view of a robotic road 1 according to the invention shown, in which the container in uniform, in particular fixed distance by means of a conveyor belt or by means of a transport chain or thermoforming machine are introduced and in which the current frequency of arbitrary on a product tape 6 arranged and brought up individual products 2 deviates from the batch predetermined maximum frequency. Since the containers 3 are introduced at a fixed distance, it is there so that at a Einêtung a container to be filled 3 at the same time a filled container 3 is discharged at the outlet of Umsetz Schl. 1b.
  • the target position 1c which reach a counted at the counting position 8 and unreacted individual product 2 and which simultaneously controlled on the container belt 8 container 3 at the same time, based on the outlet of the Umsetz Kunststoffes to the counting position 8 offset.
  • This target position 1c is adjusted continuously as a function of the deviation of the current frequency of the transported individual products from the batch-specified maximum frequency and, according to the method, causes an adaptation of the speed of the slowest container band.
  • the desired filling level of the containers and the target emptying level of the product strip are also adapted to the current target position 1c.
  • the nominal filling levels and the target emptying levels of any further product or container bands are also adapted. If there are several container belts with fixed distances, their speed must also be adjusted.
  • FIG. 4 is a further plan view of an inventive robot road 1 shown, in which the container in uneven distance be introduced by means of a conveyor belt or by means of a transport chain in particular by omitting drivers and in which the current frequency of arbitrarily arranged on a product belt 6 and brought up individual products 2 deviates from the batch-predetermined maximum frequency. Since the containers 3 are brought in at a variable distance, it is there so that at a Einêtung a container to be filled 3 is not necessarily at the same time at the outlet of Umsetz Anlagen Schemees 1b a filled container 3 is discharged.
  • the target position 1c which at the counting position 8 counted and unreacted individual product 2 and which at the same time on the container belt 8 controlled container 3 reach simultaneously, based on the outlet the Umsetz Schemees Counting position 8 towards as little as possible or not offset.
  • the containers 3 can be supplied at a variable distance. This distance is continuously adjusted as a function of the deviation of the current frequency of the transported individual products from the maximum frequency specified in batches.
  • FIG. 5 is a further view of an inventive Robot Street 1 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,....
  • a pre-accession with maximum frequency is shown.
  • 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. Also, the frequency of the 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. 7 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. 5 four times less filling positions than the containers 3 in FIG. 2 .
  • 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 expected at the position of the counter 8 for the full Filling a container 3 still required number of individual products 2 corresponds to which container 3 reaches the target position based on the outlet from the Umsetz Scheme 1b simultaneously 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.
  • a desired level is determined for each variety of individual products 2 and for each associated container 3, which in the work area of the respective stacker robot 4a, 4b, 4c, ... to be achieved.
  • 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, ...
  • 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. So that 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, ...
  • a gripping device for example a sucker
  • 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 pushed to the point which results from the speed of the product belt 6 and the container belt 7 as a function of a charge.
  • the camera 9a and possibly the further cameras 9b, 9c, etc. are then used for position, rotational position and, if necessary, for characterizing the individual products 2 or are not required.
  • FIG. 6 is a plan view of another robotic road 1 according to the invention shown.
  • the product band is made in two parts and each part has a counting device.
  • 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 counter 22 and a independently driven compensating belt 21 is shown, which are arranged immediately in front of the product belt 6 and the counting device 8 arranged on this product belt.
  • 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 product band 6 is preceded by a compensating belt 21 here.
  • 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 realized by means of a transport device required for the last production step of the individual products.
  • 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 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. 7 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. Parallel to the three product bands 6a, 6b, 6c, three container bands 7a, 7b, 7c are arranged. In relation to different virtual positions 12af, 12bf, 12cf, differently sized containers are released onto these container bands. Once these containers virtually a corresponding Einberichtposition 12a, 12b, 12c have reached the inlet to the conversion area, the containers are physically controlled.
  • the release positions 12af, 12bf, 12cf in FIG. 5 are process-determining positions to illustrate the process.
  • the actual device will provide that three Be employerserabstapler are provided at the Einberichtposition 12a, 12b, 12c and that they are controlled according to delay a container. This time delay then corresponds to the distance around which container band would have had to move between the associated release and insertion positions if the containers had themselves been activated at the release position.
  • the slowest container band 7a shows a variable container distance.
  • the further container belts (7b, 7c) show a fixed container distance. It is also possible that only bands are used with a fixed distance, in which case the target position 1c shifts also here to the counting position.
  • 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. By contrast, 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Containers And Plastic Fillers For Packaging (AREA)

Claims (18)

  1. Procédé destiné à transférer par lots au moins une sorte de produits individuels (2) pour chaque lot dans au moins une sorte de récipient (3) pouvant contenir un nombre déterminé de produits individuels (2) au moyen d'une chaîne automatisée (1) comptant au moins deux robots d'insertion (4a, 4b, 4c) situés dans une zone de transfert (1b) comprise entre une entrée et une sortie, les produits individuels (2) étant transportés de manière irrégulière à partir de l'entrée de la chaîne automatisée, pour être transférés individuellement dans des récipients (3) par les robots d'insertion dans la zone de transfert (1b) de la chaîne automatisée, lesdits produits individuels (2) et les récipients (3) étant transportés en flux continu sur une ou plusieurs bandes de produits (6 ; 6a, 6b, 6c) et sur une ou plusieurs bandes de récipients (7 ; 7a, 7b, 7c), la fréquence maximale des produits individuels totaux transportés étant prédéfinie pour chacun des lots,
    caractérisé en ce que,
    en fonction de chaque lot,
    - une vitesse est prédéfinie pour chaque bande de produits (6 ; 6a, 6b, 6c) et pour chaque bande de récipients (7 ; 7a, 7b, 7c), de manière que chaque bande de produits et chaque bande de récipients présente une vitesse relative constante par rapport à la bande de récipients (7 ; 7a, 7b, 7c) la plus lente, ladite vitesse étant notamment non nulle, et par ailleurs
    - pour chaque bande de produits (6 ; 6a, 6b, 6c), une position de comptage (8) est prédéfinie, de manière que
    - un produit individuel (2) compté au niveau de la position de comptage (8) et non transféré atteint une position cible (1c) en même temps qu'un récipient (3) simultanément inséré sur la bande de récipients (7 ; 7a, 7b, 7c) la plus lente à l'entrée de la zone de transfert (1b) de la chaîne automatisée,
    - ladite position cible (1c) coïncidant avec une sortie de la zone de transfert (1b) de la chaîne automatisée (1) lorsque chaque bande de produits et chaque bande de récipients se déplace à ladite vitesse prédéfinie en fonction de chaque lot ;
    dans lequel, au cours du transfert, les produits individuels présents sur chaque bande de produits (6 ; 6a, 6b, 6c) sont comptés à la position de comptage (8 ; 8a, 8b, 8c) correspondante et, en fonction d'un écart par rapport à la fréquence maximale prédéfinie des produits individuels transportés par charge, la vitesse effective de la bande de récipients la plus lente est adaptée de manière que la position cible simultanément atteinte par rapport à la sortie de la zone de transfert est décalée vers la position de comptage.
  2. Procédé selon la revendication 1 caractérisé en ce que, en fonction d'un écart par rapport à la fréquence maximale prédéfinie des produits individuels transportés par charge, la vitesse de chaque bande de récipients (7 ; 7a, 7b, 7c) est adaptée de manière que la position cible simultanément atteinte par rapport à la sortie de la zone de transfert est décalée vers la position de comptage, et en ce que la position cible simultanément atteinte est adaptée séparément pour chaque bande de récipients.
  3. Procédé selon l'une des revendications 1 ou 2, caractérisé en ce que l'insertion, dans l'entrée de la zone de transfert (1b), d'un prochain récipient (3) à remplir s'effectue lorsqu'il a été déterminé, au niveau de la ou des positions de comptage (8 ; 8a, 8b, 8c) de la ou des bandes de produits, le nombre de produits individuels (2) escomptés pour obtenir le remplissage total d'un récipient (3) situé à la position de comptage de la bande de produits (6, 6a) se déplaçant le plus vite.
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que l'insertion, sur la bande de récipients ou sur au moins une des plusieurs bandes de récipients (7 ; 7a, 7b, 7c), des récipients (3) à remplir s'effectue à écarts fixes.
  5. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que l'insertion, sur la bande de récipients ou sur au moins une des plusieurs bandes de récipients (7 ; 7a, 7b, 7c), des récipients (3) à remplir s'effectue selon des écarts variables et la vitesse effective de cette ou de ces bandes de récipients (7 ; 7a, 7b, 7c) s'accorde à ces écarts variables.
  6. Procédé selon l'une des revendications 1 à 5, caractérisé en ce qu'il est réalisé une détermination de caractéristiques portant sur la sorte, le poids, la taille, la couleur et/ou une autre caractéristique de chaque produit individuel (2) transféré, et le transfert des produits individuels (2) vers un récipient (3) transporté s'effectue en fonction de ces caractéristiques.
  7. Procédé selon la revendication 6, caractérisé en ce qu'il est réalisé une détermination de la distribution de fréquences de ces caractéristiques déterminées et l'insertion d'un prochain récipient (3) à remplir s'effectue en fonction de cette distribution de fréquences.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce qu'un niveau de remplissage de consigne des récipients (3) est déterminé en continu pour chaque section partielle, parcourue par la ou les bandes de récipients (7 ; 7a, 7b, 7b), d'une subdivision virtuelle prédéfinissable de la zone de transfert (1b), et le niveau de remplissage de consigne des récipients (3) présents dans chaque section partielle est établi en fonction de la position cible actuelle, et le niveau de remplissage de consigne dans chaque section partielle correspond au quotient de la longueur des sections partielles déjà parcourues par la longueur de toutes les sections partielles situées en amont, dans le sens de marche, de la position cible actuelle, étant entendu que, de préférence, plus aucun produit individuel (2) n'est transféré dans des récipients (3) dans une section partielle lorsque le remplissage des récipients (3) a déjà atteint le niveau de remplissage de consigne dans cette section partielle.
  9. Procédé selon l'une des revendications 1 à 8, caractérisé en ce qu'un niveau d'évacuation de consigne de chacune des bandes de produits (6 ; 6a, 6b, 6c) est déterminé en continu pour chaque section partielle, parcourue par la ou les bandes de produits (6 ; 6a, 6b, 6c), d'une subdivision virtuelle prédéfinissable de la zone de transfert (1b), et le niveau d'évacuation de consigne pour chaque section partielle de la bande de produits (6 ; 6a, 6b, 6c) est établi dans cette section partielle en fonction de l'écart existant chez les produits individuels (2) transportés par rapport à la fréquence maximale prédéfinie par charge, et le niveau d'évacuation de consigne dans chaque section partielle correspond à l'écart existant chez les produits individuels (2) transportés par rapport à la fréquence maximale prédéfinie par charge, lequel écart est pondéré par le quotient de la longueur des sections partielles déjà parcourues par la longueur de toutes les sections partielles situées en amont, dans le sens de marche, de la position cible actuelle, étant entendu que, de préférence, plus aucun produit individuel (2) n'est transféré dans des récipients (3) dans une section partielle lorsque le niveau d'évacuation de consigne a été atteint dans cette section partielle.
  10. Procédé selon la revendication 8 ou 9, caractérisé en ce que la vitesse de la ou des bandes de produits (6 ; 6a, 6b, 6c), et/ou de la ou des bandes de récipients (7 ; 7a, 7b, 7c) diminue lorsque le niveau de remplissage de consigne et/ou le niveau d'évacuation de consigne n'est pas atteint dans une section partielle de la bande de récipients ou de la bande de produits respective et que la capacité de transfert des robots d'insertion (4a, 4b, 4c) présents dans les sections partielles restantes ne suffit pas pour remplir entièrement les récipients (3) et pour transférer entièrement les produits individuels (2).
  11. Procédé selon l'une des revendications 1 à 10. caractérisé en ce que la bande de produits ou au moins une des plusieurs bandes de produits (6 ; 6a, 6b, 6c) est conçue en deux parties dans le sens de marche (17) et en ce que la vitesse de la première partie située en amont est commandée indépendamment de la vitesse de la seconde partie correspondante, et la première partie située en amont dans le sens de marche (17) est située entièrement en amont de la position de comptage (8 ; 8a, 8b, 8c).
  12. Procédé selon la revendication 11, caractérisé en ce qu'un comptage supplémentaire des produits individuels (2) a lieu sur la première partie de chacune des bandes de produits (6 ; 6a, 6b, 6c) conçues en deux parties et la commande de la vitesse de la première et de la seconde partie de la bande de produits s'effectue en fonction de ce comptage supplémentaire.
  13. Procédé selon la revendication 12, 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 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 s'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 l'une des revendications 1 à 13, caractérisé en ce que la bande de récipients ou au moins une des plusieurs bandes de récipients (7 ; 7a, 7b, 7c) et/ou la bande de produits ou au moins une des plusieurs bandes de produits (6 : 6a, 6b, 6c) se déplacent par intermittence.
  15. Procédé selon l'une des revendications 1 à 14, caractérisé en ce que le comptage des produits individuels (2) au niveau de la position de comptage de l'au moins une bande de produits ou des plusieurs bandes de produits (6 ; 6a, 6b, 6c) s'effectue par mise à jour mathématique de données de production transmises antérieurement à la position de comptage ou par mise à jour mathématique d'un comptage des produits individuels effectué antérieurement à la position de comptage.
  16. Procédé selon l'une des revendications 1 à 15, caractérisé en ce que, lors du retrait d'un récipient (3) de la sortie de la zone de transfert (1b) de la chaîne automatisée (1), une valeur de données correspondant à ce récipient (3) est transmise en 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 le récipient (3).
  17. Chaîne automatisée (1) destinée à transférer par lots au moins une sorte de produits individuels (2) pour chaque lot dans au moins une sorte de récipient (3) pouvant contenir un nombre déterminé de produits individuels (2) et dans laquelle la fréquence maximale des produits individuels totaux transportés peut être prédéfinie pour chacun des lots, comprenant :
    - au moins deux robots d'insertion (4a, 4b, 4c), situés dans une zone de transfert (1b) comprise entre une entrée et une sortie, destinés à saisir individuellement les produits individuels (2) situés dans la zone de transfert (1b) de la chaîne automatisée (1) et à les transférer dans les récipients (3),
    - au moins une bande de produits (6 ; 6a, 6b, 6c) sur laquelle les produits individuels (2) sont 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),
    - au moins une unité de commande programmable (11 ; 11a, 11b, 11c) destinée à commander la chaîne automatisée conformément au procédé,
    caractérisée en ce que
    l'unité de commande est conçue et programmée de telle manière que :
    en fonction de chaque lot
    - une vitesse peut être prédéfinie pour chaque bande de produits (6 ; 6a, 6b, 6c) et pour chaque bande de récipients (7 ; 7a, 7b, 7c), de manière que chaque bande de produits et chaque bande de récipients présente une vitesse relative constante par rapport à la bande de récipients (7 ; 7a, 7b, 7c) la plus lente, ladite vitesse étant notamment non nulle, et par ailleurs
    - pour chaque bande de produits (6 ; 6a, 6b, 6c), une position de comptage (8) peut être prédéfinie, de manière que
    - un produit individuel (2) compté au niveau de la position de comptage (8) et non transféré atteint une position cible (1c) en même temps qu'un récipient (3) simultanément inséré sur la bande de récipients (7 ; 7a, 7b, 7c) la plus lente à l'entrée de la zone de transfert (1b) de la chaîne automatisée,
    - ladite position cible (1c) pouvant être prédéfinie de manière à coïncider avec une sortie de la zone de transfert (1b) de la chaîne automatisée (1) lorsque chaque bande de produits et chaque bande de récipients se déplace à ladite vitesse prédéfinie en fonction de chaque lot,
    dans laquelle, au cours du transfert, les produits individuels présents sur chaque bande de produits (6 ; 6a, 6b, 6c) sont comptés à la position de comptage (8 ; 8a, 8b, 8c) correspondante et, en fonction d'un écart par rapport à la fréquence maximale prédéfinie des produits individuels transportés par charge, la vitesse effective de la bande de récipients la plus lente est adaptée de manière que la position cible simultanément atteinte par rapport à la sortie de la zone de transfert est décalée vers la position de comptage,
    et notamment en ce que l'unité de commande est conçue er programmée pour mettre en oeuvre le procédé selon l'une des revendications 1 à 16.
  18. Chaîne automatisée selon la revendication 17, caractérisée en ce que la bande de produits ou au moins une des plusieurs bandes de produits (6 ; 6a, 6b, 6c) est conçue en deux parties dans le sens de marche (17) et en ce que la vitesse de la première partie située en amont peut être commandée indépendamment de la vitesse de la seconde partie, et la première partie située en amont dans le sens de marche (17) est située entièrement en amont de la position de comptage (8 ; 8a, 8b, 8c).
EP12191048.3A 2012-05-03 2012-11-02 Procédé d'insertion de produits individuels dans des récipients dans une suite de robots Not-in-force EP2664553B1 (fr)

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US14/070,449 US20140123606A1 (en) 2012-05-03 2013-11-01 Method and Device To Insert Individual Products Into Containers In An Automated Line

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EP12191048.3A EP2664553B1 (fr) 2012-05-03 2012-11-02 Procédé d'insertion de produits individuels dans des récipients dans une suite de robots

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EP2664553A3 (fr) 2016-10-05
EP2664553A2 (fr) 2013-11-20
US20140123606A1 (en) 2014-05-08

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