US20100276248A1 - Device and method for removing objects from a moving transport device - Google Patents

Device and method for removing objects from a moving transport device Download PDF

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Publication number
US20100276248A1
US20100276248A1 US12/798,548 US79854810A US2010276248A1 US 20100276248 A1 US20100276248 A1 US 20100276248A1 US 79854810 A US79854810 A US 79854810A US 2010276248 A1 US2010276248 A1 US 2010276248A1
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Prior art keywords
linear actuator
objects
recited
parameters
controller
Prior art date
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Abandoned
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US12/798,548
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English (en)
Inventor
Thorsten Gut
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Krones AG
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Krones AG
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Application filed by Krones AG filed Critical Krones AG
Assigned to KRONES AG reassignment KRONES AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Gut, Thorsten
Publication of US20100276248A1 publication Critical patent/US20100276248A1/en
Priority to US13/963,551 priority Critical patent/US8931617B2/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3404—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level
    • B07C5/3408—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level for bottles, jars or other glassware
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/68—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
    • B65G47/71—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor the articles being discharged or distributed to several distinct separate conveyors or to a broader conveyor lane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels

Definitions

  • the invention relates to a device for removing objects from a moving transport means.
  • the invention further relates to a corresponding method for removing objects from a moving transport means.
  • the present invention provides a system for removing objects particularly comprising beverage containers, bottles or the like.
  • This removal may be a removal from a moving transport device with objects standing in a row thereon.
  • a removing device serves to push and thus remove the selected objects.
  • the selected objects may include bottles, containers or the like that are flawed or soiled.
  • the process of removing selected objects may be performed at a right angle or at any other angle with respect to the direction of travel of the transport device.
  • the removing device depends on a main control distributing the selected objects to one or more lines.
  • the removing device is formed by a position-controlled linear actuator, which is designed as a pusher and pushes the selected objects in a lateral direction from a conveyor onto a single or one of several removing lines.
  • a removing line may be a transport belt returning the objects to a cleaning machine. The objects are returned, for example, if the objects have been found to be soiled.
  • a further removing line may, for example, be designed as a transport belt delivering the objects to a container positioned below the transport belt. This container may, for example, serve to collect all objects no longer suitable for further processing.
  • the removing lines may include elimination chutes.
  • the position-controlled linear actuator is characterized by uniform power transmission and power generation. In comparison to gear-based mechanisms, it thus has advantages regarding positioning accuracy and dynamics. Furthermore, the position-controlled linear actuator includes an electric linear motor which has a built-in, integrated position control and may be parameterized by a guiding system. This means that the linear actuator or the electric linear motor is coupled to a controller that allows presetting various movement parameters of the actuator.
  • the force exerted by the removing device, with which the selected objects are pushed from the transport device depends on the resistance expected from the selected objects and/or their weight.
  • the force applied for pushing may differ from object to object and must be adjusted correspondingly.
  • empty bottle inspection includes removing soiled or damaged objects from the transport device.
  • the soiled objects must be treated with the energy required for their empty weight, whereas objects with remnants, such as remaining cleaning fluid, have about twice this weight so that they must be removed using more force.
  • the situation is similar with filled objects. In a fill level monitor arranged downstream of a filling machine, objects that are unsatisfactorily filled are removed. Again, half-filled objects have less weight than objects nearly reaching the ideal fill level.
  • the ideal parameters for the removal of standing objects may be preset for the objects.
  • the controller allows controlling total travel, speed of travel and/or acceleration of the actuator for removing the objects as desired.
  • the necessary parameters are previously input in the controller.
  • the control parameters of the actuator may optionally be varied during movement.
  • an absolute zero position of the actuator with respect to the belt and with respect to the objects may be preset.
  • various sets of parameters may be created in the controller. These sets of parameters depend on the state of the object; for example, a first set of parameters may be fill level monitoring. If the fill level monitor detects insufficient or excess filling of an object, the object is to be removed with the help of the removing device. A further set of parameters might allow the removing device to remove empty or insufficiently filled objects according to what is defined in the corresponding set of parameters.
  • the required parameters for the fill level monitor may be determined by a sensor that is coupled to the controller and outputs a signal to the removing device if a set of parameters is triggered.
  • the sensor may serve to detect parameters concerning weight and/or center of gravity of the objects, and may also output the values to the controller.
  • the sensor may, for example, be implemented as a camera or any other optical detector.
  • the camera as sensor, allows simple monitoring of the fill level for removal purposes.
  • the filling of the objects is determined. If the filling state of an object is full, half-full or empty, the object is removed according to the applied set of parameters. These sets of parameters are preset in the controller for each type.
  • the linear actuator may be initialized prior to start-up and/or on the fly; this means that, if there is a following error in the linear motor, the position of the motor may be adjusted during operation.
  • following error means an error caused by speed between target position and actual position. This means that an actual value of the pusher lags behind the target position value.
  • This following error may, for example, be detected due to a deviation and/or irregularity of an actual position value curve in a control diagram showing actual values and target values. Increasing the speed amplification factor decreases the following error.
  • the positional adjustment of the linear actuator may be controlled by the controller, depending on the detected sensor values, with respect to object parameters depending on weight and/or center of gravity and/or size. If a new type of object is supplied to the transport device, the horizontal position of the actuator relative to the object is automatically adjusted.
  • the invention also includes a method for removing objects.
  • This removal is performed in a moving transport device with objects standing in a row thereon. For their removal, the selected objects are pushed at a right angle or at any other angle with respect to the direction of travel of the transport device by a removing device.
  • the removal of the selected objects is thus performed with the help of a position-controlled linear actuator formed by a position-controlled electric linear motor.
  • This linear actuator or electric linear motor is driven by a controller for presetting various movement parameters of the actuator.
  • the actuator is controlled by the controller, which controls total travel, speed of travel and/or acceleration.
  • the control parameters may be varied during the movement of the actuator.
  • the actuator is driven depending on parameters concerning weight and/or center of gravity of the objects, and the linear actuator may also be initialized prior to start-up and/or on the fly.
  • the linear actuator By the detection of a following error of the linear actuator, its position may be adjusted during operation.
  • the positional adjustment is controlled by the controller, depending on the detected sensor values, with respect to object parameters depending on weight and/or center of gravity and/or size.
  • the objects comprise beverage containers and/or bottles that are pushed in a lateral direction from a conveyor onto one or more removing lines by means of the position-controlled linear actuator designed as a pusher.
  • FIG. 1 shows a schematic view of a device for removing objects.
  • FIG. 1 shows an embodiment of an inventive device 10 for removing objects 12 .
  • objects 12 may particularly comprise bottles or the like.
  • the device 10 consists of a total of three transport belts 14 , 18 .
  • One transport device 14 operates so that the objects 12 will pass a sensor 40 in an upright position.
  • the sensor 40 recognizes the type of object 12 and sends the data of this type to a controller 30 .
  • a signal is transmitted to the removing device 20 .
  • This signal transmission is performed with the help of the controller 30 , which is operatively connected to a linear actuator 22 .
  • the linear actuator 22 comprises a position-controlled electric linear motor 24 .
  • the various movement parameters of the linear actuator 22 are previously stored so that the linear motor 24 may execute the control commands transmitted from the controller 30 .
  • the flawed objects 12 are removed with the help of a pusher 26 .
  • the pusher 26 is driven with the help of the position-controlled linear actuator 22 and may remove the flawed objects 13 via one or more removing lines 18 arranged next to each other.
  • the removing lines 18 arranged next thereto transport the flawed objects 13 either to their disposal T 1 or to a return transport belt T 2 .
  • the return transport belt T 2 receives removed, flawed objects 13 that are to be returned, for example, to a cleaning machine.
  • this return transport belt T 2 is the second removing line 18 arranged next to the transport belt for disposal T 1 , which, in turn, is arranged next to the transport device 14 .
  • This parallel arrangement of the removing lines 18 is to be considered as only one of several possible embodiments. It is also conceivable that there are more than two or only one removing line 18 .
  • the ideal parameters for upright removal in the controller 30 when introducing objects 12 .
  • various sets of parameters depending on the bottle state may be defined for the acceleration in the control means 30 . These parameters are stored for each type. Since different object or bottle sizes may have different positions of the center of gravity, the settings of the pusher 26 must be correspondingly adjusted to ensure failure-free removal. It may also be necessary to use other control parameters for moving heavier objects to the removing lines 18 than those used for lighter objects. In the context of detecting the filling state by means of sensor 40 , these parameters may have to yield to further parameters focusing on weight and/or center of gravity.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Special Conveying (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
  • Non-Mechanical Conveyors (AREA)
US12/798,548 2009-04-29 2010-04-06 Device and method for removing objects from a moving transport device Abandoned US20100276248A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US13/963,551 US8931617B2 (en) 2009-04-29 2013-08-09 Device and method for removing objects from a moving transport device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009003847A DE102009003847A1 (de) 2009-04-29 2009-04-29 Vorrichtung und Verfahren zum Ausleiten von Objekten von einer sich bewegenden Transporteinrichtung
DE102009003847.7 2009-04-29

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US13/963,551 Division US8931617B2 (en) 2009-04-29 2013-08-09 Device and method for removing objects from a moving transport device

Publications (1)

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US20100276248A1 true US20100276248A1 (en) 2010-11-04

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US12/798,548 Abandoned US20100276248A1 (en) 2009-04-29 2010-04-06 Device and method for removing objects from a moving transport device
US13/963,551 Active US8931617B2 (en) 2009-04-29 2013-08-09 Device and method for removing objects from a moving transport device

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Country Status (5)

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US (2) US20100276248A1 (de)
EP (2) EP2246278B1 (de)
CN (2) CN105129403A (de)
DE (1) DE102009003847A1 (de)
ES (1) ES2572907T3 (de)

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US20150027852A1 (en) * 2012-01-25 2015-01-29 Krones Ag Device and method for discharging products, particularly product containers such as bottles
CN105905347A (zh) * 2016-06-22 2016-08-31 桐乡市凤鸣制罐厂 一种圆罐传送推送机构
US10596696B2 (en) * 2017-03-17 2020-03-24 Berkshire Grey, Inc. Systems and methods for processing objects including a linear gantry system
US10875057B2 (en) 2016-12-06 2020-12-29 Berkshire Grey, Inc. Systems and methods for providing for the processing of objects in vehicles
US11220000B2 (en) * 2016-12-22 2022-01-11 Krones Aktiengesellschaft Handling system and method for handling piece goods

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DE102012219566A1 (de) 2012-10-25 2014-04-30 Krones Ag Verfahren zum Aussondern eines Gegenstands
DE102013207138B4 (de) 2013-04-19 2022-12-22 Krones Aktiengesellschaft Verfahren und Vorrichtung zur Förderung und Handhabung von Gebinden mit wenigstens zwei umreiften Artikeln
DE102013209362A1 (de) 2013-05-21 2014-11-27 Krones Ag Überwachung und Steuerung einer Transportvorrichtung für Behälter
DE102013218399A1 (de) 2013-09-13 2015-03-19 Krones Ag Behälterbehandlungsanlage mit einem Ofen und einer Blasformvorrichtung mit Individual-Antrieb von Trägern für Preforms
CN103818715B (zh) * 2014-03-18 2016-04-13 长沙长泰智能装备有限公司 电动踢纸机
JP6669740B2 (ja) * 2014-10-31 2020-03-18 レイトラム，エル．エル．シー． 缶を広げるコンベアシステムおよび方法
JP6418651B2 (ja) * 2016-01-26 2018-11-07 有限会社新潟システム制御 茸選別装置
FR3047981B1 (fr) * 2016-02-19 2019-10-04 Gebo Packaging Solutions France Convoyage a plusieurs sorties
DE102016113006A1 (de) * 2016-07-14 2018-01-18 Krones Ag Behältnisbehandlungsanlage mit redundanten Sicherheitssystemen
WO2019025904A1 (en) * 2017-07-31 2019-02-07 Dematic Corp. SHREDDER OF ARTICLES WITH ACTIVE VENT
DE102017008044A1 (de) 2017-08-25 2019-02-28 Heuft Systemtechnik Gmbh Ausleitvorrichtung mit Coanda-Stabilisierungseinrichtung
CN108100637A (zh) * 2017-11-23 2018-06-01 嘉兴万源时装有限公司 一种衣物配饰进料检测装置
EP3753871B1 (de) 2019-06-19 2023-08-23 Uhlmann Pac-Systeme GmbH & Co. KG Vorrichtung und verfahren zur übergabe von medizinischen produkten
CN112520354A (zh) * 2019-09-19 2021-03-19 上银科技股份有限公司 自动搬运***
DE102020103583A1 (de) 2020-02-12 2021-08-12 Krones Aktiengesellschaft Vorrichtung zum Behandeln von Behältnissen
EP4029811A1 (de) 2021-01-19 2022-07-20 Illinois Tool Works INC. Förderband zum transportieren von fördergut und verpackungslinie einer verpackungsanlage mit einem solchen förderband
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Cited By (12)

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Publication number Priority date Publication date Assignee Title
US20150027852A1 (en) * 2012-01-25 2015-01-29 Krones Ag Device and method for discharging products, particularly product containers such as bottles
US9045291B2 (en) * 2012-01-25 2015-06-02 Krones Ag Device and method for discharging products, particularly product containers such as bottles
CN105905347A (zh) * 2016-06-22 2016-08-31 桐乡市凤鸣制罐厂 一种圆罐传送推送机构
US10875057B2 (en) 2016-12-06 2020-12-29 Berkshire Grey, Inc. Systems and methods for providing for the processing of objects in vehicles
US11400493B2 (en) 2016-12-06 2022-08-02 Berkshire Grey Operating Company, Inc. Systems and methods for providing for the processing of objects in vehicles
US11471917B2 (en) 2016-12-06 2022-10-18 Berkshire Grey Operating Company, Inc. Systems and methods for providing for the processing of objects in vehicles
US11945003B2 (en) 2016-12-06 2024-04-02 Berkshire Grey Operating Company, Inc. Systems and methods for providing for the processing of objects in vehicles
US11220000B2 (en) * 2016-12-22 2022-01-11 Krones Aktiengesellschaft Handling system and method for handling piece goods
US10596696B2 (en) * 2017-03-17 2020-03-24 Berkshire Grey, Inc. Systems and methods for processing objects including a linear gantry system
US11358794B2 (en) * 2017-03-17 2022-06-14 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects including a linear gantry system
US20220250838A1 (en) * 2017-03-17 2022-08-11 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects including a linear gantry system
US12012285B2 (en) * 2017-03-17 2024-06-18 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects including a linear gantry system

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EP2799374B1 (de) 2016-03-09
EP2246278B1 (de) 2014-11-26
CN101875440B (zh) 2015-08-12
US8931617B2 (en) 2015-01-13
CN101875440A (zh) 2010-11-03
EP2246278A2 (de) 2010-11-03
CN105129403A (zh) 2015-12-09
DE102009003847A1 (de) 2010-11-04
EP2799374A1 (de) 2014-11-05
US20130327612A1 (en) 2013-12-12
ES2572907T3 (es) 2016-06-03
EP2246278A3 (de) 2013-05-22

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