US3283471A - Automatic packing apparatus - Google Patents

Automatic packing apparatus Download PDF

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US3283471A
US3283471A US244639A US24463962A US3283471A US 3283471 A US3283471 A US 3283471A US 244639 A US244639 A US 244639A US 24463962 A US24463962 A US 24463962A US 3283471 A US3283471 A US 3283471A
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container
station
row
arm
articles
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US244639A
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Franklin J Thurston
Robert V Sanwald
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GBL CORP
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GBL CORP
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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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single 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
    • B65B5/10—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

  • ATTORNE O Ni 3 Nov. 8, 1966 Filed Dec. 14, 1962 HI om. 3 0' 0E Nov. 8, 1966 F. J. THURSTON ETAL 3,283,471
  • the present invention relates to methods and apparatus for packing rows of articles in a container, and more particularly to apparatus which is adapted to automatically assemble and load into container cartons rows of comestible articles and the like.
  • the apparatus of the present invention is particularly well suited for automatically packing delicate candies wherein each piece is packed in an individual decorative protective corrugated paper cup.
  • a novel method for packing containers with delicate comestible articles wherein an entire row of articles is automatically packed in resilient protective cups On a staging assembly station and the entire row of cupped articles is then transferred as an ensemble into the container.
  • an entire row of protective cups is mounted on the staging station with the opening of each cup being spread to an enlarged diameter and the spacings between cups being extended sufficiently to accommodate the spread cup dimensions.
  • the assembly station with the row of spread and spaced cups is then moved to an article loading station where an entire row of articles is deposited in the row of spread cups.
  • the assembled spread row of cupped articles is compacted in width and length and advanced to a container loading station where the entire compacted row of cupped articles is transferred to the final container.
  • a conventional conveyor-belt is provided for transporting each container adjacent to a row-loading station, and control means are provided for momentarily stopping the container-box successively at each row loading station whereupon an individual row of articles is placed into the box. Since each of the row-loading stations provided to form an entire container-packing system is identical, only a single station will be described herein.
  • a special index table equipped with one or more staging stations for assembling in steps each row of cupped articles to be loaded.
  • a full row of corrugated paper cups is transferred from conventional orienting and parts-feeding devices to a vacant assembly station on the index table.
  • an entire row of protective cups is transferred from a row of stacked cups by a transfer arm equipped with special pneumatically actuated 3,283,471 Patented Nov. 8, 1966 pick-up heads (one for each cup).
  • the paper cups are positioned at exaggerated spacings in an assembly station on the rotatable index table and the open ends of the corrugated cups are spread outwardly by the special pick-ups heads as the cups are placed in their rest positions in the assembly station.
  • the assembled row of spread corrugated paper cups is rotatably advanced to an article loading station where an entire row of candy articles or the like is picked up by a transfer device equipped with a row of compressed air-actuated pick-up heads and transferred to and positioned in the waiting row of spread paper cups.
  • the article-loaded row of paper cups mounted on the table in an assembly station at exaggerated spacings is then rotatably advanced to a final transfer device equipped with a special pneumatically energized pick-up head that is adapted to pick up the entire assembled row of cupped articles and transfer the entire ensemble into a waiting container mounted on the conveyor belt.
  • cam-actuated compressing rarns forming the side walls of each assembly station on the index table, are provided to gradually compact or compress the assembled row of cupped articles from the exaggerated center line spacings utilized in the assembly receiving stations in steps 1 and 2 to a narrower and shorter length row that can be received by the container-box.
  • the length and width of the assembled row of cupped articles that is delivered to the transfer mechanism at the third transfer operation corresponds to the row width and row length of the boxed articles.
  • a selfcommutating vacuum manifold is provided to supply desired suction action to small apertures under each paper cup' in the assembly station floor to securely hold each cup in place as the indexing table rotatably advances from station to station in the staging and loading operation.
  • the vacuum supply is removed from the apertures just prior to the commencement of action of the compression rams.
  • a pneumatically actuated spreader mechanism which is adapted to physically separate and spread the spacer members that are conventionally utilized in containers to separate individual rows of cupped articles.
  • the spreader fingers which are controlled in timed relationship with the operation of the cupped candy transfer, move downwardly into the candy box on the conveyor belt with the fingers in a compact closed position and then spread outwardly so as to move flattened out or deformed spacer members to an upright vertical position.
  • the spread fingers are spaced sufiiciently so that the transfer arm pick-up head may pass between the spreader members and deposit the row of compacted cupped articles in the container.
  • Electrical logic control circuits are provided to maintain each step of the assembly, transfer and article-delivery operation in timed synchronization.
  • Interlock and logic control circuits are also provided to assure continuity and synchronization of operation between each of the plural row-loading stations within a container-packing system.
  • the packing methods and apparatus of the present invention provide a flexible, high speed packaging operation which can be reliably utilized to replace a number of human operators having relatively slow and limited article handling capabilities.
  • the methods and apparatus of the present invention eliminate human handling of comestible articles and the like and at the same time maintain a quality packaging aspect that is important to product merchandising.
  • FIG. 1 shows a simplified plan view of a single article row-loading station provided by the present invention
  • FIG. 2 is a plan view showing spaced rows of stacked protective cups delivered to the cup-loading station
  • FIGS. 3 and 4 are partial sectional views of pneumatic actuated paper-cup pick-up heads provided by this invention.
  • FIGS. 5A, 5B and 5C are elevation views illustrating the pick-up, transfer and placement operations of the pick-up heads shown in FIGS. 3 and 4;
  • FIG. 6 is a schematic illustration showing the spacings of the protective paper cups during the various steps of the packing operation
  • FIG. 7 is a sectional view showing a preferred embodiment of a compressed air-actuated cupped-candy pick-up head
  • I FIGS. 8A, 8B and 8C are elevation views illustrating the pick-up, transfer and placement operation of the pickup heads shown in FIG. 7;
  • FIG. 9 is a plan view of an indexing, staging and assembly station provided by the invention.
  • FIGS. 10 and 11 are side and end views respectively of an individual assembly station as shown in FIG. 9;
  • FIGS. 12-16 are plan and elevational views showing the spacer spreader apparatus provided by the invention.
  • FIGS. 17 and 18 are sectional elevation and plan views of a vacuum commutating manifold for the assembly stations as shown in FIG. 9;
  • FIGS. 19-23 are partial plan and sectional views showing the features of a preferred hopper-bowl and orientation segment for delivering oriented candy articles and the like to a loading station; 7
  • FIG. 24 is a simplified elevation view of an electrically operated transfer device preferred for use in practicing the present invention.
  • FIGS. 2528 are simplified block and schematic diagrams of electrical logic control circuits for energizing and controlling the apparatus of the invention.
  • FIG. 1 there is shown in simplified plan view a single row packing station 30 which includes a continuously driven conveyor belt 31 provided to deliver individual box-containers 32 equipped with row separators or spacers 33.
  • a box-container 32A is supported and transported on conveyor belt 31 from previous row-loading stations (identical to 30) to a loading station immediately adajacent to index table 35.
  • Box 32B is shown in the stop or loading position and is held in the fixed loading position by holding fingers 37 which are actuated to release the box by solenoids 37S.
  • the solenoid actuated holding fingers are mounted on rod members 37R and are adjusted in position with re spect to box 32B so that the next empty row lies immediately beneath the spreader fingers 49 and 41. Presence of the box at the loading station is sensed and indicated by micro-switches 38 and 38A, the operation of which will be described in further detail in connection with an explanation of the electrical logic control circuits shown in FIGS. 25 and 27.
  • Spreader fingers 40 and 41 mechanically driven by pneumatic-actuator 42 are provided to assure proper spacing and upright positioning of the conventional row-spacers in the container box 32B. The detailed operation of this mechanism will be discussed in further detail in connection with the description of FIGS. 12-16 below.
  • the apparatus provided at 30 is adapted to automatically place a single complete row of cupped candies between a predetermined pair of partitioning dividers or spacers in box 32B.
  • the present invention provides excellent packaging fiextable 35, upon which are assembled rows of cupped,
  • candies of various types in any desired predetermined order or sequence are supplied from a conventional vibratory feeder in preoriented positions by inclined chutes 45.
  • Three transfer devices 46A, 46B and 46D are provided with plural pickup heads to load and unload the four assembly and staging stations 50A, 50B, 50C and 50D, as shown.
  • the transfer devices are preferably of the type described in pending patent application Serial No. 216,626, filed August 13, 1962 by John D. Goodell et al., now Pat. No. 3,182,813.
  • eight individual corrugated paper cups are delivered to station 50A by transfer mechanism 46A having eight individual cup pick-up heads at 46H.
  • the pick-up heads 46H are arranged to deliver the eight individual corrugated paper cups to station 50A with the open sides up and with the side walls flattened or pressed outwardly and downwardly so that the mouths of the cups are extended to a larger diameter.
  • transfer mechanisms 46A, 46B and 46D are synchronized 'with one another and maintained in operating timed relationship with the dwell candy 54 to the spread paper cups at station 50B.
  • Rows of pre-oriented candies (with proper spacings) are de-v livered to the pickup head 46H by inclined chutes 55 as shown.
  • the centers of chutes 55 are spaced to match the center line spacings of the individual pick-up heads on 461-1 and in turn to match the center-to-center spacings of the spread cups in station 50B.
  • the individual candies are advantageously delivered to chutes 55 by vibratory hopper feeders 56 having special non-marring track and bowl configurations and orientation segments as illustrated in FIGS. 19-23.
  • index table 35 is advanced to station 50C and thence to station 50D where transfer mechanism 46D with plural pick-up heads 46H" is automatically ope-rated to transfer the entire row of 8 cupped candies to box 328.
  • transfer mechanism 46D with plural pick-up heads 46H" is automatically ope-rated to transfer the entire row of 8 cupped candies to box 328.
  • the side walls 60B-and 60A and length that can be accommodated by the width of box In the preferred embodiment of the invention as illustrated in the simplified plan view of FIG. 1, small apertures (see FIGS. 9-11) are provided in the floor surface of each station 50A-50D on centers that fall beneath each container cup.
  • the apertures are connected to a vacuum supply via ducts and commutating manifold 66 which will be described in greater detail in connection with FIGS. 17 and 18 below.
  • the apparatus shown at 30 may be readily programmed to automatically load various types of candy within an individual row as required and that the several stations 30 that are operatively combined to form an entire automatic packing system may be cooperatively programmed with candies and receiving Stocks of corrugated paper cups 44 l cups to form any desired packaging pattern within a given container layer.
  • the stacks of preoriented paper cups 44 are delivered in inclined chutes 45 with center-to-center spacing of X.
  • the distance X is greater than the center-to-center spacing which the cups will have when mounted in wall-to-wall contact with one another in box 32.
  • the spacing X is selected to permit a spreading or flattening out of the corrugated side walls of the individual cups without causing interference between the spread edges of adjacent cups. (See FIG. 5C.)
  • a pick-up head provided for use as a paper cup pick-up device at 46H is shown in sectioned view at FIG. 3.
  • the special head 47 which is designed to pick-up individual paper cups 44 from the tops of stacked cups delivered by chutes 45, includes an upper housing 70 with internal chamber 71 and a lower frame support 72 having an upperly curved under surface 73 as shown.
  • a central cylindrical plunger assembly 76 is provided having an upper cylindrical bore 77, the lower portion of which is threaded to receive screw member 78.
  • the entire core member 76 is adapted to move up and down in chamber 71 being restrained in its travel at the lower end of the chamber by the engagement of lip 85 with O-ring 84.
  • a 360 slit aperture is defined by the adjacent spaced surfaces of 76 and end cap 86.
  • a source of compressed air is connected to the upper end of duct 87 and flows downwardly through chamber 71, bore 77, bore 88 in screw 78, through the annular chamber 89 and upwardly through the slit aperture 90 as shown.
  • the width of aperture 90 is determined by selection of the length of spacer 91.
  • FIG. 4 An alternative embodiment for the core of pick-up head 47 is shown at 76 in FIG. 4.
  • an end cap 86 is supported from the top of core 76' by screw member 78.
  • Compressed air is supplied via duct 87 and chamber 71 via ducts 95 and 96 to slit aperture 90.
  • the operation of this core member inconjunction with pick-up member 47 is the same 'as described above.
  • FIG. 7 A preferred embodiment of a special compressed air operated pick-up head for 46H and 46 is shown in FIG. 7.
  • This head is particularly well suited for picking up a variety of differently shaped candies either mounted in cups as shown in FIG. 7 or without cups as delivered in the supply chutes 55. Since certain portions of this head 6 are identical in construction to portions of pick-up head 47 (FIG. 3), the like or similar parts are given the same numbers.
  • Compressed air is supplied to each individual pick-up head 100 via telescoping tubes 101 and 102. In operation the lower cylindrical core 76A is adjusted so that the tip of the pick-up head (86 and 78) just comes in contact with the delicate candy surface. The adjustment is not critical since lifting action is achieved by dynamic air flow, no seal being required.
  • Pick-up head 100 has a cylindrical sleeve 110 secured to 76A by screw members 111.
  • Sleeve 110 and the lower outer wall surface of 76A defines an annular shaped orifice through which the upward flow of compressed air from aperture is directed.
  • the upward flow of air creates a reduced pressure area at the mouth opening 112.
  • Operational experience has clearly indicated that this head is capable of reliably picking up all known irregularly shaped pieces of candy.
  • the operation of pick-up head is to be contrasted with conventional vacuum type pick-up heads wherein successful operation is dependent upon the maintenance of a substantially air-tight seal between the surface of a concave rubber pick-up head and the surface of the article to be picked up.
  • the present head is a dynamic type pick-up device which relies upon flow of air around the outer periphery of the candy article or the like for its lifting action.
  • pick-up heads 100 as utilized at 46H in the transfer of candies from chutes 55 to assembly station 50B isillustrated in FIGS. 8A, 8B and 8C. Compressed air for the entire pick-up head is supplied via manifold duct 120 as indicated. The same pick-up head is utilized at 46H" except that the individual heads 100 are spaced closer together on centers Y corresponding to the actual candy spacings provided for in the individual box container.
  • the core 76A for each pick-up head may be mounted in a fixed position adjacent the transfer arm and the sleeve may be extended to the movable head with a flexible hose.
  • the hose may be connected to a short piece of surgical rubber tubing, the open end of which functions as the pick-up head for the cupped candies.
  • the drive mechanism for index table 35 may be any one of several well known conventional arrangements such as a fourposition Geneva movement or an equivalent cam drive which is shaft driven by an electrical motor through an electrically actuated clutch mechanism.
  • a solenoid actuated indexing mechanism is included as a part of the drive mechanism to assure positive indexing of the table at 90 intervals corresponding to the loading and unloading stations A, B, C and D. Since the operation of such driving mechanisms is well known and does not form apart of the present invention, descriptions of the control circuits will be restricted to the control circuit diagram shown in FIG. 27.
  • Indexing table 35 is advanced in 90 intervals of rotation from station A to B to C to D after each of the respective loading and transfer operations is completed by transfer mechanisms 46A, 46B and 46D.
  • Transfer device 46A is adapted to place a full row of corrugated paper cups (8 in the example shown) between the side wall ram members 60A and 60A at station 50A.
  • the movable side wall rams 60A and 60A are disposed in their outermost position so that the widest clearance between the inner edges of these ram members is provided for the reception of transferred and spread paper cups.
  • the side rams are identical for each of the four stations 50A, 50B, 50C and 50D, each pair of side rams being mounted for limited inward and outward movement on rod members 131 and 132.
  • Rods 131 and 132 are in turn rigidly supported to the surface of table by posts 133 as shown.
  • a cam follower mechanism is provided to gradually move the side wall compacting rams inwardly as the staging and receiving station 50B is advanced through intervals from station B to C and finally to D.
  • the dam drive mechanism includes a cam follower 140 which is slidably supported on rod member 142 as indicated. 140 is mechanically coupled to side rams by arm member 142 and toggle links 143. Radially outward movement of cam follower on its support rod 141.
  • Cam follower 140 is spring loaded inwardly by spring member 145 mounted on rod 141.
  • the side rams 130 are maintained in a spring loaded-outwardly-spaced position at all times until such time as cam follower 140 is driven in a radially outward position.
  • a cutout in the surface of table 35 is provided to permit free movement of cam follower 140 in a radial direction beneath the table surface.
  • cam 160 Inward movement of the side wall rams is controlled or programmed by extended cam which is supported by the main base support for the index table (not shown) and position arranged to function cooperatively with cam follower 140.
  • cam 160 is mounted beneath the surface of table 35 extending from a starting point adjacent station 508 and continuing on through a path following along the outer peripheral edge of table 35 to a terminal point slightly beyond station 50D.
  • cam follower 140 engages. cam 160 at station B and is driven gradually in a radially outward direction as the table is rotationally advanced to station C and beyond.
  • cam 140 moves the side wall rams 69 inwardly causing the side walls and paper cups to be compressed inwardly and hence restored to a normal width corresponding to that of the cup delivered in chutes 45.
  • cam 160 is so shaped as to permit the cam follower 140 to move radially inwardly.
  • the ram Walls are permitted to move in an outward direction and access between the adjacent inner top edges of rams 130 is thereby afforded the pick-up head for transfer device 46D.
  • cam 160 After table 35 has advanced slightly beyond station D the termination of cam 160 permits cam follower 1411 to move to its radially innermost position and the assembly station is thus restored to a condition for receiving another charge of paper cups at station A.
  • a single end positioned compacting ram is provided to gradually compress the assembled row of paper cups and candies to a length that can be accommodated by the box-container 32.
  • cam 170 is slidably supported on red 1'71 and spring loaded inwardly by coil spring 172.
  • Cam follower is pivotally attached to ram 170 by arm 17 6.
  • A'separate programming cam is provided underneath table 35 and supported by the base frame to drive cam follower 175 and force end ram member 170 inwardly so as to shorten the row length of candy-filled paper cups.
  • the lengthwise compacting operation provided by ram 170 is commenced shortly after the candies have been loaded into the cups at station 503 (see'FIG. 9). By the time assembly station 5013 has advanced to position C and then to D, the entire row length has been compacted to its proper length to be received by box 32.
  • the cam 180 is so shaped as to permit cam follower 175 to gradually return to its innermost rest position.
  • the length and width dimensions of the station floor area are returned to maximum.
  • a vacuum supply duct is provided in the floor 186 of each assembly station on the index table and connected to a vacuum supply by duct 65 through a vacuum commutator 66.
  • a plurality of small apertures 187 are provided which communicate between duct 185 and the upper and outside surface of 186. These small apertures provide the required suction action to hold each paper.
  • Commutator 66 is provided to switch the vacuum supply on as an assembly station advances to point A and then turn the vacuum supply off as the assembly station progresses beyond B and nearly to station C.
  • the suction action provided by the small apertures is advantageously used during that portion of the operating cycle when the walls of the station are spread.
  • the cups being empty during part of the travel might otherwise have a tendency to be displaced as the table is rotated.
  • the vacuum is switched off just prior to the time where the. cams 160 and 180 initiate the compacting action by rams 60 and 170 respectively. The individual cups are thus released to move freely with the inward and outward movements of the above described compacting walls.
  • the commutator includes an outer cylindrical shell 250 which is secured to and arranged to rotate with the index table 35.
  • Shell 250 defines four port holes 251 which communicate between the outer surface of the shell and an internal cylindrical bore which is adapted to receive a rotating commutator core member 252.
  • Core member 252 is supported for rotation by an attached hollow stem member 253 which fits in the internal race member of ball bearing 254 as shown.
  • a vacuum supply (not shown) and the vacuum supply is successively coupledto ports 251 and tubes 65 (see FIG.
  • the 160 slot 255 is mechanically phased with respect to stations A, B, C, and D so that the vacuum is switched to a duct 65 just prior to the arrival of an assembly and staging station at point A and turned off just prior to the arrival of an assembly and staging station at point C in the indexing operation.
  • the vacuum commutator 66 and its associated cup-holding apertures disposed .in each of the assembly stations may be eliminated for purposes of simplification.
  • the operation of the holding device does afford a greatly improved stability and reliability of operation insofar as the individual paper cups are firmly held in their proper positions during the initial staging operations.
  • the provision of the vacuum-holding apparatus described above also makes it possible to operate the entire packing apparatus at a faster rate than would otherwise be possible due to undesired movements of the unloaded paper cups.
  • the internal bore of stem 253 is connected to spreader apparatus is mounted on a platform along with transfer mechanism 46D immediately above the box conveyor belt 31 and is arranged to operate in timed relationship with the delivery of candy by 46D from table 35 to box 32.
  • the sole function of this apparatus is to make certain that each and every box row spacer is standing in an upright position and properly spaced with respect to each neighboring spacer so as not to interfere with the delivery of the row of cupped-candies.
  • a pair of flexible spreader members 40-41 mounted on rotatable shafts 190-191 are provided to physically spread the spacers in 32.
  • Rods 190 and 191 are supported in the vertical elevator members 192 and 192.
  • Elevator members 192 are adapted to slide up and down vertically on rod members 193.
  • the entire spreader assembly including, members 40 and 41 mounted on rods 190 and 191 and the vertical elevator members 192, is driven up and down by a conventional pneumatic actuator 42 having a piston arm 195 which is coupled to elevator members 192 via crank arms 200 connecting length 201 and connecting arm 202 as shown.
  • Radial indexing pins 205 are mounted in rods 190491 and are retained against stop pins 206 by leaf springs 207, thus the spreader fingers 40 and 41 are spring loaded to a normal spaced vertical position as shown in FIG. 13.
  • Spreaders 40 and 41 are maintained in the position shownin FIG. 15 until an entire charge or row of cupped candies has been delivered by the pick-up head of 46D downwardly through and between the spreaders 40 and 41 and int-o the box.
  • an inclined row spacer 33 as shown in FIG. 14 is moved to an upright position as shown in FIG. 15 so that no interference toproper delivery and positioning of a delivered row of candy can occur.
  • pneumatic actuator 42 is energized in the reverse direction causing the entire spreadermechauism to move upwardly past the spring loaded cams 226 and 226 as shown in FIG. 16 and back to a normal top rest position as shown in FIG. 13.
  • Pick-up head 46H" is then removed from the box by transfer device 46D and returned to a start position in readiness for another delivery cycle.
  • Position-sensing microswitches 230 and 231 are provided as indicating devices which function cooperatively with elevator member 192 as shown in FIGS. 14 and 15 to develop control signals for the logic and interlock circuits shown in FIGS. 25 and 27.
  • Switch 230 is actuated by elevator member 192 and so indicates the presence of the spreader mechanism at the top position and switch 231 is actuated by 192 when the spreader mechanism is in the downward position shown in FIG. 15.
  • FIGS. 19-23 The features of an improved hopper bowl for a vibratory type feeder such as used at 56 in FIG. 1 are illustrated in FIGS. 19-23.
  • the hopper bowls are preferably of the type shown and described in pending application Serial No. 91,523 filed February 24, 1961 by Boris, now Pat. No. 3,114,448, wherein the orientation segment 300 comprises a separate segment that is removable from the main base segment of the bowl 301.
  • the entire bowl assembly comprising sections 300 and 301 is driven by a conventional vibratory drive device which is attached to the base of the bowl section 301 by a central mounting hole 302 as shown in FIGS. 19 and 20. Since the driver mechanism forms no part of the present invention, and since the operation of such devices is well known, further description of the driver will not be given.
  • the feeder bowl and its accompanying orientation segment is adapted to deliver pieces of delicate candies and the like at a relatively high feed rate without marring the candy surfaces.
  • Randomly oriented candies are deposited in hopper bowl 301 and individual candies are delivered up the inclined floor 311 of the orientation segment 300 for delivery out of the terminal end of the orientation segment to the inclined delivery chutes 55 as shown in FIG. 1.
  • the base section of the hopper bowl is formed by joining the surfaces of two frustums having the same axis but with respective apexes directed in opposite directions. One frustum forms the annular outer wall 310 of the base section of the bowl and the second frustum forms the bottom floor 301 of the hopper base. (See FIGS.
  • the two frustums are arranged so that the smaller diameter of the wall 310 is equal to the larger diameter of the floor section 301, and the sum of the apex angles for the two frustums is equal to 180.
  • the two frustums are joined along the common diameter as shown in FIG. 20 so that the angle between the outwardly sloping floor surface 301 and the wall 310 is never less than
  • candy pieces moving around the bottom of 301 and coming in contact with the outer wall surface 310 make only a line contact with the wall surface and marring of the candy surface due to abrasion is therefore maintained at a minimum.
  • control circuits may be devised to perform the required interlock and synchronization functions.
  • FIG. 25 A simplified block diagram of the logic circuits that are utilized in a preferred control circuit are shown in FIG. 25.
  • the circuit utilizes a plurality of well known AND circuits for maintaining interlocked or synchronized control of each operation involved in the transfer of a single row of cupped candies to a container carton. In beginning a normal operation, box arriving sensor switch 38A and box leaving sensor 38, provide two input control signals to AND" circuit number 1.
  • Position sensor 358 for index table 35 provides a third input and the down position sensor 231 for the spreader mechanism provides a fourth input signal as indicated.
  • AND circuit No. 1 energizes the transfer devices 46A, 46B and 46C which causes the three transfer mechanisms to commence their respective transfer operations to stations 50A and 50B and from 50D to the waiting box on the conveyor belt system. Completion of the transfer operations by 46A, 46B and 46C is sensed by limit switches 346A, 3468 and 346C, which are mounted on the respective transfer mechanisms as shown in FIG. 24 for example. Operation of these three limit switches completes the operation of AND circuit No. 2 as shown which, in turn, applies an input control circuit to the system AND circuit No. 3.
  • Microswitches 600 and 601 are provided to sense and indicate electrically when the transfer arm has reached its rear position of travel and its forward position of travel, respectively.
  • Microswitch 346A is a double-pole double-throw switch (see FIG. 27) and is provided to sense the transfer arm position at a point intermediate the rear and forward positions of travel. Switch 346A accordingly is used to indicate when the arm has reached a normal rest position (e.g., straight up) and the transfer mechanism is stopped at or started from this position.
  • All three switches 600, 601 and 346A are actuatedby cams 605 and 606 which are driven by the crank arm central drive shaft 607 as shown.
  • FIGS. 26 and 27 A simplified schematic diagram of a preferred electrical control circuit for an individual row packing station incorporating the logic circuits shown in FIG. 25, is shown in FIGS. 26 and 27.
  • the entire control circuit is energized by 115 volts A.-C. as shown and the logic circuits are formed from serially connected switch contacts on a plurality of relays that are, in turn, actuated by position sensing or limit sensing switches mounted on the several transfer mechanisms, the indexing table, the spacer spreader and the box sensor on the conveyor belt system.
  • Relay MCR is momentarily actuated through the closure of contacts CRA-2 and the normally closed contacts of time delay relay STD connected in series as shown.
  • the momentary closure of the switch contacts of master control relay MCR energizes control relay lCR (see FIG. 27) and time delay relay 1TD via switch contacts MCR-1 which are connected in series with the normally closed limit switch contacts 346A1, 346B-1 and 346D-1.
  • these switches are located on the respective transfer devices 46A, 46B and 46D and are normally held in a closed position by cams on the respective transfer arms when those arms are in their start positions. Each of switches assumes a normally open position in all other arm positions. Accordingly, when the respective transfer arms are in start position, relays 1CR and 1TD are elec-.
  • Switch 355 is mounted on the index table and is momentarily tripped by the operation of earn 350.
  • Cam 35C is attached to the rotating surface of table 35 and is physically positioned with respect to switch 355 so that the normally closed contacts thereof are momentarily opened each time the index table 35 is advanced to a new position.
  • relay 1CR Energization of relay 1CR causes box release solenoids 378 to be energized through the closure of contacts ICR- 3 connected in series with contacts 1TD-1 of time delay relay lTD.
  • the brake solenoid for the index table is de-energized with the opening of normally closed contacts 1CR4, and the index table is caused to advance 90 with the energization of the table index solenoid through the closure of contacts 1CR2.
  • the box release solenoids 375 are energized just long enough to allow the previously loaded box 32 to be conveyed away by the conveyor belt a sufiicient distance to clear stop members 37.
  • the time of energization is determined by the adjustment of time delay relay lTD.
  • switch 355 With the indexing of table 35 to a new position, switch 355 is momentarily tripped by cam 35C releasing relay 1CR and time delay relay lTD and, in turn, energizing relay 2CR.
  • Relay 2CR self latches through contacts ZCR-l and the serially connected contacts 346A-1, 346B1 and 346C-1, as shown.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)

Description

Nov. 8, 1966 F. J. THURSTON ETAL 3,233,471
AUTOMATIC PACKING APPARATUS l4 Sheets-Sheet 2 Filed Dec. 14, 1962 FIG. 4
SS S RRW Y O E T A N mu Mm VNV. T NUT T l R A ww mmv F. J. THURSTON ETAL 3,283,471
AUTOMATIC PACKING APPARATUS Nov. 8, 1966 14 Sheets-Sheet 3 Filed Dec. 14, 1962 mm QE.
INVENTORS FRANKLIN J. THURSTON ROBERT v. SANWALD BY Wm, W, m, 13mm r/ 4,
ATTORNE s Nov. 8, 1966 F. J. THURSTON ETAL 3,
AUTOMATIC PACKING APPARATUS l4 Sheets-Sheet 4 Filed Dec. 14, 1962 PAPER CUP SPACINGS FIG. 6
(A) ASSEMBLY STAGE 50A I CHUTES 45 (c) ASSEMBLY STAGE 500 (0) ASSEMBLY 1 STAGE 500 l l k i CONTAINER 32 INVENTORS FRANKLN J.THURSTON ROBERT V SABJWALD BY WW, (JAM 772M 15" sail/U101. Jmd/ v, OR Wjffl/ Rb 8 an i n NEYS Nov. 8, 1966 F. J. THURSTON ETAL 3,
AUTOMATIC PACKING APPARATUS l4 Sheets5heet 5 Filed Dec. 14. 1962 W W D 3W mum m OHN M E TTA N N .S .R EJV.. O V T m QW B Nov. 8, 1966 F. J. THURSTON ETAL 3,283,471
AUTOMATIC PACKING APPARATUS Filed Dec. 14. 1962 14 Sheets-Sheet 6 FIG. 9 .1400
Hindu-1L} INVENTORS FRANKLlN J.THURSTON ROBERT V. SANWALD BY mid/norm,
F. J. THURSTON ETAL. 3,283,471
AUTOMATIC PACKING APPARATUS l4 Sheets-Sheet '7 KNVENTORS FRANKLIN J. THURSTON OBERT v. SAN WALD WW, "101E711, Md!
ATTORNE O: Ni 3 Nov. 8, 1966 Filed Dec. 14, 1962 HI om. 3 0' 0E Nov. 8, 1966 F. J. THURSTON ETAL 3,283,471
AUTOMATIC PACKING APPARATUS Filed Dec. 14, 1962 14 Sheets-Sheet 8 lm ml m "mum INVENTORS ROBERT V. SANWALD BY Pm flan/mun- FRANKLIN J.THURSTON B h w m F v o H W U: m w m m Wm 2 m 2 mm mm M m M 3 @mi IIM .uwnwve w s w. T 2 w m Nov. 8, 1966 F. J. THURSTON ETAL AUTOMATIC PACKING APPARATUS Filed Dec. 14, 1962 14 Sheets-Sheet ll l l lnl IHHNII mv FRANKLIN BRPBERT V.SANWALD 'daMow-wm Edmund, ATTORNEYW TORS HURSTON Nov. 8, 1966 F. J. THURSTON ETAL 3,283,471
AUTOMATIC PACKING APPARATUS l4 Sheets-Sheet 12 Filed Dec. l4, 1962 FIG. 26
no \f 9 QNCR I E AND #3 SYSTEM SYSTEM INVENTORS FRANKLIN J.THURSTON ROBERT V.$ANWALD PW,W wwvwwe and, m AJI'TORNEY To Other Packaging Stations Nov. 8, 1966 F. J. THURSTON ETAL 3,233,471
AUTOMATIC PACKING APPARATUS Filed Dec. 14, I962 14 sheets-sheet 14 ATTORNEYS .v. 5.3 m x sRw A U mom mun marlin, Wand United States Patent 3,283,471 AUTOMATIC PACKING APPARATUS Franklin J. Thurston, Bethesda, and Robert V. Sanwald,
Burtonsville, Md., assignors, by mesne assignments, to
GBL Corporation, Washington, D.C., a corporation of Maryland Filed Dec. 14, 1962, Ser. No. 244,639 15 Claims. (Cl. 5355) The present invention relates to methods and apparatus for packing rows of articles in a container, and more particularly to apparatus which is adapted to automatically assemble and load into container cartons rows of comestible articles and the like. The apparatus of the present invention is particularly well suited for automatically packing delicate candies wherein each piece is packed in an individual decorative protective corrugated paper cup.
Although various types of automatic packing machines have been proposed in the prior art, most of the methods and machines that have been proposed for packing delicate comestible articles have never been Widely used because they have been found to be unreliable or lacking in flexibility of operation, particularly where the delicate articles of various shapes and sizes must be rapidly packed without omissions and without damage.
It is a principal object of the present invention to provide methods and apparatus for rapidly and reliably assembling and packing a wide variety of various shaped comestible articles or the like in any desired or prescribed pattern within a container and without damaging the container, the individual articles or the protective paper cups, etc.
In accordance with the present invention a novel method for packing containers with delicate comestible articles is provided wherein an entire row of articles is automatically packed in resilient protective cups On a staging assembly station and the entire row of cupped articles is then transferred as an ensemble into the container. Following the method steps, an entire row of protective cups is mounted on the staging station with the opening of each cup being spread to an enlarged diameter and the spacings between cups being extended sufficiently to accommodate the spread cup dimensions. The assembly station with the row of spread and spaced cups is then moved to an article loading station where an entire row of articles is deposited in the row of spread cups. In the third operating step, the assembled spread row of cupped articles is compacted in width and length and advanced to a container loading station where the entire compacted row of cupped articles is transferred to the final container.
In the preferred embodiment of the invention a conventional conveyor-belt is provided for transporting each container adjacent to a row-loading station, and control means are provided for momentarily stopping the container-box successively at each row loading station whereupon an individual row of articles is placed into the box. Since each of the row-loading stations provided to form an entire container-packing system is identical, only a single station will be described herein.
In accordance with one featured aspect of the invention, a special index table equipped with one or more staging stations (preferably four) is provided for assembling in steps each row of cupped articles to be loaded. In the first step, a full row of corrugated paper cups is transferred from conventional orienting and parts-feeding devices to a vacant assembly station on the index table. In this first operating step, an entire row of protective cups is transferred from a row of stacked cups by a transfer arm equipped with special pneumatically actuated 3,283,471 Patented Nov. 8, 1966 pick-up heads (one for each cup). In the transfer operation, the paper cups are positioned at exaggerated spacings in an assembly station on the rotatable index table and the open ends of the corrugated cups are spread outwardly by the special pick-ups heads as the cups are placed in their rest positions in the assembly station.
In the second operating step, the assembled row of spread corrugated paper cups is rotatably advanced to an article loading station where an entire row of candy articles or the like is picked up by a transfer device equipped with a row of compressed air-actuated pick-up heads and transferred to and positioned in the waiting row of spread paper cups. The article-loaded row of paper cups mounted on the table in an assembly station at exaggerated spacings is then rotatably advanced to a final transfer device equipped with a special pneumatically energized pick-up head that is adapted to pick up the entire assembled row of cupped articles and transfer the entire ensemble into a waiting container mounted on the conveyor belt.
In accordance with the invention, cam-actuated compressing rarns, forming the side walls of each assembly station on the index table, are provided to gradually compact or compress the assembled row of cupped articles from the exaggerated center line spacings utilized in the assembly receiving stations in steps 1 and 2 to a narrower and shorter length row that can be received by the container-box. Thus the length and width of the assembled row of cupped articles that is delivered to the transfer mechanism at the third transfer operation corresponds to the row width and row length of the boxed articles.
In the preferred embodiment of the invention, a selfcommutating vacuum manifold is provided to supply desired suction action to small apertures under each paper cup' in the assembly station floor to securely hold each cup in place as the indexing table rotatably advances from station to station in the staging and loading operation. The vacuum supply is removed from the apertures just prior to the commencement of action of the compression rams.
In accordance with a further aspect of the invention, a pneumatically actuated spreader mechanism is provided which is adapted to physically separate and spread the spacer members that are conventionally utilized in containers to separate individual rows of cupped articles. The spreader fingers, which are controlled in timed relationship with the operation of the cupped candy transfer, move downwardly into the candy box on the conveyor belt with the fingers in a compact closed position and then spread outwardly so as to move flattened out or deformed spacer members to an upright vertical position. The spread fingers are spaced sufiiciently so that the transfer arm pick-up head may pass between the spreader members and deposit the row of compacted cupped articles in the container.
Electrical logic control circuits are provided to maintain each step of the assembly, transfer and article-delivery operation in timed synchronization. Interlock and logic control circuits are also provided to assure continuity and synchronization of operation between each of the plural row-loading stations within a container-packing system.
The packing methods and apparatus of the present invention provide a flexible, high speed packaging operation which can be reliably utilized to replace a number of human operators having relatively slow and limited article handling capabilities. The methods and apparatus of the present invention eliminate human handling of comestible articles and the like and at the same time maintain a quality packaging aspect that is important to product merchandising.
The foregoing and other objects, features and adfollowing more particular description of a preferred embodiment of the invention, as illustrated in the accompanying drawings in which:
FIG. 1 shows a simplified plan view of a single article row-loading station provided by the present invention;
FIG. 2 is a plan view showing spaced rows of stacked protective cups delivered to the cup-loading station;
FIGS. 3 and 4 are partial sectional views of pneumatic actuated paper-cup pick-up heads provided by this invention;
FIGS. 5A, 5B and 5C are elevation views illustrating the pick-up, transfer and placement operations of the pick-up heads shown in FIGS. 3 and 4;
FIG. 6 is a schematic illustration showing the spacings of the protective paper cups during the various steps of the packing operation;
FIG. 7 is a sectional view showing a preferred embodiment of a compressed air-actuated cupped-candy pick-up head; I FIGS. 8A, 8B and 8C are elevation views illustrating the pick-up, transfer and placement operation of the pickup heads shown in FIG. 7;
FIG. 9 is a plan view of an indexing, staging and assembly station provided by the invention;
FIGS. 10 and 11 are side and end views respectively of an individual assembly station as shown in FIG. 9;
FIGS. 12-16 are plan and elevational views showing the spacer spreader apparatus provided by the invention;
FIGS. 17 and 18 are sectional elevation and plan views of a vacuum commutating manifold for the assembly stations as shown in FIG. 9;
FIGS. 19-23 are partial plan and sectional views showing the features of a preferred hopper-bowl and orientation segment for delivering oriented candy articles and the like to a loading station; 7
FIG. 24 is a simplified elevation view of an electrically operated transfer device preferred for use in practicing the present invention; and i FIGS. 2528 are simplified block and schematic diagrams of electrical logic control circuits for energizing and controlling the apparatus of the invention.
For purposes of explaining the methods and apparatus of the invention, a preferred embodiment of apparatus for packing delicate chocolate covered candies will be described. Referring to FIG. 1, there is shown in simplified plan view a single row packing station 30 which includes a continuously driven conveyor belt 31 provided to deliver individual box-containers 32 equipped with row separators or spacers 33. As illustrated a box-container 32A is supported and transported on conveyor belt 31 from previous row-loading stations (identical to 30) to a loading station immediately adajacent to index table 35. Box 32B is shown in the stop or loading position and is held in the fixed loading position by holding fingers 37 which are actuated to release the box by solenoids 37S.
The solenoid actuated holding fingers are mounted on rod members 37R and are adjusted in position with re spect to box 32B so that the next empty row lies immediately beneath the spreader fingers 49 and 41. Presence of the box at the loading station is sensed and indicated by micro-switches 38 and 38A, the operation of which will be described in further detail in connection with an explanation of the electrical logic control circuits shown in FIGS. 25 and 27. Spreader fingers 40 and 41 mechanically driven by pneumatic-actuator 42 are provided to assure proper spacing and upright positioning of the conventional row-spacers in the container box 32B. The detailed operation of this mechanism will be discussed in further detail in connection with the description of FIGS. 12-16 below. As indicated above, the apparatus provided at 30 is adapted to automatically place a single complete row of cupped candies between a predetermined pair of partitioning dividers or spacers in box 32B.
The present invention provides excellent packaging fiextable 35, upon which are assembled rows of cupped,
candies of various types in any desired predetermined order or sequence. are supplied from a conventional vibratory feeder in preoriented positions by inclined chutes 45. Three transfer devices 46A, 46B and 46D are provided with plural pickup heads to load and unload the four assembly and staging stations 50A, 50B, 50C and 50D, as shown. The transfer devices are preferably of the type described in pending patent application Serial No. 216,626, filed August 13, 1962 by John D. Goodell et al., now Pat. No. 3,182,813.
In the example shown in FIG. 1, eight individual corrugated paper cups are delivered to station 50A by transfer mechanism 46A having eight individual cup pick-up heads at 46H. As described in greater detail below, the pick-up heads 46H are arranged to deliver the eight individual corrugated paper cups to station 50A with the open sides up and with the side walls flattened or pressed outwardly and downwardly so that the mouths of the cups are extended to a larger diameter.
As shown, the operations of transfer mechanisms 46A, 46B and 46D are synchronized 'with one another and maintained in operating timed relationship with the dwell candy 54 to the spread paper cups at station 50B. Rows of pre-oriented candies (with proper spacings) are de-v livered to the pickup head 46H by inclined chutes 55 as shown. The centers of chutes 55 are spaced to match the center line spacings of the individual pick-up heads on 461-1 and in turn to match the center-to-center spacings of the spread cups in station 50B. The individual candies are advantageously delivered to chutes 55 by vibratory hopper feeders 56 having special non-marring track and bowl configurations and orientation segments as illustrated in FIGS. 19-23.
After the candies have been delivered to the individual cups at station 50B by transfer device 46B, index table 35 is advanced to station 50C and thence to station 50D where transfer mechanism 46D with plural pick-up heads 46H" is automatically ope-rated to transfer the entire row of 8 cupped candies to box 328. During the course of travel from 50B to 50D, the side walls 60B-and 60A and length that can be accommodated by the width of box In the preferred embodiment of the invention as illustrated in the simplified plan view of FIG. 1, small apertures (see FIGS. 9-11) are provided in the floor surface of each station 50A-50D on centers that fall beneath each container cup. The apertures are connected to a vacuum supply via ducts and commutating manifold 66 which will be described in greater detail in connection with FIGS. 17 and 18 below.
It will be appreciated that the apparatus shown at 30 may be readily programmed to automatically load various types of candy within an individual row as required and that the several stations 30 that are operatively combined to form an entire automatic packing system may be cooperatively programmed with candies and receiving Stocks of corrugated paper cups 44 l cups to form any desired packaging pattern within a given container layer.
Reference will now be made to the remaining figures in connection with a more detailed explanation of the invention. It will be seen in FIG. 2 that the stacks of preoriented paper cups 44 are delivered in inclined chutes 45 with center-to-center spacing of X. The distance X is greater than the center-to-center spacing which the cups will have when mounted in wall-to-wall contact with one another in box 32. The spacing X is selected to permit a spreading or flattening out of the corrugated side walls of the individual cups without causing interference between the spread edges of adjacent cups. (See FIG. 5C.)
A pick-up head provided for use as a paper cup pick-up device at 46H is shown in sectioned view at FIG. 3. The special head 47 which is designed to pick-up individual paper cups 44 from the tops of stacked cups delivered by chutes 45, includes an upper housing 70 with internal chamber 71 and a lower frame support 72 having an upperly curved under surface 73 as shown. A central cylindrical plunger assembly 76 is provided having an upper cylindrical bore 77, the lower portion of which is threaded to receive screw member 78. The entire core member 76 is adapted to move up and down in chamber 71 being restrained in its travel at the lower end of the chamber by the engagement of lip 85 with O-ring 84. A 360 slit aperture is defined by the adjacent spaced surfaces of 76 and end cap 86. A source of compressed air is connected to the upper end of duct 87 and flows downwardly through chamber 71, bore 77, bore 88 in screw 78, through the annular chamber 89 and upwardly through the slit aperture 90 as shown. The width of aperture 90 is determined by selection of the length of spacer 91.
The upward flow of air through slit aperture 90 between the cylindrical surface of core 76 and the side wall surface of cup 44 produces a reduced pressure along the inner surface of the cup wall causing the top wall of the cup to collapse inwardly and separate from the remaining cups .in the stack. During the pick-up operation the cylindrical core 76 is disposed in its downward position as shown in FIG. 3. Core 76 remains in its down most position during the transfer operation as shown in FIGS. 5A and 5B. When the pick-up head 46H is transferred to station 50A on index table 35, the side walls of cups 44 are spread outwardly by the curved surfaces 73 as shown in SC. Thus the top diameters of the individual cups 44 are substantially increased and so conditioned to receive a wide variety of shapes and sizes of candies. When the transfer of head 46H is moved to receiving station 50A, it will be seen that the central core 76 is moved upwardly in chamber 71 and the pressure reducing action due to upward flow of air through slit aperture 90 is automatically cut-01f by the upward movement of 76 into chamber 71. Prior to the return of pick-up head 46H by transfer apparatus 46A, the air pressure to the individual pick-up heads 47 is turned off so that the individual cups 44 remain on the surface of table 35 at station 50A. An entire row of paper cups with spread tops is thus delivered to 50A and upon return of the transfer arm for 46A, index table 35 is rotatably driven so that station 50A is moved to the position occupied by station 50B (see FIG. 1).
An alternative embodiment for the core of pick-up head 47 is shown at 76 in FIG. 4. In this embodiment, an end cap 86 is supported from the top of core 76' by screw member 78. Compressed air is supplied via duct 87 and chamber 71 via ducts 95 and 96 to slit aperture 90. The operation of this core member inconjunction with pick-up member 47 is the same 'as described above.
A preferred embodiment of a special compressed air operated pick-up head for 46H and 46 is shown in FIG. 7. This head is particularly well suited for picking up a variety of differently shaped candies either mounted in cups as shown in FIG. 7 or without cups as delivered in the supply chutes 55. Since certain portions of this head 6 are identical in construction to portions of pick-up head 47 (FIG. 3), the like or similar parts are given the same numbers. Compressed air is supplied to each individual pick-up head 100 via telescoping tubes 101 and 102. In operation the lower cylindrical core 76A is adjusted so that the tip of the pick-up head (86 and 78) just comes in contact with the delicate candy surface. The adjustment is not critical since lifting action is achieved by dynamic air flow, no seal being required.
Pick-up head 100 has a cylindrical sleeve 110 secured to 76A by screw members 111. Sleeve 110 and the lower outer wall surface of 76A defines an annular shaped orifice through which the upward flow of compressed air from aperture is directed. The upward flow of air creates a reduced pressure area at the mouth opening 112. Operational experience has clearly indicated that this head is capable of reliably picking up all known irregularly shaped pieces of candy. The operation of pick-up head is to be contrasted with conventional vacuum type pick-up heads wherein successful operation is dependent upon the maintenance of a substantially air-tight seal between the surface of a concave rubber pick-up head and the surface of the article to be picked up. By way of contrast, the present head is a dynamic type pick-up device which relies upon flow of air around the outer periphery of the candy article or the like for its lifting action.
The operation of pick-up heads 100 as utilized at 46H in the transfer of candies from chutes 55 to assembly station 50B isillustrated in FIGS. 8A, 8B and 8C. Compressed air for the entire pick-up head is supplied via manifold duct 120 as indicated. The same pick-up head is utilized at 46H" except that the individual heads 100 are spaced closer together on centers Y corresponding to the actual candy spacings provided for in the individual box container.
In certain applications where it is necessary or desirable to mount a minimum amount of equipment on the movable pick-up arm, the core 76A for each pick-up head may be mounted in a fixed position adjacent the transfer arm and the sleeve may be extended to the movable head with a flexible hose. The hose may be connected to a short piece of surgical rubber tubing, the open end of which functions as the pick-up head for the cupped candies.
Operation of the automatic assembly compacting apparatus on index table 35 will now be described in connection with the plan view showing of FIG. 9. The drive mechanism for index table 35 may be any one of several well known conventional arrangements such as a fourposition Geneva movement or an equivalent cam drive which is shaft driven by an electrical motor through an electrically actuated clutch mechanism. A solenoid actuated indexing mechanism is included as a part of the drive mechanism to assure positive indexing of the table at 90 intervals corresponding to the loading and unloading stations A, B, C and D. Since the operation of such driving mechanisms is well known and does not form apart of the present invention, descriptions of the control circuits will be restricted to the control circuit diagram shown in FIG. 27. Indexing table 35 is advanced in 90 intervals of rotation from station A to B to C to D after each of the respective loading and transfer operations is completed by transfer mechanisms 46A, 46B and 46D. Transfer device 46A is adapted to place a full row of corrugated paper cups (8 in the example shown) between the side wall ram members 60A and 60A at station 50A. The movable side wall rams 60A and 60A are disposed in their outermost position so that the widest clearance between the inner edges of these ram members is provided for the reception of transferred and spread paper cups. The side rams are identical for each of the four stations 50A, 50B, 50C and 50D, each pair of side rams being mounted for limited inward and outward movement on rod members 131 and 132. Rods 131 and 132 are in turn rigidly supported to the surface of table by posts 133 as shown.
A cam follower mechanism is provided to gradually move the side wall compacting rams inwardly as the staging and receiving station 50B is advanced through intervals from station B to C and finally to D. The dam drive mechanism includes a cam follower 140 which is slidably supported on rod member 142 as indicated. 140 is mechanically coupled to side rams by arm member 142 and toggle links 143. Radially outward movement of cam follower on its support rod 141.
draws the side rams 130 inwardly to a desired compacting position as shown in FIG. 10. Cam follower 140 is spring loaded inwardly by spring member 145 mounted on rod 141. Thus the side rams 130 are maintained in a spring loaded-outwardly-spaced position at all times until such time as cam follower 140 is driven in a radially outward position. As shown in FIGS. 10 and 11, a cutout in the surface of table 35 is provided to permit free movement of cam follower 140 in a radial direction beneath the table surface.
Inward movement of the side wall rams is controlled or programmed by extended cam which is supported by the main base support for the index table (not shown) and position arranged to function cooperatively with cam follower 140. As illustrated cam 160 is mounted beneath the surface of table 35 extending from a starting point adjacent station 508 and continuing on through a path following along the outer peripheral edge of table 35 to a terminal point slightly beyond station 50D. In normal operation, cam follower 140 engages. cam 160 at station B and is driven gradually in a radially outward direction as the table is rotationally advanced to station C and beyond. The outward movement of cam 140, as explained above, moves the side wall rams 69 inwardly causing the side walls and paper cups to be compressed inwardly and hence restored to a normal width corresponding to that of the cup delivered in chutes 45. As cam follower 140 is advanced to station, D, cam 160 is so shaped as to permit the cam follower 140 to move radially inwardly. Thus the ram Walls are permitted to move in an outward direction and access between the adjacent inner top edges of rams 130 is thereby afforded the pick-up head for transfer device 46D.
After table 35 has advanced slightly beyond station D the termination of cam 160 permits cam follower 1411 to move to its radially innermost position and the assembly station is thus restored to a condition for receiving another charge of paper cups at station A.
A single end positioned compacting ram is provided to gradually compress the assembled row of paper cups and candies to a length that can be accommodated by the box-container 32. As shown in FIG. 9, cam 170 is slidably supported on red 1'71 and spring loaded inwardly by coil spring 172. Cam follower is pivotally attached to ram 170 by arm 17 6.
A'separate programming cam is provided underneath table 35 and supported by the base frame to drive cam follower 175 and force end ram member 170 inwardly so as to shorten the row length of candy-filled paper cups. The lengthwise compacting operation provided by ram 170 is commenced shortly after the candies have been loaded into the cups at station 503 (see'FIG. 9). By the time assembly station 5013 has advanced to position C and then to D, the entire row length has been compacted to its proper length to be received by box 32. When a given assembly and staging station has reached station D, it will be seen that the cooperative action of side rams 60 and end compacting ram 170 have effectively restored each of the paper corrugated cups to its normal dimensions and thus positioned the entire row of cupped candies on centers corresponding to the centers of the plurality of pick-up heads on the transfer arm of 46D (see FIG. 6).
After an assembly station has passed station D, the cam 180 is so shaped as to permit cam follower 175 to gradually return to its innermost rest position. Thus by the time an assembly station has been returned to station A, the length and width dimensions of the station floor area are returned to maximum.
In the preferred embodiment of the invention, a vacuum supply duct is provided in the floor 186 of each assembly station on the index table and connected to a vacuum supply by duct 65 through a vacuum commutator 66. A plurality of small apertures 187 are provided which communicate between duct 185 and the upper and outside surface of 186. These small apertures provide the required suction action to hold each paper.
cup in its proper position as the index table is advanced from station A to B and thence to C. Commutator 66 is provided to switch the vacuum supply on as an assembly station advances to point A and then turn the vacuum supply off as the assembly station progresses beyond B and nearly to station C. The suction action provided by the small apertures is advantageously used during that portion of the operating cycle when the walls of the station are spread. The cups being empty during part of the travel might otherwise have a tendency to be displaced as the table is rotated. The vacuum is switched off just prior to the time where the. cams 160 and 180 initiate the compacting action by rams 60 and 170 respectively. The individual cups are thus released to move freely with the inward and outward movements of the above described compacting walls.
Operation of the commutating vacuum manifold will now be described in connection with FIGS. 17 and 18 which show a preferred embodiment of the vacuum commutator 66 referred to above. The commutator includes an outer cylindrical shell 250 which is secured to and arranged to rotate with the index table 35. Shell 250 defines four port holes 251 which communicate between the outer surface of the shell and an internal cylindrical bore which is adapted to receive a rotating commutator core member 252. Core member 252 is supported for rotation by an attached hollow stem member 253 which fits in the internal race member of ball bearing 254 as shown. a vacuum supply (not shown) and the vacuum supply is successively coupledto ports 251 and tubes 65 (see FIG. 9) via slot 255 which is cut through the shell 252 so as to form a fan-shaped slot (approximately 160") that is connected to the internal bore 256 of stem 253. Thus it will be seen that rotation of table 35 and shell 250 around cylindrical core 252 causes the vacuum supply to be applied to each of the ports 251 throughout 160 of table rotation. The vacuumsupply is then turned off as the slot 255 passes beyond any one of the given port holes and the suction at the plural apertures 187 disposed beneath each of the paper cups is thereby removed.
The 160 slot 255 is mechanically phased with respect to stations A, B, C, and D so that the vacuum is switched to a duct 65 just prior to the arrival of an assembly and staging station at point A and turned off just prior to the arrival of an assembly and staging station at point C in the indexing operation. It will be appreciated that the vacuum commutator 66 and its associated cup-holding apertures disposed .in each of the assembly stations may be eliminated for purposes of simplification. However, the operation of the holding device does afford a greatly improved stability and reliability of operation insofar as the individual paper cups are firmly held in their proper positions during the initial staging operations. The provision of the vacuum-holding apparatus described above also makes it possible to operate the entire packing apparatus at a faster rate than would otherwise be possible due to undesired movements of the unloaded paper cups.
Operation of the spacer-spreader apparatus provided as a part of this invention, will now be described in connection with FIGS. 12-16. As indicated above, the
The internal bore of stem 253 is connected to spreader apparatus is mounted on a platform along with transfer mechanism 46D immediately above the box conveyor belt 31 and is arranged to operate in timed relationship with the delivery of candy by 46D from table 35 to box 32. The sole function of this apparatus is to make certain that each and every box row spacer is standing in an upright position and properly spaced with respect to each neighboring spacer so as not to interfere with the delivery of the row of cupped-candies. As shown in FIG. 12, a pair of flexible spreader members 40-41 mounted on rotatable shafts 190-191 are provided to physically spread the spacers in 32. Rods 190 and 191 are supported in the vertical elevator members 192 and 192. Elevator members 192 are adapted to slide up and down vertically on rod members 193. The entire spreader assembly, including, members 40 and 41 mounted on rods 190 and 191 and the vertical elevator members 192, is driven up and down by a conventional pneumatic actuator 42 having a piston arm 195 which is coupled to elevator members 192 via crank arms 200 connecting length 201 and connecting arm 202 as shown. Radial indexing pins 205 are mounted in rods 190491 and are retained against stop pins 206 by leaf springs 207, thus the spreader fingers 40 and 41 are spring loaded to a normal spaced vertical position as shown in FIG. 13. When pneumatic actuator 42 is energized with compressed air, the entire spreader assembly is driven downwardly on the support rods 193 and during the downward course of travel cam followers 225 and 225', which are secured to the ends of shafts 190191 respectively, come in contact with the outer end surfaces of cams 226, 226'. Rods 190 and 191 are caused to rotate counter-clockwise and clockwise respectively as viewed in FIG. 14. This rotational action in turn causes spreaders 40 and 41 to move inwardly until their tips come in contact with one another as shown in FIG. 14. As the downward motion progresses and the cam followers 225, 225 overtravel cams 226 and 226 respectively, the spreader fingers .0 and 41 are again driven outwardly by the leaf springs 2137 to the spaced condition illustrated in FIG. 15 This final outward spreading action spreads each downwardly inclined spacer forcing it to a normal upright or vertical position as illustrated in FIG. 15.
Spreaders 40 and 41 are maintained in the position shownin FIG. 15 until an entire charge or row of cupped candies has been delivered by the pick-up head of 46D downwardly through and between the spreaders 40 and 41 and int-o the box. Thus, an inclined row spacer 33 as shown in FIG. 14 is moved to an upright position as shown in FIG. 15 so that no interference toproper delivery and positioning of a delivered row of candy can occur.
After a row of candy has been delivered to box 32, pneumatic actuator 42 is energized in the reverse direction causing the entire spreadermechauism to move upwardly past the spring loaded cams 226 and 226 as shown in FIG. 16 and back to a normal top rest position as shown in FIG. 13. Pick-up head 46H" is then removed from the box by transfer device 46D and returned to a start position in readiness for another delivery cycle.
Position-sensing microswitches 230 and 231 are provided as indicating devices which function cooperatively with elevator member 192 as shown in FIGS. 14 and 15 to develop control signals for the logic and interlock circuits shown in FIGS. 25 and 27. Switch 230 is actuated by elevator member 192 and so indicates the presence of the spreader mechanism at the top position and switch 231 is actuated by 192 when the spreader mechanism is in the downward position shown in FIG. 15.
The features of an improved hopper bowl for a vibratory type feeder such as used at 56 in FIG. 1 are illustrated in FIGS. 19-23. The hopper bowls are preferably of the type shown and described in pending application Serial No. 91,523 filed February 24, 1961 by Boris, now Pat. No. 3,114,448, wherein the orientation segment 300 comprises a separate segment that is removable from the main base segment of the bowl 301. The entire bowl assembly comprising sections 300 and 301 is driven by a conventional vibratory drive device which is attached to the base of the bowl section 301 by a central mounting hole 302 as shown in FIGS. 19 and 20. Since the driver mechanism forms no part of the present invention, and since the operation of such devices is well known, further description of the driver will not be given.
The feeder bowl and its accompanying orientation segment is adapted to deliver pieces of delicate candies and the like at a relatively high feed rate without marring the candy surfaces. Randomly oriented candies are deposited in hopper bowl 301 and individual candies are delivered up the inclined floor 311 of the orientation segment 300 for delivery out of the terminal end of the orientation segment to the inclined delivery chutes 55 as shown in FIG. 1. The base section of the hopper bowl is formed by joining the surfaces of two frustums having the same axis but with respective apexes directed in opposite directions. One frustum forms the annular outer wall 310 of the base section of the bowl and the second frustum forms the bottom floor 301 of the hopper base. (See FIGS. 19 and 20.) The two frustums are arranged so that the smaller diameter of the wall 310 is equal to the larger diameter of the floor section 301, and the sum of the apex angles for the two frustums is equal to 180. The two frustums are joined along the common diameter as shown in FIG. 20 so that the angle between the outwardly sloping floor surface 301 and the wall 310 is never less than Thus candy pieces moving around the bottom of 301 and coming in contact with the outer wall surface 310 make only a line contact with the wall surface and marring of the candy surface due to abrasion is therefore maintained at a minimum.
The same 90 angular relationship is maintained between the floor 311 of the orientation segment and the surface of wall 310 as shown in FIGS. 21-23. Candies that are advanced progressively up the inclined floor 311 of the orientation segment 300 which are not properly oriented are permitted to return back to the floor of the hopper bowl 301 down a gently inclined surface 315 with a minimum of damage to the candies. The total slope length of 315 is made longer nearer the terminal or delivery end of the orientation segment to compensate for the increased height of floor 311 (see FIG. 19). Properly oriented candies are guided onto the supply chutes 55 by sidewalls 316 and 317 at the terminal end of the orientation section.
In order that an individual row-packing station 30 may function continuously and properly as described above, it is necessary that the individual transfer mechanisms 46A, 46B and 46D operate in proper timed synchronization with the arrival of empty or loaded assembly stations on table 35. It is apparent that an empty container must be in position for receiving a charge of cupped candies when transfer mechanism 46D effects a transfer operation from station 501) to the conveyor belt. As indicated above, it is also necessary that the spacer spreader be operated in timed synchronization with the operation of transfer device 46D so that the spreader fingers are separated within the container box and in readiness for receiving the transfer head. Furthermore, the plural row-loading stations within a packing system must operate in timed synchronization to assure that each step in the loading operation is safely completed before a partially filled box is passed on to a subsequent loading station. A variety of control circuits may be devised to perform the required interlock and synchronization functions. A simplified block diagram of the logic circuits that are utilized in a preferred control circuit are shown in FIG. 25. The circuit utilizes a plurality of well known AND circuits for maintaining interlocked or synchronized control of each operation involved in the transfer of a single row of cupped candies to a container carton. In beginning a normal operation, box arriving sensor switch 38A and box leaving sensor 38, provide two input control signals to AND" circuit number 1. Position sensor 358 for index table 35 provides a third input and the down position sensor 231 for the spreader mechanism provides a fourth input signal as indicated. When control inputs are present from all four sensors, AND circuit No. 1 energizes the transfer devices 46A, 46B and 46C which causes the three transfer mechanisms to commence their respective transfer operations to stations 50A and 50B and from 50D to the waiting box on the conveyor belt system. Completion of the transfer operations by 46A, 46B and 46C is sensed by limit switches 346A, 3468 and 346C, which are mounted on the respective transfer mechanisms as shown in FIG. 24 for example. Operation of these three limit switches completes the operation of AND circuit No. 2 as shown which, in turn, applies an input control circuit to the system AND circuit No. 3. The system AND circuit No. 3 requires simultaneous inputs from the AND No. 2 circuits of each and everyone of the row-packing stations 30 that function cooperatively to make up an entire box packing system. When the transfer operations are completed by the three transfer devices 46A, 46B and 46C in each row packing station, an output signal is supplied from AND circuit No. 3 to the control solenoid on the index table and to the box release solenoids 375 which retract stop members 37 and allow the loaded box to pass on.
With the arrival of a subsequent box as sensed by box arriving sensor 38A and the departure of a box that has just been supplied with an individual row of cupped candies, a new operating cycle is commenced. It will be seen that the AND logic circuits function to provide a complete interlock system, not only within the several devices which comprise an individual row-packing station 30 but also between the plural stations that are combined to form an entire system.
Although a number of well known article manipulator devices may be used to function at 46A, 46B and 46D, applicants have found the article manipulator apparatus described in pending patent application Serial No. 216,626 filed August 13, 1962 by John D. Goodell et al., to be particularly well suited for this purpose. While the apparatus described in that application is illustrated with electro-mechanically actuated grasping jaws, a pneumatic actuated pick-up head such as has been described above, is readily substituted for the grasping jaws as is illustrated in FIG. 24. The transfer device illustrated is that for 46A and includes pick-up head 46H which is supported on transfer arm 46AR. The pick-up head 46H. is maintained in the same plane throughout the arcuate path of travel by the action of sprocket chain 680 and sprocket gear 681 which causes the pick-up head to rotate in a direction opposite to that of the arm rotation and thereby holds the head in a fixed horizontal plane. The structural details of this operation form no part of the present invention and hence will not be described herein. Reference should be had to the co-pending application identified above for a detailed explanation of this apparatus. The transfer arm and pick-up head 46H are driven through an-arcuate path of travel by drive motor 611, pulley 616, belt 617, pulley 618, and shaft 619. Microswitches 600 and 601 are provided to sense and indicate electrically when the transfer arm has reached its rear position of travel and its forward position of travel, respectively. Microswitch 346A is a double-pole double-throw switch (see FIG. 27) and is provided to sense the transfer arm position at a point intermediate the rear and forward positions of travel. Switch 346A accordingly is used to indicate when the arm has reached a normal rest position (e.g., straight up) and the transfer mechanism is stopped at or started from this position.
All three switches 600, 601 and 346A are actuatedby cams 605 and 606 which are driven by the crank arm central drive shaft 607 as shown.
A simplified schematic diagram of a preferred electrical control circuit for an individual row packing station incorporating the logic circuits shown in FIG. 25, is shown in FIGS. 26 and 27. The entire control circuit is energized by 115 volts A.-C. as shown and the logic circuits are formed from serially connected switch contacts on a plurality of relays that are, in turn, actuated by position sensing or limit sensing switches mounted on the several transfer mechanisms, the indexing table, the spacer spreader and the box sensor on the conveyor belt system.
A description of the switch and relay operations will now be described in sequence as these operations take place during a normal operating cycle. Actuation of push-button start switch PB2 (FIG. 26) energizes the main control relay CRM which through its switch contacts distributes power to the entire control system. Relay CRM is self latching through its contacts CRM-1 and system power is turned off in a conventional manner by depressing push-button switch FBI to momentarily open its normally closed contacts. Operation of the packing system is commenced by momentarily pushing pushbutton switch PB4 to energize control relay CRA and time delay relay STD. The ,coils of CRA and STD remain energized through the self latching operation of contact CRA-1 on control relay CRA. The entire operation is stopped by momentarily depressing stop button PB3. Relay MCR is momentarily actuated through the closure of contacts CRA-2 and the normally closed contacts of time delay relay STD connected in series as shown. The momentary closure of the switch contacts of master control relay MCR energizes control relay lCR (see FIG. 27) and time delay relay 1TD via switch contacts MCR-1 which are connected in series with the normally closed limit switch contacts 346A1, 346B-1 and 346D-1. As explained above, these switches are located on the respective transfer devices 46A, 46B and 46D and are normally held in a closed position by cams on the respective transfer arms when those arms are in their start positions. Each of switches assumes a normally open position in all other arm positions. Accordingly, when the respective transfer arms are in start position, relays 1CR and 1TD are elec-.
trically energized through the momentary closure of MCR1 and are electrically latched to an energized position by contacts 1CR-1 of relay lCR. Contacts 1CR1 are connected in series with the normally closed switch contacts of cam actuated switch 358. Switch 355 is mounted on the index table and is momentarily tripped by the operation of earn 350. Cam 35C is attached to the rotating surface of table 35 and is physically positioned with respect to switch 355 so that the normally closed contacts thereof are momentarily opened each time the index table 35 is advanced to a new position.
Energization of relay 1CR causes box release solenoids 378 to be energized through the closure of contacts ICR- 3 connected in series with contacts 1TD-1 of time delay relay lTD. At the same time,,the brake solenoid for the index table is de-energized with the opening of normally closed contacts 1CR4, and the index table is caused to advance 90 with the energization of the table index solenoid through the closure of contacts 1CR2.
The box release solenoids 375 are energized just long enough to allow the previously loaded box 32 to be conveyed away by the conveyor belt a sufiicient distance to clear stop members 37. The time of energization is determined by the adjustment of time delay relay lTD.
With the indexing of table 35 to a new position, switch 355 is momentarily tripped by cam 35C releasing relay 1CR and time delay relay lTD and, in turn, energizing relay 2CR. Relay 2CR self latches through contacts ZCR-l and the serially connected contacts 346A-1, 346B1 and 346C-1, as shown. When a previously the aforementioned

Claims (1)

  1. 9. APPARATUS FOR FILLING CONTAINERS WITH ROWS OF COMESTIBLE ARTICLES OR THE LIKE WHEREIN ADJACENT ROWS OF PACKED ARTICLES ARE SEPARATED WITH FLEXIBLE SPACERS, SAID APPARATUS COMPRISING A ROW-LOADING STATION INCLUDING CONVEYOR MEANS FOR SUPPORTING AND DELIVERING IN SEQUENCE INDIVIDUAL CONTAINERS FROM A SUPPLY SOURCE TO SAID STATION, ELECTRICALLY OPERABLE STOP MEANS MOUNTED ADJACENT SAID CONVEYOR FOR STOPPING THE TRAVEL OF A CONTAINER BOX THEREON, SAID MEANS BEING ADAPTED WHEN ELECTRICALLY ENERGIZED TO RELEASE SAID CONTAINER FOR ADVANCE TRAVEL, CONTAINER SENSOR MEANS MOUNTED ADJACENT SAID ROWLOADING STATION FOR PRODUCING A CONTROL SIGNAL IN RESPONSE TO THE ARRIVAL OF A CONTAINER TO BE LOADED, A STAGING STATION FOR DELIVERING AN ASSEMBLED ROW OF PRE-ORIENTED COMESTIBLE ARTICLES TO A POINT ADJACENT SAID LOADING STATION, MEANS FOR TRANSFERRING SAID ASSEMBLED ROW OF ARTICLES FROM SAID ASSEMBLY STATIOIN TO SAID CONTAINER, SAID MEANS INCLUDING PLURAL PNEUMATICALLY ACTUATED PICKUP HEADS, ONE FOR EACH ARTICLE, AND A SUPPORT ARM FOR SAID HEADS WITH DRIVE MEANS FOR TRANSPORTING SAID ARM AND SAID HEADS BETWEEN SAID ASSEMBLY STATION AND A STOPPED CONTAINER ON THE CONVEYOR, FIRST TRANSFER ARM SENSOR MEANS PROVIDED TO PRODUCE AN ARM-DELIVERY OUTPUT SIGNAL WHEN A ROW OF ARTICLES HAS BEEN DELIVERED TO SAID BOX, SECOND TRANSFER ARM SENSOR MEANS PROVIDED TO PRODUCE AN ARM-RETURN OUTPUT SIGNAL WHEN SAID ARM HAS RETURNED FROM SAID CONTAINER TO THE START POSITION, SPREADER MEANS MOUNTED ABOVE A STOPPED CONTAINER ON SAID CONVEYOR FOR SPREADING THE FLEXIBLE SPACERS DEFINING A ROW SPACE IN SAID CONTAINER, SAID MEANS INCLUDING A PAIR OF SPACED FINGERS MOUNTED FOR UP AND DOWN MOVEMENT ON A SUPPORT ELEVATOR, WITH CAM MEANS PROVIDED TO CLOSE AND THEN OPEN SAID FINGERS DURING THE DOWNWARD MOVEMENT OF THE ELEVATOR, REVERSIBLE DRIVE MEANS FOR DRIVING SAID ELEVATOR TO EITHER THE UP POSITION OR THE DOWN POSITION, FIRST CONTROL MEANS RESPONSIVE TO THE SIGNAL FROM SAID CONTAINER SENSOR FOR ENERGIZING SAID ELEVATOR DRIVE IN THE DOWN DIRECTION AND RESPONSIVE TO THE SIGNAL FROM THE ARM DELIVERY SENSOR FOR ENERGIZING SAID ELEVATOR DRIVE IN THE UP DIRECTION, AND SECOND CONTROL MEANS RESPONSIVE TO SAID ARM-RETURN SIGNAL PROVIDED TO ENERGIZE SAID STOP MEANS AND THEREBY RELEASE SAID CONTAINER.
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US3456424A (en) * 1966-11-18 1969-07-22 Kaman Aircraft Corp Article packaging or handling apparatus
US3499262A (en) * 1968-02-14 1970-03-10 Kaman Corp Apparatus for packaging confectionery articles in individual receptacles and grouping the articles for transfer into an upwardly open box or the like
US4073372A (en) * 1975-12-27 1978-02-14 Hans List Apparatus for transporting containers to and from a working station
US5477663A (en) * 1993-02-17 1995-12-26 The West Company Robotic tray loader system, method and apparatus
US20060045945A1 (en) * 2004-08-27 2006-03-02 Conagra Foods Packaged Foods Co., Inc. Apparatus and method for making filled-dough products
US20060042188A1 (en) * 2004-09-02 2006-03-02 Ford Colin P Packaging system having loading carousel
US20060207220A1 (en) * 2004-09-02 2006-09-21 Graphic Packaging International, Inc. Packaging system having loading carousel
US20130097975A1 (en) * 2011-10-24 2013-04-25 Remedi Technology Holdings, Llc Packaging system for pharmaceutical dispenser and associated method
US10414528B2 (en) 2015-05-29 2019-09-17 Graphic Packaging International, Llc Packaging system

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US2886927A (en) * 1955-08-08 1959-05-19 Bianchi Co Cupping and packaging method and apparatus for fragile food products
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US3456424A (en) * 1966-11-18 1969-07-22 Kaman Aircraft Corp Article packaging or handling apparatus
US3499262A (en) * 1968-02-14 1970-03-10 Kaman Corp Apparatus for packaging confectionery articles in individual receptacles and grouping the articles for transfer into an upwardly open box or the like
US4073372A (en) * 1975-12-27 1978-02-14 Hans List Apparatus for transporting containers to and from a working station
US5477663A (en) * 1993-02-17 1995-12-26 The West Company Robotic tray loader system, method and apparatus
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US20060045945A1 (en) * 2004-08-27 2006-03-02 Conagra Foods Packaged Foods Co., Inc. Apparatus and method for making filled-dough products
US20060042188A1 (en) * 2004-09-02 2006-03-02 Ford Colin P Packaging system having loading carousel
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US20080229713A1 (en) * 2004-09-02 2008-09-25 Graphic Packaging International, Inc. Packaging System Having Loading Carousel
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US7392630B2 (en) * 2004-09-02 2008-07-01 Graphic Packaging International, Inc. Packaging system having loading carousel
US7806250B2 (en) 2004-09-02 2010-10-05 Graphic Packaging International, Inc. Packaging system having loading carousel
US20130097975A1 (en) * 2011-10-24 2013-04-25 Remedi Technology Holdings, Llc Packaging system for pharmaceutical dispenser and associated method
US10618748B2 (en) 2011-10-24 2020-04-14 Remedi Technology Holdings, Llc Packaging system for pharmaceutical dispenser and associated method
US11603224B2 (en) 2011-10-24 2023-03-14 Remedi Technology Holdings, Llc Packaging system for pharmaceutical dispenser and associated method
US11834214B2 (en) 2011-10-24 2023-12-05 Remedi Technology Holdings, Llc Packaging system for pharmaceutical dispenser and associated method
US10414528B2 (en) 2015-05-29 2019-09-17 Graphic Packaging International, Llc Packaging system
US11814199B2 (en) 2015-05-29 2023-11-14 Graphic Packaging International, Llc Packaging system

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