CN101022996B - Modular packing system - Google Patents
Modular packing system Download PDFInfo
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- CN101022996B CN101022996B CN2005800316516A CN200580031651A CN101022996B CN 101022996 B CN101022996 B CN 101022996B CN 2005800316516 A CN2005800316516 A CN 2005800316516A CN 200580031651 A CN200580031651 A CN 200580031651A CN 101022996 B CN101022996 B CN 101022996B
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/003—Packaging lines, e.g. general layout
-
- 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
- B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
- B65B19/02—Packaging cigarettes
- B65B19/22—Wrapping the cigarettes; Packaging the cigarettes in containers formed by folding wrapping material around formers
-
- 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
- B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
- B65B19/02—Packaging cigarettes
- B65B19/22—Wrapping the cigarettes; Packaging the cigarettes in containers formed by folding wrapping material around formers
- B65B19/223—Wrapping the cigarettes; Packaging the cigarettes in containers formed by folding wrapping material around formers in a curved path; in a combination of straight and curved paths, e.g. on rotary tables or other endless conveyors
-
- 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
- B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
- B65B59/04—Machines constructed with readily-detachable units or assemblies, e.g. to facilitate maintenance
-
- 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
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Wrapping Of Specific Fragile Articles (AREA)
- Packaging Of Annular Or Rod-Shaped Articles, Wearing Apparel, Cassettes, Or The Like (AREA)
- Earth Drilling (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
- Packages (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
A cigarette packing system comprises a plurality of reconfigurable modules (100). Each module includes tooling for performing a section of the packaging process. Product is transferred between modules by robots (110) mounted on the modules and controlled from individual modules. Interface protocols between modules control transfers between modules. The product may be transferred with or without a carrier between modules. The modules may be reconfigured for a different assembly process and modules added or removed. Process specific tooling maybe changed. Reconfigurable modules reduces the time and cost of changing to a different packaging process.
Description
Technical field
The present invention relates to be used for the module machine of packed goods.Relate in particular to the module machine that need reconfigure at any time along with the change of packing of product requirement.
Background technology
In tobacco business, the cigarette that has completed is sent to wrapping machine usually, and there, they form the arrangement heap, and forms packing around described arrangement heap.Can adopt the packing of number of different types, for example, rigid package or flexible packaging.It is complicated that packing is handled, and relates to a plurality of steps that order is carried out.These steps can comprise carboard processing, indentation, cutting, folding and stickup, embossing, metallic paper processing, cellophane wrapped and stickup.
Concerning manufacturer, wrapping machine is a very heavy weight investment.Yet high production speed and long packing operation can make baling line more economical.
Effective and the economical production of the cigarette packing box of limited amount (for example several thousand packing boxes) may be once to challenge.For example, when new pack shape or cigarette collation await testing, for this design and installation spectacle case wiring is uneconomic, if this design do not carried out further, so this packing lines will become unnecessary.Therefore, small quantities of cigarette packs is tended to, and assembles by manual at least in part.If can carry out more massive test, for example, relate to the test of millions of packing boxes, this will be valuable.
Though can make the wrapping machine of the relative small lot that can reconfigure at the Different Package design,, it is very slow and very expensive reconfiguring process itself.
Summary of the invention
Purpose of the present invention solves problem discussed above exactly, simultaneously for baling line provides a kind of scheme, is convenient to require and reconfigure at Different Package.
In a broad sense, the objective of the invention is to, provide and use the packaging system that comprises a plurality of modules.These modules can be reconfigured, and increase and decrease module at different package components simultaneously.Usually under the control of module controller, between each module, transport article by robot.Each module all has its controller.Noun " article " refers to article to be packaged, perhaps part or all of those article and the packing material that forms around article in packaging process.
More particularly, providing a kind of is used for the packaging system of article packing at packing box, it comprises the module of a plurality of interconnection, and each module comprises the instrument that is used to carry out a part of packaging process, and certain module comprises the robot that is used for transporting article between each module at least.
Preferably, at least one module comprises the robot that is used to carry out packaging process.
Various embodiments of the present invention have following advantage: the packaging system of relative low capacity can be provided, and compare with the baling line or the wrapping machine of prior art, described packaging system can be reconfigured fast and with low cost.Implement system of the present invention and can in fortnight, be reconfigured for another kind of cigarette package configuration from a kind of cigarette package configuration.This is better than the system that may implement significantly in any prior art systems, in prior art system, will spend the time of some months to the degree that can reconfigure fully.Because the system that has reconfigured is a system that rebulids to a great extent, so noun " reconfigures " also not exclusively suitably.By re-using each module and switching the ability of the packing box of making very apace by this system, this will bring very huge cost savings.
Be easy to the reconfigurable production test operation (not being several thousand packing boxes that use Manual Packaging to produce at present) that makes millions of packing box magnitudes and become practical and economical.
Preferably, robot can be carried out some packing and handle, and can transport article or article and article container between each module.The article that are transported can be elements of actual object to be packaged, part or all of packaged article or described packing.
In a preferred embodiment of the invention, form packing material around article to be packaged.The design arrangement of this and prior art contrasts, and in the prior art, leaves that article to be packaged form or part forms packing material.It is favourable forming packing material around article, because it helps to make reconfiguring of packaging system to become easy.Therefore, can take identical scheme, for example, form packing box, as be all more complicated paperboard blank takes with duroplasts end cap and packing.Board cartoon is not pre-formed, but forms around article.
Preferably, described robot is SCARA, Descartes or anthropomorphic robot.These robots have a plurality of degree of freedom that permission is moved along X, Y and Z axle, and may also have rotary freedom.Though in given packaging operation, do not need all these degree of freedom,, robot is the part of reconfigurable system, and provides a large amount of degree of freedom to increase the configurable ability that each module is used for other packaging operation.
Preferably, provide multiple different module type.Module can comprise robot flexibly, comprises simultaneously the substrate of handling special tool is housed thereon.In the place of containing robot, the robot actuating mechanism probe can also comprise the processing special tool.Reel feed modules provides being introduced into the reel fed materials of processing, and such as packing, paper tinsel and mark, the base supply module allows base (such as the cardboard slab) is fed in the described system simultaneously.In these modules any one can comprise robot.In a kind of given configuration, can comprise some or all module type.
Preferably, each module all comprises the module controller that is used for control module sensor and actr.Preferably, when existing, described module controller is also controlled described modular robot.This controlling schemes has increased the alerting ability of described modular arrangement.For example, in the time must changing the motion of robot, robot is reprogramed to stipulate that it is relative simple thing with respect to the motion of adjacent block with action for new processing.
The control system of each module preferably and the control system interface of adjacent block makes the transmission of goods between each module itself be controlled by these modules, rather than is controlled by the controller of total system.This has increased alerting ability once more.
Preferably, a module has one group of workstation or station, and (can be placed on the carrier) article can be moved to these workstations or station so that be sent to adjacent block.Interface software controls the motion between each resume module and each position in storehouse, and the carrier that these positions in storehouse are equipped with article occupies with the empty carrier that returns.Preferably, in the transport process between each module, the control system of adjacent block is all related to.
Preferably, the Product Status indicating device of control system software by using the indication article whether to exist, when Product Status indication product exists, the approaching described article of the robot of the access request state of indicating module request access product, a module of indication are to pick up described article, perhaps, handle the motion between each module near the access authorization state of carrier with the placement article.This controlling schemes has been avoided the collision between the robot of adjacent block.
Implement reconfigurable modules packaging system of the present invention and be specially adapted to pack rod-like articles, but also can be used to pack other article such as cigarette.
The present invention also provides one group of reconfigurable module that is used to form the packaging system configuration, these modules are connected to each other, and each has the removable tools that is used to carry out the part that described packing handles, at least a plurality of modules comprise the robot that is used for transmitting article between each module, each module has module controller, be used to control the part of the described packing processing of being carried out by described module, the article that are used to simultaneously coordinate between described module and the adjacent block transmit.These modules also can be carried out some packing and handle.
Description of drawings
Now will be only by means of example, and various embodiments of the present invention are described with reference to the accompanying drawings, in the accompanying drawings:
Fig. 1 is the expression as the packaging system configuration of a series of modules;
Fig. 2 represents to be used for the lateral plan of a pair of module of the processing of Fig. 1, and each module comprises a robot;
Fig. 3 a) and 3b) represent the mechanical interface between each module, how the expression product transmits between each module;
Fig. 4 a) and 4b) be used for that two products transmit be similar to Fig. 3 a) and 3b) view;
Fig. 5 represents 3 connections between the adjacent block;
Fig. 6 represents 6 connections between the adjacent block;
Fig. 7 represents to be used for the interface sequence of pick-up operation;
Fig. 8 represents to be used to place the interface operable sequence;
Fig. 9 represents the pick-up operation at 2: 1 module interfaces;
Figure 10 represents to be used for the whole hierarchy of control structure of all modules; And
Figure 11 represents to be used for the alternative block configuration of Different Package design-calculated.
The specific embodiment
The configuration of the represented packaging system of Fig. 1 is the exemplary configuration that is used to illustrate the reconfigurable modules character of some embodiments of the present invention.Plan is used for cigarette in packet or other rod-like articles with described packaging system, but the present invention is not limited to the such article of packing, and can expand to the article of other type of packing, such as various food, comprises the sweet goods product; Writing instrument is such as colour pencil or wax crayon or other rod-like articles.
Similarly, the present invention is not limited to any specific packaging system configuration.Really, the present invention allows to reconfigure each module, so that carry out dissimilar packings at dissimilar article.
The plan configuration that Fig. 1 is represented is used for cigarette collation is packaged in the packing box, described packing box have the rigidity plastics end cap and be wrapped in cigarette and the attached flange of end cap on metallized foil.Described thin slice is sealed, and from packing box air-out and replace nitrogen, to keep the freshness of product.Details and the present invention about each stage of product are irrelevant, but it helps to discuss each part of described processing on higher level.
Described processing is provided by a plurality of modules, comes the servo-controlled robot of control and treatment by means of the using gases mechanics, mobile product and carrier between each module.Described robot can comprise Descartes, SCARA and anthropomorphic robot.After the processing that describes Fig. 1 in detail,,, the Understanding Module packing can how to operate so that handling with the interface (mechanical interface and software interface) between each module of explanation.At last, a kind of alternative configuration will be discussed,, easily reconfigure each module with the cost and the time of reducing greatly so that how explanation is at the Different Package mode.
The selection of robot will be depended on the requirement of the occasion that they are used.Descartes, SCARA and anthropomorphic robot are preferred.SCARA (the articulate mechanical arm that selectivity is obedient to, Selective Compliance Articulated Robot Arm) robot has 4 degree of freedom usually, and have two main connecting rods of on horizontal surface, swinging, end at arm has featheriness Z axle, and it provides angle on perpendicular movement and the horizontal surface rotatablely move (Θ).Cartesian robotic is modular typically, and it can be made up of according to the linear slide plate that length and capacity weight are selected a series of, and these linear slide plates are installed into mutually orthogonal.It also has Z-Θ unit, so that set up 4 (X, Y, Z, Θ) robots with the function that is similar to the SCARA robot.Cartesian robotic can be configured to make the S. A. level.The control that cartesian robotic is considered to usually in cartesian space is fairly simple.Anthropomorphic robot, particularly vertical articulate anthropomorphic arms has 5 or 6 axles usually.Typically in one five armshaft, primary shaft is around the perpendicular line rotation, and second, third is that these are parallel to each other, and are offset length of connecting rod between each around the horizon rotation with the 4th; The 5th is the roller bearing with the 4th quadrature.In six armshafts, axle 1,2 and 3 is same as five example.The 4th is orthogonal to third axle, usually along pitman shaft; The 5th is orthogonal to third axle, and the 6th is to be orthogonal to the 5th roller bearing.Vertical articulate anthropomorphic arms has big running envelope, especially on the Z direction.Six armshafts provide the position of object in the space and the control of orientation, cause very big alerting ability.
The cigarette that has completed is sent to packaging system, and is stored in the conveyer bucket.In a preferred embodiment, use 4 parallel conveyer buckets, each conveyer bucket all has a parallel conveyer bucket guiding skewed slot, is used for cigarette is presented to collation mandrels separately.By single push rod cigarette is sent to collation mandrels.For each conveyer bucket provides a push rod, and preferably connect this 4 push rods, they can be driven together, though they also can be driven independently with a bar.Described axle has a plurality of through holes, and described arrays of openings becomes the shape of regulation arrangement heap to be packaged.Each push rod advances cigarette in these through holes so that fill axle one by one.Each push rod is reciprocating along the Z axle, and not with respect to X, the conveyer bucket on the Y plane is moved.Scheme also can be passed through servo-controlled robot as an alternative, makes axle at X, moves on the Y plane, they itself is correctly located, so that accept cigarette.
In case after filling up, axle is moved down into a certain position on the Y plane, on this position, the arrangement heap is sent to the shaping pouch from axle.In described shaping pouch, these cigarette no longer leave at interval each other, and have been ready to form around them packing.Realize transmission by the one group of parallel push rods that is used for each axle to the shaping pouch.These push rod groups link together by a bar, and also along Z axle crank motion.These bars be arranged to axle in the shape of arrangement heap be complementary, therefore, in crank motion, these bars are received in each through hole of described axle, promote cigarette and enter pouch by axle.The push rod group is accurately aimed in the position of the axle that the servo-controlled robot assurance has been filled up, correctly is received in the arbor hole to guarantee each push rod.In case emptied, axle turns back to the position near single push rod, so that admit next cigarette collation one by one.
Now, the shaping pouch that has filled up is sent to a box filled station of rigid end cap.This requires to be mentioned and moved to another module by the pouch that a servo robot will have been filled up.
Packing box comprises a pair of rigid end cap, and each end cap all has an attached shirt rim, and is extending on the length part at cigarette on the position described shirt rim.But an end cap comprises a flip top lid, so that the user takes out cigarette from packing box.For the content that guarantees packing box keeps fresh, but metallic paper is applied to the opening part below the flip top lid, is removed and cap seal bar when being outwarded winding at the rigid ends hamper, and the above-mentioned top cover that ejects is opened automatically.When open compact, metallic paper is removed by the user.
Described rigid end cap transmits by a pallet transfer system, and uploads and be sent to a rotating disk by robot picker from pallet.In transport process, but the top end cover with flip top lid is sent to the testing station, can eject top cover so that test lead covers whether to have, and then, robot picker correctly orientation can eject top cover, so that be sent to described rotating disk.Bottom head covers directly is sent to the website on the rotating disk.The rotation of rotating disk is sent to top end cover and is covered foil application module.The lid metallic paper that another servo robot on this module will before be picked up from storage silo by robot is placed on the top end cover.The rotation of rotating disk is placed into a sealing station with top end cover and lid metallic paper, and there, the lid metallic paper is added on the top end cover.
Servo robot at rigid ends hamper delivery module place is picked up top and bottom head covers from rotating disk, and they are sent to the box filled module of rigid end cap.In this module, cigarette collation and end cap are operated like this, make cigarette be inserted in the end cap.Thus, another servo robot moves to rigid ends hamper Knockdown block with described arrangement heap and end-cap assembly.This module and sheet fold and seal modules carry out alternately, and this provides an axle to rigid ends hamper Knockdown block, form foil wrap around this axle.
Provide described thin slice from cross roll, and deliver to web preparation and cutting station via pressure roller assembly.Described web preparation and cutting station guarantee that thin slice is cut into the required correct length of packing box, is sent to it front of sheet fold and seal modules then.Use the sheet fold and the seal modules of servo robot an axle to be offered described thin slice in the exit of web preparation module.Described thin slice is clipped to the side of axle, and then, described axle and thin slice are moved by a folding unit.Described motion can be by servo robot control or pneumatic.Described thin slice is folding around axle, seals to form a sleeve along its length subsequently.Can realize sealing by gluing or heating.Preferably, described thin slice is made by metallized plastic material, and can use any encapsulating method easily.
Once more the axle of the thin slice of leak free sleeve that has around it is transported to rigid ends hamper Knockdown block from the sheet fold station by servo robot, here, axle and sleeve are aimed at arrangement heap and end cap portions subassembly.Then, sleeve slides on described assembly.Packing box has been finished but also has not been air tight now.Robot picker moves to the foil seal station with completed assembly, and the end near the sleeve of the rigid end of packing box is sealed.Though current preferably heat seal,, anyly make things convenient for the sealing of type to use.Then, be sent to one by another servo robot packages sealed box and fill nitrogen and sealing station.In this station, with the air extraction in the packing box, and replace nitrogen by the aperture in the bottom head covers.Also can use some other unreactable gas.Subsequently, seal described aperture by the plastics around heating and the fusing.The product of finishing includes the gas of pressure now, and when the customer unpacks, gas will be released, and send the sound that can listen simultaneously, guarantees the freshness of product thus to the customer.
Then, the packages sealed box is sent to the mark station, can stick the sales promotion mark here, and is sent to date stamp station and debarkation stop (not shown) at last.
In described processing, carried out many concerning any kind the cigarette packing boxes assembling and padding all be common operation, the while is also carried out some operations special concerning the packing of product of producing.The wrapping machine of prior art all is based upon all these functions in the individual machine, and its driving and control are along the length of machine and mistake.Embodiments of the invention are decomposed into the series of discrete module with entire process.Each module is all carried out a kind of specific function, and by using servo-controlled robot, goods is sent to another module from a module, and above-mentioned servo-controlled robot takes out and be sent to another module to goods from a module.These modules can comprise turntable module, also play a goods (being exactly end cap in this example) such as the Unload module of also carrying out function (in this example covering metal foil seal on top end cover) in assembling is handled and move to the effect that they could be picked up and be sent to the position of other module by robot.The character of the goods that can transmit between each module changes.Therefore, for example, chalk bag is transmitted from the module that contains conveyer bucket and collation mandrels.These bags are sent to the box filled module of rigid end cap after being filled cigarette, and empty bag turns back to conveyer bucket and collation mandrel module.Between rigid ends hamper Knockdown block and web preparation and folding module, transmit thin slice sleeve axle.
The modulate expression of native system is shown in Fig. 1.Native system is made of the module of conveyer bucket and two types: flexible modular 100, it can with or do not use with robot 110; And reel fed materials module 120, it also can with or do not use with robot.In Fig. 1, each flexible modular is represented as the sky frame, and reel fed materials then has been represented as hatched frame.
Therefore, in Fig. 1, two flexible modulars 100 that comprise robot corresponding to module a) and module b), module a) is responsible for covering metallic paper and is applied on the rigid end cap lid module b) be responsible for the targeted promotional material of applying ointment or plaster.Two reel feed modules 120 that do not have robot are corresponding to feeding sheets and web preparation station.Shadow-free wire frame 130a) and 130b) correspond respectively to the end of rigid end cap supply skewed slot and described processing.
Remaining module comprises the flexible modular c that possesses robot) to j), and the flexible modular k that does not possess robot).Module 100k) be the module of assembling rigid ends hamper, from module g) receive sleeve around axle, and from module e) receive stack-mounted arrangement heap and rigid ends hamper.Module h) the stack-mounted packing box is sent to module i), the latter deflates from packing box and fills nitrogen.Module j) is date code and Unload module.
Module c) be responsible for collation mandrels is sent to the box filled module d of rigid end cap from the conveyer bucket module), and module f) be responsible for receiving end cap, check their orientation, and they are assigned to cover foil application module and the box filled module of rigid end cap.
So, described packing is handled and is used a plurality of robots that are arranged on the module, and described each mould certainly is joined together, to form the reconfigurable arrangement of each standalone module.To expect that each module all is loaded with the processing special tool, and number of modules also have SCARA, Descartes or other robot, so that between each module, transport product.Described robot also can have the processing special tool.The unified control that is controlled at system controller of described module is managed by the controller of this module self down, and each adjacent module interconnects, and the exchange Handshake Protocol is to guarantee in the correct transmission of carrying out product between each resume module.Described product can be a goods Manufactured or that part is made, or the combination of those goods and carrier.
In reconfiguring, must change and handle special tool, but can reconfigure each module according to any desired mode.The operations of being carried out by robot is different, and need reprogram.Yet each module alternant way will remain unchanged.
Therefore, described packaging system comprises a plurality of modules.Can arrange and rearrange these modules according to different configurations.Each module can play a role separately, and system software is decomposed into routine with controllable function.An a kind of like this importance of scheme is the interface between each module of definition.Control interface has reflected can be because of disposing different mechanical interfaces.In described example, it is interlaced to use rotating disk to avoid each robot to take place on activity space.
Fig. 2 represent between two modules 60,62 diagram with schematically be connected.Each module all comprises a pedestal 64, wherein is equipped with electric and control system 66.These modules are mutually independently, and submit to the total system controller.Yet the operation of each module all itself is controlled by this module.Substrate 68 is installed on the pedestal.For convenience's sake, each substrate is arranged on the common height, helps like this to transmit product between each module.Robot 70 is installed on each substrate, and responsible treatment product, perhaps such as the product on the carrier of chalk bag, and is responsible in the following manner, transmits product or product and carrier between each module.
Not all module all comprises robot.For example, the rigid ends hamper Knockdown block among Fig. 1 is and the module of 3 other module interfaces, and each in above-mentioned 3 other modules all has robot, these robots to transmit product from described rigid ends hamper Knockdown block.Above-mentioned rigid ends hamper Knockdown block itself does not need robot.
Each is loaded with a daughter board 72 respectively module, install thereon and carry out and packing special tool 74, and described each robot also will be loaded with similar execution and packing special tool respectively according to the task of their preparation execution.These modules are joined together, and are used to control 76, safety 78, power supply 80 and aeromechanics 82.
In order to handle all possible arrangement of each module, need the mechanical interface between following each module of definition:
Patrilineal line of descent with only one son in each generation send mechanical interface, transmits single product therein;
Two transmission mechanical interfaces;
Four transmit mechanical interface.
Patrilineal line of descent with only one son in each generation send the example of mechanical interface to be shown in Fig. 3.In this transmission, pick up single product and/or carrier from a module, and be sent to another module from a module.Two kinds of basic variants are arranged, and in first kind of variant, carrier and product are forwarded, and empty carrier is sent back to.An example of this variant is exactly that the shaping sack that has filled up in the configuration of Fig. 1 is sent to the box filled module of rigid end cap from the conveyer bucket module.Second kind of variant is to have only product to be forwarded.There is not carrier here.An example of this variant is exactly that completed packing box after using sleeve is sent to the foil seal station from rigid ends hamper set station.From the viewpoint of interface, second variant can be regarded as a subclass of first variant.
Therefore, with reference to Fig. 3, there is shown carrier and product are sent to the second module N from the first module M each step.Fig. 3 a) is illustrated in each step that module M takes place, Fig. 3 b) then be illustrated in each step that module N takes place.Empty frame table among the figure shows the room; Fill frame table and show carrier, for example axle or sack; There is hatched frame table to show product simultaneously.Described interface uses two bin levels, and this is that product and/or carrier can be located position thereon.
Beginning, carrier is positioned at position in storehouse 2, and position in storehouse 1 is empty.Then, module M finishes its affairs by following each step: (i) carrier and product are placed position in storehouse 1 (arrow 1 of Fig. 3 (a)); (ii) move to position in storehouse 2 (arrow 2); And (iii) pick up described product subsequently.Robot picks up empty carrier from position in storehouse 2, and carrier is moved back into its processing (arrow 3).Present position is shown in Fig. 3 (b), and wherein, carrier and product are positioned at position in storehouse 1, and dead slot is positioned at position in storehouse 2 simultaneously.Then, module N finishes its affairs according to following 3 steps: (i) module N places position in storehouse 2 (arrow 1 of Fig. 3 (b))-attention to carrier this is a carrier from module N, rather than from the carrier of module M; (ii) described carrier is sent to position in storehouse 1 (arrow 2); Immediately, (iii) described product is placed on the described carrier, and the two is picked up the processing (arrow 3) that is used for it by module N.
In these two examples, under the control of separate modular, described product and/or carrier are picked up by robot.
The patrilineal line of descent with only one son in each generation that two transmission mechanical interfaces are Fig. 3 send the expansion of interface, and is shown in Fig. 4.In this transmission, a pair of product is picked up simultaneously, is sent to another from a module simultaneously.Send interface to have two basic variants as patrilineal line of descent with only one son in each generation.At first, carrier and product are delivered forward, transmit downwards with the carrier of space-time.Secondly, have only product to be forwarded.Once more, second variant is a subclass of first variant.The mode of carrying out such processing is shown in Fig. 4.In the expression motion sequence, this kind configuration also provides a kind of possibility, that is, a product of product centering has defective, and is coupled with the waste product mark.
So, with reference to Fig. 4, at module M place, two products have replaced a carrier, and prepare to be moved one by one by module N.For each product/carrier to two bin levels are provided, they are represented as position in storehouse 1a and 1b, 2a and 2b.When beginning, the carrier that is positioned at position in storehouse 2 and position in storehouse 1 is for empty.Module M moves to position in storehouse 2 by carrier and product are placed on position in storehouse 1a and 1b, picks up described product subsequently, finishes its duplicate transaction.Robot picks up carrier from position in storehouse 2a and 2b, and they are got back to described processing.These carriers all are empty.
Then, module N finishes the affairs of order.At first, a carrier is placed to position in storehouse B1 (arrow 1 of Fig. 3 b) from handling the position.Then, robot is moved to position in storehouse A1 (arrow 2), and described robot picks up carrier and products thereof simultaneously, and it is returned to described module, so that carry out its processing (arrow 3).Then, described module is finished its second affairs: use robot to place the carrier (arrow 4) of position in storehouse B2; Robot movement is arrived position in storehouse A2 (arrow 5); Pick up described carrier and product with robot then, and they are returned to module N so that carry out its processing.
Have one or two products owing to be detected and have defective and disallowable.Under the situation that two products are all rejected by module M, module N only loses once circulation simply.Under the situation that only has a product to be rejected by module M, the carrier of a sky will be arranged, at this moment, module N only carries out transport process one time.
Fig. 5 and Fig. 6 represent the typical interconnects between each module.In these figure, I/F refers to interface.The software of a module of control must be supported mechanical interface.In the example in front, we considered with or without carrier goods is sent to an adjacent block from a module.Yet the input interface and the output interface that lead to a module can be more than one.Because described interface is a general-duty, so any module all must be able to be dealt with the input and output of maximum number.In practice, each module can have 4 limits on planar view.They are included in the running surface of its upper mounting component.Described running surface is installed in the top of the cupboard that the control that is used for described module and electric wiring are housed.From the viewpoint of practicality, a module and 3 other module interfaces are only feasible, are used to obtain access to described cupboard with a limit that allows described module.At least should open the door of cupboard.
Fig. 5 representation module N, it has two feed-ins, one and feeds out and a monitor-interface.This needs 4 interfaces altogether.
In Fig. 6, module S has two main flow feed-ins and the limit feedback from dual path.Therefore, module S has 3 feed-ins, and module M has two and feeds out, and each module all has a monitor-interface.Be noted that in the arrangement of Fig. 5, physics is required to be decomposed into whole 4 module faces of use.Therefore, module interface is designed for 3 feed-ins stream, two feed out stream and an interface that leads to monitored control system is considerate.
Fig. 7 represents to be used for the relation of shaking hands substantially of two pick-up operations between the module.Module with the input of second limit is only duplicated this interface.In Fig. 7, show three state: " product existence "; " access request "; " access authorization ".Product Status provides described product for vacancy up to module M.Then, described state switches to high level, thereby the expression product exists request to pick up product.Subsequently, the access request state becomes high level, and request is locked by module N, and the access authorization state becomes high level, authorizes to be locked by module M.Then, described product is picked.After finishing, module N gets back to vacancy with the Product Status setting, and access request becomes low level, and discharging the access of being undertaken by module N, and in response, the access authorization state is eliminated.
Fig. 8 represents to be used for the relation of similarly shaking hands that product is placed operation.Provide three state equally: product, local access request and local access mandate, yet, described Product Status can change by 4 levels: vacancy, remote procedure call (RPC, Remote procedureCall-permission is started the general mechanism of the action of a module by adjacent block) request, RPC authorize and ageing prod.Ageing prod is a kind of like this product, and it is allowed to cooling or applies glue, and is allowed to place a period of time, i.e. ageing time.
Beginning, Product Status is a vacancy.The local access request of module M makes the local access solicited status become high level, the request locking.Then, the local access licensing status becomes high level, authorizes locking to module M.Subsequently, place a product, when module N sees " request RPC ", Product Status is changed into " request RPC " from " vacancy " by module N; And carry out described RPC, for example activate described locking, and Product Status is set to RPC and finishes.Now, robot M can discharge, and begins simultaneously to wear out.Module M sees " RPC finishes " state, and " access request " is set to low level, so that discharge by module N access.In response, " access authorization " state is eliminated.With local access request and authorization signal become low level parallel mutually be that described interface is seen " RPC finishes ", and after through one section ageing time, Product Status is set to " ageing prod ".
Fig. 9 represents the interface of the module of communicating by letter with N with two other module M.Product from M becomes high level, so that ask to pick up from module M, and a)-g) expression respectively of waveform: a) module M is to the Product Status between the P; B) module N is to the Product Status between the P; C) module P is to the lock-out state between the M; D) module P is to the lock-out state between the N; E) module M is to the lock-out state between the P; F) module N is to the lock-out state between the P; And g) picks up product by module P from M.
The product waveform a) will become low level provides product up to module M.Then, the product waveform a) becomes high level, and request is picked up from module M, and locking waveform c) will become high level, request is locked by module P.Locking waveform e) will become high level, lock onto P by module M, parallel mutually therewith, can obtain along with product becomes, from the product waveform b of N to authorize) become high level.The module P that is consulting with module M ignores this.Subsequently, pick up waveform g) will become high level, indication is picked up by module P, and picks up and lock (waveform c) and become low level, indicates this product to be picked up by module P.Module P sees the product from N now, and will lock waveform d) be set to high level, request locks.During holding consultation between module P and the N, this process will repeat.If two modules are attempted simultaneously and locked, then use a kind of arbitration algorithm.This selects module N usually simply.The module of not chosen will be seen described product, become low level separately and its interface is resetted, to wait for next product.
Obtain the multistation interface according to being same as aforesaid mode, but added the notion of position in storehouse, this notion is with regard to mechanical interface.When the request access, interface program can be specified a special position in storehouse, perhaps makes bay=0, is used for placing operation to return any idle bay number, perhaps returns any occupied bay number and is used for pick-up operation, can be used to indicate which position.If interface can not be specified the actv. bay number, the number that then returns is 0, and expression can not be satisfied described request.
Figure 10 represents to be used to implement the overall architecture of the software of modular packaging system of the present invention.Though more than mention, each module all is automatic control and mutual with adjacent block, and total system is controlled by system controller.The motion between module of product and carrier is preferably finished by robot (for example Adept technology Co., Ltd provide robot).At least certain module is included in the Adept[registered trade mark (RTM) under the central controller controls] robot controller, above-mentioned central controller is responsible for coordination function.
Therefore, packing is handled and just can be implemented by a series of independent modules, and each module can be configured to carry out a kind of function, and mutual according to mode discussed above and adjacent block.These modules can be reconfigured, increase add-on module or module is renamed to adapt to different packing techniques.
The example that Figure 11 representation module reconfigures.Many other forms of reconfiguring also are possible.Figure 11 has illustrated that how the module among Fig. 1 handle by reconfiguring the packing that forms a kind of extremely different packaging type, is a board cartoon here.Therefore the processing more complicated of Figure 11 needs more module.Yet each module of the robot that comprises them that can be by rearranging Fig. 1 forms together with adding more module.This scheme is opposite in the Traditional Packing mode that produces high speed, highly-reliable system with use gear, belt conveyor, turning cylinder, cam, linkage and belt.This programme using gases mechanics, robot come treatment product, and form high flexible, reconfigurable and programmable scheme under the control of watching a motor, make up packing desirable concerning small batch production and handle.
Conveyer bucket can be with employed identical in the embodiment in figure 1, and cigarette is sent to chalk bag by collation mandrels.The configuration in the hole in the axle and the shape of chalk bag can be different from the embodiment of Fig. 1.Yet the programming of the robot by adjusting control axle position just can easily be handled this problem.This system is subjected to the same services module of embodiment of Fig. 1 and the control of HMI.
Therefore, figure 11 illustrates flexible modular 200, wherein 11 comprise that Descartes, SCARA or anthropomorphic robot are a) to k).Two groups of reel feed modules 220 are provided, and one of them comprises Descartes, SCARA or anthropomorphic robot.In addition, also provide 3 base supply modules 230, be used for, and in flexman's module 3 provide heat or cold bonding station to described treating process supply cardboard or plastic blank.
Has robot flexible modular a) is sent to the box filled module of rigid end cap from conveyer bucket corresponding to the bag that will fill up in Fig. 1 module.Have robot b) flexible modular 200 are metallic paper parcel stations, the metallic paper that sends from the metallic paper supply module is here around arrangement heap parcel.At base feeder module place, by robot d) and c) supply and manage an inside face, here, frame is bonded and be sent to module and hold robot e) there.Top and main body blank feeder are arranged at respectively via robot f) and arbitrary limit of this module of base g) is provided.Hold robot g in module) locate, use the heat bonding unit to come label and inner cap on the base of bonding top, at the center module place, it is flat-folded to carry out Z in the base assembly.Partially folded base is sent to module and holds robot h) locate,, use that the cold glue spreader finishes that the end is pleating here, flanging and finally sealed, and in the next stop, described packing box will be sent to the tax stamp applicator.Robot i) module is applied to date code on the packing box, and also will carry out drying to packing box before parcel.Packing box is sent to robot j then) locate the latter and cellophane wrapped device and tear tape applicator station interface, and the parcel of processing packing box.At last, at the finished product packing box before end chute is provided and delivered, robot k) be responsible for the packing box that control and heating have been wrapped up.
From above narration as can be known, no matter select which type of packing configuration, packing box all forms around article.If necessary, article can at first be formed desired arrangement heap, but the essentiality of this step depends on the character of packaging article.No matter carry out the packing of what type, packing box all forms round article.So, in the embodiment of Figure 11, just used paperboard blank.These paperboard blank are not pre-formed fully or partly and are packing box, but form at the scene around article.This packing box forms the easier reconfigurable property that obtains packaging system of scheme.Regardless of the character of packing box, all take to form the same approach of packing box around article.
It must be understood that also embodiments of the invention have quickened to change to another kind from a kind of package component widely, make small-scale production more feasible.By forming packing box around article and use reconfigurable modules, system can realize in several weeks from producing the conversion of a kind of packing box to another kind of packing box, and without some months, this will reduce relevant cost widely.
Should be appreciated that two kinds of illustrated in Fig. 1 and 11 block configuration only are two examples of possible configuration.The present invention is not limited to these or any other configuration, but the reconfigurable property that belongs to these modules is gone to form desired packing and handled.The present invention only is subjected to the restriction of the scope of following claims.
Claims (20)
1. one is configured to the packaging system of article packing in packing box comprised:
A plurality of interconnected modules are at the reconfigurable described module of different packing requirementss; And
System controller is used to provide the co-operative control of described a plurality of modules, and wherein, each module comprises:
Be used to carry out the instrument of packing a part of handling;
Module controller is used to control the part that the performed packing of described instrument is handled, and is used for the control unit interface with adjacent block, and
At least some modules comprise the transfer robot that is used for transporting article between each module.
2. packaging system according to claim 1, wherein, described transfer robot transports article and article carrier between each module.
3. packaging system according to claim 1 and 2, wherein, at least one described module comprises the packaging robot that is used to carry out the packing processing.
4. packaging system according to claim 1 and 2, wherein, described transfer robot and packaging robot are Descartes, SCARA or anthropomorphic robot.
5. packaging system according to claim 1 and 2, wherein, described module comprises that at least one is used to supply the module of reel fed materials.
6. packaging system according to claim 1 and 2, wherein, described module comprises that at least one is used to supply the module of packing base.
7. packaging system according to claim 1 and 2, wherein, at least one described module comprises the bonding station that is used for bonding packing box.
8. packaging system according to claim 1, wherein, described module controller is the transfer robot of control module also.
9. packaging system according to claim 8, wherein, the described module controller of each module comprise be used for and the module controller interface of adjacent block so that between each module, transport the interface software of article.
10. packaging system according to claim 9, wherein, the module controller of first module comprises the software that is used for article are transported to the position in storehouse between first module and second module, and the module controller of second module comprises and is used for picking up article or article being put into the software of position in storehouse from described position in storehouse.
11. packaging system according to claim 10, wherein, article to be packaged are placed on the carrier, and described article and carrier be transported to described position in storehouse in first module, and transport from described position in storehouse in second module.
12. according to claim 10 or 11 described packaging systems, comprise first and second positions in storehouse, wherein, described article are placed on first position in storehouse, are transported to second position in storehouse, are transported back first position in storehouse and transfer to second resume module under the control of the module controller of first module according to first resume module.
13. according to claim 10 or 11 described packaging systems, wherein, the described software that is used for transporting article between each module comprises article state, access request and access authorization, and wherein, described access request and access authorization state make sets up locking between adjacent block.
14. according to claim 10 or 11 described packaging systems, wherein, defining interface between each module and all adjacent blocks is with the motion of definition article between each module and all adjacent blocks.
15. according to claim 10 or 11 described packaging systems, wherein, described article to be packaged are rod-like articles.
16. according to claim 10 or 11 described packaging systems, wherein, described article to be packaged are cigarette.
17., wherein, form described packing box around described article according to claim 10 or 11 described packaging systems.
18. packaging system according to claim 17, wherein, described article at first are formed the arrangement heap, and form described packing box around described arrangement heap.
19. be used to form one group of reconfigurable modules of packaging system, described each module is connected to each other, and each all has the removable tools that is used to carry out a part of packing processing, at least some modules comprise the transfer robot that is used for transmitting article between each module, each module all has a module controller, be used to control the part that the performed packing of described instrument is handled, and be used to coordinate the transmission of article between described module and adjacent block.
20. one group of reconfigurable modules according to claim 19, wherein, at least one module comprises carries out the packaging robot that packing is handled.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP04255730.6 | 2004-09-21 | ||
| EP04255730A EP1645513A3 (en) | 2004-09-21 | 2004-09-21 | Modular packing assembly |
| PCT/GB2005/003629 WO2006032874A1 (en) | 2004-09-21 | 2005-09-21 | Modular packing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101022996A CN101022996A (en) | 2007-08-22 |
| CN101022996B true CN101022996B (en) | 2010-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2005800316516A Expired - Fee Related CN101022996B (en) | 2004-09-21 | 2005-09-21 | Modular packing system |
Country Status (10)
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| EP (2) | EP1645513A3 (en) |
| KR (1) | KR101189870B1 (en) |
| CN (1) | CN101022996B (en) |
| AT (1) | ATE405492T1 (en) |
| BR (1) | BRPI0515539A (en) |
| DE (1) | DE602005009218D1 (en) |
| EA (1) | EA010040B1 (en) |
| ES (1) | ES2309794T3 (en) |
| PL (1) | PL1791757T3 (en) |
| WO (1) | WO2006032874A1 (en) |
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| ITBO20080413A1 (en) * | 2008-06-27 | 2009-12-28 | Gaetano Castiglione | MACHINE FOR THE PRODUCTION OF BOTTLES WITH PRODUCT DOSES. |
| IT1392253B1 (en) * | 2008-12-03 | 2012-02-22 | Soremartec Sa | PLANT FOR THE PACKAGING OF SWEET PRODUCTS IN STERILE PACKAGING |
| DE102009043970A1 (en) * | 2009-09-10 | 2011-03-17 | Krones Ag | Module for a packaging line and / or a grouping unit |
| DE102009045947A1 (en) * | 2009-10-23 | 2011-04-28 | Robert Bosch Gmbh | Device for filling and closing containers |
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| CA2881622A1 (en) | 2012-06-14 | 2013-12-19 | The Proctor & Gamble Company | Method of transporting rolled products as well as package of rolled products |
| KR102135970B1 (en) | 2012-12-06 | 2020-08-27 | 브리티시 아메리칸 토바코 (인베스트먼츠) 리미티드 | Improvements relating to smoking article assembly |
| ITBO20130105A1 (en) * | 2013-03-12 | 2014-09-13 | Gruppo Fabbri Vignola Spa | APPARATUS FOR MECHANIZED REPLACEMENT OF WELDING AND CUTTING MODULES IN MACHINES FOR SEALING PRODUCTS IN TRAYS |
| US9365305B2 (en) * | 2013-05-01 | 2016-06-14 | Xerox Corporation | Forming container for product items during production job |
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| DE102015001311A1 (en) * | 2015-02-05 | 2016-08-11 | Focke & Co. (Gmbh & Co. Kg) | Modular device for producing packages with a group of cigarettes as package contents |
| DE102015001312A1 (en) * | 2015-02-05 | 2016-08-11 | Focke & Co. (Gmbh & Co. Kg) | Modular device for packaging cigarettes or cigarette packs |
| DE102015001850A1 (en) * | 2015-02-17 | 2016-08-18 | Focke & Co. (Gmbh & Co. Kg) | Device for producing packages |
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| DE102017011310A1 (en) * | 2017-12-08 | 2019-06-13 | Focke & Co. (Gmbh & Co. Kg) | Packaging machine for producing cigarette packs |
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Also Published As
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| ES2309794T3 (en) | 2008-12-16 |
| ATE405492T1 (en) | 2008-09-15 |
| EP1645513A3 (en) | 2006-04-19 |
| CN101022996A (en) | 2007-08-22 |
| EP1645513A2 (en) | 2006-04-12 |
| EA200700704A1 (en) | 2007-08-31 |
| DE602005009218D1 (en) | 2008-10-02 |
| KR101189870B1 (en) | 2012-10-10 |
| EP1791757B1 (en) | 2008-08-20 |
| EA010040B1 (en) | 2008-06-30 |
| BRPI0515539A (en) | 2008-07-29 |
| PL1791757T3 (en) | 2009-02-27 |
| KR20070062525A (en) | 2007-06-15 |
| EP1791757A1 (en) | 2007-06-06 |
| WO2006032874A1 (en) | 2006-03-30 |
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