EP0644120A1 - Vorrichtung und Verfahren zum Verpacken von runden Gegenständen in Schachteln oder Kästen - Google Patents

Vorrichtung und Verfahren zum Verpacken von runden Gegenständen in Schachteln oder Kästen Download PDF

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Publication number
EP0644120A1
EP0644120A1 EP94202689A EP94202689A EP0644120A1 EP 0644120 A1 EP0644120 A1 EP 0644120A1 EP 94202689 A EP94202689 A EP 94202689A EP 94202689 A EP94202689 A EP 94202689A EP 0644120 A1 EP0644120 A1 EP 0644120A1
Authority
EP
European Patent Office
Prior art keywords
pick
article
articles
path
pattern forming
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP94202689A
Other languages
English (en)
French (fr)
Inventor
Adrianus Wilhelmus Tas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0644120A1 publication Critical patent/EP0644120A1/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/02—Packaging agricultural or horticultural products
    • B65B25/04—Packaging fruit or vegetables
    • B65B25/046—Packaging fruit or vegetables in crates or boxes
    • 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
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated 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
    • B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
    • B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position

Definitions

  • the invention relates to an apparatus for filling boxes or cases with layers stacked on top of each other and formed from substantially spherical articles, such as for instance fruits, arranged in a desired pattern, the apparatus comprising feed means, an outlet of which connects to an inlet of pattern forming means for forming an article layer arranged in a desired pattern in a pick-up area, and pick-up means, movable in a horizontal and vertical plane, for picking up the article layer as a whole from the pick-up area and placing it in a box, for instance made of cardboard, or case.
  • Such an apparatus is known for packing oranges from Dutch patent application 8103567.
  • the pattern forming means are formed by a plurality of parallel chutes in an inclined plane, with a retaining element arranged in each chute. The articles are guided into the chutes and roll down in the inclined chute and run into the retaining element.
  • a drawback of the known apparatus is that it only functions properly if the articles to be packed are substantially spherical and approximately of the same size.
  • Another drawback of the known apparatus is that the articles may get damaged when they run into the retaining elements. In the case of oranges, which have rather a thick peel, this damage will not quickly occur.
  • the object of the invention is to provide an apparatus without the above-mentioned drawbacks.
  • the apparatus is characterized in that the pattern forming means comprise a plurality of parallel paths, each path having, adjacent to the in-feed side of the pattern forming means, a conveyor track whose discharge side connects to a series of rotatable, hourglass-shaped rollers, arranged behind each other and spaced apart at a pitch distance such that between two successive rollers a nest is present capable of receiving one article, the conveyor tracks and the hourglass-shaped rollers of each path being drivable independently of the conveyor tracks and rollers located in the other paths.
  • the operation of the thus constructed apparatus is as follows.
  • the articles are supplied in an unorderly manner on the feed means, which may for instance be designed as a conveyor belt, an inclined slide plate or the like.
  • the articles are transferred to the conveyor tracks, driven independently of each other and forming the in-feed side of the pattern forming means.
  • the conveyor track of a path conveys the article in the direction of the hourglass-shaped rollers of that path and the article is received in the first nest, located closest to the discharge side of the conveyor track and formed between two hourglass-shaped rollers.
  • the article remains rotating in the nest until the conveyor track associated with the relevant path feeds a second article.
  • the hourglass-shaped rollers may be driven in the opposite direction for a while before the pick-up means pick up the articles from the pattern forming means. It can thus be provided that the articles come to lie in the nests in an optimum and central position and, moreover, the possibility of two articles being located in one nest is ruled out. After the articles have been picked up by the pick-up means, it is observed that not all nests of the pattern forming means are filled anymore and the drive of the conveyor tracks and the hourglass-shaped rollers is started again, so that the filling process is repeated.
  • the artices are arranged in a pattern without colliding in an uncontrolled manner.
  • This enables relatively vulnerable articles such as, for instance, tomatoes, to be processed without damage.
  • the apparatus does not require that the articles are practically spherical, but articles having a shape other than spherical, such as for instance paprikas, aubergines or the like, may be processed as well.
  • the apparatus is characterized in that the hourglass-shaped rollers of two adjoining paths are staggered in longitudinal direction relative to each other, so that a center line of an hourglass-shaped roller in one path is in line with the center of a nest in the adjoining path.
  • Pattern forming means of such design permit the formation of a layer having a greatest possible degree of filling, because the articles therein are disposed in a zigzag pattern.
  • the pick-up means comprise at least a pick-up head capable of moving upward and downward and attached to a travelling trolley arranged for movement in a horizontal direction, which pick-up head comprises a plurality of suction cups arranged in a pattern corresponding to the pattern of the nests in the pick-up area of the pattern forming means.
  • a suction cup is present for each article arranged in the pattern forming means.
  • the articles are each picked up separately, which offers the advantage that the articles can be transferred from the pattern forming means to the case or box in a very controlled manner and without damage.
  • the suction cups are arranged for movement from and toward each other at least in a direction perpendicular to the path direction of the pattern forming means.
  • the pick-up head is rotatable around a vertical axis through at least 180°. It is thus provided that the layers in the box or case are alternately staggered relative to each other, as a result of which the articles of a superjacent layer is placed in the nests between the articles of the subjacent layer, yielding the densest possible stacking.
  • the travelling trolley comprises a carrying plate gripper capable of moving upward and downward and mounted on the travelling trolley at a distance from the pick-up head such that it is located above the box or case if the pick-up head is located above the pick-up area of the pattern forming means.
  • the carrying plate gripper picks up a carrying plate from the carrying plate storage bin.
  • the pick-up head is moved above the pattern forming means again for picking up a next layer of articles.
  • the carrying plate gripper will then be located above the box or case and the carrying plate can be placed in the box or case.
  • a carrying plate is of a slightly curved design and provided with receiving curves or nests for receiving articles.
  • the carrying plates provide that the articles are accommodated in the case or box in a stable manner, while the chance of damage to the articles is minimized.
  • the apparatus is characterized in that the hourglass-shaped rollers bounding the nests that form the pick-up area can be driven independently of the hourglass-shaped rollers disposed upstream, an article carrier being provided under each nest of at least the pick-up area, which article carriers are movable upward and downward independently of each other, the apparatus comprising a vision device designed to determine the orientation of each article in the pick-up area and the article carriers being controllable for lifting the article from the relevant nest, depending on the orientation of the article observed by the vision device.
  • the drives of the conveyor tracks and of the hourglass-shaped rollers which do not bound the nests of the pick-up area are stopped, thereby thus discontinuing the supply of further articles in the direction of the pick-up area.
  • the drives of the hourglass-shaped rollers bounding the nests of the pick-up area remain switched on. Consequently, the articles located in the pick-up area mainly rotate around a horizontally oriented principal axis thereof.
  • the vision device observes for instance the color of each separate article.
  • the control will provide a signal for moving the article carrier upward at the moment when the vision device observes that the apple, rotating in the nest under which the relevant carrier is located, has its red side facing upward.
  • article carriers movable upward and downward, are also located under the row of nests located directly upstream of the pick-up area.
  • additional article carriers prevent frictional forces from being exerted on the articles located in the relevant row of nests during the orientation process, as the articles are on the one hand supported by a rotating hourglass-shaped roller and on the other by a stationary hourglass-shaped roller.
  • each article carrier located under the pick-up area is rotatable around the vertical center line thereof.
  • the pick-up head comprises a suction cup for each article located in the pick-up area, the suction cup being rotatable around a vertical center line.
  • article carriers or pick-up head suction cups of such design it is also possible to orient the article around a vertically directed principal axis thereof.
  • the article carrier can be rotated around the vertical center line until the center line through the stalk and the crown of the apple points toward a particular, desired direction.
  • the apples can be placed in the box or case by means of the pick-up head.
  • the travelling trolley carries the vision device, the vision device being mounted at such a distance from the pick-up head that the vision device is located above the pick-up area when the pick-up head is located above the box or case.
  • Fig. 1 shows an exemplary embodiment of the apparatus in side elevation.
  • the exemplary embodiment shown comprises feed means, constructed in the form of a slide plate 1, pattern forming means 2 for forming an article layer arranged in a desired pattern in a pick-up area 3, and pick-up means 4 for placing the article layer in a box or case 5.
  • the pattern forming means shown in top plan view in Fig. 3 comprise a number of parallel paths 2a-2e. Each path 2a-2e comprises, adjacent to the in-feed side thereof, a conveyor track constructed as a conveyor belt 6a-6e.
  • the discharge side of the conveyor track connects to a series of rotatable, hourglass-shaped rollers 7, arranged behind each other and spaced apart at a pitch distance such that between two successive rollers 7 a nest 8 is present capable of receiving one article.
  • the conveyor tracks 6a-6e and the hourglass-shaped rollers 7 of each path 2a-2e can be driven independently of the conveyor tracks 6a-6e and rollers 7 located in the other paths 2a-2e.
  • the rollers of each path are driven by a drive belt 9a-9e engaging the bottom side of the rollers.
  • the drive belts 9a-9e are each connected, via a coupling 10a-10e, to a single drive shaft 11, driven, for instance, by an electric motor (not shown). Via the same couplings 10a-10e and a drive belt 12a-12e, the drive shaft 11, driven by the electric motor, also drives the conveyor tracks 6a-6e.
  • Fig. 1 shows the situation that an article on the conveyor track 6 just touches the article lying in the first nest 8, located closest to the conveyor track 6.
  • all articles located in the nests 8 of that path 2 shift one position further in the manner wherein each falling domino in a row of dominoes arranged behind each other causes the fall of a next domino.
  • Fig. 2 shows the situation that the articles V rotate around their own axes in the nest 8 wherein they are located.
  • an electronic eye 36 is arranged at the last nest of each path 2a-2e of the pattern forming means.
  • the hourglass-shaped rollers 7 of two adjoining paths 2, 2' are staggered, so that a center line of an hourglass-shaped roller 7 in one path 2 is in line with the center of a nest in the adjoining path 2'.
  • the pick-up means 4 comprise a pick-up head 13, capable of moving upward and downward by means of a piston 14 and attached to a travelling trolley 15, displacable in horizontal direction.
  • the pick-up head comprises a number of suction cups 16, which number of suction cups 16 corresponds to the number of nests 8 in the pick-up area 3 of the pattern forming means 2.
  • the suction cups 16, located perpendicularly above the paths 2a-2e can be moved from and toward each other in a direction perpendicular to the direction of the paths 2a-2e, as a result of which the layer of articles that is formed in the box or case 5 has indeed the maximum degree of filling.
  • the pick-up head 13 is rotatable around the piston rod 17 of the piston/cylinder assembly 14 by means of the rotatably drivable catch cam 18 connected to the catch 19.
  • the layers can also be mutually accommodated in the case or box 5 with the densest stacking possible, because the articles of a superjacent layer are placed in the nests between the articles of the subjacent layer.
  • the travelling trolley 15 further comprises a carrying plate gripper 22, capable of being moved upward and downward by means of a piston/cylinder assembly 21 and designed to pick up carrying plates 24 from a carrying plate storage bin 23 and place these carrying plates 24 on the layers of articles accommodated in the case or box 5.
  • the carrying plates are provided with curves adjusted to the uneven surface of a layer of articles.
  • the carrying plate gripper 22 is also rotatable, by means of a catch cam 25 and a catch 26, through at least 180° around the piston rod 27 of the piston/cylinder assembly 21.
  • Figs 6-9 relate to another exemplary embodiment of the apparatus wherein the parts that correspond to parts of the exemplary embodiment shown in Figs 1-5 have been designated by the same reference numerals.
  • the exemplary embodiment shown in Figs 6-9 comprises additional means for placing articles in the box or case 5 in a specific, desired orientation. Especially when the articles are fruits, this is of particular importance, as a uniform orientation of the fruits in the box or case stirs up the customers' buying interest.
  • the apparatus shown comprises a separate driving mechanism for the hourglass-shaped rollers 7 which bound the pick-up area 3.
  • the drive in each path is effected by a belt 28, per path engaging the bottom side of the hourglass-shaped rollers 7, which belts 28 are each driven, via a coupling 29, by a shaft 30 that is of a single construction and driven via a chain by a motor 31.
  • an article carrier 32 provided under each nest 8 of the pick-up area 3 is an article carrier 32, capable of moving upward and downward.
  • article carriers 32 capable of moving upward and downward.
  • the travelling trolley 15 carries, next to the pick-up head 13 and the carrying plate gripper 22, a vision device 33 composed of a number of cameras 34, providing a camera 34 for each nest 8 in the pick-up area 3.
  • a vision device 33 composed of a number of cameras 34, providing a camera 34 for each nest 8 in the pick-up area 3.
  • the cameras 34 of the vision device 33 are above the pick-up area 3 of the pattern forming means 2.
  • the drive mechanism 31 of the hourglass-shaped rollers 7 bounding the nests 8 of the pick-up area 3 remains switched on when the pattern forming means 2 have already been filled completely.
  • the vision device 33 located above the pick-up area 3 observes the orientation of each article within the pick-up area 3 and, depending on the observed orientation of an article, provides via a control (not shown) a signal for moving upward to the article carriers 32.
  • Fig. 6 shows the situation wherein the pick-up head 13 is located above the pick-up area 3
  • Fig. 7 shows the situation that the pick-up head 13 is located above the box or case 5 and the vision device is located above the pick-up area 3 for observing the orientation of the articles V.
  • Figs 8 and 9 respectively show a side and top plan view of the article carriers 32 in detail.
  • the article carriers 32 can be moved upward and downward in vertical direction by means of piston/cylinder assemblies 35. It is clear that Figs 8 and 9 show two possible embodiments of the article carriers 32 and the hourglass-shaped rollers 7.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Agronomy & Crop Science (AREA)
  • Container Filling Or Packaging Operations (AREA)
EP94202689A 1993-09-20 1994-09-19 Vorrichtung und Verfahren zum Verpacken von runden Gegenständen in Schachteln oder Kästen Withdrawn EP0644120A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL9301625A NL9301625A (nl) 1993-09-20 1993-09-20 Inrichting en werkwijze voor het omdozen of kisten verpakken van in hoofdzaak bolvormige voorwerpen.
NL9301625 1993-09-20

Publications (1)

Publication Number Publication Date
EP0644120A1 true EP0644120A1 (de) 1995-03-22

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EP94202689A Withdrawn EP0644120A1 (de) 1993-09-20 1994-09-19 Vorrichtung und Verfahren zum Verpacken von runden Gegenständen in Schachteln oder Kästen

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EP (1) EP0644120A1 (de)
NL (1) NL9301625A (de)

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0774414A1 (de) * 1995-11-17 1997-05-21 Pamag Ag Verfahren und Maschine zur Abpackung von Dosen oder Tuben
ES2130035A1 (es) * 1996-03-14 1999-06-16 Paniagua Olaechea Rosalina Maquina para el envasado de fruta.
ES2142211A1 (es) * 1996-11-12 2000-04-01 Sistemas Fruticolas S L Maquina empaquetadora de frutas en el interior de cajas.
FR2799433A1 (fr) * 1999-09-22 2001-04-13 Lemo Maschb Gmbh Procede et dispositif pour l'emballage de produit bobine, en particulier de rouleaux de film plastique
ES2174701A1 (es) * 2000-04-19 2002-11-01 Olaechea Rosalina Paniagua Maquina para el llenado automatico de cjas de frutas y similares.
FR2858597A1 (fr) * 2003-08-05 2005-02-11 Materiel Arboriculture Dispositif d'emballage automatique pour le remplissage de conteneurs au moyen de couches superposeees de produits, notamment de fruits tels que des oranges
ES2233144A1 (es) * 2002-11-18 2005-06-01 Food Machinery Española, S.A. Perfeccionamientos en las maquinas encajadoras de frutos.
US7107742B2 (en) 2003-08-05 2006-09-19 Material Pour L'arboriculture Fruitiere Automatic packing device for the filling of containers by means of superposed layers of products, in particular fruits such as oranges
WO2007102732A1 (en) 2006-03-06 2007-09-13 Fps Food Processing Systems B.V. System for sorting and packaging fruit
ES2317801A1 (es) * 2008-09-24 2009-04-16 Ind Fac S L Procedimiento para el posicionado automatico de jamones en el interior de un contenedor de manera ordenada
CN103129766A (zh) * 2013-03-15 2013-06-05 福建敏捷机械有限公司 一种瓷砖全自动包装生产线
WO2014197828A3 (en) * 2013-06-07 2015-02-26 F.R. Drake Company Food product handling device, system, and related methods
US9073222B2 (en) 2013-11-14 2015-07-07 Propack Processing and Packaging Systems, Inc. End effector
US20170203865A1 (en) * 2016-01-20 2017-07-20 R.A Jones & Co. Apparatus and methods for transferring continuously moving articles to continuously moving packages with intervening article grouping and group pitch adjustment
WO2017150968A1 (en) * 2016-03-04 2017-09-08 De Greef's Wagen-, Carrosserie- En Machinebouw B.V. Packaging device and sorting system for directional packaging of products and method therefor
WO2017182974A1 (en) * 2016-04-21 2017-10-26 Robotics Plus Limited Packing robot
CN108275301A (zh) * 2018-01-25 2018-07-13 华东交通大学 一种水果装箱机
CN108516134A (zh) * 2018-06-08 2018-09-11 安徽海思达机器人有限公司 一种装箱装置
CN109877206A (zh) * 2019-04-02 2019-06-14 苏州匠恒智造科技有限公司 一种具有自动取放装置的电机铁芯用钢片的冲压装置
CN109969500A (zh) * 2019-04-11 2019-07-05 陈元佑 一种用于袋装、盒装食品的装箱装置
US10350769B2 (en) 2013-06-07 2019-07-16 F.R. Drake Company Food product handling device, system, and related methods
CN113525798A (zh) * 2021-06-08 2021-10-22 中建材智能自动化研究院有限公司 一种物料包装生产线
WO2022003267A1 (fr) * 2020-07-02 2022-01-06 Maf Agrobotic Procede et systeme de conditionnement de produits appartenant au groupe des fruits et legumes
NL2028839B1 (nl) * 2021-07-26 2023-01-31 De Greefs Wagen Carrosserie En Machb B V Verpakkingsinrichting voor het gericht verpakken van producten zoals groenten en fruit, sorteersysteem of verpaklijn voorzien daarvan en werkwijze daarvoor
WO2023006785A2 (en) 2021-07-26 2023-02-02 Automotion Venhuizen Holding B.V. Improvements in conveying, orienting, grouping and packaging of products

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH434113A (de) * 1964-09-03 1967-04-15 Wickersheim Kg August Vorrichtung zum Zählen und Wiegen von stückigen Gütern, insbesondere Früchten
FR2476597A1 (fr) * 1980-02-22 1981-08-28 Mezoegepfejlesztoe Intezet Machine d'emballage d'articles de forme spherique et facilement endommageables, notamment des fruits
GB2087340A (en) * 1980-11-17 1982-05-26 Sunkist Growers Inc Adjustable apparatus for packing boxes of different depths
FR2663903A1 (fr) * 1990-01-26 1992-01-03 Maf Dispositif pour emballer des fruits tels que notamment des agrumes dans les plateaux alveoles.

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH434113A (de) * 1964-09-03 1967-04-15 Wickersheim Kg August Vorrichtung zum Zählen und Wiegen von stückigen Gütern, insbesondere Früchten
FR2476597A1 (fr) * 1980-02-22 1981-08-28 Mezoegepfejlesztoe Intezet Machine d'emballage d'articles de forme spherique et facilement endommageables, notamment des fruits
GB2087340A (en) * 1980-11-17 1982-05-26 Sunkist Growers Inc Adjustable apparatus for packing boxes of different depths
NL8103567A (nl) * 1980-11-17 1982-06-16 Sunkist Growers Inc Inrichting voor het verpakken van fruit.
FR2663903A1 (fr) * 1990-01-26 1992-01-03 Maf Dispositif pour emballer des fruits tels que notamment des agrumes dans les plateaux alveoles.

Cited By (48)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0774414A1 (de) * 1995-11-17 1997-05-21 Pamag Ag Verfahren und Maschine zur Abpackung von Dosen oder Tuben
ES2130035A1 (es) * 1996-03-14 1999-06-16 Paniagua Olaechea Rosalina Maquina para el envasado de fruta.
ES2142211A1 (es) * 1996-11-12 2000-04-01 Sistemas Fruticolas S L Maquina empaquetadora de frutas en el interior de cajas.
FR2799433A1 (fr) * 1999-09-22 2001-04-13 Lemo Maschb Gmbh Procede et dispositif pour l'emballage de produit bobine, en particulier de rouleaux de film plastique
ES2184575A1 (es) * 1999-09-22 2003-04-01 Lemo Maschb Gmbh Procedimiento y dispositivo para empaquetar mercancias en rollos, especialmente bobinas de lamina de plastico.
ES2174701A1 (es) * 2000-04-19 2002-11-01 Olaechea Rosalina Paniagua Maquina para el llenado automatico de cjas de frutas y similares.
ES2233144A1 (es) * 2002-11-18 2005-06-01 Food Machinery Española, S.A. Perfeccionamientos en las maquinas encajadoras de frutos.
FR2858597A1 (fr) * 2003-08-05 2005-02-11 Materiel Arboriculture Dispositif d'emballage automatique pour le remplissage de conteneurs au moyen de couches superposeees de produits, notamment de fruits tels que des oranges
US7107742B2 (en) 2003-08-05 2006-09-19 Material Pour L'arboriculture Fruitiere Automatic packing device for the filling of containers by means of superposed layers of products, in particular fruits such as oranges
ES2265235A1 (es) * 2003-08-05 2007-02-01 Materiel Pour L'arboriculture Fruitiere Dispositivo de embalaje automatico para el llenado de contenedores por medio de capas superpuestas de productos, en particular de frutas tales como naranjas.
WO2007102732A1 (en) 2006-03-06 2007-09-13 Fps Food Processing Systems B.V. System for sorting and packaging fruit
US8317032B2 (en) 2006-03-06 2012-11-27 Fps Food Processing Systems B.V. System for sorting and packaging fruit
ES2317801A1 (es) * 2008-09-24 2009-04-16 Ind Fac S L Procedimiento para el posicionado automatico de jamones en el interior de un contenedor de manera ordenada
CN103129766A (zh) * 2013-03-15 2013-06-05 福建敏捷机械有限公司 一种瓷砖全自动包装生产线
WO2014197828A3 (en) * 2013-06-07 2015-02-26 F.R. Drake Company Food product handling device, system, and related methods
US11447280B2 (en) 2013-06-07 2022-09-20 F.R. Drake Company Food product handling device, system, and related methods
US10865003B2 (en) 2013-06-07 2020-12-15 F.R. Drake Company Food product handling device, system, and related methods
US10207830B2 (en) 2013-06-07 2019-02-19 F.R. Drake Company Food product handling device
US10350769B2 (en) 2013-06-07 2019-07-16 F.R. Drake Company Food product handling device, system, and related methods
US9731913B2 (en) 2013-11-14 2017-08-15 Propack Processing and Packaging Systems, Inc. End effector
US9809398B1 (en) 2013-11-14 2017-11-07 Propack Processing and Packaging Systems, Inc. End effector
US9073222B2 (en) 2013-11-14 2015-07-07 Propack Processing and Packaging Systems, Inc. End effector
US10322888B2 (en) 2013-11-14 2019-06-18 Propack Processing and Packaging Systems, Inc. End effector
US9296112B2 (en) 2013-11-14 2016-03-29 Propack Processing and Packaging Systems, Inc. End effector
US11724843B2 (en) 2016-01-20 2023-08-15 R.A Jones & Co. Apparatus and methods for transferring continuously moving articles to continuously moving packages with intervening article grouping and group pitch adjustment
US11001400B2 (en) * 2016-01-20 2021-05-11 R.A Jones & Co. Apparatus and methods for transferring continuously moving articles to continuously moving packages with intervening article grouping and group pitch adjustment
US20170203865A1 (en) * 2016-01-20 2017-07-20 R.A Jones & Co. Apparatus and methods for transferring continuously moving articles to continuously moving packages with intervening article grouping and group pitch adjustment
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