EP0749902B1 - Method for depositing a predetermined number of products in a container - Google Patents
Method for depositing a predetermined number of products in a container Download PDFInfo
- Publication number
- EP0749902B1 EP0749902B1 EP95115548A EP95115548A EP0749902B1 EP 0749902 B1 EP0749902 B1 EP 0749902B1 EP 95115548 A EP95115548 A EP 95115548A EP 95115548 A EP95115548 A EP 95115548A EP 0749902 B1 EP0749902 B1 EP 0749902B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- belt
- container
- picker
- product
- process according
- 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.)
- Expired - Lifetime
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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
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/20—Applications of counting devices for controlling the feed of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/12—Introducing successive articles, e.g. confectionery products, of different shape or size in predetermined positions
Definitions
- the invention relates to a "picker road” as used for Converting individual products into containers that are used can accommodate a certain number of individual products (see e.g. DE-A-4 108 818).
- the individual products are usually on one Product belt and the container delivered on a container belt and guided along the pickers at a fixed position, which is why we will only speak of this design in the following is, without restricting the invention thereto, since in principle also the single products and / or the containers stand still and the Picker, on the other hand, could be moved.
- the container belt becomes the same quickly driven like the product belt, and preferably with constant speed.
- a particularly simple design results when product belt and container belt from a common drive be driven, or to a one-piece conveyor belt be summarized, for example in the longitudinal direction a standing wall separated into a transport area for the Individual products and for the containers.
- the counting device is preferably a line-by-line camera, preferably with a CCD sensor, the scanning line of which is transverse, preferably rectangular, extends over the product belt.
- this line scan camera for controlling the picker during the passage of the product belt at a defined Place, namely the line scanned by the camera, in front of the Picker area the position of each individual product on the Product band and its location determined, and in the computer under Taking into account the transport speed of the products and the distance between the scanned line and the Picker position further processed to pinpoint the picker Grab the individual products and transfer them to the container including the necessary rotation of the product Taxes.
- the first camera for the Counting the individual products arriving on the product belt to control the container feed on the one hand and the second camera to control the picker on the other hand in a single camera be combined, provided that they are sufficiently far before the start the picker area is arranged to timely Release the next container on the container belt enable.
- Control computer or a data bus together is connected in terms of control technology, it is possible to set one and the same picker not only for filling one but also alternately one or the other conveyor belt to use.
- a picker line 1 is shown in the top view in running direction 20, i.e. from left to right, individual products 2, which are arranged arbitrarily on a product belt 6 under the Go through pickers 4a, b.
- a cross is made across the Product line 6 running line by means of a first Line scan 8 scanned.
- the line camera 8 is as well each of the pickers 4a, b with a central control 11, the one Computer includes, connected.
- the empty containers 3 are placed on the container belt 7 transported up and by means of a across the container belt 7th extending stopper 17 against which the foremost empty container bumps, jammed.
- the stopper 17 is also with the controller 11 connected.
- the first pent-up empty container 3 is always then released as soon as such under the first line camera 8 Number of individual products 2 on the product belt 6 has passed through it, as is the number of fillings of a container 3 corresponds.
- Container 3 after the release roughly parallel to that for him certain products 2 runs, should preferably be the first Line camera 8 or its scanning line approximately at the level of Trailing edge of the front most jammed, at the stop 17 adjacent, container 3 are located or even in Running direction 20 set back to the container approximately in the Run parallel to the middle of the longitudinal region of the product belt 6 in which the corresponding products are located.
- the container belt 7 is approximately the same Speed as the product belt 6 is in the right half of the figure a one-piece solution trained product and container belt shown.
- the pickers 4a, 4b are - as is known per se - mostly with one extending over at least the product band 6, bridge-like base frame on which the Picker arm 5 is articulated.
- the picker arm 5 usually consists of an upper arm 13a, b, the one by a shoulder joint 15 on the base frame substantially vertical axis is pivotally attached.
- Forearm 12a, 12b is also again approximately vertical Axis pivotally attached.
- the movement of the forearm 12a, 12b takes place via a forearm parallelogram 14a, 14b, a parallel strut of the upper arm 13a, 13b.
- a sucker 16 attached, which - after control of a defined position in the horizontal plane through the controller 11 - focus on one there located individual product 2 lowers, then lifts and into the container 3 after rotation about a vertical axis lowered according to the desired, correct orientation.
- suckers 16a, 16b of the pickers 4a the individual positions on the constantly moving product belt 6 that started must be known, is by means of the first picker 4a assigned second line camera when running through the Individual products 2 under the scan line of these line cameras 10 each Position at which a single product 2 is registered and the rotational position of the individual product in the control 11 saved, as well as taking into account the Belt speed, which is not always constant in practice, calculated further.
- control 11 uses the product belt 6 individual product 2 that has already been accepted is also taken into account, so that the still existing and to be implemented Products from the subsequent picker movements or subsequent pickers 4b, etc. can be implemented.
- the first one registers Line scan camera 8 not only the number of those passing under it Individual products 2, but instead of the second line camera 10 also immediately their orientation and position, so that overall only a single line scan camera is necessary.
- a separate container belt 7 has the advantage that its Speed independent of that of the product belt 6 can be regulated:
- the container belt 7 can move faster are as the product band 6, so that in the area of the picker 4a, b the containers 3 the individual products 2 assigned to them overtake.
- Separate container belts 7a, b can also be used to around - as shown in the left part of the figure - two separate ones
- Container belts 7a, b run on both sides of the product belt 6 on which different containers 3 or containers to be filled differently.
- the container tapes 7a, b can also be used with each other run at different speeds, so that's one Product tape 7a is to be filled primarily, while the second, slower running product belt 7b as a buffer if not enough existing empty containers on the first conveyor belt serves or - what z. B. with different on the product belt 6 incoming individual products 2 is the case - these Individual products not in the correct quantity relation to each other available.
- Line cameras 8, 10 not only the area of the product belt 6 to be scanned, but also the area of the container belt 7, and the stopper 17 for the container belt 7 in the running direction only after the scan line of the corresponding line scan camera to arrange:
Abstract
Description
Die Erfindung betrifft eine "Picker-Straße", wie sie zum Umsetzen von Einzelprodukten in Behälter verwendet werden, die eine bestimmte Anzahl von Einzelprodukten aufnehmen können (vgl. z.B. DE-A-4 108 818).The invention relates to a "picker road" as used for Converting individual products into containers that are used can accommodate a certain number of individual products (see e.g. DE-A-4 108 818).
Dabei werden üblicherweise die Einzelprodukte auf einem Produktband und die Behälter auf einem Behälterband angeliefert und an den an fester Position stehenden Pickern entlanggeführt, weshalb im folgenden nur noch von dieser Bauform gesprochen wird, ohne die Erfindung hierauf zu beschränken, da im Prinzip auch die Einelprodukte und /oder die Behälter stillstehen und die Picker demgegenüber bewegt werden könnten.The individual products are usually on one Product belt and the container delivered on a container belt and guided along the pickers at a fixed position, which is why we will only speak of this design in the following is, without restricting the invention thereto, since in principle also the single products and / or the containers stand still and the Picker, on the other hand, could be moved.
Dabei wurde bisher so vorgegangen, daß die Behälter auf einem ersten Behälterband angeliefert und dort meist angestaut wurden, vom ersten Behälterband auf ein zweites Behälterband übergeben wurden, auf welchem das Füllen mit den Einzelprodukten geschah, und nach vollständiger Füllung auf ein drittes Behälterband für den Abtransport der gefüllten Behälter wiederum übergeben wurde.So far, it has been done so that the container on a first container belt was delivered and mostly jammed there, Transfer from the first container belt to a second container belt on which the filling with the individual products happened, and after full filling to a third Container belt for the removal of the filled containers was passed again.
Es ist daher die Aufgabe gemäß der vorliegenden Erfindung, ein Verfahren sowie eine zugehörige Vorrichtung zu schaffen, bei welchen der Aufwand für das Handling der zu füllenden Behälter reduziert wird, ohne die Effizienz der Anlage zu verschlechtern. Durch Anordnung eines Zählers für die Einzelprodukte am Produktband vor Beginn des Pickerbereiches ist es möglich, immer dann einen leeren Behälter freizugeben und in den Bereich des bzw. der Picker einfahren zu lassen. Dadurch ist nur ein einziges Behälterband notwendig, mit einem Stopper zum Anstauen der leeren Behälter, welcher von der Zählvorrichtung gesteuert wird. It is therefore the object according to the present invention, a To create methods and an associated device, at what the effort for handling the containers to be filled is reduced without reducing the efficiency of the system. By arranging a counter for the individual products on Product belt before the picker area begins, it is possible to then always release an empty container and into the area to let the picker run in. This is only one only container belt necessary, with a stopper for Accumulation of the empty container, which from the counting device is controlled.
Vorzugsweise wird dabei das Behälterband gleich schnell angetrieben wie das Produktband, und vorzugsweise mit konstanter Geschwindigkeit.Preferably, the container belt becomes the same quickly driven like the product belt, and preferably with constant speed.
Eine besonders einfache Bauform ergibt sich, wenn Produktband und Behälterband von einem gemeinsamen Antrieb aus angetrieben werden, oder zu einem einstückigen Transportband zusammengefaßt werden, beispielsweise in Längsrichtung durch eine Stehwand getrennt in einen Tranportbereich für die Einzelprodukte und für die Behälter.A particularly simple design results when product belt and container belt from a common drive be driven, or to a one-piece conveyor belt be summarized, for example in the longitudinal direction a standing wall separated into a transport area for the Individual products and for the containers.
Je nach Position der Zählvorrichtung in Transportrichtung gegenüber dem Pickerbereich und gegenüber der Anordnung des Stoppers auf dem - in der Regel parallel zum Produktband - laufenden Behälterband wird ein Zeitversatz für die Freigabe des nächsten leeren Behälters vorgesehen, um den zu füllenden Behälter etwa parallel neben den für ihn bestimmten Produkten auf dem Produktband zu transportieren.Depending on the position of the counter in the direction of transport compared to the picker area and compared to the arrangement of the Stoppers on the - usually parallel to the product line - running conveyor belt will be a time delay for the release of the next empty container provided to the one to be filled Containers roughly parallel to the products intended for him to transport on the product belt.
Dabei kann das Befüllen eines Behälters mit nur einem Picker vollständig erfolgen, oder - abhängig von der Laufgeschwindigkeit und der Dichte der Einzelprodukte pro Längeneinheit des Produktbandes - sich über mehrere in Transportrichtung entlang des Bandes angeordnete Picker.You can fill a container with just one picker completely, or - depending on the running speed and the density of the individual products per unit length of the Product belt - over several in the direction of transport of the tape arranged picker.
Bei der Zähleinrichtung handelt es sich vorzugsweise um eine zeilenweise abtastende Kamera, vorzugsweise mit einem CCD-Sensor, deren Abtastzeile sich quer, vorzugsweise rechtwinkelig, über das Produktband erstreckt.The counting device is preferably a line-by-line camera, preferably with a CCD sensor, the scanning line of which is transverse, preferably rectangular, extends over the product belt.
Aus dem Stand der Technik ist es bereits bekannt, den bzw. die Picker einerseits mit einem Rechner zu verbinden und andererseits mit einer bildaufnehmenden Einheit, beispielsweise einer CCD-Kamera, hierbei wiederum mit einer Zeilenkamera, deren Aufnahmebereich quer über das Produktband verläuft.It is already known from the prior art Connect Picker to a computer on the one hand and on the other hand with an image-recording unit, for example a CCD camera, again with a line scan camera, whose receiving area runs across the product belt.
Mit Hilfe dieser Zeilenkamera für die Steuerung der Picker wird während des Durchlaufes des Produktbandes an einer definierten Stelle, nämlich der von der Kamera abgetasteten Zeile, vor dem Pickerbereich die Position jedes einzelnen Produktes auf dem Produktband sowie dessen Lage ermittelt, und im Rechner unter Berücksichtigung der Transportgeschwindigkeit der Produkte sowie des Abstandes zwischen der abgetasteten Zeile und der Pickerposition weiter verarbeitet, um den Picker zielgenau zum Ergreifen der Einzelprodukte und Umsetzen in den Behälter einschließlich der notwendigen Drehung des Produktes zu steuern.With the help of this line scan camera for controlling the picker during the passage of the product belt at a defined Place, namely the line scanned by the camera, in front of the Picker area the position of each individual product on the Product band and its location determined, and in the computer under Taking into account the transport speed of the products and the distance between the scanned line and the Picker position further processed to pinpoint the picker Grab the individual products and transfer them to the container including the necessary rotation of the product Taxes.
Im vorliegenden Fall kann vorzugsweise die erste Kamera für das Zählen der auf dem Produktband ankommenden Einzelprodukte zum Steuern der Behälterzufuhr einerseits und die zweite Kamera zum Steuern der Picker andererseits in einer einzigen Kamera vereinigt werden, sofern diese ausreichend weit vor dem Beginn des Pickerbereiches angeordnet ist, um ein rechtzeitiges Freisetzen des nächsten Behälters auf dem Behälterband zu ermöglichen.In the present case, the first camera for the Counting the individual products arriving on the product belt to control the container feed on the one hand and the second camera to control the picker on the other hand in a single camera be combined, provided that they are sufficiently far before the start the picker area is arranged to timely Release the next container on the container belt enable.
Dabei sind vorzugsweise außer der Zähleinrichtung für die Produkte und dem Stopper für die angelieferten, leeren Behälter auch sämtliche vorhandenen Picker eines Produktbandes über einen Datenbus mit dem Steuerungsrechner verbunden, sodaß von den ursprünglich von der Kamera zur Pickersteuerung aufgenommenen Positionen und Orientierungen der einzelnen Produkte auf dem Produktband jeweils fortgeschrieben wird, welches einzelne Produkt bereits vom Picker umgesetzt wurde.In addition to the counting device for the Products and the stopper for the delivered empty containers also all existing pickers in a product band a data bus connected to the control computer, so that from the original camera to picker control positions and orientations of the individual Products are updated on the product belt, which individual product has already been implemented by the picker.
Dadurch ist vor Beginn jedes neuen Arbeitsbereiches des nächsten Pickers zur Steuerung dieses Pickers bekannt, an welchen ursprünglich besetzten Produkt-Positionen noch ein Produkt auf dem Produktband vorhanden ist.This means that before each new work area begins next picker to control this picker which originally occupied product positions Product is present on the product belt.
Dadurch werden Leerbewegungen der Picker vermieden, und auch Leer-Füllvorgänge am Behälter, die zu unvollständig gefüllten Behältern und mechanischer Nacharbeit bzw. Ausschuß führen. This avoids empty movements of the picker, and also empty filling processes on the container that are too incomplete filled containers and mechanical rework or rejects to lead.
Wenn bei der beschriebenen Vorgehensweise auf dem Produktband verschiedene Einzelprodukte willkürlich durcheinander angeordnet angeliefert werden, die mittels der Zähleinrichtung sowie mittels der Kamera für die Pickersteuerung unterschieden werden und in definierte zugeordnete Positionen der Behälter eingefüllt werden, erfolgt die Freigabe des nächsten leeren Behälters erst dann, wenn die für jeden Behälter notwendige Mindestanzahl einer jeden Sorte von unterschiedlichen Produkten, die in dem Behälter Aufnahme finden sollen, die Zähleinrichtung passiert haben.If the procedure described on the Product band various individual products arbitrarily arranged in a jumble order by means of the Counting device and by means of the camera for the picker control be distinguished and in defined assigned positions the container is filled, the next one is released empty container only when the for each container necessary minimum number of each kind of different products that are included in the container should find that have passed the counting device.
Dies führt allerdings dazu, daß - im Gegensatz zur Umsetzung von nur einer Sorte von Produkten eines Produktbandes - nach dem Füllen der Behälter das Produktband nicht vollständig leer ist, da sich die Freigabe der Behälter nach der am vergleichsweise seltensten angelieferten Produktart orientieren muß.However, this leads to the fact that - in contrast to the implementation of only one type of product in a product range - after the product belt is not completely empty after filling the container is because the release of the container after the most comparatively the rarest delivered product type.
Mit Hilfe des vorgenannten Verfahrens ist es ebenfalls möglich, bei z. B. nur einem Produktband auf beiden Seiten parallel dieses Produktbandes zwei verschiedene Behälterbänder - separat oder einstückig mit dem Produktband ausgeführt - zu betreiben. Dies ist nicht nur bei solchen Produktbändern sinnvoll, die eine hohe Anzahl von einzelnen Produkten pro Längeneinheit transportieren, also entsprechend breit ausgebildet und eng befrachtet sind, sondern auch aus Gründen eines möglichst effizienten Einsatzes der Picker.With the help of the aforementioned method it is also possible at z. B. only one product band in parallel on both sides this product belt two different container belts - separately or made in one piece with the product belt - to operate. This is not only useful for product tapes that have one high number of individual products per unit length transport, i.e. appropriately broad and narrow are freighted, but also for reasons of one if possible efficient use of the picker.
Wenn die gesamte Anlage über einen gemeinsamen Steuerungsrechner bzw. einen Datenbus insgesamt miteinander steuerungtechnisch verbunden ist, ist es möglich, ein und denselben Picker nicht nur zum Befüllen des einen, sondern abwechselnd des einen oder des anderen Transportbandes einzusetzen.If the entire plant has a common one Control computer or a data bus together is connected in terms of control technology, it is possible to set one and the same picker not only for filling one but also alternately one or the other conveyor belt to use.
Gerade bei unterschiedlichen auf dem Produktband befindlichen einzelnen Produkten ist es auch denkbar, eines der beiden Behälterbänder mit maximal möglicher Geschwindigkeit laufen zu lassen, das andere Behälterband dagegen mit demgegenüber deutlich verringerter Geschwindigkeit, sodaß die Behälter des zweiten Behälterbandes sozusagen als Puffer für die unterschiedlich verteilt auf dem Produktband angelieferten, unterschiedlichen einzelnen Produkte dienen. Dies ergibt einen optimalen Leerungsgrad des Produktbandes.Especially when there are different ones on the product belt individual products, it is also conceivable to use one of the two Container belts run at the maximum possible speed let the other container belt against it significantly reduced speed, so that the container of the second container belt so to speak as a buffer for the delivered differently distributed on the product belt, serve different individual products. This makes one optimal degree of emptying of the product belt.
Eine Ausführungsform gemäß der Erfindung ist im folgenden anhand der Figur näher beschrieben:An embodiment according to the invention is as follows described in more detail with reference to the figure:
In der Figur ist in der Aufsicht eine Pickerstraße 1 dargestellt, die
in Laufrichtung 20, also von links nach rechts, Einzelprodukte 2,
die willkürlich auf einem Produktband 6 angeordnet unter den
Pickern 4a,b durchlaufen.In the figure, a picker line 1 is shown in the top view
in running
Wie in der linken Bildhälfte dargestellt, laufen parallel zu dem
Produktband 6 auf Behälterbändern 7a,b leere Behälter 3 parallel
zu dem Produktband 6.As shown in the left half of the picture, run parallel to that
Vor Beginn des ersten Pickers wird eine quer über das
Produktband 6 verlaufende Linie mittels einer ersten
Zeilenkamera 8 abgetastet. Die Zeilenkamera 8 ist ebenso wie
jeder der Picker 4a,b mit einer zentralen Steuerung 11, die einen
Rechner umfasst, verbunden.Before the first picker begins, a cross is made across the
Auf dem Behälterband 7 werden die leeren Behälter 3
herantransportiert und mittels eines quer über das Behälterband 7
verlaufenden Stoppers 17, gegen den der vorderste leere Behälter
stößt, gestaut. Der Stopper 17 ist ebenfalls mit der Steuerung 11
verbunden.The
Der erste angestaute leere Behälter 3 wird dabei immer dann
freigegeben, sobald unter der ersten Zeilenkamera 8 eine solche
Anzahl von Einzelprodukten 2 auf dem Produktband 6
hindurchgelaufen ist, wie es der Füllanzahl eines Behälter 3
entspricht.The first pent-up
Damit der mit diesen Einzelprodukten 2 zu befüllende nächste
Behälter 3 nach der Freigabe in etwa parallel zu den für ihn
bestimmten Produkten 2 läuft, sollte sich vorzugsweise die erste
Zeilenkamera 8 bzw. deren Abtastlinie etwa auf der Höhe der
Hinterkante des vordersten gestauten, am Stopper 17
anliegenden, Behälters 3 befinden oder gar demgegenüber in
Laufrichtung 20 zurückversetzt, um den Behälter etwa in der
Mitte des Längsbereiches des Produktbandes 6 parallel laufen zu
lassen, in dem die entsprechenden Produkte liegen.So that the next one to be filled with these
Da vorzugsweise das Behälterband 7 etwa die gleiche
Geschwindigkeit wie das Produktband 6 aufweist, ist in der
rechten Hälfte der Figur eine Lösung mit einstückig
ausgebildetem Produkt- und Behälterband dargestellt.Since preferably the container belt 7 is approximately the same
Speed as the
Die Picker 4a, 4b sind - wie ansich bekannt - meist mit einem
sich über wenigstens das Produktband 6 erstreckenden,
brückenartigen Grundgestell ausgebildet, auf welchem der
Pickerarm 5 gelenkig befestigt ist.The
Der Pickerarm 5 besteht dabei in der Regel aus einem Oberarm
13a,b, der über ein Schultergelenk 15 am Grundgestell um eine
im wesentlichen senkrechte Achse schwenkbar befestigt ist.The picker arm 5 usually consists of an
Am freien Ende des Oberarmes 13a, 13b, ist jeweils ein
Unterarm 12a, 12b ebenfalls wiederum um eine etwa senkrechte
Achse schwenkbar befestigt. Die Bewegung des Unterarmes
12a, 12b erfolgt über ein Unterarm-Parallelogramm 14a, 14b,
dessen eine parallele Strebe der Oberarm 13a, 13b darstellt.At the free end of the
Am freien Ende des Unterarmes 12a, 12b ist jeweils ein Sauger
16 befestigt, der - nach Ansteuerung einer definierten Position in
der horizontalen Ebene durch die Steuerung 11 - sich auf ein dort
befindliches Einzelprodukt 2 absenkt, dieses dann hochhebt und
in den Behälter 3 nach Drehung um eine senkrechte Achse
entsprechend der gewünschten, richtigen Orientierung absenkt.At the free end of the
Damit die Sauger 16a, 16b der Picker 4a die einzelnen Positionen
auf dem sich ständig bewegenden Produktband 6, die angefahren
werden müssen, kennen, wird mittels einer dem ersten Picker 4a
zugeordneten zweite Zeilenkamera beim Durchlaufen der
Einzelprodukte 2 unter der Abtastlinie dieser Zeilenkamer 10 jede
Position, an welcher sich ein Einzelprodukt 2 befindet, registriert
sowie die Drehlage des Einzelproduktes in der Steuerung 11
gespeichert, sowie unter Berücksichtigung der
Bandgeschwindigkeit, die in der Praxis nicht immer konstant ist,
weitergerechnet.So that the
Weiterhin wird von der Steuerung 11 das am Produktband 6
bereits abgenommene Einzelprodukt 2 ebenfalls berücksichtigt,
sodaß die jeweils noch vorhandenen und umzusetzenden
Produkte von den nachfolgenden Pickerbewegungen bzw.
nachfolgenden Pickern 4b, usw. umgesetzt werden können.Furthermore, the
In einer bevorzugten Ausführungsform registriert die erste
Zeilenkamera 8 nicht nur die Anzahl der unter ihr durchlaufenden
Einzelprodukte 2, sondern - anstelle der zweiten Zeilenkamer 10 -
auch sofort deren Orientierung und Position, sodaß insgesamt nur
eine einzige Zeilenkamera notwendig ist.In a preferred embodiment, the first one registers
Line scan camera 8 not only the number of those passing under it
Ein separates Behälterband 7 hat den Vorteil, daß dessen
Geschwindigkeit unabhängig von dem des Produktbandes 6
geregelt werden kann:A separate container belt 7 has the advantage that its
Speed independent of that of the
So kann beispielsweise das Behälterband 7 schneller bewegt
werden als das Produktband 6, sodaß im Bereich der Picker 4a,b
die Behälter 3 die ihnen zugeordneten Einzelprodukte 2
überholen.For example, the container belt 7 can move faster
are as the
Solange die Differenzgeschwindigkeit nicht allzu groß ist, sodaß der Überholvorgang also nicht beendet ist, bevor der Bereich des einzigen oder der zur insgesamten Füllung der Behälter benötigten Picker durchgelaufen ist, bewirkt der schnellere Lauf des Behälterbandes eine gewünschte schnelle Abfuhr der vollständig gefüllten Behälter.As long as the speed of difference is not too great, so the overtaking process has not ended before the area of the only or the one required for the total filling of the container If the picker has run through, the faster run of the Container belt a desired quick removal of the completely filled container.
Separate Behälterbänder 7a,b können auch dazu genutzt werden,
um - wie im linken Teil der Figur dargestellt - zwei getrennte
Behälterbänder 7a, b beidseits des Produktbandes 6 laufen zu
lassen, auf welchen sich unterschiedliche Behälter 3 oder
unterschiedlich zu füllende Behälter befinden können.Separate container belts 7a, b can also be used to
around - as shown in the left part of the figure - two separate ones
Container belts 7a, b run on both sides of the
Ebenso können die Behälterbänder 7a,b auch mit zueinander
unterschiedlichen Geschwindigkeiten laufen, sodaß also das eine
Produktband 7a primär zu füllen ist, während das zweite,
langsamer laufende Produktband 7b als Puffer bei nicht genügend
vorhandenen leeren Behältern auf dem ersten Transportband
dient oder - was z. B. bei unterschiedlichen auf dem Produktband
6 ankommenden Einzelprodukten 2 der Fall ist - diese
Einzelprodukte nicht in der richtigen Mengenrelation zueinander
vorhanden sind.Likewise, the container tapes 7a, b can also be used with each other
run at different speeds, so that's one
Product tape 7a is to be filled primarily, while the second,
slower running product belt 7b as a buffer if not enough
existing empty containers on the first conveyor belt
serves or - what z. B. with different on the
Eine weitere Möglichkeit besteht darin, von der bzw. den
Zeilenkameras 8, 10 nicht nur den Bereich des Produktbandes 6
abtasten zu lassen, sondern auch den Bereich des Behälterbandes
7, und den Stopper 17 für das Behälterband 7 in Laufrichtung
erst nach der Abtastlinie der entsprechenden Zeilenkamera
anzuordnen:Another option is from the
Dadurch ist es beispielsweise möglich, unterschiedliche auf dem
Behälterband 7 willkürlich durcheinander ankommende Behälter
3, oder deren unterschiedliche Orientierung oder deren
unterschiedliche, teilweise Füllung zu erfassen, wodurch die
Picker-Straße besonders flexibel einsetzbar wird. This makes it possible, for example, to have different on the
Container belt 7 randomly arriving
- 11
- Picker-StraßePicker Street
- 22nd
- EinzelproduktSingle product
- 33rd
- Behältercontainer
- 4a, 4b4a, 4b
- PickerPicker
- 55
- PickerarmPicker arm
- 66
- ProduktbandProduct tape
- 77
- BehälterbandContainer belt
- 8 )8th )
- 1. Zeilen-Kamera1st line camera
- 99
- AnschlagesStop
- 1010th
- 2. Zeilen-Kamera2nd line camera
- 1111
- Steuerungcontrol
- 1212th
- Unterarmforearm
- 1313
- Oberarmupper arm
- 1414
- Unterarm-ParallelogrammForearm parallelogram
- 1515
- SchultergelenkShoulder joint
- 1616
- SaugerMammal
- 1717th
- Stopperstopper
- 1818th
- 1919th
- 2020th
- LaufrichtungRunning direction
- 2121
Claims (14)
- A process for introducing individual products into containers for receiving a given number of individual products for filling same, by means of a picker line which includes:a first storage surface for the individual products,a second storage surface for the containers (13),at least one picker (4a, 4b) for transposing the individual products from the first storage surface into the containers,control and drive means for moving the first storage surface, the second storage surface and the picker support relative to each other, andcontrol and drive means for the movement of the picker arm,
characterised in thatrelease for delivery of the next container (3) which is to be freshly filled into the working region of the pickers (4a, 4b) is controlled by means of a counting device which is movable relative to the first storage surface and fixed with respect to the picker support, andrelease is effected when the number of individual products (2) for filling a container has been detected by the counting device. - A process according to claim 1 characterised in that the containers (3) are stored, delivered and transported away in a filled condition on one and the same second storage surface.
- A process according to claim 1 or claim 2 characterised in that the picker support or supports are mounted fixedly with respect to the surroundings and the first and second storage surfaces are movable in relation thereto and in particular relative to each other.
- A process according to one of the preceding claims characterised in that the first storage surface for the individual products is a conveyor belt (product belt 6) and the second storage surface is also a conveyor belt (container belt 7).
- A process according to claim 4 characterised in that the product belt (6) and the container belt (7) are guided substantially parallel to each other and the counting device is a first line camera (8) for scanning transversely over the entire width of the product belt (6), the camera having a computer (11) connected thereto.
- A process according to claim 4 characterised in that the container belt (7) runs at approximately the same speed as the product belt (6) and the containers (3) are accumulated on the container belt (7) by means of a stopper (17) upstream of the region of the pickers (4a, 4b) and are individually released by the counting device (8).
- A process according to claim 4 characterised in that the container belt (7) runs so quickly that, in the time which a container (3) disposed on the container belt (7) needs to pass through the working region of the picker or pickers (4a, 4b), a number of individual products (2) for filling a container just reaches or leaves the gripping region of the picker (4) on the product belt (6).
- A process according to claim 4 characterised in that the product belt (6) and/or the container belt (7) run at a continuous speed.
- A process according to claim 4 characterised in that a container (3) moving on the product belt (6) moves successively past a plurality of pickers (4a, 4b) and is only partially filled by each of the pickers (4).
- A process according to claim 4 characterised in that provided at the pickers (4a, 4b) is at least one device for registering the position of all individual products on the product belt (6) and a control means (11) for controlling the pickers (4), the control means taking account of the speed of transportation movement of the product belt (6) and the positions of the pickers.
- A process according to claim 4 characterised in that the product belt (6) and the container belt (7) have a common drive.
- A process according to claim 4 characterised in that the product belt (6) and the container belt (7) are formed integrally with each other.
- A process according to claim 4 characterised in that the device for registering the positions of the individual products (2) on the product belt (6) includes a second line camera (10) for scanning transversely over the entire width of the product belt (6).
- A process according to claim 13 characterised in that the first line camera (8) for controlling container release and the second line camera (10) for controlling the pickers (4a, 4b) are combined in a single line camera.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19522368A DE19522368C2 (en) | 1995-06-20 | 1995-06-20 | Picker Street |
| DE19522368 | 1995-06-20 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0749902A1 EP0749902A1 (en) | 1996-12-27 |
| EP0749902B1 true EP0749902B1 (en) | 1999-03-24 |
Family
ID=7764788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP95115548A Expired - Lifetime EP0749902B1 (en) | 1995-06-20 | 1995-10-02 | Method for depositing a predetermined number of products in a container |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0749902B1 (en) |
| AT (1) | ATE178007T1 (en) |
| DE (2) | DE19522368C2 (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19651717A1 (en) * | 1996-12-12 | 1998-06-18 | Schubert Gerhard Gmbh | Product scanner |
| DE29701564U1 (en) * | 1997-01-30 | 1997-03-27 | Schubert Gerhard Gmbh | Picker line with opposite tray transport |
| EP0856465B1 (en) * | 1997-01-30 | 2001-09-05 | Gerhard Schubert GmbH | Tray conveyor moving in the opposite direction to the picker system |
| WO2003022034A1 (en) * | 2001-09-07 | 2003-03-20 | Gartneriet Pkm Aps | Pick and place robot |
| DE50304180D1 (en) | 2002-04-02 | 2006-08-24 | Bosch Gmbh Robert | Method and device for filling piece goods into containers |
| ITMI20040787A1 (en) * | 2004-04-22 | 2004-07-22 | Vortex Systems Srl | SYSTEM OF TRANSFER OF FOOD PRODUCTS THROUGH COLLECTORS |
| DE102005039673B4 (en) * | 2005-04-19 | 2013-12-19 | Gerhard Schubert Gmbh | Method and device for producing filled and tightly sealed plastic thermoforming containers |
| ES2337291T3 (en) * | 2006-07-04 | 2010-04-22 | Robert Bosch Gmbh | PROCEDURE FOR LOADING CONTAINERS WITH RETAIL GOODS. |
| DE102007014802A1 (en) | 2007-03-28 | 2008-10-09 | Khs Ag | Method for monitoring, controlling and optimizing filling systems for foodstuffs, in particular for beverage bottles |
| BE1018917A3 (en) * | 2009-02-24 | 2011-11-08 | Pattyn Packing Lines Nv | DEVICE FOR SEPARATING A PREFERRED QUANTITY OF GOODS. |
| IT1394135B1 (en) | 2009-03-25 | 2012-05-25 | Opm S P A | METHOD AND PACKAGING SYSTEM TO INSERT PRODUCTS IN CONTAINERS THROUGH A ROBOT SERIES |
| DE102009028441A1 (en) * | 2009-08-11 | 2011-02-17 | Robert Bosch Gmbh | Concept for increasing the efficiency of robot packaging systems |
| EP2471728B1 (en) | 2011-01-03 | 2019-06-12 | Krones AG | Assembly of several container treatment and/or container handling and/or container transport modules coupled together and method for transporting, handling and/or treating containers |
| EP2520497B1 (en) | 2011-05-04 | 2016-10-19 | Matthias Ehrat | Method for inserting individual products into containers in a robotic line |
| US8781616B2 (en) | 2011-06-27 | 2014-07-15 | The Procter & Gamble Company | Robotic unscrambler and method |
| EP2586712B2 (en) | 2011-10-31 | 2018-02-14 | Veltru AG | Method and device for inserting products into containers in a robot street |
| EP2664553B1 (en) | 2012-05-03 | 2017-09-20 | Matthias Ehrat | Method for inserting individual products into containers in a robotic line |
| US11820599B2 (en) | 2020-12-08 | 2023-11-21 | Caterpillar Inc. | System and method of automatically picking and handling parts |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3233464A1 (en) * | 1982-09-09 | 1984-03-15 | Joseph Wolf GmbH & Co KG, 6146 Alsbach-Hähnlein | Device for preparing for packing chocolate-coated cream cakes (chocolate whirls) or similar pressure-sensitive products |
| DE3704423A1 (en) * | 1987-02-12 | 1988-08-25 | Lesch Hans Bernd | METHOD AND DEVICE FOR FULLY AUTOMATICALLY INSERTING OBJECTS, IN PARTICULAR CHOCOLATES, INTO A PACKING UNIT |
| DE4208818C2 (en) * | 1992-03-19 | 1994-09-08 | Haensel Otto Gmbh | Method and device for inserting articles into packaging inserts |
| US5339607A (en) * | 1992-10-23 | 1994-08-23 | Regier Robert D | Apparatus and method for dispensing objects to a count and/or weight |
-
1995
- 1995-06-20 DE DE19522368A patent/DE19522368C2/en not_active Expired - Fee Related
- 1995-10-02 AT AT95115548T patent/ATE178007T1/en not_active IP Right Cessation
- 1995-10-02 EP EP95115548A patent/EP0749902B1/en not_active Expired - Lifetime
- 1995-10-02 DE DE59505442T patent/DE59505442D1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| DE19522368A1 (en) | 1997-01-02 |
| DE19522368C2 (en) | 1997-04-30 |
| DE59505442D1 (en) | 1999-04-29 |
| ATE178007T1 (en) | 1999-04-15 |
| EP0749902A1 (en) | 1996-12-27 |
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