EP1352831A1 - Procédé et appareil pour déposer des marchandises dans des conteneurs - Google Patents

Procédé et appareil pour déposer des marchandises dans des conteneurs Download PDF

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Publication number
EP1352831A1
EP1352831A1 EP03405198A EP03405198A EP1352831A1 EP 1352831 A1 EP1352831 A1 EP 1352831A1 EP 03405198 A EP03405198 A EP 03405198A EP 03405198 A EP03405198 A EP 03405198A EP 1352831 A1 EP1352831 A1 EP 1352831A1
Authority
EP
European Patent Office
Prior art keywords
containers
storage element
conveyor
picker
piece goods
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.)
Granted
Application number
EP03405198A
Other languages
German (de)
English (en)
Other versions
EP1352831B1 (fr
Inventor
Emil Hüppi
Peter Dübendorfer
Frank-Peter Kirgis
Markus Sidler
Jacob Van Kogelenberg
Stephan Schüle
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.)
Robert Bosch GmbH
Original Assignee
SIG Pack Systems AG
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 SIG Pack Systems AG filed Critical SIG Pack Systems AG
Publication of EP1352831A1 publication Critical patent/EP1352831A1/fr
Application granted granted Critical
Publication of EP1352831B1 publication Critical patent/EP1352831B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/02—Supply magazines
    • B65B35/04—Supply magazines with buffer storage devices

Definitions

  • the invention relates to a method and an apparatus for Filling of piece goods in containers according to the generic term of Claims 1 and 10 respectively.
  • a generic method is known from EP-A-0'856'465.
  • piece goods and containers are moved in counterflow a picker road.
  • the relative speed of the delivered general cargo to the delivered Containers from the control of the conveying direction of the containers last pickers controlled so that only fully filled Container the working area of this last picker leave.
  • This method has the disadvantage that the General cargo and containers must be delivered in counterflow.
  • packaging systems in the entire production cycle must be integrated, this limits the spatial design of the plant very strongly.
  • EP-A-0'749'902 also discloses a method for filling General cargo in containers, in which the general cargo and containers transported in direct current along a picker road become. Here are the delivered with a counting device General cargo counted. The empty containers are in front the Pickerstrasse jammed. Only after reaching one for filling of a container sufficient quantity is one empty container released into the work area of the picker.
  • EP-A-1,160,166 Another device for filling piece goods into containers using picker, here delta robot, is in EP-A-1,160,166 described. Again, the location and position detected by an optical detection station, the controller communicated to the individual picker and the general cargo individually the picker into the container by means of the gripping device used.
  • a storage element is used and the Relative speed between a container conveyor and a general cargo conveyor depending on this storage element controlled.
  • the relative speed remains constant until a maximum storage capacity is reached.
  • the relative speed is reached before this capacity is reached customized.
  • the speed the supply of the containers in the area of the Pickerstrasse or the individual picker controlled.
  • the storage element is used for storage of piece goods, in other embodiments it for storing containers.
  • the storage element is preferably in front of one in the conveying direction the container last picker arranged.
  • the speed a conveyor line of the container conveyor in the area this last picker takes place in preferred embodiments depending on the capacity of this last picker. It however, speed is also possible in this range not to control and the conveyor line with constant Speed to operate.
  • the device has a first Feed conveyor 1 for feeding piece goods S.
  • the feed conveyor 1 is preferably a conveyor belt.
  • Other funding types are also possible.
  • the general cargo S are in generally in disordered formation on the first feed conveyor 1 delivered. In this case, is usually at least an optical detection station, not shown here to detect the position and / or orientation of the individual General cargo S available, as they are from the prior art is known. If they are delivered in an orderly manner, this is not necessary the optical detection station or it becomes only Quality control used.
  • At least one second feed conveyor 2 is for feed of container B present.
  • two feed conveyors 2 shown which is along one side of the first Feed conveyor 1 and at least approximately parallel to this extend. However, it is also possible that they are in one Angle to it.
  • the second feed conveyor can Depending on the type of container, belt conveyors or others known types of sponsors.
  • the conveying directions are in the figures marked with large arrows.
  • the device also has a picker line with several pickers P N , P N-1 . Only four pickers are shown here, two of which place the piece goods S in the container B of a second feed conveyor 2. Usually, however, several pickers are arranged one behind the other in the conveying direction.
  • the pickers P N , P N-1 have gripping means for gripping the piece goods S from the first feed conveyor 1 and for storing the piece goods S into the containers B. Depending on the type of implementation desired, the piece goods S are gripped individually or in groups or into the Container B implemented. These pickers are known in the prior art. So-called delta robots are suitable, for example.
  • the device also comprises a storage element which temporarily stores containers B and / or piece goods S that are not yet completely filled.
  • this storage element is used for the intermediate storage of containers B in the picker street, which cannot yet be completely filled.
  • the second feed conveyor 2 is divided into at least two conveyor sections 20, 21.
  • at least the last and penultimate pickers P N , P N-1 in the conveying direction of the container B are assigned to two different conveying paths 20, 21.
  • a storage element in the form of a separately driven intermediate conveyor 3 is arranged between the conveyor sections 20, 21.
  • This intermediate conveyor 3 preferably forms a continuation of the conveyor sections, so that the containers B are stowed therein until the last picker P N has sufficient capacity to completely fill the containers B reaching the second conveyor section 21.
  • the intermediate conveyor 3 can be the same type of conveyor as the second conveyor 2, the containers B being retained on the intermediate conveyor 3 by retention means of a known type and thus being stowed. In one variant, a so-called yoyo memory is used.
  • the intermediate conveyor 3 Within the storage element, here the intermediate conveyor 3, the number of containers B using position sensors and / or Distance measuring device detected and monitored. These sensors and means are known and are therefore not detailed described.
  • the relative speed between the first and the second feed conveyor 1, 2, in this case between the first feed conveyor 1 and the first conveyor section 20, is controlled according to the invention as a function of the storage element.
  • a control unit 5 provided for this is only shown schematically in FIG. 1. Control units for conveyor speeds are known per se and are therefore not described in detail.
  • the relative speed is preferably already controlled before the maximum capacity of the storage element is reached.
  • the speed of the second conveyor section 21 is preferably controlled as a function of the last picker P N. In this way it can also be ensured that not only all containers B are completely filled, but also that at least approximately all piece goods S are placed in container B.
  • the control unit 5 also receives signals from at least one picker, preferably the last picker, which are taken into account in the control.
  • FIG. she has substantially the same features as the embodiment according to Figure 1.
  • the conveying directions run of the first and at least one second feed conveyor 1, 2 in parallel, i.e. in direct current, to each other.
  • the storage element is arranged outside the conveying direction of the container B. This arrangement can be used in both co-current and counter-current systems.
  • the storage element is a return conveyor 3 ', which runs at least approximately parallel to the second feed conveyor 2. At a removal point E, those containers B which cannot be completely filled are directed onto the return conveyor 3 '. If there is sufficient capacity in the picker line again, these temporarily stored containers B are placed on a return point R again on the second feed conveyor 2. The return point R is located in the conveying direction of the container B upstream from the removal point E. Again, the relative speed of the two feed conveyors is controlled depending on the storage capacity.
  • the intermediate conveyor 3 ' is preferably arranged in the region of the last picker P N in the conveying direction of the container B. It can in turn be a conveyor belt or another conveyor suitable for transporting the containers B. A transport system with individually driven containers B is also possible here.
  • the return to the second feed conveyor 2 takes place according to the first in / first out (first in / first out) principle. This embodiment is therefore also suitable for packaging frozen, cooled or otherwise perishable piece goods S.
  • the storage element is a container storage conveyor 3 ′′ running at least approximately perpendicular to the second feed conveyor 2. This conveys the containers B, which cannot yet be completely filled, away from a removal point E from the second feed conveyor 2 and back to this removal point E.
  • the removal point E is preferably located in the area of the last picker P N in the conveying direction of the container B.
  • different types of conveyors can be used as storage elements.
  • the conveyor is preferably provided with a reversible drive so that the piece goods S can be kept in the region of the removal point E as far as possible.
  • This storage element works on the principle of first in / last out (first in / last out).
  • a fifth embodiment is shown in FIG.
  • the first and the at least one second feed conveyor 1, 2 now run parallel to one another, the piece goods S and container B being transported in direct current.
  • a storage element in the form of a general cargo storage conveyor 4.
  • This runs at least approximately parallel to the conveying direction of the piece goods S and thus forms the extension of the first feed conveyor 1.
  • It preferably consists of the same type of conveyor as the first feed conveyor 1, for example it is a conveyor belt. However, it is driven separately. Its drive is preferably reversible so that the piece goods S remain in the working area of the last picker P N as far as possible.
  • the piece goods S which have been temporarily stored are taken by the last picker P N in order to completely fill the containers B.
  • the relative speed of the two feed conveyors is controlled depending on the storage capacity.
  • the device according to the invention enables efficient Conversion of piece goods into containers with the most complete possible Filling the container regardless of the type the relative direction of transport of piece goods and containers to each other. It can be used especially in direct current as also integrate in counter-current systems.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
EP03405198A 2002-04-02 2003-03-21 Procédé et appareil pour déposer des marchandises dans des conteneurs Expired - Lifetime EP1352831B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH5472002 2002-04-02
CH5472002 2002-04-02

Publications (2)

Publication Number Publication Date
EP1352831A1 true EP1352831A1 (fr) 2003-10-15
EP1352831B1 EP1352831B1 (fr) 2006-07-12

Family

ID=28048295

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03405198A Expired - Lifetime EP1352831B1 (fr) 2002-04-02 2003-03-21 Procédé et appareil pour déposer des marchandises dans des conteneurs

Country Status (6)

Country Link
US (1) US6901726B2 (fr)
EP (1) EP1352831B1 (fr)
AT (1) ATE332840T1 (fr)
CA (1) CA2423949C (fr)
DE (1) DE50304180D1 (fr)
ES (1) ES2268311T3 (fr)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1509465A1 (fr) * 2002-05-08 2005-03-02 Anzpac Systems Limited Appareil et procede de triage
EP1593598A2 (fr) * 2004-04-22 2005-11-09 CT PACK S.r.l. Système de transfert de produits alimentaires par pinces
DE102006061571A1 (de) 2006-12-27 2008-07-03 Robert Bosch Gmbh Verfahren und Vorrichtung zum Umsetzen von Stückgütern
EP2236424A1 (fr) 2009-03-30 2010-10-06 Veltru AG Procédé et dispositif d'insertion de produits individuels dans des récipients dans une suite de robots
WO2011018392A1 (fr) * 2009-08-11 2011-02-17 Robert Bosch Gmbh Concept d'augmentation de l'efficacité d'installations d'emballage automatisées
EP2520497A1 (fr) 2011-05-04 2012-11-07 Matthias Ehrat Procédé d'insertion de produits individuels dans des récipients dans une suite de robots
EP2664553A2 (fr) 2012-05-03 2013-11-20 Matthias Ehrat Procédé dýinsertion de produits individuels dans des récipients dans une suite de robots
EP2669202A1 (fr) * 2012-05-31 2013-12-04 Multivac Sepp Haggenmüller GmbH & Co. KG Procédé pour table de préhension et installation d'emballage
DE102012011587A1 (de) * 2012-06-13 2013-12-19 Romaco Pharmatechnik Gmbh Vorrichtung zum Produzieren und Verarbeiten von Produkten
EP2657138B1 (fr) 2008-10-27 2016-12-21 Formax, Inc. Système de manipulation de produit alimentaire
US9908646B2 (en) 2011-10-31 2018-03-06 Veltru Ag Method and apparatus for placing products into containers in a robot line
EP2471728B1 (fr) 2011-01-03 2019-06-12 Krones AG Agencement de plusieurs modules de manipulation et/ou de traitement et/ou de transport de récipients couplés ainsi que procédé de transport, de traitement et/ou de manipulation de récipients
DE102020203695A1 (de) 2020-03-23 2021-09-23 Multivac Sepp Haggenmüller Se & Co. Kg Verpackungsanlage zum befüllen von tiefziehmulden und kartonagen sowie verfahren
EP4067241A2 (fr) 2021-03-30 2022-10-05 MULTIVAC Sepp Haggenmüller SE & Co. KG Procédé de chargement de produits sur des plateaux et station de chargement

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE502005001030D1 (de) * 2004-04-16 2007-08-30 Schill Maja Masch Vorrichtung und Verfahren zum geordneten Ablegen von biegeschlaffen Stücken in einer Verpackung
DE602005010296D1 (de) 2004-12-10 2008-11-20 Scanvaegt Int As Verfahren und system zum chargieren von objekten
DE102005023810A1 (de) * 2005-05-24 2006-11-30 Robert Bosch Gmbh Vorrichtung und Verfahren zum Befüllen von Behältern
ES2337291T3 (es) * 2006-07-04 2010-04-22 Robert Bosch Gmbh Procedimiento para cargar recipientes con mercancias al por menor.
US20080277405A1 (en) * 2007-05-11 2008-11-13 Leach Michael P Dispensing Apparatus Containing a Glove Stack and Method of Folding Gloves Therein
IT1394135B1 (it) * 2009-03-25 2012-05-25 Opm S P A Metodo e impianto di confezionamento per inserire prodotti in contenitori tramite una serie di robot
WO2010118239A1 (fr) * 2009-04-09 2010-10-14 Bosch Packaging Technology, Inc. Dispositif de délivrance en ligne à mouvement continu
NL2003771C2 (nl) * 2009-11-09 2011-05-11 Blueprint Holding Bv Overzetsamenstel.
IT1401405B1 (it) * 2010-07-30 2013-07-26 Ct Pack Srl Macchina per il confezionamento di articoli in contenitori.
CN102730244A (zh) * 2011-04-13 2012-10-17 苏州澳昆智能机器人技术有限公司 奶包装箱系统
US8781616B2 (en) * 2011-06-27 2014-07-15 The Procter & Gamble Company Robotic unscrambler and method
EP3334658B1 (fr) * 2015-08-14 2020-01-08 Intercontinental Great Brands LLC Systèmes et procédés de transport et d'emballage d'aliments
EP3525990B1 (fr) 2016-10-12 2022-11-30 ABB Schweiz AG Procédé et système de commande d'une vitesse d'un trajet de transport
BR112022005016A2 (pt) * 2019-09-19 2022-06-21 Koerber Tissue S P A Máquina de embalagem para linha de conversão de produtos de papel
IT202000016654A1 (it) * 2020-07-09 2022-01-09 Gd Spa Dispositivo e procedimento di confezionamento di articoli da confezionare
EP4433390A1 (fr) * 2022-11-21 2024-09-25 Gea Food Solutions Germany GmbH Système de traitement de portions alimentaires et procédé de fonctionnement d'un tel système

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0749902A1 (fr) 1995-06-20 1996-12-27 Gerhard Schubert GmbH Procédé pour déposer un nombre déterminé de produits dans un récipient
FR2754239A1 (fr) * 1996-10-08 1998-04-10 Euresko Dispositif alimentaire pour chaine de conditionnement d'assortiment d'articles et chaine mettant en oeuvre un tel dispositif
EP0856465A1 (fr) 1997-01-30 1998-08-05 Gerhard Schubert GmbH Transport de plateaux à directions opposées pour table de préhension
EP1160166A1 (fr) 2000-05-31 2001-12-05 SIG Pack Systems AG Dispositif pour la formation de groupes et procédé pour son opération

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DE3729324A1 (de) * 1987-09-02 1989-03-16 Henkel Kgaa Verfahren zum einstellen von stiften in ein tray und vorrichtung zum durchfuehren des verfahrens
US5477663A (en) * 1993-02-17 1995-12-26 The West Company Robotic tray loader system, method and apparatus
US5501064A (en) * 1994-10-28 1996-03-26 Riverwood International Corporation Apparatus and method for pushing articles into receptacle
US5771657A (en) * 1996-05-07 1998-06-30 Merck Medco Managed Care, Inc. Automatic prescription filling, sorting and packaging system
DE29817239U1 (de) 1997-11-07 1998-11-26 Hans Paal KG Maschinenbau (GmbH & Co.), 73630 Remshalden Vorrichtung zum Zwischenspeichern
US6438928B1 (en) * 2000-12-15 2002-08-27 Supertonics, Llc Machine for automated boxing of soft stacked items
US6799411B2 (en) * 2002-02-13 2004-10-05 Sig Pack Systems, Ag Apparatus and process for inserting individual piece goods into containers

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0749902A1 (fr) 1995-06-20 1996-12-27 Gerhard Schubert GmbH Procédé pour déposer un nombre déterminé de produits dans un récipient
FR2754239A1 (fr) * 1996-10-08 1998-04-10 Euresko Dispositif alimentaire pour chaine de conditionnement d'assortiment d'articles et chaine mettant en oeuvre un tel dispositif
EP0856465A1 (fr) 1997-01-30 1998-08-05 Gerhard Schubert GmbH Transport de plateaux à directions opposées pour table de préhension
EP1160166A1 (fr) 2000-05-31 2001-12-05 SIG Pack Systems AG Dispositif pour la formation de groupes et procédé pour son opération

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1509465A4 (fr) * 2002-05-08 2008-10-29 Anzpac Systems Ltd Appareil et procede de triage
US7946429B2 (en) 2002-05-08 2011-05-24 Anzpac Systems Limited Sorting apparatus and method
EP1509465A1 (fr) * 2002-05-08 2005-03-02 Anzpac Systems Limited Appareil et procede de triage
EP1593598A2 (fr) * 2004-04-22 2005-11-09 CT PACK S.r.l. Système de transfert de produits alimentaires par pinces
EP1593598A3 (fr) * 2004-04-22 2007-03-07 CT PACK S.r.l. Système de transfert de produits alimentaires par pinces
DE102006061571A1 (de) 2006-12-27 2008-07-03 Robert Bosch Gmbh Verfahren und Vorrichtung zum Umsetzen von Stückgütern
EP2657138B1 (fr) 2008-10-27 2016-12-21 Formax, Inc. Système de manipulation de produit alimentaire
EP2236424A1 (fr) 2009-03-30 2010-10-06 Veltru AG Procédé et dispositif d'insertion de produits individuels dans des récipients dans une suite de robots
WO2011018392A1 (fr) * 2009-08-11 2011-02-17 Robert Bosch Gmbh Concept d'augmentation de l'efficacité d'installations d'emballage automatisées
EP2471728B1 (fr) 2011-01-03 2019-06-12 Krones AG Agencement de plusieurs modules de manipulation et/ou de traitement et/ou de transport de récipients couplés ainsi que procédé de transport, de traitement et/ou de manipulation de récipients
EP2520497A1 (fr) 2011-05-04 2012-11-07 Matthias Ehrat Procédé d'insertion de produits individuels dans des récipients dans une suite de robots
US9908646B2 (en) 2011-10-31 2018-03-06 Veltru Ag Method and apparatus for placing products into containers in a robot line
EP2664553A2 (fr) 2012-05-03 2013-11-20 Matthias Ehrat Procédé dýinsertion de produits individuels dans des récipients dans une suite de robots
US8905222B2 (en) 2012-05-31 2014-12-09 Multivac Sepp Haggenmueller Gmbh & Co. Kg Method for picker line and packaging plant
EP2669202A1 (fr) * 2012-05-31 2013-12-04 Multivac Sepp Haggenmüller GmbH & Co. KG Procédé pour table de préhension et installation d'emballage
DE102012011587B4 (de) * 2012-06-13 2016-03-31 Romaco Pharmatechnik Gmbh Vorrichtung mit Umsetzeinrichtung, Bereitstellungsplatz, Ablageplatz und Pufferplatz sowie Positionserfassung
DE102012011587A1 (de) * 2012-06-13 2013-12-19 Romaco Pharmatechnik Gmbh Vorrichtung zum Produzieren und Verarbeiten von Produkten
DE102020203695A1 (de) 2020-03-23 2021-09-23 Multivac Sepp Haggenmüller Se & Co. Kg Verpackungsanlage zum befüllen von tiefziehmulden und kartonagen sowie verfahren
EP4067241A2 (fr) 2021-03-30 2022-10-05 MULTIVAC Sepp Haggenmüller SE & Co. KG Procédé de chargement de produits sur des plateaux et station de chargement
DE102021107944A1 (de) 2021-03-30 2022-10-06 Multivac Sepp Haggenmüller Se & Co. Kg Verfahren zum Einlegen von Produkten in Trays und Beladestation

Also Published As

Publication number Publication date
CA2423949C (fr) 2011-10-18
EP1352831B1 (fr) 2006-07-12
US6901726B2 (en) 2005-06-07
CA2423949A1 (fr) 2003-10-02
US20030182898A1 (en) 2003-10-02
ES2268311T3 (es) 2007-03-16
ATE332840T1 (de) 2006-08-15
DE50304180D1 (de) 2006-08-24

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