EP1352831B1 - 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
EP1352831B1
EP1352831B1 EP03405198A EP03405198A EP1352831B1 EP 1352831 B1 EP1352831 B1 EP 1352831B1 EP 03405198 A EP03405198 A EP 03405198A EP 03405198 A EP03405198 A EP 03405198A EP 1352831 B1 EP1352831 B1 EP 1352831B1
Authority
EP
European Patent Office
Prior art keywords
containers
storage element
piece goods
conveyor
feed conveyor
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
Application number
EP03405198A
Other languages
German (de)
English (en)
Other versions
EP1352831A1 (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
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
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 a device for filling of piece goods in containers according to the preamble of patent claim 1 and 10, respectively.
  • a generic method is known from EP-A-0'856'465.
  • piece goods and containers are guided in countercurrent along a picker road.
  • the relative speed of the delivered piece goods to the delivered containers is controlled by the control of the last picker in the conveying direction of the container so that only completely filled containers leave the working area of this last picker.
  • This method has the disadvantage that the piece goods and containers must be supplied in countercurrent.
  • packaging systems must be integrated into the entire production cycle, this greatly limits the spatial design of the system.
  • EP-A-0'749'902 discloses a method for filling piece goods in containers, in which the piece goods and containers are transported in cocurrent along a Pickerstrasse. Here are supplied with a counter the delivered Piece goods counted. The empty containers are stowed in front of the picker road. Only after reaching a sufficient to fill a container number of empty containers is released into the work area of the picker.
  • EP-A-1'160'166 Another device for filling of piece goods in containers by means of picker, here delta robot, is described in EP-A-1'160'166. Again, the location and position is detected by means of an optical detection station, communicated to the control of the individual picker and the piece goods individually inserted by means of the gripper device of the picker in the container.
  • a storage element is used and the relative speed between a container conveyor and a piece goods conveyor is controlled as a function of this storage element.
  • the relative speed remains constant until a maximum storage capacity is reached.
  • the relative speed is adjusted before reaching this capacity.
  • the speed of the supply of the containers in the area of the picker line or the individual picker is controlled.
  • only the speed of feeding the piece goods is controlled in the above range or both speeds are controlled.
  • the storage element is for storing piece goods, in other embodiments it is for storing containers.
  • the storage element is preferably arranged in front of a last picker in the conveying direction of the container.
  • the speed of a conveying path of the container conveyor in the region of this last picker takes place in preferred embodiments as a function of the capacity of this last picker. However, it is also possible not to control the speed in this area and to operate the conveyor line at a constant speed.
  • the inventive method and the device can be achieved at a relatively high packaging performance, that the containers are always completely filled. In addition, it is possible to ensure that all piece goods are always packed.
  • the device has a first supply conveyor 1 for the supply of piece goods S.
  • the feed conveyor 1 is preferably a conveyor belt. Other conveyor types are also possible.
  • the piece goods S are generally delivered in disordered formation on the first supply conveyor 1.
  • usually at least one optical detection station not shown here for detecting the position and / or orientation of the individual piece goods S is present, as is known from the prior art. If they are delivered in an orderly manner, the optical detection station is unnecessary or it is merely used for quality control.
  • At least one second supply conveyor 2 for supplying containers B is present.
  • two supply conveyors 2 are shown, which extend along each side of the first supply conveyor 1 and at least approximately parallel thereto. However, it is also possible that they are at an angle to it.
  • the second feed conveyors may also be belt conveyors or other known types of conveyors, depending on the type of containers.
  • the conveying directions of the first and second feed conveyors can be represented by antiparallel vectors, that is, the piece goods S and B are transported in countercurrent. The conveying directions are each marked with large arrows in the figures.
  • the device further comprises a picker line with a plurality of pickers P N , P N-1 .
  • pickers P N , P N-1 have gripping means for detecting the piece goods S from the first feed conveyor 1 and for storing the piece goods S in the container B.
  • pickers are known in the art. For example, so-called delta robots are suitable.
  • the device additionally comprises a storage element which temporarily stores containers B and / or piece goods S which are not yet completely filled.
  • this storage element is used for temporary storage of containers B in the picker line, which can not be completely filled yet.
  • the second supply conveyor 2 is divided into at least two conveyor lines 20, 21.
  • at least in the conveying direction of the container B last and penultimate picker P N , P N-1 two different conveyor lines 20, 21 are assigned.
  • a storage element in the form of a separately driven intermediate conveyor 3 is arranged in each case.
  • This intermediate conveyor 3 preferably forms a continuation of the conveying sections, so that the containers B are stowed therein until the last picker P N has sufficient capacity to completely fill the container B reaching the second conveying section 21.
  • the intermediate conveyor 3 may be the same type of conveyor as the second conveyor 2, the containers B being retained on the intermediate conveyor 3 by retaining means of known type and thus stowed. In one variant, a so-called yo-yo memory is used.
  • the intermediate conveyor 3 Within the storage element, here the intermediate conveyor 3, the number of containers B are detected and monitored by means of position sensors and / or distance measuring means. These sensors and means are known and therefore not described in detail.
  • the relative speed between the first and the second supply conveyors 1, 2, in this case between the first supply conveyor 1 and the first conveying path 20, is controlled according to the invention as a function of the storage element.
  • a control unit 5 for this purpose is shown schematically only in FIG. Control units for conveying speeds per se are known and are therefore not described in detail. Preferably, the relative speed is already controlled before the maximum capacity of the memory element is reached.
  • the speed of the second conveying path 21 is preferably controlled as a function of the last picker P N. In this way, it is also possible to ensure that not only all containers B are completely filled, but that at least approximately all packaged goods S are also stored in container B.
  • the control unit 5 receives in a preferred embodiment, signals from at least one picker, preferably the last picker, which are taken into account in the control.
  • FIG. 2 shows a second embodiment. It has essentially the same features as the embodiment according to FIG. 1. Here, however, the conveying directions of the first and the at least one second supply conveyors 1, 2 run parallel to each other, ie in direct current.
  • FIGS. 3 and 4 show further embodiments.
  • the storage element is arranged outside the conveying direction of the container B. This arrangement can be used both in systems with direct and countercurrent promotion.
  • the storage element is a return conveyor 3 ', which runs at least approximately parallel to the second supply conveyor 2. At a removal point E those containers B, which can not be completely filled, on the return conveyor 3 'passed. If there is enough capacity in the picker line again, then these temporarily stored containers B are again placed on the second supply conveyor 2 at a return point R.
  • the return point R is located in the conveying direction of the container B upstream of the removal point E. Again, the relative speed of the two feed conveyor is again controlled in dependence 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 may be a conveyor belt or other conveyor suitable for transporting the containers B.
  • a transport system with individually driven containers B is also possible here.
  • the return promotion to the second supply conveyor 2 takes place after the first in / first out (first in / out first) principle.
  • This embodiment is therefore also suitable for the packaging of frozen, refrigerated or otherwise perishable piece goods S.
  • the storage element is a container storage conveyor 3 "running at least approximately perpendicularly to the second supply conveyor 2. This promotes the container B, which can not be completely filled, from a sampling point E of the second Feed conveyor 2 away and back to this sampling point out.
  • the removal point E is preferably located in the region of the last picker P N in the conveying direction of the container B.
  • various types of conveyors can be used as a storage element again.
  • the conveyor is provided with a reversible drive, so that the piece goods S can be kept as close as possible to the removal point E.
  • This memory element works on the principle of First in / Last out (first in / last out).
  • FIG. 5 shows a fifth embodiment.
  • the first and the at least one second supply conveyor 1, 2 now run parallel to one another, with the piece goods S and container B being transported in direct current.
  • a storage element in the form of a cargo storage conveyor 4 is present at the downstream end of the first supply conveyor 1.
  • This runs at least approximately parallel to the conveying direction of the piece goods S and thus forms the extension of the first supply conveyor 1.
  • it consists of the same type of conveyor as the first supply conveyor 1, for example, it is a conveyor belt. He is driven separately.
  • its drive is reversible, so that the piece goods S remain as possible in the working area of the last picker P N.
  • the temporarily stored piece goods S are taken from the last picker P N in order to completely fill the containers B.
  • the relative speed of the two feed conveyor is again controlled in dependence on the storage capacity.
  • both piece goods S and container B can be temporarily stored in the same system. It is also possible to arrange memory elements already along the picker line and not only in the area of the last picker.
  • the inventive device allows an efficient implementation of cargo in containers with as complete as possible filling of the container, regardless of the nature of the relative transport direction of the cargo and container to each other. It can be integrated in particular in DC as well as in countercurrent systems.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)

Claims (17)

  1. Procédé pour déposer des marchandises (S) dans des conteneurs (B) au moyen d'une ligne de prélèvement, dans lequel on commande la vitesse relative entre l'arrivée des conteneurs (B) et l'arrivée des marchandises (S) dans la région de la ligne de prélèvement, caractérisé en ce que l'on effectue la commande de la vitesse relative en fonction d'un état de remplissage d'au moins un élément de stockage (3, 3', 3", 4) pour le stockage des conteneurs (B) et/ou des marchandises (S).
  2. Procédé selon la revendication 1, caractérisé en ce que le au moins un élément de stockage (3, 3', 3") stocke au moins une partie des conteneurs (B).
  3. Procédé selon l'une des revendications 1 ou 2, caractérisé en ce qu'au moins une partie des conteneurs (B) est conduite dans le au moins un élément de stockage (3, 3', 3") dans la région d'un dernier taquet (PN) de la ligne de prélèvement dans la direction de transport des conteneurs (B).
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que les conteneurs (B) sont maintenus dans le au moins un élément de stockage (3, 3', 3") jusqu'à ce qu'un dernier taquet (PN) de la ligne de prélèvement dans la direction de transport des conteneurs (B) présente une capacité suffisante pour pouvoir les remplir complètement.
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le au moins un élément de stockage (3, 3', 3'', 4) travaille selon le principe First in/First out (Premier entré, premier sorti) ou First in/Last out (Premier entré, dernier sorti).
  6. Procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce que des conteneurs (B) stockés dans le au moins un élément de stockage (3', 3") sont conservés hors de la direction de transport des conteneurs (B).
  7. Procédé selon l'une quelconque des revendications 1 à 6, caractérisé en ce que la vitesse d'une section de transport (21) pour les conteneurs (B), qui se trouve dans la région d'un dernier taquet (PN) dans la direction de transport des conteneurs (B), est commandée en fonction de la capacité de ce taquet (PN), en particulier par la commande de ce taquet (PN).
  8. Procédé selon la revendication 1, caractérisé en ce que le au moins un élément de stockage (4) stocke au moins une partie des marchandises (S).
  9. Procédé selon l'une quelconque des revendications 1 à 8, caractérisé en ce que les conteneurs (B) et les marchandises (S) sont transportés/transportées en courants parallèles ou en courants opposés hors du au moins un élément de stockage (3, 3', 3", 4) et dans la région de la ligne de prélèvement.
  10. Dispositif pour déposer des marchandises (S) dans des conteneurs (B), avec un premier transporteur d'alimentation (1) pour l'arrivée des marchandises (S), avec un deuxième transporteur d'alimentation (2) pour l'arrivée des conteneurs (B), avec une ligne de prélèvement pour déposer les marchandises (S) dans les conteneurs (B) et avec une unité de commande (5), pour commander la vitesse relative entre le deuxième transporteur d'alimentation (2) et le premier transporteur d'alimentation (1), caractérisé en ce qu'il comprend au moins un élément de stockage (3, 3', 3", 4) pour le stockage des conteneurs (B) et/ou des marchandises (S) et en ce que l'unité de commande (5) commande la vitesse relative en fonction d'un état de remplissage du au moins un élément de stockage (3, 3', 3", 4).
  11. Dispositif selon la revendication 10, caractérisé en ce que le au moins un élément de stockage (3, 3', 3", 4) est disposé dans la région de la ligne de prélèvement.
  12. Dispositif selon l'une quelconque des revendications 10 ou 11, caractérisé en ce que le au moins un élément de stockage (3, 3', 3", 4) est un élément de transport.
  13. Dispositif selon l'une quelconque des revendications 10 à 12, caractérisé en ce que le deuxième transporteur d'alimentation (2) est divisé en au moins deux sections de transport (20, 21), et en ce que le au moins un élément de stockage (3) est disposé entre les sections de transport (20, 21).
  14. Dispositif selon l'une quelconque des revendications 10 à 13, caractérisé en ce que le au moins un élément de stockage est un transporteur de retour (3') circulant au moins à peu près parallèlement au deuxième transporteur d'alimentation (2), qui ramène les conteneurs (B) depuis un point de reprise (E) jusqu'à un point de retour (R) situé en amont dans la direction de transport des conteneurs (B) sur le deuxième transporteur d'alimentation (2).
  15. Dispositif selon l'une quelconque des revendications 10 à 14, caractérisé en ce que le au moins un élément de stockage (3") est un transporteur de stockage de conteneurs (3") circulant au moins à peu près perpendiculairement au deuxième transporteur d'alimentation (2), qui écarte les conteneurs (B) depuis un point de reprise (E) du deuxième transporteur d'alimentation (2) et les ramène de nouveau vers ce point de reprise (E).
  16. Dispositif selon l'une quelconque des revendications 10 à 12, caractérisé en ce que le au moins un élément de stockage est un transporteur de stockage de marchandises (4), qui circule au moins à peu près parallèlement dans la direction de transport du premier transporteur d'alimentation (1) et qui est disposé en amont de l'extrémité du premier transporteur d'alimentation (1) dans la direction de transport des marchandises (S).
  17. Dispositif selon l'une quelconque des revendications 10 à 16, caractérisé en ce que le premier et le deuxième transporteurs d'alimentation (1, 2) sont mobiles l'un par rapport à l'autre dans le même sens ou dans des sens contraires.
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 EP1352831A1 (fr) 2003-10-15
EP1352831B1 true EP1352831B1 (fr) 2006-07-12

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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)

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US7775373B2 (en) 2004-12-10 2010-08-17 Scanvaegt International A/S Method and a system for batching of objects
EP2586712A1 (fr) 2011-10-31 2013-05-01 Veltru AG Procédé et dispositif d'insertion de produits 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

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EP2236424B1 (fr) * 2009-03-30 2016-02-24 Veltru AG Procédé et dispositif d'insertion de produits individuels dans des récipients dans une suite de robots
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EP2520497B1 (fr) 2011-05-04 2016-10-19 Matthias Ehrat Procédé d'insertion de produits individuels dans des récipients dans une suite de robots
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EP2664553B1 (fr) 2012-05-03 2017-09-20 Matthias Ehrat Procédé d'insertion de produits individuels dans des récipients dans une suite de robots
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IT202000016654A1 (it) * 2020-07-09 2022-01-09 Gd Spa Dispositivo e procedimento di confezionamento di articoli da confezionare
DE102021107944A1 (de) 2021-03-30 2022-10-06 Multivac Sepp Haggenmüller Se & Co. Kg Verfahren zum Einlegen von Produkten in Trays und Beladestation

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7775373B2 (en) 2004-12-10 2010-08-17 Scanvaegt International A/S Method and a system for batching of objects
US8222543B2 (en) 2004-12-10 2012-07-17 Scanvaegt International A/S Method and a system for batching of objects
EP2586712A1 (fr) 2011-10-31 2013-05-01 Veltru AG Procédé et dispositif d'insertion de produits 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

Also Published As

Publication number Publication date
CA2423949A1 (fr) 2003-10-02
DE50304180D1 (de) 2006-08-24
ATE332840T1 (de) 2006-08-15
US20030182898A1 (en) 2003-10-02
CA2423949C (fr) 2011-10-18
ES2268311T3 (es) 2007-03-16
EP1352831A1 (fr) 2003-10-15
US6901726B2 (en) 2005-06-07

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