EP2236424B1 - Procédé et dispositif d'insertion de produits individuels dans des récipients dans une suite de robots - Google Patents

Procédé et dispositif d'insertion de produits individuels dans des récipients dans une suite de robots Download PDF

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Publication number
EP2236424B1
EP2236424B1 EP09156668.7A EP09156668A EP2236424B1 EP 2236424 B1 EP2236424 B1 EP 2236424B1 EP 09156668 A EP09156668 A EP 09156668A EP 2236424 B1 EP2236424 B1 EP 2236424B1
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EP
European Patent Office
Prior art keywords
robot
individual products
containers
individual
container
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.)
Not-in-force
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EP09156668.7A
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German (de)
English (en)
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EP2236424A1 (fr
Inventor
Matthias Ehrat
Jürgen Renner
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Veltru AG
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Veltru AG
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Priority to EP09156668.7A priority Critical patent/EP2236424B1/fr
Priority to US12/732,420 priority patent/US8549818B2/en
Publication of EP2236424A1 publication Critical patent/EP2236424A1/fr
Application granted granted Critical
Publication of EP2236424B1 publication Critical patent/EP2236424B1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • 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
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers

Definitions

  • the invention relates to a method and a device for inserting individual products into containers in a robot line according to the preamble of claim 1.
  • the invention relates to a robot road, as used for converting individual products into storage groups, which can accommodate a certain number of individual products.
  • the term container is used instead of the term storage group, which means less of the container as such, but much more individual products or a group of individual products, which after the implementation by the robot in a defined position relative to a transport device and possibly in a defined position within the group of individual products.
  • a container belt can be a transport device on the fixed or variable distance, but with respect to the transport device itself stationary container or Cartesian certain deposit positions be introduced. It may be in container tapes but also thermoforming machines or conveyor chains, which are in fixed, or only due to the indexing variable distance troughs or containers.
  • the containers to be filled are usually delivered to a first transport device and accumulated there. Subsequently, the containers are transferred from the first transport device to a second transport device, effectively the actual container belt, on which the filling with the individual products happens, and after complete filling, transferred to a third transport device for the removal of the filled containers.
  • a second transport device effectively the actual container belt, on which the filling with the individual products happens
  • a third transport device for the removal of the filled containers.
  • the pre-entry, filling and removal of the container takes place on a single transport device.
  • DE 42'08'818 C2 is a robot road shown in which the robot with respect to the product strip and container belt are not in a fixed position, but limited in their direction and mechanically coupled are movable and which are individually movable orthogonal to their direction.
  • both the picking up of the individual products, as well as the storage of the individual products in a container with moving product band or container band can be done.
  • the individual product leading product band is stopped temporarily, which makes the coupling to a continuously producing production machine for individual products, and it can only take a product at any given time or pick up a product and not both robots together.
  • no advantage from the arrangement of the product band shown in the same direction and in the opposite direction can be seen.
  • EP 0'749'902 B1 shows a robot road, in which at the inlet of the individual products in the robot road, the individual products are counted and in each of which a new container is released onto the container band upon reaching the necessary for complete filling of a container number of individual products. It is further shown that the container band and the product band move in synchronism or that the container band and the product band are realized by a common band. It is problematic that with irregular introduction of individual products or their introduction on narrow product bands can not be ensured that all containers are completely filled.
  • Either WO 2004/113030 A1 , as well as EP 1'285'851 A1 take this problem and show a robot road, in which the individual products are also counted at the entrance to the robot road and in which by means of a mathematical optimization each counted individual product in a robot road in the container, respectively a storage position, for loading by a particular robot in assigned to the robot road.
  • This discrete loading optimization is computationally expensive in practice and likewise does not ensure that in case of irregular or in relation to the depositing positions to be filled per container less introduction of individual products all containers are completely occupied.
  • Another generic method is off EP 0'856'465 B1 known.
  • individual products and containers are fed in parallel transport facilities for individual products and containers in countercurrent along a robot road.
  • the transport direction of the product band and the container band is also chosen so that the principle of Gegenstromwirkweise is maintained.
  • the relative speed of the irregularly supplied individual products to the delivered containers, but also the delivery of the next to be filled Container controlled by the last in the conveying direction of the container or, in the case of failure, penultimate robot so that only completely filled containers leave the working area of this last robot.
  • Both the picking up of the products, as well as the storage of the products take place, as in DE 42 08 818 C2 shown by synchronization of the robot on the moving product band or container band.
  • EP 0'856'465 B1 described that as far as possible no individual products should leave the working area of the last robot in the direction of the individual products. From the representation of the invention of EP 0'856'465 B1 various measures are taken to see how this is achieved. From paragraphs 61 and 62 it can be seen that the control of the last robot in the direction of the container belt or, if it fails, the second robot can reduce the speed of the container belt, if otherwise an incompletely filled container from the working area of the last or penultimate robot would move. Further, it is described in paragraph 64 that thereby the containers located in the working area of the previous robots in the running direction of the container band are more or less filled by these previous robots. The fact that the performance of all robots is used until the container is completely filled when the container belt is retarded can be used to ensure that no individual products that have not been transferred into containers leave the robot line.
  • This method is therefore particularly suitable for robot lines, in which there are often complete interruptions in the introduction of individual products and in which the product band in the robot line can not be stopped or at least delayed.
  • the method proves to be disadvantageous when it comes to the supply of individual products by the majority only to fluctuations or if in the case of an interruption in the supply of individual products, the product band in the Umsetz Scheme the robot road can be stopped, which is usually the case.
  • this method requires a complex adjustment of the speed of the product strip and the container band relative to each other for different types of individual products, as far as the robots should be used evenly.
  • off EP 1 ⁇ 226 ⁇ 408 B1 a system with at least two robots, in which a weight-determined loading of the container takes place on the basis of a weight determination of the individual products to be reacted.
  • EP 1 819 994 B1 presents a method and a device for the weight-determined formation of groups and containers, wherein there are several transport devices for discharging the groups and containers used are used. It is particularly important to form different groups on different transport devices and thereby increase the efficiency of the system. In this case, this method proves to be disadvantageous when it comes to form groups and containers as similar as possible and to ensure that all supplied individual products are implemented without at most incomplete groups or containers must be re-supplied.
  • EP 0'781'172 B1 deals less with the weight-determined loading by means of a robot road itself, but instead presents a method of making a prediction of the probability that a container can be effectively completely filled on the basis of historical weight values of the individual products. It turns out that above all the numerous presence of individual products for Ready loading of a container is critical.
  • the invention is based on the principle of cascaded countercurrent.
  • the conversion efficiency of each individual robot in a robotic route can be designed such that, regardless of the number of individual products brought about, an increase in the concentration of the container in the direction of travel of the container belt, for example linear or digressive, is ensured.
  • the number of robots in a robot road is determined by the individual products introduced. In the case of different types of individual products, which are processed in lots on the same robot line, the single product which requires the greatest utilization is determining. This utilization is usually determined by the number of individual products introduced, but in a few cases also by other criteria such as the weight of the individual products. If, for example, the number of brought-up individual products to determine the number of robots, the interpretation is carried out in practice according to the following procedure. In a first step, an average conversion time per individual product is calculated. This average turnaround time is determined by the pick and place handling time, the travel time between place of pickup and place of picking, product distribution of the individual products on the product line, and the size and geometry of the work area of each robot.
  • This Value is usually corrected in practice with a safety factor to compensate for disturbances such as missing containers, bad individual products, robot stop due to contamination, disturbances in the position and rotational position detection, etc.
  • the transport device for the individual products can be stopped in the transfer area of the robot road.
  • conversion region of the robot road is understood here and below to mean that region in which the products to be converted are detected by the robots of the robot road and converted into the corresponding containers to be filled.
  • working area of a robot is understood to mean that area which is covered by a single robot.
  • the work areas of the individual robots can overlap.
  • the conversion area of the robot road is made up of the sum of the work areas of the individual robots.
  • the filling of the depositing positions of each container in a robot line with at least two robots, which operate in a cascaded countercurrent process, realized so that the increase of the levels of the container in the Umsetz Scheme the robot road is maintained by each robot independently and as accurately as possible.
  • Concentration refers to the amount of currently delivered individual products in relation to the maximum expected number of individual products. Ideally, the concentration of individual products currently in the implementation area of the robot road is also taken into account. This measured concentration determines at all times which robot currently has control of the product band, the container band and the transfer performance of the robots.
  • Essential for the uniform utilization of the robot road is the setting of the desired filling level of the last in the running direction of the container belt and second last robot for that single product, which is introduced with the maximum number expected for the robot road.
  • the system is designed in such a way that the delivery of the maximum expected number of individual products means that the container belt is not controlled by the last robot.
  • one will set the desired level of the last and the second last robot so that Accordingly, the control of the container belt by the second-last robot takes place, thereby using the robot road more evenly.
  • a robot located in the middle between, in the direction of transport of the containers, first and last robot, or a degressive increase in the nominal filling levels assumes control of the container band, if half the number of maximum expected individual products - corresponds to concentration 50 - is delivered to the inlet of the robot road.
  • a threshold for the decrease in concentration is determined. If the decrease in concentration is less than the threshold value, the transition of the control of the container belt to a robot positioned further back in the transport direction of the container is shifted synchronously with the point in the single product flow at which the concentration decrease has occurred.
  • the permissible fill level of all robots is increased in accordance with the decrease in concentration. It should be noted that at most the permissible level of the first robot in the direction of the container must be increased more than the allowable level of the last in the direction of the container robot.
  • the robot which, because of the concentration of the individual products at the inlet, has the control of constantly checking whether this robot and the robots lying behind it in the running direction of the containers exceeds its set level or not, begins. As soon as these no longer exceed their nominal level, this robot takes control of the container belt from the second-to-last robot.
  • This process step ensures that even with a strong decrease in concentration in the individual product supply all individual products can be converted into containers and that as many containers in the front of the container band are still completely filled and can be removed. At best, a small overflow can not be avoided since the containers can no longer be completely filled by the third robot.
  • each robot is set based on the maximum expected concentration so that all robots together are able to completely translate the individual products on the product belt into containers on the container belt. Further, each individual robot is set to translate maximally so many products into containers that the increase in fill levels of the individual product containers on each robotic robot robot is maintained upon delivery of the maximum expected products.
  • the increase of the levels can be predicted depending on the relative speed of the transport devices for the individual products and for the container preferably linear or degressive rising.
  • the nominal speed of the transport device for the containers is set so that the number of deposit positions brought up per container corresponds to the maximum expected number of individual products. Ideally, this coordination is done in such a way that each robot is able to implement the corresponding number of individual products during a continuous activity. In practice, it will therefore be considered, for varieties of individual products, which differ significantly in the maximum concentration, in each case, the nominal conversion performance of each robot for each variety of individual products adapt.
  • the actual concentration measurement is carried out by transmitting the current production quantity to the robot road or by a measurement as accurate as possible with a sensor on or before the inlet to the robot road.
  • the earliest possible transmission of the number of brought-up individual products to the robot road has the advantage that it can react more quickly in case of strong concentration differences in the introduction of individual products.
  • the concentration is measured with a sensor, the position and rotational position or another characteristic of the individual products can be determined at best with the same sensor.
  • the concentration measurement must also take this speed into consideration.
  • the speed of containers on the one hand and individual products on the other hand relative to each other is controlled uniformly by the method, and it is ensured that each container leaves the transfer area of the robot road as completely as possible.
  • a further advantage is that transport belts, ie transport means in which the containers are arranged at fixed distances on the means of transport, can also be used as depositing belts.
  • transport chains which carry containers via fixedly mounted on the chain carrier or thermoforming machines, which introduce formed at regular intervals wells.
  • both partial goals ie the one hand as complete as possible filling all container leaving the conversion area and at the same time complete emptying of the product band, simultaneously be realized depends inter alia on whether only a single variety of products on the product tape is present and must be implemented in the container , or if several varieties are mixed up on the product line. In this case, the simultaneous achievement of both objectives is hardly possible, unless the composition of the products on the product band can be quantitatively controlled by the individual varieties, or no specific composition of products within the containers is necessary.
  • FIG. 1 run the product band 6 and the container belt 7 in the opposite direction parallel to each other and the container 3 are introduced at a fixed distance.
  • the controller 11a of the last robot 4a takes over the central control function.
  • the counting and at the same time the position recognition of the products takes place with the camera 9a of the last robot 4a.
  • FIG. 2 In addition, a central controller 11 is used. The counting of the products takes place with a camera 8 at the inlet of the product belt 6.
  • FIG. 1 On the container belt 7 is in FIG. 1 a motor 19 is shown, which is connected to the controller 11a of the last robot 4a, and whose speed and thus the transport speed of the container 3 is controlled on this container belt 7 accordingly. If instead of a controller 11a, 11b, 11c to each individual robot a - in FIG. 2 As shown, central controller 11 is used for all robots 4a, 4b,..., 4n, motor 19 is correspondingly connected to this controller 11. If a thermoforming machine or a tubular bag machine is used to feed the containers, their own control system is to be connected to the controller 11a of the last robot 4a, or alternatively to the central controller 11.
  • the drive 18 of the product belt 6 is shown without connection to a controller, as illustrated thereby is to be that the product belt runs at a predetermined speed and, accordingly, the amount of brought up on the product band 6 individual products 2 can not be influenced.
  • the motor 18 to be connected to the central controller 11 or with the controllers 11a, ..., 11n, so that the central controller 11 or the controllers 11a, ..., 11n the respective speed of the product strip 6 for the calculation of can calculate the effective position of the individual products 2 on the product band 6 at a certain time and so that the controls can bring the product band to a standstill when no more individual products 2 are fed to the inlet.
  • a camera 8 is shown, which detects the entire width of the product band 6 and counts the zoomed individual products 2 and transmits the value to the central controller 11.
  • a camera 9a is shown, which also detects the entire width of the product band and counts the products and transmits them to the robot controller 11a.
  • the camera 9a detects the position, ie the position and rotational position, of the individual products 2. If necessary, this camera 9a will scan and evaluate only a specific region of the product band 6 for position detection.
  • All further robots 4b, 4c are likewise equipped with a sensor, here camera, 9b, 9c, these cameras detecting the rotational position and position of those individual products 2 which are necessary for the filling of the containers 3 by the robots 4b, 4c according to the invention.
  • a sensor here camera, 9b, 9c
  • the camera 8 detects the entire product band 6 and the central controller 11 transmit the results to the controllers 11a, 11b,..., 11n.
  • the central controller 11 can manage the results and possibly also the motion planning for all robots 4a, 4b,..., 4n.
  • FIG. 3 a schematic course for the most common product which robots street with full supply of individual products most heavily utilizes.
  • FIG. 4 shows a schematic course for a medium product.
  • FIG. 5 finally shows a course for a product with a relatively low supply, which does not load the plant.
  • the design of the plant is carried out according to the variety, which requires the largest capacity of robot road 1.
  • the number of required robots 4a, 4b, ..., 4n set and determines the target speed of the container belt 7.
  • a threshold 32 is set. This threshold value 32 determines how much the supply of individual products 2 may go back so that the robot 4b, 4n retains control over the supply of the containers 3, which alone would have control over the container band 7 due to the supply.
  • the product belt 6 is stopped and the control responsibility is transferred to the last robot 4a. All robots 4a, ..., 4n go into waiting position and the system goes on hold until at position 27 again products are supplied. Due to the then brought up number 28 of individual products 2 immediately a transition of control responsibility to one of the robots 4a, ..., 4n instead.
  • FIG. 6 This control transition is in FIG. 6 shown.
  • On the left side of the scheme is the case according to FIG. 5 represented where the threshold value 32 is not exceeded due to the decrease 30.
  • On the right side is the case according to FIG. 3 and 4 represented where the threshold 32 is exceeded.
  • It is essential that all robots 4c, ..., 4n are instructed immediately to fill the containers 3 as far as possible to the desired level of robot 4b and that at the same robot 4b takes control of the container belt 7. Only when point 30 has reached the actually responsible robot 4c,..., 4n, the nominal filling levels are lowered back to normal level. The then responsible robot takes control of the container belt 7 as soon as all the robots behind him are also below the desired level. Until then, robot 4b retains control of container belt 7.
  • the setpoint levels are set during the commissioning of robot road 1 for each type of individual product 2.
  • FIG. 7 is shown as an example for two grades how the nominal levels are set.
  • the curve 41 shows the desired filling levels for a single product 2, which in terms of numbers requires the entire capacity 100% of the robot road 1.
  • the setpoint levels rise linearly because there are no reserves available for a degressive increase in the level.
  • Curve 40 shows a declining slope - represented by points 40d and 40e.
  • curve 42 even with maximum introduction of the variety of individual products 2, only so many individual products 2 are introduced that the 70% capacity is required.
  • the robot 4d has the control responsibility over the container belt 7 at maximum delivery of individual products. This definition is shown by the lines 42c and 42d. Although Robot 4d has the responsibility, at his position in Robot Street 1 he will never completely fill the container, but only to about 55% as shown in point 42e.
  • a failure is compensated by, on the one hand, the desired levels of the still be adapted to operating robots and in that in the event of failure of a controlling robot, the immediately adjacent, underlying robot takes control of the pre-accession of the container 3.
  • the operating principle can also be applied to product band 6 and container band 7 running at an angle to each other, as long as the crossing region is large enough, although disadvantages must be accepted through this crossing and the resulting level differences and mutual covers of the individual transport devices 6 and 7.

Claims (19)

  1. Procédé pour introduire au moins une sorte de produits individuels (2) acheminés en lots dans un nombre donné de récipients (3) accueillant des produits individuels au moyen d'une chaîne robotisée (1) composée d'au moins deux robots (4a, 4b, 4c), les produits individuels (2) étant transportés de manière irrégulière jusqu'à une entrée de la chaîne robotisée (1) en vue de saisir ceux-ci individuellement dans une zone de transfert de la chaîne robotisée (1) et les introduire dans les récipients (3), et les produits individuels (2) ainsi que les récipients (3) étant acheminés à contre-courant ou au moins avec un effet de contre-courant sur au moins un dispositif de transport (6) pour les produits individuels (2) et sur au moins un dispositif de transport (7) pour les récipients (3), caractérisé en ce que
    la livraison d'un prochain récipient (3) à remplir dans la zone de transfert est commandée par un robot (4a, 4b, 4c) quelconque et en ce que
    le robot (4a, 4b, 4c) qui commande la livraison du prochain récipient (3) à remplir est déterminé à partir du nombre de produits individuels (2) actuellement acheminés à l'entrée de la chaîne robotisée (1).
  2. Procédé selon la revendication 1, caractérisé en ce que la distribution des produits individuels (2) qui se trouvent actuellement dans la zone de transfert de la chaîne robotisée (1) est prise en compte pour déterminer le robot (4a, 4b, 4c) qui commande la livraison du prochain récipient (3) à remplir.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce qu'un niveau de remplissage de consigne des récipients (3) est déterminé pour chaque robot (4a, 4b, 4c) et en ce que
    le niveau de remplissage de consigne des récipients (3) est défini croissant dans le sens de défilement des récipients et en ce que
    aucun produit individuel (2) n'est plus transféré dans le récipient (3) par chaque robot (4a, 4b, 4c) qui a atteint son niveau de remplissage de consigne et ne commande actuellement pas la livraison du prochain récipient (3) à remplir et en ce que
    le prochain récipient (3) à remplir est introduit dans la zone de transfert et le récipient (3) le plus à l'avant est évacué lorsque le robot (4a, 4b, 4c) qui commande actuellement la livraison du prochain récipient (3) à remplir a atteint son niveau de remplissage de consigne.
  4. Procédé selon la revendication 3, caractérisé en ce qu'une capacité de transfert maximale nécessaire est déterminée à l'avance pour chaque sorte de produits individuels (2) en se basant sur le nombre maximal de ceux-ci qui peut être acheminé ou en se basant sur d'autres caractéristiques déterminant la capacité et en ce que
    le robot (4a, 4b, 4c) qui commande la livraison du prochain récipient (3) à remplir est déterminé en se basant sur cette capacité de transfert maximale nécessaire lorsque le nombre maximal de cette sorte de produits individuels (2) est acheminé et en ce que
    le robot (4a, 4b, 4c) se trouvant derrière le récipient (3) dans le sens de défilement de ce dernier qui commande la livraison du prochain récipient (3) à remplir est déterminé en se basant sur cette capacité de transfert maximale nécessaire et une augmentation définie à l'avance des niveaux de remplissage de consigne lorsqu'un nombre inférieur au nombre maximal correspondant de cette sorte de produits individuels (2) est acheminé.
  5. Procédé selon la revendication 4, caractérisé en ce que la livraison du prochain récipient (3) à remplir est commandée par le premier robot dans le sens de défilement des récipients (1) lorsque le nombre acheminé de produits individuels (2) d'une sorte est inférieur à la capacité de transfert nécessaire de ce premier robot.
  6. Procédé selon la revendication 4, caractérisé en ce que tous les robots (4a, 4b, 4c) terminent leur mouvement de transfert actuel d'un produit individuel (2) et se rendent en position de repos et la bande de produits (6) est immobilisée dans la zone de transfert quand aucun produit individuel (2) n'est livré.
  7. Procédé selon la revendication 4, caractérisé en ce qu'une valeur de seuil est définie pour chaque sorte de produits individuels (2), laquelle correspondant à une valeur maximale de laquelle le nombre de produits individuels (2) de cette sorte acheminés à l'entrée peut diminuer au maximum pour que la livraison du prochain récipient (3) à remplir soit commandée par le robot (4a, 4b, 4c) correspondant à ce nombre de produits individuels (2) acheminés.
  8. Procédé selon la revendication 7, caractérisé en ce qu'en cas de dépassement de la valeur de seuil, l'avant-dernier robot dans le sens de défilement des récipients (3) commande la livraison du prochain récipient (3) à remplir et en ce que
    ce robot remplit entièrement les récipients (3) avant que celui-ci ne livre le prochain récipient (3) à remplir dans la zone de transfert et en ce que
    au niveau de tous les autres robots, le niveau de remplissage admissible est augmenté au niveau de remplissage de consigne de l'avant-dernier robot et en ce que
    dès que l'endroit sur la bande de produit (6) auquel le nombre de produits (2) acheminés a diminué atteint le robot qui commanderait la livraison du récipient (3) sur la base des produits (2) acheminés à l'entrée, les niveaux de remplissage admissibles pour tous les robots (4a, 4b, 4c) sont de nouveau abaissés au niveau de remplissage de consigne normal et en ce que
    ce robot prend en charge la commande de la livraison du prochain récipient (3) à remplir dès que celui-ci et tous les robots disposés derrière lui dans le sens de défilement des récipients (3) ne dépassent plus leur niveau de remplissage de consigne.
  9. Procédé selon les revendications 7 et 8, caractérisé en ce que la distribution des produits individuels (2) dans la zone de transfert est prise en charge pour le contrôle de la valeur de seuil.
  10. Procédé selon la revendication 4, caractérisé en ce qu'au moins une valeur de contrôle est déterminée pour chaque sorte de produits individuels (2) en se basant sur la capacité de transfert prédéfinie de chaque robot (4a, 4b, 4c) et en ce que
    en cas d'écart par rapport à cette valeur de contrôle, la vitesse d'au moins un robot (4a, 4b, 4c) et/ou la vitesse d'au moins un dispositif de transport (6, 7) est adaptée jusqu'à ce cette valeur de contrôle soit de nouveau atteinte.
  11. Procédé selon la revendication 4, caractérisé en ce qu'un groupe de récipients (3) rassemblés est traité par un robot (4a, 4b, 4c) comme un récipient (3) individuel.
  12. Procédé selon la revendication 4, caractérisé en ce qu'en cas de panne d'un robot (4a, 4b, 4c), les niveaux de remplissage de consigne de chaque robot (4a, 4b, 4c) sont adaptés et en ce que
    au moins l'une des informations suivantes est prise en compte pour déterminer le robot (4a, 4b, 4c) qui commande la livraison du prochain récipient (3) à remplir :
    - le nombre de produits individuels (2) actuellement acheminés,
    - les niveaux de remplissage de consigne adaptés,
    - le nombre de produits individuels (2) dans la zone de transfert,
    - un dépassement de la valeur de seuil ayant eu lieu.
  13. Procédé selon la revendication 4, caractérisé en ce que le transfert des produits individuels (2) dans les récipients (3) s'effectue en plus de manière optimisée sur la base d'une ou plusieurs caractéristiques de chaque produit individuel (2) en référence à au moins une autre caractéristique.
  14. Procédé selon l'une des revendications 1 à 13, caractérisé en ce que la commande de la chaîne robotisée (1) s'effectue par une commande (11) unique ou par plusieurs commandes (11a, 11b, 11c) individuelles des robots (4a, 4b, 4c) connectées les unes aux autres.
  15. Procédé selon la revendication 14, caractérisé en ce que les valeurs de données qui déterminent et décrivent les récipients (3) du point de vue de leurs caractéristiques de poids et/ou individuelle et/ou leur désignation de type sont co-transmises par la commande (11, 11a, 11b, 11c) de la chaîne robotisée (1) lors de l'évacuation des récipients (3) hors de la zone de transfert de la chaîne robotisée (1).
  16. Dispositif pour introduire des produits individuels (2) dans un nombre donné de récipients (3) accueillant des produits individuels (2) avec au moins deux robots (4a, 4b, 4c) disposés l'un derrière l'autre, les produits individuels (2) et les récipients (3) étant transportés étant acheminés à contre-courant ou au moins avec un effet de contre-courant sur au moins un dispositif de transport (6) pour les produits individuels (2) et sur au moins un dispositif de transport (7) pour les récipients (3),
    caractérisé en ce que
    le dispositif possède des moyens de commande (11, 11a, 11b, 11c) qui sont configurés de manière à permettre l'introduction des produits individuels (2) dans les récipients (3) selon l'un des procédés des revendications 1 à 15.
  17. Dispositif selon la revendication 16, caractérisé en ce qu'il existe au moins un capteur (8), notamment une caméra (9a, 9b, 9c), un détecteur photoélectrique, un détecteur de proximité, un système de traitement d'image 3D, une unité de pesage ou, à la place du capteur ou des capteurs, un bus de données vers le processus de production en amont des produits individuels (2) ou vers les commandes montées en amont et en aval en vue de déterminer le nombre de produits individuels (2) et en vue de déterminer la position, la position de rotation et la caractéristique de ces produits individuels (2).
  18. Dispositif selon la revendication 16 ou 17, caractérisé en ce que le dispositif possède des moyens qui permettent, pour chaque produit individuel (2) acheminé, une détermination du poids, de la caractéristique individuelle et/ou du type et en ce que les produits individuels (2) peuvent être introduits de manière sélective dans des récipients (3) conçus pour le poids, la caractéristique individuelle et/ou le type en fonction de cette détermination.
  19. Dispositif selon la revendication 18, caractérisé en ce que le dispositif possède une interface de données à laquelle, lors de l'évacuation de chaque récipient (3) hors de la zone de transfert de la chaîne robotisée (1), est transmise une valeur de données associé à ce récipient (3) qui correspond à la détermination du poids, de la caractéristique individuelle et/ou du type des produits individuels (2) introduits dans le récipient (3).
EP09156668.7A 2009-03-30 2009-03-30 Procédé et dispositif d'insertion de produits individuels dans des récipients dans une suite de robots Not-in-force EP2236424B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP09156668.7A EP2236424B1 (fr) 2009-03-30 2009-03-30 Procédé et dispositif d'insertion de produits individuels dans des récipients dans une suite de robots
US12/732,420 US8549818B2 (en) 2009-03-30 2010-03-26 Process and apparatus for introducing products into containers in a picker line

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09156668.7A EP2236424B1 (fr) 2009-03-30 2009-03-30 Procédé et dispositif d'insertion de produits individuels dans des récipients dans une suite de robots

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EP2236424A1 EP2236424A1 (fr) 2010-10-06
EP2236424B1 true EP2236424B1 (fr) 2016-02-24

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US20100242415A1 (en) 2010-09-30
EP2236424A1 (fr) 2010-10-06

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