EP2643220B1 - Verfahren und maschine für die robotische einwicklung palettisierter ladungungen mit einer abdeckung aus flexiblem kunststoffmaterial - Google Patents

Verfahren und maschine für die robotische einwicklung palettisierter ladungungen mit einer abdeckung aus flexiblem kunststoffmaterial Download PDF

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Publication number
EP2643220B1
EP2643220B1 EP11804717.4A EP11804717A EP2643220B1 EP 2643220 B1 EP2643220 B1 EP 2643220B1 EP 11804717 A EP11804717 A EP 11804717A EP 2643220 B1 EP2643220 B1 EP 2643220B1
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Prior art keywords
load
cover
transfer
axis
dta
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EP11804717.4A
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English (en)
French (fr)
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EP2643220A1 (de
Inventor
Jean-Christophe Jaconelli
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Thimon SAS
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Thimon SAS
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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
    • B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
    • 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
    • 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
    • B65B9/00—Enclosing successive articles, or quantities of material, e.g. liquids or semiliquids, in flat, folded, or tubular webs of flexible sheet material; Subdividing filled flexible tubes to form packages
    • B65B9/10—Enclosing successive articles, or quantities of material, in preformed tubular webs, or in webs formed into tubes around filling nozzles, e.g. extruded tubular webs
    • B65B9/13—Enclosing successive articles, or quantities of material, in preformed tubular webs, or in webs formed into tubes around filling nozzles, e.g. extruded tubular webs the preformed tubular webs being supplied in a flattened state
    • B65B9/135—Enclosing successive articles, or quantities of material, in preformed tubular webs, or in webs formed into tubes around filling nozzles, e.g. extruded tubular webs the preformed tubular webs being supplied in a flattened state for palletised loads

Definitions

  • a storage reel of the sheath is placed not far from the ground, and its axis extends parallel or at another angle to the transfer conveyor of the load to be packaged.
  • the unrolled sheath rises vertically along the machine to position its open end above the load to be packaged.
  • the unrolled sheath passes through a device of angle returns, before or after being mounted vertically along the machine to position its opening above the load to be packaged.
  • the transverse axis of supply of the sheath is merged with the transverse axis of the transfer and accumulation device, and the transverse axis of the load, and is fixed independently of the loads.
  • the documents EP1060988 and EP1574433B1 each describe a device for overpacking a palletized load by means of a cover prepared from a gusseted sleeve wound flat on a storage spool.
  • a gripper comprises an accumulation system on which is accumulated a portion of the sheath, a transfer arm of the roller towards the filling station, and a mechanism of separation of the cover during the downward movement around the load .
  • the sheath previously welded in the transverse direction is held in vertical position with the bellows solicited in opening by a positioning member.
  • the arm of the robot is animated by at least one horizontal translational movement to the filling station which runs perpendicularly to the filling station.
  • the document EP-A-395919 relates to a machine for packaging a palletized load by means of a heat-shrinkable film, comprising four vertical bars equipped with film grippers able to move up and down in the frame. It further includes an annular retraction furnace, a pair of horizontal sleepers and two trolleys that can move horizontally along the sleepers. The bars come closer when the carriage moves to the dispensing section, and move apart as the carriage moves over the load to be packaged. This mechanism also ensures the houssage. The movement of the carriage also runs perpendicularly to the filling station.
  • the transverse axis of the filling station is necessarily coincident with the axis of supply of the sheath. from the storage coil. This sometimes results in constraints of implantation of the storage reel of the sheath with respect to the positional constraints of the conveyor for feeding the load to be packaged.
  • the longitudinal axis of the packaged load is necessarily fixed and corresponds by construction to the longitudinal axis of the transfer and accumulation device. This requires positioning the load to be packaged at the filling station precisely along both axes. In most cases, the use of a device for transverse and / or longitudinal centering of the load to be packaged is used at the filling station or upstream of it.
  • a first object of the invention is to improve the method of preparing and removing a cover on a load to be packaged, to limit the constraints of implantation of the storage reel of the sheath with respect to the positional constraints of the carrier supply of the load to be packaged.
  • the positioning of the load can be either measured to define said position of the median transverse axis, or programmed in advance.
  • the robot is thus positioned according to a specific measurement or parameterization, and the load can be anywhere on the conveyor.
  • the position of the longitudinal axis of the load to be packaged is measured and / or programmed to allow longitudinal positioning of the transfer device and accumulation of the cover. This results in the possibility of removing the longitudinal centering device used in the prior art.
  • the perimeter of the sheath is calculated according to the largest perimeter of the load (union of the ground projection of the perimeters of the different planes of the load to be packaged).
  • the positioning of the transfer device and accumulation of the cover according to the axes of the upper plane of the load makes it possible to balance the functional clearance during the descent of the covering mechanism around the load. It also allows to work with a sheath whose perimeter is adjusted to that of the load to be packaged and therefore to reduce the amount of cover used.
  • the cover mechanism positions the gripping elements and spacing according to the position of the transfer device and accumulation of the cover.
  • the foaming mechanism controls the position of its gripping and spacing elements according to the position of the load to be packaged.
  • the load to be packaged may not be stopped in the foaming area.
  • the position of the transverse axis of the load is measured while it is being transported, so that the overshoot mechanism controls the position of its gripping and spreading elements of the cover so that they also follow the position of the load continuously.
  • the device can rotate relative to a vertical axis of a suitable angle, to ensure the proper introduction of the film on the gripping fingers and spacing. This results in the possibility of using a film adapted to the load to be packaged by limiting the impact of the size of the gripping fingers and spacing.
  • the device performs a combination of movements and rotations with respect to a horizontal axis of a suitable angle to ensure the proper introduction of the film on the grasping and spreading fingers. This results in the possibility of using a film adapted to the load to be packaged by limiting the impact of the size of the gripping fingers and spacing.
  • a second object of the invention is to provide a machine for shaping and removing a packaging cover on a palletized load, limiting the constraints of implantation of the storage reel of the sheath with respect to the constraints. position of the conveyor for bringing the load to be packaged and can use either a sheath with or without bellows and made of plastic or not.
  • the machine comprises a transfer and accumulation device comprising an accumulator element on which is wound a portion of the sheath, and a spacing mechanism of the open end of the sheath after transfer to the filling station.
  • a device for controlling and / or measuring the position and the angle of inclination of the load feed axis enables synchronization of the positioning control of the transfer device with the data of the load. measuring the position of the load, positioning said transfer device according to the position, in space, of the load to be packaged.
  • the transfer device may be configured to allow a new bellows duct to be positioned on the positioner members using the first reel, while continuing to operate using the second reel.
  • the reels can be located perfectly free in position, but also along an axis parallel, perpendicular or indifferent to the carrier.
  • the gripper can be positioned at a defined height level and in a space dedicated to maintenance allowing good accessibility for maintenance operations.
  • the gripper can prepare a new cover and anticipate the feeding of other foaming frames located in the accessible envelope.
  • a packaging machine 10 for a palletised CH load is composed of a first station 11 for preparing and shaping a cover 12 from a flexible plastic film, a second position 13 for the cover for removing the cover 12 on the load CH, and a transfer device 14 between the two positions 11, 13.
  • a conveyor 32 makes it possible to bring the charges CH into the second stuffing station 13 at a predetermined rate.
  • the control of the transfer device 14 is provided by a robot 15 having a multidirectional actuating arm 16 of the 4 or 5-axis type, for example a FANUC robot (registered trademark), controlled by a programmable processor control circuit.
  • a robot 15 having a multidirectional actuating arm 16 of the 4 or 5-axis type for example a FANUC robot (registered trademark), controlled by a programmable processor control circuit.
  • the packaging cover 12 is formed by a tubular sheath made of a flexible plastic film, for example polyethylene or any other flexible heat-shrinkable plastic material, or stretchable.
  • the plastic sheath has double V gussets, and is folded flat after winding around one or two reels 17, 18 for storage in the first station 11.
  • the sheath is unwound from one of the reels 17 passing through rollers 19, and is held in a vertical position in the first station 11, with the bellows solicited in spacing.
  • the gusseted film can also be replaced by a simple tubular sheath without gussets, and also folded flat on the coils 17, 18.
  • the organs of the first preparation station 11 are identical, only change the fingers of the deposition arm.
  • the removal arm is provided with shaping fingers and pinching.
  • the removal arm has pleating fingers and drawing associated with motorized rollers to ensure the accordion pleating of the cover on the lower part of the fingers.
  • a transfer and accumulation device DTA formed by an accumulator element 20 and a spacing mechanism 21 with four swinging arms 22 is rotatably mounted.
  • the accumulator element 20 comprises, for example, a motorized rotary roller 31 on which is wound a portion of the sheath, which is held by a retaining clip integrated in the roller 31.
  • the four swing arms 22 of the spacer mechanism 21 are equipped with grippers 23 for guiding and grasping the cover 12.
  • the sheath is welded transversely to form a heat-sealed connection, and a predetermined length of sheath is stored on the accumulator element 20 to constitute the cover 12.
  • FIGS. 1 to 4 illustrate a few operating cycles during the preparation, the transfer of the cover 12, and the cover on the load CH. These figures relate by way of example, a packaging machine with a stretch film sheath.
  • the first preparation station 11 comprises two storage coils 17, 18, and the robot 15 is placed on a support 24 between the two coils 17, 18 and facing the second stuffing station 13.
  • the actuating arm 16 of the robot 15 is rotatably mounted 360 ° about a vertical axis 25 on a rotatable base 26 of the support 24.
  • the actuating arm 16 can also pivot about a horizontal axis 27 to allow up and down movements . The travel The direction of the actuating arm 16 is thus possible above the two stations 11, 13.
  • the figure 2 illustrates the transfer of the cover 12 wound on the accumulator element 20 to the second filling station 13.
  • the four rocking arms 22 are actuated to the spaced apart position to cause the opening of the lower free end of the cover 12.
  • the fingers 28 can move horizontally along the removal arm 29 to be placed under the clamps 23 of the rocking arms 22.
  • the removal arm 29 is movable in the upward and downward direction by means of a control mechanism 30 in vertical translation.
  • the figure 4 shows the end of the foaming operation, the load CH being totally packed by the cover 12.
  • the deposition arm 29 is in the low position, and the robot 15 has moved the accumulator element 20 towards the first preparation station. a new cover.
  • the load CH to be packaged is transported by the conveyor to the area of foaming.
  • a control system 34 measures the position of the load CH when it is stopped.
  • the control system 34 is provided with a plurality of optoelectronic sensors distributed along a certain grid covering a surface greater than that of the top of the charge CH.
  • the different sensors 35 are electrically connected by connecting wires 36 to the control circuit 33 of the robot 15.
  • the positioning of the load (CH) can be programmed in advance after memory of certain parameters in the control circuit.
  • the load stops in a predetermined position, and the robot is placed in a programmed position, without requiring any prior measurement.
  • transverse center axis a1 of the load CH is perpendicular to the longitudinal axis a2 of the conveyor 32, and is separated by a distance D1 from the supply axis a3 of the sheath from the spool 17 This latter is placed parallel to the direction of movement of the conveyor 32.
  • the sensors 35 measure the position of the median transverse axis a1 of the load to be packaged with respect to the supply axis a2 of the sheath.
  • the control circuit 33 of the robot 15 causes the transfer and accumulation device DTA of the cover to move over the charge CH, synchronizing the positioning control of said device with the data of the measurement of the position of the load to pack.
  • the spool 17 is moved 90 ° extending parallel to the conveyor 32.
  • a return 37 redirects the sheath to the preparation station 38, and the direction of the supply axis a3 of the sheath is identical to the figure 6 .
  • the longitudinal median axis a4 of the load CH is different from the longitudinal axis a2 of the conveyor 32.
  • the control system 34 measures the position of the longitudinal central axis a4 of the load CH to be packaged to allow longitudinal positioning of the DTA transfer and accumulation device of the cover 12. This results in the possibility of removing the longitudinal centering device used in the prior art.
  • the longitudinal axis a2 of the conveyor 32 forms an angle A different from 90 ° with the supply axis a3 of the sheath.
  • the sensors then perform a measurement of the angular position of the two axes a1 and a2 of the charge CH to enable the device to be rotated. of transfer and accumulation DTA with respect to a vertical axis of a suitable angle.
  • the figures 10 and 11 show a load CH with a deformation which generally results from an offset of the upper plane of the load relative to the lower plane.
  • the control system 34 performs a measurement of the position of the two axes (transverse and longitudinal) of the upper plane of the load CH.
  • the transfer and accumulation device DTA of the cover 12 can then be positioned along these axes, and makes it possible to better balance the functional clearance during the descent of the covering mechanism around the load. It also allows to work with a sheath whose perimeter is adjusted to that of the load to be packaged and therefore to reduce the amount of cover used.
  • the CTA transfer and accumulation device can be positioned by the arm 16 of the robot 15 at a defined height level and in a space dedicated to maintenance allowing good accessibility for maintenance operations.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Basic Packing Technique (AREA)

Claims (9)

  1. Verfahren zum Formen und Aufziehen einer Verpackungshaube (12) auf einen palettisierten Gutstapel (CH), welche Haube aus einem Schlauch aus einer weichen Kunststofffolie hergestellt ist, der auf mindestens eine Lagerspule (17, 18) aufgerollt ist, Verfahren, das besteht in einer
    - Lagerung einer vorbestimmten Schlauchlänge auf einer Transport- und Stapelvorrichtung (DTA) zur Bildung einer an einem Ende geschlossenen Haube,
    - Aufnahme des entgegengesetzten offenen Endes und Herablassen der Haube (12) um den zu verpackenden Gutstapel (CH), wobei sie an vier Ecken abgespreizt gehalten wird,
    gekennzeichnet durch folgende Zwischenschritte:
    - Bestimmung der Position der mittleren Querachse (a1) des Gutstapels (CH) bezüglich der Zuführachse (a3) des Schlauchs,
    - und Bewegen der Transport- und Stapelvorrichtung (DTA) der Haube (12) über den Gutstapel (CH), wobei die Steuerung der Positionierung der Transport- und Stapelvorrichtung (DTA) mit den Daten der Position des Gutstapels (CH) synchronisiert ist.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Positionierung des Gutstapels (CH) durch Messung der Position der mittleren Querachse (a1) erfolgt.
  3. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Positionierung des Gutstapels (CH) so programmiert ist, dass der Roboter in eine vorbestimmte Position gebracht wird.
  4. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Position der mittleren Längsachse (a4) des Gutstapels (CH) zur Anpassung einer Längspositionierung der Transport- und Stapelvorrichtung (DTA) der Haube (12) gemessen und/oder programmiert wird.
  5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass die Position der mittleren Querachse (a1) und der mittleren Längsachse (a4) der oberen Ebene des Gutstapels (CH) zur Anpassung der Position der Transport- und Stapelvorrichtung (DTA) der Haube (12) gemessen und/oder programmiert wird.
  6. Verfahren nach Anspruch 4, gekennzeichnet durch eine Messung und/oder Programmierung der Winkelposition der Querachse (a1) und der Langsachsel (a4) des zu verpackenden Gutstapels (CH).
  7. Verfahren nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass der Überziehmechanismus die Finger (28) der Absetzarme (29) der Transportposition der Transport- und Stapelvorrichtung (DTA) und die Position des Gutstapels (CH) anpasst.
  8. Verpackungsmaschine, die von einem Roboter (15) gesteuert wird und umfasst:
    - eine Transport- und Stapelvorrichtung (DTA), auf die eine Haube (12) aufgewickelt ist,
    - einen Abspreizmechanismus (21) für das offene Ende der Haube (12) nach dem Transport in Richtung auf eine Überziehstation (13),
    dadurch gekennzeichnet, dass sie ein Kontrollsystem (34) mit Sensoren (35) umfasst, das dazu bestimmt ist, die Position und den Neigungswinkel der Zuführachse des Gutstapels zu messen, indem sie die Positionierungssteuerung der Transport- und Stapelvorrichtung (DTA) mit den Daten der Messung der Position des Gutstapels (CH) synchronisiert.
  9. Verpackungsmaschine nach Anspruch 8, dadurch gekennzeichnet, dass die Transport- und Stapelvorrichtung (DTA) eine Kombination aus Bewegungen und Drehungen bezüglich einer horizontalen Achse um einen Winkel ausführt, der so gewählt ist, dass er ein reibungsloses Aufziehen der Folie über die Greif- und Spreizfinger (28) sicherstellt.
EP11804717.4A 2010-11-22 2011-11-22 Verfahren und maschine für die robotische einwicklung palettisierter ladungungen mit einer abdeckung aus flexiblem kunststoffmaterial Active EP2643220B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1004538A FR2967648B1 (fr) 2010-11-22 2010-11-22 Procede et machine d'emballage par robot d'une charge palettisee au moyen d'une housse en matiere plastique souple
PCT/FR2011/000612 WO2012069712A1 (fr) 2010-11-22 2011-11-22 Procédé et machine d'emballage par robot d'une charge palettisée au moyen d'une housse en matière plastique souple.

Publications (2)

Publication Number Publication Date
EP2643220A1 EP2643220A1 (de) 2013-10-02
EP2643220B1 true EP2643220B1 (de) 2014-11-05

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EP11804717.4A Active EP2643220B1 (de) 2010-11-22 2011-11-22 Verfahren und maschine für die robotische einwicklung palettisierter ladungungen mit einer abdeckung aus flexiblem kunststoffmaterial

Country Status (7)

Country Link
US (1) US10343798B2 (de)
EP (1) EP2643220B1 (de)
CN (1) CN103370260B (de)
DK (1) DK2643220T3 (de)
ES (1) ES2527818T3 (de)
FR (1) FR2967648B1 (de)
WO (1) WO2012069712A1 (de)

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EP3753687B1 (de) 2015-09-01 2022-11-02 Berkshire Grey Operating Company, Inc. Systeme und verfahren zur bereitstellung von dynamischen robotischen steuerungssystemen
CA3178182A1 (en) 2015-09-08 2017-03-16 Berkshire Grey Operating Company, Inc. Systems and methods for providing high flow vacuum acquisition in automated systems
CN110049933A (zh) 2016-12-06 2019-07-23 伯克希尔格雷股份有限公司 用于提供车辆中的物体处理的系统和方法
ES2957704T3 (es) 2017-03-06 2024-01-24 Berkshire Grey Operating Company Inc Sistemas y métodos para mover eficientemente una variedad de objetos
CA3131913C (en) 2019-02-27 2024-10-15 Berkshire Grey Operating Company, Inc. SYSTEMS AND METHODS FOR ROUTING PIPE IN PROGRAMMABLE DISPLACEMENT SYSTEMS
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Also Published As

Publication number Publication date
ES2527818T3 (es) 2015-01-30
WO2012069712A8 (fr) 2014-04-17
CN103370260B (zh) 2015-03-04
FR2967648A1 (fr) 2012-05-25
WO2012069712A1 (fr) 2012-05-31
CN103370260A (zh) 2013-10-23
EP2643220A1 (de) 2013-10-02
DK2643220T3 (en) 2015-01-26
US10343798B2 (en) 2019-07-09
FR2967648B1 (fr) 2012-12-07
US20130232919A1 (en) 2013-09-12

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