EP2947018A1 - System zum Befüllen eines Kartons mit offener Oberseite mit Verpackungen - Google Patents

System zum Befüllen eines Kartons mit offener Oberseite mit Verpackungen Download PDF

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Publication number
EP2947018A1
EP2947018A1 EP14168890.3A EP14168890A EP2947018A1 EP 2947018 A1 EP2947018 A1 EP 2947018A1 EP 14168890 A EP14168890 A EP 14168890A EP 2947018 A1 EP2947018 A1 EP 2947018A1
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EP
European Patent Office
Prior art keywords
face
packages
package
conveyor belt
flipping platform
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
EP14168890.3A
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English (en)
French (fr)
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EP2947018B1 (de
Inventor
David Van den Houte
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.)
ABB Robotics Solutions NV
Original Assignee
Intrion NV
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Filing date
Publication date
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Priority to EP14168890.3A priority Critical patent/EP2947018B1/de
Publication of EP2947018A1 publication Critical patent/EP2947018A1/de
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Publication of EP2947018B1 publication Critical patent/EP2947018B1/de
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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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated 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
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/20—Feeding, e.g. conveying, single articles by reciprocating or oscillatory pushers
    • B65B35/205—Feeding, e.g. conveying, single articles by reciprocating or oscillatory pushers linked to endless conveyors
    • 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
    • B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
    • B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
    • 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
    • B65B5/08—Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
    • 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
    • B65B2210/00—Specific aspects of the packaging machine
    • B65B2210/02—Plurality of alternative input or output lines or plurality of alternative packaging units on the same packaging line for improving machine flexibility
    • 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
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages

Definitions

  • the invention relates to the field of packaging systems.
  • a packaging system comprises an input section, a robotic arm and an output section.
  • the individual packages or goods are delivered to the robotic arm by the input section.
  • the robotic arm then grips one or more packages, i.e., a set of packages and puts them in an open top box that is within range of the robotic arm at the output section.
  • the open top box is filled, it is transported away from the system and a new empty box is provided.
  • the invention relates to the packaging of triangular prism shaped packages such as for example used for packaging triangular shaped sandwiches as found in supermarkets and gas stations.
  • the packages might have to be turned around and placed in a box according to a certain pattern in order to fill the box in the most economical way, i.e., by avoiding as much as possible empty space in the box.
  • a disadvantage of this combined system is that it is only applicable to frustoconical shapes with a trapezoid cross section such as for example yoghurt pots. Moreover, it is very complex involving multiple robots and actuators. It is however not usable for triangular prism shaped package which may for example be used as a package for triangular shaped sandwiches. Such a package is disclosed in the patent application publications US20040134810 and KR20100013105 and is also illustrated in Fig. 4 . Due to the way these sandwiches are packed, these kind of packages may comprise a flap extending from one of the faces of the prism shape.
  • a system for filling an open top box with triangular prism shaped packages comprise a first and second triangular base and a first, second and third face.
  • the system further comprises:
  • the robotic arm thus repeatedly picks a set and places it in the open top box. It picks such a set by any exposed side of the packages and thus of the set. If it needs to pick a set from the bottom face, the set is flipped, i.e., turned onto the previously standing second face. This way, what was the bottom face before becomes the exposed face and, hence, the robotic arm can pick the set by the now exposed face. So every package on the infeed conveyor may either be flipped or not depending which face needs to be gripped by the robotic arm.
  • the set may be picked from their third or first face, meaning that they are picked by the third face or first face of all the packages in the set.
  • the sets are thus formed in the first position of the flipping platform by positioning the plurality of packages next to each other where the first base triangle of a first package is placed next and parallel to the second base triangle of a second neighbouring package in the set and so on. This way, the respective first, second and third faces of the packages form a single corresponding first, second and third face of the set, i.e. they form a single surface.
  • the rotatable plate For the flipping or rotation of the set from the first to second position of the flipping platform, the rotatable plate is positioned against the second face of the set, i.e. against the second face of all packages in the set forming a single surface. If the triangular prism shaped package has a right angle triangle cross-section, the rotatable plate will be orthogonal to the fixed base support. As the set is rotated together with the rotatable plate, the first face of the set will be lifted from the fixed base support and thus be exposed after the rotation.
  • the robotic arm may for example be provided by a six axis industrial robot allowing a set of packages to be gripped from any side with every needed degree of freedom.
  • An example of such a means is a vacuum gripper with a plurality of vacuum suction cups. During the gripping, every suction cup that touches the respective face to be gripped will stick to it. If for example a set of two packages needs to be picked, one subset of the suction cups will grip the face of the first package and another subset of the suction cups will grip the face of the second package.
  • the flipping may or may not be done for any set.
  • the flipping process is thus not restricted to a predefined repeating pattern. This allows gripping every single set by any desired face resulting in a very flexible way to fill any kind of open top box.
  • the flipping platform works with a plurality of packages at once, i.e., with a set. This allows filling the open top box with several packages at once thereby considerably increasing the packaging speed as the robotic arm has to travel less distance compared with when packaging with one package at a time.
  • the rotatable plate further comprises a fixator for fixating a corner of the set defined by the second face and the third face during the rotating from the first position to the second position thereby holding the set against the rotatable plate.
  • the fixator holds the upper corner, i.e., the corner between the second and third face of the set, against the rotatable plate. After the rotation, this fixator preferably releases this corner such that the set can be easily gripped by the robotic arm. As the fixator holds the corner of the complete set, the flipping is performed for the hole set. The fixator thus allows flipping the complete set at once.
  • the rotatable plate further extends around said second face underneath said first face thereby partially supporting said set in said first position and during said rotation from said first position to said second position.
  • the rotatable plate thus comprises two parts under an angle which is the same as the angle between the second and first face. Because of this, the corner between the first and second face of the set is also fixated with the rotatable plate during the rotation.
  • This extension of the rotatable plate may be used without the fixator, but then it is preferred that the gravity point of the set in the first position of the flipping platform is located above this extension and not above the bottom support. As with the fixator, this extension allows flipping the complete set at once.
  • system further comprises:
  • every time a package arrives at this blocker it is pushed onto the flipping platform which is in its first position and, hence, the package is pushed onto the bottom support with its second face aligned and preferably in contact with the rotatable plate.
  • this pushing is performed substantially orthogonal to the moving direction of the belt.
  • a second package arrives at the blocker it will be in the same orientation on the belt as was the previous package and will be pushed sideways onto the same flipping platform against the previous package.
  • the two packages then touch each other by their triangular bases and their respective first, second and third face form the respective first, second and third face of the set. This way the set is formed.
  • This pushing of packages is then repeated until the complete set is formed.
  • the flipping platform stays in its first position or optionally rotates to its second position and the set is picked from the flipping platform with the robotic arm by its respective third or first face.
  • the size of a set may be easily varied by changing the amount of packages or the width of the packages that are pushed onto the flipping platform before picking them with the robotic arm.
  • the packages further comprise a flap extending the third face beyond its first triangular base.
  • the conveyor belt is further configured to carry the packages with the third face first.
  • the moving arm is further configured to push a first package of the set against the first base triangle in a direction substantially orthogonal to the conveyor belt just until the first face is no longer on the conveyer belt.
  • the conveyer belt is further adapted to guide a second package of the set up to the blocker such that the third face of the second package is partially under and against the flap of the first package.
  • the moving arm is further configured to push the first and second package together onto the flipping platform by pushing against the first base triangle of the second package.
  • flaps are typically used for the sealing of food inside these triangular prism shaped packages, e.g. for sealing triangular sandwiches in a sandwich package. They also serve as a lip to easily remove the seal from the package. In order to form the sets, the flap of one package needs to overlap with the equivalent face of the neighbouring package otherwise excess space may be left between the upstanding triangular bases of neighbouring packages in a set.
  • the robotic arm is further configured to:
  • the open top box further comprises left and right side walls vertically attached to the bottom floor and left and right top covers parts in the top surface of the box respectively attached to the left and right side walls.
  • the base faces of the packages further corresponding to a substantially right-angled triangle.
  • the cross-section of the first and second set together placed in the open top box parallel to the base faces thereby corresponding to a right angled rectangle.
  • the robotic arm is then further configured to:
  • the top cover parts of the box may reinforce the box and make it easier to put a plurality of these boxes on top of each other. By filling the box in this way it allows turning the box on its left side without the packages sliding out of the box. This may be done in a shop to present the packages without taking them out of the box.
  • This putting the third set may comprise the following steps performed by the robotic arm:
  • the third package may pass through the opening in the box which is smaller than the first face of the package while the robotic arm grips the package by the top side, i.e., by the third face.
  • the system comprises a plurality of infeed conveyor assemblies each comprising such infeed conveyor belt and flipping platform.
  • the robotic arm is then further configured to releasably pick the set from any one of said plurality of such infeed conveyor assemblies.
  • the invention relates to a method for filling an open top box with triangular prism shaped packages. These packages comprising a first and second triangular base and a first, second and third face. The method comprising the following steps:
  • a packaging system for packaging triangular prism shaped packages Such packages are for example often used as a package for triangular shaped sandwiches and are typically sold in super markets or gas stations. Some terms used to define such a package will first be explained with reference to Fig. 4 . These terms will further be used systematically in the description of the various embodiments below.
  • Fig. 4 a single triangular prism shaped package 400 is shown.
  • the package comprises two triangular faces 405 and 406 further referred to as the bases of the package 400.
  • the three legs 115, 116 and 117 of both triangles 406 and 405 define the three respective faces 403, 401 and 402.
  • the longest face 403 is further referred to as the third face 403.
  • the bottom face 401 i.e., the face on which the package is placed when provided to the packaging system, is further referred to as the first face 401.
  • the standing face 402 is further referred to as the second face 402.
  • the triangular prism is a right angle triangle, then the longest edge or hypotenuse of the triangle defines the third or longest face 403.
  • such a triangular prism shaped package 400 may comprise a flap 404, i.e. one of the faces 401, 402 or 403 extending over one of the bases 405 or 406.
  • the extending flap 404 may be a result of the packaging of the sandwich itself whereby at the end one face is adhered to the other faces and bases of the prism.
  • the flap may also be used as a means to remove the seal of the package, i.e., to open the package 400.
  • the flap 404 is extending from the long or third face 403 over the base face 405.
  • Fig. 1 illustrates a packaging system 102 according to an embodiment of the invention.
  • the system 102 comprises an infeed conveyor assembly 100 to bring triangular prism shaped packages 105 till 109 as also shown in Fig. 4 towards the robotic arm 101.
  • the packages are fed into the system 102 by an infeed conveyor belt 114 that provides the packages along a direction 118 towards a stopper in the form of a bar 111.
  • the packages are positioned on the belt 114 such that a first face 401 of the triangular prism is on the belt, a second face 402 is trailing and a third face 403 is leading with respect to the moving direction 118 of the belt 114.
  • the two bases of the triangular prism are then positioned vertical and parallel to the moving direction 118 of the belt 114.
  • the packages are thus supported by means of their first face 401 on the belt 114.
  • the bar 111 is positioned just above the conveyor belt 114.
  • the packages then bump into the bar 111 with the third face 403 at the corner line 125 of the third face 403 and first face 401.
  • a moving arm 110 pushes the respective package away from the belt 114 onto a flipping platform 113 according to the direction 112 where a set 104 of packages is formed.
  • the direction 112 is substantially transvers to the moving direction 118.
  • a set may comprise one or more packages.
  • a set 104 of two packages 108-109 is formed on the flipping platform 113.
  • the next package 108 arrives at the bar 111 and is also pushed onto the platform 113.
  • the package 109 is already on the platform 113, it shifts also along the direction 112 when the next package 108 is pushed onto the platform 113.
  • This way a set 104 is created whereby the packages in a set touch each other by a base face.
  • the third face 403 of the packages and thus of the set faces upwards.
  • the flipping platform may also rotate backwards along the direction 122 into a second position as illustrated in Fig. 1-c ). In this second position, the first face 401 becomes exposed.
  • a robotic arm 101 then picks sets 104 from the flipping platform 113. This picking is done by gripping the set 104 at an exposed face, i.e., either the face 403 when the flipping platform is in the first position or face 401 when the platform is in the second position.
  • an exposed face i.e., either the face 403 when the flipping platform is in the first position or face 401 when the platform is in the second position.
  • the packages may be put in the open top box or container 121 in an easy and straightforward manner.
  • Fig. 5 illustrates how the robotic arm 101 may put right angled prism shaped packages 520 and 519 in an open top container 521 by gripping the packages from both the long top face 403 and the bottom face 401 as provided by the embodiment of Fig. 1 .
  • the robotic arm 101 brings the package 520 vertically along the direction 501 into the open top container 521, as shown in Fig. 5-a ). It then places the package 520 onto the bottom floor 522 of the open top container 521 as shown in Fig. 5-b ). Then, as illustrated by Fig.
  • the robotic arm places the second package 519 reversely on top of the first package such that the long faces 403 of the two packages 519 and 520 contact each other over their whole face. Again, as shown, this is performed by a vertical movement 503 of the robotic arm 101. Due to the fact that only the top part of the container 521 is open, the robotic arm must grip the package 519 from its top face when it would be in its desired position, i.e. from the first face 401. Therefore, the robotic arm will grip the package 519 form the flipping platform 113 in its second position exposing the first face 401. In this configuration, the two packages 519 and 520 have a rectangular cross section and are thus packaged in a place saving manner within the container 521. The steps according to Fig. 5-a ) till Fig. 5-c ) may be repeated in order to fill an open top box with packages.
  • the open top box 530 may further comprise small portions 530 and 531 extending inwards the box within the top surface plane. These extending portions are widely used for reinforcement of the box and for stacking boxes on top of each other. When boxes are stacked, the top box is then supported by these reinforcing extensions 530 and 531, also referred to as top cover parts 530 and 531. If these reinforcing extensions would not be present, the box on top would only be supported by the side wall of the box below. A small misalignment of the two boxes would cause the box on top to partially fall inside the box below which is an undesirable effect.
  • the reinforcing extensions may for example be provide on all sides of the box or only on two sides as illustrated by Fig.
  • reinforcing extensions are only present at the left and right side walls 533 and 532 of the box 521.
  • the reinforcing extensions may be present along a complete wall of the box but also only in the corners as a small triangular or rectangular piece fitted between and on top of two adjacent walls of the box 521.
  • Fig. 6 illustrates further steps performed by the robotic arm 101 to fill a box comprising such reinforcing extensions 530 and 531 according to an embodiment. Due to the reinforcing extension 530, the first and second sets of packages 520 and 519 cannot be place underneath the reinforcing extension 530. Therefore, after the sets have been vertically positioned in the box according to Fig. 5-c ), the robotic arm 101 pushes the two sets 520 and 519 together against the first wall of the second package 519 along the direction 610 underneath the reinforcing extension 530. Then, the robotic arm takes a third set of packages 617 from the flipping platform 113 in its first position by the third face 403 of the set. The set 617 is then positioned in a vertical direction 613 into the box 521.
  • the place 611 left in the box 521 at the right of the sets 520 and 519 may be substantially the same as the place 618 already taken by the sets 520 and 519. In this case, it may be impossible to position the set 617 in the box by a single vertical movement 613 because of the reinforcing extension 531 extending from the right wall 532 of the box.
  • the robotic arm rotates the set 617 in a clockwise direction 614 according to its final desired position in the box before the first face 401 of the set 617 passes the top surface 612 of the box 521. By this rotation, the horizontal cross-section of the set 617 is smaller than the opening left in the top of the box.
  • the robotic arm 101 passes the set 617 beyond the top surface 612 by moving the set 617 in a downward direction 613 in the box 521. After the set 617 has at least partly passed the top surface 612, the set 617 is rotated in a counter clockwise direction 615 to be in its desired orientation. It is then also positioned downwards 616 with its first face 401 onto the bottom floor 522 of the box 521.
  • the positioning of sets in an open top box with reinforcing extensions may be performed for any size of box and thus for any number of sets.
  • a box 521 When a box 521 has a width of two sets, i.e., of two times the first leg of a set, it may be filled according to the steps performed in Fig. 5 and Fig. 6 . A configuration as illustrated by Fig. 7-a ) will then be obtained.
  • This configuration has the advantage that the box 521 may be placed in an upright position without the package falling out of the box as illustrated by Fig. 7-b ).
  • the set 520 is stable on itself.
  • Set 519 would normally slip out of the box 521 diagonally along the third face of the set 520 but is held in place by the reinforcement extension 530.
  • Set 617 is again in a stable position by resting on its second face 402.
  • a filled box may for example be put in such an upright position when displaying the packages in a shop. This way, the package do not have to be removed from the box
  • the robotic arm 101 is equipped with engagement means 103 for gripping the packages from the flipping platform 113 and for releasing the packages in the open top container 121, 521.
  • This engagement means 103 may for example be a gripper with vacuum suction cups large enough to cover the faces of all packages in a set as known in the art. When gripping a set, each suction cup will attach to one of the exposed faces of the packages guaranteeing that the complete set is picked up by the robotic arm 101.
  • Fig. 2 illustrates a flipping platform 113 according to an embodiment.
  • the flipping platform 113 comprises a fixed horizontal support 201. Onto this support 201, the packages 108 and 109 are pushed by the moving arm 110 of Fig. 1-a ) in order to form the set 104. It also comprises a vertical support 202 against which the second face 402 of the package and thus the set is positioned when the platform is in its first position as illustrated by Fig. 2-a ). In this first position, the robotic arm 101 may grip the package by its third or long face 403. When the set 104 needs to be gripped by the first face 401, the platform 113 needs to be rotated to the second position.
  • a fixator 203 which is assembled onto the vertical support 202 fixates the upper corner 210 of the set 104, i.e. the corner defined by the second face 402 and third face 403. This is accomplished by vertically moving along the direction 211 a fixating part 204 onto the corner 210.
  • the support 202 rotates away from the fixed horizontal support 201 in the direction 205. This rotation as shown in Fig. 2-b ) is performed around the corner 212 defined by the second face 402 and first face 401 until the support 202 is substantially horizontal thereby exposing the bottom face 401.
  • the fixating part 204 is retracted 213 from the upper corner 210.
  • the fixator 203 has released the set 104, the set 104 may be picked up by the robotic arm by gripping the first face 401.
  • the rotatable plate 202 may further comprise an extension 220 that sits under the first face 401 of the set 104 when the flipping platform is in its first position.
  • This extension 220 will prevent the set 104 from sliding of the rotatable plate 202 in the beginning of the rotation 205. Such sliding will not influence the flipping of the set 104 as long as the fixating part 204 is made large enough. With this extension 220, the rotation 205 may this be performed more accurately.
  • the extension 220 may be made so large that the fixator 203 is no longer needed. To establish a rotation without fixator, the extension should at least extend beyond the centre of gravity of the set 104. On the other hand, the extension should be limited such that it does not cover the complete first face 401 of the set.
  • the bottom support 201 is a fixed horizontal bottom plate onto which the packages slide by the movement of the moving arm 110.
  • the support 201 it may also be another conveyor belt or roller track that allows moving the set in a predetermined direction before the flipping.
  • the triangular prism shaped packages may further comprise a flap 404 as illustrated in Fig. 4 .
  • a problem with such a flap is that the forming of a set 104 on the flipping platform 113 may fail. This is because the packages 108 and 109 are stopped by the bar 111 at the exact same position. When the moving arm 110 pushes the second package 108 against the first package 109, the flap of the first package 109 will obstruct the second package such that the bases of the packages will not be in contact with each other. This causes an empty space between the two packages 108 and 109 of the set.
  • Fig. 3 illustrates the infeed conveyor assembly according to a further embodiment alleviating this shortcoming.
  • the infeed conveyor belt is arranged in such a way that the packages 108-109 arrive against the bar 111 with the right base face 406 at the side of the conveyor belt 114, i.e., just not onto the flipping platform 113. In the embodiment of Fig. 3 this is accomplished by a guiding bar 303. Then, when the first package 109 arrives it is pushed by the moving arm 110 onto the flipping platform 113 such that the left base face 405 of the package 109 is on the platform, but the flap 404 still extends onto the conveyor belt 114. Then, the next package 108 is brought to the bar 111 by the conveyor belt 114.
  • the moving arm 110 By means of the guide 303, the front or third face 403 of this package 108 arrives under and against the flap 404 or the previous package 109.
  • the moving arm 110 then pushes the packages 108 and 109 together further onto the flipping platform 113. Depending on the amount of packages in a set, this process may be repeated for the further packages in the set.
  • the moving arm 110 may push the complete set further onto the flipping platform 113 for gripping by the robotic arm or for flipping it into the second position.
  • Fig. 8 illustrates a packaging system 802 according to an embodiment of the invention.
  • the system disclosed by Fig. 1 further comprises a same second infeed conveyor assembly 800 further comprising a second infeed conveyer belt 814, a second moving arm 810, a stopping bar 811 and a second flipping platform 813.
  • This second conveyor belt 814 brings package 805, 806 and 807 towards the flipping platform 813 on which a set 804 with packages 808 and 809 is formed by the moving arm 810.
  • the robotic arm 101 may then pick the sets 104, 804 from any of these assemblies. This may for example be done in an alternating way whereby sets are alternatingly picked from the first 100 and second 800 infeed conveyor assembly.
  • the packaging speed may be increased as more sets may be prepared for picking by the robotic arm 101 within the same time frame.
  • top, bottom, over, under, and the like are introduced for descriptive purposes and not necessarily to denote relative positions. It is to be understood that the terms so used are interchangeable under appropriate circumstances and embodiments of the invention are capable of operating according to the present invention in other sequences, or in orientations different from the one(s) described or illustrated above.

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  • Mechanical Engineering (AREA)
EP14168890.3A 2014-05-19 2014-05-19 System zum Befüllen eines Kartons mit offener Oberseite mit Verpackungen Active EP2947018B1 (de)

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EP2947018B1 EP2947018B1 (de) 2016-12-28

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017213014A1 (ja) * 2016-06-06 2017-12-14 川崎重工業株式会社 食品の詰め込み装置
WO2017213015A1 (ja) * 2016-06-06 2017-12-14 川崎重工業株式会社 食品の詰め込み装置
CN110062736A (zh) * 2016-12-09 2019-07-26 川崎重工业株式会社 食品的保持装置
CN111572868A (zh) * 2020-05-13 2020-08-25 潍坊中达凯盛机械科技有限公司 一种水平装箱机
CN111717459A (zh) * 2020-06-05 2020-09-29 天津津亚电子有限公司 一种包装盒翻转规正设备及其使用方法
EP3974331A1 (de) 2020-09-29 2022-03-30 Pilzland Produktions GmbH Vorrichtung und verfahren zur verpackung von verpackungseinheiten in sammelbehältern mit stapellaschen
EP3849909A4 (de) * 2018-09-14 2022-06-22 Graphic Packaging International, LLC. Verfahren und system zur anordnung von artikeln

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EP0242758A2 (de) * 1986-04-21 1987-10-28 CIBA LEASING S.r.l. Automatische Verpackungsmaschine speziell für Säcke mit mindestens einem geflachten Rand
DE4439446A1 (de) * 1994-11-04 1996-05-09 Heinrich Langhammer Vorrichtung zum Palettieren von Gegenständen mit schräg liegenden Oberflächen
GB2349634A (en) * 1999-05-04 2000-11-08 Spiral Packs Packaging for sandwiches
US20040134810A1 (en) 2002-12-10 2004-07-15 Money Julian David Kyrle Cartons for sandwiches or like foodstuff
EP1647485A1 (de) * 2004-10-15 2006-04-19 Bema - S.r.l. Maschine zum gruppenweisen Kartonieren von Gegenständen
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KR20100013105A (ko) 2008-07-30 2010-02-09 주식회사 아워홈 삼각 샌드위치용 포장 용기 패키지 및 그를 이용한 삼각샌드위치 포장 방법
EP2465783A1 (de) 2010-12-16 2012-06-20 Ambrine Partners Limited Maschine zum Verpacken von Gegenständen
US20120171008A1 (en) * 2009-09-04 2012-07-05 Tetra Laval Holdings & Finance S.A. Gripping head and a method of transferring a number of packages
US20120228085A1 (en) * 2009-09-17 2012-09-13 Tetra Laval Holdings & Finance S.A. system for rotating a number of packages
EP2500151A1 (de) 2011-03-16 2012-09-19 CAMA 1 SpA Maschine und Verfahren zur Kartonierung von Artikeln

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FR2303715A1 (fr) * 1975-03-12 1976-10-08 Fanini Vinicio Appareillage pour entasser en couches, dans des conteneurs en forme de boite ou analogue, des objets fabriques, tels que des petites boites, des sachets ou semblables
EP0242758A2 (de) * 1986-04-21 1987-10-28 CIBA LEASING S.r.l. Automatische Verpackungsmaschine speziell für Säcke mit mindestens einem geflachten Rand
DE4439446A1 (de) * 1994-11-04 1996-05-09 Heinrich Langhammer Vorrichtung zum Palettieren von Gegenständen mit schräg liegenden Oberflächen
GB2349634A (en) * 1999-05-04 2000-11-08 Spiral Packs Packaging for sandwiches
US20040134810A1 (en) 2002-12-10 2004-07-15 Money Julian David Kyrle Cartons for sandwiches or like foodstuff
EP1647485A1 (de) * 2004-10-15 2006-04-19 Bema - S.r.l. Maschine zum gruppenweisen Kartonieren von Gegenständen
WO2008057021A1 (en) * 2006-11-08 2008-05-15 Ecolean Research & Development A/S Device and method for placing containers of collapsible type in a distribution unit
KR20100013105A (ko) 2008-07-30 2010-02-09 주식회사 아워홈 삼각 샌드위치용 포장 용기 패키지 및 그를 이용한 삼각샌드위치 포장 방법
US20120171008A1 (en) * 2009-09-04 2012-07-05 Tetra Laval Holdings & Finance S.A. Gripping head and a method of transferring a number of packages
US20120228085A1 (en) * 2009-09-17 2012-09-13 Tetra Laval Holdings & Finance S.A. system for rotating a number of packages
EP2465783A1 (de) 2010-12-16 2012-06-20 Ambrine Partners Limited Maschine zum Verpacken von Gegenständen
EP2500151A1 (de) 2011-03-16 2012-09-19 CAMA 1 SpA Maschine und Verfahren zur Kartonierung von Artikeln

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017213014A1 (ja) * 2016-06-06 2017-12-14 川崎重工業株式会社 食品の詰め込み装置
WO2017213015A1 (ja) * 2016-06-06 2017-12-14 川崎重工業株式会社 食品の詰め込み装置
JP2017218268A (ja) * 2016-06-06 2017-12-14 川崎重工業株式会社 食品の詰め込み装置
JP2017218267A (ja) * 2016-06-06 2017-12-14 川崎重工業株式会社 食品の詰め込み装置
CN110062736A (zh) * 2016-12-09 2019-07-26 川崎重工业株式会社 食品的保持装置
EP3849909A4 (de) * 2018-09-14 2022-06-22 Graphic Packaging International, LLC. Verfahren und system zur anordnung von artikeln
CN111572868A (zh) * 2020-05-13 2020-08-25 潍坊中达凯盛机械科技有限公司 一种水平装箱机
CN111572868B (zh) * 2020-05-13 2021-11-12 合肥哈罗沃信息科技有限责任公司 一种水平装箱机
CN111717459A (zh) * 2020-06-05 2020-09-29 天津津亚电子有限公司 一种包装盒翻转规正设备及其使用方法
CN111717459B (zh) * 2020-06-05 2024-06-04 天津津亚电子有限公司 一种包装盒翻转规正设备及其使用方法
EP3974331A1 (de) 2020-09-29 2022-03-30 Pilzland Produktions GmbH Vorrichtung und verfahren zur verpackung von verpackungseinheiten in sammelbehältern mit stapellaschen
DE102020125419A1 (de) 2020-09-29 2022-03-31 Pilzland Produktions GmbH Vorrichtung und Verfahren zur Verpackung von Verpackungseinheiten in Sammelbehältern mit Stapellaschen

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