EP2960167B1 - System und zugehöriges Verfahren zur Sortierung mehrerer Schlauchbeutel mit salzigen Produkten - Google Patents

System und zugehöriges Verfahren zur Sortierung mehrerer Schlauchbeutel mit salzigen Produkten Download PDF

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Publication number
EP2960167B1
EP2960167B1 EP14425082.6A EP14425082A EP2960167B1 EP 2960167 B1 EP2960167 B1 EP 2960167B1 EP 14425082 A EP14425082 A EP 14425082A EP 2960167 B1 EP2960167 B1 EP 2960167B1
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EP
European Patent Office
Prior art keywords
pillow
conveyor belt
bags
support plane
advancement speed
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EP14425082.6A
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English (en)
French (fr)
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EP2960167A1 (de
Inventor
Alberto Vitaloni
Daniele Miotti
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Pai Industriale SpA
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Pai Industriale SpA
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Priority to EP14425082.6A priority Critical patent/EP2960167B1/de
Priority to ES14425082.6T priority patent/ES2612434T3/es
Publication of EP2960167A1 publication Critical patent/EP2960167A1/de
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Publication of EP2960167B1 publication Critical patent/EP2960167B1/de
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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
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • B65B5/064—Potato chips
    • 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
    • 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
    • B65B35/44—Arranging and feeding articles in groups by endless belts or chains

Definitions

  • the present invention relates to a system and a method for sorting a plurality of pillow bags containing salty products.
  • the present invention relates to a system and a method for sorting at a case packer a plurality of pillow bags containing salty products produced by a bagging machine.
  • the pillow bags are bags of the type having a symmetric upper and lower welding, and they are made by using a plastic film.
  • Such bags are intended to contain food products under protected conditions.
  • the pillow bags on which the supplying device according to the present invention is intended to operate are pillow bags containing salty snacks preferably having a bulk density ranging between 0.02 and 0.15 Kg/liter.
  • case packer in the context of the present invention, a machine that is able to form a box, usually made of cardboard, intended to contain a plurality of pillow bags.
  • the case packers intended to form a container, usually made of cardboard, intended to house pillow bags containing salty snacks have been long used in the salty snack production industry.
  • case packers are arranged downstream of the bagging machines and connected therewith by a conveyor belt, so as to directly connect the bagging machine intended to the formation and filling of the pillow bags to the case packer intended to insert the pillow bags into the cardboard container being formed. In this manner, it is possible to avoid the use of operators who provide for manually transferring the pillow bags into the cardboard containers, with apparent advantages.
  • the bagging machines are usually configured to supply the pillow bags that have been obtained and containing the salty snacks to a conveyor belt.
  • the pillow bags are individually supplied to the conveyor belt (one bag at a time) so as to obtain a single ordered row of bags.
  • Each bag is oriented parallel to the other ones, with the front portion thereof (carrying images and information regarding the bag contents) in contact with the rear portion (the portion opposite the front one) of the bag preceding it in the row.
  • the case packers usually provide for a forming line (or track), along which the container forming stations are arranged, which line extends along a rectilinear path.
  • the insertion of the bags in the forming line occurs perpendicularly thereto, so that the pillow bags are inserted into the container being formed.
  • the pillow bags have to be inserted into the cardboard containers in a preordered manner, i.e., orienting each pillow bag in a predetermined manner with respect to both the container and the other bags.
  • each type of container requires a specific ordering of the pillow bags.
  • each container is designed to contain a preset number of pillow bags, for example, six, eight, ten, etc. Since the containers move along a support plane at a predetermined speed, there is the tangible risk that some of such containers may contain a number of pillow bags less than the value that had been set when designing them.
  • US 2006 090424 A1 discloses a robotic packer for collating products.
  • the technical task underlying the present invention is to propose a system and relative method for sorting pillow bags containing salty products at a case packer which solves the above-mentioned drawbacks of the prior art.
  • a system for sorting pillow bags containing salty products at a case packer in accordance with the present invention has been generally indicated by the number 1 in Fig. 1 .
  • the system 1 comprises a loading station 2 to which a plurality of pillow bags 100, 101, ..., 100x, for example, bags of chips (which will be explicitly referred to herein below,) is sent, and a ordering station in which the bags 100, ..., 100x are ordered in a predetermined amount.
  • a loading station 2 to which a plurality of pillow bags 100, 101, ..., 100x, for example, bags of chips (which will be explicitly referred to herein below,) is sent, and a ordering station in which the bags 100, ..., 100x are ordered in a predetermined amount.
  • the loading station 2 is arranged at a supplying line of bags that come, for example, from a bagging machine (not shown), and it provides for a loading position at which the pillow bags are supplied, and an unloading position, opposite the loading position.
  • the ordering station 3 provides for a loading position that is at the loading station 2, and an unloading position, opposite the loading position, which is arranged at a case packer (not shown).
  • system 1 provides for:
  • both the conveyor belt 4 of the loading station 2 and the support plane 5 of the ordering station 3 provide at least one rotation of the conveyor belt 4 or the support plane 5, about an axis perpendicular to said lying plane, by at least 90°.
  • the conveyor belt 4 and the support plane 5 extend along parallel directions, i.e., the lying plane X and X' are mutually parallel.
  • the bags 100, 101, ..., 100x reach the conveyor belt 4 according to an ordered row, i.e., a pillow bag after another with a spacing interval (or, similarly, a time interval) between the various pillow bags that can be constant or uneven.
  • a spacing interval or, similarly, a time interval
  • the interval between the first bag and the second bag can be the same as or different from the interval between the second bag and the third bag, and so on.
  • the support plane 5 of the ordering station 3 is divided by a plurality of panels 6, 7 which turn out to be active on such support plane 5 to define a plurality of containing spaces 8 (or containers), each of which being intended to contain, i.e., to have a useful volume, suitable for a predetermined plurality of pillow bags 100, 101, ..., 100x, for example of six, eight, or ten pillow bags.
  • each containing space 8 is defined by at least two of the panels 6 that are stationary with respect to the support plane 5 so as to identify side containment edges for the same pillow bags.
  • some of the panels are movable between a containment condition, in which they engage said support plane 5 and define transversal containment edges with respect to the side containment edges 6, and a supine condition, in which they do not engage the support plane 5.
  • suitable mechanisms configured to obtain a packaging, for example made of cardboard, are provided for, which are capable of collecting the plurality of pillow bags that are present in the containing space 8.
  • the system 1 comprises robotic gripping means 9 configured to grasp a pillow bag at a time from the ordered row of pillow bags 100, 101, ..., 100x present on the conveyor belt 4 and to put it into a containing space 8 of the support plane 5 of the ordering unit 3.
  • the robotic gripping means 9 comprise an electrically-actuated robotic arm provided with gripping members of the pneumatic type to grasp a pillow bag without damaging the contents thereof and to put it into the containing space 8.
  • the containing space 8 that is first created on the support plane 5 is filled first, by the robotic gripping means 9.
  • the containing spaces are filled by filling the first space created by the plurality of panels 6, 7.
  • the system comprises means 10 for detecting the instant of passage of each bag of the row of pillow bags 100, 101, ..., 100x with reference to the conveyor belt 4.
  • the detecting means 10 are configured to generate a passage signal S1 relative to each pillow bag 100, 101, ..., 100x detected by the detecting means 10.
  • Such a passage signal S1 is representative of the time instant at which the pillow bag has passed in the reference axis of the detecting means 10.
  • the detecting means 10 are associated with the conveyor belt 4 so as to intercept the pillow bags transiting on such conveyor belt 4.
  • the detecting means comprise a photocell or a similar device for functions that are known in the operation thereof to those skilled in the art; therefore, they are not described herein.
  • the system 1 comprises processing and control means 11 in signal communication with the detecting means 10 and electrically connected with the gripping means 9.
  • the processing and control means 14 are remote with respect to the loading station 2 and with respect to the ordering station 3.
  • the processing and control means 11 are housed, for example, in a closet or containing case.
  • the processing and control means 11 comprise a firmware, i.e., a program, i.e., a sequence of instructions, directly integrated in the processing and control means 11, for:
  • the advancement speed v1 of the conveyor belt 4 is constant, while the second advancement speed v2 is variable as a function of the position signal S2.
  • the processing and driving means 11 comprise a memory, a processing unit, and one or more of data input/output boards.
  • the value of the advancement speed v1 of the conveyor belt 4 and the length L thereof is stored in such memory.
  • the processing and driving means 11 receive the passage signal S1 which is generated by the detecting means 10, and, with such signal S1 and the value of the advancement speed v1, which is preferably constant, being known, as well as the length L of the conveyor belt 4, and they identify the position of each pillow bag 100, 101, ..., 100x (signal S2) with respect to the length L of the same conveyor belt.
  • each bag 100, 101, ..., 100x In order to determine the spatial position of each bag 100, 101, ..., 100x, it is provided to take, as an initial reference for the length L, the position where the detecting means 10 are arranged.
  • the detecting means 10 are arranged in the loading position of the conveyor belt 4, i.e., in the portion of the conveyor belt 4 at which the pillow bags 100, 101, ..., 100x are received from the bagging machine.
  • the origin point, from which the calculation of the linear length L of the conveyor belt 4 starts, matches with the point at which there is the association of the detecting means 10 with the same conveyor belt. Since the width I of the conveyor belt 4 is substantially equal to the width of a pillow bag 100, the signal S2 actually represents the position with respect to the lying axis X of the conveyor belt 4.
  • the processing and driving means 11 process the driving signal S3 when the gripping means 9 take one of the pillow bags in order to put it into the first one of the containers 8 present on the support plane 5.
  • the driving signal S3 is generated and sent to the motor means 3A of the ordering station 3.
  • Such a driving signal S3 is configured to change the value of the advancement speed v2 so as to change the advancement speed of the support plane 5, hence of the containers 8.
  • the driving signal S3 is generated as a function of the position where (i.e., the spatial coordinate in the abscissa along the horizontal lying plane X of the conveyor belt 4) each pillow bag 100, 101, ..., 100x on the conveyor belt 4 is withdrawn by the gripping means 9.
  • the driving signal S3 is configured to increase the second advancement speed v2 when the position signal S2 is indicative of a position (i.e., the spatial coordinate in the abscissa 1 along the horizontal lying plane X of the conveyor belt 4) downstream of a reference point Pr, while the driving signal S3 is configured to decrease the second advancement speed v2 when the position signal S2 is indicative of a position (i.e., of a withdrawing point by the gripping means 9) upstream of the reference point of reference Pr.
  • the reference point Pr indicates the spatial coordinate along the horizontal lying plane X of the conveyor belt 4, i.e., the coordinate in the abscissa with respect to the origin, which is arranged at the point where the detecting means 10 are located.
  • the reference point Pr can be located in the middle of the length 2 L of the lying plane of the conveyor belt 4, i.e., Pr has as its coordinate in the abscissae a value equal to half the linear length L of the conveyor belt 4.
  • the gripping means 9 deposit the pillow bag into the container 8, which is free to receive it.
  • a container 8 is the one that is the nearest to the unloading position located at the case packer.
  • the processing and driving means 11 store in a memory portion thereof, beside to data relating to the advancement speed v1, the length L of the conveyor belt 4, the firmware, as well as the position of the reference point Pr, also the number of pillow bags already deposited into a specific container 8.
  • the amount of pillow bags that each containing space 8 may house being known, and being provided that the gripping means 9 continue to withdraw and deposit the pillow bags in the same containing space 8 until reaching the maximum capacity value of the containing space 8.
  • a memory register is provided, into which it is tracked, by an incremental counter, of how many pillow bags 100, 101, ..., 100x have been already deposited into a specific containing space 8.
  • the value representative of the maximum amount of pillow bags housable in the containing space 8 being known, for example, six, eight, or ten, it is provided for to track, for example by the updatable counter, the number of pillow bags put into an individual containing space 8.
  • the gripping means will continue to deposit the pillow bags in such individual containing space 8 until when the number of pillow bags transported in an individual containing space 8 is less than or equal to the value representative of the maximum amount of pillow bags housable in the containing space 8.
  • the advancement speed v2 of the support plane 5 can be varied also as a function of the amount of pillow bags (for example, six, eight, or ten, etc.) housable in each container 8.

Claims (15)

  1. System (1) zum Sortieren einer Vielzahl von Kissenbeuteln (100, 101, ..., 100x), die salzige Produkte enthalten, umfassend:
    - eine Beladestation (2), umfassend ein Transportband (4), das sich über eine vorgegebene Länge (L) längs einer ersten, horizontalen Liegeebene (X) erstreckt, erste Motormittel (2A), um das Transportband (4) mit einer ersten Vorschubgeschwindigkeit (v1) zu bewegen, um eine Reihe von Kissenbeuteln (100, 101, ..., 100x) von einer Beladeposition zu einer Entladeposition zu transportieren;
    - eine Ordnungsstation (3), umfassend eine Auflageebene (5), die sich längs einer zweiten, horizontalen Liegeebene (X') erstreckt und dazu dient, eine Vielzahl von Kissenbeuteln (100, 101, ..., 100x) aufzunehmen und zu tragen, zweite Motormittel (3A), um die Auflageebene (5) mit einer zweiten Vorschubgeschwindigkeit (v2) von einer Beladeposition zu einer Entladeposition zu bewegen;
    - eine Vielzahl von auf die Auflageebene (5) wirkenden Platten (6, 7), um eine Vielzahl von Aufnahmeräumen (8) zu definieren, die jeweils dazu dienen, eine vorgegebene Vielzahl von Kissenbeuteln (100, 101, ..., 100x) aufzunehmen;
    - roboterartige Greifmittel (9), die dazu ausgebildet sind, einen Kissenbeutel einzeln aus der Reihe der auf dem Transportband (4) befindlichen Kissenbeutel (100, 101, ..., 100x) aufzunehmen und ihn in einen auf der Auflageebene (5) definierten Aufnahmeraum (8) zu legen;
    - Erfassungsmittel (10) zum Erfassen der Raumposition von jedem Beutel in der Reihe von Kissenbeuteln (100, 101, ..., 100x), wobei die Erfassungsmittel (10) mit dem Transportband (4) in der Nähe der Beladeposition verbunden und entsprechend ausgebildet sind, um ein Durchgangssignal (S1) beim Durchgang von jedem auf dem Transportband (4) befindlichen Kissenbeutels (100, 101, ..., 100x) zu erzeugen, wobei das Durchgangssignal (S1) repräsentativ für den Zeitpunkt ist, an dem der Kissenbeutel (100, 101, ..., 100x) durchgegangen ist;
    - Verarbeitungs- und Antriebsmittel (11) in Signalverbindung mit den Erfassungsmitteln (10) und elektrisch verbunden mit den Greifmitteln (9) und mit den zweiten Motormitteln (3A), wobei die Verarbeitungs- und Antriebsmittel (11) eine Firmware umfassen, die ausgebildet ist zum:
    - Verarbeiten des Durchgangssignals (S1) in Abhängigkeit von der ersten Vorschubgeschwindigkeit (v1) und der Länge (L) des Transportbands (4), um ein Positionssignal (S2) zu erzeugen, das die Position identifiziert, die jeder Kissenbeutel (100, 101, ..., 100x) bezogen auf das Transportband (4) einnimmt, und
    - Erzeugen eines Ansteuersignals (S3), um die zweiten Motormittel (3A) anzusteuern, um die zweite Vorschubgeschwindigkeit (v2) in Abhängigkeit von dem Positionssignal (S2) zu ändern.
  2. System nach Anspruch 1, wobei das Ansteuersignal (S3) ausgebildet ist, um die zweite Vorschubgeschwindigkeit (v2) zu erhöhen, wenn das Positionssignal (S2) auf eine Position stromabwärts einer Bezugsachse (Pr) hinweist.
  3. System nach Anspruch 1, wobei das Ansteuersignal (S3) ausgebildet ist, um die zweite Vorschubgeschwindigkeit (v2) zu vermindern, wenn das Positionssignal (S2) auf eine Position stromaufwärts einer Bezugsachse (Pr) hinweist.
  4. System nach einem beliebigen der vorstehenden Ansprüche, wobei die Verarbeitungs- und Antriebsmittel (11) einen aktualisierbaren Zähler in Abhängigkeit von der Zahl der Kissenbeutel (100, 101, ..., 100x) umfasst, die entnommen und in den Aufnahmeraum (8) gelegt wurden.
  5. System nach einem beliebigen der vorstehenden Ansprüche, wobei jeder Aufnahmeraum (8) durch mindestens zwei (6) der Platten (6, 7) definiert ist, die feststehend mit der Auflageebene (5) sind, um seitliche Eingrenzungskanten für die Kissenbeutel (100, 101, ..., 100x) zu definieren, und einige der Platten (7) zwischen einer Eingrenzungslage, in der diese die Auflageebene in Eingriff nehmen und Quereingrenzungskanten bezogen auf die seitlichen Eingrenzungskanten definieren, und einer Rückenlage bewegbar sind, in der diese die Auflageebene (5) nicht in Eingriff nehmen.
  6. System nach Anspruch 1, wobei das Transportband (4) und/oder die Auflageebene (5) für den Durchgang zwischen der Beladeposition und der Abladeposition und umgekehrt durch eine Rotation des Transportbands (4) und/oder der Auflageebene (5) um eine senkrecht zur Liegeebene (X, X') stehende Achse von mindestens 90°sorgen.
  7. System nach Anspruch 1, wobei die Greifmittel (9) einen elektrisch betätigten Roboterarm mit pneumatischen Greifmitteln umfassen.
  8. System nach Anspruch 1, wobei die Erfassungsmittel (10) eine Fotozelle umfassen, die an der Beladeposition des Transportbands (4) angeordnet ist.
  9. System nach Anspruch 1, wobei die Verarbeitungs- und Antriebsmittel (11) einen Speicher, einen Mikroprozessor und eine oder mehrere Dateneingabe-/Datenausgabevorrichtungen umfassen, die ausgebildet sind, um mit den ersten und/oder zweiten Motormitteln (2A, 3A), den Greifmitteln (9) und den Erfassungsmitteln (10) zusammenzuwirken, wobei der Speicher in Signalverbindung mit dem Mikroprozessor steht, wobei der Speicher einen Speicherbereich aufweist, der dazu dient, mindestens die Firmware, die Werte der ersten Geschwindigkeit (v1), die Länge (L) des Transportbands (4) und den im aktualisierbaren Zähler enthaltenen Wert dauerhaft zu speichern.
  10. System nach Anspruch 1, wobei das Transportband (4) und die Auflageebene (5) entlang denselben Richtungen bewegbar sind.
  11. System nach Anspruch 1, wobei das Transportband (4) und die Auflageebene (5) sich in parallele Richtungen erstrecken.
  12. Verfahren zum Sortieren einer Vielzahl von Kissenbeuteln (100, 101, ..., 100x), die salzige Produkte enthalten, umfassend folgende Schritte:
    - Erfassen eines Durchgangszeitpunkts (S1) von jedem Kissenbeutel in einer Reihe von Kissenbeuteln (100, 101, ..., 100x), die von einem ersten Transportband (4) getragen werden, das sich über eine vorgegebene Länge (L) längs einer ersten horizontalen Liegeebene (X) erstreckt, wobei das Transportband (4) mit einer ersten konstanten Vorschubgeschwindigkeit (v1) bewegbar ist;
    - Entnehmen jeweils eines Kissenbeutels durch Feststellen seiner Raumposition (S2) in Abhängigkeit vom Durchgangszeitpunkt (S1), von der ersten konstanten Vorschubgeschwindigkeit (v1) und der vorgegebenen Länge (L) des Transportbands (4);
    - Ablegen des entnommenen Kissenbeutels in einen Aufnahmeraum (8), der auf einer Auflageebene (5) definiert ist, die mit einer zweiten Vorschubgeschwindigkeit (v2) bewegbar ist;
    - Ändern der zweiten Vorschubgeschwindigkeit (v2) der Auflageebene (5) in Abhängigkeit von der Raumposition zum Entnehmen des Kissenbeutels bezogen auf eine Bezugsachse (Pr).
  13. Verfahren nach Anspruch 12, wobei der Schritt des Änderns der zweiten Vorschubgeschwindigkeit (v2) der Auflageebene (5) eine Erhöhung der zweiten Vorschubgeschwindigkeit (v2) vorsieht, wenn die Raumposition zur Entnahme des Kissenbeutels sich stromabwärts der Bezugsachse (Pr) befindet.
  14. Verfahren nach Anspruch 12, wobei der Schritt des Änderns der zweiten Vorschubgeschwindigkeit (v2) der Auflageebene (5) eine Verminderung der zweiten Vorschubgeschwindigkeit (v2) vorsieht, wenn die Raumposition zur Entnahme des Kissenbeutels sich stromaufwärts der Bezugsachse (Pr) befindet.
  15. Verfahren nach Anspruch 12, umfassend folgende Schritte:
    - Ermitteln eines Werts, der repräsentativ für die vorgegebene Vielzahl von Beuteln von Kissenbeuteln ist, die in dem Aufnahmeraum (8) untergebracht werden können;
    - Überwachen der Zahl von Kissenbeuteln, die in einen individuellen Aufnahmeraum (8) gelegt wurden;
    - Wiederholen der Schritte des Entnehmens des einzelnen Kissenbeutels durch Feststellen seiner Raumposition (S2) bis die Zahl der Kissenbeutel, die in einen individuellen Aufnahmeraum (8) befördert wurden, kleiner oder gleich dem Wert ist, der repräsentativ für die Höchstmenge an Kissenbeuteln ist, die in dem Aufnahmeraum (8) untergebracht werden können.
EP14425082.6A 2014-06-26 2014-06-26 System und zugehöriges Verfahren zur Sortierung mehrerer Schlauchbeutel mit salzigen Produkten Active EP2960167B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP14425082.6A EP2960167B1 (de) 2014-06-26 2014-06-26 System und zugehöriges Verfahren zur Sortierung mehrerer Schlauchbeutel mit salzigen Produkten
ES14425082.6T ES2612434T3 (es) 2014-06-26 2014-06-26 Sistema y procedimiento relacionado para clasificar una pluralidad de bolsas de tipo almohada que contienen productos salados

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14425082.6A EP2960167B1 (de) 2014-06-26 2014-06-26 System und zugehöriges Verfahren zur Sortierung mehrerer Schlauchbeutel mit salzigen Produkten

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EP2960167A1 EP2960167A1 (de) 2015-12-30
EP2960167B1 true EP2960167B1 (de) 2016-10-26

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ES (1) ES2612434T3 (de)

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CN107352077B (zh) * 2017-08-25 2023-02-24 上海珂明注塑系统科技有限公司 一种刀叉勺的分拣装盒装置

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US6711880B2 (en) * 2001-05-23 2004-03-30 Sig Pack Systems Ag Apparatus for, and method of, feeding piece goods to a tubular-bag packaging station
US20060090424A1 (en) * 2004-11-01 2006-05-04 Miroslaw Tokarz Method and system for top loading of containers such as cartons, cases and trays, etc.
US8316624B2 (en) * 2006-01-26 2012-11-27 Blueprint Holding B.V. Cassette for receiving flexible packs, as well as method for the formation of a group of packs
GB0816630D0 (en) * 2008-09-11 2008-10-22 Meadwestvaco Packaging Systems Llc Packaging apparatus and method

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ES2612434T3 (es) 2017-05-16

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