EP2960169B1 - 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
EP2960169B1
EP2960169B1 EP14425081.8A EP14425081A EP2960169B1 EP 2960169 B1 EP2960169 B1 EP 2960169B1 EP 14425081 A EP14425081 A EP 14425081A EP 2960169 B1 EP2960169 B1 EP 2960169B1
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EP
European Patent Office
Prior art keywords
conveyor belt
pillow
gadget
advancement speed
bags
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EP14425081.8A
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English (en)
French (fr)
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EP2960169A1 (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 ES14425081.8T priority Critical patent/ES2612433T3/es
Priority to EP14425081.8A priority patent/EP2960169B1/de
Publication of EP2960169A1 publication Critical patent/EP2960169A1/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
    • 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
    • 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
    • B65B61/20—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents

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.
  • the bulging shape of the pillow bags makes controlling the spatial orientation thereof very difficult, which is the reason the bagging machine supplies a conveyor belt with an ordered row of pillow bags in mutual contact.
  • the bagging machines have variable manufacturing rates of the pillow bags, i.e., the manufacturing thereof is not constant over time.
  • 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.
  • EP 2 631 185 A1 discloses a packing device for packing articles of at least two varieties into a packing box, whereby products are exchanged from different supply lines using a pick-and-place robot.
  • 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 first loading station 2 to which a plurality of pillow bags 100, for example, bags of chips (which will be explicitly referred to herein below) is sent, a second loading station 3 to which a plurality of gadgets 200 (which will be explicitly referred to herein below) or pillow bags, for example bags of chips, is sent, and an ordering station 6 and a ordering station in which the bags 100 and the gadget 200 are ordered in a predetermined amount.
  • a plurality of pillow bags 100 for example, bags of chips (which will be explicitly referred to herein below) is sent
  • a second loading station 3 to which a plurality of gadgets 200 (which will be explicitly referred to herein below) or pillow bags, for example bags of chips, is sent
  • an ordering station 6 and a ordering station in which the bags 100 and the gadget 200 are ordered in a predetermined amount.
  • the first 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 second loading station 3 is arranged at a hopper (not shown) from which the gadgets are dispensed, and is provides for a loading position at which the gadgets are supplied, and an unloading position, opposite the loading position.
  • the ordering station 6 provides for a loading position that is at both the first loading station 2 and the second loading station 3, 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 and 5, respectively of the loading station 2 and 3, and the support plane 7 of the ordering station 6 provide at least one rotation of the conveyor belts 4, 5, or the support plane 7, about an axis perpendicular to said lying plane, by at least 90°.
  • the conveyor belts 4, 5 and the support plane 7 extend along parallel directions, i.e., the lying planes X, X', and X" are mutually parallel.
  • the bags 100 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 bags 100 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 gadgets 200 reach the conveyor belt 5 in a scattered order, i.e., the gadgets are arranged unevenly.
  • the width 12 of the conveyor belt 5 of the second loading station 3 is larger than the width 11 of the conveyor belt 4 of the first loading station 2.
  • the first advancement speed v1 of the conveyor belt 4 of the first loading station 2 is equal to a speed v2 of the conveyor belt 5 of the second loading station 3.
  • the support plane 7 of the ordering station 6 is divided by a plurality of panels 8, 9, which turn out to be active on such support plane 7 to define a plurality of containing spaces 10 (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, for example of six, eight, or ten pillow bags, plus possible further gadgets 200, for example one, two, three, and so on, or equal to the number of the pillow bags 100 to be inserted.
  • each containing space 10 is defined by at least two of the panels 8 that are stationary with respect to the support plane 7 so as to identify side containment edges for the same pillow bags.
  • some of the panels 9 are movable between a containment condition, in which they engage said support plane 7 and define transversal containment edges with respect to the side containment edges 8, and a supine condition, in which they do not engage the support plane 7.
  • 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 14 having a predetermined gripping radius R.
  • the gripping radius R identifies the area inside which such robotic gripping means 14 are suitable to operate.
  • the gripping radius R is such to extend at least partially on a portion of the first conveyor belt 4 and of the second conveyor belt 5.
  • the gripping radius R extends in the proximity of the unloading position of the aforesaid conveyor belts 4 and 5.
  • the robotic gripping means 14 are configured to grasp:
  • the gripping means 14 comprise an electrically-actuated robotic arm provided with gripping members of the pneumatic type to grasp a pillow bag 100 or the gadget 200 without damaging the contents thereof and to put it into the containing space 10.
  • the containing space 10 that is first created on the support plane 7 is filled first, by the robotic gripping means 14.
  • the containing spaces are filled by filling the first space created by the plurality of panels 8, 9.
  • the system comprises means 12 for detecting the instant of passage of each bag of the row of pillow bags 100 with reference to the conveyor belt 4.
  • the detecting means 12 are configured to generate a passage signal S1 relative to each pillow bag 100.
  • Such a passage signal S1 is representative of the time instant at which the pillow bag has passed in the reference axis Y of the detecting means 10.
  • the detecting means 12 are associated with the conveyor belt 4 (preferably, with the frame of the loading station 2) so as to intercept the pillow bags 100 transiting on such conveyor belt 4.
  • the detecting means 12 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 detecting means 13 of the position of each gadget 200 with reference to the conveyor belt 5.
  • the detecting means 13 are arranged in the proximity of the second loading station 3 and can be associated to the frame of the latter, or be arranged remotely.
  • the detecting means 13 configured for generating a position signal S2 relating to the position of each gadget bag 200 with respect to the lying axis X'.
  • the detecting means 13 are associated to the conveyor belt 5 so as to intercept the gadgets 200 transiting on such conveyor belt 5.
  • the detecting means 13 comprise a video camera 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 14 in signal communication with the detecting means 12, 13 and electrically connected with the gripping means 14.
  • processing and control means 14 are remote with respect to the loading station 2 and 3 and with respect to the ordering station 6.
  • processing and control means 14 are housed, for example, in a closet or containing case.
  • the processing and control means 15 comprise a firmware, i.e., a program, i.e., a sequence of instructions, directly integrated in the processing and control means 15, for:
  • the advancement speed v1 and v2 of the first and the second conveyor belts 4, 5 is constant, while the advancement speed v3 is variable as a function of the position signals S3 and S4.
  • the processing and control means 15 comprise a memory, a processing unit, and one or more data input/output boards.
  • the value of the advancement speed v1 and v2 respectively of the first and of the second conveyor belt 4, 5 as well as the length L1, L,2 thereof width 11, 12 are stored in such memory.
  • the processing and control means 15 receive the passage signal S1 which is generated by the detecting means 12, and, with such signal S1 and the value of the advancement speed v1, which is preferably constant, being known, as well as the length L1 of the conveyor belt 4, and they identify the position of each pillow bag 100 (signal S2) with respect to the length L of the same conveyor belt.
  • each bag 100 In order to determine the spatial position of each bag 100, it is provided to take, as an initial reference for the length L1, the position where the detecting means 12 are arranged.
  • the detecting means 12 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 are received from the bagging machine.
  • the origin point, from which the calculation of the linear length L1 of the conveyor belt 4 starts, matches with the point at which there is the association of the detecting means 12 with the same conveyor belt.
  • the signal S3 actually represents the position with respect to the lying axis X of the conveyor belt 4, which thus represents the symmetry axis of the conveyor belt 4.
  • the processing and control means 15 receive the passage signal S1 which is generated by the detecting means 12, and, with such signal S1 and the value of the advancement speed v1, which is preferably constant, being known, as well as the length L1 of the conveyor belt 4, and they identify the position of each pillow bag 100 (signal S2) with respect to the length L1 of the same conveyor belt.
  • each bag 100 In order to determine the spatial position of each bag 100, it is provided to take, as an initial reference for the length L, the position where the detecting means 12 are arranged.
  • each individual pillow bag 100 determines the spatial position of each individual pillow bag 100 . It is worth noticing that the determination of the spatial position of each individual pillow bag 100 is facilitated by the fact that the pillow bags are arranged in a row.
  • the detecting means 13 are arranged so as to have in their view field the loading position of the loading station 3. Particularly, the detecting means 13 identify the coordinate in the ordinate that each gadget 200 takes with respect to the lying plane X', which thus represents the symmetry axis of the conveyor belt 5. According to a preferred aspect, the origin point, from which the calculation of the linear length L2 of the conveyor belt 5 starts, matches with the point at which same belt begins.
  • the signal S2 identifies the spatial position of each gadget in the abscissas along the horizontal lying plane X' with respect to the origin point, and in the ordinates, with the suitable positive or negative sign, with respect to the above-mentioned horizontal lying plane X'.
  • the processing and control means 15 process the driving signal S5 when gripping means 14 take one of the pillow bags 100 in order to put it into the first one of the containers 100 present on the support plane 7 of the gadget 200, i.e., the spatial coordinates thereof, and in the gripping radius of said gripping means 14.
  • the driving signal S5 is configured to change the value of the advancement speed v3 so as to change the advancement speed of the support plane 7, hence of the containers 10.
  • the driving signal S5 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 on the conveyor belt 4 is withdrawn by the gripping means 14.
  • the driving signal S5 is configured to increase the second advancement speed v3 when the position signal S3 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 and the gadget 200 is in the gripping radius of said gripping means 14, while the driving signal S5 is configured to decrease the second advancement speed v3 when the position signal S3 is indicative of a position (i.e., of a withdrawing point by the gripping means 14) upstream of the reference point Pr and the gadget 200 is in the gripping radius of said robotic gripping means 14.
  • the gadget will be preferred, which has spatial coordinates nearest to the unloading position of the conveyor belt 5.
  • 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 12 are located.
  • the reference point Pr can be located in the middle of the length L1 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 L1 of the conveyor belt 4.
  • the processing and driving means generate the driving signal S5 so as to decrease the second advancement speed v3 of the support plane 5
  • the processing and driving means generate the driving signal S5 so as to increase the second advancement speed v3 of the support plane 7.
  • the gadgets 200 that are not immediately used to fill the container 10 are put back into hopper by suitable mechanical transport means (for example, a further conveyor belt) or manually.
  • the robotic gripping means 14 deposit the pillow bag 100 in the container 10, which is free to receive it.
  • a container 10 is the one that is the nearest to the unloading position located at the case packer.
  • the processing and driving means 15 store in a memory portion thereof, beside to data relating to the advancement speed v1, the length/width L1/I1 of the conveyor belt 4, the advancement speed v2, the length/width L2/I2 of the conveyor belt 5, the firmware, as well as the position of the reference point Pr, also the number of pillow bags 100 and/or the gadgets 200 already deposited into a specific container 10.
  • the amount of pillow bags that each containing space 8 may house being known, as well as the number of the gadgets 200 to be inserted, it is being provided that the robotic gripping means 14 continue to withdraw and deposit the pillow bags in the same containing space 10 until reaching the maximum capacity value of the containing space 10.
  • a memory register is provided, into which it is tracked, by an incremental counter, of how many pillow bags 100, and/or how many gadgets 200 have been already deposited into a specific containing space 10.
  • the value representative of the maximum amount of pillow bags 100 and/or gadgets 200 housable in the containing space 10 being known, it is provided for to track, for example by the updatable counter, the number of pillow bags 100 and/or gadgets 200 put into an individual containing space 10.
  • the robotic gripping means 14 will continue to deposit the pillow bags 100 and the gadgets 200 in such individual containing space 10 until when the number of pillow bags and/or of gadgets transported in an individual containing space 10 is less than or equal to the value representative of the maximum amount of pillow bags housable in the containing space 10.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Attitude Control For Articles On Conveyors (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)

Claims (15)

  1. System (1) zum Sortieren einer Vielzahl von Kissenbeuteln (100, 200), die salzige Produkte enthalten, umfassend:
    - eine erste Beladestation (2), umfassend ein Transportband (4), das sich über eine vorgegebene Länge (L1) und Breite (11) längs einer ersten, horizontalen Liegeebene (X) erstreckt, erste Motormittel, um das Transportband (4) mit einer ersten Vorschubgeschwindigkeit (vI) zu bewegen, um eine Reihe von Kissenbeuteln (100) von einer Beladeposition zu einer Entladeposition zu transportieren;
    - eine zweite Beladestation (3), umfassend ein Transportband (5), das sich über eine vorgegebene Länge (L2) und Breite (12) längs einer zweiten, horizontalen Liegeebene (X') erstreckt, zweite Motormittel, um das Transportband (5) mit einer zweiten Vorschubgeschwindigkeit (v2) zu bewegen, um Werbeartikel oder Kissenbeutel (200) in unregelmäßiger Anordnung von einer Beladeposition zu einer Entladeposition zu transportieren;
    - eine Ordnungsstation (6), umfassend eine Auflageebene (7), die sich längs einer dritten, horizontalen Liegeebene (X") erstreckt und dazu dient, eine Vielzahl von Kissenbeuteln oder Werbeartikeln (100, 200) aufzunehmen und zu tragen, dritte Motormittel, um die Auflageebene (7) mit einer dritten Vorschubgeschwindigkeit (v3) von einer Beladeposition zu einer Entladeposition zu bewegen;
    - eine Vielzahl von auf die Auflageebene (7) wirkenden Platten (8, 9), um eine Vielzahl von Aufnahmeräumen (10) zu definieren, die jeweils dazu dienen, eine vorgegebene Vielzahl von Kissenbeuteln oder Werbeartikeln (100, 200) aufzunehmen;
    - erste in der Nähe des ersten Transportbands (4) angeordnete Erfassungsmittel (12), die ausgebildet sind, um ein Durchgangssignal (S1) von jedem Kissenbeutel (100) zu erzeugen, das repräsentativ für den Zeitpunkt ist, an dem der Kissenbeutel (100) die ersten Erfassungsmittel (12) passiert hat;
    - zweite in der Nähe des zweiten Transportbands (5) angeordnete Erfassungsmittel (13), die ausgebildet sind, um ein Positionssignal (S2) zu erzeugen, das repräsentativ für die Raumkoordinaten des auf dem zweiten Transportband (5) liegenden Kissenbeutel-Werbeartikels (200) und für den Zeitpunkt ist, an dem der Kissenbeutel-Werbeartikel (200) auf dem zweiten Transportband (5) abgelegt wird;
    - roboterartige Greifmittel (14) mit einem vorgegebenen Greifradius (R) und derart ausgebildet, um innerhalb des Greifradius den ersten Kissenbeutel der Reihe von Kissenbeuteln (100), die auf dem Transportband (4) vorhanden sind, zu ergreifen und ihn in einen Aufnahmeraum (10) zu legen und/oder einen Werbeartikel (200), der auf dem zweiten Transportband (5) vorhanden ist, und ihn in den Aufnahmeraum (10) zu legen;
    - Verarbeitungs- und Steuermittel (15) in Signalverbindung mit den ersten und den zweiten Erfassungsmitteln (12, 13) und elektrisch verbunden mit den Greifmitteln (14) und den dritten Motormitteln, wobei die Verarbeitungs- und Steuermittel (15) eine Firmware umfassen, die ausgebildet ist zum:
    - Verarbeiten des ersten Durchgangssignals (S1) in Abhängigkeit von der ersten Vorschubgeschwindigkeit (vI) und der Länge (L1) des ersten Transportbands (4), um ein zweites Positionssignal (S3) zu erzeugen, das die Position identifiziert, die jeder Kissenbeutel (100) bezogen auf die erste Liegeebene (X) des Transportbands (4) beim Zeitübergang einnimmt,
    - Verarbeiten des Positionssignals (S2) in Abhängigkeit von der zweiten Vorschubgeschwindigkeit (v2) und der zweiten Breite (L2), um ein viertes Positionssignal (S4) zu erzeugen, das die Position identifiziert, die jeder Werbeartikel oder Kissenbeutel (200) bezogen auf die zweite Liegeebene (X') des zweiten Transportbands (5) bei Zeitübergang einnimmt;
    - Kombinieren des dritten und des vierten Positionssignals (S3, S4), um ein Ansteuersignal (S5) zu erzeugen, das ausgebildet ist, um die dritten Motormittel anzusteuern, um die dritte Vorschubgeschwindigkeit (v3) zu ändern.
  2. System nach Anspruch 1, wobei das Ansteuersignal (S5) ausgebildet ist, um die dritte Vorschubgeschwindigkeit (v3) zu erhöhen, wenn das Positionssignal (S3) auf eine Position stromabwärts einer Bezugsachse (Pr) hinweist und der Werbeartikel (200) sich im Greifradius der Greifmittel (14) befindet.
  3. System nach Anspruch 1, wobei das Ansteuersignal (S5) ausgebildet ist, um die dritte Vorschubgeschwindigkeit (v3) zu vermindern, wenn das Positionssignal (S3) auf eine Position stromaufwärts einer Bezugsachse (Pr) hinweist und der Werbeartikel (200) sich im Greifradius der Greifmittel (14) befindet.
  4. System nach einem beliebigen der vorstehenden Ansprüche, wobei die Verarbeitungs- und Steuermittel (15) einen aktualisierbaren Zähler in Abhängigkeit von der Anzahl der Kissenbeutel oder Werbeartikel (100, 200) umfasst, die zu entnehmen und in den Aufnahmeraum (10) zu legen sind.
  5. System nach einem beliebigen der vorstehenden Ansprüche, wobei jeder Aufnahmeraum (10) durch mindestens zwei der Platten (8, 9) definiert ist, die feststehend bezogen auf die Auflageebene (7) sind, um seitliche Eingrenzungskanten für die Kissenbeutel oder Werbeartikel (100, 200) zu definieren, und einige der Platten (8, 9) zwischen einer Eingrenzungslage, in der sie die Auflageebene in Eingriff nehmen und die Quereingrenzungskanten bezogen auf die seitlichen Eingrenzungskanten definieren, und einer Rückenlage bewegbar sind, in der diese die Auflageebene (7) nicht in Eingriff nehmen.
  6. System nach Anspruch 1, wobei das erste, zweite Transportband (4, 5) und/oder die Auflageebene (7) für den Durchgang zwischen der Beladeposition und der Abladeposition und umgekehrt durch Rotation von mindestens 90° des ersten, zweiten Transportbands (4) und/oder der Auflageebene (5) um eine senkrecht zur Liegeebene (X, X, X") stehende Achse sorgen.
  7. System nach Anspruch 1, wobei die roboterartigen Greifmittel (14) einen elektrisch betätigten Roboterarm mit pneumatischen Greifmitteln umfassen.
  8. System nach Anspruch 1, wobei die ersten Erfassungsmittel (12) eine Fotozelle umfassen, die an der Beladeposition des Transportbands (4) angeordnet ist.
  9. System nach Anspruch 1, wobei die Verarbeitungs- und Steuermittel (15) einen Speicher, einen Mikroprozessor und eine oder mehrere Dateneingabe-/Datenausgabevorrichtungen umfassen, die ausgebildet sind, um mit den ersten, zweiten und/oder dritten Motormitteln, den Greifmitteln (14) und den ersten und zweiten Erfassungsmitteln (12, 13) zusammenzuwirken, wobei der Speicher in Signalverbindung mit dem Mikroprozessor steht, wobei der Speicher einen Speicherbereich aufweist, der dazu dient, mindestens die Firmware, den Wert der ersten Geschwindigkeit (v1) und der zweiten Geschwindigkeit (v2), der ersten und der zweiten Länge (L1, L2) und den im aktualisierbaren Zähler enthaltenen Wert dauerhaft zu speichern.
  10. System nach Anspruch 1, wobei das erste und das zweite Transportband (4, 5) und die Auflageebene (7) entlang derselben Richtungen bewegbar sind.
  11. System nach Anspruch 1, wobei die zweiten Erfassungsmittel (13) eine Videokamera sind.
  12. Verfahren zum Sortieren einer Vielzahl von Kissenbeuteln (100, 200), die salzige Produkte enthalten, umfassend folgende Schritte:
    - Erfassen eines Durchgangszeitpunkts (S1) von jedem Kissenbeutel einer Reihe von Kissenbeuteln (100), die von einem ersten Transportband (4) getragen werden, das sich über eine vorgegebene, erste Länge (L1) längs einer ersten horizontalen Liegeebene (X) erstreckt, wobei das erste Transportband (4) mit einer ersten konstanten Vorschubgeschwindigkeit (v1) bewegbar ist;
    - Erfassen einer Raumposition (S2) von jedem Werbeartikel oder Kissenbeutel (200), der unregelmäßig angeordnet von einem zweiten Transportband (5) getragen wird, das sich über eine vorgegebene, zweite Länge (L2) längs einer zweiten horizontalen Liegeebene (X') erstreckt, wobei das zweite Transportband (5) mit einer zweiten konstanten Vorschubgeschwindigkeit (v2) bewegbar ist;
    - Bereitstellen der Anzahl von Kissenbeuteln oder Werbeartikeln, die in einen Aufnahmeraum (10) gelegt werden sollen, der auf einer Auflageebene (7) definiert ist, die mit einer dritten Vorschubgeschwindigkeit (v3) bewegbar ist;
    - Entnehmen, mittels roboterartigen Greifmitteln (14), eines Kissenbeutels von dem ersten Transportband (4) und gleichzeitiges Feststellen seiner Position (S3) längs der ersten horizontalen Liegeachse (X) in Abhängigkeit von dem Durchgangszeitpunkt (S1), der ersten konstanten Vorschubgeschwindigkeit (v1) und der ersten Länge (L1);
    - Entnehmen, mittels roboterartigen Greifmitteln (14), eines Werbeartikels oder Kissenbeutels und gleichzeitiges Feststellen seiner Raumposition (S4) bezogen auf die zweite horizontale Liegeachse (X") in Abhängigkeit von der zweiten konstanten Vorschubgeschwindigkeit (v2) und der zweiten Länge (L2);
    - Ablegen, mittels roboterartigen Greifmitteln (14), des entnommenen Kissenbeutels (100) und/oder Werbeartikels (200) in den Aufnahmeraum (10), der auf der Auflageebene (7) definiert ist;
    - Ändern der dritten Vorschubgeschwindigkeit (v3) in Abhängigkeit von der Entnahme-Raumposition des Kissenbeutels und/oder Werbeartikels (200).
  13. Verfahren nach Anspruch 12, wobei der Schritt des Änderns der dritten Vorschubgeschwindigkeit (v3) eine Erhöhung der dritten Vorschubgeschwindigkeit (v3) vorsieht, wenn die Entnahme-Raumposition des Kissenbeutels (100) sich stromabwärts der Bezugsachse (Pr) befindet und der Werbeartikel (200) sich im Greifradius der Greifmittel (14) befindet.
  14. Verfahren nach Anspruch 12, wobei der Schritt des Änderns der dritten Vorschubgeschwindigkeit (v3) eine Erhöhung der dritten Vorschubgeschwindigkeit (v3) vorsieht, wenn die Entnahme-Raumposition des Kissenbeutels (100) sich stromabwärts der Bezugsachse (Pr) befindet und der Werbeartikel (200) sich im Greifradius der Greifmittel (14) befindet.
  15. Verfahren nach Anspruch 12, umfassend folgende Schritte:
    - Überwachen der Zahl von Kissenbeuteln (100), die vom ersten Transportband (4) entnommen und in einen individuellen Aufnahmeraum (10) gelegt wurden;
    - Überwachen der Zahl von Werbeartikeln (200), die vom zweiten Transportband (5) entnommen und in einen individuellen Aufnahmeraum (10) gelegt wurden;
    - Wiederholen der Schritte des Entnehmens des Kissenbeutels (100) und/oder des Werbeartikels (200), bis die Zahl der Kissenbeutel (100) und/oder Werbeartikel (200), die in den individuellen Aufnahmeraum (10) befördert werden, kleiner oder gleich dem Wert ist, der der Höchstmenge an Kissenbeuteln (100) oder Werbeartikeln (200) entspricht, die in dem Aufnahmeraum (10) untergebracht werden können.
EP14425081.8A 2014-06-26 2014-06-26 System und zugehöriges Verfahren zur Sortierung mehrerer Schlauchbeutel mit salzigen Produkten Active EP2960169B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
ES14425081.8T ES2612433T3 (es) 2014-06-26 2014-06-26 Sistema y procedimiento relacionado para clasificar una pluralidad de bolsas de tipo almohada que contienen productos salados
EP14425081.8A EP2960169B1 (de) 2014-06-26 2014-06-26 System und zugehöriges Verfahren zur Sortierung mehrerer Schlauchbeutel mit salzigen Produkten

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EP14425081.8A EP2960169B1 (de) 2014-06-26 2014-06-26 System und zugehöriges Verfahren zur Sortierung mehrerer Schlauchbeutel mit salzigen Produkten

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US6520317B2 (en) * 2001-04-27 2003-02-18 Abb Inc. Packaging and casing system
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
DE102010002317B4 (de) * 2010-02-24 2018-06-14 Apologistics Gmbh System und Verfahren zur Vereinzelung und Kommissionierung von Artikeln
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