EP3738893B1 - Tray sealing machine and method for smoothly picking up a tray - Google Patents
Tray sealing machine and method for smoothly picking up a tray Download PDFInfo
- Publication number
- EP3738893B1 EP3738893B1 EP20170678.5A EP20170678A EP3738893B1 EP 3738893 B1 EP3738893 B1 EP 3738893B1 EP 20170678 A EP20170678 A EP 20170678A EP 3738893 B1 EP3738893 B1 EP 3738893B1
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- EP
- European Patent Office
- Prior art keywords
- tray
- tray holder
- speed
- trays
- holder
- 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.)
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- 238000007789 sealing Methods 0.000 title claims description 107
- 238000000034 method Methods 0.000 title claims description 49
- 238000000151 deposition Methods 0.000 claims description 17
- 238000004519 manufacturing process Methods 0.000 claims description 10
- 238000012546 transfer Methods 0.000 claims description 9
- 238000004806 packaging method and process Methods 0.000 description 31
- 230000001133 acceleration Effects 0.000 description 8
- 238000013459 approach Methods 0.000 description 3
- 230000008021 deposition Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 235000011837 pasties Nutrition 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
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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
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
-
- 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
- B65B7/00—Closing containers or receptacles after filling
- B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
- B65B7/162—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by feeding web material to securing means
- B65B7/164—Securing by heat-sealing
-
- 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
- B65B31/00—Packaging articles or materials under special atmospheric or gaseous conditions; Adding propellants to aerosol containers
- B65B31/02—Filling, closing, or filling and closing, containers or wrappers in chambers maintained under vacuum or superatmospheric pressure or containing a special atmosphere, e.g. of inert gas
- B65B31/025—Filling, closing, or filling and closing, containers or wrappers in chambers maintained under vacuum or superatmospheric pressure or containing a special atmosphere, e.g. of inert gas specially adapted for rigid or semi-rigid containers
- B65B31/028—Filling, closing, or filling and closing, containers or wrappers in chambers maintained under vacuum or superatmospheric pressure or containing a special atmosphere, e.g. of inert gas specially adapted for rigid or semi-rigid containers closed by a lid sealed to the upper rim of the container, e.g. tray-like container
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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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
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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
- B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
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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
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
-
- 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
- B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
-
- 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
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/02—Driving gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B9/00—Enclosing successive articles, or quantities of material, e.g. liquids or semiliquids, in flat, folded, or tubular webs of flexible sheet material; Subdividing filled flexible tubes to form packages
- B65B9/02—Enclosing successive articles, or quantities of material between opposed webs
- B65B9/04—Enclosing successive articles, or quantities of material between opposed webs one or both webs being formed with pockets for the reception of the articles, or of the quantities of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B7/00—Closing containers or receptacles after filling
- B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
- B65B7/162—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by feeding web material to securing means
Definitions
- the present invention relates to a tray closing machine according to claim 1. Furthermore, the invention relates to a method for raising and lowering a tray receptacle at a sealing station of a tray closing machine according to independent method claim 9.
- tray sealing machines which are also called traysealers in practice, it is a technical challenge to gently pick up the trays filled with products and provided for a sealing process within a sealing station within short transport cycles and then within a sealing station to gently set down on a support plate device again during the sealing process.
- Tilting or wobbling should also be avoided when setting down already closed packaging so that a gripper working functionally on the tray sealing machine can grasp the packaging as precisely and quickly as possible for further transport.
- this presupposes that the packaging is made available to the gripper in a precisely positioned manner at a predetermined position, in particular when it is stationary.
- DE 691 01 374 T2 and DE 695 05 877 T2 disclose a motor-driven lifting mechanism of a packaging machine, wherein the lifting speed can be changed during the movement.
- the object of the invention is to improve a tray closing machine and a method using constructive means that are as simple as possible in such a way that a gentle and efficient tray transport within a sealing station is ensured.
- the invention should be able to be implemented cost-effectively.
- the invention relates to a tray sealing machine which comprises at least one feed unit for transporting trays in one production direction, a sealing station downstream of the feed unit in the production direction for producing packaging, at least one discharge unit downstream of the sealing station in the production direction, and a gripper device.
- the gripper device is designed to pick up trays provided on the feed unit in a transport cycle and to transport them to the sealing station for a tray closing process taking place therein and to pick up packaging produced within the sealing station and transport them to the removal unit.
- the sealing station has an upper tool part, which comprises a sealing tool, and a lower tool part, which comprises a support plate device for depositing the trays transported into the sealing station and a height-adjustable tray holder for receiving and transporting the trays delivered to the support plate device to the upper tool part.
- the tray closing machine comprises a lifting mechanism which is designed to move the tray holder from a first position, in which the tray holder is in an initial position when the sealing station is open, to a second position in which the tray holder is in a closed state Sealing station is located in a working position moved towards the upper tool part, to move along a first predetermined movement sequence.
- the tray holder can be adjusted along the first sequence of movements by means of the lifting mechanism in such a way that the tray holder picks up the trays provided on the support plate device at a predetermined pick-up speed.
- the tray closing machine is configured so that a local rate of change in the speed of the tray pick-up during the first movement sequence has changed from a positive value to a negative value before the tray pick-up has reached the predetermined pick-up speed and / or the tray pick-up by means of the lifting mechanism from the second position back to the first position along a second predetermined sequence of movements, which is provided for opening the sealing station, can be adjusted in such a way that the tray holder transfers the packaging it has picked up to the support plate device at a predetermined depositing speed Rate of change in the speed of the tray pick-up during the second movement sequence has changed from a negative value to a positive value before the tray pick-up has reached the predetermined settling speed.
- the tray holder together with the sealed packaging is lowered as quickly as possible, in order then to be slowed down to the level of the setting speed in good time before the packaging is set down so that the packs produced can be set down gently. In spite of the rapid lowering of the tray holder achieved in this way, a gentle setting down of the packaging is guaranteed.
- an acceleration process is carried out to optimize the performance of the tray sealing machine and then a braking process is carried out to achieve a set-down speed for smooth delivery of the packaging.
- the lifting mechanism accelerates the tray pick-up relatively quickly in the direction of the trays and ensures that the tray pick-up is braked in good time to the speed level of the pick-up speed, which is greater than zero, on the basis of which the tray pick-up can pick up the trays in a gentle manner.
- the tray pick-up is first accelerated during the first movement sequence from the first position above the speed level of the pick-up speed and then decelerated to the predetermined pick-up speed, which is greater than zero, in order to gently pick up the trays by means of this.
- the trays are picked up immediately after the braking process. This means that the recording speed results directly from the braking process.
- the change in sign of the rate of change of speed over time takes place between the acceleration and braking processes above the speed level of the recording speed.
- the acceleration process which initially takes place during the first movement sequence, in which the speed of the tray pick-up increases continuously up to the braking process, brings about the desired performance optimization of the operation of the tray sealing machine in the invention.
- the braking process following the acceleration process during the first movement sequence has the effect that the tray receptacle reaches a suitable pick-up speed for gently picking up the provided trays.
- the change in the local temporal rate of change in the speed of the tray pick-up during the first movement sequence from a positive value to a negative value preferably takes place exactly once before the tray pick-up has reached the predetermined pick-up speed resulting from the braking process.
- the speed of the tray receptacle during the first movement sequence is initially continuous up to a predetermined speed which is greater than that Recording speed, increased and, once the predetermined speed has been reached, continuously reduced to the recording speed.
- the lifting mechanism already used at the sealing station for the tray pick-up can be controlled simply by means of a control of the tray closing machine in order to coordinate the sequence of movements of the tray pick-up according to the invention. It would be conceivable that corresponding trajectories for the first and / or the second movement sequence are stored and can be called up for the tray pick-up with regard to different tray types, with the aid of which the gentle tray pick-up and the gentle placement of finished packaging can be controlled.
- the tray receptacle together with the trays received on it, can preferably be moved for a predetermined time interval at the pickup speed.
- the trays can be received in the tray holder in a particularly precise position and in a stationary manner.
- the tray sealing machine is configured so that the rate of change over time of the speed of the tray receptacle, including the trays received therein, changes from a positive value to a negative value during the first movement before the tray receptacle is in the second position has arrived.
- the tray pickup accelerates together with the trays, ie after they have been picked up, to a predetermined speed, preferably up to a maximum speed of the lifting process, before they are then timely before reaching the second position, ie the working position for Performing a sealing process, is braked.
- This acceleration and braking sequence leads to shortened transport cycles of the trays received by means of the tray holder to the sealing tool.
- the tray receptacle can preferably be moved at the set-down speed for a predetermined time interval from a transfer point in time at which the packs are delivered to the support plate device. This ensures that the packaging can be set down carefully and precisely at predetermined positions on the support plate device.
- the tray closing machine is preferably configured so that the rate of change over time of the speed of the tray pick-up during the second movement sequence has changed from a negative value to a positive value after the packages have been delivered to the support plate device at the set-down speed and before the tray pick-up has returned to the first position is. This makes it possible for the tray receptacle to return to its starting position as quickly as possible after the packaging has been transferred from it to the support plate device, so that it can pick up trays that have been provided again within a short time for a subsequent tray closing process.
- the effort can be minimized in that the first movement sequence and the second movement sequence are essentially symmetrical. It would be conceivable that the second movement sequence has higher accelerations than the first movement sequence, since the packaging is already closed here.
- the pick-up speed and / or the set-down speed can be variably set on the tray sealing machine.
- the tray closing machine is preferably configured so that the tray pick-up reaches the pick-up speed at a predetermined pick-up position along the first movement sequence before the trays provided on the support plate device are picked up on the tray edges formed thereon by the tray pick-up.
- means for receiving the respective trays formed on the tray holder are still spaced approximately 2.5 mm from the tray edges when the tray holder has arrived in the pick-up position, i.e. when the tray holder is braked to the predetermined pick-up speed.
- the tray closing machine is configured so that the tray receptacle reaches the set-down speed along the second movement sequence at a predetermined set-down position before the packs are set down on the support plate device by means of packaging bottoms formed thereon. It is conceivable that the tray receptacle has arrived in the predetermined set-down position when the packaging bottoms of the trays received in the tray receptacle are positioned approximately 2.5 mm above the receiving plates provided on the support plate device.
- a sealing process can be carried out particularly advantageously if the sealing tool is mounted within the upper part of the tool in a height-adjustable manner.
- the sealing station is preferably configured to carry out an evacuation and / or gassing process in order to produce a desired atmosphere within the packaging.
- An inexpensive and simple design of the tray sealing machine provides that the support plate device, in particular the support plate formed thereon, is mounted in a stationary manner at the sealing station. According to the invention, the gentle picking up of the trays and the smooth setting down of the sealed packaging is achieved by the special lifting movement by means of the lifting mechanism used for the tray pick-up at the sealing station. An additional lifting mechanism for the support plate device can thus be dispensed with on the tray closing machine according to the invention.
- the invention also relates to a method for raising and lowering a tray receptacle at a sealing station of a tray sealing machine.
- trays provided on a support plate device are picked up by means of the shell holder and are transported for a shell closing process to an upper tool part positioned above the shell holder.
- the tray holder is moved by means of a lifting mechanism from a first position, in which the tray holder is in an initial position when the sealing station is open, to a second position in which the tray holder is in a working position moved towards the upper part of the tool when the sealing station is closed located, adjusted along a first predetermined sequence of movements, wherein the tray receptacle picks up the trays provided on the support plate device at a predetermined pick-up speed.
- a rate of change over time in the speed of the tray pick-up changes from a positive value to a negative value during the first movement sequence before the tray pick-up reaches the predetermined pick-up speed and / or the tray pick-up by means of the hoist after a tray closing process returns from the second position to the first Position is adjusted along a second predetermined movement sequence in such a way that the tray receptacle transfers manufactured, ie sealed, packaging picked up on it at a predetermined set-down speed to the support plate device, a rate of change of the speed changing over time during the second movement sequence from a negative value to a positive value before the tray pick-up reaches the predetermined settling speed.
- the acceleration of the shell receptacle from the second position is initially carried out until it is reached carried out a predetermined, in particular maximum lowering speed. Following this, but before the packaging received on it is released, the tray pick-up is decelerated to a speed level of the predetermined set-down speed, by means of which the tray pick-up gently transfers the packaging to the support plate device.
- a shortened lifting time to optimize the performance of the tray closing process and, at the same time, a gentle lowering of the sealed packaging can be achieved.
- the tray pick-up is first accelerated to a speed level above the pick-up speed and then braked in order to reach the predetermined pick-up speed by means of which the provided trays can be picked up gently by means of the tray pick-up.
- the acceleration and deceleration of the tray holder causes both a performance-optimized shift of the tray holder and a gentle pick-up of the trays.
- the tray receptacle is preferably increased at the pickup speed for a predetermined time interval from a point in time at which the trays are picked up on it. This ensures that the trays picked up by means of the tray holder can take up their exact position on the tray holder before they are lifted further.
- an advantageous variant provides that the rate of change over time of the speed of the tray holder, including the trays picked up on it, changes from a positive value to a negative value during the first movement sequence before the tray holder has reached the second position.
- the tray pick-up is accelerated further up to a predetermined speed level, preferably up to a maximum lifting speed, in order then to be decelerated until it arrives at the second position, ie until it comes to a standstill, whereby a particularly rapid adjustment movement of the shell holder towards the upper part of the tool is achieved.
- the sealed packagings can be delivered to the support plate device with particularly precise positioning in that the tray receptacle is further lowered for a predetermined time interval at the depositing speed from a transfer point in time at which the packaging is delivered to the support plate device.
- a quick return to the first position of the tray holder is promoted by the fact that the rate of change of the speed of the tray holder changes from a negative value to a positive value afterwards during the second movement sequence the packages are delivered to the support plate device at the lowering speed and before the tray receptacle has returned to the first position.
- FIG 1 shows a tray sealing machine 1.
- the tray sealing machine 1 is designed as a so-called traysealer.
- the tray sealing machine 1 comprises a feed unit 2 for transporting trays T in a production direction P, the trays T for example in Figure 2a to be shown.
- the feed unit 2 is followed by a sealing station 3 for producing packaging V.
- the packages V are by a shell closing process S according to Figure 2f manufactured.
- FIG. 1 Also shows Figure 1 a discharge unit 4, which is arranged downstream of the sealing station 3 in the production direction P, for the discharge of manufactured packaging V.
- the tray closing machine 1 the end Figure 1 furthermore has a gripper device 5 which is designed to pick up trays T provided on the feed unit 2 in a transport cycle and to transport them to the sealing station 3 for the shell closing process S taking place therein.
- the gripper device 5 is configured to pick up packages V produced within the sealing station 3 and to transport them to the discharge unit 4.
- the sealing station 3 has according to Figure 1 an upper tool part 6 and a lower tool part 7.
- FIG 2a shows the sealing station 3 from Figure 1 isolated in a schematic sectional view.
- the sealing station 3 is located in the Figure 2a in an open state.
- the lower tool part 7 is positioned below the upper tool part 6 at a distance.
- the upper tool part 6 comprises a sealing tool 8.
- the lower tool part 7 provides a support plate device 9 which is used to deposit the trays T transported into the sealing station 3.
- the lower tool part 7 comprises a height-adjustable mounted shell receptacle 10 for receiving and transporting the trays T placed on the support plate device 9 to the upper tool part 6 positioned above it.
- Figure 2a also shows a lifting mechanism 11, which is designed to move the shell receptacle 10 from one in the Figure 2a first position P1 shown in a later in connection with the Figures 2e and 2f to move described second position P2.
- first position P1 when the sealing station 3 is open, the tray receptacle 10 is stored in an initial position.
- second position P2 when the sealing station 3 is closed, the shell receptacle 10 is in a working position moved towards the upper tool part 6.
- An evacuation, gassing and / or sealing process can be carried out in the working position.
- the support plate device 9 is equipped with support plates 12, on which tray bases B of the respective trays T sit.
- the tray receptacle 10 is raised by means of the lifting mechanism 11 and has receptacles 13 which receive the trays T provided at the tray rims R thereof.
- the tray receptacle 10 is lifted vertically along a direction Y in order to receive the trays T made available.
- Figure 2b shows the sealing station 3 with one above its in Figure 2a shown starting level raised shell receptacle 10.
- the respective receptacles 13 have approached the shell edges R of the trays T.
- the respective trays T still stand with the shell bottoms B formed thereon on the respective support plates 12 of the support plate device 9.
- Figure 2c shows the height-adjustable shell receptacle 10 with trays T received on the receptacles 13 formed thereon. The respective trays T are now no longer on the support plate device 9.
- Figure 2d shows the tray receptacle 10 in an even further raised position, shortly before the sealing station 3 is closed.
- the shell receptacle 10 is shown in the second position P2, in which the shell receptacle 10 is in a working position moved towards the upper tool part 6 when the sealing station 3 is closed.
- the sealing station 3 is now in a hermetically sealed state in order to optionally carry out an evacuation and / or gassing process within a chamber formed therein.
- the sealing tool 8 is made from the in Figure 2e position shown in the Figure 2f The position shown is lowered in order to close the trays T provided in the tray receptacle 10 by means of an upper film (not shown) (tray closing process S). The upper film is sealed along the tray edges R onto the trays T provided. The packagings V are then separated within the sealing station 3.
- the Figures 2a to 2f show a closing process of the sealing station 3, the tray receptacle 10 being adjusted from the first position P1 to the second position P2, in which the tray closing process S can take place on the trays T received therein.
- the respective trays T provided by means of the tray holder 10 have been sealed, they are transported back to the support plate device 9 by means of the tray holder 10.
- the shell receptacle 10 returns to the first position P1 so that the in Figure 1
- the gripper device 5 shown can pick up the sealed packaging V placed on the support plate device 9 and transport it to the discharge unit 4.
- FIG 3 shows a sequence of movements A, which can be used for raising and lowering the tray receptacle 10 for closing and opening the sealing station 3.
- the movement sequence A comprises a first predetermined movement sequence A1, with the aid of its speed profile raising the tray holder 10 from the first position P1, in which the tray holder 10 is in the starting position when the sealing station 3 is open, to the second position P2, in which the shell receptacle 10 is in a closed state of the sealing station 3 in the working position moved towards the upper tool part 6 is shown.
- the tray holder 10 can be adjusted along the first movement sequence A1 by means of the lifting mechanism 11 in such a way that the tray holder 10 takes along the trays T provided on the support plate device 9 at a predetermined pickup speed v1 at time t1.
- Figure 3 shows that the shell receptacle 10 is initially accelerated along the first movement sequence A1 up to an approach speed v2 and is braked as soon as the approach speed v2 is reached down to the receptacle speed v1.
- the amount of the approach speed v2 is greater than the recording speed v1.
- the tray holder 10 is thus first accelerated to a speed level above the pickup speed v1 and then decelerated again to the pickup speed v1 before the trays T are picked up at it at the pickup speed v1.
- a local temporal rate of change G of the speed changes from a positive value to a negative value along the first movement section A1 before the trays T are picked up on the tray holder 10 before the tray holder 10 has reached the predetermined pickup speed v1.
- the tray holder 10 moves in Figure 3 along a time interval X1 with an almost constant speed, ie essentially with the recording speed v1.
- FIG. 3 shows Figure 3 that after the trays T have been picked up, the tray holder 10 is initially accelerated further along the first movement sequence A1 and then braked, that is, the rate of change G of the speed changes again from a positive value to a negative value before the tray holder 10 is in the second position P2, ie in the working position, in which the shell closing process S is running.
- the shell closing process S takes place within a predetermined time interval. Following the shell closing process S, the sealing station 3 is opened again.
- the shell receptacle 10 is displaced along the second predetermined movement sequence A2 by means of the lifting mechanism 11 from the second position P2 back to the first position P1.
- the tray receptacle 10 has accelerated until it reaches a maximum lowering speed v5, from which point the tray receptacle 10 is braked down to the deposition speed v4.
- the tray receptacle 10 is moved along a time interval X2 is moved essentially constantly at the set-down speed v4 in order to gently set down the packaging V produced on the support plate device 9.
- the shell receptacle 10 is accelerated again and then braked so that it quickly returns to the first position P1.
- the packs V are then supported by the support plate device 9 by means of the in Figure 1
- the gripper device 5 shown is picked up and transferred to the discharge unit 4.
- the gripper device 5 can place new trays T on the support plate device 9.
- the tray transport is repeated according to the sequence of movements A in order to produce new packages V.
- the movement sequence A shown for the tray holder 10 of the sealing station 3 has the technical effect that the trays T can be gently picked up by the tray holder 10 and the sealed packages V can also be gently set down by the tray holder 10.
- the set sequence of movements A also ensures rapid tray transport within the sealing station 3, so that the tray closing machine 1 according to the invention can efficiently transport trays and sealed packaging within shortened transport cycles.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Dispersion Chemistry (AREA)
- Closing Of Containers (AREA)
- Package Closures (AREA)
Description
Die vorliegende Erfindung betrifft eine Schalenverschließmaschine gemäß dem Anspruch 1. Ferner bezieht sich die Erfindung auf ein Verfahren zum Anheben und Absenken einer Schalenaufnahme an einer Siegelstation einer Schalenverschließmaschine gemäß dem unabhängigen Verfahrensanspruch 9.The present invention relates to a tray closing machine according to claim 1. Furthermore, the invention relates to a method for raising and lowering a tray receptacle at a sealing station of a tray closing machine according to
An bekannten Schalenverschließmaschinen, die in der Praxis auch Traysealer genannt werden, ist es eine technische Herausforderung, innerhalb kurzer Transportzyklen die mit Produkten befüllten, für einen Siegelvorgang bereitgestellten Schalen (im Folgenden auch Trays genannt) innerhalb einer Siegelstation sanft mit einer Schalenaufnahme aufzunehmen und im Anschluss an den Siegelvorgang auch wieder sanft auf einer Stütztellereinrichtung abzusetzen.On known tray sealing machines, which are also called traysealers in practice, it is a technical challenge to gently pick up the trays filled with products and provided for a sealing process within a sealing station within short transport cycles and then within a sealing station to gently set down on a support plate device again during the sealing process.
Insbesondere bei Schalen mit pastösen, flüssigen oder losen Produkten kann eine zu abrupte Schalenaufnahme dazu führen, dass ein Teil solcher Produkte aus der Schale herausfliegt beziehungsweise herausschwappt.Particularly in the case of trays with pasty, liquid or loose products, if the tray is picked up too abruptly, some of these products may fly out of the tray or spill out.
Auch beim Absetzen bereits verschlossener Verpackungen soll ein Kippen oder Taumeln vermieden werden, damit ein funktional an der Schalenverschließmaschine arbeitender Greifer die Verpackungen möglichst präzise und schnell für einen Weitertransport ergreifen kann. Dies setzt allerdings voraus, dass die Verpackungen positionsgenau an einer vorbestimmten Position, insbesondere stillstehend, dem Greifer bereitgestellt werden.Tilting or wobbling should also be avoided when setting down already closed packaging so that a gripper working functionally on the tray sealing machine can grasp the packaging as precisely and quickly as possible for further transport. However, this presupposes that the packaging is made available to the gripper in a precisely positioned manner at a predetermined position, in particular when it is stationary.
Vor dem Hintergrund der obengenannten technischen Herausforderungen stellt sich der Erfindung die Aufgabe, eine Schalenverschließmaschine sowie ein Verfahren unter Einsatz möglichst einfacher konstruktiver Mittel dahingehend zu verbessern, dass damit ein sanfter sowie effizienter Schalentransport innerhalb einer Siegelstation gewährleistet wird. Außerdem soll die Erfindung kostengünstig realisierbar sein.Against the background of the above-mentioned technical challenges, the object of the invention is to improve a tray closing machine and a method using constructive means that are as simple as possible in such a way that a gentle and efficient tray transport within a sealing station is ensured. In addition, the invention should be able to be implemented cost-effectively.
Die Aufgabe der Erfindung wird gelöst mittels einer Schalenverschließmaschine gemäß dem Anspruch 1 sowie mittels eines Verfahrens gemäß dem unabhängigen Verfahrensanspruch 9. Vorteilhafte Weiterbildungen der Erfindung sind in den jeweiligen Unteransprüchen angegeben.The object of the invention is achieved by means of a tray closing machine according to claim 1 and by means of a method according to
Die Erfindung betrifft eine Schalenverschließmaschine, die mindestens eine Zuführeinheit zum Transport von Trays in einer Produktionsrichtung, eine in der Produktionsrichtung der Zuführeinheit nachgelagerte Siegelstation zum Herstellen von Verpackungen, mindestens eine der Siegelstation in der Produktionsrichtung nachgelagerte Abführeinheit sowie eine Greifereinrichtung umfasst. Die Greifereinrichtung ist dazu ausgebildet, in einem Transportzyklus an der Zuführeinheit bereitgestellte Trays aufzunehmen und in die Siegelstation für einen darin stattfindenden Schalenschließvorgang zu transportieren sowie innerhalb der Siegelstation hergestellte Verpackungen aufzunehmen und zur Abführeinheit zu transportieren.The invention relates to a tray sealing machine which comprises at least one feed unit for transporting trays in one production direction, a sealing station downstream of the feed unit in the production direction for producing packaging, at least one discharge unit downstream of the sealing station in the production direction, and a gripper device. The gripper device is designed to pick up trays provided on the feed unit in a transport cycle and to transport them to the sealing station for a tray closing process taking place therein and to pick up packaging produced within the sealing station and transport them to the removal unit.
Die Siegelstation weist ein Werkzeugoberteil, das ein Siegelwerkzeug umfasst, sowie ein Werkzeugunterteil auf, das eine Stütztellereinrichtung zur Ablage der in die Siegelstation hineintransportierten Trays und eine höhenverstellbare Schalenaufnahme zum Aufnehmen und Transportieren der an die Stütztellereinrichtung abgegebenen Trays hin zu dem Werkzeugoberteil umfasst.The sealing station has an upper tool part, which comprises a sealing tool, and a lower tool part, which comprises a support plate device for depositing the trays transported into the sealing station and a height-adjustable tray holder for receiving and transporting the trays delivered to the support plate device to the upper tool part.
Ferner umfasst die Schalenverschließmaschine ein Hubwerk, das dazu ausgebildet ist, die Schalenaufnahme von einer ersten Position, in welcher sich die Schalenaufnahme bei einem geöffneten Zustand der Siegelstation in einer Ausgangsposition befindet, zu einer zweiten Position, in welcher sich die Schalenaufnahme bei einem geschlossenen Zustand der Siegelstation in einer an das Werkzeugoberteil herangerückten Arbeitsposition befindet, entlang eines ersten vorbestimmten Bewegungsablaufs zu bewegen. Die Schalenaufnahme ist mittels des Hubwerks derart entlang des ersten Bewegungsablaufs verstellbar, das die Schalenaufnahme mit einer vorbestimmten Aufnahmegeschwindigkeit die auf der Stütztellereinrichtung bereitgestellten Trays aufnimmt.Furthermore, the tray closing machine comprises a lifting mechanism which is designed to move the tray holder from a first position, in which the tray holder is in an initial position when the sealing station is open, to a second position in which the tray holder is in a closed state Sealing station is located in a working position moved towards the upper tool part, to move along a first predetermined movement sequence. The tray holder can be adjusted along the first sequence of movements by means of the lifting mechanism in such a way that the tray holder picks up the trays provided on the support plate device at a predetermined pick-up speed.
Kennzeichnend für die Erfindung ist, dass die Schalenverschließmaschine dazu konfiguriert ist, dass eine lokale zeitliche Änderungsrate der Geschwindigkeit der Schalenaufnahme während des ersten Bewegungsablaufs von einem positiven Wert zu einem negativen Wert gewechselt ist, ehe die Schalenaufnahme die vorbestimmte Aufnahmegeschwindigkeit erreicht hat und/oder die Schalenaufnahme mittels des Hubwerks aus der zweiten Position zurück zur ersten Position entlang eines zweiten vorbestimmten Bewegungsablaufs, der zum Öffnen der Siegelstation vorgesehen ist, derart verstellbar ist, dass die Schalenaufnahme mit einer vorbestimmten Absetzgeschwindigkeit die an ihr aufgenommenen hergestellten Verpackungen an die Stütztellereinrichtung übergibt, wobei eine zeitliche Änderungsrate der Geschwindigkeit der Schalenaufnahme während des zweiten Bewegungsablaufs von einem negativen Wert zu einem positiven Wert gewechselt ist, ehe die Schalenaufnahme die vorbestimmte Absetzgeschwindigkeit erreicht hat. Hier wird nach dem Durchführen des Siegelvorgangs die Schalenaufnahme zusammen mit den versiegelten Verpackungen maximal schnell abgesenkt, um dann rechtzeitig vor dem Absetzen der Verpackungen auf das Geschwindigkeitsniveau der Absetzgeschwindigkeit abgebremst zu werden, damit die hergestellten Verpackungen sanft absetzbar sind. Trotz des damit erreichten zügigen Absenkens der Schalenaufnahme wird dennoch ein sanftes Absetzen der Verpackungen gewährleistet. Wie beim Anheben der Schalenaufnahme wird hier also auch beim Absenken der Schalenaufnahme zunächst ein Beschleunigungsvorgang zur Leistungsoptimierung der Schalenverschließmaschine und anschließend ein Bremsvorgang zum Erreichen einer Absetzgeschwindigkeit zur sanften Abgabe der Verpackungen durchgeführt. Das Hubwerk beschleunigt damit vergleichsweise schnell die Schalenaufnahme in Richtung der Trays und sorgt dafür, dass die Schalenaufnahme rechtzeitig auf das Geschwindigkeitsniveau der Aufnahmegeschwindigkeit, das größer als Null ist, abgebremst wird, anhand welcher die Schalenaufnahme die Trays auf sanfte Art und Weise aufnehmen kann.It is characteristic of the invention that the tray closing machine is configured so that a local rate of change in the speed of the tray pick-up during the first movement sequence has changed from a positive value to a negative value before the tray pick-up has reached the predetermined pick-up speed and / or the tray pick-up by means of the lifting mechanism from the second position back to the first position along a second predetermined sequence of movements, which is provided for opening the sealing station, can be adjusted in such a way that the tray holder transfers the packaging it has picked up to the support plate device at a predetermined depositing speed Rate of change in the speed of the tray pick-up during the second movement sequence has changed from a negative value to a positive value before the tray pick-up has reached the predetermined settling speed. here After the sealing process has been carried out, the tray holder together with the sealed packaging is lowered as quickly as possible, in order then to be slowed down to the level of the setting speed in good time before the packaging is set down so that the packs produced can be set down gently. In spite of the rapid lowering of the tray holder achieved in this way, a gentle setting down of the packaging is guaranteed. As with the lifting of the tray holder, when the tray holder is lowered, first an acceleration process is carried out to optimize the performance of the tray sealing machine and then a braking process is carried out to achieve a set-down speed for smooth delivery of the packaging. The lifting mechanism accelerates the tray pick-up relatively quickly in the direction of the trays and ensures that the tray pick-up is braked in good time to the speed level of the pick-up speed, which is greater than zero, on the basis of which the tray pick-up can pick up the trays in a gentle manner.
Bei der Erfindung wird die Schalenaufnahme zunächst während des ersten Bewegungsablaufs aus der ersten Position heraus über das Geschwindigkeitsniveau der Aufnahmegeschwindigkeit beschleunigt und dann auf die vorbestimmte Aufnahmegeschwindigkeit, die größer als Null ist, abgebremst, um mittels dieser die Trays sanft aufzunehmen. Die Aufnahme der Trays findet damit unmittelbar nach dem Bremsvorgang statt. Dies bedeutet, dass die Aufnahmegeschwindigkeit direkt aus dem Bremsvorgang resultiert. Der Vorzeichenwechsel der zeitlichen Änderungsrate der Geschwindigkeit findet zwischen dem Beschleunigungs- und Abbremsvorgang oberhalb dem Geschwindigkeitsniveau der Aufnahmegeschwindigkeit statt.In the invention, the tray pick-up is first accelerated during the first movement sequence from the first position above the speed level of the pick-up speed and then decelerated to the predetermined pick-up speed, which is greater than zero, in order to gently pick up the trays by means of this. The trays are picked up immediately after the braking process. This means that the recording speed results directly from the braking process. The change in sign of the rate of change of speed over time takes place between the acceleration and braking processes above the speed level of the recording speed.
Der zunächst während des ersten Bewegungsablaufs stattfindende Beschleunigungsvorgang, bei dem die Geschwindigkeit der Schalenaufnahme kontinuierlich bis zum Bremsvorgang zunimmt, bewirkt bei der Erfindung die gewünschte Leistungsoptimierung des Betriebs der Schalenverschließmaschine. Der während des ersten Bewegungsablaufs dem Beschleunigungsvorgang folgende Bremsvorgang bewirkt, dass die Schalenaufnahme eine geeignete Aufnahmegeschwindigkeit für ein sanftes Aufnehmen der bereitgestellten Trays erreicht.The acceleration process, which initially takes place during the first movement sequence, in which the speed of the tray pick-up increases continuously up to the braking process, brings about the desired performance optimization of the operation of the tray sealing machine in the invention. The braking process following the acceleration process during the first movement sequence has the effect that the tray receptacle reaches a suitable pick-up speed for gently picking up the provided trays.
Vorzugsweise findet der Wechsel der lokalen zeitlichen Änderungsrate der Geschwindigkeit der Schalenaufnahme während des ersten Bewegungsablaufs von einem positiven Wert zu einem negativen Wert genau einmal statt, bevor die Schalenaufnahme aus dem Bremsvorgang resultierend die vorbestimmte Aufnahmegeschwindigkeit erreicht hat. In anderen Worten wird bei der Hubbewegung die Geschwindigkeit der Schalenaufnahme während des ersten Bewegungsablaufs zunächst kontinuierlich bis zu einer vorbestimmten Geschwindigkeit, die größer ist als die Aufnahmegeschwindigkeit, erhöht und ab dem Erreichen der vorbestimmten Geschwindigkeit kontinuierlich bis auf die Aufnahmegeschwindigkeit reduziert.The change in the local temporal rate of change in the speed of the tray pick-up during the first movement sequence from a positive value to a negative value preferably takes place exactly once before the tray pick-up has reached the predetermined pick-up speed resulting from the braking process. In other words, during the lifting movement, the speed of the tray receptacle during the first movement sequence is initially continuous up to a predetermined speed which is greater than that Recording speed, increased and, once the predetermined speed has been reached, continuously reduced to the recording speed.
Bei der Erfindung kann das bereits an der Siegelstation für die Schalenaufnahme eingesetzte Hubwerk einfach mittels einer Steuerung der Schalenverschließmaschine angesteuert werden, um den erfindungsgemäßen Bewegungsablauf der Schalenaufnahme zu koordinieren. Vorstellbar wäre es, dass für die Schalenaufnahme hinsichtlich verschiedener Schalentypen entsprechende Bahnkurven für den ersten und/oder den zweiten Bewegungsablauf hinterlegt und aufrufbar sind, anhand welcher die sanfte Trayaufnahme sowie das sanfte Absetzen fertig hergestellter Verpackungen steuerbar ist.In the invention, the lifting mechanism already used at the sealing station for the tray pick-up can be controlled simply by means of a control of the tray closing machine in order to coordinate the sequence of movements of the tray pick-up according to the invention. It would be conceivable that corresponding trajectories for the first and / or the second movement sequence are stored and can be called up for the tray pick-up with regard to different tray types, with the aid of which the gentle tray pick-up and the gentle placement of finished packaging can be controlled.
Vorzugsweise ist die Schalenaufnahme zusammen mit den an ihr aufgenommenen Trays für ein vorbestimmtes Zeitintervall mit der Aufnahmegeschwindigkeit verfahrbar. Die Trays können dadurch besonders positionsgenau und stillstehend in der Schalenaufnahme aufgenommen werden.The tray receptacle, together with the trays received on it, can preferably be moved for a predetermined time interval at the pickup speed. As a result, the trays can be received in the tray holder in a particularly precise position and in a stationary manner.
Eine vorteilhafte Ausführungsform sieht vor, dass die Schalenverschließmaschine dazu konfiguriert ist, dass die zeitliche Änderungsrate der Geschwindigkeit der Schalenaufnahme, samt der darin aufgenommenen Trays, während des ersten Bewegungsablaufs von einem positiven Wert zu einem negativen Wert gewechselt ist, ehe die Schalenaufnahme in der zweiten Position angekommen ist. Wie beim Anfahren an die bereitgestellten Trays beschleunigt gemäß dieser Variante die Schalenaufnahme zusammen mit den Trays, d.h. nach deren Aufnahme, auf eine vorbestimmte Geschwindigkeit, vorzugsweise bis auf eine Maximalgeschwindigkeit des Hubvorgangs, bevor sie dann rechtzeitig vor Erreichen der zweiten Position, d.h. der Arbeitsposition zum Durchführen eines Siegelvorgangs, abgebremst wird. Diese Beschleunigungs- und Bremsabfolge führt zu verkürzten Transportzyklen der mittels der Schalenaufnahme aufgenommenen Trays hin zum Siegelwerkzeug.An advantageous embodiment provides that the tray sealing machine is configured so that the rate of change over time of the speed of the tray receptacle, including the trays received therein, changes from a positive value to a negative value during the first movement before the tray receptacle is in the second position has arrived. As when approaching the provided trays, according to this variant, the tray pickup accelerates together with the trays, ie after they have been picked up, to a predetermined speed, preferably up to a maximum speed of the lifting process, before they are then timely before reaching the second position, ie the working position for Performing a sealing process, is braked. This acceleration and braking sequence leads to shortened transport cycles of the trays received by means of the tray holder to the sealing tool.
Vorzugsweise ist die Schalenaufnahme ab einem Übergabezeitpunkt, zu dem die Verpackungen an die Stütztellereinrichtung abgegeben sind, für ein vorbestimmtes Zeitintervall mit der Absetzgeschwindigkeit verfahrbar. Damit wird erreicht, dass die Verpackungen vorsichtig sowie positionsgenau an vorbestimmten Positionen auf der Stütztellereinrichtung absetzbar sind.The tray receptacle can preferably be moved at the set-down speed for a predetermined time interval from a transfer point in time at which the packs are delivered to the support plate device. This ensures that the packaging can be set down carefully and precisely at predetermined positions on the support plate device.
Vorzugsweise ist die Schalenverschließmaschine dazu konfiguriert, dass die zeitliche Änderungsrate der Geschwindigkeit der Schalenaufnahme während des zweiten Bewegungsablaufs von einem negativen Wert zu einem positiven Wert gewechselt ist, nachdem die Verpackungen mit der Absetzgeschwindigkeit an die Stütztellereinrichtung abgegeben sind und bevor die Schalenaufnahme in die erste Position zurückgekehrt ist. Damit ist es möglich, dass die Schalenaufnahme, nachdem die Verpackungen von ihr an die Stütztellereinrichtung abgegeben wurden, maximal schnell in ihre Ausgangsposition zurückfährt, damit sie innerhalb kurzer Zeit erneut bereitgestellte Trays für einen anschließenden Schalenschließvorgang aufnehmen kann.The tray closing machine is preferably configured so that the rate of change over time of the speed of the tray pick-up during the second movement sequence has changed from a negative value to a positive value after the packages have been delivered to the support plate device at the set-down speed and before the tray pick-up has returned to the first position is. This makes it possible for the tray receptacle to return to its starting position as quickly as possible after the packaging has been transferred from it to the support plate device, so that it can pick up trays that have been provided again within a short time for a subsequent tray closing process.
Steuerungstechnisch lässt sich der Aufwand dadurch minimieren, indem der erste Bewegungsablauf und der zweite Bewegungsablauf im Wesentlichen symmetrisch sind. Vorstellbar wäre es, dass der zweite Bewegungsablauf höhere Beschleunigungen als der erste Bewegungsablauf aufweist, da hier die Verpackungen bereits verschlossen sind.In terms of control technology, the effort can be minimized in that the first movement sequence and the second movement sequence are essentially symmetrical. It would be conceivable that the second movement sequence has higher accelerations than the first movement sequence, since the packaging is already closed here.
Zur Bearbeitung verschiedener Schalentypen ist es vorteilhaft, wenn an der Schalenverschließmaschine die Aufnahmegeschwindigkeit und/oder die Absetzgeschwindigkeit variabel einstellbar sind.For processing different types of trays, it is advantageous if the pick-up speed and / or the set-down speed can be variably set on the tray sealing machine.
Vorzugsweise ist die Schalenverschließmaschine dazu konfiguriert, dass die Schalenaufnahme entlang des ersten Bewegungsablaufs die Aufnahmegeschwindigkeit an einer vorbestimmten Aufnahmeposition erreicht, ehe die auf der Stütztellereinrichtung bereitgestellten Trays an daran ausgebildeten Schalenrändern durch die Schalenaufnahme aufgenommen sind. Hier wäre es vorstellbar, dass an der Schalenaufnahme ausgebildete Mittel zur Aufnahme der jeweiligen Trays noch ungefähr 2,5 mm von den Schalenrändern beabstandet sind, wenn die Schalenaufnahme in der Aufnahmeposition angekommen ist, d.h. wenn die Schalenaufnahme in die vorbestimmte Aufnahmegeschwindigkeit abgebremst ist.The tray closing machine is preferably configured so that the tray pick-up reaches the pick-up speed at a predetermined pick-up position along the first movement sequence before the trays provided on the support plate device are picked up on the tray edges formed thereon by the tray pick-up. Here it would be conceivable that means for receiving the respective trays formed on the tray holder are still spaced approximately 2.5 mm from the tray edges when the tray holder has arrived in the pick-up position, i.e. when the tray holder is braked to the predetermined pick-up speed.
Eine Variante sieht vor, dass die Schalenverschließmaschine dazu konfiguriert ist, dass die Schalenaufnahme entlang des zweiten Bewegungsablaufs die Absetzgeschwindigkeit an einer vorbestimmten Absetzposition erreicht, ehe die Verpackungen mittels daran ausgebildeter Verpackungsböden auf der Stütztellereinrichtung abgesetzt sind. Vorstellbar ist es, dass die Schalenaufnahme in der vorbestimmten Absetzposition angekommen ist, wenn die Verpackungsböden der in der Schalenaufnahme aufgenommenen Trays ungefähr 2,5 mm oberhalb von an der Stütztellereinrichtung vorgesehenen Aufnahmetellern positioniert sind.One variant provides that the tray closing machine is configured so that the tray receptacle reaches the set-down speed along the second movement sequence at a predetermined set-down position before the packs are set down on the support plate device by means of packaging bottoms formed thereon. It is conceivable that the tray receptacle has arrived in the predetermined set-down position when the packaging bottoms of the trays received in the tray receptacle are positioned approximately 2.5 mm above the receiving plates provided on the support plate device.
Ein Siegelvorgang lässt sich insbesondere dadurch vorteilhaft durchführen, wenn das Siegelwerkzeug höhenverstellbar innerhalb des Werkzeugoberteils gelagert ist. Die Siegelstation ist vorzugsweise dazu konfiguriert, zur Herstellung einer gewünschten Atmosphäre innerhalb der Verpackungen einen Evakuierungs- und/oder Begasungsprozess durchzuführen.A sealing process can be carried out particularly advantageously if the sealing tool is mounted within the upper part of the tool in a height-adjustable manner. The sealing station is preferably configured to carry out an evacuation and / or gassing process in order to produce a desired atmosphere within the packaging.
Eine kostengünstige und einfache Ausführung der Schalenverschließmaschine sieht vor, dass die Stütztellereinrichtung, insbesondere die daran ausgebildeten Stützteller, stationär an der Siegelstation gelagert ist. Gemäß der Erfindung wird das sanfte Aufnehmen der Trays und das sanfte Absetzen der versiegelten Verpackungen durch die besondere Hubbewegung mittels des für die Schalenaufnahme eingesetzten Hubwerks an der Siegelstation erreicht. Damit kann an der erfindungsgemäßen Schalenverschließmaschine auf ein zusätzliches Hubwerk für die Stütztellereinrichtung verzichtet werden.An inexpensive and simple design of the tray sealing machine provides that the support plate device, in particular the support plate formed thereon, is mounted in a stationary manner at the sealing station. According to the invention, the gentle picking up of the trays and the smooth setting down of the sealed packaging is achieved by the special lifting movement by means of the lifting mechanism used for the tray pick-up at the sealing station. An additional lifting mechanism for the support plate device can thus be dispensed with on the tray closing machine according to the invention.
Die Erfindung bezieht sich auch auf ein Verfahren zum Anheben und Absenken einer Schalenaufnahme an einer Siegelstation einer Schalenverschließmaschine. Dabei werden beim Anheben der Schalenaufnahme, mittels der Schalenaufnahme auf einer Stütztellereinrichtung bereitgestellte Trays aufgenommen und für einen Schalenverschließvorgang zu einem oberhalb der Schalenaufnahme positionierten Werkzeugoberteil transportiert. Die Schalenaufnahme wird mittels eines Hubwerks von einer ersten Position, in welcher sich die Schalenaufnahme bei einem geöffneten Zustand der Siegelstation in einer Ausgangsposition befindet, zu einer zweiten Position, in welcher sich die Schalenaufnahme bei einem geschlossenen Zustand der Siegelstation in einer an das Werkzeugoberteil herangerückten Arbeitsposition befindet, entlang eines ersten vorbestimmten Bewegungsablaufs verstellt, wobei die Schalenaufnahme mit einer vorbestimmten Aufnahmegeschwindigkeit die an der Stütztellereinrichtung bereitgestellten Trays aufnimmt.The invention also relates to a method for raising and lowering a tray receptacle at a sealing station of a tray sealing machine. When the shell holder is raised, trays provided on a support plate device are picked up by means of the shell holder and are transported for a shell closing process to an upper tool part positioned above the shell holder. The tray holder is moved by means of a lifting mechanism from a first position, in which the tray holder is in an initial position when the sealing station is open, to a second position in which the tray holder is in a working position moved towards the upper part of the tool when the sealing station is closed located, adjusted along a first predetermined sequence of movements, wherein the tray receptacle picks up the trays provided on the support plate device at a predetermined pick-up speed.
Erfindungsgemäß wechselt eine zeitliche Änderungsrate der Geschwindigkeit der Schalenaufnahme während des ersten Bewegungsablaufs von einem positiven Wert zu einem negativen Wert, bevor die Schalenaufnahme die vorbestimmte Aufnahmegeschwindigkeit erreicht und/oder die Schalenaufnahme mittels des Hubwerks im Anschluss an einen Schalenschließvorgang aus der zweiten Position wieder zurück zur ersten Position entlang eines zweiten vorbestimmten Bewegungsablaufs derart verstellt wird, dass die Schalenaufnahme mit einer vorbestimmten Absetzgeschwindigkeit an ihr aufgenommene hergestellte, d.h. versiegelte, Verpackungen an die Stütztellereinrichtung übergibt, wobei eine zeitliche Änderungsrate der Geschwindigkeit während des zweiten Bewegungsablaufs von einem negativen Wert zu einem positiven Wert wechselt, bevor die Schalenaufnahme die vorbestimmte Absetzgeschwindigkeit erreicht. Das Beschleunigen der Schalenaufnahme aus der zweiten Position heraus wird dabei zunächst bis zum Erreichen einer vorbestimmten, insbesondere maximalen Absenkgeschwindigkeit durchgeführt. Im Anschluss daran, allerdings vor der Abgabe der an ihr aufgenommenen Verpackungen, wird die Schalenaufnahme bis auf ein Geschwindigkeitsniveau der vorbestimmten Absetzgeschwindigkeit abgebremst, mittels welcher die Schalenaufnahme die Verpackungen an die Stütztellereinrichtung sanft übergibt. Wie beim Anheben der Schalenaufnahme lässt sich damit auch beim Absenken der Schalenaufnahme eine verkürzte Hubzeit zur Leistungsoptimierung des Schalenschließvorgangs und gleichzeitig ein sanftes Absetzen der verschlossenen Verpackungen realisieren. Bei der Erfindung wird die Schalenaufnahme zunächst auf ein Geschwindigkeitsniveau oberhalb der Aufnahmegeschwindigkeit beschleunigt und dann abgebremst, um die vorbestimmte Aufnahmegeschwindigkeit zu erreichen, mittels welcher sich die bereitgestellten Trays sanft mittels der Schalenaufnahme aufnehmen lassen. Das Beschleunigen und Abbremsen der Schalenaufnahme bewirkt sowohl eine leistungsoptimierte Verlagerung der Schalenaufnahme sowie ein sanftes Aufnehmen der Trays damit.According to the invention, a rate of change over time in the speed of the tray pick-up changes from a positive value to a negative value during the first movement sequence before the tray pick-up reaches the predetermined pick-up speed and / or the tray pick-up by means of the hoist after a tray closing process returns from the second position to the first Position is adjusted along a second predetermined movement sequence in such a way that the tray receptacle transfers manufactured, ie sealed, packaging picked up on it at a predetermined set-down speed to the support plate device, a rate of change of the speed changing over time during the second movement sequence from a negative value to a positive value before the tray pick-up reaches the predetermined settling speed. The acceleration of the shell receptacle from the second position is initially carried out until it is reached carried out a predetermined, in particular maximum lowering speed. Following this, but before the packaging received on it is released, the tray pick-up is decelerated to a speed level of the predetermined set-down speed, by means of which the tray pick-up gently transfers the packaging to the support plate device. As with the lifting of the tray holder, when the tray holder is lowered, a shortened lifting time to optimize the performance of the tray closing process and, at the same time, a gentle lowering of the sealed packaging can be achieved. In the invention, the tray pick-up is first accelerated to a speed level above the pick-up speed and then braked in order to reach the predetermined pick-up speed by means of which the provided trays can be picked up gently by means of the tray pick-up. The acceleration and deceleration of the tray holder causes both a performance-optimized shift of the tray holder and a gentle pick-up of the trays.
Vorzugsweise wird die Schalenaufnahme ab einem Zeitpunkt, zu dem an ihr die Trays aufgenommen sind, für ein vorbestimmtes Zeitintervall mit der Aufnahmegeschwindigkeit angehoben. Damit wird sichergestellt, dass die mittels der Schalenaufnahme aufgenommenen Trays positionsgenau ihren Platz an der Schalenaufnahme einnehmen können, bevor sie weiter angehoben werden.The tray receptacle is preferably increased at the pickup speed for a predetermined time interval from a point in time at which the trays are picked up on it. This ensures that the trays picked up by means of the tray holder can take up their exact position on the tray holder before they are lifted further.
Eine vorteilhafte Variante sieht vor, dass die zeitliche Änderungsrate der Geschwindigkeit der Schalenaufnahme, samt den daran aufgenommenen Trays, während des ersten Bewegungsablaufs von einem positiven Wert zu einem negativen Wert wechselt, ehe die Schalenaufnahme in der zweiten Position angekommen ist. Hier wird die Schalenaufnahme, nachdem die Trays an ihr aufgenommen sind, weiter bis zu einem vorbestimmten Geschwindigkeitsniveau, vorzugsweise bis zu einer maximalen Anhebegeschwindigkeit, beschleunigt, um dann anschließend bis zur Ankunft in der zweiten Position, d.h. bis zu ihrem Stillstand, abgebremst zu werden, wodurch eine besonders zügige Verstellbewegung der Schalenaufnahme hin zum Werkzeugoberteil erreicht wird.An advantageous variant provides that the rate of change over time of the speed of the tray holder, including the trays picked up on it, changes from a positive value to a negative value during the first movement sequence before the tray holder has reached the second position. Here, after the trays have been picked up on it, the tray pick-up is accelerated further up to a predetermined speed level, preferably up to a maximum lifting speed, in order then to be decelerated until it arrives at the second position, ie until it comes to a standstill, whereby a particularly rapid adjustment movement of the shell holder towards the upper part of the tool is achieved.
Besonders positionsgenau lassen sich die versiegelten Verpackungen an die Stütztellereinrichtung dadurch abgeben, dass die Schalenaufnahme ab einem Übergabezeitpunkt, zu dem die Verpackungen an die Stütztellereinrichtung abgegeben sind, für ein vorbestimmtes Zeitintervall mit der Absetzgeschwindigkeit weiter abgesenkt wird.The sealed packagings can be delivered to the support plate device with particularly precise positioning in that the tray receptacle is further lowered for a predetermined time interval at the depositing speed from a transfer point in time at which the packaging is delivered to the support plate device.
Ein zügiges Zurückkehren in die erste Position der Schalenaufnahme wird dadurch begünstigt, indem die zeitliche Änderungsrate der Geschwindigkeit der Schalenaufnahme während des zweiten Bewegungsablaufs von einem negativen Wert zu einem positiven Wert wechselt, nachdem die Verpackungen mit der Absetzgeschwindigkeit an die Stütztellereinrichtung abgegeben sind und bevor die Schalenaufnahme in die erste Position zurückgekehrt ist.A quick return to the first position of the tray holder is promoted by the fact that the rate of change of the speed of the tray holder changes from a negative value to a positive value afterwards during the second movement sequence the packages are delivered to the support plate device at the lowering speed and before the tray receptacle has returned to the first position.
Die Erfindung wird anhand eines Ausführungsbeispiels in den folgenden Figuren beschrieben.The invention is described using an exemplary embodiment in the following figures.
Es zeigen:
- Figur 1
- eine erfindungsgemäße Schalenverschließmaschine,
- Figur 2a
- eine geöffnete Siegelstation mit darin bereitgestellten Trays,
- Figur 2b
- ein Anheben der Schalenaufnahme relativ zur stationär angeordneten Stütztellereinrichtung,
- Figur 2c
- eine Mitnahme der Trays mittels der Schalenaufnahme, um die Trays für einen Siegelvorgang anzuheben,
- Figur 2d
- ein Anheben der Trays mittels der Schalenaufnahme hin zum darüber angeordneten Werkzeugoberteil der Siegelstation,
- Figur 2e
- eine Darstellung der Siegelstation im geschlossenen Zustand,
- Figur 2f
- eine Darstellung der Siegelstation beim Schalenschließvorgang zum Versiegeln der in der Schalenaufnahme bereitgestellten Trays, und
Figur 3- einen schematischen Bewegungsablauf der Schalenaufnahme beim Schließen und Öffnen der an der Schalenverschließmaschine eingesetzten Siegelstation.
- Figure 1
- a tray sealing machine according to the invention,
- Figure 2a
- an open sealing station with trays provided therein,
- Figure 2b
- a lifting of the shell receptacle relative to the stationary support plate device,
- Figure 2c
- taking the trays with you by means of the tray holder in order to lift the trays for a sealing process,
- Figure 2d
- a lifting of the trays by means of the shell holder towards the upper tool part of the sealing station,
- Figure 2e
- a representation of the sealing station in the closed state,
- Figure 2f
- a representation of the sealing station during the shell closing process for sealing the trays provided in the shell receptacle, and
- Figure 3
- a schematic sequence of movements of the tray receptacle when closing and opening the sealing station used on the tray closing machine.
In den Figuren gezeigte technische Merkmale werden durchgehend mit gleichen Bezugszeichen versehen.Technical features shown in the figures are provided with the same reference symbols throughout.
Ferner zeigt
In der
In der
Das Siegelwerkzeug 8 wird aus der in
Die
Sobald die Trays T an der Schalenaufnahme 10 aufgenommen sind, verfährt die Schalenaufnahme 10 in
Außerdem zeigt
Gemäß der
Beim Absenken der Schalenaufnahme 10 wird während des zweiten Bewegungsablaufs A2 die zeitliche Änderungsrate G der Geschwindigkeit der Schalenaufnahme 10 von einem negativen Wert zu einem positiven Wert gewechselt, ehe die Schalenaufnahme 10 eine vorbestimmte Absetzgeschwindigkeit v4 erreicht hat.
Bevor die in
Der in der
Claims (13)
- A tray sealing machine (1) comprising at least one feed unit (2) for conveying trays (T) in a production direction (P), a sealing station (3) arranged downstream of the feed unit (2), when seen in the production direction (P), and used for producing packages (V), at least one discharge unit (4) arranged downstream of the sealing station (3), when seen in the production direction (P), as well as a gripper unit (5) configured to, in a conveying cycle, pick up trays (T) provided on the feed unit (2) and convey them into the sealing station (3) for a tray sealing process (S) taking place in the sealing station (3) as well as pick up packages (V) produced within the sealing station (3) and convey them to the discharge unit (4), wherein the sealing station (3) comprises a tool upper part (6), which includes a sealing tool (8), as well as a tool lower part (7), which includes a support plate unit (9) for depositing thereon the trays (T) conveyed into the sealing station (3) and a vertically adjustable tray holder (10) for picking up and conveying the trays (T) transferred to the support plate unit (9) towards the tool upper part (6), the tray sealing machine (1) additionally comprising a lifting mechanism (11) configured to move the tray holder (10) from a first position (P1), at which the tray holder (10) occupies a starting position in an open state of the sealing station (3), to a second position (P2), at which the tray holder (10) occupies a working position located closer to the tool upper part (6) in a closed state of the sealing station (3), during a first predetermined motion sequence (A1), the tray holder (10) being adapted to be moved during the first motion sequence (A1) by means of the lifting mechanism (11) in such a way that the tray holder (10) will pick up the trays (T), which are provided on the support plate unit (9), at a predetermined pick-up speed (v1), characterized in that the tray sealing machine (1) is configured such that a rate of speed change (G) over time of the tray holder (10) will have changed from a positive value to a negative value during the first motion sequence (A1) before the tray holder (10) has reached the predetermined pick-up speed (v1), and/or that the tray holder (10) is adapted to be moved, by means of the lifting mechanism (11), from the second position (P2) back to the first position (P1) along a second predetermined motion sequence (A2), which is provided for opening the sealing station (3), in such a way that the tray holder (10) will transfer the produced packages (V) accommodated therein to the support plate unit (9) at a predetermined depositing speed (v4), with a rate of speed change (G) over time of the tray holder (10) having changed from a negative value to a positive value during the second motion sequence (A2) before the tray holder (10) has reached the predetermined depositing speed (v4).
- The tray sealing machine according to claim 1, characterized in that the tray holder (10), together with the trays (T) accommodated therein, is movable at the pick-up speed (v1) for a predetermined time interval (X1).
- The tray sealing machine according to claim 1 or 2, characterized in that the tray sealing machine (1) is configured such that the rate of speed change (G) over time of the tray holder (10), including the trays (T) accommodated therein, will have changed from a positive value to a negative value during the first motion sequence (A1) before the tray holder (10) has arrived at the second position (P2).
- The tray sealing machine according to one of the preceding claims, characterized in that from a transfer moment, at which the packages (V) have been transferred to the support plate unit (9), the tray holder (10) is movable at the depositing speed (v4) for a predetermined time interval (X2).
- The tray sealing machine according to one of the preceding claims, characterized in that the tray sealing machine (1) is configured such that the rate of speed change (G) over time of the tray holder (10) will have changed from a negative value to a positive value during the second motion sequence (A2) after the packages (V) have been transferred to the support plate unit (9) at the depositing speed (v4) and before the tray holder (10) has returned to the first position (P1).
- The tray sealing machine according to one of the preceding claims, characterized in that the pick-up speed (v1) and/or the depositing speed (v4) are variably adjustable at the tray sealing machine (1).
- The tray sealing machine according to one of the preceding claims, characterized in that the tray sealing machine (1) is configured such that the tray holder (10) will reach the pick-up speed (v1) at a predetermined pick-up position during the first motion sequence (A1), before the trays (T) provided on the support plate unit (9) have been received, on tray edges (R) formed thereon, by the tray holder (10).
- The tray sealing machine according to one of the preceding claims, characterized in that the tray sealing machine (1) is configured such that the tray holder (10) will reach the depositing speed (v4) at a predetermined depositing position during the second motion sequence (A2) before the packages (V) have been deposited on the support plate unit (9) by means of package bases (B) formed thereon.
- A method of lifting and lowering a tray holder (10) at a sealing station (3) of a tray sealing machine (1), wherein, when the tray holder (10) is being lifted, trays (T), which are provided on a support plate unit (9), are picked-up by means of the tray holder (10) and conveyed to a tool upper part (6) positioned above the tray holder (10), so as to carry out a tray sealing process (S), wherein the tray holder (10) is moved by means of a lifting mechanism (11) from a first position (P1), at which the tray holder (10) occupies a starting position in an open state of the sealing station (3), to a second position (P2), at which the tray holder (10) occupies a working position located closer to the tool upper part (6) in a closed state of the sealing station (3), during a first predetermined motion sequence (A1), wherein the tray holder (10) picks up the trays (T), which are provided on the support plate unit (9), at a predetermined pick-up speed (v1), characterized in that a rate of speed change (G) over time of the tray holder (10) changes from a positive value to a negative value during the first motion sequence (A1) before the tray holder (10) reaches the predetermined pick-up speed (v1), and/or that, subsequent to a tray sealing process (S), the tray holder (10) is moved by means of the lifting mechanism (11) from the second position (P2) back to the first position (P1) during a second predetermined motion sequence (A2) in such a way that the tray holder (10) will transfer, at a predetermined depositing speed (v4), produced packages (V) accommodated therein to the support plate unit (9), with a rate of speed change (G) over time changing from a negative value to a positive value during the second motion sequence (A2) before the tray holder (10) reaches the predetermined depositing speed (v4).
- The method according to claim 9, characterized in that, from a moment, at which the trays (T) have been received by the tray holder (10), the tray holder (10) will be lifted at the pick-up speed (v1) for a predetermined time interval (X1).
- The method according to claim 9 or 10, characterized in that the rate of speed change (G) over time of the tray holder (10), including the trays (T) accommodated therein, will change from a positive value to a negative value during the first motion sequence (A1) before the tray holder (10) arrives at the second position (P2).
- The method according to one of the preceding claims 9 to 11, characterized in that from a transfer moment, at which the packages (V) have been transferred to the support plate unit (9), the tray holder (10) is lowered still further at the depositing speed (v4) for a predetermined time interval (X).
- The method according to one of the preceding claims 9 to 12, characterized in that the rate of speed change (G) over time of the tray holder (10) changes during the second motion sequence (A2) from a negative value to a positive value after the packages (V) have been transferred to the support plate unit (9) at the depositing speed (v4) and before the tray holder (10) has returned to the first position (P1).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019206209.1A DE102019206209A1 (en) | 2019-04-30 | 2019-04-30 | TRAY SEALING MACHINE AND METHOD FOR GENTLY PICKING UP A TRAY |
Publications (2)
Publication Number | Publication Date |
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EP3738893A1 EP3738893A1 (en) | 2020-11-18 |
EP3738893B1 true EP3738893B1 (en) | 2021-08-18 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20170678.5A Active EP3738893B1 (en) | 2019-04-30 | 2020-04-21 | Tray sealing machine and method for smoothly picking up a tray |
Country Status (5)
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US (1) | US11155372B2 (en) |
EP (1) | EP3738893B1 (en) |
CN (1) | CN111846468B (en) |
DE (1) | DE102019206209A1 (en) |
ES (1) | ES2897826T3 (en) |
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DE102019206345A1 (en) * | 2019-05-03 | 2020-11-05 | Multivac Sepp Haggenmüller Se & Co. Kg | TRAY SEALING MACHINE AND METHOD FOR OPERATING A GRIPPER DEVICE ON THE TRAY SEALING MACHINE |
US11537502B1 (en) * | 2021-11-19 | 2022-12-27 | Bank Of America Corporation | Dynamic system for active detection and mitigation of anomalies in program code construction interfaces |
EP4279398A1 (en) * | 2022-05-20 | 2023-11-22 | G. Mondini SpA | Apparatus for the application of a film to a support |
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FR2055732A1 (en) * | 1969-08-05 | 1971-04-30 | Robache Roger | |
FR2449597A1 (en) * | 1979-02-22 | 1980-09-19 | Lechevallier Maurice | Spring-loaded carriages to accelerate plastic bag machine heated jaws - to simplify reduction of wear on the prime conveyor |
CN86102243A (en) * | 1986-04-02 | 1987-10-14 | 通用食品公司 | The method and the apparatus that fill and pack of flowable product |
DE69101374T2 (en) * | 1990-12-12 | 1994-06-16 | Rapidpak, Inc., Appleton, Wis. | PACKING MACHINE AND METHOD WITH A SERVO MOTOR FOR STEP-BY-STEP DRIVE. |
IT1269721B (en) * | 1994-05-06 | 1997-04-15 | Mondini G Spa | MACHINE FOR SEALING CONTAINERS THROUGH THE APPLICATION OF A COVERING PLATE |
EP2019417A1 (en) * | 2002-08-31 | 2009-01-28 | Applied Materials, Inc. | System for transporting substrate carriers |
US6834476B2 (en) * | 2002-10-17 | 2004-12-28 | Ibaraki Seiki Machinery Company, Ltd. | Sealing and packaging device for cover film on tray |
ITBO20030402A1 (en) * | 2003-06-30 | 2005-01-01 | Luciano Salda | MACHINE FOR THE TREATMENT OF PRODUCTS WITH MICROWAVES, PARTICULARLY FOR THE STERILIZATION OF SOLID HOSPITAL WASTE USUALLY COLLECTED IN SUITABLE CARDBOARD BOXES OR OF CORRUGATED PLASTIC MATERIAL AND ITS RELATED OPERATING METHOD. |
JP4835092B2 (en) * | 2005-10-04 | 2011-12-14 | 東洋製罐株式会社 | Container heat sealing method and apparatus |
DE102008030510A1 (en) * | 2008-06-27 | 2010-01-14 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Packaging machine with a gripper system |
ES2568524T3 (en) | 2008-09-05 | 2016-04-29 | Daifuku Co., Ltd. | Installation for storage of items and procedure for its operation |
DE202009009242U1 (en) * | 2009-07-06 | 2010-11-18 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Tray sealing machine |
EP2483159B1 (en) * | 2009-09-30 | 2014-11-12 | Ross Industries, Inc. | Method and apparatus for sealing containers |
DE102010027211B4 (en) * | 2010-07-15 | 2012-04-26 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Gripper system for a tray sealing machine |
DE102012004372A1 (en) | 2012-03-02 | 2013-09-05 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Tray sealing machine and method for transporting trays |
ITBO20120353A1 (en) | 2012-06-26 | 2013-12-27 | Gruppo Fabbri Vignola Spa | APPARATUS FOR THE ORDERED SUPPLY OF TRAYS GROUPS TO A MACHINE USED FOR SEALING THE SHEETS WITH THEIR APPLICATION OF A COVER FILM |
DE102013021146A1 (en) * | 2013-12-12 | 2015-07-02 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Packaging machine and method with a loose slide |
ES2664849T3 (en) * | 2015-03-20 | 2018-04-23 | Multivac Sepp Haggenmüller Se & Co. Kg | Tray sealing machine |
ES2662934T3 (en) | 2015-09-04 | 2018-04-10 | Multivac Sepp Haggenmüller Se & Co. Kg | Cuvette closure machine |
DE102016123569A1 (en) * | 2016-12-06 | 2018-06-07 | Multivac Sepp Haggenmüller Se & Co. Kg | Tray sealing machine |
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2019
- 2019-04-30 DE DE102019206209.1A patent/DE102019206209A1/en not_active Withdrawn
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2020
- 2020-04-21 EP EP20170678.5A patent/EP3738893B1/en active Active
- 2020-04-21 ES ES20170678T patent/ES2897826T3/en active Active
- 2020-04-29 CN CN202010356825.2A patent/CN111846468B/en active Active
- 2020-04-30 US US16/862,704 patent/US11155372B2/en active Active
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CN111846468B (en) | 2022-01-11 |
DE102019206209A1 (en) | 2020-11-05 |
EP3738893A1 (en) | 2020-11-18 |
CN111846468A (en) | 2020-10-30 |
ES2897826T3 (en) | 2022-03-02 |
US20200346801A1 (en) | 2020-11-05 |
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