EP3867157B1 - Vorrichtung und verfahren zum zusammenführen und laden von artikeln - Google Patents

Vorrichtung und verfahren zum zusammenführen und laden von artikeln Download PDF

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Publication number
EP3867157B1
EP3867157B1 EP19794913.4A EP19794913A EP3867157B1 EP 3867157 B1 EP3867157 B1 EP 3867157B1 EP 19794913 A EP19794913 A EP 19794913A EP 3867157 B1 EP3867157 B1 EP 3867157B1
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EP
European Patent Office
Prior art keywords
flexible strip
articles
wall
items
container
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Application number
EP19794913.4A
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English (en)
French (fr)
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EP3867157A1 (de
EP3867157C0 (de
Inventor
Jacky PETERLINI
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Individual
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Publication of EP3867157C0 publication Critical patent/EP3867157C0/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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • 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
    • 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
    • B65B2220/00—Specific aspects of the packaging operation
    • B65B2220/14—Adding more than one type of material or article to the same package

Definitions

  • the present invention relates to a device for gathering and unloading articles in a carton, as well as its method of implementation.
  • the items to be packaged in a box are positioned manually by an operator.
  • the operator determines either the size of carton to use by an approximate determination of the volume of the articles to be packaged, or on the basis of information communicated to him by a central control unit, which informs you of the size of the box to select according to the volume of your order.
  • a device for gathering and unloading articles is also known, using a movable wall to unload articles into a carton.
  • grippers is limited to articles of regular shapes, and is generally not suitable for articles particularly sold by e-commerce platforms which can be of very variable shapes and dimensions from one article to another. 'other.
  • the sum of the volumes of the articles in an order which includes consumer goods or foodstuffs, cannot correspond to a volume of a box selected by the sum of the aforementioned volumes, only if the articles are stored manually by a conscientious operator, which represents a significant feat, especially with the required rates due to the large number of daily orders.
  • the present invention proposes a device for gathering and unloading articles which makes it possible to select a cardboard sizing in relation to the volume of articles in a previously ordered order. collected and intended to be unloaded in a box, making it possible to overcome the aforementioned disadvantages.
  • the device for gathering and unloading articles comprises a container open on its upper wall, which comprises a front wall adjacent to two side walls and a lower wall, one of the walls of which is movable and intended for unloading the articles into a carton, as well as a means for gathering the articles towards a zero reference point, in the plane of the lower wall, in the orthonormal directions 0 X and 0 Y.
  • the assembly means has variable geometry, the articles being intended to evolve and modify their trajectories according to the orthonormal directions 0 X and 0 Y towards the zero reference point, according to their respective dimensions.
  • the gathering means comprises a flexible strip.
  • At least one end of the flexible strip is connected to a means for winding the flexible strip.
  • the flexible strip is guided along at least the side walls, freely connected by guide means movable in translation along at least the side walls.
  • the winding means is movable at least along the front wall.
  • the winding means is a torque-controlled motor.
  • each of the ends of the flexible strip is connected to a winding means.
  • the guiding means are linear motors.
  • the movable wall is the front wall.
  • the lower wall comprises a drive means intended to contribute to the movement of the articles.
  • the device (1) for gathering and unloading articles comprises a container (2) comprising a movable wall and equipped with means for gathering articles in the direction of a zero reference point ( 0 ).
  • the device (1) allows the unloading of articles in a cardboard box, its dimensioning of which is determined by the volume of the articles assembled by the gathering means.
  • the container (2) is open on its upper wall so that articles can be arranged randomly in its interior space.
  • the heaviest items are positioned randomly, downstream of the interior space of the container (2), while the lightest, or even the most fragile, items are advantageously positioned upstream of the interior space, relative to the reference zero point (0).
  • the items can be of any size, shape, rigid or fragile, as long as their size is adapted to the interior space of the container (2).
  • the container (2) comprises a front wall (2a), two side walls (2b), a lower wall (2c) and advantageously a rear wall (2d), of which at least one of the walls of the container (2) is movable and intended for unloading articles into a box.
  • cardboard is used interchangeably in this description to designate a container, a box or a container in which at least one item is packaged.
  • the movable wall is the front wall (2a).
  • a cardboard box is placed facing the front wall (2a) of the container (2), its opening, for example by sliding upwards, allows the articles to be unloaded in the box by the gathering means as explained further below. detail in the remainder of the description.
  • the movable wall is the lower wall (2c)
  • a cardboard box is placed below the lower wall (2c)
  • its opening for example by lateral sliding, allows the articles to be unloaded into the cardboard, possibly assisted by the gathering means.
  • the device (1) allows the execution of two operational phases, namely a first phase of gathering the articles and a second phase of unloading.
  • the first phase of gathering the articles is carried out towards a zero reference point (0), in which the movable wall is closed, namely closing the interior space of the container (2), the articles being intended to be positioned in a constrained manner preferably against the front wall (2a) and advantageously against at least one side wall (2b).
  • the second unloading phase consists of the opening of the movable wall, the articles being intended to be conveyed outside the container (2) towards the inside of a box, by the gathering means, advantageously assisted by a training means, as explained in more detail in the remainder of the description.
  • the gathering means is intended to direct the articles from a random position in the interior space of the container (2), towards a reference zero point ( 0 ), for example one of the corners of the container (2) materialized by the junction of the front wall (2a) and one of the side walls (2b), or the center of the front wall (2a).
  • This gathering is carried out in the plane of the lower wall (2c) in the orthonormal directions 0 X and 0 Y.
  • the assembly means has variable geometry, namely that the articles are intended to evolve and modify their trajectories throughout their journey, from their random loading position towards their assembly position towards the point of collection. reference zero ( 0 ), depending on their respective dimensioning and the variation in configuration of the gathering means.
  • the gathering means comprises a flexible strip (3) advantageously guided along at least the side walls (2b) of the container (2) and advantageously the front wall (2a).
  • flexible strip (3) includes the usual terms of belt, flexible wall, net, etc.
  • the term flexible means a sufficiently flexible material, preferably a non-elastic material.
  • the device (1) in the first phase, is intended to adopt two configurations, namely a configuration awaiting loading, in which the flexible strip (3) substantially delimits the interior periphery of the container (2 ), as explained in more detail in the remainder of the description, and a configuration for gathering the articles towards the zero reference point (0).
  • a flexible strip (3) is presented as a thin parallelogram, thus comprising four edges, namely a lower edge intended to evolve at the level of the lower wall, an upper edge, and two lateral edges intended to evolve in correspondence with at least the side walls (2b) of the container (2), the heights of the side edges of which are advantageously intended to substantially coincide with those of the walls (2a, 2b, 2d) of the container (2).
  • edges being delimited by two faces, namely one interior face intended for gathering the articles, and an exterior face intended to evolve or even marry, at least in the loading position of the articles, substantially the side walls (2b), or even the rear wall (2d) of the container (2).
  • the side edges of the flexible strip (3) substantially coincide with the edges formed by the junction of the side walls (2b) and the front wall (2a) of the container (2 ), while as explained previously, the exterior face of the flexible strip (3) substantially matches the side walls (2b) and advantageously the rear wall (2d) of the container (2), the flexible strip (3) substantially delimiting the interior periphery of the container (2), at least part of the interior perimeter of the container (2), namely the parts corresponding to the side walls (2b) and advantageously the rear wall (2c).
  • At least one of the lateral ends of the flexible strip (3) is connected to a means for pulling the flexible strip (3), preferably each of the side edges is connected to a means of traction.
  • the means for pulling the flexible strip (3) is a winding means (4).
  • a winding means (4) of the flexible strip (3) is presented by a motor, advantageously with torque control.
  • the axis of rotation of the aforementioned motor is arranged perpendicular to the lower wall (2c) of the container (2) namely parallel to the edges formed by the intersections of the front wall (2a) and the side walls (2b) of the container (2).
  • the winding means (4) is a torque control motor, intended to stop the winding of the flexible strip (3) when a determined stress value is reached, in order to to avoid damaging the items when gathering towards the zero reference point ( 0 ).
  • the winding of the flexible strip (3) is carried out from the outside of the winding means (4).
  • At least one of the winding means (4) is movable in translation along at least the front wall (2a), or also a side wall (2b).
  • a winding means (4) is associated with a translation means (6) along one of the walls (2a, 2b) of the container (2).
  • the translation means (6) of the drive means (4) is a linear motor.
  • linear motor is a motor intended to cause an element to undergo translation along a determined path.
  • the upper edges of the container (2) comprise guides (7), such as slides or guide tubes intended for the movements of the translation means (6) of the winding means (4) and advantageously of the means of guidance (5), as explained in more detail in the remainder of the description, by appropriate rolling means.
  • the aforementioned guides (7) extend at least from the rear wall (2d), along the side walls (2b) and extend by a curve towards the front wall (2a), allowing the gathering means to evolve from the side walls (2b) to the front wall (2a) and vice versa.
  • the lower edges of the container (2) also comprise guides (7) as mentioned above, the winding means (4) and advantageously the guide means (5), being split in opposition to the flexible strip (3).
  • two means are fixed winding (4) in opposition, and advantageously as many guiding means (5) as necessary, at the levels of the upper and lower edges of the flexible strip (3).
  • the container (2) comprises at least one means of guiding (5) the flexible strip (3) intended to move along at least one side wall (2) and advantageously along the front wall (2a) of the container (2).
  • the guide means (5) are connected to a wall (2a, 2b) of the container (2) and are movable in translation at least along the wall (2a, 2b) to which the means guide (5) is connected.
  • a guide means (5) holds the flexible strip (3) at its connection to the guide means (5), along the wall (2a, 2b) to which the guide means (5) is connected.
  • a guide means (5) is presented by a first part (5a) for connection to the aforementioned guide (7), movable in sliding, extended by a second part (5b) for connection to the flexible strip (3), the second part (5b) being connected by a hinge to the first connection part (5a), but it could be otherwise, the second connection part (5b) being flexible.
  • the second connection part (5b) connected by a hinge to the first part (5a), allows that in the unloading position, as explained in more detail in the remainder of the description, the flexible strip (3) is parallel and closest to the front wall (2a), as illustrated in figure 2 , in order to allow the ejection of the articles outside the container (2).
  • the guide means (5) of the flexible strip (3) are carried by a second set of guides arranged above the guides (7) of at least one winding means (4) .
  • This configuration also allows that in the unloading position, the flexible strip (3) can be positioned parallel and as close as possible to the front wall (2a).
  • the guide means (5) is a passive system, movable according to the traction of the flexible strip (3).
  • the return to the rest position of the device (1), namely in a loading position of the container (2), is achieved by a return means.
  • a return means is a cable fixed to the rear surface of the flexible strip (3), driven by a winding means located at the rear wall (2d) of the container (2 ). The activation of the return means, in the unloading position of the container (2), causes the flexible strip (3) to unwind to the interior periphery of the container (2).
  • the guide means (5) is an active moving system, such as a linear motor.
  • the guide means (5) in the operating mode of the gathering means, is passive and is driven in translation by the traction of the flexible strip (3), but it could be otherwise, the linear motor is put into operation to contribute to the movement of the flexible belt (3) in order to gather the articles in the direction from the reference zero point ( 0 ), while the return to the rest position of the device (1) is achieved by putting the guide means (5) into operation in order to reposition the flexible strip (3) in the position of rest of the device (1), waiting for loading.
  • an active guiding means (5) allows a high rate of loading and unloading of articles.
  • the device (1) does not include guide means (5) of the flexible strip (3).
  • the flexible strip (3) is sufficiently rigid so that the unwinding of the flexible strip (3) by the winding means (4), allows the flexible strip (3) to return to its position waiting for loading, namely that the flexible strip (3) can substantially adopt the interior periphery of the container (2).
  • the device (1) which does not comprise guide means (5), also comprises a means for returning the flexible strip (3), as explained previously, contributing to the return of the device (1) in the rest position waiting for loading.
  • the lower wall (2c) is provided with a drive means, not shown, intended to contribute to the movement of the articles in the direction of the front wall (2a), in order to facilitate the gathering of the articles in the direction from the zero reference point (0) and contribute to the unloading of the articles when one of the walls (2a, 2c) of the container (2) is open facing a box.
  • the drive means is a belt or roller conveyor, driving the articles unidirectionally towards the front wall (2a) of the container (2).
  • the device (1) comprises two winding means (4) each arranged at the ends of the flexible strip (3) and two guide means (5).
  • At least one of the winding means (4) is movable in translation along the front wall (2a) and advantageously also along a side wall (2b).
  • one of the two winding means (4) is movable in translation along at least the front wall (2a), while the other is fixed in translation and located at the intersection of the front wall (2a) with one of the side walls (2b).
  • the device (1) comprises a winding means (4) movable in translation and two guide means (5), while one end of the flexible strip (3) is fixed at one of the intersections of the front wall (2a) with one of the side walls (2b).
  • the device (1) comprises a winding means (4) fixed at one of the intersections of the front wall (2a) with one of the side walls (2b), while the other end of the flexible strip (3) is connected to an active guide means (5).
  • the device (1) comprises two winding means (4) each arranged at the ends of the flexible strip (3).
  • the winding means (4) are movable in translation along the front wall (2a) and advantageously also along a side wall (2b).
  • the device (1) includes a unit for measuring and processing the spacings of the different elements constituting it.
  • the device (1) is intended to determine a cardboard size corresponding to the space occupied by the articles collected in the direction of the zero reference point ( 0 ).
  • the movable wall is the front wall (2a), once the articles are gathered in the direction of the zero reference point ( 0 ), the volume of the articles gathered is determined as explained in more detail. in the remainder of the description.
  • a box, having a dimension corresponding to the volume of the items collected, is positioned on one of its blanks facing the front wall (2a). The front wall is then opened, for unloading the items into the box.
  • the space occupied by the articles gathered in the direction of the zero reference point ( 0 ) can be determined by the spacing of the two ends of the flexible strip (3) thus corresponding to the length of the cardboard, the spacing most large between one end of the flexible strip (3) and a guide means (5) along a side wall (2a), thus corresponds to the height or depth of the cardboard, while the width of the cardboard is determined by the greater height of the items to be collected.
  • the greatest height of the items to be collected can be determined by an appropriate sensor, commonly used in the field of mechatronics, such as a distance sensor.
  • the length of the cardboard is determined by the spacing of the ends of the flexible strip (3), namely the spacings of the two winding means (4) along the front wall (2a), while the height of the cardboard is determined by the spacing between the end of the flexible strip (3) and the guide means (5), both located on a side wall (2b).
  • a winding means (4) and the guide means (5) arranged in correspondence are adjacent and located at the level of the front wall (2a), while the second winding means ( 4) is located at the intersection of the front wall (2a) and the side wall (2b) arranged in correspondence.
  • the length of the cardboard is determined by the ends of the flexible strip (3) which are located at the intersections of the front face (2a) with the side walls (2b), while the height of the cardboard is determined by the greatest spacing between one end of the flexible strip (3) and a guide means (5) both located on the same side wall (2b).
  • the movable wall is the lower wall (2c), once the articles have been collected in the direction of the zero reference point ( 0 ), in view of the determination of the volume of the articles collected, a cardboard , having a dimension corresponding to the volume of the articles collected, is positioned below the bottom wall (2c).
  • the height of the carton is determined by the greatest height of the articles, the length is determined by the spacing of the ends of the flexible strip (3), and the width of the carton is determined by the greatest spacing between one end of the flexible strip (3) and a guide means (5) both located on the same side wall (2b).
  • the dimensions of the cardboard to be positioned are determined by distance sensors, for example located at the level of the side walls (2b) and advantageously at the level of the rear wall (2c), or even at the level of the rear wall (2c). the plumbness of the device (1), in order to determine the volume of the articles collected by the gathering means.
  • the unloading of the articles in a carton is carried out by blocking the translation of the winding means (4), tensioning the flexible strip (3) and maximum winding of the flexible strip (3), which drives the articles in the carton by the open wall of the container (2), possibly assisted by the drive means.
  • the flexible strip (3) is wound until it is stretched between the winding means (4) or between a means of winding (4) and a junction of the front wall (2a) and a side wall (2b), arranged in opposition to the aforementioned winding means (4).
  • the invention also relates to a method of gathering and unloading articles, by a device (1) comprising a container (2) open on its upper wall, comprising a front wall (2a), adjacent to two side walls ( 2b) and a lower wall (2c), one of the walls of which is movable, intended for unloading the articles into a carton.
  • the device (1) comprises a flexible strip (3) connected at least one of its lateral ends to a winding means (4) guided along at least the front wall (2a).
  • the flexible strip (3) can adopt at least two positions, namely a position waiting for loading, the flexible strip (3) being located substantially at the inner periphery of the container (2), and a position for gathering the articles. , in which its lateral ends are located along the front wall (2a), the articles being gathered under stress against its interior surface.
  • the movable wall is the front wall (2a), the lateral ends of the flexible strip (3) being positioned along the front wall (2a) prior to the opening of the front wall (2a). mobile.
  • the movable wall is the lower wall (2c).
  • a cardboard box is positioned opposite the movable wall, the dimensioning of the box being selected according to the volume of the articles gathered by the flexible strip (3).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Details Of Rigid Or Semi-Rigid Containers (AREA)
  • Basic Packing Technique (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Cartons (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Claims (11)

  1. Vorrichtung (1) zum Zusammenführen und Entladen von Artikeln, umfassend:
    - einen Behälter (2), der auf seiner oberen Wand offen ist, der eine Vorderwand (2a), die an zwei Seitenwände (2b) angrenzt, und eine untere Wand (2c) umfasst, wobei eine der Wände beweglich und zum Entladen der Artikel in einen Karton bestimmt ist,
    - ein Mittel zum Zusammenführen mit variabler Geometrie der Artikel in Richtung eines Bezugsnullpunkts (0) in der Ebene der unteren Wand, in den orthonormalen Richtungen (0X, 0Y), wobei das Mittel dazu angepasst ist, die Bahnen der Artikel gemäß den orthonormalen Richtungen (0X, 0Y) zu dem Bezugsnullpunkt (0) gemäß ihrem jeweiligen Platzbedarf zu entwickeln und zu modifizieren.
  2. Vorrichtung (1) nach Anspruch 1, dadurch gekennzeichnet, dass das Mittel zum Zusammenführen ein biegsames Band (3) umfasst.
  3. Vorrichtung (1) nach dem vorstehenden Anspruch, dadurch gekennzeichnet, dass mindestens ein Ende des biegsamen Bandes (3) mit einem Aufrollmittel (4) des biegsamen Bandes (3) verbunden ist.
  4. Vorrichtung (1) nach Anspruch 3, dadurch gekennzeichnet, dass das biegsame Band (3) entlang mindestens der Seitenwände (2b) geführt ist, frei verbunden durch Führungsmittel (5), die in Verschiebung entlang mindestens der Seitenwände (2b) beweglich sind.
  5. Vorrichtung (1) nach dem vorstehenden Anspruch, dadurch gekennzeichnet, dass das Aufrollmittel (4) mindestens entlang der Vorderwand (2a) beweglich ist.
  6. Vorrichtung (1) nach Anspruch 5, dadurch gekennzeichnet, dass das auf Aufrollmittel (4) ein Motor mit Drehmomentsteuerung ist.
  7. Vorrichtung (1) nach einem der Ansprüche 3 bis 6, dadurch gekennzeichnet, dass jedes der Enden des biegsamen Bandes (3) mit einem Aufrollmittel (4) verbunden ist.
  8. Vorrichtung (1) nach einem der Ansprüche 4 bis 7, dadurch gekennzeichnet, dass die Führungsmittel (5) lineare Motoren sind.
  9. Vorrichtung (1) nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die bewegliche Wand die Vorderwand (2a) ist.
  10. Vorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die untere Wand (2c) ein Antriebsmittel umfasst, das dazu bestimmt ist, zur Verlagerung der Artikel beizutragen.
  11. Verfahren zum Zusammenführen und Entladen von Artikeln, das die folgenden Schritte umfasst:
    - Zufälliges Positionieren von Artikeln in einem Behälter (2), der auf seiner oberen Wand offen ist, der eine Vorderwand (2a), die an zwei Seitenwände (2b) angrenzt, und eine untere Wand (2c) umfasst, wobei eine der Wände beweglich ist, wobei der Behälter (2) ein biegsames Band (3) umfasst,
    - Zusammenführen der Artikel in einem Bezugsnullpunkt (0) durch Aufrollen des biegsamen Bandes (3), das an mindestens einem seiner Enden mit einem Aufrollmittel (4) verbunden ist,
    - Bestimmen der Größe, die von den durch das biegsame Band (3) zusammengeführten Artikeln belegt ist;
    - Bestimmen einer Kartongröße, die der Größe entspricht, die von den zusammengeführten Artikeln belegt ist,
    - Positionieren des Kartons gegenüber der beweglichen Wand,
    - Öffnen der beweglichen Wand,
    - Wiederaufnahme des Aufrollens des biegsamen Bandes (3) derart, dass die Artikel aus dem Behälter (2) zu dem Karton entladen werden.
EP19794913.4A 2018-10-19 2019-10-17 Vorrichtung und verfahren zum zusammenführen und laden von artikeln Active EP3867157B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1871221A FR3087427B1 (fr) 2018-10-19 2018-10-19 Dispositif et procede de rassemblement et de dechargement d’articles
PCT/EP2019/078292 WO2020079192A1 (fr) 2018-10-19 2019-10-17 Dispositif et procede de rassemblement et de dechargement d'articles

Publications (3)

Publication Number Publication Date
EP3867157A1 EP3867157A1 (de) 2021-08-25
EP3867157B1 true EP3867157B1 (de) 2024-04-10
EP3867157C0 EP3867157C0 (de) 2024-04-10

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EP19794913.4A Active EP3867157B1 (de) 2018-10-19 2019-10-17 Vorrichtung und verfahren zum zusammenführen und laden von artikeln

Country Status (8)

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US (1) US11820541B2 (de)
EP (1) EP3867157B1 (de)
JP (1) JP7367012B2 (de)
CN (1) CN112839872B (de)
BR (1) BR112021007319A2 (de)
CA (1) CA3114195A1 (de)
FR (1) FR3087427B1 (de)
WO (1) WO2020079192A1 (de)

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Publication number Priority date Publication date Assignee Title
FR3131736B1 (fr) 2022-01-07 2024-02-23 Gp System Boite de transfert d’articles dans un carton

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JP6426354B2 (ja) * 2014-03-11 2018-11-21 株式会社イシダ 箱詰め装置
JP6534820B2 (ja) * 2015-01-23 2019-06-26 株式会社イシダ 押し込み機構、および、これを備える箱詰め装置
ES2738666T3 (es) 2015-04-01 2020-01-24 Lorenzo Ponti Sistema y método para formar un paquete de tamaño personalizado
CN105059598B (zh) * 2015-07-16 2017-06-13 佛山科学技术学院 一种纸盒装箱机构
NO343996B1 (en) 2015-11-24 2019-08-12 Mmc First Process As Packing device and method for automatically packing a number of oblong or elongate objects into a box
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US11634244B2 (en) * 2018-06-21 2023-04-25 Packsize Llc Packaging machine and systems

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CA3114195A1 (fr) 2020-04-23
CN112839872B (zh) 2022-11-11
EP3867157A1 (de) 2021-08-25
FR3087427A1 (fr) 2020-04-24
CN112839872A (zh) 2021-05-25
US11820541B2 (en) 2023-11-21
WO2020079192A1 (fr) 2020-04-23
FR3087427B1 (fr) 2021-01-22
BR112021007319A2 (pt) 2021-07-20
US20210380292A1 (en) 2021-12-09
EP3867157C0 (de) 2024-04-10
JP2022505227A (ja) 2022-01-14

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