EP4175883A1 - Method and system for packaging products belonging to the fruit and vegetable group - Google Patents
Method and system for packaging products belonging to the fruit and vegetable groupInfo
- Publication number
- EP4175883A1 EP4175883A1 EP21740599.2A EP21740599A EP4175883A1 EP 4175883 A1 EP4175883 A1 EP 4175883A1 EP 21740599 A EP21740599 A EP 21740599A EP 4175883 A1 EP4175883 A1 EP 4175883A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- objects
- conveyor
- depositing
- packaging
- deposited
- 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.)
- Pending
Links
- 238000004806 packaging method and process Methods 0.000 title claims abstract description 119
- 238000000034 method Methods 0.000 title claims abstract description 29
- 235000012055 fruits and vegetables Nutrition 0.000 title claims abstract description 14
- 230000008021 deposition Effects 0.000 claims abstract description 15
- 239000007787 solid Substances 0.000 claims abstract description 12
- 238000000151 deposition Methods 0.000 claims description 140
- 230000003750 conditioning effect Effects 0.000 claims description 67
- 230000000694 effects Effects 0.000 claims description 26
- 238000011144 upstream manufacturing Methods 0.000 claims description 15
- 238000004458 analytical method Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 8
- 238000007373 indentation Methods 0.000 claims description 6
- 238000012856 packing Methods 0.000 abstract 1
- 239000006260 foam Substances 0.000 description 15
- 230000001133 acceleration Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 8
- 239000000463 material Substances 0.000 description 7
- 230000002093 peripheral effect Effects 0.000 description 7
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 241001672694 Citrus reticulata Species 0.000 description 5
- 230000002269 spontaneous effect Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000005489 elastic deformation Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 235000013305 food Nutrition 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 240000000560 Citrus x paradisi Species 0.000 description 2
- 244000141359 Malus pumila Species 0.000 description 2
- 244000025272 Persea americana Species 0.000 description 2
- 235000008673 Persea americana Nutrition 0.000 description 2
- 241000220324 Pyrus Species 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 235000020971 citrus fruits Nutrition 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002861 polymer material Substances 0.000 description 2
- 239000002356 single layer Substances 0.000 description 2
- 235000005979 Citrus limon Nutrition 0.000 description 1
- 244000131522 Citrus pyriformis Species 0.000 description 1
- 229920005830 Polyurethane Foam Polymers 0.000 description 1
- 235000014443 Pyrus communis Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000001747 exhibiting effect Effects 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 235000021017 pears Nutrition 0.000 description 1
- 239000011496 polyurethane foam Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 239000008259 solid foam Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/003—Packaging lines, e.g. general layout
- B65B65/006—Multiple parallel packaging lines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
- B65G21/2045—Mechanical means for guiding or retaining the load on the load-carrying surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
- B65G47/1492—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a feeding conveyor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/14—Combination of conveyors
Definitions
- the present invention relates to a method and a system for packaging objects belonging to the group of fruits and vegetables and whose shape is such that said objects are capable of rolling on a surface.
- installations are known in which such objects are deposited on a surface on which the objects are distributed over a single thickness according to a random spatial distribution before d 'be taken - in particular one by one - by a robot for packaging.
- each object deposited on said surface is analyzed and digital data representative of the position of the objects with respect to said surface at the time of their deposit are transmitted to this robot chosen and programmed to be able to take each deposited object. on the surface in consideration of the digital data of each object, and move each object for the purpose of its conditioning.
- the digital data representative of the position of each object at the time of their deposit and transmitted to the robot do not correspond to the real position of each object on said surface at the time of their sampling so that the sampling of at least one object may be made impossible due to the lack of correspondence between the digital data representative of the position of this object on deposit and its actual position relative to said surface at the time of sampling.
- these objects when these objects are deposited on said surface, due to their at least partly convex shape, they can be caused to roll on themselves and thus change position and / or orientation on said surface. , so that their position and / or their orientation at the time of their removal by the robot differs from their position and / or their orientation at the time of their deposit, making their effective removal by the robot impossible or inappropriate.
- these objects may be caused to roll on themselves and thus change position and / or orientation on said surface when picking up other neighboring or adjoining objects present on said surface.
- these objects when these objects are placed on the surface of a conveyor, due to their at least partly convex shape, they can be caused to roll on themselves and thus change position on the surface of the conveyor .
- Objects can be caused to roll on themselves and change orientation and / or position on the conveyor surface while the conveyor is stationary, but also while the conveyor is in motion.
- objects belonging to the fruit and vegetables group are - if necessary after having been sorted according to their dimensions, their mass, their color or according to any other measurable criterion.
- a first robot to be deposited on a horizontal surface of a conveyor such that the objects form on said surface at least one set of objects forming a predetermined overall pattern.
- the conveyor is driven in motion to transport the objects thus deposited (according to the predetermined overall pattern) to a removal zone where these objects are intended to be handled by a second robot and, for example, placed in containers. , such as boxes, for the transport of said objects. It is important that the objects deposited on the conveyor, each in a predetermined position, in particular with respect to the position of the other previously deposited objects, retain this position during their transport in order that the second robot can come and take them in this same predetermined position.
- the setting in motion of the conveyor after the deposit of the objects constitutes another factor which is likely to cause a change in the position and / or orientation of said objects on the surface of the conveyor.
- any phase of acceleration or deceleration of the conveyor is likely to cause a change in the position and / or orientation of objects on the surface of the conveyor.
- the position of the objects is even more likely to be changed between the moment of depositing, for example, by a first robot and the subsequent moment of taking of these objects, for example, by a second robot.
- the invention relates to a method of packaging a plurality of objects belonging to the group of fruits and vegetables and the shape of which is such that the objects of the plurality of objects are capable of rolling on a surface - in particular on a horizontal flat surface; characterized in that the objects of the plurality of objects are deposited on a solid surface, called the depositing surface, of a packaging system for said objects, said depositing surface being: - substantially horizontal; - adapted to receive the objects of the plurality of objects, and; - Elastically deformable so that the placement of each object on said deposit surface creates, under the effect of the weight of the object concerned, an imprint in said deposit surface which tends to wedge said object in this imprint, then; the objects of the plurality of objects deposited on said depositing surface and maintained in a position relative to said depositing surface, called the depositing position, which is fixed during depositing and subsequently maintained upon depositing because of said surface deposit, are taken from said deposit surface for the purposes of packaging in a packaging container.
- the stabilization or the wedging of the objects is provided by the local temporary deformation, for example elastic, of the zone of said depositing surface on which the object is deposited (by the effect of the weight of the object on the zone) and which tends to wedge the object in this position, thus preventing it from rolling naturally on itself, either at the time of depositing, or during a movement imparted to said depositing surface and, in particular, to the during a starting phase of a conveyor comprising said depositing surface, during a stop phase of this conveyor, during an acceleration phase or during a slowing phase of this conveyor.
- the local temporary deformation for example elastic
- the packaging method according to the invention is a method of packaging a plurality of objects belonging to the group of citrus fruits - in particular oranges, clementines, tangerines, grapefruit, lemons-.
- the objects of the plurality of objects are deposited on said deposit surface so as to form a single layer of objects and so that each object is in contact with said deposit surface.
- the objects of the plurality of objects are deposited on said deposit surface in a random spatial orientation of deposit relative to said deposit surface and in a deposit position on said deposit surface which are maintained over time.
- the elastic deformation of said depositing surface is temporary and limited in time to the presence of the object on said depositing surface.
- said depositing surface is a conveying surface of a conveyor, in particular a conveying surface of a belt conveyor, also called a belt conveyor.
- the objects of the plurality of objects maintained in said depositing position and in said depositing orientation due to said deformable depositing surface are removed from said deformable depositing surface and transferred to a conditioning zone remote from said deformable deposit surface.
- - Said deposit surface is a substantially horizontal conveying surface of a conveyor of the packaging system, said conveying surface being elastically deformable so that the deposit of each object on said conveying surface creates, under the effect of the weight of the object concerned, an imprint in said conveying surface which tends to wedge said object in this imprint, in that: - the objects of the plurality of objects are transported by the conveyor and maintained in said depositing position during transport due to said conveying surface, and in that; - The objects of the plurality of objects held in said deposit position are taken from the conveyor and transferred to a conditioning zone remote from this conveyor for their packaging in the packaging container.
- the local deformation of the conveying surface area extending opposite the object thus creates a privileged location (recess or niche) in which the object and the peripheral region of the surface surrounding this deformed area are located. (this peripheral region being substantially undeformed) prevents any movement of the object.
- a privileged location recess or niche
- said deposit surface - in particular said conveyor surface of the conveyor - comprises a layer of a material which has a generally flat appearance when no stress is applied thereto and which, under the action of a weight stress, is elastically deformed by depression.
- the peripheral edges of the depressed area (the edges appear raised relative to the depression in the deformed area) generally prevent further movement of the object placed in the depressed area.
- said depositing surface - in particular the conveying surface of the conveyor comprises a plurality of elastically deformable pins or rods which form a kind of belt on which the objects are deposited.
- the pins or deformable rods deform and move away from each other and / or flatten out, leaving the preferred location, recess or niche for the object .
- the pins or deformable rods located around the area where the pins / rods have been deformed and which themselves are only slightly or not deformed thus form a sort of peripheral edge which generally prevents any subsequent movement of the object thus positioned / nested.
- a packaging method comprises a random depositing step (that is to say a depositing step in which the objects are deposited in bulk on said depositing surface - in particular on said conveying surface - , but without superimposition of the objects) so that the objects of the plurality of objects form a random overall pattern.
- a random depositing step that is to say a depositing step in which the objects are deposited in bulk on said depositing surface - in particular on said conveying surface - , but without superimposition of the objects
- the position and / or orientation of each object is determinable and digital data representative of the position of each object of the plurality of objects deposited in bulk with respect to the conveyor can be determined at the end of the process. random drop step. Thanks to the wedging of the objects on said depositing surface, the position and / or orientation of each object with respect to said depositing surface remains (s) substantially unchanged over time - and can be determined - until moment when they will be taken care of by at least one robot of the conditioning system which knows their positions.
- this random overall pattern is maintained during the transport of the objects by said supply conveyor due to the fact of said deformable conveying surface.
- the objects of the plurality of objects are deposited on said deposit surface - in particular on said conveying surface - so that all of the objects thus deposited on said depositing surface forms on said depositing surface a predetermined overall pattern.
- said laying position, said laying orientation and the predetermined overall pattern are maintained in the made of said deformable surface during the transport of the objects of the plurality of objects by this conveyor towards a downstream zone of this conveyor.
- the objects of the plurality of objects can be deposited so as to jointly form a pattern - in particular a geometric pattern, regular or not - of a predetermined set (for example an arrangement in the form of a mosaic or matrix, rectangular or square) on the conveyor surface.
- a predetermined set for example an arrangement in the form of a mosaic or matrix, rectangular or square
- the objects all have known fixed geometric positions (drop position) with respect to each other. Thanks to the wedging of the objects on the surface of the conveyor, the geometric positions of said objects remain the same over time until they are taken over by at least one robot of the packaging system which knows their positions.
- Such a robot comprises at least one manipulation member positioned in an appropriate manner with respect to the objects as a function of the known position of these objects in the predetermined overall pattern and can thus come into contact with these objects and move them on said surface of deposits or grab them to remove them from said deposit surface and transport them remotely for packaging.
- a method comprises: a first step of randomly depositing the objects of the plurality of objects on a conveying surface of a first conveyor, said supply conveyor, s 'extending upstream of the packaging system, the conveying surface of said conveyor supply being elastically deformable so that the deposit of each object on said conveying surface creates, under the effect of the weight of the object concerned, an imprint in said conveying surface which tends to wedge said object in this imprint, whereby all of the objects thus deposited form on said depositing surface of said supply conveyor a random overall pattern, the random overall pattern being maintained during the transport of the objects of the plurality of objects by said conveyor supply, and; - a step of removing objects from the plurality of objects transported on said supply conveyor, and; a second subsequent step of depositing the objects of the plurality of objects on a second conveyor, said conditioning conveyor, extending downstream of the conditioning system, the conveying surface of said conditioning conveyor being elastically deformable so that the depositing each object on said conveying surface creates, under
- the objects of the plurality of objects forming the predetermined overall pattern on the conveying surface of said conditioning conveyor are transported by said conditioning conveyor, the predetermined overall pattern being maintained during transport due to said deformable conveying surface, and; - all or part of the objects of the plurality of objects forming the predetermined overall pattern are taken simultaneously from said packaging conveyor and are placed in the packaging container.
- the objects are arranged in the packaging container - for example in a box or a tray - so as to present the predetermined overall pattern.
- the objects of the plurality of objects taken simultaneously are compacted, so as to form a predetermined overall pattern of reduced size after compacting in the packaging container .
- the objects are compacted during the deposit.
- the objects of the plurality of objects deposited in the conditioning container are compacted so as to be in contact with each other in the conditioning container.
- an analysis of said depositing position of each object of the plurality of objects on said depositing surface is carried out and data representative of the position of each object. of the plurality of objects on said deposit surface are produced from this analysis.
- Such an analysis is carried out by known means, in particular by imaging and image analysis.
- the imaging and image analysis means make it possible to produce data representative of the position of each object transported on said supply conveyor, this position being defined and unchanged with respect to said supply conveyor due to said surface. deformable.
- Such data representative of the position of each object of the plurality of objects on said depositing surface are adapted to be able to be transmitted to a robot programmed to be able to take the objects of a plurality of objects distributed on said depositing surface from these representative data.
- the objects of the plurality of objects transported on said supply conveyor are taken - in particular taken one by one - from said supply conveyor by a first robot, said robot of configuration, from data representative of said depositing position of each object of the plurality of objects on said depositing surface and transferred by said configuration robot onto said conditioning conveyor, on which they are deposited by said configuration robot, so as to form the predetermined overall pattern, then; -
- the objects of the plurality of objects forming the predetermined overall pattern are taken simultaneously from said packaging conveyor and then deposited for the purpose of packaging in the packaging container.
- - is deposited on said supply conveyor a plurality of objects belonging to the group of fruits and vegetables and whose shape is such that the objects of the a plurality of objects are liable to roll on a surface.
- the objects are deposited - for example by dumping or by any other manual or automated means - whereby these objects form a random overall pattern depending on the mode of deposit, then; - the objects of the plurality of objects are transported by said supply conveyor while maintaining the position and orientation of each object on said supply conveyor due to said deformable conveying surface and so that the pattern of random set is maintained during transport, then; an analysis of the position of the objects of the plurality of objects on said supply conveyor is carried out and data representative of the position of each object of the plurality of objects on said supply conveyor are produced from this analysis, then; - each object of the plurality of objects is taken one by one from said supply conveyor by said configuration robot (from data representative of the position of each object on said supply conveyor) and transferred to said supply conveyor.
- the invention extends to a system for packaging a plurality of objects belonging to the group of fruits and vegetables and the shape of which is such that the objects of the plurality of objects are capable of rolling on a surface.
- the system comprising; - at least one solid surface, called the deposit surface: o substantially horizontal; o elastically deformable such that placing each object on said depositing surface creates, under the effect of the weight of the object concerned, an indentation in said depositing surface which tends to wedge said object in this indentation, and; o adapted to receive the objects of the plurality of objects and to maintain each object in a position relative to said depositing surface, called the deposit position, which is frozen during the deposit and maintained subsequently to the deposit because of said deposit surface, and; means for removing said objects deposited on said depositing surface and maintained in said depositing position due to said depositing surface, with a view to their packaging in a conditioning container.
- said deposit surface is a conveying surface of a first conveyor, called supply conveyor, located upstream part of the packaging system: o said conveying surface being substantially horizontal and elastically deformable in such a way that the deposit of each object on said conveying surface creates, under the effect of the weight of the object concerned, an imprint in the conveying surface which tends to wedge said object in that cavity, said supply conveyor exhibiting; ⁇ an upstream zone for random deposit of objects on the conveying surface of said supply conveyor, and; ⁇ a downstream zone for the removal of objects held during transport in this random position relative to said supply conveyor, and; - at least one robot, called a configuration robot, for removing one by one of the objects transported on said supply conveyor and depositing these objects so that all of the objects thus deposited form a predetermined overall pattern; the upstream and downstream areas of the supply conveyor being defined according to a direction of advance
- the system according to the invention is equipped with at least one video device adapted to be able to generate data representative of the position of deposit of each of the objects on the conveying surface of said supply conveyor .
- said at least one video device comprises at least one camera. Said at least one video device is interposed between the upstream drop-off area and the downstream pick-up area of said supply conveyor.
- the system according to the invention comprises, in addition to said supply conveyor; - a second conveyor, said packaging conveyor, disposed downstream of said supply conveyor and comprising; o an upstream area for depositing objects from the plurality of objects so that all the objects thus deposited form on the surface of said conditioning conveyor, a predetermined overall pattern, and; o a downstream zone for the removal of objects held according to this predetermined overall pattern with respect to said packaging conveyor during transport, and; - at least a second robot, called a packaging robot, for removing objects from the plurality of objects transported on said packaging conveyor according to the predetermined overall pattern and for depositing these objects according to this predetermined overall pattern in a packaging container.
- said conditioning conveyor comprises a solid conveying surface that is substantially horizontal and deformable in such a way that the depositing of each object on the surface created, under the effect of the weight of the object concerned, an imprint in the surface which tends to wedge said object in a position, called the deposit position, fixed with respect to the surface of said packaging conveyor, whereby the predetermined overall pattern of the plurality of objects is maintained during transport on said packaging conveyor.
- the elastically deformable material is a foam, the upper face of which at rest is substantially flat and which deforms elastically, forming said imprint under the effect of the weight of the object.
- the elastically deformable material is formed of a plurality of flexible rods in torsion or in longitudinal compression which extend perpendicularly from the main face of the conveyor.
- the invention also relates to a method and a packaging system characterized, in combination or not, by all or part of the characteristics mentioned above or below. Whatever formal presentation is given, unless explicitly stated otherwise, the various characteristics mentioned above or below should not be considered as closely or inextricably linked to each other, the invention may relate to only one of these structural or functional characteristics, or only part of these structural or functional characteristics, or only part of one of these structural or functional characteristics, or even any grouping, combination or juxtaposition all or part of these structural or functional characteristics.
- Figure 1 is a sectional representation of a detail of a first embodiment of a depositing surface of a packaging system according to the invention
- Figure 2 is a sectional representation of a detail of a second embodiment of a surface of a conveyor of a packaging system according to the invention
- Figure 3 is a perspective representation of a first embodiment of an object conditioning system according to the invention
- Figure 4 is a perspective representation of a second embodiment of an object conditioning system according to the invention
- Figure 5 is a perspective representation of a third embodiment of an object conditioning system according to the invention
- Figure 6 is a perspective representation of a fourth embodiment of an object conditioning system according to the invention.
- Figure 1 schematically shows a particular embodiment of a surface 1 for depositing an object belonging to the group of fruits and vegetables and whose shape (shown schematically) is such that this object is likely to roll on a surface, especially on a solid flat and horizontal surface.
- It may be a fruit of essentially spherical shape such as a citrus fruit, in particular an orange, a grapefruit, a mandarin, a clementine, etc., or such as an apple, but also an object of substantially non-spherical shape such as a pear, an avocado, a lemon, for example.
- the surface 1 for depositing an object 21,22,23 of a packaging system according to the invention shown in Figure 1 comprises a base 6 formed of a flexible material and elastically deformable in transverse compression.
- the base 6 can have any thickness suitable for its use on a (or as) fixed tray for receiving objects to be packaged in a packaging system according to the invention or for its use as a mobile conveyor belt. a conveyor of a system according to the invention for packaging objects.
- One of the main faces, called the upper face 11, of the base 6 has a plurality of pins 7 implanted substantially perpendicular to the main plane of the base 6.
- the pins 7 are regularly distributed over said main face 11.
- the density of the pins 7 on the main face 11 may vary depending on the average size of the object and its average mass. It can vary between 50 to 200 pins per m 2 surface of the base 6.
- the pins 7 are formed of a flexible material elastically deformable in transverse bending. However, nothing prevents the pins 7 from being elastically deformable in longitudinal compression.
- the pins 7 can be formed from a polymer material, in particular PVC, also satisfying the regulatory provisions relating to its contact with food.
- the base 6 and the pins 7 forming the depositing surface 1 are washable.
- the embodiment of Figure 1 schematically shows the modifications of the depositing surface 1 due to the removal of an object 21 deposited on said surface.
- the object 21 deposited on the depositing surface 1 causes under the effect of its own weight and only under the effect of its own weight a transverse bending deformation of the pins 7 extending in view of the object 21.
- an object 22 cooperates with a gripping member 9 - in particular a gripping member comprising a suction cup - of a robot for removing the object 22 according to the arrow indicated in Figure 1.
- Figure 1 can also be interpreted from right to left in the direction of depositing an object 23 on the deposit surface 1, the arrows pointing upwards and representative of the removal of the object 21, 22,23 in Figure 1 being replaced by arrows directed downwards in the situation of removal of the object 23.
- Figure 2 ([Fig.2]) schematically shows another particular embodiment a surface 1 for depositing an object belonging to the group of fruits and vegetables and whose shape (shown schematically) is such that this object is capable of rolling on a surface, in particular on a flat and horizontal solid surface.
- the surface 1 for depositing an object 21,22,23 of a packaging system according to the invention shown in Figure 2 is formed of a strip 13 of flexible solid foam and elastically deformable in compression along the axis orthogonal to its area. It may be a polyurethane foam or a foam formed from any other material satisfying the regulatory provisions relating to its contact with food.
- the foam strip 13 may have any thickness suitable for its use on a (or as) fixed tray for receiving objects to be packaged in a packaging system according to the invention.
- the foam strip 13 may be a mobile foam ribbon 13 for conveying a conveyor of a system according to the invention of packaging objects.
- the foam tape 13 is formed of a flexible material elastically deformable in compression along the axis orthogonal to its surface.
- the foam tape 13 also satisfies the regulatory provisions relating to its contact with foodstuffs and is washable.
- the embodiment of Figure 2 schematically shows the modifications of the depositing surface 1 due to the removal of an object 21 deposited on said surface.
- the object 21 resting on the strip 13 of foam causes a local deformation in transverse compression of a part of the strip 13 of foam extending opposite the object 21, under the effect of the weight of the object 21 and only under the effect of the weight of the object 21.
- the position and orientation of the object 21 relative to the strip 13 of foam are fixed during the removal of the object 21 and no significant displacement reorientation and / or repositioning of the object 21 after removal is not possible because of said removal surface 1.
- the peripheral edge 12 of the recessed area forming the indentation 3 (the edges appear raised relative to the hollow formed by the deformed area) substantially prevents any subsequent movement of the object 21 placed in the indentation 3 that it has formed.
- an object 22 cooperates with a gripping member 9 of a pickup robot of the object 22 according to the upwardly directed arrow indicated in Figure 2. Due to the current picking of the object.
- the distance separating the underside of the object 22 and the strip 13 of foam from the depositing surface 1 increases and the part of the strip of foam which is no longer in contact resumes elastically an undeformed and substantially planar shape due to the vertical displacement of the object 22 picked up by the picking robot.
- This elastic deformation of the strip 13 of foam continues in the right part of Figure 2 in which the vertical movement of the gripping member 9 of the picking robot causes the object 23 to move away from the surface 1 of deposited so that the strip 13 of foam is not subjected to the stress of the weight of the object 23 and returns to an undeformed state.
- the surface 1 for depositing the strip 13 of foam has a general flat appearance when no stress is applied to this deposit surface 1.
- FIG. 3 A particular embodiment of a system 10 according to the invention of packaging objects 2 and an implementation of this packaging system 10 is shown in Figure 3 (Fig.3]).
- the surface 1 for depositing objects is a surface 19 for conveying a conveyor 18 of objects 2, in particular of clementines 2 shown schematically.
- the conveying surface 19 is substantially flat and exposes said depositing surface 1 on the upper face of the conveyor 18.
- Said conveying surface 19 of the conveyor 18 is elastically deformable such that the depositing of each object 2 on said conveying surface 19 creates , under the effect of the weight of the object 2 concerned, an imprint in said conveying surface 19 which tends to wedge said object 2 in this cavity.
- the objects 2 deposited on said conveying surface 19 of the conveyor 18 are maintained over time in the position and orientation that they presented when they were deposited on the conveyor 18, by the sole fact of said conveying surface 19. elastically deformable.
- the deposited objects 2 are maintained including when the conveyor 18 is in the conveying phase, in the acceleration phase, in the slowing phase, in the starting phase or in the stopping phase. No spontaneous repositioning or reorientation of the objects 2 on the conveyor 18 is possible.
- the objects 2 can be deposited on the conveyor 18 by any means of deposit. This can be a manual or automated 2 object drop.
- the objects can be deposited, depending on their fragility, individually or by pouring a plurality of objects 2 onto said conveying surface 19 of the conveyor 18.
- the system 10 according to the invention for packaging objects 2 shown in FIG. 3 comprises a second tray 16 for packaging and presenting containers 17 for packaging objects 2.
- the packaging tray 16 is a fixed tray on which the packaging containers 17 are arranged in boxes. predetermined or determinable positions.
- the packaging containers 17 can be boxes or trays in which the objects 2 are arranged for the purposes of their storage, their transport and / or their presentation for the purposes of selling the objects 2.
- the system 10 according to the invention of packaging of objects 2 shown in FIG. 3 comprises two robots, called configuration robots 15, allowing the removal and handling of the objects 2 circulating on the conveyor 18. They may be Delta robots. However, the use of any other type of robot for handling and moving objects is possible.
- Each robot 15 is provided with a member 9 for gripping an object 2 adapted to be able to cooperate with an object 2, take this object 2 disposed on the conveyor 18, move this object 2 to the conditioning plate 16 and place the object 2.
- object 2 transported in a packaging container 17 disposed on the packaging tray 16.
- the system 10 according to the invention for packaging objects 2 shown in Figure 3 includes means (not shown in Figure 3) for analyzing the position of each object 2 arranged on the conveyor 18 capable of generating digital data representative of the position of each object 2 relative to the conveyor 18, during the removal of the objects 2.
- These analysis means can, for example, comprise a device for acquiring d 'digital images and a computer system for analyzing these digital images adapted to generate these digital data.
- FIG. 4 A particular embodiment of a system 10 according to the invention of packaging objects 2 and an implementation of this packaging system 10 is shown in Figure 4 (Fig.4]).
- the surface for depositing objects is a surface 19 for conveying a conveyor 18 of objects 2 moving in a direction of movement indicated in FIG. 4 by the arrow 20.
- the surface 19 for conveying the object is shown in Figure 4 (Fig.4]).
- conveyor 18 is elastically deformable such that the deposit of each object 2 on said conveying surface 19 creates, under the effect of the weight of the object 2 concerned, an imprint in said conveying surface 19 which tends to wedge said object 2 in this imprint.
- the objects 2 deposited on the conveying surface 19 of the conveyor 18 are maintained over time, due to said conveying surface 19, in the position and orientation that they presented when they were deposited.
- the objects 2 deposited on the conveying surface 19 of the conveyor 18 are in particular maintained in the position and the orientation that they presented on the conveyor 18 during their deposit, including during their movement by the conveyor 18, during phases of acceleration and slowing down of the conveyor 18. No spontaneous repositioning or reorientation of the objects 2 on the depositing plate is possible because of said conveying surface 19.
- the objects 2 can be deposited on the conveying surface 19 of the conveyor 18 by any depositing means.
- the system 10 according to the invention for packaging objects 2 shown in Figure 4 comprises a device 24 for acquiring digital images and a computer system (not shown in Figure 4) for analyzing these digital images suitable for generating digital data representative of the position of the objects 2 with respect to the conveying surface 19, from these digital images.
- the image acquisition device 24 is positioned substantially directly above the conveying surface 19 and downstream of a deposit zone 25 adapted to allow the objects to be deposited on the conveyor 18, so that the position of each object 2 deposited on the conveyor 18 in said deposit zone 25 is analyzed.
- the packaging system 10 comprises a tray 16 for packaging and presentation of containers 17 for packaging objects 2 similar to the tray 16 for packaging described in Figure 3.
- the conditioning plate 16 is a fixed plate on which the conditioning containers 17 are arranged in predetermined or determinable positions.
- the packaging containers 17 can be trays or boxes with or without cells (not shown in Figure 4), each cell being intended to receive a single object.
- all of the objects 2 deposited on the conveying surface 19 in the upstream zone 25 (relative to the conveyor 18 ) of the conveyor 18 form an overall random pattern.
- the objects are deposited manually (that is to say in bulk) in the upstream zone of the conveyor so that the objects 2 are distributed in the form of a single layer, without partial or total superposition of objects 2 on surface 19 of conveying.
- each object 2 can be picked up by one of the robots 15 and placed in a packaging container 17 in which all of the objects deposited forms a predetermined overall pattern in accordance with digital data representative of the position that each object 2 of the set of objects must have in the packaging container 17.
- the predetermined overall pattern may depend on the nature of the objects 2 to be conditioned and aims to optimize the filling of the packaging containers 19 by the objects 2.
- FIG.5 Another particular embodiment of a system 10 according to the invention of packaging of objects 2 and an implementation of this packaging system 10 is shown in Figure 5 (Fig.5]).
- the surface for depositing objects is a surface 19 for conveying a first conveyor, said supply conveyor 27, for objects 2 moving in a direction of movement indicated in FIG. 5 by the arrow. 20.
- the conveying surface 19 of said supply conveyor 27 is elastically deformable such that the deposit of each object 2 on said conveying surface 19 creates, under the effect of the weight of the object 2 concerned, an imprint in said conveying surface 19 which tends to wedge said object 2 in this cavity.
- the image acquisition device is not shown.
- the object conditioning system 10 comprises a second conveyor, said conditioning conveyor 28, adapted to be able to drive objects in movement in a direction of movement identified in FIG. 5 by arrow 26.
- Said conveyor 28 packaging has an elastically deformable conveying surface 29 such that the depositing of each object 2 on said conveying surface 29 creates, under the effect of the weight of the object 2 concerned, an imprint in said conveying surface 29 which tends to wedge said object 2 in this footprint.
- Objects 2 deposited on the conveying surface 29 of said conditioning conveyor 28 are maintained in the position and orientation that they presented on said conditioning conveyor 28 when they are deposited by said configuration robot 15, including during their movement by said conditioning conveyor 28, during acceleration phases and slowing phases of said conditioning conveyor 28.
- said conveyor 27 and said conditioning conveyor 28 have substantially parallel directions of movement. However, nothing prevents these directions from being parallel, therefore said robots 15 are configured accordingly.
- the directions of movement 20, 26 of said conveyors 27 of supply and 28 of packaging may be orthogonal.
- the movement speeds imparted to the objects 2 by said supply conveyor 27 and by said conditioning conveyor 28 may be equal or distinct. It is then necessary to provide for adapting the actuation speeds of the robots 15 accordingly.
- the objects 2 taken from said supply conveyor 27 are deposited on said moving conditioning conveyor 28 so that the objects 2 deposited on the conveying surface 29 of said conditioning conveyor 28 form a plurality of predetermined geometric patterns. Due to the conveying surface 29 of said conditioning conveyor 28, each predetermined overall pattern formed by the objects 2 on said conditioning conveyor 28 during their deposition is maintained during movement, during acceleration phases or phases of slowing down said conditioning conveyor 28.
- FIG.6 Another particular embodiment of a system 10 according to the invention of packaging objects 2 and an implementation of this packaging system 10 is shown in Figure 6 (Fig.6]).
- the system 10 for packaging objects 2 comprises a conveyor, called supply conveyor 27, having a surface 19 for conveying objects 2 moving in a direction of movement indicated in Figure 6 by the arrow 20.
- the conveying surface 19 of said supply conveyor 27 is elastically deformable such that the deposition of each object 2 on said conveying surface 19 creates, under the effect of the weight of the object 2 concerned, an imprint in said conveying surface 19 which tends to wedge said object 2 in this imprint.
- the objects 2 deposited on the conveying surface 19 of said supply conveyor 27 are maintained over time, due to said elastically deformable conveying surface 19, in the position and orientation that they presented when they were deposited. , including during their movement by said supply conveyor 27, during phases of acceleration and of slowing down phases of said supply conveyor 27. No spontaneous repositioning or reorientation of the objects 2 on the conveying surface 19 of said supply conveyor 27 is possible due to said conveying surface 19.
- the system 10 according to the invention for packaging objects 2 shown in FIG. 6 comprises a device 24 for acquiring digital images and a computer system (not shown in FIG. 6) for analyzing these digital images as given by way of example. of description of Figure 4.
- the system 10 according to the invention for packaging objects 2 shown in Figure 6 comprises two other conveyors, called conditioning conveyors 281,282, of objects 2 each comprising a conveying surface 29 d 'objects 2 moving in a direction of movement indicated in Figure 6 by arrows 26, which is perpendicular to the direction of movement of objects 2 moving on said supply conveyor 27.
- each of said conditioning conveyor 281, 282 is elastically deformable such that the depositing of each object 2 on said conveying surface 19 creates, under the effect of the weight of the object 2 concerned, an imprint in said conveying surface 19 which tends to wedge said object 2 in this cavity.
- said supply conveyor 27 is thus arranged so as to cross said conditioning conveyors 281,282 from below. However, nothing prevents providing that said supply conveyor 27 is thus arranged so as to cross said conveyors 281,282 of packaging on top.
- the system 10 according to the invention for packaging objects 2 shown in FIG. 6 comprises two robots, called configuration robots 15, arranged to be able to transfer the objects 2 driven in movement by said supply conveyor 27, on said conveyor 281,282 of conditioning.
- the robots 15 may be of the type as described by way of description of Figure 5 and are then adapted to the configuration of said conveyors 27 of supply 281,282 of packaging.
- each object 2 taken from said supply conveyor 27 by one of the robots 15 is placed on one of said moving conditioning conveyors 281,282 so that the objects 2 deposited on the conveying surface 29 of each conditioning conveyor 281, 282 form a plurality of predetermined geometric patterns. Due to the conveying surface 29 of said conditioning conveyors 281,282, each predetermined overall pattern 30 formed by the objects 2 on said conditioning conveyors 281,282 is maintained during movement, during acceleration phases or during phases of conditioning. slowing down of said conditioning conveyor 281,282.
- Each packaging conveyor 281,282 of the system 10 according to the invention for packaging objects 2 shown in FIG. 6 is equipped with a robot 31 for simultaneous transfer of all of the objects 2 forming the pattern 30 of the predetermined assembly. , by taking-in particular by simultaneous removal- of all of these objects 2 forming this pattern 30 on said conditioning conveyors 281,282 and its transfer into an empty container 17 presented to one of the transfer robots 31 by means of a 32,33 conveyor arranged to provide supply to said transfer robots 31 containing 17 empty ones.
- the objects 2 of the set of objects forming the predetermined set pattern 30 are packaged in the form of a package 34 in which the objects have the predetermined set pattern.
- the invention can be the subject of numerous variant embodiments with respect to the embodiments described above and shown in the figures.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Packaging Of Special Articles (AREA)
- Container Filling Or Packaging Operations (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2007023A FR3112124B1 (en) | 2020-07-02 | 2020-07-02 | Method and system for packaging objects belonging to the group of fruits and vegetables |
PCT/FR2021/051101 WO2022003267A1 (en) | 2020-07-02 | 2021-06-17 | Method and system for packaging products belonging to the fruit and vegetable group |
Publications (1)
Publication Number | Publication Date |
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EP4175883A1 true EP4175883A1 (en) | 2023-05-10 |
Family
ID=72885697
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21740599.2A Pending EP4175883A1 (en) | 2020-07-02 | 2021-06-17 | Method and system for packaging products belonging to the fruit and vegetable group |
Country Status (10)
Country | Link |
---|---|
US (1) | US20230257142A1 (en) |
EP (1) | EP4175883A1 (en) |
CN (1) | CN115867491A (en) |
AU (1) | AU2021302779A1 (en) |
CL (1) | CL2022003804A1 (en) |
FR (1) | FR3112124B1 (en) |
IL (1) | IL299502A (en) |
PE (1) | PE20231021A1 (en) |
WO (1) | WO2022003267A1 (en) |
ZA (1) | ZA202300262B (en) |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3292341A (en) * | 1963-08-27 | 1966-12-20 | James D Frost | Orienting and packing apparatus |
US3743079A (en) | 1971-08-12 | 1973-07-03 | Diamond Int Corp | Egg escalator belt assembly |
US4800704A (en) * | 1987-12-14 | 1989-01-31 | Toru Ishii | Apparatus for aligning and packing fruits or vegetables into packages |
US5040056A (en) * | 1990-01-29 | 1991-08-13 | Technistar Corporation | Automated system for locating and transferring objects on a conveyor belt |
NL9301625A (en) * | 1993-09-20 | 1995-04-18 | Tas Adrianus Wilhelmus | Apparatus and method for packaging boxes or boxes of substantially spherical objects. |
NL9500296A (en) * | 1995-02-16 | 1996-10-01 | Greefs Wagen Carrosserie | Method and equipment for packaging agricultural and horticultural products. |
DE50001948D1 (en) * | 2000-01-18 | 2003-06-05 | Ferag Ag | conveyor |
DE102006003859B3 (en) * | 2006-01-27 | 2007-03-01 | Robert Bosch Gmbh | Packaged goods storing method for use in container, involves assigning real goods and real containers, and setting graphically displayed symbols for goods in graphically displayed symbols for containers on screen connected with controller |
FR2983458B1 (en) * | 2011-12-06 | 2014-07-04 | Maf Agrobotic | METHOD AND DEVICE FOR PACKAGING OBJECTS SUCH AS FRUIT OR VEGETABLES WITH INTERMEDIATE CONVEYING DEVICE HAVING ALVEOLED CLAYETS |
FR2998272B1 (en) * | 2012-11-21 | 2015-04-24 | Setop | APPARATUS AND METHOD FOR PACKAGING FRUIT OR VEGETABLES |
IT201700068033A1 (en) * | 2017-06-19 | 2018-12-19 | Biagio Crescenzo | Method of recognizing the orientation of fruits and the equipment that incorporates it |
EP3552479B1 (en) | 2018-04-10 | 2021-02-24 | IG Specials B.V. | Apparatus and method for placing plant bulbs |
GB201819095D0 (en) | 2018-11-23 | 2019-01-09 | Wellwaij Belting | Conveyor belt system |
-
2020
- 2020-07-02 FR FR2007023A patent/FR3112124B1/en active Active
-
2021
- 2021-06-17 PE PE2022003052A patent/PE20231021A1/en unknown
- 2021-06-17 IL IL299502A patent/IL299502A/en unknown
- 2021-06-17 AU AU2021302779A patent/AU2021302779A1/en active Pending
- 2021-06-17 US US18/013,213 patent/US20230257142A1/en active Pending
- 2021-06-17 WO PCT/FR2021/051101 patent/WO2022003267A1/en active Application Filing
- 2021-06-17 CN CN202180047439.8A patent/CN115867491A/en active Pending
- 2021-06-17 EP EP21740599.2A patent/EP4175883A1/en active Pending
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2022
- 2022-12-29 CL CL2022003804A patent/CL2022003804A1/en unknown
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2023
- 2023-01-05 ZA ZA2023/00262A patent/ZA202300262B/en unknown
Also Published As
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US20230257142A1 (en) | 2023-08-17 |
ZA202300262B (en) | 2024-05-30 |
IL299502A (en) | 2023-02-01 |
AU2021302779A1 (en) | 2023-02-02 |
FR3112124B1 (en) | 2022-06-03 |
CN115867491A (en) | 2023-03-28 |
WO2022003267A1 (en) | 2022-01-06 |
PE20231021A1 (en) | 2023-07-05 |
CL2022003804A1 (en) | 2023-08-18 |
FR3112124A1 (en) | 2022-01-07 |
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