ES2309794T3 - MODULAR PACKING SYSTEM. - Google Patents

Abstract

A cigarette packing system comprises a plurality of reconfigurable modules (100). Each module includes tooling for performing a section of the packaging process. Product is transferred between modules by robots (110) mounted on the modules and controlled from individual modules. Interface protocols between modules control transfers between modules. The product may be transferred with or without a carrier between modules. The modules may be reconfigured for a different assembly process and modules added or removed. Process specific tooling maybe changed. Reconfigurable modules reduces the time and cost of changing to a different packaging process.

Description

Modular packaging system

This invention relates to modular machines To pack items. It is particularly related to modular machines that need to be configured from time to time by changing the requirements of the product that is packaged.

In the tobacco industry, cigarettes normally finishes are supplied to a packaging machine in which are configured forming groups and packed around the grouper A certain number of different types of packaging can be applied, for example, a hard package or a package soft. The packaging process is complex and implies a certain number of operations performed sequentially. These can include: cardboard handling, marking, cutting, folding and gluing, sheet handling, cellophane wrapping and glued

A packaging machine is an investment Important for a manufacturer. However, high speeds of Manufacturing and long series of packaging make the lines of Economical packaging

The efficient and economical manufacturing of limited quantities of cigarette packages, for example, of A few thousand packages, it can be a challenge. For example, where a new way of grouping cigarettes has to be tested is uneconomic install a packaging line dedicated to that design, because if the design is not followed the line will become redundant. Consequently, small amounts of packages of cigarettes tend to be assembled, at least partially, to hand. The possibility of producing larger series would be more profitable, for example, series that involve some millions of packages.

Although machines can be manufactured from relatively small volume packaging that can be reconfigured with different packaging designs, the reconfiguration procedure itself is very slow and very expensive.

The document WO-A-00/44621 describes a system of packaged according to the preamble of claim 1.

The object of the present invention is to solve the problems outlined above and provide a solution to the packaging lines that facilitate reconfiguration to attend different packaging needs.

In short, the invention relates to a system of packaging comprising a plurality of modules. The modules can be reconfigured and added or subtracted for different packaging mounts. Items are usually moved between modules using robots under control of the controllers of modules. Each module has its own controller. The term article refers to the items to be packaged or to those items and a part or all of those of packaging that form around the items in the packaging procedure

More specifically, a system of packaged to package items in a package, which comprises a plurality of interconnected modules, each module comprising the tools to perform a part of the procedure of packaging, and at least some of the modules comprise a robot to move items between modules.

Preferably, at least one of the modules comprises a robot to perform a procedure of packaging.

The embodiments of the invention have the advantage that a packaging system of relatively low capacity that can be quickly reconfigured and at low cost compared to the lines or machines of prior art packaging. A system that incorporates the invention can be reconfigured from a configuration of Cigarette packaging in another in a couple of weeks. This is significantly better than is possible in any system of the prior art in which a reconfiguration, in case of If possible, it would require several months. Even then, the term reconfiguration would not be completely adequate as the Reconfigured system would be largely a rebuilt system. There is a very large economy in spending associated with the ability to reuse modules and to switch packages that They are manufactured by the system very quickly.

This ease of reconfigurability makes Practical and economical to produce a text that appears in the order of millions of packages instead of thousands produced using Manual packaging today.

Preferably, the robots perform some of packaging procedures and move items or items and article carriers between modules. Moved items can be real items to be packaged, partial items or fully packaged, or a packaging element.

In a preferred embodiment of the invention, the packaging is done around the items that have to be packed This contrasts with the provisions of the technique. previous in which the packaging is configured, at least partially, apart from the items to be packaged. The packaging configuration around the items is advantageous because it facilitates the reconfigurability of the system packaging. Therefore, the same solution can be adopted, by example, with a configured package of plastic end caps hard and one wrap as is done for empty cardboard packages more complex. The cardboard package is not made but is Configure around the items.

Preferably, the robots can be robots SCARA, Cartesian or anthropomorphic. The robots can have a a certain number of degrees of freedom that allows movement in the X, Y, Z axes and possible rotational degrees of freedom. Though all these degrees of freedom may not be necessary in one given packaging operation, robots are part of a system which can be reconfigured and the provision of a large number of degrees of freedom increases the configurability of the modules to Other packaging operations.

Preferably, a certain number is provided of different module types. Flexible modules may include a robot and include a base plate on which a concrete tool Where a robot is included, the head robot actuator can also include concrete tooling of process. The winding power modules provide winding feed materials such as wrap, paper metallized, and the labeling to be introduced in the procedure, and the supply modules allow printed such as cardboard prints are supplied to the system. Any of these modules can include a robot. Some or all module types can be included in a configuration Dadaist.

Preferably, each module includes, a module controller to control the sensors and actuators of module. Preferably, where present, the controller of module also controls the module robot. This solution for the control increases the flexibility of the modular solution. By example, when the movements of a robot have to be changed for a new procedure, a relatively simple topic is to reprogram that robot to define its movements and actions with respect to adjacent modules.

The control system of each module preferably also interconnects with the control system of adjacent modules, allowing the transfer of items between modules to be controlled by the same modules and Not by a global system controller. This increases again the flexibility.

Preferably, a module has a set of stations, or positions to which items, which may be on a carrier, can be moved for transfer to an adjacent module. The interface software controls the movement between module procedures and bays or locations occupied by both carriers with items and returning the empty carriers. Preferably both, the control systems of the adjacent modules are involved in a transfer between modules

Preferably, the system software control directs movement between modules by using of a product status indicator, which indicates the presence or absence of articles, an access request status, which indicates a request to the access product through a module when the product status indicates that the product is present, and a guaranteed access status indicating that the robot for a module you have access to the items to pick up the items or to a carrier to place the items. This control solution prevents collisions between adjacent module robots.

The reconfiguration of the packaging system Modular incorporating the invention is particularly suitable for package bar-shaped items, such as cigarettes, but It can also be used to package other items.

The invention also provides a set of modules that can be reconfigured to perform a packaging system configuration, being interconnected the modules and each having removable tooling for perform a part of the packaging procedure, including minus a plurality of modules a robot for transfer of items between modules, each module having a controller of module to control the part of the packaging procedure performed by the module and to coordinate the transfer of Articles between the module and adjacent modules. The modules they can also execute some of the procedures of packaging.

Embodiments of the invention, by way of example only, and with reference to accompanying drawings, in which:

Figure 1 is a representation of the packaging system configuration as a series of modules;

Figure 2 shows a side view of a pair of modules that include a robot each, which is used in the procedure of Figure 1;

Figures 3a) and 3b) show the interface mechanics between modules, which illustrates how the products between modules;

Figures 4a) and 4b) are views similar to those Figures 3a) and 3b) for a double transfer of products;

Figure 5 illustrates the connectivity between 3 adjacent modules;

Figure 6 illustrates the connectivity between 6 adjacent modules;

Figure 7 illustrates the sequence of the interface for a collection operation;

Figure 8 illustrates the sequence of the interface for a placement operation;

Figure 9 illustrates the collection operation for a 2: 1 module interface;

Figure 10 illustrates the control architecture global for all modules; Y

Figure 11 shows a module configuration Alternative for a different package design.

The packaging system configuration represented in Figure 1 is an example configuration used to illustrate the modular nature that can be reconfigured of the embodiments of the present invention. He packaging system is intended to pack cigarettes or other items configured in bar form but the invention does not It is limited to packaging such items and extends to other types of article, such as food substances that include candy products, writing instruments such such as colored charcoal pencils or other items in the form of bar.

Similarly, the invention is not limited to the configuration of any particular packaging system, the invention allows reconfiguration of modules to allow different types of packaging are made, for different types of articles.

The configuration represented in Figure 1 It is intended to package groups of cigarettes in a package that It has rigid plastic end caps and a metallic band wrapped on cigarettes and on the flanges that hang from the extreme caps. The band is sealed and the air is evacuated from the package and replaced by nitrogen to preserve the freshness of product. The details of the various stages of the product are not object of the present invention but it is useful to examine each part of the procedure at a high level.

The procedure is provided for a certain number of modules, with the product and the carriers being moved between carriers using servo-controlled robots that use tires to manipulate the control. Robots can include Cartesian, SCARA and Anthropomorphic robots. After describing the procedure of Figure 1 in detail, the interface between modules, both mechanical and software will be described to be understand how a packaging procedure can work modular. Finally, an alternative configuration will be examined to illustrate how modules can be easily reconfigured for a different packaging with cost and time greatly reduced.

The choice of robots will depend on the demands of the situation in which these are to be used. The Cartesian, SCARA and anthropomorphic robots are preferred. The SCARA robots (Selective Compliance Articulated Robot Arm) they usually have four degrees of freedom and have two links primary oscillating in a horizontal plane with a Z axis of type hollow shaft at the end of the arm that provides movement vertical and angular rotation (Theta) in the horizontal plane. The Cartesian robots are typically modular, being composed of a series of linear sliders that can be chosen for the length and payload and are mounted so that they are orthogonal to each other. Units are available Z-Theta, which allow the development of a robot four axes (X, Y, Z, Theta) with functionality similar to that of a SCARA robot Cartesian robots are considered usually the simplest to control the Cartesian space. Anthropomorphic robots, specifically anthropomorphic arms Vertically articulated normally have five to six axes. Typically in a five-axis arm, a first axis rotates around of the vertical; the second, third and fourth axes revolve around of the horizontal with the axes parallel to each other and displaced by the length of the link between axles; and the fifth axis is a pivot axis orthogonal to the four axes. In a six-axis arm, the axes One, two and three are the same as in the five-axis example. He fourth axis is orthogonal to the third axis, usually along the axis of liaison; the fifth axis is orthogonal to the third axis and the sixth axis It is an axis of rotation that is orthogonal to the fifth axis. Arms vertically articulated anthropomorphic have a large envelope operating particularly in the Z direction. Six arms axial provide control of the position and orientation of objects in the front space with great flexibility.

The finished cigarettes are supplied to the packaging system and maintained in the hopper. In one embodiment preferred four parallel hoppers are used, each of which It has a parallel hopper vane slide to present cigarettes individually in a grouping mandrel. The cigarettes are transferred to the cluster mandrel by a single push bar. A push bar is provided for each hopper and the four push bars are preferably linked through a bar that allows you to activate them together although can be operated independently. The mandrel has a plurality of through holes to define the shape of the group It has to be packaged. The push bars push the cigarettes one by one inside these through holes to fill the mandrels The push bars move alternately along the Z axis and do not move with respect to the hoppers in the X, Y planes. On the contrary, the mandrels are moved in the X, Y planes by a controlled servomechanism robot to position them correctly for the reception of cigarettes

Once filled, the mandrels are moved towards down in the Y plane at which time the groups are transferred from the mandrels to the configured holes. Inside the gaps set the cigarettes are no longer spaced from each other and are prepared to have the package set up around they. The transfer to the configured gaps is achieved by middle of a set of parallel push bars for each mandrel These push rod sets are linked by a bar and also move alternately on the Z axis. bars are arranged to match the shape of the group in the chucks so that, when moving alternately, the bars they are received in the through holes of the mandrels, pushing cigarettes through the chucks inside the hole. The robot servo-controlled ensures that the position of the full mandrel is aligned exactly with the push rod assemblies to ensure that the push bars are received correctly in the holes of the mandrel. Once emptied, the mandrels are returned to a position close to the single push bars for Receive, one by one, the following groups of cigarettes.

Full configured gaps are transferred now to an end cap filling station rigid This requires that the full gaps be raised by a servomechanism robot and moved to another module.

The packs comprise a pair of covers stiff ends each of which has a dependent skirt which in position extends over a portion of the length of the cigarettes One of the end caps includes a top cover which can be tilted so that the user can withdraw Pack cigarettes. To ensure that the content of the package remains fresh, a sheet is applied to the opening located  under the top cover that can be tilted that opens automatically when unloading the rigid end cap pack and rotating lid seal. The sheet is removed by the user When you open the package.

Rigid end caps are supplied through a tray supply system and are unloaded from the tray by a robot selector and supplied to a table swivel During this delivery procedure, the caps upper ends that have an upper lid that can be inclined are supplied to a test station so that check the presence of an upper cover that can be tilted on the lid and then the selector robot orients the covers swingarms correctly for presentation in the Rotary table. Bottom end caps are supplied directly to the station on the turntable. Rotation of the turntable presents the upper covers superior to a module of application of the metal cover. One more servomechanism robot in this module place a cover sheet previously collected by the robot of a food store, on the extreme lid higher. The rotation of the turntable places the covers upper ends and the metal cover in a shutter station in which the lid sheet is attached over the end cap higher.

A servomechanism robot on the module transfer of the pack of rigid end caps collects the upper and lower end caps of the turntable and the introduces the filling module of the end cap pack rigid. In this module, the group of cigarettes and caps extremes are manipulated so that cigarettes are introduced inside the end caps. From there a robot of additional servomechanism moves the group and the assembly of covers extreme to an assembly module of the endcap rigid This module interacts with the folding module and sealing of the band, which provides the module for mounting the rigid end cap pack with a mandrel around which a metal foil wrap is formed.

The band is provided from a roll of band and is transported by means of a tension roller assembly to a band preparation and cutting station. The station of preparation and cutting of the band ensures that the band is cut with the correct length required for packaging and then is supplied in front of the folding and sealing module of the band. The band folding and sealing module, which uses a servomechanism robot, presents a mandrel to the band at the exit for the band preparation module. The band is fastened in the side of the mandrel and then the mandrel and the band move through of a folding unit. This movement can be controlled by the servomechanism robot or pneumatically operated. The band is folds around the mandrel and then seals along its length to form a sleeve. The shutter can be achieved by gluing or heating. Preferably, the band is composed of a metallized plastic material and can be used Any suitable shutter method.

From the band folding station, the mandrel that has a sealed band sleeve around it is transported, again by a servomechanism robot, to the module assembly of the rigid end cap package, where the mandrel and the sleeve are aligned with the group and the partial assembly of the extreme cover The sleeve slides then copper mounting. He Package is now finished, but it is not air tight. A robot picker moves the finished assembly to a station sealing of the band that seals the ends of the sleeve against the rigid ends of the package. Again, any Convenient type of shutter although hot shutter is currently prefer. The sealed package is then passed by a servomechanism robot more to a charging station of nitrogen and shutter. In this station air is evacuated in the package through a small hole in the lower end cap and substituted with nitrogen. Some other inert gas could be used. The hole is then sealed by heating and melting the plastic surrounding it. The finished product now includes pressurized gas that will be released with an audible sound when the consumer opens the package, thus guaranteeing the freshness of the product.

The sealed packages are then passed to a labeling station in which a labeling can be set propaganda and finally to a stamping station of the date and to a download station (not shown).

In the described procedure, many are performed operations that will be common to any type of assembly and filling packet of cigarettes and some that are particular are made for the product package that is produced. The machines of prior art packaging, have developed all of these functions within a single machine that drives and controls the step along the length of the machine. The realization of the The present invention divides the entire procedure into a series of discrete modules Each module performs a particular function and the items can be passed from one module to another module using robots controlled by servomechanisms that collect items from one module and transfer them to another module. The modules can include rotary table modules such as the discharge module, which also performs a function in the assembly procedure, in this case sealing the metal sheet to the top cover, also functions to move items, in this case caps finished, to positions where they can be picked up by robots and supplied to other modules. The nature of the items that They can be transported between various modules varies. So that, for example, grouping gaps are transferred from the module that contains the hoppers and the mandrels of grouping. These gaps are transferred, filled with cigarettes in the module filling of the rigid end cap pack and returned empty to grouping and hopper chuck module. The mandrel of Band sleeve is transferred between the mounting module of the rigid end cap package and preparation modules and band folding.

A modular representation of the system is shown in Figure 1. The system is composed of a hopper and Two types of module: 100 flexible modules that can be used with or without robots 110; and modules 120 of material of reel feed that can also be used with or without robots In Figure 1 the flexible modules are indicated as boxes open and reel feeding materials using boxes striped.

Therefore, in Figure 1 the two modules 100 flexible that include robots correspond to a module a) responsible for fixing the cover sheets, and a module b) responsible for fixing propaganda materials. Both 120 reel feed modules without robots correspond to the Band supply and band preparation stations. The boxes 130a) and 130b) not shaded correspond to the fall of supply of the rigid end cap and at the end of the procedure, respectively.

The remaining modules comprise modules flexible c) to j) that have robots and a flexible module k) that do not It has a robot. The 100k module) is the module that assembles the pack rigid end cap that receives the sleeve wrapped around a mandrel of module g) and the assembled group and the pack of the rigid end cover of module e). Module h) passes the package assembled on module i) that evacuates air and loads the package with nitrogen The module j) is a module of date code and discharge.

Module c) is responsible for transferring the grouping mandrels from the hopper module to module d) of filling of the rigid end cap package, and module f) is responsible for receiving the end caps, check their orientation and distribute them to the application module of the cover sheet and to the filling module for the rigid end cap package.

Therefore, the packaging procedure uses a certain number of robots arranged on modules, being linked the modules together to form an arrangement of reconfiguration of independent modules. It will be appreciated that each module is the carrier of the concrete tool of the procedure and that many modules also have a SCARA, Cartesian or other robot to move product between modules. The robot can also have specific procedural tools. The module control is manipulated by the module controller itself under control global of a system controller, and neighboring modules are communicate with each other, exchanging agreement protocols for ensure the correct transfer of the product between module procedures The product may be configured, totally or partially in the form of an article, or a combination of those  articles and carriers.

In reconfiguration, the concrete tooling of the procedure has to be changed but the modules can be reconfigured in any desired way. The operations made by the robots will differ, and the reprogramming However, the way in which the modules They interact remains unchanged.

Therefore, the packaging system comprises A plurality of modules. These modules can be arranged and redisposed in different configurations. Each module can function by itself and the system software divides the control functionality in routines. One of the important aspects of that type of solution is to define the interfaces between modules Control interfaces reflect mechanical interfaces that can change from configuration to configuration. In the example described, rotating tables were used to avoid robots crossing into the spaces of others.

Figure 2 shows an illustrative connection and schematic between two modules 60, 62. Each module comprises a base frame 64 within which a system 66 is housed Electric and control. The modules are independent of others and are subject to a global system controller. Do not However, the operation of each module is controlled by the own module A base plate 68 is mounted on the frame base. For convenience, the base plates are arranged to a common height to facilitate product transfer from module by module A robot 70 is mounted on each base plate and is responsible for handling the product, or product on a carrier, such as group gaps, and to transfer the product, or product and carrier, between modules in the manner will describe.

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Not all modules include robots. By example, the rigid endcap assembly module  in Figure 1 it is a module that interconnects with three other modules each of which has robots that move product and carriers to and from the lid package mounting module Extreme rigid The last module does not require a robot by itself same.

The modules each carry a plate bottom 72 on which the specific tool 74 is mounted of packaging and drive and robots, acting so similar, they will also transport each one and package the specific tooling that depends on the task to be performed. The modules are connected together for control 76, the safety 78, power 80 and tires 82.

In order to handle all the provisions possible of the modules, the interfaces have to be defined following mechanics between the modules:

Mechanical single transfer interface, in the that a single product is transferred;

Mechanical double transfer interface;

Mechanical transfer interface quadruple.

An example of the mechanical interface of Single transfer is shown in Figure 3. In this transfer, a unique product and / or carrier is collected and moved from one module to another. There are two basic variants. In the first variant, a carrier and a product are passed forward and The empty carrier is pushed back. An example of this variant is the transfer of the configured hole filled from the module the hopper to the filling module of the endcap rigid in the configuration of Figure 1. The second variant is that in which only the product is passed forward. There is no carrier here. An example of this is the finished package after application of the sleeve that is transferred to the network shutter station from the assembly station of rigid extreme lid box. From the point of view of the interface, the second variant can be considered as a subject of the first variant.

Therefore, referring to Figure 3, in she shows the operations in the transfer of a bearer and a product such as a first module M to a second module N. The Figure 3a shows the operations that occur in module M and Figure 3b shows the operations that take place in the Module N. The empty box represents an empty position; a full box represents the carrier, for example a mandrel, or a recess; and one striped box represents the product. The interface uses two bays in which the product and / or carrier may be positioned.

Initially, the carrier is in bay 2 and Bay 1 is empty. Module M then ends its transaction (i) putting the carrier and the product in bay 1 (arrow 1 in the Figure 3a); (ii) moving bay 2 (arrow 2) and then (iii) picking up the product The robot picks up the empty carrier of the bay 2 and move the carrier back to its procedure (arrow 3). The position is now shown in Figure 3 (b) with the carrier and product in bay 1 and an empty slot in the bay 2. Module N then ends its transaction in three stages:

(i) Module N puts the carrier in bay 2 (arrow 1 in Figure 3b). - Keep in mind that this is a bearer of module N and not bearer of module M;

(ii) the carrier is then moved to bay 1 (arrow 2); after which

(iii) the product is placed on the carrier and both are collected by module N for its procedure (arrow 3).

In both cases, the product and / or the carrier are collected by robots under the control of the modules individual.

The double transfer mechanism interface it is an extension of the single transfer interface of the Figure 3 and shown in Figure 4. In this transfer, a pair of products are collected and moved, at the same time, from a module to another. As with the single transfer interface there are two basic variants. In the first, a carrier and the product are transported forward and an empty carrier passed underneath. In the second, only the product is passed forward. Again the Second variant is a subset of the first. The way in the that this is executed is shown in Figure 4. Also as shown the sequence of movements, the configuration allows the possibility that a product in a couple of products can be Defective and marked to be rejected.

Therefore, referring to Figure 4, in She shows two products instead of a carrier in the Module M and must be moved one by one, using the N module. they provide two bays for each of the pairs of product / carrier, shown as bays 1a and 1b, 2a and 2b. At Start, the carrier is in bay 2 and bay 1 is empty. He module M ends its double transaction by placing the bearer and the product in bays 1a and 1b, moving them to bay 2, and picking up the products then. The robots collect the carriers of bays 2a and 2b and return them to the procedure. These carriers are empty.

Module N then terminates the transactions sequential First, a carrier is placed by the procedure in bay B1 (arrow 1 in Figure 3b). So, the robot is moved to bay A1 (arrow 2) and the robot picks up the carrier and its product and returns it to the module to perform its procedure (arrow 3). The module then ends its second transaction by placing the B2 bay carrier using the robot (arrow 4); moving the robot to the A2 bay; (arrow 5); Y then picking up the carrier and the product with the robot and moving them back to Module N to perform their process.

It is possible that one or both of the products can be rejected due to a defect detected. Then, when both products are rejected by Module M, Module N Just lose a cycle. When only one is rejected product by Module M, there will be an empty carrier, therefore the Module N only performs the transfer procedure a time.

Figures 5 and 6 show several Typical interconnectivities between the modules. In these figures, I / F It refers to the interface. The software that controls a module has Than support the mechanical interface. In the previous examples, we have considered the transfer of items, with or without a carrier, from one module to another adjacent module. However, it can there is more than one input interface for a module and more than one exit. Since the interfaces are generic, any module can Be able to understand each other with the greatest number of inputs and outputs. In practice, the modules can be four-sided in plan. These comprise a work surface on which they are mounted the components. The work surface is mounted on the part top of a cabinet that houses the control circuits and Electrical for the module. From a practical point of view this is only feasible for a module to interact with three others modules, thus allowing one side of the module to be used for Get access to the closet. At a minimum it must be possible to open the closet door.

Figure 5 shows an N module with two internal power supplies, an external power supply and an interface of supervision. This requires a total of four interfaces.

In Figure 6, Module S has two two-track mainstream indoor power supplies twins and a lateral feeding. Therefore module S has three interior feeds, module M has two external power supplies and each module has an interface of supervision. It must be taken into account that the provision in the Figure 5 breaks the physical requirement of using the four faces of the module. Therefore, it is prudent for the interface structure of the module be designed for three power currents indoor, two output power currents and an interface for the monitoring system.

Figure 7 illustrates the handshake (or Basic communication) for a choice between two modules. A module which has a second side entrance merely applies this Interface. Three states are shown in Figure 7: "product present ";" requested access "; and" guaranteed access ". The product status is vacant until Module M presents the product. The status then switches to high indicating that the Product is present to request a product choice. He status of the access request then goes high, requesting a blocking by Module N and the guaranteed access status goes high, guaranteeing blocking by Module M. The product is pick up then. Upon termination, module N sets the status from product back to vacancy, the access request goes low to release access through Module N and the guaranteed status Access is released in response.

Figure 8 shows an agreement or communication similar for product placement. The same three states: product, request for local access and guaranteed local access are present, however, the product status can be moved to through four levels: vacancy, RPC application (Call from Remote Procedure, a generic mechanism that allows a module invoke an action using an adjacent module), RPC Guaranteed and aged product. An aged product is one at that was allowed to cool or adhere to set during a Time period, aging time.

Initially, the product status is vacant. A request for local access through Module M originates that the status of the Local Access Request go high, requesting a block The status of LAC (Guaranteed Local Access) goes then high guaranteeing the blockade to Module M. A product is placed then through Module N, changing the product status of "vacancy" to "requested CPR"; and run the RPC, for example, activating the lock, and set the product status to CPR finished. Now the robot M can be released while Aging begins Module M sees the status of "RPC completed "and set" Access Request "low for release access through Module N. The status of "Access guaranteed "is then released in response. In parallel with the request for local access and guaranteed signals going low, the interface sees "RPC finished" and after a while of aging sets the product status to "Product Aged. "

Figure 9 shows the interface for a module which communicates with two other modules M and N. The product of M goes high to request a choice of M and waveforms a) -g) representing respectively: a) the state of product between modules M to P; b) the product status between the N and P modules; c) the blocking state between modules P to M; d) the blocking state between modules P to N; e) the state locked between modules P to N; f) the state locked between N to P modules; and g) product choice through module P from M.

The waveform a) of the product will go low until that module M present the product. The waveform a) of product will then go high to request a choice from Module M and the blocking of the c) waveform will go high requesting a blocking by Module P. The blocking waveform e) goes high to ensure blocking by means of the M to P module in parallel, the product waveform N (b) goes high while the product available. This is ignored by Module P which is already negotiating with Module M. The g) waveform pickup goes then high to indicate the collection through the P module and the pick-up and block (waveform c) goes low to indicate that the product has been collected by Module P. Module P now sees the N product and set d) high blocking waveforms requesting the lock. The procedure is then repeated for the negotiation between modules P and N. If both modules try and block simultaneously, an arbitration algorithm is used. This I could simply always select Module N. The module loser will see that the single product goes low and will restore its interface waiting for the next product.

Multiposition interfaces are deducted from the same way as described above with the addition of Bay concept described with respect to the mechanism interface. When access is requested, interface routines can specify a specific bay or have bay = 0 to return any free bay number, for local operation, or any busy bay number, for a pickup operation to indicate which position can be used. If an interface cannot specify a valid bay number, the number returned is zero indicating that the request cannot be satisfied.

Figure 10 shows the overall architecture of the software for a modular packaging system that incorporates the invention. Although as described, each module is self-controlled and interacts with neighboring modules as described, the system Complete is controlled by a controller system. He product and carrier movement, from module to module, is performed preferably by robots, for example as provided by Adept Tecnologies Inc. At least some of the modules include a Adept? robot controller under controller control central that is responsible for the coordination functions.

Therefore, a packaging process can be executed by a certain number of individual modules that can be each configured to perform a function and interact with adjacent modules as described. The modules can be reconfigured, and additional modules added, or modules named again to adapt to different packaging techniques

Figure 11 shows an example of module reconfiguration. Many others are possible. Figure 11 illustrates how the modules in Figure 1 can be reconfigured to form a packaging procedure for a type of package very different, a cardboard package in this case. The process of the Figure 11 is more complex, requiring more modules. However, It can be configured by redisposing the modules Figure 1 including its robots, along with the addition of more modules This solution contrasts with the packaged conventional that use gears, belts, cams, links and belts to produce very reliable high speed systems. The This solution handles products using tires, robots and under the control of servomotors to obtain a very flexible, which can be configured and programmed for construction of packaging procedures that is ideal for a low volume production

The hopper may be the same as that used in the embodiment of Figure 1 and the cigarettes are transferred to grouping holes by means of grouping mandrels. The configurations of the holes in the mandrels, and the shape of the grouping gap may be different from those of the embodiment of Figure 1. However, this is manipulated easily adjusting the programming of the robot that controls the mandrel position The system is controlled from it service module and HMI as the embodiment of Figure 1.

Therefore, Figure 11 illustrates the 200 flexible modules, eleven of which include robots Cartesians, SCARA, or Anthropomorphic, a) to k). Two are provided sets of reel feeding modules 220, one of the which includes a Cartesian, SCARA, or Anthropomorphic robot. In In addition, three 230 supply modules are provided to supply plasticized cards or forms in the hot and cold gluing procedure and stations in Three of the flexible robot modules.

The flexible module that the robot has a) corresponds to the module that transfers the gaps filled from the hopper to the filling module of the rigid end cap package in Figure 1. The flexible module 200 that includes the robot b) is a metal foil wrapping station in which the foil supplied from the foil supply modules is wrapped around the grouping In a print feeder module, an inner face is supplied and manipulated by robots d) and c) where the frame is glued and passed on the robot e) of module housing. Top and feeder feeders body are arranged on each side of this module supplying printed by means of robots f) and g). In robot g) of module housing, tabs and covers are glued interiors on the top form using a gluing unit hot and in the center module a folded Z plane is manufactured in the assembly of the form. The partially folded form is made pass to the module h) robot housing in which they are made extreme stiffeners, lateral folds and final sealing using a cold glue applicator and in an additional station the packages They are passed to a tax stamp applicator. The module of robot l) handles the application of a data code to the package and Also drying the package before it is wrapped. The package it is then passed to robot j) that interconnects with a tear tape and wrapper applicator station Cellophane and wrap the package. Finally, the robot k) It is responsible for the control and heating of the wrapped package before final dispensing of the finished packages along of an extreme fall.

In the above description it will be understood that whatever the configuration of the chosen package, the package is formed around the articles. The items may first, if required, be configured, forming a desired group although the need for this operation will depend on the nature of the items that are packaged. The formation of the package around the items is carried out regardless of the type of package that is manufactured. Therefore, in the embodiment of Figure 11 cardboard sheets are used. These are not preconfigured, totally or partially, in the form of packages but are configured " in situ " around the articles. This solution to package the group facilitates the reconfigurability of the packaging system. The same solution of forming the package around the article is adopted regardless of the nature of the package.

It will also be appreciated that the embodiments of the invention greatly accelerate the change from a package assembly to another, facilitating the production of low capacity. Forming packages around the articles, and using modules that can be reconfigured, a system can be switched to produce a package to another in a matter of weeks instead of months, greatly reducing the associated cost.

It will be appreciated that the two configurations of modules, described in Figures 1, and 11, are only two Examples of possible configurations. The invention is not limited. to these or any other configuration but it resides in the reconfigurability of the modules to configure a procedure of desired packaging. The invention is limited only by the scope of the following claims.

Claims (23)

1. A packaging system for packaging items in a package, comprising a plurality of modules, characterized in that the modules (60, 62, 100, 200) are interconnected, each module comprising the tools (70) for performing a part of the process of packaging, and at least some of the modules comprise a robot (70, 110) to move items between modules. 2. A packaging system according to the claim 1, wherein the robots (70, 110) move items and article carriers between modules. 3. A packaging system according to claims 1 or 2, wherein at least one of the modules it comprises a robot (70) to perform a procedure of packaging. 4. A packaging system according to claims 1, 2 or 3, wherein the robots are of type Cartesian, SCARA or Anthropomorphic. 5. A packaging system according to claims 1, 2, 3 or 4, wherein the modules include the minus one module (120) to supply materials fed from reel. 6. A packaging system according to any of the preceding claims, wherein the modules include the minus one module (230) to supply packaging forms. 7. A packaging system according to any of the preceding claims wherein at least one of the modules includes a gluing station for gluing packages. 8. A packaging system according to any of the preceding claims wherein each module includes a module controller (66) to control the tools of the module. 9. A packaging system according to the claim 8, wherein the module control system includes robot controllers to control the movements of the robots. 10. A packaging system according to claims 8 or 9, wherein the control system of each module comprises interconnection software to interface with the adjacent module control system to move items between modules 11. A packaging system according to the claim 10, wherein the first module control system  includes software to move items to bays between the first module and a second module, and the second module controls systems which include software to collect items from the bay or Place items in the bay. 12. A packaging system according to the claim 10, wherein the articles to be packaged are mounted on a carrier and, the items and the carrier, they are moved to the bays in the first module and moved from the bays in the second module. 13. A packaging system according to claims 11 or 12, comprising first and second bays, in which the product is placed in the first bay of a first module procedure, it moves to the second bay under the control of the first module control system, being moved from new to the first bay and transferred to the second procedure of module. 14. A packaging system according to any of claims 11 to 13, wherein the software to move Articles between modules includes an article status, a request of access and guaranteed access, in which the access request and the guaranteed status allow a lock to be established between adjacent modules. 15. A packaging system according to any of claims 11 to 14, wherein the interfaces are defined between each module and all adjacent modules to Define the movement of items between them. 16. A packaging system according to any of the preceding claims, wherein the modules (60, 62, 100, 200) can be reconfigured. 17. A packaging system according to any of the preceding claims, wherein the articles that They must be packaged in the form of bars. 18. A packaging system according to any of the preceding claims, wherein the articles to be Packaged are cigarettes. 19. A packaging system according to any of the preceding claims, comprising a controller system to provide coordination control of modules 20. A packaging system according to any of the preceding claims, wherein the package is formed Around the items. 21. A packaging system according to claim 20, wherein the articles are grouped first forming a group and the package is formed around the group. 22. A set of modules (60, 62, 100, 200) that can be reconfigured to form a packing system, characterized in that the modules are interconnected and each has removable tooling (70) to perform a part of the packaging procedure, including at least some of the modules a robot (70, 110) for the transfer of items between modules, each module having a module controller (66) to control the part of the packaging procedure performed by the module and to coordinate the transfer of items between the module and adjacent modules. 23. A set of modules that can be reconfigured according to claim 22, wherein at least one of the modules comprises a robot (70) that performs a procedure of packaging.