KR20070062525A - 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 Packing System {MODULAR PACKING SYSTEM}

The present invention relates to a modular device for packaging goods. More specifically, it relates to a modular device that sometimes needs to be reconfigured when product packaging requirements change.

In the tobacco industry, finished cigarettes are generally formed in a collation and then delivered to a packaging machine where the packaging takes place around the collation. Many different types of packaging are applied, for example, in hard packs or soft packs. The packaging process is complex and includes a number of steps that are performed continuously. These include card handling, scoring, cutting, folding and gluing, embossing, foil handling, cellophane wrapping and gluing gluing).

Packaging machines are a very difficult investment for manufacturers. However, high manufacturing speeds and long packaging operations make packaging lines economical.

Effective and economical production of a limited number of packs of cigarettes, for example thousands of packs, may be a challenge. For example, if a new pack shape or tobacco collation is to be tested, the line will be redundant if the design is not pursued later, thus providing a dedicated packaging line for such a design. It is uneconomical. Thus, small amounts of cigarette packs tend to be assembled at least in part by hand. It would be useful to be able to perform larger tests, for example, a test containing millions of packs.

Although it is possible to make relatively low volume packaging machines that can be reconfigured in different packaging designs, the reconstruction process itself is very slow and very expensive.

It is an object of the present invention to address the problems described above and to provide access to a packaging line that is easy to reconfigure for different packaging requirements.

More broadly, the present invention relates to the use and provision of a packaging system comprising a plurality of modules. Modules may be reconfigured and modules may be added or removed for different packaging assemblies. Items are generally moved between modules by a robot under the control of a module controller. Each module has its own controller. The term article refers to all or part of the articles to be packaged or the articles and packages formed around the articles in the packaging process.

More specifically, it comprises a plurality of interconnected modules, each module comprising a tooling to perform part of the packaging process, at least some of the modules comprising a robot for moving the goods between the modules. To provide a packaging system for packaging articles in a pack.

Preferably at least one of the modules comprises a robot for carrying out the packaging process.

Embodiments of the present invention have the advantage that relatively low capacity packaging systems can be provided which can be quickly reconfigured at low cost compared to conventional packaging lines or machines. Systems embodying the present invention are designed to be reconfigured in a few weeks from one tobacco packaging configuration to another. This is remarkably superior to conventional systems where reconfiguration takes several months to the extent that everything is possible. Even here, the term reconstruction is not entirely appropriate because the reconstructed system is mostly a rebuilt system. There is a lot of cost savings associated with the ability to reuse modules and switch packs that are made very quickly by the system.

This easy reconfigurability makes it practical and economical to perform tests at about millions of packs, more than thousands of packs currently produced using manual packaging.

Preferably, the robots perform some packaging and move the article or articles, and the articles are transferred between the modules. The moved items may be actual items to be packaged or may be partially or fully packaged items or elements of packaging.

In a preferred embodiment of the invention, the package is formed around the articles to be packaged. This is in contrast to conventional devices where the packaging is performed or partially performed away from the items to be packaged. Forming a package around the articles is advantageous because it helps to facilitate the reconstruction of the packaging system. Thus the same approach may be taken for a pack formed from a wrapper and a hard plastic end cap, for example taken for a more complicated cardboard blank pack. A cardboard pack is not carried out and is formed around the articles.

Preferably, the robot may be a SCARA, Cartesian or humanoid robot. The robot may have multiple degrees of freedom and possibly rotational degrees of freedom to allow movement in the X, Y, and Z axes. Although all these degrees of freedom may not be required for a given pavement, the robot is part of a reconfigurable system, and providing a greater number of degrees of freedom increases the configurability of the module for other pavement operations.

Preferably, a number of different module types are provided. The flexible module may include a robot or may include a base plate on which a process specific tool is mounted. If a robot is included, the robot actuator head may include process specific tooling. A reel feed module is provided for reel fed materials such as wrapping, foil and labeling that are introduced into the process. A blank delivery module allows a blank, such as a card blank, to be delivered to the system. Any of these modules may include a robot. Some or all of the module types may be included in a given shape.

Preferably, each module includes a module controller for controlling the module sensor and the actuator. Preferably, where provided, the module controller also controls the module robot. This approach to control increases the flexibility of the module approach. For example, where a robot's movement must be changed for a new process, it is a relatively simple matter to reprogram the robot to limit its movement and behavior to adjacent modules.

Preferably, the module has a set of stations or positions that can be moved for delivery of articles to adjacent modules, which may be on a carrier. The interface software controls the movement between the module process and the bay occupied by both the carrier with the articles and the returning empty carrier. Preferably, all of the control systems of adjacent modules are involved in the transfer between the modules.

Preferably, the control system software includes a product state indicator indicating the presence or absence of items, an access request state indicating access to the product by the module when the product state indicates that the product is present. And between the modules by use of an access granted state indicating that the robot for one module has access to the carrier to position the article or articles to pick up the article. Adjust the movement. This control approach avoids crash between robots of adjacent modules.

Reconfigurable modular packaging systems embodying the present invention are particularly suitable for packaging rod-shaped articles such as cigarettes, but may also be used for packaging other articles.

The invention also provides a set of reconfigurable modules for forming a packaging system configuration, the modules being interconnected, each having a removable tool for performing a part of the packaging factory, at least The plurality of modules includes a robot for transferring the goods between the modules, each module for controlling part of the packaging process performed by the modules and for coordinating the transfer of the goods between the modules and adjacent modules. It has a module controller. Modules may also perform part of the packaging process.

Embodiments of the invention are described with reference to the accompanying drawings, which are shown by way of example only.

1 shows a packaging system configuration as a series of modules

2 is a side view of a pair of modules each containing a robot used in the process of FIG.

3A and 3B show a mechanical interface between modules showing how a product is passed between modules, FIG.

4A and 4B are similar to FIGS. 3A and 3B for double product transfer

5 shows the connectivity between three adjacent modules

Figure 6 shows the connectivity between six adjacent modules

7 illustrates an interface sequence for a picking operation

8 shows an interface sequence for a placing operation

9 shows a sorting operation for a 2: 1 module interface

10 shows the overall control architecture for all modules

11 shows an alternative module configuration for another pack design

The packaging system configuration shown in FIG. 1 is an exemplary configuration used to illustrate embodiments of the reconfigurable modular nature of the present invention. The packaging system is intended to package tobacco or other rod-shaped articles, but the present invention is not limited to the packaging of articles of this type, but also writing instruments such as food products, colored pencils or crayons or other rod-shaped articles including confectionary products It is also crazy about packaging other forms of goods.

Similarly, the present invention is not limited to any particular packaging system configuration. In addition, the present invention allows the construction of modules that allow different types of packaging to be made for different types of articles.

The configuration shown in FIG. 1 is a cigarette cigarette in a pack having a rigid plastic end cap and a metalized web that depends on the flange of the end cap and wraps over the cigarette. intended to wrap the collation). The web is sealed and the air is expelled from the pack and replaced with nitrogen to preserve the product freshness. The details of the products in the various states are not suitable for the present invention, but they help to discuss the respective parts of the process at a high level.

The process is provided by a number of modules and the product and the carrier are moved between the carriers by a servo controlled robot using pneumatics to control the handling. Robots may include Cartesian, SCARA, and humanoid robots. After the process of FIG. 1 has been described in detail, the interfaces between the modules and the machine and software are described to understand how the modular packaging process can work. Finally, alternative configurations are described to show how modules can be easily reconfigured for different packaging at significantly reduced cost and time.

The choice of robots depends on the requirements of the situation in which they are used. Descartes, SCARA and humanoid robots are preferred. Selective Compliance Articulated Robot Arm (SCARA) robots typically have four degrees of freedom and a horizontal plane with a quill type Z-axis at the end of the arm that provides angular rotation (theta) in the vertical and horizontal planes. We have two main links swinging in the plane. Cartesian robots are typical modular, consisting of a series of linear slides that can be selected for length and payload and mounted perpendicular to each other. Z-theta units are available. Four axis (X, Y, Z, theta) robots are manufactured with similar functionality to SCARA robots. The Cartesian robot can be configured such that its axis of rotation is horizontal. Descartes robots are generally considered to be simpler to control in Descartes space. Humanoid robots, particularly vertically articulated humanoid arms, generally have five or six axes. Typically in a five-axis arm, the first axis is rotation about vertical, and the second, third and fourth axes have axes parallel to each other and are rotated around a horizontal subtracted by the link length between the axes. The fifth axis is the roll axis orthogonal to the fourth axis. In a six-axis arm, the first, second and third axes are identical to the fifth axis example. The fourth axis is generally orthogonal to the third axis along the link axis, the fifth axis is orthogonal to the third axis, and the sixth axis is a roll axis orthogonal to the fifth axis. Vertically articulated humanoid arms have a large working envelope, especially in the Z direction. Six-axis arms give considerable flexibility and control the position and orientation of objects in space.

The final cigarettes are delivered to a packaging system and held in a hopper. In one preferred embodiment, four parallel hoppers are used, each of which has a parallel hopper vane chute for individually providing cigarettes to a collation mandrel. Have The cigarettes are delivered to the collation mandrel by a single push rod. Pushrods are provided for each hopper, and the four pushrods are preferably connected by a bar that allows them to be driven together, although they may be driven independently. The mandrel has a plurality of through holes arranged to define the shape of the collation being packaged. The push rod pushes cigarettes one by one into the through holes to fill the mandrel. The push rod reciprocates along the Z axis and does not move with respect to the hopper in the X and Y planes. Instead, the mandrels are moved in the X, Y plane by a servo controlled robot to be accurately positioned for the receipt of cigarettes.

When filled, the mandrels are moved downward in the Y plane at the point where the collations are delivered from the mandrel to the shaped pockets. Within the shaped pockets, the cigarettes are no longer spaced apart from each other and the packages are easily formed around them. Delivery to the molded pocket is achieved through a set of parallel pushrods for each mandrel. The push rod sets are connected by a bar and reciprocate in the Z axis. The rods are arranged to match the shape of the collation in the mandrel, such that when reciprocating the rods are received in the mandrel through-holes and push the cigarette through the mandrel into the pocket. The servo controlled robot ensures that the position of the filled mandrel is correctly registered in the sets of push rods to ensure that the push rods are correctly received in the mandrel holes. When empty, the mandrels are in turn returned to a position adjacent to a single pushrod to accommodate the next tobacco collation.

The filled molding pockets are transferred to the rigid end cap case filling station. This requires that filled pockets be lifted by a servo robot and moved to another module.

The cases include a pair of rigid end caps, each of which has a dependent skirt that extends over a portion of the length of the cigarette in position. One of the end caps includes a flip top lid for removal of tobacco from the pack by the user. To ensure that the contents of the pack remain fresh, a foil is provided in the opening below the flip top lid that is automatically opened on the rigid end cap case unloading and lid sealing turntable. The foil is removed by the user when the pack is opened.

Rigid end caps are delivered by a tray delivery system, uploaded from a tray by a robot picker and delivered to a turntable. During this transfer process, the top end caps with flip top lids are delivered to a testing station for testing for the presence of the flip top lids on the cap, and then the robot picker is accurately provided to the turntable. Orient the flip top lead as much as possible. The bottom end caps are delivered straight to the station on the turntable. Rotation of the turntable provides the upper end cap to a lid foil application module. An additional servo robot on this module places a lid foil, previously picked up by the robot from the magazine, onto the upper end cap. Rotation of the turntable positions the upper end cap and the lead foil at a sealing station where the lead foil is coupled onto the upper end cap.

A servorobot on the rigid end cap case transfer module picks the upper and lower end caps from the turntable and provides them to the rigid end cap case filling module. In this module, the tobacco collation and the end caps are manipulated such that the cigarettes are inserted into the end caps. From these, additional servo robots move the collation and end cap assembly to the rigid end cap case assembly module. This module interacts with a web fold and sealing module that provides a rigid end cap case assembly module with a mandrel around which a foil wrap is formed.

The web is provided from a web roll and delivered to a web preparation and cutting station through an assembly of tension rollers. The web processing and cutting station ensures that the web is cut to the exact length required for the pack and delivered to the front of the web fold and sealing module. Using a servo robot, the web fold and seal module provides a mandrel to the web at the exit for the web preparation module. The web is gripped to the side of the mandrel, and the mandrel and the web are then moved through a folding unit. This movement may be servo robot control or pneumatic operation. The web is folded around the mandrel and sealed along its length to form a sleeve. Sealing may be accomplished by gluing or heating. Preferably the web is formed of a metalized plastic material and any convenient sealing method may be used.

From the web folding station, the mandrel with the web sleeve sealed around it is transferred by the servo robot to the rigid end cap case assembly module where the mandrel and sleeve are aligned with the collation and end cap subassembly. It is done. The sleeve then slides over the assembly. The pack is now complete but not airtight. The robot picker moves the completed assembly to a web sealing station that seals the ends of the sleeve against the rigid ends of the pack. Although heat sealing is currently preferred, any convenient form of sealing may be used. The sealed pack is sent to a nitrogen filling and sealing station by an additional servo robot. At the station, air in the pack is vented through small holes in the lower end caps and replaced with nitrogen. Some other inert gases may be used. The hole is then sealed by heating and melting the surrounding plastic. The finished product contains gas under pressure that is released with an audible sound when the consumer opens the package, thus ensuring the freshness of the product to the consumer.

The sealed pack is then sent to a labeling station to which the promotional labeling is attached, and finally to a date stamp station and an offloading station (not shown). Lose.

In the described process, many of the actions common to any form of cigarette pack assembly and filling are performed, and some are performed specifically for the product pack being produced. Conventional packaging machines are made of a single machine in which all of these functions are driven and controlled along the length of the machine. Embodiments of the present invention divide the overall process into a series of separate modules. Each module performs a special function, and products may be passed from module to module using a servo controlled robot that picks products from one module and delivers them to another module. The modules not only function within the assembly process in the case of sealing the lid foil to the upper cap, but also in the case of the end cap, the functions of moving the product to a position that may be picked up by robots and delivered to another module. It may also include a turntable module such as an unloading module to perform. Thus, for example, collation pockets are delivered from a module comprising a hopper and collation mandrels. These pockets are filled with tobacco and delivered to the rigid endcap case filling module and returned to the hopper and collation mandrel module. The web sleeve mandrel is transferred between the rigid end cap case assembly module and the web processing and folding modules.

The modular configuration of the system is shown in FIG. The system is a flexible module 100 that may be used with or without the hopper and robot 110 and a reel feed material that may also be used with or without the robot. It consists of two types of modules such as material module (120). In Figure 1, flexible modules are indicated as open boxes and reel feed materials are indicated as hatched boxes.

Thus, in FIG. 1, two flexible modules 100 comprising a robot are a) a module for attaching a lid foil to a rigid end cap lid and b) attaching promotional materials. Corresponds to the module for. The two robotless reel supply modules 120 correspond to web delivery and web preparation stations. The light and dark boxes 130a and 130b correspond to the rigid end cap delivery chute and the end of the process, respectively.

The remaining modules include flexible modules c to j with robots and flexible modules k without robots. The module 100k is a module for assembling a rigid end cap case from module e and a rigid end cap case for receiving a collation assembled with a sleeve wound around the mandrel from module g. Module (h) passes through a pack assembled with module (i) which discharges air and fills the pack with nitrogen. Module j is a date code and offload module.

The module (c) is for transferring the collation mandrel from the hopper module to the rigid end cap case filling module (d), and the module (f) checks its orientation and checks the lid foil application module (lid foil application module). It is dispensed into a rigid end cap case filling module for receiving the end cap.

Thus, the packaging process uses a number of robots placed on the modules, which modules are linked to each other to form a reconfigurable arrangement of independent modules. Each module includes a process specific tool, many of which also have SCARA, Cartesian or other robots for moving the product between modules. The robot may also have process specific tools. The control of the module is handled by the controller of the module itself under full control of the system controller, adjacent modules communicate with each other and exchange handshaking protocols to ensure the correct delivery of the product between the module processes. . The product may then be formed or partly formed from a combination of goods or goods and a carrier.

Upon reconfiguration, the process specific tool must be changed but the module can be reconfigured in any desired way. The work performed by the robot will be different and require reprogramming. However, the way in which the modules interact does not change.

Thus, a packaging system includes a number of modules. The modules may be arranged and re-arranged in different configurations. Each module can function on its own and the system software interrupts control functionality with a routine. One of the important characteristics of this approach is to define the interface between the modules. The control interface reflects a mechanical interface that can vary from configuration to configuration. In the example described, a turntable is used to prevent robots from crossing into each different space.

2 shows a schematic and schematic connection between two modules 60, 62. Each module includes a base frame 64 in which an electrical control system 66 is housed. The modules are independent of each other and depend on the overall system controller. However, the operation of each module is controlled by the module itself. Base plate 68 is mounted on the base frame. For convenience, the base plate is arranged at a common height to assist in the transfer of product from module to module. The robot 70 is mounted on each base plate and is intended to handle a product on a carrier, such as a product or a collation pocket, and between the modules in the manner described. To pass.

Not all modules include robots. For example, the rigid end cap case assembly module of FIG. 1 is three different modules each having a robot that moves the product and carrier from and to the assembly module. This module interfaces with. The latter module does not require the robot itself.

The modules each include a sub-plate 72 on which the actuation and pack specific tools 74 are mounted, and the robots also contain similar actuation and pack specific tools, respectively, depending on the task they are to perform. do. The modules are connected to each other for control 76, safety 78, power 80 and pneumatic 82.

In order to be able to handle all possible arrangements of modules, it is necessary that the following mechanical interfaces between the modules be defined.

Single delivery mechanical interface for single product delivery

Double transfer mechanical interface

Quad transmission mechanical interface

An example of a single delivery mechanical interface is shown in FIG. 3. In this delivery, a single product or / and carrier is picked up and moved from one module to another. There are two basic variations. In the first variant, the carrier and products are passed forward and the empty carrier is passed backward. An example of such a variant is the transfer of a filled molding pocket from the hopper module to the rigid end cap case filling module in the configuration of FIG. 1. In the second variant, only the product is passed forward. There is no carrier here. An example of this is a completed pack after application of the sleeve to be transferred from the rigid end cap case assembly station to the web sealing station. In view of the interface, the second variant may be seen as the task of the first variant.

Thus, with reference to FIG. 3, the stage of delivery of the product and the carrier from the first module M to the second module N is shown. FIG. 3A shows the steps occurring in module M and FIG. 3B shows the steps occurring in module N. FIG. Empty boxes represent empty positions, filled boxes represent carriers or pockets, for example mandrels, and shaded boxes represent products. The interface uses two bays, which are locations where the product or carrier can be located.

Initially, the carrier is in bay 2 and bay 1 is empty. At this time (i) the carrier and the product into the bay 1 (arrow 1 in Fig. 3a), (ii) to the bay 2 (arrow 2), and (iii) the product by picking up the product (module) ( M) completes the transaction. The robot picks up the empty carrier from bay 2 and removes the carrier again with the carrier process (arrow 3). The location is shown in Figure 3 (b), with the carrier and product in bay 1 and the empty slot in bay 2. In this case, module N has three stages: (i) module N placing the carrier in bay 2 (arrow 1 in FIG. 3B), which is a carrier from module N, not a carrier from module M, and (ii) next carrier Moving the to bay 1 (arrow 2), (iii) the product is placed on the carrier and both are picked up from module N for the process (arrow 3) to complete the process.

In both cases, the product or carrier is picked up by a robot under the control of an individual module.

The double transfer mechanism interface is an extension of the single transfer interface of FIG. 3 and is shown in FIG. In this transmission, a pair of products are picked up and simultaneously moved from one module to another. There are two basic variants, like a single transport interface. First, the carrier and product are forwarded and the empty carrier is passed down. Second, only the product is passed forward. Again, the second variant is a subset of the first variant. The manner in which this is handled is shown in FIG. 4. Not only is the order of movement shown, the configuration allows for the possibility that a product within a pair of products may become incomplete and marked for rejection.

Thus, with reference to FIG. 4, two products are shown at the position of the carrier in module M and in turn moved by module N. FIG. As shown as bays 1a and 1b and 2a and 2b, two bays are provided for each product / carrier pair. At the beginning, the carrier is in bay 2 and bay 1 is empty. By placing the carrier and product in bays 1a and 1b, moving to bay 2 and then picking up the product, module M completes its dual processing. The robot picks carriers from bays 2a and 2b and takes them back to the process. The carriers are empty.

Module N then completes a series of processing. First, the carrier is placed from bay to bay B (arrow 1 in FIG. 3B). The robot is then moved to bay A1 (arrow 2), and the robot picks up the carrier and its products and returns to the module to perform the process (arrow 3). The module then uses the robot to place the carriers in bay B2 (arrow 4), moves the robot to bay A2, then picks up the carrier and product as a robot and moves them back to module N to perform the process. To complete the second process.

One or both products may be rejected due to a detected fault. In this case where both products are rejected by module M, module N simply misses the cycle. If only one product is rejected by module M, it can be an empty carrier so that module N performs the transmission process only once.

5 and 6 illustrate various typical interconnectivity between modules. In the figures, I / F represents an interface. The software controlling the module must support the mechanical interface. In the previous example, we have considered the transfer of goods with or without a carrier from one module to an adjacent module. However, a module may have more than one input interface and more than one output. As the interface is general, any module must be able to handle the maximum number of inputs and outputs. In practice, the modules may be four sides in plane. This includes the work surface on which the components are mounted. The workpiece surface is mounted on top of a cabinet that houses the control and electrical circuits for the module. In practical terms, it is only possible to interact with three different modules such that one side of the module is used to gain access to the cabinet. At a minimum, it should be possible to open the cabinet doors.

5 shows module N with two in-feeds, one out-feed and a supervisory interface. This requires a total of four interfaces.

In FIG. 6, module S has two mainstream in feeds and one side feed from a twin track. Thus, module S has three in-feeds, module M has two out-feeds, and all modules have supervision interfaces. The arrangement of Figure 5 breaks the physical requirement to use all four module faces. Thus, it is appropriate that a modular interface structure is designed for one interface to three infeed streams, two outfeed streams, and a supervisory system.

7 shows a basic handshake for a pick between two modules. Modules with a second side input simply duplicate this interface. In FIG. 7, three states are shown: “product present”, “access request”, and “access granted”. The product status is empty until module M delivers the product. The state is then switched high indicating the product being offered to request a pick of the product. The access request state then becomes high, requesting a lockout by module N, and the access grant state being high and granting a lockout by module M. The product is then picked. Upon completion, module N resets the product state to empty, the access request is lowered to release access by module N, and the access grant status is removed in response.

8 shows a similar handshake for placing a product. The same three states, product, local access request, and local access approved states are provided, but the product states are operated by four levels, vacant, RPC (remote procedure call). Can be moved through requests, RPC approvals, and mature product levels. Aged product is one that is cooled or bonded that is set for a period of time, an ageing time.

Initially, the product state is empty. A local access request by module M causes the local access request state to be high while requesting a lockout. Next, the local access grant status is high, accepting a lockout to module M. Next, the product is located by module N, when module N sees an "RPC request", it changes the product state from "vacant" to "RPC request", executes the RPC, for example, locks Enable (lock) and set the product status to RPC Complete. Robot M can now be released while starting ripening. Module M sees the "RPC Complete" status and sets the "Access Request" low so that access is released by Module N. The "access granted" status is removed in response. Along with the local access request and the approved signal going low, the interface sees "RPC complete" and sets the product status to "aged product" after the ageing time.

9 shows an interface for a module in communication with two other modules M and N. FIG. The product from M is high to request a pick from M, and waveforms a) to g) are a) product state between modules M to module P, b) product state between modules N to module P, c ) A locking state between modules P to M, d) a locked state between modules P to N, e) a locked state between modules P to N, f) a module N to module P And g) the picking of the product by module P from module M, respectively.

The product waveform a) is lowered until module M delivers the product. Product waveform a) is then high to request a pick from module M, and lock waveform c) is high to request lockout by module P. The lock waveform e) is raised to approve lockout by modules M through P and the product waveform b from module N is as high as the product is available. This is ignored by Module P, which has already negotiated with Module M. The picking waveform g is raised to indicate that it is being picked by the module P, and the picking and locking (waveform c) is low to indicate that the product is picked by the module P. Next, the process is repeated for negotiation between module P and module N. This can always simply select module N. The missing module causes the product to go low and reset the interface waiting for the next product.

The multi-location interface is derived in the same way as described above in addition to the bay concept described in connection with the mechanism interface. When querying for access, an interface routine can either specify a particular bay, zero the bay to return to the number of free bays for batch operations, or select an election that indicates that the location is used. It has all occupied bays for pick operation. If the interface cannot specify a valid bay number, the returned number is zero indicating that the request cannot be satisfied.

10 illustrates the overall architecture of software for a modular packaging system implementing the present invention. Although each module is self-regulated as shown and interacts with adjacent modules as described, the overall system is controlled by a system controller. The movement of the product and the carrier from the module to the module is preferably performed by a robot, for example as provided by Adept Technologies. Some of the modules include an AdeptTM robot controller under the control of a central controller for the coordination function.

Thus, the packaging process may be performed by a number of individual modules, each of which may be configured to perform a function and interact with adjacent modules in the described manner. Modules may be reconfigured, adjacent modules may be added, or modules may be renewed to apply different packaging techniques.

11 shows an example of module reconfiguration. Many other things are possible. FIG. 11 shows how the module of FIG. 1 can be reconfigured to form a very different pack form, here a packaging process for a cardboard pack. The process of Figure 11 is more complex and requires more modules. However, it can be formed by rearranging the module of FIG. 1 containing the robots with the addition of other modules. This approach is in contrast to conventional packaging using gears, belts, shafts, cams, linkages and belts that produce high speeds. This approach handles products that use pneumatics and robots under the control of a servo motor to provide a highly flexible, configurable and programmable access to the ideal packaging process configuration for low volume production.

The hopper may be the same as used in the embodiment of FIG. 1, wherein the cigarette is delivered to a collation pocket through a collation mandrel. The configuration of the hole in the mandrel and the shape of the collation pocket may differ from that of the embodiment of FIG. 1. However, it can be easily handled by adjusting the programming of the robot to control the position of the mandrel. The system is controlled from the same servo module and HMI as in the embodiment of FIG.

Thus, in FIG. 11, eleven flexible modules 200 including Descartes, SCARA or humanoid robots a) to k) are shown. Two sets of reel feed modules 220 are provided, one of which includes Cartesian, SCARA or humanoid robots. In addition, three blank delivery modules 230 are provided for delivering cards or plastic blanks into the process, and heat or cold bonding stations are provided with three flexible robot modules. Is provided by

A flexible module with robot a) corresponds to a module for transferring a filled pocket from the hopper to the rigid end cap case filling module of FIG. 1. Flexible module 200 comprising robot b) is a foil wrapping station in which foil delivered from a foil delivery module is wound around a collation. In the blank feeder module, the inner face is transferred and handled by the robots c) and d) to which the frame is bonded, and passed through to the module housing robot e). Upper and body blank feeders are arranged on one side of the module providing blanks via robots f) and g). In the module housing robot g) tabs and inner lids on the upper blank are glued using a hot glue unit, and in the central module a Z plane fold is made in the blank assembly. The partially folded blank is passed through a module housing robot h) in which a final seal, side folds and end tucks are made using a cold glue applicator, and further At the station the packs are passed to a tax stamp applicator. The robot I) module handles the application of a date code to the pack and also the drying of the pack before it is wound. The pack then passes through a cellophane wrapper and a robot j that interfaces with a tear tape applicator station and handles the wrapping of the pack. Finally, robot k) adjusts and heats the wrapped pack before the final pack is finally dispensed into the end chute.

From the foregoing description, no matter what packaging configuration is selected, the pack is formed around the article. Although the necessity of the steps depends on the nature of the article to be packaged, the article may be formed in the desired collation if desired. The formation of a pack around the article occurs whatever the shape of the pack is made of. Thus, in the embodiment of Fig. 11, a cardboard blank was used. These are not carried out in whole or in part in a pack, but are formed in place around the article. This pack form approach makes the reconfigurability of the packaging system easier to obtain. The same approach to forming a pack around an article is taken regardless of the nature of the pack.

Embodiments of the present invention are understood to allow for faster production of changes from one pack assembly to another while enabling low volume production. By forming a pack around the article and using reconfigurable modules, the system may switch production from one pack to another on a matter of weeks rather than months, while significantly reducing the costs involved.

The two configurations of the modules described in Figures 1 and 11 are only two siles of possible configurations. The present invention is not limited to these or other configurations, but is in the reconfigurability of the modules forming the desired packaging process. The invention is limited only by the scope of the following claims.

Claims (23)

A packaging system for packaging an article in a pack, comprising a plurality of interconnected modules, each module having a tooling for performing part of a packaging process. Wherein at least some modules comprise a robot for moving articles between the modules The packaging system of claim 1, wherein the robot moves an article and an article carrier between the modules. A packaging system according to claim 1 or 2, wherein the one or more modules comprise a robot for performing a packaging process. 4. A packaging system according to claim 1, 2 or 3, wherein the robot is a Cartesian, SCARA or anthropomorphic robot. 5. The packaging system of claim 1, 2, 3 or 4, wherein the module comprises one or more modules for delivering reel-fed materials. ) The packaging system of any one of the preceding claims, wherein the modules comprise one or more modules for delivering a blank to wrap. The packaging system of any one of the preceding claims, wherein the one or more modules comprise a gluing station for gluing the packages. The packaging system according to any one of the preceding claims, wherein each module comprises a module controller for controlling module tooling. The packaging system of claim 8, wherein the control system of the module comprises a robot controller for controlling the movement of the robot. 10. A packaging system according to claim 8 or 9, wherein the control system of each module comprises interface software for interfacing with the control system of an adjacent module to move articles between the modules. packing system) The control system of claim 10, wherein the control system of the first module includes software for moving the goods to a bay between the first module and the second module, wherein the control system of the second module is an article from the bay. A packaging system comprising software for picking or placing an article in a bay 11. The article of claim 10 wherein the articles to be packaged are mounted on a carrier, the articles and the carrier being moved to a bay in the first module and to the bay in the second module. Packaging system 13. A method according to claim 11 or 12, comprising a first and a second bay, wherein the product is located in the first bay from the first module process and the second under the control of the first module control system. Packing system characterized in that it is moved to a bay, back to the first bay, and transferred to a second module process 14. The method of any one of claims 11 to 13, wherein the software for moving items between modules comprises an article state, an access request and an access granted. The packaging system, characterized in that the access request and the approved status allow the lockout to be established between adjacent modules. 15. A packaging system according to any one of claims 11 to 14, wherein an interface is defined between each module and all adjacent modules to define the movement of the article therebetween. packing system) The packaging system according to any one of the preceding claims, wherein the module is reconfigurable. The packaging system of any one of the preceding claims, wherein the articles to be packaged are rod-shaped articles. The packaging system according to any one of the preceding claims, wherein the articles to be packaged are tobacco. The packaging system of any one of the preceding claims, comprising a system controller for providing coordinating control of the module. The packaging system of any one of the preceding claims, wherein the pack is formed around articles. 21. The packaging system of claim 20, wherein the articles are first formed in a collation and the pack is formed around the collation. In a set of reconfigurable modules for forming a packaging system, the modules are interconnected and have removable tools for performing part of the packaging process, some of the modules being modules A robot for transferring goods between each module, each module controlling a portion of the packaging process performed by the module and for coordinating the transfer of goods between the module and adjacent modules. A set of reconfigurable modules characterized in that 23. The set of reconfigurable modules of claim 22, wherein the one or more modules comprise a robot for performing a packing process.

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