US20140123606A1 - Method and Device To Insert Individual Products Into Containers In An Automated Line - Google Patents

Method and Device To Insert Individual Products Into Containers In An Automated Line Download PDF

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Publication number
US20140123606A1
US20140123606A1 US14/070,449 US201314070449A US2014123606A1 US 20140123606 A1 US20140123606 A1 US 20140123606A1 US 201314070449 A US201314070449 A US 201314070449A US 2014123606 A1 US2014123606 A1 US 2014123606A1
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Prior art keywords
container
belt
product
individual products
containers
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English (en)
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Matthias Ehrat
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/12—Introducing successive articles, e.g. confectionery products, of different shape or size in predetermined positions

Definitions

  • the invention relates to a method and device for inserting individual products into containers in an automated line.
  • Such automated lines are used for the transfer of individual products into deposit groups which can accommodate a given number of individual products. Automated lines may also be used for packaging individual products of different weight in weight determined deposit groups.
  • deposit group the term container is used.
  • container is to be understood less than such as a container, but rather as individual products or a group of individual products that after the transfer by the insertion robots are placed in a defined position relative to a transportation device and possibly in a defined position within the group of individual products.
  • a container conveyor belt can be a transportation device that introduces containers or placing positions with a defined Cartesian coordinate, either in fixed or variable distance but stationary relative to the transportation device.
  • Container conveyor belts also can be formed by thermoforming machines or feeding chains that contain cavities, containers or drivers in fixed, or variable according to the indexing of the belt, distance.
  • the infeed section of horizontal flow wrappers as well may be regarded as a container conveyor belt that feeds placing positions dependent on the distance between two transverse seals.
  • the containers are delivered predominantly on a first transportation device and generally accumulated thereon. Then the containers are transferred from the first transportation device onto a second transportation device, the effective container conveyor belt, on which the respective containers are filled with the appropriate number of individual products, and then, after complete filling of each container, the containers are in turn passed onto a third transportation device for the filled containers to be transported away.
  • DE 42 08 818 C2 discloses an automated line where the insertion robots are not located in a fixed position relative to the product conveyor or container conveyor but are limitedly and jointly movable in running direction of the conveyors and which are individually movable in orthogonal direction of the conveyors. Thereby the gripping of the individual products, and the placing of the individual products into a container can be performed with a moving product conveyor and container conveyor. At the most the product conveyor feeding individual products may be temporarily stopped. This complicates the coupling to a continuously producing production machine for individual products, and only one insertion robot can grip or place a product and not both insertion robots together. Furthermore there is no advantage visible from the shown arrangement of the product conveyor in synchronization or in countercurrent direction.
  • EP 0 749 902 A1 and DE 297 01 564 U1 disclose an automated line with which the individual products are metered, i.e. counted, with a stationary metering device, i.e. counting device, at the entrance to the automated line in order to release a new container to the container conveyor belt when the number of products required to fill a container is achieved.
  • Each insertion robot is connected by means of a data bus to the control unit of the automated line to continuously carry forward and update those individual parts that have already been transferred by an insertion robot.
  • the container conveyor belt and the product conveyor belt are advanced in synchronization or that the container conveyor and the product conveyor are realized as one joint conveyor. It has proved to be particularly problematic that it cannot be ensured that all containers are completely filled when the products are delivered irregularly or on narrow product conveyor belts.
  • the containers are moved at the same speed and in parallel beside the individual products determined for a container. This hinders the use of containers that only accommodate a small number of products before becoming full, since in this case a plurality of container belts has to be used. By contrast, with containers that accommodate a large number of products before becoming full, the distance between the containers on the container belt has to be selected to be unnecessarily large.
  • EP 1 285 851 A1 presents an automated line, in which, due to the available products and due to the free container positions, the insertion robots are actuated such that the insertion robots are utilized as uniformly as possible. In this case, the capacity of the insertion robots and the speed of the container belt are determined continuously on the basis of auxiliary conditions that are to be observed. The calculation of the corresponding time-discrete systems of equations and optimization thereof has proven in practice to be extremely processor intensive and accordingly requires efficient control computers.
  • EP 2 233 400 A1 discloses an automated line that controls the relative speed of the container conveyor belt and of the product conveyor belt dependent on the filling level of additional buffer elements and dependent on the amount of individual products currently introduced at the entry of the automated line. This requires that the capacity of the automated line must be unnecessarily high, since the buffer elements must be continuously loaded and unloaded with individual products.
  • EP 1 352 831 A1 Another approach for optimizing the efficacy of automated lines is presented in EP 1 352 831 A1.
  • the product flow and the container flow can be decoupled by means of buffer areas.
  • the filling capacity of the buffer area is used for the supply of containers.
  • Such a system can be advantageous for regularly introduced individual products but requires additional transportation elements.
  • EP 0 856 465 A1 and EP 2 236 424 A1 disclose automated lines where the individual products and the containers are transported in countercurrent flow. Such automated lines operated in countercurrent flow prove to be very efficient for transferring and packaging individual products into containers. However in certain operations the countercurrent mode of operation of these automated lines may not be desirable for hygienic or logistic reasons.
  • EP 1 819 994 A1 and U.S. Pat. No. 7,775,373 B2 disclose several possible batching systems. However they either require recirculation of incompletely filled containers, or a combination of conveyor belts working both in countercurrent and in synchronous mode of operation, or they require that the container conveyor may be completely stopped to ensure that all containers are completely filled.
  • WO 2008/080760 discloses an automated line for forming equal weight batches that combines both a transportation device for the batches operated in countercurrent mode and a buffer system for buffering individual products.
  • EP 1 747 429 A1 discloses a method for sorting and packaging of unequally sized individual products, whereby the size of each individual product is estimated or determined and where the position of each product on the product conveyor belt is registered. Then it is determined in which container the product should be inserted. It is foreseen that individual products which are outside the size limits will not be transferred to a container. The pitch of the containers on the container transportation device is such that the containers may be sealed with a film.
  • U.S. Pat. No. 6,722,506 B1 also predetermines the location of each individual product in a container after weighing it.
  • the invention relates to a method for the batch-by-batch transfer of each batch of at least one type of individual products into at least one type of container holding a determined number of individual products to fill it by means of an automated line, which contains at least two insertion robots arranged in a transfer region between an inlet and an outlet.
  • the number to fill the container corresponds to a target value for the complete filling of a container in terms of absolute numbers with individual products in the transfer region of the automated line.
  • the individual products are transported irregularly to the inlet of the automated line, in order for these to be individually gripped by the insertion robots in the transfer region of the automated line and transferred into containers. If need be, a multiple gripper is used to grip and transfer the products.
  • the individual products are individually gripped, mostly one after the other, and deposited in containers as a group. Therein, the individual products and the containers are transported in synchronization, i.e. in unidirectional or concurrent mode of operation, on one or several product belts and on one or several container belts.
  • the invention is able to be used equally in the case of one single product belt and one single container belt and in the case of several product and/or container belts. If, subsequently, the slowest or the fastest container or product bands are referred to, this should not imply the presence of several belts. Rather, in the case of single product or container belts, each belt is to be considered as the fastest and the slowest respectively. Likewise, in the case of only one belt respectively, a reference to each product or container belt relates to precisely this belt and does not imply the presence of several belts.
  • a maximum frequency of the total transported individual products i.e. a maximum product density of the transported individual products to be expected for this batch, for example, per unit of time or per unit of length or area of the product belt(s), is provided for each batch.
  • This maximum frequency is determined, for example, from the capacity of the previous production process of the individual products. It can, however, also be determined by the working method, such as the individual products being laid onto the corresponding product belt manually or automatically, for example with a separating device.
  • a speed is provided for each product belt and for each container belt due to this maximum frequency, in such a way that each product belt and each container belt has a relative speed allocated to this maximum frequency with regard to a slowest container band, said relative speed being, in particular, different from zero.
  • the relative speed which is different from zero, is required in order to adjust the interval and the transport speed of a container, which corresponds to a batch and is transported on the respective container belt, to be optimal with regard to the number to fill this container.
  • a container which corresponds to a batch and is transported on the respective container belt
  • This is particularly advantageous for container supplies, which requires a fixed interval, for example troughs of a deep-drawing machine or packaging of a horizontal packaging machine with an underlying film supply.
  • a metering position is provided for each product belt.
  • the provision of the metering position, or if necessary the metering positions occurs such that an individual product, which is metered at the respective metering position and is not transferred, reaches a target position at the same time as a container which is simultaneously guided on the slowest container belt in the transfer region of the automated line.
  • This target position coincides with an outlet from the transfer region of the automated line, if each product belt and each container belt are moved at the speed, which is predetermined depending on each batch.
  • the specification of the metering position is thus adjusted to the maximum frequency of the total transported individual products predetermined for each batch.
  • the metering position is arranged in the transfer region itself—this can be required, for example, in the case of containers, which only have a small number to be filled, or if at least one product belt is moved more slowly than all the container belts—the individual products already transferred to the region of the metering position are not metered in this instance.
  • the individual products are metered on the product band that transports them at the metering position corresponding to this product belt.
  • the individual products can be metered at different metering positions, allocated to one of the product belts respectively.
  • Individual products on faster product belts are metered back or upstream as far as possible. Accordingly, individual products on slower product belts are metered further forwards or downstream, i.e. closer to an inlet of the transfer region.
  • the metering of the individual products can occur in different ways. For example, through optical recording devices, through weighing units, which check the presence of the product, or through mathematical updating of production data.
  • the current speed of the slowest container belt is adapted in such a way that the simultaneously reached target position is shifted towards the metering position with regard to the outlet of the transfer region.
  • This relocation of the target position enables the transport speed of the containers to be adjusted to the frequency of the presently transported individual products due to their number to fill the containers.
  • This relocation of the target position further enables the interval between the containers to be kept constant, which is advantageous, in particular for the supply of deep-drawn troughs or other containers formed from a film or paper roll and connected in the transfer region.
  • the at least one forming station and/or the at least one sealing station of a deep-drawing machine to supply deep-drawn troughs can be arranged independently of the transfer region of the automated line.
  • manual work positions or inspection stations can readily be arranged to control or complete the containers.
  • the speed of the container belts can be separately adapted depending on a deviation from the predetermined maximum frequency for each batch of the transported individual products, as is described in claim 2 .
  • the simultaneously achieved target position is thus defined separately and set separately with respect to the metering position for each container belt. This is then particularly advantageous if different types of individual products are transported on the product belt and these are transferred into containers depending on the frequency of the transported individual products thereof.
  • the guiding of a container, which is next to be filled, into the inlet of the transfer region occurs if the number of individual products is determined at the metering positions, which is necessary, according to expectation, for the complete filling of a container relative to the metering position of the fastest moving product belt, as is described in claim 3 .
  • the actual number to fill the containers to be filled is the most decisive factor for release.
  • the at most already partial filling of the container is to be taken into account.
  • the containers can be supplied at varying intervals, as is the case, for example, for stacked containers, it can be required that the actual guiding of the container into the transfer region and the prior stacking—or another form of container isolation and/or supply—is adapted and adjusted by mathematical updating of the belt feed rate.
  • the guiding of the containers is adjusted correspondingly for each of these container belts. If need be, here, the guiding can also be determined by the type of individual product.
  • This type of guiding of the containers causes the containers to reach the target position, which is then valid, i.e. the current target position, at the same time as the individual products required to fill them.
  • the containers on at least one container belt are continually formed, for example, of a strong film or paper web and are only separated after being filled, then it is advantageous if the containers are guided at fixed intervals, as is described in claim 4 .
  • packaging or deep-drawing machines as a container belt
  • the packaging material is here usually formed into trough-shaped or flat containers at fixed intervals, sealed and connected or simultaneously separated with the sealing. It can also be envisaged here, that the container interval is predetermined by the cutting or separating device. It is often also the case that the printing of the packaging materials provides the fixed intervals.
  • At least one container belt can be supplied separately, then it is advantageous if the containers are supplied at varying intervals, as is described in claim 5 .
  • At least one container belt can also be a conveyor belt, which does not provide intervals. They can also be conveyor chains or conveyor belts with attachments.
  • the separation of the attachments predetermines an interval from attachment to attachment.
  • intervals of the supplied containers are supplied at larger intervals due to a deviation from the provided maximum frequency for each batch of the individual products, then here it is to be taken into account that the shifting of the target position towards the metering position and, accordingly, the current speed of this at least one container belt are likewise determined by these intervals. It is possible that the intervals can be chosen to be so large, that the target position and the relative speed do not have to be altered. Thus it can also be achieved that all insertion robots work simultaneously.
  • a characterization with regard to type, weight, size, color or another feature occurs for each introduced individual product, as is described in claim 6 .
  • the individual products can be transferred into positions of a container, which are allocated to a feature in a defined manner. It is, however, also possible, for example, to form weight-determined containers. This occurs through the combination of the determined features of individual products of different weights and corresponding to the requirements for the total weight and for the number to fill such a weight-determined container.
  • the features of the individual products can be continuously and dynamically optimized, for example, by means of heuristic optimization methods and the individual products can thus be transferred into containers, if possible without loss, i.e. in particular without addition.
  • the next container to be filled respectively may only be guided, if sufficient individual products with the average required weight are supplied to the transfer region. It can then be required that individual products that are too heavy or too light are not able to be transferred. It can, however, also be the case that different containers can be guided, for example by means of two de-stackers arranged one behind the other, and that the respective container is supplied corresponding to the frequency distribution.
  • the guiding of the containers occurs on at least two container belts.
  • the release of the container which is next to be filled onto the respective container belt is then determined by the frequency distribution of the features.
  • the interval of the containers on these at least two container belts is variable, it can definitely be the case that the container belts are operated with the same speed and the dispersion of the frequency distribution is compensated for in a targeted manner.
  • containers with a target weight of 500 g which is aimed for after they have been filled with four individual products, are introduced onto one container belt and containers with a target weight of 300 g, which is aimed for after they have been filled with two individual products, are introduced onto the other container belt, it is then possible, accordingly, to transfer all individual products in the case of the average weight of the individual products oscillating between 125 g and 150 g. If the average weight of the supplied individual products deviates upwards, more containers are supplied for filling with 300 g and conversely more 500 g containers are supplied if the average weight deviates downwards.
  • the number, in particular due to a different number to fill the containers, of the individual products transferred into containers differs from one container belt to another container belt and that the target weight is identical.
  • the target position and the speed of each container belt are additionally to be determined accordingly, depending on the frequency distribution.
  • a significant efficiency feature of an automated line is the, if possible, complete transfer of the individual products into, if possible, completely filled containers.
  • a target filling level of the containers is continuously determined for each section of a predeterminable, conceived subdivision of the transfer region, said section being passed through by a container belt, as is described in claim 8 .
  • the predeterminable, conceived subdivision of the transfer region is, if possible, chosen precisely, in order thus to achieve an, if possible, continuous filling of the containers.
  • the target filling level is set in each section depending on the present target position.
  • the target filling level in the respective section corresponds to the quotients from the length of the sections, which have already been passed through, relative to the length of all of the sections arranged in the direction of travel of the containers before the present target position.
  • the current total length of the transfer region which is determined by the present target position, determines the target filling level and this target filling level is continuously adapted due to the present deviation from the maximum frequency for each batch of the transported individual products.
  • no more individual products are transferred into containers in each section in which the filling of the containers has already reached the target filling level.
  • This cascading is more efficient if the insertion robots, if possible, are distributed evenly along the transfer region, as the length of the work region of an insertion robot does not determine the target filling level at its position.
  • a target emptying level of the respective product belt is determined for each section, which is passed through by a product belt, of a predeterminable, conceived subdivision of the transfer region, as is described in claim 9 .
  • the predeterminable, conceived division of the transfer region is, if possible, chosen precisely, in order to achieve an, if possible, continuous emptying of the respective product belt.
  • the target emptying level is set for each section of the respective product belt depending on the present deviation from the predetermined maximum frequency for each batch of the transported individual products in this section.
  • the target emptying level corresponds to the deviation from the predetermined maximum frequency for each batch of the transported individual products, said deviation being measured with the quotient from the length of the sections, which have already been passed through, relative to the length of all of the sections arranged in the direction of travel of the containers before the present target position.
  • the current total length of the transfer region determined by the present target position, determines the target emptying level and this is continuously adapted due to the present deviation from the predetermined frequency for each batch of the transported individual products.
  • the original deviation from the predetermined frequency for each batch of the transported individual products is taken into account in each section. During the transfer of the individual products, no more individual products are transferred into containers in each section of the corresponding product belt in which the target emptying level has already been reached.
  • This cascading is more efficient if the insertion robots, if possible, are equally distributed along the transfer region, as the length of the work region of each insertion robot does not determine the target emptying level at its position.
  • an intermediately storage can, of course, if necessary, additionally occur or be provided, for example through a subdivision of the product belt in the transfer region, as is described, for example, in FIG. 5 and the corresponding description in section [0024] of EP 1,352,831,B1.
  • an optimal transfer rate can be determined in advance for each insertion robot for each batch of individual products due to their maximum frequency of the introduced products or due to other power-determining characteristics.
  • the transfer rate is adapted due to the individual products situated presently in the work region of each insertion robot and due to the achieved filling level of the containers situated presently in the work region of each insertion robot and due to the emptying of the respective product belt continually with regard to the optimal transfer rate, such that on leaving the work region, if possible, the containers reach their target filling level and that the product belts reach their target emptying level.
  • the speed of the product belts and the container belts to also be reduced, if the target filling level or the target emptying level in a section of the respective container belt or of the respective product belt is not achieved and the transfer capacity or the rate of the insertion robots is not sufficient in the remaining sections in order to fill the containers completely and to transfer the individual products completely, as is described in claim 10 .
  • the frequency of the supplied individual products can be determined in advance.
  • the required transfer rate of the system can reduced by a reduction of the frequency of the supplied individual products, to such an extent that the rate of the remaining insertion robots is sufficient to transfer all individual products supplied to the transfer region.
  • a reduction of the speed of the product and container belts proves to be helpful in order to start the system after a batch change.
  • advantages additionally result if the number of cycles of the production, and thus the frequency of the transported individual products, is adapted during the start up.
  • a further improvement results through a two-part embodiment of the product belt or at least of one of the several product belts.
  • the speed of the respective first part, arranged upstream can be controlled independently of the speed of the second part, as is described in claim 11 .
  • the first part, arranged upstream, is arranged completely before the metering position in the direction of travel.
  • the individual products transported on the first part can be transported more quickly onto the respective second part of the product belt and, accordingly, the containers onto each container belt, and can be distributed in the sections of the individual insertion robots.
  • This proves to be helpful in the case of containers that receive a large number of individual products to fill them, as here a quick transportation of the individual products and the containers after a change of bath is helpful to achieve the desired increasing filling level of the containers in the course of the filling region.
  • the speed of the second part of the product belt and of the container belt can be reduced.
  • Such a reduction of these speeds is desired, if the frequency of the individual products supplied to the/each first part clearly falls below the normal transported frequency and in this way it can be ensured that the throughput time of the containers through the transfer region is increased, but that the frequency of the individual products situated in the transfer region can be held, if possible, constantly for each section, which is passed through by a product belt.
  • a direct connection of the automated line to a production process a data transmission of the present frequency of the individual products transported from this production process can result in place of the additional metering.
  • Such an additional metering is additionally helpful if the second part of each product belt and of each container belt can be temporarily stopped, if, in the case of the respective additional metering of the individual products on the first part of the each product belt, no more of such are transported, or if these are temporarily backed up on the first part of each product belt, as is described in claim 13 .
  • the respective optimal target filling level and target emptying level can also be maintained in the case of a gap or a break in the production of individual products.
  • each product belt and each container belt can be stopped in the transfer region, as thus the total efficiency of an automated line, operating in synchronization, can clearly be increased.
  • intermittently working filling assemblies can also be arranged in the region of this container belt or transversely to the applicators or labelers running in the direction of the belt.
  • the transportation of the containers occurs directly through a cyclically working packaging machine, in particular through a deep-drawing machine with cyclical formation, filling, sealing and cutting.
  • each product belt and, if need be, each container belt that does not move cyclically must accordingly be moved forwards for each cyclical movement of the at least one cyclically moving container belt, in particular for each deduction of a intermittently working packaging machine, by the length which corresponds to the deduction length corrected by the relative speed, so the length of the shift forward of the packaging machine between two cycles.
  • Cyclically moving product belts are often used in connection with the filling of aseptic liquids.
  • Chocolates introduced in the one-shot method or onto pouring plates are also introduced cyclically.
  • the metering of the individual products at the metering position on the product belt which transports them can be calculated by mathematically updating metering information calculated upstream, as is described in claim 15 .
  • the production information prior to the respective metering position or a metering prior to the respective metering position can be used.
  • metering devices can be cameras, light sensors, proximity sensors, 3D image processing systems or even weighing devices.
  • the metering device can also extend transversely over several product belts, for example as a line camera, and the information can be updated mathematically onto the individual product belts.
  • a data bus for the previous production process of the individual products or for the previous or upcoming controls can also be present.
  • a data value corresponding to this container which corresponds to individual features or a value calculated from these individual features, of the individual products inserted into the container, is simultaneously transmitted, as is described in claim 16 .
  • a data value, which is transmitted in this way can be used in different ways. For example the feature, for example its product number, of each individual product contained in a container can be stored for traceability purposes. If the container should reach a determined target weight, then this target weight, transferred by the automated line as a data value, can be used for test measurement or for continuous correction inside the automated line. Finally, the data value can also be used directly to inscribe and label a container.
  • the invention relates to an automated line for the batch-by-batch transfer of each batch of at least one type of individual product in at least one type of container, which receives a determined number of individual products to fill it, according to the features of claim 17 .
  • a maximum frequency of the total transported individual products is predeterminable for each batch.
  • the automated line comprises at least two insertion robots, which are arranged in a transfer region between an inlet and an outlet, in order to grip individual products in the transfer region of the automated line individually and transfer them into the containers.
  • the automated line has at least one product belt, on which the individual products are able to be transported, and at least one container belt, on which the containers are able to be transported in synchronization with the individual containers.
  • the automated line has at least one programmable control unit.
  • the control unit is formed and programmed in such a way that a speed is predeterminable for each product belt and for each container belt, such that each product belt and each container belt has a relative speed allocated to one of the maximum frequencies with regard to a slowest container belt, said relative speed in particular being different from zero.
  • a metering position is predeterminable for each product belt, in such a way that an individual product, metered at the metering position and not transferred, reaches a target position at the same time as a container guided simultaneously on the slowest container belt in the inlet of the transfer region of the automated line.
  • the or each product belt can have a metering device at the metering position determined in this way.
  • only one metering device can be provided for all product belts, wherein in this case, as is described at the beginning, the corresponding parameters are determinable through mathematical updating.
  • the metering of the individual products can, for example, be carried out by metering devices such as optical recording devices or through weight devices, which check for the presence of the product.
  • a metering device is also not necessary, wherein in this case the metering at the metering position can occur through mathematical updating of production data.
  • the target position is predeterminable in such a way that it coincides with an outlet from the transfer region of the automated line, if each product belt and each container belt is moved with the speed, which is predeterminable depending on each batch.
  • each container belt is able to be adapted depending on a deviation from the maximum frequency of the transported individual products, in such a way that the simultaneously reached target position is able to be set with regard to the outlet of the transfer region.
  • control unit of the automated line is formed and programmed to carry out one of the method variants described above.
  • control unit can also comprise several subunits, which, in particular, can also be distributed or arranged with spatial separation from one another in the automated line.
  • control unit can also comprise several subunits, which, in particular, can also be distributed or arranged with spatial separation from one another in the automated line.
  • a central control unit is also, obviously, conceivable.
  • control unit has direct or indirect connections with the different components of the automated line, so that these components are controllable according to the method.
  • control unit typically has a storage unit to store method parameters as well as a processing unit for the processing thereof, as well as the processing of, for example, measured values or sensor signals of the components.
  • an input unit is present, which enables the input of method parameters such as, for example, a maximum frequency of the current batch.
  • the one or at least one of the several product belts of the automated line can be carried out in two parts in the direction of travel, as is described in claim 18 .
  • the speed of the first part, arranged upstream is controllable independently of the speed of the second part.
  • the first part, arranged upstream is arranged completely before the metering position in the direction of travel.
  • FIG. 1 a top view of an automated line in the synchronized
  • FIG. 2 a top view of a first exemplary embodiment according to the invention of an automated line in the synchronized operation with large containers and maximum product supply.
  • FIG. 3 a top view of a second exemplary embodiment according
  • FIG. 4 a top view of a third exemplary embodiment according and varying intervals of containers.
  • FIG. 5 a top view of a variant of the first exemplary embod
  • FIG. 6 a top view of a fourth exemplary embodiment according
  • FIG. 7 a top view of a fifth exemplary embodiment according to the invention of an automated line in the synchronized operation with several product belts, several container belts or transport chains and different containers.
  • an automated line 1 is depicted in the top view, in which case individual products 2 , which are arranged randomly on a product belt 6 , pass under insertion robots 4 a , 4 b , 4 c , . . . in the direction of travel 17 , so from left to right. Therein a metering occurs at the inflow into a transfer region 1 b of the automated line.
  • a container belt 7 runs parallel to the product belt 6 in a direction of travel 16 , on which empty and, in further course, partially filled containers 3 are transported.
  • the product belt 6 is propelled with a drive 18 and the container belt 7 is propelled with a drive 19 .
  • the individual products are metered in a metering region 1 a by means of a metering device 8 .
  • the metering device 8 is connected to controls 11 a , 11 b , 11 c of the insertion robots. In practice, these controls can also be implemented by a single central control, which comprises a processor.
  • a container supply 12 for example a container stacker
  • empty containers are supplied and transferred to the inlet of the container belt 7 .
  • the container supply 12 is also connected to the individual controls 11 a , 11 b , 11 c (or a single control).
  • a stopper which passes transversely over the container belt 7 , can be provided at this position in place of the container supply 12 , which is to be connected in turn to the control 11 or to the individual controls 11 a , 11 b , 11 c.
  • next empty container 3 which is, if need be, backed up, is always then released, as soon as, according to the metering device 8 , such a number of individual products 2 have passed onto the product belt 6 , so as to correspond to the number to fill a container 3 .
  • this container which is next to be filled with individual products 2 , now runs parallel to the products, which are determined for it, after being released, the interval between the individual containers, which contain a larger filling number, is chosen to be larger, so that the speed of the container belt can be increased so much that the product belt and the container belt are moved, for example, at the same speed. Such an increase of the interval is mostly not desired.
  • feature-determined containers 3 which for example, weigh the same, are formed from feature-determined individual products 2 , which for example do not weigh the same, then here it is desirable to use the largest possible frequency distribution of the features, in this example the individual weight, of the individual products 2 and the containers 3 , accordingly, should not be conveyed too quickly through the transfer region 1 b.
  • FIG. 2 a top view of an automated line 1 according to the invention is shown in FIG. 2 .
  • the individual products 2 arranged randomly on a product belt 6 , pass under the insertion robots 4 a , 4 b , 4 c , . . . in the direction of travel 17 , so from left to right.
  • the containers are transported at equal intervals by means of a conveyor belt or by means of a transport chain or deep-drawing machine. The interval of the containers is reduced so much compared to FIG. 1 that double the number of containers are arranged on the container belt 7 .
  • a metering device 8 is shown, which is arranged before the transfer region 1 b.
  • a container belt 7 runs parallel to the product belt 6 , on which empty and, in further course, partially filled containers 3 are transported.
  • the speed of the container belt 7 can be reduced so much that all positions in the container 3 can be used by the insertion robots 4 a , 4 b , 4 c , . . . , it is required that the metering of the transported individual products 2 has already occurred before reaching the transfer region 1 b , so that an empty container is then always guided by the container supply 12 , as soon as, according to the metering device 8 at the metering position, such a number of individual products 2 are transported on the product belt 6 , so as to correspond to the number to fill a container 3 , which reaches a target position 1 c with regard to the outlet from the transfer region 1 b at the same time as the position on the product belt 6 , on which the individual products 2 are metered by means of the metering device 8 .
  • FIG. 2 it is assumed that the container belt 7 is moved at half the speed relative to the speed of the product belt 6 .
  • the length of the metering region 1 a corresponds accordingly to, for example, the length of the transfer region 1 b .
  • the metering device 8 is connected to the controls 11 a , 11 b , 11 c of the insertion robots. In practice, these controls can also be implemented here by one single central control 11 , which comprises a processor.
  • FIG. 3 a top view of an automated line 1 according to the invention is shown, in the case of which the containers are transported at an equal, in particular, fixed interval by means of a conveyor belt or by means of a transport chain or deep-drawing machine and in which case the present frequency of the individual products 2 , arranged and transported randomly on the product belt 6 , deviates from the predetermined maximum frequency for each batch.
  • the containers 3 are transported at fixed intervals, it is here such that in the case of a guiding of a container 3 to be filled, a filled container 3 is discharged simultaneously to the outlet of the transfer region 1 b .
  • the target position 1 c which an individual product 2 , metered at the metering position and not transferred, and a container, which is guided simultaneously on the container belt 8 , reach simultaneously, is shifted towards the metering position 8 with regard to the outlet from the transfer region.
  • This target position 1 c is continuously adapted depending on the deviation from the present frequency of the transported individual products from the predetermined maximum frequency for each batch and effects an adaptation of the speed of the slowest container belt according to the method.
  • the target filling level of the containers and the target emptying level of the product belt is also adapted to the current target position 1 c .
  • the target filling levels and the target emptying levels of, if need be, further product or container belts are also adapted according to this adaptation of the speed of the slowest container belt. In the case of the presence of several container belts with fixed intervals, the speed thereof is likewise to be adapted.
  • FIG. 4 a further top view of an automated line 1 according to the invention is shown, in which the containers are transported at unequal intervals by means of a conveyor belt or by means of a transport chain, in particular by the omission of attachments, and in which case the present frequency of the individual products 2 , arranged and transported randomly on a product belt 6 , deviate from a predetermined maximum frequency for each batch.
  • the containers 3 are transported at varying intervals, it is here the case that, during a guiding of one of the containers 3 to be filled, a filled container 3 is not absolutely simultaneously transported to the outlet of the transfer region 1 b .
  • an, if possible, complete filling of the containers 3 is achieved by the target position 1 c , which an individual product 2 , which is metered at the metering position 8 and is not transferred, and a container 3 , which is simultaneously guided on a container belt 8 , reach simultaneously, being shifted, if possible, a little or not at all, towards the metering position 8 with regard to the outlet from the transfer region.
  • the containers 3 can be supplied at varying intervals. This interval is continuously adapted depending on the deviation from the present frequency of the transported individual products from the predetermined maximum frequency for each batch.
  • the predetermined relative speed of the product belts ( 6 , 6 a , 6 b , 6 c ) and the container belts ( 7 ; 7 a , 7 b , 7 c ) and the respective target filling levels of the containers 3 and the target emptying levels of the individual products 2 can be maintained, if possible, on the product belts ( 6 , 6 a , 6 b , 6 c ). It is, however, in particular, also possible that in the case of very irregular transportation of the individual products 2 , the interval of the containers 3 and the shifting of the target position 1 c towards the metering position are controlled in a combined manner.
  • FIG. 5 a further top view of an automated line 1 according to the invention is shown.
  • the individual products 2 arranged randomly on a product belt 6 , pass under the insertion robots 4 a , 4 b , 4 c , . . . in the direction of travel 17 , so from left to right.
  • a transportation is shown with maximum frequency.
  • the containers are transported at equal intervals by means of a conveyor belt or by means of a transport chain or deep-drawing machine. The interval of the containers remains the same as in FIG. 2 .
  • the frequency of the supplied individual products remains the same.
  • the containers are, however, clearly shown as being smaller than in FIG. 1 or 2 .
  • a metering device 8 is shown, which is arranged in the transfer region itself. The controlling of the automated line 1 occurs here with a single control 11 .
  • a container belt 7 runs parallel to the product belt 6 , on which container belt empty and, in further course, partially filled containers 3 are transported.
  • the containers 3 have a filling position that is four times smaller than the containers 3 in FIG. 2 .
  • FIG. 3 there is situated the same number of containers as in FIG. 2 on the container belt 7 . So that all of the individual products 2 can be transferred into containers 3 , the container belt 7 must be moved twice as quickly as the product belt 6 .
  • the speed of the container belt 7 can be increased to such an extent that all positions of the containers 3 can be used by the insertion robots 4 a , 4 b , 4 c , . . . , it is required that the metering of the transported individual products 2 take place in the transfer region 1 b itself, so that an empty container 3 is then always guided as soon as, according to the metering device 8 , a number of individual products 2 have been transported onto the product belt 6 , which corresponds to the number that is still necessary for the complete filling of a container 3 according to expectation at the position of the metering device, said containers reaching the target position with regard to the outlet from the transfer region 1 b at the same time as the position on the product belt 6 , at which the individual products 2 are metered by means of the metering device 8 .
  • the length of the metering region 1 a corresponds accordingly, for example, to half the length of the transfer region 1 b.
  • the number of individual products 2 which is still needed at the position of the metering device 8 according to expectation for the complete filling of a container 3 , can be determined in a different way.
  • the individual products 2 which have already been transferred into a container 3 , can be updated by the control 11 in the entire transfer region.
  • a cascaded filling of the containers 3 which enables the metering of the individual products 2 and the release of a container 3 , which is next to be filled, to be able to occur without elaborate calculations, also in the case of a metering inside the transfer region 1 b itself, proves to be significantly advantageous.
  • the transfer rate of each individual insertion robot 4 a , 4 b , 4 c , . . . in an automated line 1 can be designed in such a way that an increase of the filling of the containers 3 in the direction of travel 16 of the container belt 7 is ensured independently of the frequency of the transported individual products 2 .
  • the filling of the containers 3 is then carried out in such a way that the increase of the filling levels of the containers 3 in the transfer region 1 b of the automated line 1 , is, consistently and, if possible, exactly maintained by each insertion robot 4 a , 4 b , 4 c . . . .
  • a target filling level is accordingly calculated for each type of individual product 2 and for each corresponding container 3 , said target filling level being reached in the work region of the respective insertion robot 4 a , 4 b , 4 c , . . . .
  • this insertion robot interrupts the further filling of this container 3 , although, if need be, further individual products 2 are available in its work region.
  • the insertion robots 4 a , 4 b , 4 c , . . . are outlined in the top view as delta robots. Therein they can also be other quick insertion robots, such as picker, SCARA or comparable kinematics which connect in parallel or in series.
  • insertion robots 4 a , 4 b , 4 c , . . . are respectively equipped with a gripping device, for example a sucker, which—after being controlled to a defined position in the horizontal plane by the control 11 —is lowered to an individual product 2 , which is found here. This then lifts up and lowers into the container 3 after turning around a perpendicular axis corresponding to the desired correct orientation.
  • a gripping device for example a sucker
  • each position, at which an individual product 2 is situated is registered by means of a camera 9 a , 9 b , 9 c , allocated to an insertion robot 4 a , 4 b , 4 c , . . .
  • each individual product 2 that has already been removed from the product belt 6 is likewise taken into account by the control 11 , such that the individual products 2 , which are still present respectively and are to be transferred, can be transferred by the subsequent insertion robot movements of the insertion robot 4 a or the subsequent insertion robots 4 b , 4 c, . . . .
  • the metering device 8 and the cameras 9 a , 9 b , 9 c are compiled into a single camera arranged before the transfer region 1 b , said single camera simultaneously serving as a metering device 8 and as a camera 9 a , 9 b , 9 c to determine the position and rotary orientation of the individual products 2 and, if need be, to characterize the individual products 2 .
  • the position of the metering 1 a of the individual products 2 can then be mathematically moved into the position that results from the speed of the product belt 6 and the container belt 7 , which is predetermined depending on the batch.
  • FIG. 6 a top view of a further automated line 1 according to the invention is shown.
  • the product line is embodied in two parts and each part has a metering device.
  • the individual products 2 arranged on the product belt 6 , pass under the insertion robots 4 a , 4 b , 4 c , . . . in the direction of travel 17 , so from left to right.
  • a metering device 22 and an independently driven compensation belt 21 are shown, which are arranged directly before the product belt 6 and the metering device 8 arranged on this product belt.
  • a container belt 7 runs parallel to the product belt 6 , on which container belt empty and, in further course, partially filled containers 3 are transported.
  • a compensation belt 21 is arranged upstream of the product belt 6 here.
  • This has its own drive 20 and a compensation metering device 22 , the detection region of which detects the inlet region of the compensation belt 21 .
  • the compensation belt 21 can be brought to a standstill by the drive 20 , until individual products 2 are again determined by the compensation metering device 22 .
  • An exemplary arrangement 24 of individual products 2 is shown on the compensation belt.
  • the arrangement 24 of the individual products 2 shows that, after the interruption to production, only three lanes are occupied with individual products 2 . As, however, the individual products 2 are positioned at intervals in the direction of travel, the product belt 6 and the container belt 7 can be operated at half speed until all six lanes are occupied with individual products, as is shown in arrangement 24 . If, as is shown in the further course of the arrangement 24 , a complete line of individual products 2 is missing, then the product belt 6 and the container belt 7 are temporarily stopped, in order to compensate for the missing rows.
  • the compensation belt 21 can also be realized by means of a transport device required for the last production step of the individual products.
  • the compensation metering device 22 can be arranged here at the inlet of the cooling tunnel.
  • the speed of the compensation belt 21 cannot be adapted.
  • the compensation metering and, if need be, also the characterization of the individual products 2 occurs during the actual processing of the poultry and is transmitted to the controls 11 a , 11 b , 11 c or a single control as a data stream via a data bus. If this compensation metering or the data stream is updated accordingly and thus the speed of the cooling belt or the chain guide is taken into account, then the continual adaptation of the speed of the product belt 6 and the container belt 7 occurs due to this updated individual product metering.
  • FIG. 7 a top view of a further automated line 1 according to the invention is shown.
  • the individual products 2 pass under the insertion robots 4 a , 4 b , 4 c , . . . in the direction of travel 17 , so from left to right.
  • These are, however, arranged on three product belts 6 a , 6 b , 6 c .
  • a metering device is shown for each product belt.
  • Three container belts 7 a , 7 b , 7 c are arranged parallel to the three product belts 6 a , 6 b , 6 c .
  • Containers of different sizes are released onto these container belts with regard to different virtual positions 12 af , 12 bf , 12 cf .
  • the release positions 12 af , 12 bf , 12 cf in FIG. 5 can be method-determining positions to illustrate the method.
  • the actual device is provided in such a way that three container stackers are provided at the guiding positions 12 a , 12 b , 12 c and that these guide a container corresponding to a time delay. This time delay then corresponds to the route the container belt would have to take between corresponding release and guiding positions, if the container were to be guided at the release position itself.
  • the slowest container belt 7 a shows a variable container interval.
  • the further container belts ( 7 b , 7 c ) show a fixed container interval. It is also possible that only containers with a fixed interval are used, wherein then the target position 1 c is here also shifted towards the metering position.
  • the three product belts 6 a , 6 b , 6 c run at different speeds.
  • the fastest product belt 6 a is twice as fast as the slowest moving container belt 7 a .
  • the slowest product belt 6 c moves only 25% more quickly.
  • different metering positions 8 a , 8 b , 8 c also result.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Containers And Plastic Fillers For Packaging (AREA)
  • Control Of Conveyors (AREA)
US14/070,449 2012-05-03 2013-11-01 Method and Device To Insert Individual Products Into Containers In An Automated Line Abandoned US20140123606A1 (en)

Applications Claiming Priority (3)

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EP12166610 2012-05-03
EP12191048.3 2012-11-02
EP12191048.3A EP2664553B1 (fr) 2012-05-03 2012-11-02 Procédé d'insertion de produits individuels dans des récipients dans une suite de robots

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US20140372182A1 (en) * 2013-06-17 2014-12-18 Motorola Solutions, Inc. Real-time trailer utilization measurement
GB2536805A (en) * 2015-03-18 2016-09-28 Ishida Seisakusho Article accumulating device
US9908646B2 (en) 2011-10-31 2018-03-06 Veltru Ag Method and apparatus for placing products into containers in a robot line
US9940730B2 (en) 2015-11-18 2018-04-10 Symbol Technologies, Llc Methods and systems for automatic fullness estimation of containers
WO2018068840A1 (fr) 2016-10-12 2018-04-19 Abb Schweiz Ag Procédé et système de commande d'une vitesse d'un trajet de transport
US10702986B2 (en) * 2015-01-29 2020-07-07 Vecna Robotics, Inc. Order picking method and mechanism
US10713610B2 (en) 2015-12-22 2020-07-14 Symbol Technologies, Llc Methods and systems for occlusion detection and data correction for container-fullness estimation
US10783656B2 (en) 2018-05-18 2020-09-22 Zebra Technologies Corporation System and method of determining a location for placement of a package
JP2021518311A (ja) * 2018-03-16 2021-08-02 テトラ ラバル ホールディングス アンド ファイナンス エス エイ ハッシュツリーを用いて食品安全データを追跡する食品包装機
US11136149B2 (en) * 2018-08-03 2021-10-05 Futurewei Technologies, Inc. Container packing system
US20220289416A1 (en) * 2019-09-06 2022-09-15 Marel Iceland Ehf. A method and an apparatus for filling containers with food items

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Publication number Priority date Publication date Assignee Title
US9908646B2 (en) 2011-10-31 2018-03-06 Veltru Ag Method and apparatus for placing products into containers in a robot line
US9540128B2 (en) * 2013-04-12 2017-01-10 Marchesini Group S.P.A. System for synchronising work stations of a blister-packing machine with advancement of a blister pack
US20140305073A1 (en) * 2013-04-12 2014-10-16 Marchesini Group S.P.A. System for synchronising work stations of a blister-packing machine with advancement of a blister pack
US20140372182A1 (en) * 2013-06-17 2014-12-18 Motorola Solutions, Inc. Real-time trailer utilization measurement
US10702986B2 (en) * 2015-01-29 2020-07-07 Vecna Robotics, Inc. Order picking method and mechanism
GB2536805B (en) * 2015-03-18 2019-01-16 Ishida Seisakusho Method of controlling an article accumulating device
GB2536805A (en) * 2015-03-18 2016-09-28 Ishida Seisakusho Article accumulating device
US10229509B2 (en) 2015-11-18 2019-03-12 Symbol Technologies, Llc Methods and systems for automatic fullness estimation of containers
US9940730B2 (en) 2015-11-18 2018-04-10 Symbol Technologies, Llc Methods and systems for automatic fullness estimation of containers
US10713610B2 (en) 2015-12-22 2020-07-14 Symbol Technologies, Llc Methods and systems for occlusion detection and data correction for container-fullness estimation
WO2018068840A1 (fr) 2016-10-12 2018-04-19 Abb Schweiz Ag Procédé et système de commande d'une vitesse d'un trajet de transport
US10775772B2 (en) 2016-10-12 2020-09-15 Abb Schweiz Ag Method and a system for controlling a velocity of a conveyance path
JP2021518311A (ja) * 2018-03-16 2021-08-02 テトラ ラバル ホールディングス アンド ファイナンス エス エイ ハッシュツリーを用いて食品安全データを追跡する食品包装機
JP7262473B2 (ja) 2018-03-16 2023-04-21 テトラ ラバル ホールディングス アンド ファイナンス エス エイ ハッシュツリーを用いて食品安全データを追跡する食品包装機
US10783656B2 (en) 2018-05-18 2020-09-22 Zebra Technologies Corporation System and method of determining a location for placement of a package
US11136149B2 (en) * 2018-08-03 2021-10-05 Futurewei Technologies, Inc. Container packing system
US20220289416A1 (en) * 2019-09-06 2022-09-15 Marel Iceland Ehf. A method and an apparatus for filling containers with food items

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EP2664553A3 (fr) 2016-10-05
EP2664553B1 (fr) 2017-09-20
EP2664553A2 (fr) 2013-11-20

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