WO2011127367A1 - Appareil de manipulation d'article - Google Patents

Appareil de manipulation d'article Download PDF

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Publication number
WO2011127367A1
WO2011127367A1 PCT/US2011/031716 US2011031716W WO2011127367A1 WO 2011127367 A1 WO2011127367 A1 WO 2011127367A1 US 2011031716 W US2011031716 W US 2011031716W WO 2011127367 A1 WO2011127367 A1 WO 2011127367A1
Authority
WO
WIPO (PCT)
Prior art keywords
articles
tool
article
group
metering
Prior art date
Application number
PCT/US2011/031716
Other languages
English (en)
Inventor
Benoit Poutot
Jean-Christophe Bonnain
Pascal Martini
Original Assignee
Meadwestvaco Packaging Systems, Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Meadwestvaco Packaging Systems, Llc filed Critical Meadwestvaco Packaging Systems, Llc
Publication of WO2011127367A1 publication Critical patent/WO2011127367A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/24—Enclosing bottles in wrappers
    • B65B21/242—Enclosing bottles in wrappers in collapsed carton sleeves
    • 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
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/04—Arranging, assembling, feeding, or orientating the bottles prior to introduction into, or after removal from, containers
    • 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
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/14—Introducing or removing groups of bottles, for filling or emptying containers in one operation
    • B65B21/18—Introducing or removing groups of bottles, for filling or emptying containers in one operation using grippers engaging bottles, e.g. bottle necks
    • B65B21/20—Introducing or removing groups of bottles, for filling or emptying containers in one operation using grippers engaging bottles, e.g. bottle necks with means for varying spacing of bottles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/003—Packaging lines, e.g. general layout

Definitions

  • the present invention relates generally to the field of apparatus for grouping and spacing articles. More particularly, though not exclusively, the present invention relates to apparatus having moveable tools that are independently controllable to engage selected articles from an article feed. Background to the invention
  • Such manipulation may include metering of the articles., separating the articles in the stream from one another, grouping the articles, rotating the articles, or transferring the articles from one location to another, and such operations may find application in assembly of multipacks (packages containing multiple primary product containers).
  • the present invention seeks to overcome, or at least mitigate the disadvantages of the current known apparatus.
  • a first aspect of the invention provides an apparatus comprising a tool and a track with which the tool is moveably engaged, wherein the tool comprises: a drive means that is operable to drive the tool along the track in a first direction; metering protrusions for engaging an article, or a group of articles; and an actuator operable to displace the metering protrusions in a second direction, wherein at least a component of the second direction is transverse to the first direction.
  • the drive means and the actuator operate in response to control signals, and wherein changes in those control signals effect corresponding changes in the operation of the apparatus.
  • displacement of the metering protrusions in the aforesaid second direction brings the metering protrusions into position over or around an article, or a group of articles, selected from an infeed stream of articles passing through a working reach of the tool.
  • the drive means is operable to accelerate or decelerate the tool and the aforesaid article, or group of articles, thereby to alter the spacing between that articles, or group of articles, and articles remaining in the infeed stream.
  • the metering protrusions have means for engaging the aforesaid article, or group of articles, and wherein the actuator is operable to displace the metering protrusions to lift that article, or group of articles, off of a surface upon which it was previously disposed.
  • the tool is subsequently operable to deposit the aforesaid article, or group of articles, upon or around one or more other articles, or upon an outfeed conveyor that will convey it to an outfeed of the apparatus.
  • the metering protrusions comprise a first member and a second member connected one to the next so as to allow relative movement thereof, the tool further comprising means to effect one or more of: rotation; or, linear movement, of the second part relative to the first.
  • the metering protrusions are one or more of: capable of conveying a multi-tier stack of articles; or, operable to mechanically grip an article, or group of articles; or, fitted with one or more suction heads that are operable to engage adjacent articles; or, use magnetic or electro-magnetic means for engaging an article or group of articles through magnetic attraction.
  • the drive mean comprises one of: a servo motor; an AC motor; a DC motor; and a hydraulic motor.
  • the actuator is one of: a hydraulic piston; a pneumatic piston; a servo motor; an AC motor; a DC motor; a hydraulic motor.
  • the tool comprises a wireless communications receiver, such that a control unit of the apparatus may control the tool wireiessly.
  • a second aspect of the invention provides a method of controlling an apparatus., the method comprising controlling a drive means of a tool of the apparatus to drive that tool along a track of the apparatus in a first direction, and further controlling an actuator associated with that tool to cause that actuator to displace a metering protrusion of the tool in a second direction., wherein at least a component of the second direction is transverse to the first direction.
  • the aforesaid displacement of the metering protrusion brings that metering protrusion into engagement with an article, or a group of articles, passing through a working reach of the tool in an infeed stream, and the method further comprising subsequently controlling the drive means of the tool to space the aforesaid article, or group of articles, from the articles remaining in the infeed stream.
  • the article is a carton and the aforesaid two portions of the article are two panels of the carton, the pulling of which panels away from one another serves to at least partially erect the carton from a previously flat condition.
  • the article is a carton
  • the method further comprises conveying that carton into a position over a stream of secondar articles, and controlling the actuator to bring the carton onto or around a selection of secondary articles, and subsequently controlling the drive means to accelerate the carton, thereby to cause a corresponding acceleration of the selection of secondary articles.
  • a tool for the apparatus comprises drive means for driving it around a track in a first direction, actuator means and a metering protrusion, which actuator is operable to displace the metering protrusion in a second direction, wherein at least a component of the second direction is transverse to the first direction.
  • an apparatus for use with a packaging machine comprising a track and a plurality of tools which follows the track, each tool comprising carriage having a drive means operable to drive the tool around the track, the tool further comprising a tool head for manipulating an article or group of articles wherein each tool head is coupled to the carriage by at least one actuator operable to perform at least one manipulation of the articles or group of articles.
  • FIG. 1 illustrates an apparatus according to a first preferred embodiment of the present invention
  • Fig 2 shows an enlarged view of a tool of the apparatus of Fig 1;
  • Fig 3 to Fig 5 illustrate sequential views of the apparatus of Fig 1 in operation
  • Fig 6 illustrates an apparatus according to a second preferred embodiment of the present invention
  • FIG. 7 shows an enlarged view of a tool of the apparatus of Fig 6;
  • Fig 8 and Fig 9 illustrate sequential views of the apparatus of Fig 6 in operation;
  • Fig 10 illustrates an apparatus according to a third preferred embodiment of the present invention
  • Fig 11 shows an enlarged view of a tool of the apparatus of Fig 10;
  • Fig 12 to Fig 17 illustrate sequential views of the apparatus of Fig 10 in operation
  • Fig 18 illustrates an apparatus according to a fourth preferred embodiment of the present invention.
  • Fig 19A to Fig 19C shows enlarged views of a tool of the apparatus of Fig 18;
  • Fig 20 to Fig 23 illustrate sequential views of the apparatus of Fig 18 in operation.
  • Fig 24 illustrates a tool for an apparatus according to a further aspect of the present invention.
  • the present invention relates generally to an apparatus that manipulates articles, in particular but not exclusively to an apparatus that is operable to meter articles into spaced groups, using moveable tools that are conveyed around a track.
  • Each tool is controlled independently of the rest, so that each tool may accelerate., decelerate, or move with a different speed relative to the other tools on the track.
  • the apparatus is capable of manipulating articles into spaced groups by accelerating selected ones of those articles relative to other articles from an articles feed.
  • the tools further comprise an actuator and a metering protrusion.
  • the metering protrusion is dispiaceable transversely to the direction of motion of the tool as it moves around the track, and this displacement is effected by the actuator.
  • the actuator of each tool is independently controllable relative to the actuators of the rest of the tools, and therefore the motion of the metering protrusions of each tool may differ from one another as necessary.
  • FIG 1 An apparatus 1 according to a first preferred embodiment of the invention is illustrated in Figure 1, with an enlarged view of one of the tools 2 thereof shown in Figure 2.
  • the apparatus 1 comprises a track 4, upon which are mounted a plurality of tools 2. Disposed beside the track 4, passing through a working reach proximate one of the tools 2, is an infeed conveyor 6 and an outfeed conveyor 8.
  • the infeed conveyor 6 carries a stream of articles A such as, amongst others, cans or bottles.
  • the track 4 is preferably substantially horizontal and forms a continuous (i.e. endless ⁇ path.
  • the shape of the path is chosen such that the tools 2 following the track 4 pass within reach of the infeed conveyor 6 and then outfeed conveyor 8. in this way articles A from the infeed 6 belt may be engaged and transferred to the outfeed conveyor 8, in a group of any desired size and spacing relative to the stream of articles A remaining on the infeed conveyor 6.
  • the remainder of the path of the track 4 is chosen to provide a return route by which the tools 2, having completed the required manipulations of a selected group of articles A, may return to an upstream point on the track 4, ready to carry out further operations on a subsequent selection of articles A.
  • the track 4, according to this preferred embodiment comprises two straight portions connected at adjacent ends by two 180° curved corners.
  • the track 4 could, in alternative embodiments, have any shape as required.
  • the track 4 is illustrated as formed of material having a "T"-shaped cross section and is preferably formed of a suitably rigid material such as an extruded metal, thereby providing a smooth upper surface and a downwardly extending central portion around which portions of each tool 2 fit.
  • the smooth top surface could alternatively comprise a series of detents and/or indents to complement a drive means 12 of the tools 2 described below.
  • the preferred "T" shaped cross section allows the tools 2 to engage with the track 4 to prevent removal from the track 4, without the need for the track 4 to be entirely surrounded by a portion of each tool 2. This is advantageous as it allows the track 4 to be mounted upon a support structure (not shown) that connects to its bottommost edge, without fouling the path of the tools 2 around the track 4.
  • the "T" shaped cross section may be inverted, or an "I” or "H” shaped cross section may be used.
  • Each of the fools 2 preferably comprise a drive means 12, a stock 14, a guide 18, a tool head 16, an actuator (not shown), and metering protrusions 20.
  • the drive means 12 provides a controllable means of locomotion along the track 4 and may include, amongst others, a servo motor, AC motor or DC motor.
  • Each drive means is controlled independently of the drive means 12 of each other tool 2, and so each drives means 12 is connected to a controller in some way such as, for example, by separate control lines leading to a fixed control hub, daisy chained one to the next with each drive means being independently addressable in some way, or via wireless data channel.
  • Each of the drive means 12 comprise a means (not shown) of engaging the track 4.
  • This wheel is preferably mechanically linked to a drive shaft of the drive means 12. either directly or through a mechanical gearing.
  • the stock 14 of each too! 2 forms the fixed body thereof, and it is the stock 14 that comprises a means 22 of moveably engaging with, and preferably slidably engaging with, the track 4 in such a manner as to restrict, preferably, removal of the tool 2 from the track 4 whilst leaving the tool 2 free to slide around the track 4.
  • the stock 14 might advantageously be formed from metal or strong plastics material, so as to provide a requisite high degree of strength whilst keeping weight to a minimum. Reduction of weight of the tools 2 is important in order to reduce the requisite power of the drive mean 12 for a given acceleration and deceleration rate, and to minimise stress upon the parts thereof during operation.
  • the stock 14 has a mounting, to which the drive means 12 is attached, such that the stock 14 and the drive means 12 move around the track as a single fixed unit or carriage.
  • This mounting of the drive means 12 upon the stock 14 could be achieved by, for example, mechanical fasteners such as, amongst others, screws or rivets, or through welding or bonding of some fashion.
  • the stock 14 also provides a moveable engagement preferably a siidable engagement with the guide 18 : shown conceptually in Figure 2 and in greater detail in Figures 7, 11, 19 A-C, and 24, described below in respect of further preferred embodiments, this may be a rotatable engagement in alternative embodiments. This may be achieved through, for example, an aperture through which the guide 18 may extend, which aperture ma be threaded if the guide 18 is compiementarily threaded, such that rotation of the guide 18 effects movement of the guide through the stock 14.
  • the stock 14 also provides a mounting for the actuator, which actuator (not shown and described further below) is operable to alter the displacement of the tool head 16 relative to the stock 14.
  • the stock 14 may provide for mechanical fastening, welding or bonding, amongst others, to the actuator such that at least one portion or end thereof is fixed relative to the stock 14.
  • the guide 18 is provided to allow the tool head 16 to be displaced relative to the stock 14 in a controlled manner.
  • the guide 18 may be a single spindle, or multiple spindles that extends from a mounting point on the tool head 16 upwardly, through the stock 14, and that is/are engaged by the actuator.
  • the guide 18 resists uncontrolled rotation of the tool head 16 relative to the stock 14 by, for example, having a shaped cross section that may not rotate through the aperture in the stock 14, or through use of multiple spindles.
  • the connection of the guide 18 to the too! head 16 may be effected by, amongst others, mechanical fasteners, welding or bonding of some form.
  • the connection would preferably be reieasabie such that the tool head 16 could be swapped over with other tool heads 16 for repairs or for alteration to the apparatus 1.
  • the length of the guide 18 dictates the overall maximum range of displacement of the tool head 16 away from the stock 14, and therefore must be sized according to the required movement of the tool head 16.
  • the actuator (not shown) is a controllable element of the tool 2, similar to the drive means 12 and is preferably mounted to the stock 14 such that it may be controlled to exert a force on either or both of the guide 18 and/or the tool head 16.
  • Actuators used to effect displacement of the tool head 16 may include one or more of the following, amongst others: pneumatic pistons; hydraulic pistons; muscle wire; and motors. This list is not exhaustive and other actuators are envisaged to be within the scope of the invention.
  • Such motors include, amongst others, servo motors, AC motors, DC motors and hydraulic motors.
  • the actuator may be configured to act directly on a portion of the guide 18 or tool head 16 such as in the case of a piston connected at one end to the stock 14 and at the other end to the guide 18 or tool head 16.
  • the actuator could effect displacement of the tool head 16 through intermediate means such as a motor acting on a concertina arrangement of articulated members, or through a rack and pinion.
  • the actuator of each tool 2 is controllable independently of the actuator of any other tool 2, thereby allowing, in combination with independent control of the drive means 12 of that tool 2, independent motion of the tool head 16 of that tool in at least two axes.
  • the actuator is connected to a controller either via a central hub system, through a daisy chaining arrangement in which each actuator is addressable by the controller or through a wireless data channel.
  • the provision of actuators in each tool 2 frees the tool to carry out a dynamically controllable, and reconfigurabie, manipulation of the articles A, without need for substantial down-time as mechanical elements are exchanged.
  • the metering protrusions 20 extend downwardly from each tool head 16, and it is these metering protrusions 20 that are configured to engage the articles A.
  • the metering protrusions 20 are prongs that become interposed between and around selected ones of the articles A and that abut adjacent surfaces of the articles A, thereby to convey those articles A as the tool 2 moves around the track 4. It is contemplated that the metering protrusions 20 may take the form of a variety of alternative constructions, such as those described below.
  • connection of the metering protrusions 20 to the tool heads 16 is accomplished by means such as, amongst others, mechanical fastening, welding or bonding, sufficient to provide a strong enough connection for the tool head lb to impart the required force upon the selected articles A without damaging the metering protrusions 20.
  • the infeed conveyor 6 and outfeed conveyor 8 are preferably of similar construction. As illustrated, each conveyor 6, 8 is formed by a belt arrangement disposed about a conveyor drive means (not shown). Preferably, the infeed 6 and outfeed 8 conveyors are controllable separately and therefore have individual conveyor drive means.
  • the conveyors 6, 8 are preferably constructed of a material that is suitable for carrying the desired articles A.
  • There will also be desired operational characteristics that affect the choice of material such as the friction co-efficient of the uppermost surface of the conveyor 6, 8; it may be that the articles A are advantageously able to slide over that uppermost surface to some degree, to allow them to be grouped more easily by the apparatus 1, in which case a high friction polymer or rubber may be inappropriate.
  • the speed of the throughput of articles A through the apparatus 1 may necessitate that the articles A be restricted, as far as possible, from slipping on the surface of the conveyors 6, 8.. and that therefore a high friction material would be advantageous.
  • Non polymer based materials such as, amongst others, fibres, metal links and chains are also contemplated as options for material of the conveyors 6, 8.
  • the material of the infeed 6 and outfeed 8 conveyors may be different from one another to accommodate different requirements.
  • the conveyors 6, 8 are driven at a speed that meets the throughput requirements of the apparatus 1, within the limits of the operating speed of the tools 2.
  • the speed of the outfeed conveyor 8 may well be different to that of the infeed conveyor 6.
  • the outfeed conveyor 8 may be driven faster than the infeed conveyor 6 where the articles A are put into small groups with a large pitch between them; conversely, the outfeed conveyor 8 may be slower than the infeed conveyor 6 if the resultant groups are larger and closer together.
  • the outfeed conveyor 8, and optionally the infeed conveyor 6, may be fitted with upstanding partitions 9. These partitions 9 serve to separate adjacent groups of articles A disposed on the outfeed conveyor 8. Alternatively, it may be that the partitions are driven by a separate drive means to that of the outfeed conveyor 8, and may therefore move the articles A across the surface of the outfeed conveyor 8 by coming into abutment with the groups of articles A thereon, it is further contemplated that the partitions 9 may in fact be the only moving part of the outfeed conveyor 8, and that the surface of the outfeed conveyor that supports the groups of articles A is in fact static. Such partitions could equall be fitted to the infeed conveyor 6 if advantageous.
  • intermeshing teeth 10 that together form a supporting bridge for the articles A moving from the infeed conveyor 6 to the outfeed conveyor 8.
  • the tools 2, having engaged a group of articles A provide the conveying force to slide the groups of articles A across these teeth, and onto the outfeed conveyor.
  • the teeth 10 are articulated or siidably engaged with the respective infeed 6 or outfeed 8 conveyor, such that they are retractable from a first position, in which they bridge the gap between the two conveyors 6, 8, to a second position, in which they avoid obstruction of the partitions 9 as they move around the surface of the or each conveyor 6, 8.
  • the teeth 10 may have either an independent drive means., or a linkage to the drive means of the respective conveyor 6, 8.. so as to maintain synchronicity with the movement thereof.
  • Figure 1 shows the apparatus 1 comprising numerous tools 2 disposed about the track 4.
  • One of the tools 2' is shown in a position PI upstream of the flow of articles A on the infeed conveyor 6.
  • This tool 2' is driven around the track in direction Dl, as shown in Figure 3, to a position P2, vertically aligned above a selected group of articles A conveyed upon the infeed conveyor 6.
  • the tool 2' continues to move, driven by its drive means 12, along the track 4, so as to maintain registry above that selected group of articles A on the infeed conveyor 6.
  • the actuator of the tool 2' is operated to displace the tool head 16, by a distance XI, downwardly into superposition on top of that selected group of articles A.
  • metering protrusions 20 of the tool 2' engage the selected group of articles A therebeneath, as shown best in Figure 4.
  • the tool 2' is thus engaged with the selected group of articles A, the metering protrusions 20 thereof interposed between and located around the articles A in the group such that continued movement of the tool 2' urges the group of articles A off the end of the infeed conveyor 6, across the intermeshed teeth 10, and onto the outfeed conveyor 8.
  • the tool 2' accelerates during this movement, relative to the speed of the articles A on the infeed conveyor 6, such that the group of articles A engaged by the tool 2' becomes spaced therefrom.
  • the outfeed conveyor 8 be driven at a higher speed than the infeed conveyor 6, such that the spacing of the group from the articles A on the infeed conveyor 6 is maintained.
  • the actuator of the tool 2' is operated to withdraw the tool head 16 away from the articles A of the selected group by a distance X2, thereby to free them to be conveyed by the outfeed conveyor 8 as shown best in Figure 5.
  • one of the partitions 9 is driven into abutment with the rearward end of the spaced group as the tool head 16 lifts upwardly and away from the group, thereby ceasing to propel the group along the second conveyor 8 at the same rate.
  • the tool 2' continues to be driven along the track 4 until it reaches a position P4, as shown in Figure 5, at which point the tool head 16 has returned to its original displacement relative to the stock 14 of the tool 2'. From this position P4 on the track 4, the tool 2' continues along the return path portion of the track 4 back to its starting position PI. Because of the controllable nature of the tool drive means 12 and the actuators, the acceleration of the group of articles A and the position along the track 4 at which the tool head 16 is brought down into contact with, and subsequently lifted away from, the selected group of articles A is entirely variable to suit articles A of different size.
  • Taller articles A will naturally require less transverse displacement of the tool heads 16 downwardly toward them to avoid fouling the path thereof, for example. Similarly, a larger group size formed, for example, by large tool heads 16, will require the tool 2' to maintain a different minimum offset from its neighbouring tools 2 to avoid collision therebetween. Additional preferred embodiments of the invention are now described with reference to the Figures. For each subsequent preferred embodiment after the first, the features of the invention that are common with the first embodiment are similarly numbered in the Figures, and the numbers prefixed by a "1", "2" or "3" to correspond to the second third and fourth preferred embodiments accordingly. The features of these additional preferred embodiments are substantially the same as those described in relation to the apparatus 1 of the first preferred embodiment, and only the differences will be described below.
  • the apparatus 100 comprises a plurality of tools 102 positioned around a track 104.
  • Each tool 102 comprises a tool head 116 (the features of the tools 102 are best shown in Figure 7) that carries articulated metering protrusions 120.
  • These articulated metering protrusions 120 are provided one each side of the tool head 116 (though more could be provided if desired), each comprising a strut 117 that is attached to the tool head 116, and a suction mount 119 that is attached to an opposing end of the strut 117.
  • Mounted on each suction mount 119 are two (although more or less may be employed) suction heads 121.
  • suction heads 121 are connected to a low-pressure supply (not shown) so that, when desired, the suction heads 121 can form a low pressure seal against a surface of an article A, thereby to engage that article A with the corresponding tool 102.
  • the tool head 116 comprises a siidable engagement between either, or both, the tool head 116 and the strut 117, and/or the strut 117 and the suction mount 119. This sliding engagement allows the suction mounts 119 of the metering protrusion 120 on one side of the tool head 116 to be brought closer to the suction mounts 119 of the metering protrusion 120 on the other side of the tool head 116.
  • both the metering protrusions 120 it is not necessary, although contemplated as a variation, for both the metering protrusions 120 to be so articulated, as relative displacement of the two metering protrusions 120 can be so-accomplished even if only one of the two metering protrusions 120 were so articulated.
  • the slidable engagement between the or each strut 117 and the tool head 116 may be provided by means of a runner formed in the tool head, along which a protrusion of the strut 117 may slide, the protrusion, or some other portion of the strut 117, being linked to a drive means that is operable to move the protrusion along the runner, such as, amongst other, a servo motor or a piston.
  • the suction mounts 119 of at least one of the metering protrusions 120 is rofatable about the connection between that suction mount 119 and the corresponding strut 117.
  • This rotation allows the suction heads 121 attached to that suction mount 119 to engage an article A from an external source, such as the partially set up carton feeder 124 shown in Figure 1, and subsequently to rotate to bring that article A into position between the two metering protrusions 120 (this is described in greater detail below).
  • This rotation may be provided by incorporation of a separate drive means (not shown) into the tools 102, that is operable to effect a rotation of the suction mount 119 such as, amongst others, a servo motor or a piston.
  • Both the sliding engagement, and the rotation, of the parts of the metering protrusions 120 is achieved by a drive means that is preferably located on-board the tool 102 itself and comprise an actuator in the form of, amongst others, a hydraulic piston, pneumatic piston, servo motors, AC motors, DC motors, hydraulic motors and fixed mechanical linkages or gearing.
  • a drive means that is preferably located on-board the tool 102 itself and comprise an actuator in the form of, amongst others, a hydraulic piston, pneumatic piston, servo motors, AC motors, DC motors, hydraulic motors and fixed mechanical linkages or gearing.
  • the operation of these drive means are independently controllable, thereby to allow the metering protrusions to be dynamically reconfigured to carry out different manipulations on different types of articles A.
  • a rearward side of the suction mounts 119 of a given tool 102 comprise, extending between them, a gate arm 123.
  • the purpose of this gate arm 123 is to act as a secondary means of erecting a carton C engaged by the metering protrusions 120, and, further, to act where necessary as an abutment surface for imparting a force upon selected ones of bottles B on the infeed conveyor 106.
  • a preferred method of operation of the apparatus 100 of Figures 6 to 9 is as follows.
  • a tool 102' loaded with a carton C held between the two metering protrusions 120 of the tool 102', is positioned at a start position P101 on the track 104, upstream of the flow of bottles B on the infeed conveyor 106.
  • Figure 6, Figure 8 and Figure 9 show a sequence of movements of the tool 102' as it deposits the carton C over a selected group of bottles B from the infeed conveyor 106, and releases the filled carton C on the outfeed conveyor 108, spaced from the remaining bottles B of the infeed conveyor 106.
  • the tool 102' is driven in synchronicity above that selected group of bottles B, and the actuator of the tool 102' displaces the tool head 116 downwardly toward the selected group of bottles B by a predetermined distance X3 (shown in Figure 8) as the fool 102' moves to a position P103 on the track 104.
  • the carton C engaged by the tool 102' is only partially set up and has no bottom end closure at this point.
  • the selected group of bottles B become interposed between the side and end walls of the partially- set up carton C as if is lowered thereover.
  • the tool 102 is then preferably accelerated, such that the carton A and loaded group of bottles B is separated from the remaining bottles B on the infeed conveyor 106 and onto the outfeed conveyor 108. It is therefore an interior surface of the carton C itself, rather than the metering protrusion of the tool 102' that abuts the selected bottles B and accelerates them to form a spaced group.
  • the tool 102' In the process of the tool 102' conveying the loaded carton C onto the outfeed conveyor 108 (i.e. moving between position P102 and P103 of Figure 8), the tool 102' ma drive the carton C across a selection of folding and gluing stations (not shown), which folding and gluing stations fold bottom panels of the carton C to form a bottom closure beneath the bottles B, before the tool 102' releases the loaded carton C upon the outfeed conveyor 108 at position P104 (shown in Figure 9).
  • the tool 102' is free to follow the return portion of the track 104 in direction D102.
  • the tool 102' follows direction D103 to reach a position P105 adjacent a feeder station 124 that dispenses partially set up cartons C for forming into cartons C.
  • the suction mount 119 of one of the metering protrusions 120, of that tool 102' rotates about the axis of its connection to the strut 117, in direction D102, to face outwardly from the track 104 with its suction heads 121.
  • These suction heads 121 contact and engage a proximate one of the partially set up cartons C from the feeder station 124.
  • the tool 102' continues to move along the track 104, and as it does so the suction mount 119 rotates back to its initial inwardly facing orientation, thereby bringing the partially set up carton C into position between the two metering protrusions 120 of the tool 102.. at a position P106 along the track 104.
  • One or both of the two metering protrusions 120 is then controlled to bring the suction heads 121 of the other metering protrusion 120 of that tool 102' into contact with an opposing side of the carton C.
  • the partially set up carton is opened info a substantially tubular configuration ready to accept the insertion of bottles B through an open bottom end thereof.
  • the tool 102' thus loaded with a new carton C, may recommence the above described process to fill that carton C with bottles B.
  • An apparatus 200 according to a third preferred embodiment of the invention is illustrated in Figures 10 to 17.
  • the apparatus 200 comprises numerous tools 202 disposed around the track 204.
  • Each tool 202 comprises a tool head 216 (shown best in Figure 11) similar to that of the tool head 16 of the first preferred embodiment.
  • These tool heads 216 comprise moveable metering protrusions 220 (shown best in Figure 11) that are siidably engaged with the remainder of the tool head 216, such that the are displaceabie between a first position, in which they extend a first distance downwardly from the bottom surface of the tool head 216, and a second position in which they extend further downwardly away from that bottom surface.
  • This displacement is controlled by an actuator or drive means of some kind, such as, amongst others, a hydraulic piston, pneumatic piston, AC motor. DC motor, servo motor, hydraulic motor or mechanical linkage.
  • Figure 10 illustrates a tool 202' at an upstream position P201 relative to the flow of articles A on an infeed conveyor 206.
  • the tool 202' moves around a track 204 in a direction D201, in synchronicity with a selected group of articles A on the infeed conveyor 108 therebeneath, whilst the tool head 216 thereof is displaced downwardly toward those articles A, until the tool 202' reaches a position P202 in which the tool head 216 contacts an upper surface of the selected group of articles A (shown best in Figure 12).
  • the tool 202' is driven in synchronicity with the selected articles A upon the infeed conveyor 206 to reach a position P203 on the track 204.
  • An engagement between the tool head 216 and the selected groups of articles A is created through, amongst others, a suction head in the underside of the tool head 216 or a gripping mechanism between the metering protrusions 120.
  • Each article A of the selected group on the infeed conveyor 206 is engaged by the tool head 216; either directly or indirectly through friction against its neighbours. In this manner, as the tool head 216 is withdrawn, by the actuator of that tool 202', upwardly away from the infeed conveyor 206, the selected group of articles A is lifted with it (as shown best in Figure 14).
  • the forward motion of the tool 202' is stopped as the bottom edge of the selected group of articles A, now suspended above the surface of the conveyor 206 by the tool 202', clears a topmost edge of an adjacent upstream group of articles A.
  • This adjacent upstream group of articles A is free of engagement by any tool 202, and is either conveyed by the infeed conveyor 206, or is pushed along by a leading edge of a further adjacent upstream tool 202.
  • the aforementioned adjacent upstream group of articles A is conveyed underneath the selected group of articles A engaged by the tool 202' at position P204 (as shown in Figures 14 and 15).
  • the metering protrusions 220 of the tool 202' are then displaced downwardly to their second position such that they now engage not only the previously selected group of articles A now forming the upper tier of a stack of articles A, but also engage at least upper portions of the group of articles A forming the lower tier of that stack.
  • recommencement of the forward motion of the tool 202' by controlling the drive means 212 thereof conveys the entire stack onto the outfeed conveyor 208, at position P205 shown best in Figure 16.
  • the stack of articles A is thus disposed upon the outfeed conveyor 208 by the tool 202'.
  • the tool head 216 is displaced upwardly toward the stock 214 of the tool 202' as the tool 202' continues onward along the track 204 to a position P206 shown in Figure 17 and the engagement between the tool 202' and the articles A is released. From this position P206, the tool 202' is free to follow a return path portion of the track 204 to reach the starting position P201 shown in Figure 10.
  • An apparatus 300 according to a fourth preferred embodiment of the invention is now described, with reference to Figure 18 to Figure 23.
  • the apparatus 300 comprises numerous tools 302 disposed around a track 304.
  • Each tool 302 comprises a tool head 316 substantially similar to the tool heads 116 of the apparatus 100 according to the second preferred embodiment.
  • Each tool 302 has a stock 314 (best shown in Figure 19A to Figure 19C) that is connected to the tool head 316 via a guide 318.
  • a metering protrusion 320 At each end of the tool head 316 is attached a metering protrusion 320.
  • Each metering protrusion 320 comprises a curved strut 317 that connects the tool head 316 to a suction mount 319.
  • the struts 317 are pivotably mounted to the ends of the tool head 316 so that each metering protrusion 320 is rotatable about a perpendicular axis through the end of the fool head 316.
  • An actuator or drive means such as, amongst others, a hydraulic piston, pneumatic piston, AC motor, DC motor, servo motor or hydraulic motor is preferably provided to effect and to control the rotation of each metering protrusion 320 about the pivotabie connection.
  • a single actuator or drive means is provided to control both metering protrusions 320 simultaneously.
  • each tool head 314 is rotatable about a vertical axis passing through the centre of the guide 318 (sequential steps in this rotation is shown in Figures 19A to 19C).
  • Figure 19A to Figure 19C show the tool 302 before, during and after this rotation, and the total transverse displacement of the metering protrusions 320 is indicated on Figure 18 as X5.
  • the rotation is effected by a further actuator or drive means such as, amongst others, a hydraulic piston, pneumatic piston, AC motor, DC motor, servo motor or hydraulic motor.
  • Apparatus 300 further comprises a cam path 330, and each guide 318 is mechanically linked to a cam follower (not shown) that follows that cam path 330.
  • each guide 318 is mechanically linked to a cam follower (not shown) that follows that cam path 330.
  • the corresponding height of the cam path relative to the infeed 306 and outfeed 308 conveyors dictates the vertical displacement of the tool heads 316 toward and away from the articles A, transverse to the direction of movement of the tool 302.
  • the apparatus 300 is shown in Figure 18 as comprising numerous tools 302, one tool 302' of which is shown disposed in a position P301 over an end of a feeder subsystem from which the apparatus 300 is fed partially set up cartons C.
  • This feeder subsystem comprises a rotary arm picker 324 that rotates to place partially set up cartons C, in flat configuration, upon a feeder conveyor 325.
  • This feeder conveyor 325 engages a portion of the contacting side panel of the cartons C as they are conveyed along on its upper moving surface.
  • the tool 302' is shown, in position P301, with the suction mounts 319 thereof engaged with opposing side panels of two cartons C (one carton per metering protrusion 320 of the tool 302 '" ⁇ at the end of the feeder conveyor 325 as the carton C is being released by the feeder conveyor 325.
  • an arm 321 that is pivotably attached to the suction mount 319 of the tool 302', swings into position along a foldable side wall of the carton C (as best shown in Figure 19B), thereby to prevent that wall from folding in its middle and returning the carton C to its flat condition.
  • the tool 302' is conveyed around the track 304 in direction D301 by its drive means 312 (not shown), to a position P302 above the flow of bottles B on the infeed conveyor 306 (shown in Figure 20).
  • the tool head 316 is rotated about the guide 318, in direction D302, such that the tool head 316 is perpendicular to the direction D303 of motion of the tool 302 along the track 304. in the manner best illustrated in Figures 19.A to 19C.
  • the metering protrusions 320 are also rotated about the ends of the tool head 316, so that the struts 317 extend perpendicular to the tool head 316.
  • the metering protrusions 320 are displaced perpendicularly outward from the direction of motion of the tool 302' by a distance X5 and the cartons C engaged thereby are thus brought into vertical registry over selected groups of bottles B on the infeed conveyor 306.
  • the cartons C are partiall set up, so that they provide an open bottom end through which the bottles B are insertabie.
  • the tool 302' is conveyed along the track 304, by its drive means (not shown), in synchronicity with that selected group of bottles B.
  • the cam follower 332 follows a downwardly- inclined portion of the cam track 330 and thereby urges the tool head 316 downward towards the bottles B beneath, until it reaches a position P303 (shown in Figure 21) at which the cartons C engaged by the tool 302' are brought down over the selected groups of bottles B beneath.
  • the vertical displacement of the tool head 316 is shown in Figure 21 as X6.
  • the cartons C are then released by the tool 302' and the cam follower 332 of the fool 302' follows an upwardly inclined portion of the cam path 330 that urges the tool head 316 away from the bottles B, thereby freeing them to be conveyed on an outfeed conveyor (in the apparatus 300 of this preferred embodiment, the infeed and outfeed conveyors are one and the same).
  • the upward displacement X7 of the tool head 316 as the tool 302' moves along the track 304 to a position P304 at which it clears the tops of the cartons C is best shown in Figure 22.
  • the too! 302' is readied to begin a return path of the track 304, in direction D304, to its original position P301.
  • the metering protrusions 320 rotate relative to the too! head 316 to return to their initial orientation relative thereto, this is to say one ahead of the other aligned in the direction of motion of the tool 302'.
  • the tool head 316 is lowered down into contact with two partially erected (for example, collapsed tubular condition) cartons C on the feeder conveyor 325. This is achieved by a dipped portion of the cam path 330 that descends sufficiently to urge the metering protrusions 320 of the tool 302' into contact with portions of each carton C, such that they may be engaged by the suction mounts 319 thereof.
  • the tool heads 316 subsequently follow an upwardly inclined portion of the cam path 330 to draw them awa from the feeder conveyor 325 whilst, as is described above, an opposed side of the carton C is still engaged upon the feed conveyor 325, thus this motion serves to open the carton C from its flat configuration into a tubular configuration at the start position P301 described above.
  • FIG. 24 A detailed view of an exemplary embodiment of a tool 402 is shown in Figure 24.
  • the tool 402 comprises an exemplary embodiment of an actuator 450 arranged to effect transverse displacement of a tool head 416 that carries metering protrusions 420, relative to the motion of the tool 402.
  • the actuator 450 is, in this exemplary embodiment, is a linear servo motor that acts upon the guide 418 to lift and lower the tool head 416.
  • Subsidiary guides 452 are provided to prevent rotation of a fixed part of the tool head 416 relative to a stock 414 of the tool 402, which subsidiary guides 452 are preferably free sliding with respect to complementarily shaped receiving aperture in the stock 414.
  • the tool 402 also comprises a drive means 412 that is operable to drive the tool 402 around a track 404.
  • the tool head 416 optionally comprises a rotatable portion connected to the fixed portion via a pivot, and a drive means operable to effect such rotation, to allow the rotation shown, for example, in Figures 19A to 19C.
  • the above descriptions of the preferred embodiments disclose numerous features in respect of one or other of the embodiments. These features are interchangeable between the embodiments and not limited to the specific preferred embodiment in which they are introduced. It is contemplated that, whilst the preferred embodiments describe the track as being fixed, it may be substituted with a belt or a chain along which the drive means of the tools may drive the tools. This would allow the track some degree of flexibility in its path and configuration.
  • the track is reconfigurable by some other means also, such as comprising one or more links that are reconfigurable at different angles to form a different overall track path. Additional pieces may be inserted into, or pieces removed, from the track to alter its final length.
  • control of drive means may be effected to receiving wireless control signals through an on-board receiver module.
  • This could be, amongst others, a radio-frequency wireless system, or an optical receiver system.
  • Such a configuration would be advantageous in that is would simplify the routing of control wiring between moving tools and a central control hub.
  • the drive means of the tools could have employed a cog rather than a wheel. This would be particularly advantageous if the track was not comprised of a smooth surface over which the wheel could run, and instead comprises a series of indents, such as in the case of a chain, into which the detents of the cog (or sprocket) could engage as the drive means rotated.
  • the streams of articles, cartons, or as the case may be, bottle may be one or more of: regularly arranged at constant pitch; irregularly arranged; or arranged with fluctuating spacing with corresponding fluctuating pitches along the stream.
  • An advantage of the present invention is that it is controllable to accommodate any such infeed streams through making changes to the control signals sent to the motors, actuators etc.
  • metering protrusions could be employed such as mechanically gripping metering protrusions that are articulated so as to impart a gripping force upon one or more articles; alternatively., the metering protrusion may comprise detents that interlock with indented portions of the articles. In additional, or alternatively, the metering protrusions may comprise means for engaging with one or more articles by magnetic attraction using a magnetic or an electro-magnetic element.
  • the tools may be employed to both accelerate and decelerate articles from the infeed stream to alter the spacing of an article, or a group of articles, relative to articles remaining in the infeed stream.
  • the tools are operable to reduce the spacing between two or more adjacent rows to create a group of articles.
  • the guide is generally illustrated in the accompanying Figures as a cylindrical spindle that slides through an aperture in the stock of the tool. It is, however, further contemplated that the guide could be a channel info which a complemenfariiy shaped runner extending from the stock could fit.
  • the metering protrusions may be formed of any number of parts, siidably or rotatably engaged with one another and comprising actuation means as required to articulate those part relative to one another, thereby to provide additional degrees of freedom to the movement metering protrusions, and thereby to allow additional forms of manipulation of articles engaged by the metering protrusion to be carried out.
  • directional references such as “top”, “bottom”, “front”, “back”, “end”, “side”, “inner”, “outer”, “upper” and “lower” do not limit the respective panels to such orientation, but merely serve to distinguish these panels from one another.
  • hinged connection should not be construed as necessarily referring to a single fold line only; indeed it is envisaged that hinged connection can be formed from one or more of the following, a short slit, a frangible line or a fold line without departing from the scope of the invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)

Abstract

L'invention porte sur un appareil (1) qui comporte un outil (2 ; 102 ; 202 ; 302 ; 402) et un rail (4 ; 104 ; 204 ; 304) avec lequel l'outil (2 ; 102 ; 202 ; 302 ; 402) vient en prise d'une manière coulissante, l'outil (2 ; 102 ; 202 ; 302 ; 402) comportant : un moyen d'entraînement (12 ; 212 ; 412) qui permet d'entraîner l'outil (2 ; 102 ; 202 ; 302 ; 402) le long du rail (4 ; 104 ; 204 ; 304) dans une première direction ; des saillies de comptage (20 ; 120 ; 220 ; 320 ; 420) qui viennent en prise avec un article ou un groupe d'articles, et un actionneur (450) permettant de déplacer les saillies de comptage (20 ; 120 ; 220 ; 320 ; 420) dans une seconde direction, au moins un élément de la seconde direction étant transversal à la première direction.
PCT/US2011/031716 2010-04-09 2011-04-08 Appareil de manipulation d'article WO2011127367A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB1005946.7A GB201005946D0 (en) 2010-04-09 2010-04-09 Article handling apparatus
GB1005946.7 2010-04-09

Publications (1)

Publication Number Publication Date
WO2011127367A1 true WO2011127367A1 (fr) 2011-10-13

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GB (1) GB201005946D0 (fr)
WO (1) WO2011127367A1 (fr)

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DE102011085724A1 (de) * 2011-11-03 2013-05-08 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Gruppieren von Artikeln oder Behältern
WO2016053788A1 (fr) * 2014-09-30 2016-04-07 Westrock Packaging Systems, Llc Machine à emballer et appareil pour celle-ci
EP3044136B1 (fr) 2013-09-13 2017-07-05 Krones AG Appareil et procédé pour grouper des récipients
WO2017182217A1 (fr) * 2016-04-20 2017-10-26 Krones Aktiengesellschaft Procédé et dispositif permettant la manutention de marchandises de détail déplacées sur au moins deux rangées parallèles
WO2017220214A1 (fr) * 2016-06-23 2017-12-28 Krones Aktiengesellschaft Procédé et dispositif permettant la manutention de marchandises de détail déplacées les unes derrière les autres en au moins une rangée
EP3230181B1 (fr) 2014-12-11 2018-12-26 Robert Bosch GmbH Dispositif de transport pour machine d'emballage
CN114025929A (zh) * 2019-06-27 2022-02-08 Thk株式会社 拾取机构、机器人臂
US11713147B2 (en) 2019-07-30 2023-08-01 Anheuser-Busch Inbev S.A. Article picking and treating apparatus

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WO2008022296A2 (fr) * 2006-08-18 2008-02-21 Meadwestvaco Packaging Systems Llc Appareil de mesure avec moyen de commande d'outil indépendant
WO2010003083A2 (fr) * 2008-07-04 2010-01-07 Meadwestvaco Packaging Systems, Llc Machine d’emballage et procédé d’emballage d’objets

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GB1005946A (en) 1963-02-21 1965-09-29 Davey Paxman And Company Ltd Improvements in rotary valves or conveying devices
US5630311A (en) * 1993-09-24 1997-05-20 Societe A.P.I. Apparatus for forming lots of products for the packing thereof
US5718323A (en) * 1995-08-22 1998-02-17 Flix; Jean-Marie Device for spacing products or product lots
US5626002A (en) * 1995-12-11 1997-05-06 Riverwood International Corporation Packaging machine having overhead assembly for opening and lowering carton onto article groups
WO2008022296A2 (fr) * 2006-08-18 2008-02-21 Meadwestvaco Packaging Systems Llc Appareil de mesure avec moyen de commande d'outil indépendant
WO2010003083A2 (fr) * 2008-07-04 2010-01-07 Meadwestvaco Packaging Systems, Llc Machine d’emballage et procédé d’emballage d’objets

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DE102011085724A1 (de) * 2011-11-03 2013-05-08 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Gruppieren von Artikeln oder Behältern
EP3044136B1 (fr) 2013-09-13 2017-07-05 Krones AG Appareil et procédé pour grouper des récipients
WO2016053788A1 (fr) * 2014-09-30 2016-04-07 Westrock Packaging Systems, Llc Machine à emballer et appareil pour celle-ci
CN106794906A (zh) * 2014-09-30 2017-05-31 维实洛克包装系统有限公司 包装机器及用于其的设备
US10086961B2 (en) 2014-09-30 2018-10-02 Westrock Packaging Systems, Llc Packaging machine and apparatus therefor
EP3230181B1 (fr) 2014-12-11 2018-12-26 Robert Bosch GmbH Dispositif de transport pour machine d'emballage
EP3230181B2 (fr) † 2014-12-11 2021-07-28 Robert Bosch GmbH Dispositif de transport pour machine d'emballage
WO2017182217A1 (fr) * 2016-04-20 2017-10-26 Krones Aktiengesellschaft Procédé et dispositif permettant la manutention de marchandises de détail déplacées sur au moins deux rangées parallèles
CN109071125A (zh) * 2016-04-20 2018-12-21 克朗斯股份公司 用于处理在至少两个平行的排中运动的成件货物的方法及设备
CN109071125B (zh) * 2016-04-20 2021-01-01 克朗斯股份公司 用于处理在至少两个平行的排中运动的成件货物的方法及设备
US10882702B2 (en) 2016-04-20 2021-01-05 Krones Aktiengesellschaft Method and apparatus for handling piece goods moved in at least two parallel rows
US11319163B2 (en) 2016-04-20 2022-05-03 Krones Aktiengesellschaft Method and apparatus handling piece goods moved in at least one row one after another
CN109328173A (zh) * 2016-06-23 2019-02-12 克朗斯股份公司 用于处理以至少一排依次运动的成件货物的方法和设备
EP3475198B1 (fr) 2016-06-23 2020-10-21 KRONES Aktiengesellschaft Procédé et dispositif permettant la manutention de marchandises de détail déplacées les unes derrière les autres en au moins une rangée
CN109328173B (zh) * 2016-06-23 2021-04-20 克朗斯股份公司 用于处理以至少一排依次运动的成件货物的方法和设备
WO2017220214A1 (fr) * 2016-06-23 2017-12-28 Krones Aktiengesellschaft Procédé et dispositif permettant la manutention de marchandises de détail déplacées les unes derrière les autres en au moins une rangée
CN114025929A (zh) * 2019-06-27 2022-02-08 Thk株式会社 拾取机构、机器人臂
CN114025929B (zh) * 2019-06-27 2023-04-07 Thk株式会社 拾取机构、机器人臂
US11713147B2 (en) 2019-07-30 2023-08-01 Anheuser-Busch Inbev S.A. Article picking and treating apparatus

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