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
  • B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
  • B65B63/02—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged for compressing or compacting articles or materials prior to wrapping or insertion in containers or receptacles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/02—Gripping heads and other end effectors servo-actuated
  • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/023—Cartesian coordinate type
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
  • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
  • B65B35/10—Feeding, e.g. conveying, single articles
  • B65B35/16—Feeding, e.g. conveying, single articles by grippers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
  • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
  • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
  • B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
• • 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
  • B65B55/00—Preserving, protecting or purifying packages or package contents in association with packaging
  • B65B55/20—Embedding contents in shock-absorbing media, e.g. plastic foam, granular material

Definitions

• the present invention relates to an automated packaging device packing device in a carton, and its methods of implementation.
• wedging element protects and wraps the items to be packaged in a carton.
• These wedges make it possible to wedge the voids inside a box and thus to absorb the shocks inherent to the transports and the possible falls.
• cardboard size determination cells are placed upstream of the packaging stations, such as US 5,829,231, which discloses the determination of the dimensional characteristics of the cartons by reading barcodes. or EP 2 013 086 which describes the determination of the empty space of a container by an appropriate probe.
• the present invention thus proposes a device and methods for automated packaging of a wedging element in a carton, making it possible to overcome the aforementioned drawbacks.
• the automatic packaging device (s) wedging element (s) in a carton is intended to be mounted along a conveyor directed along a longitudinal axis.
• the packaging device comprises a robotic cell associated with a wedging element storage zone, the robotic cell comprising at least one wedging element gripping means, while the storage zone is at least one magazine comprising at least one at least one cassette movable along a transverse axis from a loading position to an unloading position.
• the robotic cell is associated informally by a PLC to the store. Note that the robotic cell is contiguous along the transverse axis to at least one store.
• a cassette in the unloading position, a cassette is located below at least one gripping element gripping means.
• the robot cell comprises a frame consisting of amounts, while the conveyor is intended to cross right through the amounts.
• At least one cassette is removable.
• At least one cassette is associated with at least one wedging element distributor directed along a longitudinal axis.
• at least one gripping means is movable along a vertical axis.
• At least one gripping means comprises a gripper comprising two jaws movable along a longitudinal axis.
• At least one gripping means is associated with a vertical release means of a wedging element.
• At least one gripping means is carried by two movable plates along vertical axes.
• the invention also relates to a method for inserting at least one wedging element in a carton, by a packaging device according to the invention, the method comprising the following steps:
• the method comprises a step of acquisition by an automaton of the length, the width and the height of a supported carton, while it includes a step of determining the number and the type of blocking element to be inserted in the carton.
• Figures 1 to 6c are views of a packaging device according to one embodiment of the invention.
• Figure 1 is a perspective view of the packaging device.
• Figure 2 is a side view of the packaging device in the loading position.
• Figure 3 is a side view of the packaging device in the unloading position
• Figure 4 is a view is a partial perspective view of the packaging device, in an intermediate position of a gripping means.
• Figure 5 is a view is a partial perspective view of the packaging device, in a release position of a wedging element.
• Figure 6a is a partial perspective view of a gripping means in an intermediate position.
• Figure 6b is a partial perspective view of a gripping means in a low position.
• Figure 6c is a partial perspective view of a gripping means in a release position of a wedging element.
• the packing device (1) of wedging element (2) advantageously elastically compressible in a carton is presented by a robotic cell (3) associated with at least one zone of storage element storage, which is provided by at least one magazine (18) equipped with cassette (s) (8) mobile (s).
• a robotic cell (3) according to the invention comprises at least one means for placing the carton (C) at a reference zero point, advantageously at least one means for detecting the coordinates of the ends of the flaps, advantageously at least one means for partially opening at least one flap, at least one gripping means.
• cardboard to designate a container, a box or a container in which is packaged at least one article and at least one wedging element (2).
• zero point is meant the reference point advantageously represented by the center of the chassis of the robotic cell (3), directly above the conveyor (4). It is understood that a zero point may be at any location, depending on the configuration of the robotic cell (3).
• the position of the reference zero point can change according to the number of wedging element (2) to be introduced, namely according to the even or odd number, as explained in more detail later in the description.
• the packaging device (1) comprises a robotic cell (3), intended to be associated with a conveyor (4) band or roller, preferential!
• the invention also relates to a roller bearing, which conveys the cartons (C) along a longitudinal axis (Y, Y '), at least one wedging element storage zone and advantageously at least one wedging element distributor (2).
• a wedging element distributor (2) there is meant a device that distributes an element that is advantageously compressible.
• the dispenser shapes from a folded paper web, a wedging element (2), as explained in more detail in the following description.
• the packaging device (1) advantageously comprises a presence sensor for detecting the arrival of a carton (C) at the level of the robotic cell (3).
• This presence sensor particularly operates the zero focus means, as explained in more detail in the following description.
• each of the moving elements is moved by a motorized device, as commonly used in the field of mechatronics, for example by pistons, slides, rails, chains, linear motors and / or belts.
• the packing device (1) of wedging element (2) comprises at least one means of detrtination dimensions of a carton (C) prior to its support by the robotic cell (3).
• Packaging of articles in a carton is commonly done manually or semi-automatically.
• the articles to be packaged are advantageously placed, manually or automatically, in cartons upstream of the support by the packaging device (1).
• a packaging line along a conveyor (4) or a succession of independent positions, comprises first of all a formator, shaping the folded cartons, and finally advantageously a sealer or also called scotcheuse, closing cartons flaps mechanically and sealing them with adhesive.
• a suitable device positions a lid on the latter at the output of the packaging device (1) according to the invention.
• a carton (C) is commonly composed of two pairs of opposing flaps, namely two so-called short flaps (RC) and two so-called long flaps (RL) connected to the corresponding side walls of the carton (Q.
• a box does not include flaps, and therefore consists of side walls, namely two so-called long walls and two so-called short walls, and a bottom wall.
• the flaps are in the neutral position, namely, in the extension of the side walls, perpendicular to the bottom wall, vertically.
• a cardboard orientator also called orientation changer, allowing the rotation and alignment of the cartons in a desired direction, is advantageously placed upstream of the packaging device (1) according to the invention.
• a cardboard generally has a rectangular section, composed of long sides and small sides, namely so-called long and so-called side walls respectively.
• a carton is conveyed towards the packaging device (1), preferential! the long sides are directed along the longitudinal axis (Y, Y '), while the short sides are directed along a transverse axis (X, X').
• a carton having a square section
• the cartons are oriented lengthwise to reduce the number of wedging element to introduce, so it is the long flaps (RL) which are partially open, while the short flaps (RC) are left in their neutral position of arrival, see maintained in vertical position by appropriate means, as explained in more detail in the following description.
• the cartons could be oriented in the width direction, however a larger number of wedging elements would be necessary to wedge the items in a carton, which would imply a longer handling time, so a lower rate, and necessarily, for large cartons, the width of the conveyor should be greater. It is understood that this configuration is not preferred.
• a wedging element (2) is a compressible element having elastic properties.
• the wedging elements (2) are advantageously hollow profiles, such as tubes of crumpled paper, formed of a paper strip folded on itself, namely, assembled on its lateral edges and glued.
• This strip of paper is creased in both a longitudinal direction and a radial direction by a suitable distributor, such as that described in document EP 1 539 474.
• This strip of paper is cut to a predetermined length according to the length or width of the strip.
• a carton namely preferably a length greater than the length of a carton (C), wherein at least one wedging element (2), thus produced, is positioned in a compressed manner.
• the wedging elements (2) are preferably of tabular shape, but it could be otherwise, such as triangular, square or rectangular.
• At least one wedging element (2) is positioned in compression at the so-called short side walls.
• the lower end of at least one wedging element (2) is positioned at the upper ends of the side walls of the carton.
• type of wedging element (2) is meant a material, a shape or an appropriate length of a wedging element (2), to be distributed according to the dimensioning of the carton and, in particular, according to its positioning, namely at the bottom of the cardboard or on the surface of the latter.
• These compressible elements are also compressible radially during their positioning in a carton, especially next to each other, preferably in the width direction and vertically when closing the flaps or the positioning of a lid, ensuring a maintenance under constraint of packaged articles.
• an automaton more precisely an automaton programmable industrially (API), a computer managing physical inputs and outputs, used to automate processes such as controlling machines on an assembly line or controlling automatic handling systems.
• a sensor such as a presence sensor, or a cell, such as a distance cell, are devices transforming a physical quantity into a signal, which is transmitted and interpreted by a PLC, to control in this case, the packaging device (1).
• the controller determines, according to the dimensions of the carton, the height of the corresponding flaps by the height of the side walls of the carton, according to a reference table, standard dimensions of the cartons usually used, prerecorded in the automaton.
• the coordinates of the ends of the side walls are transmitted to the controller.
• the latter information determines the vertical stroke of at least one gripping means and / or plates (17), in view of the release of a wedging element (2) in a carton, as explained in more detail in following the description.
• the robotic cell (3) comprises a frame consisting of uprights, advantageously at least four uprights, and plates (17) advantageously movable, preferably two parallel plates (17) arranged transversely to the axis longitudinal (Y, Y ').
• the plates (17) are movable in translation along vertical axes (Z, Z ').
• the plates (17) carry at least rails, at least one wedging member gripping means (2), and preferably at least one vertical release means (14), as explained in greater detail in the following the description.
• the robotic cell (3) is thus raised by the uprights, so that a cassette (8) can move below the gripping means, while the conveyor (4) is intended through the amounts of the robotic cell (3), as explained in more detail below.
• the robotic cell (3) thus comprises an inlet and an outlet intended for the passage of the conveyor (4).
• the robotic cell (3) is arranged vertically above the conveyor (4), namely that the conveyor (4) passes right through the frame uprights, while the robotic cell comprises at least one gripping means, preferably at least one clamp (6) movable along a vertical axis (Z, Z '), consisting of jaws (7) movable in translation along a longitudinal axis (Y, Y ').
• the packaging device (1) comprises at least one cassette (8) movable in translation along a transverse axis (X, X '), as at least one wedging element supply source, arranged in a magazine (18) as a storing element storage area.
• a gripping means comprises a first gripper (6) consisting of jaws (7) movable in translation along a longitudinal axis (Y, Y '), and a second gripper consisting of movable jaws in translation along a transverse axis (X, X '). These two grippers are intended to grip and compress a wedging element (2) in the two aforementioned directions.
• the packaging device (1) is equipped with at least two cassettes (8), more preferably three cassettes (8), or even four cassettes (8), each intended to receive at least one type of element. wedging (2)
• At least one cassette (8) is arranged in a magazine (18) arranged in the extension of the robotic cell (3), namely that at least one store (18) is attached to the robotic cell (3), according to transverse tax (X, X ').
• a packaging device (1) comprises two magazines (18) arranged in opposition to a robotic cell (3), in other words, a robotic cell (3) is surrounded on either side of two magazines (18) aligned along the transverse axis (X, X ').
• each of the magazines (18) is adapted to move at least one cassette (8) facing the robotic cell (3), namely to alternately position a cassette (8) below a means grasping.
• a cassette (8) is intended to move below a gripping means, when the latter is in the upper position, in a rest position waiting to load.
• the robotic cell (3) is informally associated by an automaton to the store (s) (18).
• the amounts of the robotic cell (3) are secured by at least one mechanical connection to at least one store (18).
• at least one cassette is secured by at least one mechanical connection to at least one store (18).
• a suitable device thus charges and unloads at least one cassette (8) in a magazine (18), either automatically or in an operator-assisted manner.
• the robotic cell (3) comprises at least one gripping means, preferably at least one gripper (6), preferably at least two grippers (6), more preferably at least three grippers (6), preferably four grippers (6). ), intended to feed vertically a carton (Q, preferably along its width by at least one, two or three or even four wedging elements (2).
• the clamps (6) are all movable in translation along vertical axes (Z, Z '), while their jaws (7) are movable in translation along longitudinal axes (Y, Y').
• clamps (6) are aligned next to each other, between the plates (17) which are oriented along longitudinal axes (Y, Y ') as illustrated in Figure 2.
• clamps (6) are adapted to grasp a wedging element (2) to be positioned in a carton.
• a storage zone is advantageously associated with at least one wedging element distributor (2), directed along a longitudinal axis (Y, Y '), facing at least one cassette (8), but it could be otherwise, at least one cassette (8) is fed by a stock of wedging element (2) produced beforehand.
• Any / a storage area is associated with at least one dispenser, more preferably at least two distributors / located on either side of a magazine (18).
• a carton needs to be aligned along the longitudinal axis (Y, Y ') and along the transverse axis (X, X') with respect to the robotic cell (3) , ie, positioned at a support zero point.
• At least one zero focusing means is constituted by at least one movable stop (9a, 9b), advantageously two stops (9a, 9b), namely a first stop (9a) and a second stop (9b) movable in translation along the transverse axis (X, X '), while two arms (10a, 10b), namely a first arm (10a) located at the entrance of the robotic cell (3) and a second arm (10b) located at the output of the robotic cell (3), movable in translation along a longitudinal axis (Y, Y ') and along a vertical axis (Z, Z'), center a carton (C) to be supported at a given reference zero point.
• the stops (9a, 9b) are advantageously movable in simultaneous translational movements, which move towards and away at the same deflection in opposition, while the zero point, along the transverse axis (X, X '), is controlled advantageously by a verification of identical strokes of the stops (9a, 9b).
• the carton centered at the zero point is advantageously kept under pressure by the stops (9a, 9b), to maintain its positioning during its loading and released after loading for its conveyance to a closer or a device for the placement of a lid .
• the stops (9a, 9b) simultaneously move the carton along the transverse axis (X, X ') of a distance advantageously equal to half the width, namely the distance oriented along a transverse axis (X, X '), of a gripping means, preferably a clamp (6).
• the zero focus means are adapted to position any carton size.
• the coordinates of the stops (9a, 9b), the first arm (10a) and the second arm (10b) are transmitted to a PLC, as explained in more detail in the following description. , to determine the size of a carton, namely the width, length and height of the latter.
• the automaton thus determines, as a function of the dimensioning of the carton, the number and type of wedging elements (2) to be introduced.
• the stops (9a, 9b) are connected to the conveyor (4).
• the first arm (10a) and the second arm (10b) can take at least two vertical positions, namely a high rest position and a low support position.
• the first arm (10a) and the second arm (10b) can also take an intermediate position for holding the flaps, opposite these, advantageously short flaps (RQ, in order to keep them in position vertical, during the loading operations of at least one wedging element (2).
• RQ advantageously short flaps
• the cardboard abuts against the second arm (10b) in the lower position, while the first arm (10a) is positioned opposite the second arm (10b) , while the first arm (10a) and the second arm (10b) each undergo a simultaneous translation movement and opposite in approach, to position the cardboard supported at the zero point along the longitudinal axis (Y, Y ').
• At least the centering management at a reference zero point of a carton along the longitudinal axis (Y, Y '), by the first arm (10a) and the second arm (10b), and according to Tax transverse (X, X '), by the stops (9a, 9b), can be carried out according to at least three modes of operation.
• the management of the zero point centering of a carton is achieved by transmitting to the automaton the sizing of the carton, previously determined by a means for determining the dimensions of a carton.
• the automaton controls the movement of the arms (10a, 10b) and stops (9a, 9b) according to the transmitted information.
• a distance cell as explained in more detail in the following description, arranged on each of the arms (10a, 10b), detects and controls the movement of the arms (10a, 10b) for zero point centering of a carton.
• the management of the zero point centering of a carton is achieved by stopping the first arm (10a) and the second arm (10b) by limiting the torque on the arm motors (10a). , 10b) and by a verification of identical strokes.
• the opposing translational movements towards the outside of the third arm (11a) and the fourth arm (11b) allow at least partial opening of the flaps arranged in correspondence, preferably the long flaps (RL).
• distance cells namely two distance cells for the short flaps (RC) and two distance cells for the long flaps (RL), determine the coordinates of the ends of the flaps. , at the zero point of the carton, to its support by the robotic cell (3).
• the coordinates of the ends of the short flaps (RC) are advantageously determined during the zero focusing by the first arm (10a) and the second arm (10b), while the coordinates of the ends of the flaps long (RL) are determined prior to at least partial opening of the latter, by the third arm (11a) and the fourth arm (11b).
• a distance cell is located on each of the first and second arms (10a, 10b), for determining the coordinates of the ends, advantageously short flaps (RC), while a distance cell is located on each of the third and fourth arms (11a, 11b), for determining the coordinates of the ends, preferably long flaps (RL).
• a distance cell is located on each of the first and second arms (10a, 10b), for determining the coordinates of the ends, advantageously, so-called short walls, while a distance cell is located on each of the third and fourth arms (11a, 11b), for the determination of the coordinates of the ends, preferably the so-called long walls.
• these distance cells communicate with the automaton for determining the coordinates of the ends of the flaps or the side walls, for the determination of the size of the cardboard supported, namely the width, the length and advantageously the height of a carton.
• the automaton thus determines, as a function of the dimensioning of the carton, the number and type of wedging element (2) to be introduced.
• At least one dispenser produces on demand at least one wedging element (2), according to the information transmitted by the automaton.
• a locking element (2) is fed into at least one cassette (8), while at least one gripping means, preferably at least one clamp (6), inserting at least one wedging element (2) produced at the request in a carton (C), more precisely a clamp (6) inserting a wedging element (2).
• the packaging device (1) comprises a single gripper (6), while the stops (9a, 9b) move the carton along the transverse axis ( X, X '), in view of its filling by the repetition of the process of loading at least one wedging element (2) by a single clamp (6).
• At least one dispenser produces a certain type of wedging element (2) in at least one cassette (8), namely that a cassette (8) is intended to receive at least one type of a wedging element (2), while at least one clamp (6) selects at least one wedging element (2) positioned in a cassette (8) determined according to the information transmitted by the automaton.
• a cassette (8) is in the form of a plate on which separating parts are advantageously removable and can be modulated according to the type of wedging element (2) introduced. .
• These separating parts are composed of vertical poles, now in position and defining a location of a wedging element (2) relative to another.
• a cassette (8) is movably mounted on a magazine (18), allowing a translational movement along a transverse axis (X, X '), a loading position, to an unloading position and vice -versa, as illustrated in Figures 2 and 3.
• a cassette (8) is preferably mechanized, whose operation is managed by the automaton.
• automaton manages the synchronization of the movements of the gripping means and the cassettes (8), in view of the loading and unloading of a wedging element (2), by means of gripping a cassette (8) .
• a loading position advantageously corresponds to a position facing a distributor, while an unloading position corresponds to a position facing at least one gripping means, preferably at least one clamp (6).
• a clamp (6) is formed of two jaws (7) movable in translation along a longitudinal axis (Y, Y ').
• a clamp (6) is mounted on at least one set of rails (13) along longitudinal axes (Y, Y '), sliding along a vertical axis (Z, Z'), connected on both sides to the plates ( 17) advantageously movable chassis, allowing the vertical rise and descent of the latter and the approximation and spacing of the jaws (7) along the set of rails (13).
• the descent of the clamps can be modulated according to the height of a carton.
• a clamp (6) is also equipped with a vertical release means (14) for a wedging element (2), which is shown, as shown in FIG. 4, by two lateral bearing points (14a). ), arranged inside the jaws (7) and preferably a central fulcrum (14b).
• a suitable mechanism moves either the jaws (7) or the vertical release means (14) relative to each other vertically, to release a wedging element (2).
• the jaws (7) are fixed in vertical axis (Z, Z ') relative to the rails (13) carrying them, while the vertical release means (14) is movable along the vertical axis (Z, Z '), but it could be otherwise, the vertical release means (14) is fixed according to vertical axis (Z, Z') relative to the rails (13) which carries it, while the jaws (7) ) are movable according to vertical tax (Z, Z '), as illustrated in Figures 4 to 6c.
• the vertical release means (14) is fixed to the set of rails (13), while the jaws (7) are connected to the outside of the vertical release means (14). ) by slides.
• the jaws (7) are equipped with low stops (15) arranged at their upper ends, which extend transversely outwards along the transverse axis (X, X '). These low stops (15) are intended to interact with sleepers (16) arranged between the plates (17).
• a wedging element (2) is advantageously produced on demand by a dispenser, dispensed on a cassette (8), compressed by a clamp (6), which moves it vertically and released by the vertical release means (14). , in view of its positioning in a carton (C), in which it adopts a partially compressed shape, allowing it to be held in position against at least one pair of flaps, preferably the short flaps (RQ, but it could be otherwise, a wedging element (2) is held in position by the ends of the so-called short side walls.
• This positioning ensures that a gripping means, during its descent, does not damage one or articles placed) in a carton.
• the long flaps (RL) are therefore positioned partially open, so that the introduction of wedging element (2) in a carton, does not does not abut against the end of a long flap (RL), or even closes a long flap (RL) unwantedly.
• At least one packaging device (1) allows the superimposition of at least one wedging element (2) on the surface of at least one article, prior to sending by the conveyor (4). carton to advantageously a closure, for closing and sealing the carton.
• the closure of the flaps or the placement of a cover allows at least one wedging element (2) to substantially match the shape of at least one article and fill the empty spaces above the latter.
• the invention also relates to methods for implementing the packaging device (1) according to the invention.
• the methods according to the invention comprise a step of positioning at least one wedging element (2) under stress against at least the ends of two side walls arranged in opposition, preferably also against the flaps arranged along transverse axes. (X, X '), preferably the short flaps (RC).
• X, X ' preferably the short flaps
• RC short flaps
• at least the management of the zero point centering of a carton according to longitudinal axis (Y, Y '), the first arm (10a) and the second arm (10b), as well as along the transverse axis (X , X '), by the stops (9a, 9b) can be performed in at least three modes of operation.
• the automated packaging method of wedging element (2) in a carton (C) by a robotic cell (3) comprises the following steps:
• the method of automated packaging of wedging element (2) in a carton (C) by a robotic cell (3) comprises the following steps:
• the automated packaging method of wedging element (2) in a carton (Q by a cell robotic (3), comprises the following steps:
• step of zeroing a cardboard comprises the following sub-steps:
• the methods according to the invention advantageously comprise a step of at least partial opening of the flaps, advantageously long flaps (RL), which comprises the following substeps:
• step of inserting at least one wedging element (2) comprises the following sub-steps:

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Microelectronics & Electronic Packaging (AREA)
• Container Filling Or Packaging Operations (AREA)
• Supplying Of Containers To The Packaging Station (AREA)

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Citations (14)

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• 2016
  • 2016-05-27 FR FR1654813A patent/FR3051774B1/fr active Active
• 2017
  • 2017-05-24 EP EP17732972.9A patent/EP3464080B1/fr active Active
  • 2017-05-24 CA CA3025642A patent/CA3025642A1/fr active Pending
  • 2017-05-24 JP JP2019514866A patent/JP6941384B2/ja active Active
  • 2017-05-24 BR BR112018074310-0A patent/BR112018074310B1/pt active IP Right Grant
  • 2017-05-24 US US16/304,671 patent/US11053041B2/en active Active
  • 2017-05-24 WO PCT/FR2017/051285 patent/WO2017203169A1/fr not_active Ceased

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