WO2020174508A1 - Îlot robotisé pour emballer des articles ou des produits - Google Patents

Îlot robotisé pour emballer des articles ou des produits Download PDF

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Publication number
WO2020174508A1
WO2020174508A1 PCT/IT2020/050040 IT2020050040W WO2020174508A1 WO 2020174508 A1 WO2020174508 A1 WO 2020174508A1 IT 2020050040 W IT2020050040 W IT 2020050040W WO 2020174508 A1 WO2020174508 A1 WO 2020174508A1
Authority
WO
WIPO (PCT)
Prior art keywords
operating
robotized
packaging
island
articles
Prior art date
Application number
PCT/IT2020/050040
Other languages
English (en)
Inventor
Pierluigi Tampieri
Original Assignee
I.M.A. Industria Macchine Automatiche S.P.A.
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 I.M.A. Industria Macchine Automatiche S.P.A. filed Critical I.M.A. Industria Macchine Automatiche S.P.A.
Priority to EP20713987.4A priority Critical patent/EP3931113A1/fr
Publication of WO2020174508A1 publication Critical patent/WO2020174508A1/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
    • 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
    • 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
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/22—Feeding, e.g. conveying, single articles by roller-ways
    • 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
    • B65B35/24—Feeding, e.g. conveying, single articles by endless belts or chains
    • 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
    • B65B41/00—Supplying or feeding container-forming sheets or wrapping material
    • B65B41/02—Feeding sheets or wrapper blanks
    • 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
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/265—Opening, erecting or setting-up boxes, cartons or carton blanks
    • 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
    • B65B43/46—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 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
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
    • B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
    • 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
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
    • 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
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/02—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for perforating, scoring, slitting, or applying code or date marks on material prior to packaging
    • B65B61/025—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for perforating, scoring, slitting, or applying code or date marks on material prior to packaging for applying, e.g. printing, code or date marks on material prior to packaging
    • 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
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/20—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
    • 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
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/26—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for marking or coding completed packages
    • 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 concerns a robotized island for packaging articles or products inside packages, in particular for packaging pharmaceutical articles or products such as blisters, sachets, bags, vials, bottles, syringes or needles, inside packages.
  • the invention also concerns a corresponding method for packaging the articles as above
  • these articles are packaged in packaging lines which comprise a sequence of operating stations, possibly robotized, aligned in the direction of feed of the articles to be packaged and equipped with machines configured to interact with the articles to each carry out a different operation in correspondence with each station.
  • the articles to be packaged move on a transfer device, for example a conveyor belt, in a univocal direction of feed along the packaging line, sequentially passing through the operating stations as above.
  • the speed of the transfer device is suitably coordinated with the operating needs of the machines that perform the operations in the specific operating stations.
  • a filling station Upstream of the packaging line there is usually a filling station in which there is a filling machine to fill the articles with a specific product.
  • the filling station can be independent of the packaging line, in which case there may be an operational store or buffer for the articles.
  • Other known solutions provide that the filling station is coordinated with or integrated with the packaging line.
  • the packaging line comprises an operating station which picks up at least one article from the transfer device and checks its conformity, an operating station which inserts the article into a previously checked box-like package, a package sealing station and finally a control station to check the final conformity of the package.
  • Some solutions known in the state of the art provide further operating stations to perform, for example, printing operations on the packages, labeling of the articles, application of blanks or other.
  • one purpose of the present invention is to provide a robotized island for packaging articles or products by means of which it is possible to reduce the number of machines and operating stations necessary to carry out the packaging operations.
  • a further purpose of the present invention is to provide a robotized island for packaging articles or products that is flexible, that is, able to easily adapt to any changes, for example, of the format change of the articles to be packaged, or of the sizes of the packages.
  • Another purpose of the present invention is to provide a robotized island for packaging articles or products that is compact and structurally simpler than the packaging systems known in the state of the art.
  • a further purpose of the present invention is to make available a method for packaging articles or products performed by the robotized island for packaging articles or products according to the present invention.
  • the Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.
  • the robotized island for packaging pharmaceutical articles or products by means of packages comprises at least an operating area delimited on its perimeter by an operating perimeter, inside which there is at least one automated operator located in the operating area and provided with a robotized articulated arm configured to handle the articles and packages for packaging purposes.
  • the robotized island comprises a plurality of entrance transport lines branching from the operating area, to respectively provide at least the articles and packages in a flat configuration, and a transport line exiting from the operating area, to discharge the packaged articles in the operating area.
  • Each entrance and exit transport line has a free end located in the proximity of the operating perimeter so that it never crosses two distinct portions of the operating perimeter.
  • the robotized island comprises operating packaging stations located inside the operating area as above.
  • the operating packaging stations comprise:
  • an operating forming station having forming means configured to form the packages in a shape suitable to receive the articles starting from packages in a flat configuration
  • an operating closing station having closing means configured to close the package after the article has been inserted inside it
  • an operating control station having at least one control sensor configured to perform a conformity check on at least one of the operations performed in the operating area.
  • the automated operator is configured to interact according to an operating packaging sequence, in order to package the articles using the packages, with the operating packaging stations.
  • Embodiments of the present invention also concern a method for packaging pharmaceutical articles by means of packages, in the robotized island.
  • the method provides to supply at least one automated operator equipped with at least one robotized articulated arm to handle the articles and packages, performing an operating packaging sequence inside at least one operating area of the robotized island.
  • the operating area is delimited on the perimeter by the operating perimeter inside which the automated operator is present.
  • the articles and packages are fed to the robotized island and the packaged articles are discharged from the robotized area by means of respective transport lines that branch respectively into and out of the operating area.
  • Each transport line has a free end located in the proximity of the operating perimeter so as never to cross two distinct portions of the operating perimeter.
  • There are operating packaging stations where the packaging of the articles is completed in the packages by the automated operator.
  • the automated operator interacts with each of the operating stations present in the operating area inside the operating perimeter.
  • the operating packaging sequence comprises at least:
  • FIG. 1 is a perspective view of a robotized island for packaging articles according to the present invention
  • - fig. la is a perspective view of a variant of the robotized island in fig. 1 ;
  • - fig. 2 is a schematic top view of fig. 1 ;
  • - fig. 3 shows the step of picking up a package in the form of a blank box-like container
  • - fig. 4 shows the step of picking up a pre-filled article
  • - fig. 5 shows the step of checking the package in fig. 3 by reading a bar code
  • - fig. 6 shows the step of checking the article in fig. 4;
  • - fig. 7 shows the printing step on the package in fig. 5;
  • - fig. 8 shows the step of checking the information printed on the package in fig. 7;
  • - fig. 9 shows the step of labeling the article in fig. 6;
  • - fig. 10 shows the step of checking the label applied to the article in fig. 9;
  • - fig. 11 shows the step of forming the package in fig. 8;
  • - fig. 12 shows the step of sealing the bottom portion of the package in fig. 11 ;
  • - fig. 13 shows the step of inserting the article in fig. 10 in the package in fig. 12;
  • - fig. 14 shows the step of picking up the leaflet containing the information relating to the content of the article
  • - fig. 15 shows the step of inserting the information leaflet into the package in fig.
  • - fig. 16 shows the possible step of sealing the upper portion of the package in fig. 14;
  • - fig. 17 shows the step of weighing the packaged article to verify conformity
  • - fig. 18 shows the step of delivering the conforming packaged article
  • - fig. 19 is a wide angle view of the automated operator while performing the operation shown in fig. 13;
  • - fig. 20 is a wide-angle view of the automated operator performing the necessary movements to reach the weighing zone for the conformity check step shown in fig. 17;
  • - fig. 21 is a wide angle view of fig. 15;
  • - fig. 22 shows a variant of the robotized island for packaging articles in accordance with the present invention.
  • Embodiments described using the attached drawings concern a robotized island for packaging articles or products, indicated overall by the reference number 10 in the attached drawings.
  • articles or products 100 preferably means pharmaceutical articles or products 100 such as blisters, sachets, bags, vials, bottles, syringes, needles or other known articles or products known and/or frequently produced in the pharmaceutical sector.
  • the articles 100 are already pre-filled, for example, in a filling station located upstream of the robotized island 10, and are packaged in the robotized island 10 in respective packages 110.
  • the robotized island 10 comprises at least one operating area or chamber 11 delimited by an operating perimeter 12, inside which there is at least one automated operator 13 provided with at least one robotized articulated arm configured to handle the articles 100 and the packages 110 for the purpose of packaging.
  • the operating area is configured as an operating chamber 11 so that the operating area is enclosed inside walls disposed along the operating perimeter 12.
  • the automated operator 13 can be provided with two robotized articulated arms 14, 15.
  • the operating area 11 is an open work zone, not closed by any wall or delimitating element.
  • the operating perimeter 12, shown by dashes in fig. la ideally delimits a work zone of the automated operator 13. It should be noted that in this variant, by way of non-restrictive example, the automated operator 13 is provided only with one automated articulated arm 14.
  • the robotized island 10 comprises a plurality of transport lines 16, 17 branching respectively at the entrance, to supply at least the articles 100 and the packages 110, and at the exit, to discharge the packaged articles 140, with respect to the operating chamber 11.
  • Each transport line 16, 17 is provided with a free end located in the proximity of the operating perimeter 12 so that the free end never crosses two distinct portions of the operating perimeter 12.
  • the operating chamber 11 there are a plurality of operating stations 27 with which the automated operator 13 interacts, in particular following a particular operating packaging sequence.
  • the operating area 11 by centralizing all the operations in a single localized position, is therefore the operational hub of the robotized island 10. This allows to obtain a very compact, flexible, versatile and structurally simple system for packaging articles.
  • the operating chamber 11 can have a polygonal shape, for example octagonal, and comprises a raised base 19 provided with a support surface 19a in the center of which the automated operator 13 is positioned.
  • the raised base 19 is delimited by the operating perimeter 12 as above which comprises, in the present case, a plurality of walls 12a positioned one after the other in a closed ring so as to seal the robotized island 10 at least laterally.
  • the walls 12a cover a height, from the support surface 19a, at least equal to that of the automated operator 13 so that any operating anomalies, such as for example the failure to hold an object during a movement, remain limited to the operating chamber 11.
  • the walls 12a can be made of transparent material, for example glass, to allow visual control of the operations carried out by the automated operator 13, or to allow any video recordings to control its movements.
  • the walls 12a can be advantageously opened and/or removed to allow maintenance operations to be carried out or for simple access to the operating chamber 11 , in case of need.
  • the walls 12a can have handles that allow easy opening and/or removal from the raised base 19.
  • the walls 12a delimiting the operating chamber 11, prevent possible and dangerous human-machine interactions, something which is always very critical in the case of robotized systems.
  • the automated operator 13 in this case having anthropomorphic characteristics, comprises a lower body 20, stably attached to the base surface 19, and an upper body 21 rotatably associated with the lower body 20 with respect to its own vertical axis of rotation Y.
  • the vertical rotation axis Y is advantageously orthogonal to the base surface 19 and passing through the lower body 20 and the upper body 21.
  • the articulated robotized arms 14, 15, hereafter for simplicity, arms 14, 15, are rotatably associated with the upper body 21 with respect to a first end thereof, and are provided in correspondence with a second end, opposite the first end, with adaptive handling grippers 14a, 15 a, hereafter for simplicity, grippers 14a, 15 a, configured to perform the actions of handling, gripping, positioning and releasing into position all the objects involved in the operating packaging sequences.
  • the arms 14, 15 have a maximum extension such as to reach, at least with the grippers 14a, 15 a, all the operating zones 18 and the operating stations 27.
  • the handling grippers 14a, 15a can be equipped with, or associated with, holding means 22 able to generate a pressure lower than that of the operating chamber 11 in order to attract and retain objects.
  • the automated operator 13 can be a manipulator robot, advantageously with multiple degrees of freedom.
  • the arms 14, 15 can be formed by one or more portions connected together by articulated joints with two, three, four, five, six or more degrees of freedom as needed.
  • the automated operator 13 can be provided with an image/video acquisition device 34 configured to read and/or check and/or verify labels, graphic codes, barcodes of the objects concerned in the operating packaging sequences, as shown for example in figs. 5, 6 and 8.
  • the image/video acquisition device 34 is installed on the upper body 21 of the automated operator 13.
  • the image/video acquisition device 34 can be a camera or video camera.
  • the camera or video camera can be of the high resolution type.
  • the image/video acquisition device 34 can therefore include one or more cameras, such as a camera having an electronic image sensor, such as a CCD image sensor, a CCD camera or a camera having an electronic image sensor, such as a CMOS image sensor.
  • the acquisition device 34 can also include, for example, electronic components able to inspect and communicate the result of the detection to a system controller 35, as will be explained in more detail below.
  • the acquisition device 34 can comprise light sources or lasers to illuminate the surface of the object to be controlled, in order to improve the functioning of one or more cameras.
  • the image/video acquisition device 34 can comprise an optical acquisition device, also called an optical scanner, for example conformed as a scanner bar.
  • the transport lines 16 comprise a plurality of feed or entrance lines 16a, 16b, 16c, 16d which converge toward the operating perimeter 12 to supply at least the articles 100 and packages 110 to the operating stations 27 of the operating area 11 , and at least one delivery or exit line 17a which diverges from the operating perimeter 12, in order to discharge packaged articles 140 from the operating area 11.
  • two delivery lines 17e, 17f are provided.
  • operating zones are defined, schematically delimited in fig. 1 with dotted lines and indicated by the reference number 18, such as those mixed-use operating zones, in correspondence with which the automated operator 13 is configured to interact with the transport lines 16, 17.
  • the operating zones 18 comprise a plurality of operating feed zones 18a, 18b, 18c, 18d operationally in correspondence with the feed lines 16a, 16b, 16c, 16d, and at least one operating delivery zone 18f operationally in correspondence with the delivery line 17a.
  • the operating zones 18 comprise two delivery zones 18e, 18f operationally in correspondence with the delivery lines 17a, 17b.
  • the feed lines 16a, 16b, 16c, 16d comprise conveyors to feed objects and/or components, necessary for packaging the article 100, toward the operating zones 18; the at least one delivery line 17a comprises a conveyor to pick up the packaged article 140 from the operating chamber 11.
  • the conveyors can be chosen from a group comprising a conveyor belt, a roller system, a cartridge-belt feed system, an automated robot each comprising, possibly, an operational store or buffer, to guarantee a constant feed to the robotized island 10.
  • a specific conveyor depending on the type of object to be fed and according to the method of picking up the packaged article 140, it is possible to choose a specific conveyor.
  • the feed line 16a is configured to feed at least one article 100 at a time toward the operating feed zone 18a.
  • the articles 100 can be positioned in a single storage tray or in storage trays stacked on each other and selectively made available to feed the articles 100 contained therein.
  • the robotized island 10 can comprise a plurality of feed lines 16a each of which is configured to feed a specific article
  • the article 100 can be in the form of a bottle and is fed individually through a feed channel 23 connected to a single plate-shaped storage tray.
  • the terminal part of the feed channel 23 is partly positioned inside the operating chamber 1 1 , in particular in correspondence with the operating feed zone 18a, so as to facilitate interaction with the automated operator 13.
  • the feed line 16b is configured to feed at least one package 110 at a time toward the operating feed zone 18b.
  • the package 110 can be in a blank box like format or in a pre-glued box-like format.
  • the package 110 is in a blank box-like format, that is, in the format of a box-like container, for example made of cardboard, already cut and shaped, but not yet formed, or not yet suitable for containing the article 100.
  • the packages 110 are fed onto a conveyor belt on which they are aligned in a rather compact horizontal or vertical stack.
  • the forming of the package 110 is performed by the automated operator 13. As shown in fig. 3, the terminal part of the conveyor that feeds the packages 1 10 is partly positioned inside the operating chamber 1 1, in particular in correspondence with the operating feed zone 18b, so as to facilitate interaction with the automated operator 13.
  • the feed line 16 can be equipped with a printer which makes the package 110 as needed, that is,“just in time”.
  • the packages 110 can be fed to the robotized island 10 already formed, that is already suitable for containing the article 100, thus reducing the number of operations that the automated operator 13 has to perform.
  • the robotized island 10 can comprise a plurality of feed lines 16b each of which is configured to feed a specific package 110.
  • the feed line 16c comprises a labeling machine suitably designed to cooperate with the robotized island 10.
  • the feed line 16c comprises one or more reels on which the labels 120 to be applied to the article 100 are wound, and one or more return rollers to convey the strip of labels 120 toward application means 24.
  • the application means 24 are partly positioned inside the operating chamber 11, in particular in correspondence with the operating feed zone 18c, so as to facilitate interaction with the automated operator 13.
  • the application means 24 can comprise one or more rollers configured to support the article 100 slidably, and at least one roller to apply the label 120 on a surface of the article 100. Furthermore, the application means 24 can comprise retention devices 25 to retain the article 100, in order to prevent, during the labeling operation, the article 100 from somehow becoming misaligned.
  • the robotized island 10 can comprise a plurality of feed lines 16c each of which is configured to feed the label 120 referring to the specific article 100 to be labeled.
  • the feed line 16d is provided to feed at least one information leaflet 130 at a time to the robotized island 10.
  • information leaflet means the information, collected in a paper leaflet, which describes, for example, the principles contained in the substance inside the article 100, in this specific case the constituents of the drug to which the drug owes its pharmacological activity and its therapeutic efficacy, as well as the administration methods and contraindications or other information required by law.
  • the information leaflets 130 are fed onto a conveyor belt on which they are aligned in a rather compact horizontal or vertical stack. Furthermore, as shown in fig. 14, the terminal part of the conveyor which feeds the information leaflets 130 is partly positioned inside the operating chamber 1 1 , in particular in correspondence with the operating feed zone 18d, so as to facilitate interaction with the automated operator 13.
  • the robotized island 10 can comprise a plurality of feed lines 16d each of which is configured to feed the information leaflets 130 referring to the specific article 100 to be packaged.
  • each feed line 16d can feed information leaflets 130 of different formats that are already pre-folded or to be folded.
  • the delivery line 17a is configured to deliver the packaged article 140, or the article 100 inserted inside the package 110 together with the corresponding information leaflet 130, outside the robotized island 10.
  • the delivery line 17a comprises a conveyor belt positioned partly inside the operating chamber 11 , in particular in correspondence with the operating delivery zone 18e, so as to facilitate interaction with the automated operator 13.
  • a delivery line 17b is provided.
  • the delivery line 17b can comprise a conveyor belt as described for the delivery line
  • a discharge tank 26 is provided which, once full, can be removed on each occasion to be emptied.
  • the operating stations 27 comprise, by way of non-restrictive example, an operating station 27a for forming a package 110, an operating station 27b for printing on the package 110, an operating station 27c for closing it, in which it is provided to apply an adhesive material to seal the package 110, an operating station 27d for checking the conformity of the packaged article 140.
  • a forming device 28 provided with a holding suction cup 28a configured to cooperate with the grippers 14a, 15a to form the package 110.
  • the holding suction cup 28a is able to generate a pressure lower than that of the operating chamber 11.
  • a printing device 29 configured to apply a print on a surface of the package 110.
  • the application of the print takes place when the package 110 is not yet formed, so as to offer the printing device 29 a flat surface on which to apply the print more easily.
  • the printing device 29 is provided with a dispensing nozzle 30 from which the ink for printing comes out.
  • a device for dispensing adhesive material 31 configured as a closing mean for dosing on one or more flaps of the package 110 a quantity of adhesive material sufficient to seal the package 110, at least with respect to one of its lower walls, said wall being the one on which the article 100 contained therein rests.
  • it can be provided to seal the package 110 both with respect to the lower wall and with respect to an opposite upper wall, to prevent, for example, tampering and/or theft of the article 100.
  • a conformity check device 32 is provided which is suitable to check, for example, the weight of the packaged article 140.
  • the conformity check device 32 is provided with a support surface 33 configured to temporarily support the packaged article 140 during the conformity check.
  • the support surface 33 can integrate a load cell able to detect the weight of the packaged article.
  • the support surface 33 is configured as a weighing mean, for example like the plate of a scale, such as those typically used in the industrial automation sector to detect the weight of articles.
  • the robotized island 10 also comprises the system controller 35 as above, configured to receive/send information from/to the operating zones or stations 18, 27 and from/to the image/video acquisition device 34 in order to control the functioning of the automated operator 13, for packaging purposes.
  • system controller is configured to receive/send information from/to the transport lines 16, 17, from/to the forming device 28, printing device 29, adhesive material dispensing device 31 and from/to the conformity check device 32.
  • the robotized island 10 comprises two operating chambers 11a, l ib, operationally communicating with each other, inside which there is respectively an automated operator 13a, 13b.
  • the automated operator 13a is configured to perform an operating sequence to form a package 110.
  • the automated operator 13b is configured to perform an operating sequence to package an article 100 using the package 110 as above.
  • a printing device 29, at least one forming device 28 and at least one device 31 to dispense adhesive material can be present in the operating chamber 1 la.
  • the feed line 16b configured to feed the packages 110 toward the operating zone 18b of the operating chamber 13 a, converges to the operating chamber 11a, and a delivery line 17c suitable to receive the non-conforming packages 110, that is, those formed in an unsuitable way or having geometric differences, also converges to the operating chamber 1 la.
  • the delivery line 17d can comprise an operational buffer for the packages 110.
  • This configuration of the robotized island 10 allows to increase the packaging speed since the forming operation of the package 110 is not constrained by the operations to insert the article 100 and the package 130.
  • Embodiments described here also concern a method for packaging articles or products 100 by means of respective packages 110, preferably pharmaceutical articles or products 100, in the robotized island 10.
  • the method provides to supply at least one automated operator 13 equipped with at least one robotized articulated arm 14, 15, to handle the articles 100 and the packages 110, carrying out an operating packaging sequence inside at least one operating area or chamber 11 of the robotized island 10.
  • At least the articles 100 and the packages 110 are fed to the robotized island 10, and packaged articles 140 are picked up and discharged from the robotized island 10 by means of respective transport lines 16, 17 which branch respectively at the entrance to and exit from the operating chamber 11.
  • Each transport line 16, 17 is interrupted in correspondence with the operating perimeter 12 where, inside the operating chamber 11, there are respective specific operating packaging zones 18 where at least the packaging of the articles 100 is completed using the packages 110 by the automated operator 13.
  • the automated operator 13 interacts with each of the operating packaging zones 18 and the operating stations 27 present in the operating chamber 11 inside the operating perimeter 12.
  • the operating packaging sequence comprises at least:
  • the method according to the present invention comprises:
  • the method provides to read and/or check the labels and/or graphic codes and/or barcodes of the objects involved in the operating packaging sequences of the article 100.
  • the automated operator 13 picks up, advantageously simultaneously an article 100 from the feed line 16a with the gripper 14a, 15a, and picks up a package 110 from the feed line 16b with the gripper 15 a, 14a.
  • the step of picking up the package 110 is shown, which is in a blank box-like format. With this conformation, the package 110 is picked up directly by the holding means 22 which, generating a pressure lower than that of the operating chamber 11, attract and retain the package 110. In the event that the package 110 is fed already formed, it is possible to provide that the pick-up step is performed directly with the gripper 14a, 15 a. Simultaneously, as shown in fig. 4, the other gripper 14a, 15a picks up an article 100.
  • a format adjustment device (not shown) can intervene, which controls an abutment element 36 (fig. 3) associated with the feed line 16b which supplies the packages 110. Thanks to the adjustment device it is possible to position the abutment element 36 in a position dependent on the size of the package 110.
  • the articulated arm 15 of the automated operator is configured to cooperate with the adjustment device to change the position of the abutment element 36.
  • the automated operator 13 moves the package 110 and the article 100, one at a time, toward the image/video acquisition device 34 respectively in order to verify the bar code which univocally identifies the package 110 (fig. 5) and to check the stopper of the article 100, in this case fed in bottles (fig. 6).
  • the articulated arm 15 moves the gripper 15a which holds the package 110 toward the printing device 29.
  • the arm 15 moves the package 1 10 in correspondence with the nozzle 30 which dispenses the ink and generates a print consistent with the movements made by the arm 15 (fig. 7).
  • the printed information is subsequently checked.
  • the arm 15 returns the package 110 in correspondence with the image/video acquisition device 34 which verifies the conformity and correctness of the print (fig. 8).
  • the arm 14 moves the gripper 14a which holds the article 100 toward the operating feed zone 18c.
  • the gripper 14a positions the article 100 on the application means 24 which apply the label 120 coming from the feed line 16c (fig. 9).
  • the applied label 120 is subsequently checked.
  • the arm 14 returns the article 100 in correspondence with the image/video acquisition device 34 which verifies the conformity and correctness of the applied label 120 (fig. 10).
  • the arm 15 moves the gripper 15a which holds the package 110 toward the operating forming station 27a.
  • the forming station 27a by means of the holding suction cup 28a, the forming device 28 retains the package 110 on the opposite side with respect to the gripping side of the gripper 15 a.
  • the gripper 15 a previously aligned with the forming device 28, retreats, moving away in diagonal misalignment so as to facilitate the opening of the package 110, substantially conformed as walls associated in a closed loop sequence (fig. 11).
  • the package 110 is moved toward the adhesive material dispensing device 31 which sprays at least on one of the lower flaps of the package 110 a quantity of glue sufficient to close the package 110 at least with respect to its lower wall, said wall being the one on which the article 100 which will subsequently be inserted in the package 110 rests.
  • the automated operator 13 holds the package 110, at least temporarily open upward, with the gripper 15a, it vertically aligns the article 100, held by the gripper 14a, with respect to the package 110.
  • the automated operator then moves the arm 14 in the direction of the package 110 and the arm 15 in the direction of the article 100, in order to release the latter inside the package 1 10.
  • the gripper 14a freed from the article 100, picks up an information leaflet 130 with the holding means 22 from the feed line 16d (fig. 14). Before the insertion of the leaflet 130, it is possible to provide a step of checking the leaflet 130 by the image/video acquisition device 34.
  • the automated operator 13 While the automated operator 13 holds the package 110, at least temporarily open upward, with the gripper 15a, it vertically aligns the leaflet 130, held by the gripper 14a, with respect to the package 1 10. The automated operator then moves the arm 14 in the direction of the package 110 and the arm 15 in the direction of the leaflet 130, in order to release the latter inside the package 110 (fig. 15).
  • the package 110 containing the article 100 and the information leaflet 130, is moved toward the adhesive material dispensing device 31 which sprays at least on one of the upper flaps of the package 110 a quantity of glue sufficient to close the package 110 with respect to its upper wall.
  • the packaged article 140 is then moved to the operating station 27d to check its conformity.
  • the arm 15 moves the gripper 15a toward the conformity check device 32, rests the packaged article 140 on the support surface 33 and subsequently picks it up.
  • the conformity check device 32 which is configured as a control sensor configured to perform a conformity check on at least one of the operations performed in the operating area 11, sends a signal to the system controller 35 to indicate whether the packaged article 140 is in conformity or not.
  • the system controller 35 processes the signal received from the conformity check device 32 and sends a control signal to the automated operator 13.
  • the arm 15 moves the gripper 15a toward the operating delivery zone 18e of the conforming packaged articles and positions the packaged article 140 on the delivery line 17a.
  • the arm 15 moves the gripper 15a toward the operating delivery zone 18f of the non- conforming packaged articles and positions the packaged article 140 on the delivery line 17b, in this case, in the discharge tank 26.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Wrappers (AREA)

Abstract

L'invention concerne un îlot robotisé pour emballer des articles ou des produits au moyen d'emballages respectifs (100), de préférence des articles ou produits pharmaceutiques (100), qui comprend au moins une chambre de fonctionnement (11) délimitée sur son périmètre par un périmètre de fonctionnement (12) à l'intérieur duquel se trouve au moins un opérateur automatisé (13) avec des bras articulés robotisés (14, 15) conçus pour réaliser une séquence d'opération d'emballage desdits articles (100) au moyen desdits emballages (110).
PCT/IT2020/050040 2019-02-26 2020-02-25 Îlot robotisé pour emballer des articles ou des produits WO2020174508A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20713987.4A EP3931113A1 (fr) 2019-02-26 2020-02-25 Îlot robotisé pour emballer des articles ou des produits

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102019000002693A IT201900002693A1 (it) 2019-02-26 2019-02-26 Isola robotizzata per il confezionamento di articoli o prodotti.
IT102019000002693 2019-02-26

Publications (1)

Publication Number Publication Date
WO2020174508A1 true WO2020174508A1 (fr) 2020-09-03

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EP (1) EP3931113A1 (fr)
IT (1) IT201900002693A1 (fr)
WO (1) WO2020174508A1 (fr)

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DE102020126911A1 (de) 2020-10-13 2022-04-14 Masterwork Group Co., Ltd. Verpackungssystem und verpackungsverfahren
DE102020129212A1 (de) 2020-11-05 2022-05-05 Masterwork Group Co., Ltd. Verpackungsanlage und Verpackungsverfahren
EP4008640A1 (fr) * 2020-12-07 2022-06-08 A.C.M.I. - Societa' Per Azioni Emballeuse

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IT202100016460A1 (it) 2021-06-23 2022-12-23 Stevanato Group Spa Apparato per il confezionamento di contenitori di dispositivi per uso farmaceutico

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JP2000313522A (ja) * 1999-04-28 2000-11-14 Yokohama Rubber Co Ltd:The 梱包箱の搬送方法及びその装置
WO2011041362A1 (fr) * 2009-09-29 2011-04-07 Meadwestvaco Packaging Systems, Llc Appareil et procédé de traitement d'articles
US9037289B2 (en) * 2010-10-04 2015-05-19 Kabushiki Kaisha Yaskawa Denki Processing system, robot, and product manufacturing method
WO2014125627A1 (fr) * 2013-02-15 2014-08-21 株式会社安川電機 Procédé et dispositif d'emballage

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Publication number Priority date Publication date Assignee Title
DE102020126911A1 (de) 2020-10-13 2022-04-14 Masterwork Group Co., Ltd. Verpackungssystem und verpackungsverfahren
DE102020126911B4 (de) 2020-10-13 2022-11-17 Masterwork Group Co., Ltd. Verpackungssystem und verpackungsverfahren
DE102020129212A1 (de) 2020-11-05 2022-05-05 Masterwork Group Co., Ltd. Verpackungsanlage und Verpackungsverfahren
DE102020129212B4 (de) 2020-11-05 2023-01-26 Masterwork Group Co., Ltd. Verpackungsanlage und Verpackungsverfahren
EP4008640A1 (fr) * 2020-12-07 2022-06-08 A.C.M.I. - Societa' Per Azioni Emballeuse
US11884432B2 (en) 2020-12-07 2024-01-30 A.C.M.I.—Societa' Per Azioni Cartoning apparatus

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IT201900002693A1 (it) 2020-08-26

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