WO2023138975A1 - Procédé de commande d'une machine d'emballage - Google Patents

Procédé de commande d'une machine d'emballage Download PDF

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Publication number
WO2023138975A1
WO2023138975A1 PCT/EP2023/050614 EP2023050614W WO2023138975A1 WO 2023138975 A1 WO2023138975 A1 WO 2023138975A1 EP 2023050614 W EP2023050614 W EP 2023050614W WO 2023138975 A1 WO2023138975 A1 WO 2023138975A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
drives
machine
safe zone
positions
Prior art date
Application number
PCT/EP2023/050614
Other languages
German (de)
English (en)
Inventor
Andreas SAWADSKY
Benny Beutler
Original Assignee
Focke & Co. (Gmbh & Co. Kg)
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 Focke & Co. (Gmbh & Co. Kg) filed Critical Focke & Co. (Gmbh & Co. Kg)
Publication of WO2023138975A1 publication Critical patent/WO2023138975A1/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
    • B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
    • B65B19/28—Control devices for cigarette or cigar packaging machines
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones

Definitions

  • the present invention relates to a method for automatically controlling a packaging machine for producing packaging, in particular for producing packaging for smokable products in the tobacco industry, with preferably at least one group of several independently controllable (motor) drives, each driving a machine element of the packaging machine and moving along movement paths that intersect in an overlapping area in which the machine elements could collide with one another or with products handled by the machine elements. Furthermore, the invention relates to a device for producing such packaging, which can be controlled with the aforementioned method.
  • Packaging machines often have, particularly in different areas of the machine, several groups of machine parts in which the movement paths of the members of the respective group intersect in an overlapping area in the manner described above.
  • mechanical (movement) coupling of individual, moving machine parts, such as slides, conveyors, turrets, etc., to a rotating king or master shaft has been increasingly abandoned in packaging machines in recent years in favor of individual servo drives electronically coupled to a machine cycle for these machine parts.
  • the method mentioned at the outset is characterized in that the following steps are carried out, in particular for collision-free synchronization of the machine parts with one another, preferably during commissioning or maintenance of the packaging machine: a) Defining one or more safe zones of drive positions for (at least) one or each of the (motor) drives (the drives of the group of drives of the machine under consideration, the machine parts of which overlap in their movement paths in an overlapping area) within the respective set of possible drive positions of the respective Drive, whereby it applies to each safe zone that if the respective drive (of the group under consideration) is in one, namely has any drive position within this safe zone, (at least) one or each other drive can assume any drive position within its respective set of possible drive positions without that the machine parts collide with each other or with products handled by them, b) checking whether (at least) one drive (of the respective group) is in a safe zone, c) if a drive is in a safe zone, moving (at least) one or each other drive (of the respective group)
  • safe zones and possibly unsafe zones, cf. below
  • safe zones are defined in the manner described above and in particular in a controller of the machine and/or one assigned to the controller data memory are mapped, an electronic or automatic approach is created that makes it possible to move the machine organs or the drives of the machine organs automatically (in particular as part of a synchronization operation after the machine has come to a standstill) into a synchronous position without the risk of collisions.
  • the aforementioned different, alternative paths can be taken for this purpose.
  • one of the drives could first be moved to a safe zone. In order not to cause any collisions, this would take place according to the invention along a collision-free travel path stored in a memory, in particular a memory of the controller.
  • a collision-free travel path could be stored for different actual positions of this or each drive or a combination of the actual positions of the drives of the group under consideration, which can then be accessed by the controller (of course after corresponding reading out or recording of the corresponding actual position of the or each drive of the group under consideration).
  • Each of these collision-free traverse paths could be Beforehand, for example, be determined by an operator or, if necessary, automatically by the controller and stored accordingly.
  • the second drive can then move in the manner described above without collision according to definition, so that it can then be moved to the synchronous position assigned to it, should this be necessary. Then the first drive would then be able to be moved to the synchronous position.
  • feature d2 it is provided that it is first checked whether a collision-free travel path, stored in particular in a memory, exists for one or each drive of the group under consideration, along which the drive can be moved directly into a predetermined synchronous position assigned to the drive, without one of the drives having to be moved into or through a safe zone before or during this process.
  • This alternative is particularly useful if there is sufficient collision-free "play" for the machine parts of the group, while their associated drives are in an unsafe zone, which allows movements of the drives within the respective unsafe zone, which on the one hand do not lead to a collision of the machine parts or the handled products in the overlapping area, but on the other hand allow the respective drive to be moved into its assigned, predetermined synchronous position without having to leave the unsafe zone in between.
  • the machine parts are aligned with one another in such a way that during subsequent synchronized control of the drives, primarily during normal operation of the drives and/or the machine (during the manufacturing or production process of the machine), collision-free operation is also possible in the overlapping area of the machine parts.
  • the synchronous positions represent corresponding positions of the drives from which the machine can go directly into normal operation, in which the drives then follow in accordance with predetermined ones stored in a memory Laws of motion are controlled or moved in particular cyclically or continuously synchronized.
  • the actual positions of the drives can expediently be queried, in particular by means of rotary encoders assigned to the drives and/or the machine parts.
  • the definition of the safe zone(s) is concerned, this is preferably done on the basis of the movement paths of the machine parts driven by the drives.
  • This definition can then be stored or mapped accordingly in the controller. For example, in that the parameters or parameter ranges representing the positions of the drives (for example the angle of rotation of the respective drive) are identified accordingly in the controller or in a memory assigned to the controller as belonging to the safe zone.
  • One or more unsafe zones adjoining a safe zone can also be defined for one or each drive, with each unsafe zone only including drive positions within the set of possible drive positions of the respective drive that are not in a safe zone.
  • One or more unsafe zones can also be defined for one or each drive, whereby for each drive that is in such an unsafe zone, namely has a drive position within the unsafe zone, it applies that the machine element of this drive or a product handled by this machine element collides with the machine element of another drive or with the product handled by this machine element of the other drive in at least one drive position of the other drive.
  • each drive position in the set of possible drive positions of the respective drive is either in a safe zone or in an unsafe zone.
  • a digital simulation model of the machine could be created using a simulation program, for example, in which the positions of the drives and, based on this data, the movement paths of the machine parts are simulated depending on the drive positions.
  • a digital simulation model of the machine that (at least) depicts the drives and the machine organs could be created, with the simulation model being used to simulate different relative positions of the drives and the states of the machine that occur in these relative positions, preferably by means of the simulation program, in particular the machine organs, with the safe (and possibly unsafe) zones being defined on the basis of these simulations.
  • those positions of a drive of the group under consideration would be determined for which it applies that the respective other drive (or the respective other drives) of the group can assume all positions within its set of possible positions without collisions occurring between the machine element of the drive located in the safe zone and the machine element of the other drive.
  • a collision-free traversing path into the safe zone could also be determined for a drive that is not in the safe zone, see variant d 1 ) above.
  • FIG. 1 shows a section of a packaging machine controlled according to the invention for the production of packs for tobacco products with several independent drives that move machine elements, with the movement paths of two machine elements intersecting in a first overlapping area and the movement path of a machine element with the movement path of products that are moved by a machine element in a second overlapping area.
  • FIG. 3 shows a section along the section line III-III in FIG. 2,
  • FIG. 4 shows a representation analogous to FIG. 3 in a different movement state of the packaging machine
  • Fig. 5 shows a schematic representation of the angle of rotation of operating states of the drives A and B of the packaging machine from Fig. 1 before the synchronization operation according to the invention, including safe and unsafe zones, in a state of the packaging machine as it is when the driver of a driver conveyor of the packaging machine shown in Fig. 2 is at the dot-dash position outside and in front of the pocket of a pocket conveyor and the pocket of the pocket conveyor is slightly offset to the side of the driver, by the distance Z, see Fig. 3 , and in which both drive A and drive B are in a safe zone, and in which drive B is already in its synchronous position, while drive A is not yet,
  • FIG. 6 shows a schematic representation of the angle of rotation analogous to FIG. 5, in which, in contrast to FIG.
  • FIG. 7 shows a schematic representation of the angle of rotation analogous to FIG. 6, in which, in contrast to FIG.
  • Fig. 8 - 11 a schematic representation of the movement states of another group of drives D and E of the packaging machine, Fig. 11 referring to an operating state before the synchronization operation, in which both drives D, E are each in an unsafe zone, in which drive E is also outside of its synchronous position and in which drive E can be moved to its synchronous position along a predetermined, collision-free travel path without drive D or drive E having to be moved to a safe zone beforehand .
  • FIGS. 1--7 a packaging machine 10 for packaging cigarettes 11 or for producing cigarette packs with cigarettes 11 as the pack contents, which is only shown partially for this purpose.
  • Packaging machines for cigarettes or other products are known to those skilled in the art and are therefore not described in detail here. It is understood that the inventive Control methods also for other types of packaging devices or
  • Packaging machines is applicable.
  • the method according to the invention can be used in all areas of a packaging machine in which two or more machine parts of the packaging machine driven by (motor) drives move on movement paths in a working space in which collisions of a moving machine part with another moving machine part or with products handled by the machine parts can occur in an overlapping area.
  • Fig. 1 shows a part of the packaging machine 10, in which in a first area cigarettes 11 are pushed or pushed by machine elements moved back and forth in the machine cycle by a drive C, in the present case designed as pushers 12, from a cigarette magazine 13 in groups and in cycles into machine organs held ready in a precise position and moved (further) in cycles by a drive A, in the present case designed as pockets 14 of a circulating pocket conveyor 15.
  • the path of movement of the cigarette groups and the path of movement of the pockets 14 intersect in an overlapping and transfer area 18 in which, for example, if the pockets 14 are incorrectly positioned incorrectly, for example if the alignment of the pockets 14 is too great laterally, a collision of the respective cigarette group with one of the pocket walls of the pockets 14 can occur.
  • the pocket conveyor 15 then conveys the groups of cigarettes in cycles in the direction of a revolving carrier conveyor 16, which has individual machine elements moved by a drive B, in the present case designed as carriers 17, which move on a conveyor track running transversely to the conveying plane of the pockets 14.
  • an upper driver part 21 of one of the drivers 17, adapted to the inner contour of the respective pocket 14 is moved longitudinally through a respective pocket 14 that is kept ready and thereby promotes the in the pocket 14 located cigarette group (taking the same) transversely to the conveying plane of the pockets 14 from the pocket 14 in the direction of a subsequent winding station 19, in which an inner blank 20 is then placed on the cigarette group and folded around it.
  • Collisions can also occur in the overlapping and transfer area 22, for example a collision of a driver 17 with a pocket 14 held ready or a pocket wall of the same if the pockets 14 are incorrectly aligned in an inaccurate position relative to the drivers 17 or the upper driver parts 21.
  • the drives A, B, C can be controlled individually and are each designed as servo drives with a servo motor and corresponding position control.
  • the pushers 12, the pockets 14 (possibly also the entire pocket conveyor 15) and the drivers 17 (possibly also the entire driver conveyor 16) can form the machine parts moved by the drives C, A or B, which move on movement paths that overlap.
  • the drives A, B form a first group of drives of the packaging machine 10, the machine parts of which they drive intersect in an overlapping area, and which may have to be synchronized after the machine 10 has come to a standstill, in particular before it is started up and/or restarted for the first time.
  • the drives A, C accordingly form a second such group.
  • the invention is not limited to the aforementioned special machine parts. Rather, all conceivable machine parts that are moved by drives can be included in the invention, the movement paths of which intersect in an overlapping area.
  • the packaging machine 10 is therefore controlled in a special way in the present case before the regular normal operation of the packaging machine 10 in a separate, automatic synchronization mode. This is explained in more detail using a selected group of drives, namely drives A, B.
  • the actual positions of the drives A and B are queried by one or the controller 25 of the packaging machine 10, namely in the present case (by means of suitable rotary encoders) the angle of rotation of the servomotors of the individual drives A, B.
  • the controller 25 checks whether both drives A, B are already in the assigned, respective synchronous position by comparing them with synchronous positions stored in a data memory 25a assigned to the controller 25 (these form setpoint positions or setpoint rotation angles for the drives A and B). If this is the case, normal operation of the packaging machine 10 can start immediately.
  • the controller 25 checks whether the drives A and B are each in a predetermined safe zone or an unsafe zone. For this purpose, in the controller 25 or in the data memory 25a for each drive A and B, certain angle of rotation ranges or angle of rotation values from the set of possible angles of rotation that the respective drive A or B can assume when it drives the machine element 14 or 17 assigned to it are defined as safe zones or unsafe zones and marked accordingly.
  • a safe zone of drive positions is defined as any zone (or any angle of rotation/every angle of rotation range) for which it applies that if the respective drive A or B is in such a zone, namely assumes any drive position or any angle of rotation within this safe zone, the other drive A or B can assume any drive position within its respective set of possible drive positions without the machine elements 14 or 17 touching each other or the products (cigarettes 11) handled by them. can collide.
  • the respective safe zones of the respective drive A (outer circle) and B (inner circle) are identified by the reference numbers 23a and 23b in the representation of the angle of rotation of the two drives A and B, respectively. Between the safe zones 23a and 23b there are respectively unsafe zones of the drives A and B, which are marked with the reference numbers 24a and 24b.
  • Fig. 5 now shows a first initial situation, for example before the packaging machine 10 is put into operation again, in which the driver 17a of the driver conveyor 16 shown in Fig. 2 is located outside and in front of the pocket 14a of the pocket conveyor 15, cf. the dashed position of the driver 17a in Fig. 2. In this position, the driver 17a and accordingly also its drive B are both in their synchronous position, so that the one with the reference number 27 marked actual position or actual position of the drive B corresponding to FIG. 5 on the synchronous line 26.
  • the pocket 14a or its drive A is not in its synchronous position, cf. also Fig. 3, but the pocket 14a is located laterally offset by the (slight) distance Z to the movement path of the driver 17a, so that the actual position 28 of the drive A is not on the synchronous line 26 and the drive A must first be moved to its synchronous position along a (rotational angle) storage path Z within the scope of the synchronization operation.
  • the controller 25 By correspondingly comparing the actual position 27 of the drive B with the corresponding angle of rotation values stored in the data memory 25a for the safe and unsafe zones 23b and 24b, the controller 25 recognizes that drive B is by definition in a safe zone 23b - the drive A can assume all angle of rotation positions without a collision occurring between the pocket 14a and the driver 17a, since this is outside the pocket 14a - and can therefore By definition, move drive A safely by the angle of rotation Z into the synchronous position of pocket 14a or drive A on synchronous line 26 .
  • FIG. 6 shows an alternative, second starting situation, in which the driver 17a is located within the pocket 14a, see the solid representation of the driver 17a in FIG.
  • the driver 17a is not aligned exactly in the middle of the pocket 14a, but offset laterally by the distance Z, and accordingly the pocket 14a or its drive A is also removed from the assigned synchronous position, specifically by the travel distance or angle of rotation Z, see Fig. 3 and Fig. 6.
  • the drive B of the driver 17a is by definition in an unsafe zone 24b, since the drive A cannot assume all angular positions without the driver 17a colliding with the pocket 14a.
  • Drive A is by definition in a safe zone 23a, since driver 17a in pocket 14a can be moved along its entire path of movement and, corresponding to its drive B, can assume all rotational angle positions without pocket 14a and driver 17a colliding.
  • the controller 25 recognizes that drive A is in the safe zone 23a and can accordingly move the drive B by the angle of rotation X and the driver 17a driven by it accordingly by the travel distance X into the safe zone 23b and at the same time into the synchronous position of the drive B, in which the driver 17a is located outside and in front of the pocket 14a, see again Fig. 6 and 2.
  • the controller 25 also recognizes that the drive B is then in the safe zone 23b and can then move the drive A and the pocket 14a safely by the travel path Z into its associated synchronous position on the synchronous line 26 .
  • Fig. 7 shows an alternative, third initial situation in which, in contrast to the situations in Fig. 6, drive A is in an unsafe zone 24a, see Fig. 4, since drive B cannot be moved into any position without driver 17a colliding with pocket 14a.
  • the drive A is laterally offset (significantly) by an angle of rotation Y to its synchronous position, which corresponds to a lateral offset of the pocket 14a by a distance Y.
  • the drive B in turn, is in a safe zone 23b, but not yet in its synchronous position. This corresponds - not shown - that the driver 17a is located outside of the pocket 14a, but not yet in its synchronous position or the synchronous position of the drive B.
  • the controller 25 recognizes that the drive B is in the safe zone 23b and can safely move the drive A by the angle of rotation Y into its synchronous position. Since the drive A is then itself located in a safe zone 23a, in the next step the drive B can be moved safely by the angle of rotation X to its synchronous position.
  • the procedure of the one or first Driving into the safe zone can take place, for example, along a collision-free travel path stored in the controller 25 or the data memory 25a and correspondingly predetermined, which extends from the actual position of the drive to a position in the safe zone, preferably to the synchronous position of the drive.
  • a travel path which is dependent on the actual position of one drive and possibly also on the actual position of the other drive, can be stored, for example, for every possible actual position of one or all drives or for every combination of possible actual positions of the drives.
  • a travel path is calculated online by the controller 25 depending on the actual position of one and/or the combination of actual positions of both or all drives.
  • control could also first check whether a collision-free travel path exists for one of the drives, in particular whether it is stored in or in the data memory of the control, along which one of the drives can be moved directly into the synchronous position without one of the drives having to be moved into or through a safe zone before or during this process.
  • This alternative is particularly useful if there is sufficient collision-free "play" for the machine parts of the drives while their associated drives are in an unsafe zone, which allows movements of the drives within the respective unsafe zone, which on the one hand do not lead to a collision of the machine parts or the handled products in the overlapping area, but on the other hand allow the respective drive to be moved into its assigned, predetermined synchronous position without having to leave the unsafe zone in between.
  • FIG. 11 shows an unsynchronized position, as can exist after the machine 10 has come to a standstill, and in which, for example, the pack conveyor 29 or the driver 30 and its drive D are located outside of the synchronized position.
  • both drives D and E are in unsafe zones in FIG.
  • the controller 25 checks whether--depending on the actual position of the drive E and possibly additionally depending on the actual position of the drive D--a collision-free travel path for the drive E exists in order to transfer it to its synchronous position. For example, for each actual position of the drive E and/or each combination of actual positions of the drive E and the drive D, such a travel path can be stored in the memory 25a assigned to the controller 25.
  • the drive E could, in the situation in FIG. 11 , move the package conveyor a (short) distance to the left into one or the synchronous position without collision, for example.
  • a digital simulation model of the machine could, for example, as already mentioned at the beginning, be created using a simulation program, in which the positions of the drives and, based on this data, the movement paths of the machine parts are simulated depending on the drive positions.
  • a (at least) the drives and the machine organs imaging, digital simulation model of the machine could be created, using of the simulation model, different relative positions of the drives and the states of the machine that occur in these relative positions are preferably simulated by means of the simulation program, in particular the machine organs, with the definition of the safe (and possibly the unsafe) zones and/or the collision-free travel paths being based on these simulations.
  • the safe zones and/or the collision-free travel paths can of course also be determined or calculated in the conventional way by trained control technicians and stored in the data memory 25a.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)

Abstract

L'invention concerne un procédé de commande d'une machine d'emballage (10) comportant respectivement plusieurs dispositifs d'entraînement qui entraînent respectivement un organe de machine de la machine d'emballage (10) et le déplacent le long de trajectoires de déplacement qui se coupent dans une zone d'intersection (18,22) dans laquelle les organes de machine pourraient entrer en collision entre eux ou avec des produits manipulés par les organes de machine. Ce procédé comprend les étapes consistant à : a) définir une ou plusieurs zones sûres (23a, 23b) de positions d'entraînement pour un ou chacun des dispositifs d'entraînement (A, B, C, D, E) dans l'ensemble respectif de positions d'entraînement possibles du dispositif d'entraînement (A, B, C, D, E) respectif, b) vérifier si un dispositif d'entraînement (A, B, C, D, E) se trouve dans une zone sûre ; c) si un dispositif entraînement (A, B, C, D, E) se trouve dans une zone sûre, déplacer un ou chaque autre dispositif d'entraînement (A, B, C, D, E) ; et/ou d) si aucun dispositif d'entraînement (A, B, C, D, E) ne se trouve dans une zone sûre, soit d1) d'abord déplacer un dispositif d'entraînement (A, B, C, D, E) dans une zone sûre (23a, 23b), et ensuite déplacer un ou chaque autre dispositif d'entraînement (A, B, C, D, E), ou d2) vérifier s'il existe pour un ou chaque dispositif d'entraînement (A, B, C, D, E) respectivement un trajet de déplacement sans collision le long duquel le dispositif d'entraînement (A, B, C, D, E) peut être déplacé dans une position synchrone prédéterminée respectivement associée à au dispositif d'entraînement (A, B, C, D, E), puis déplacer ce dispositif d'entraînement (A, B, C, D, E) le long du trajet de déplacement sans collision jusqu'à la position synchrone.
PCT/EP2023/050614 2022-01-21 2023-01-12 Procédé de commande d'une machine d'emballage WO2023138975A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022101413.4 2022-01-21
DE102022101413.4A DE102022101413A1 (de) 2022-01-21 2022-01-21 Verfahren zur Steuerung einer Verpackungsmaschine

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019120451A1 (de) * 2018-07-31 2020-02-06 G. D Societa' Per Azioni Verfahren zur Bestimmung der Position von Stellgliedern einer automatischen Maschine zur Herstellung von Artikeln der Tabakindustrie
EP3650361A1 (fr) * 2018-11-09 2020-05-13 Focke & Co. (GmbH & Co. KG) Procédé de détection et / ou d'évitement des collisions des organes d'une machine d'emballage
WO2021165912A1 (fr) * 2020-02-20 2021-08-26 G.D Societa' Per Azioni Technique de gestion sélective d'alarmes d'une machine automatique permettant la fabrication ou l'emballage d'articles de consommation

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10343611A1 (de) 2003-09-20 2005-04-14 Walter Ag Einrichtung und Verfahren zur Maschinensteuerung
CN112731894A (zh) 2021-02-02 2021-04-30 深圳华龙讯达信息技术股份有限公司 一种基于数字孪生技术的包装机智能控制系统及方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019120451A1 (de) * 2018-07-31 2020-02-06 G. D Societa' Per Azioni Verfahren zur Bestimmung der Position von Stellgliedern einer automatischen Maschine zur Herstellung von Artikeln der Tabakindustrie
EP3650361A1 (fr) * 2018-11-09 2020-05-13 Focke & Co. (GmbH & Co. KG) Procédé de détection et / ou d'évitement des collisions des organes d'une machine d'emballage
WO2021165912A1 (fr) * 2020-02-20 2021-08-26 G.D Societa' Per Azioni Technique de gestion sélective d'alarmes d'une machine automatique permettant la fabrication ou l'emballage d'articles de consommation

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