WO2024050769A1 - Système d'emballage et procédé d'emballage d'un objet - Google Patents

Système d'emballage et procédé d'emballage d'un objet Download PDF

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Publication number
WO2024050769A1
WO2024050769A1 PCT/CN2022/117873 CN2022117873W WO2024050769A1 WO 2024050769 A1 WO2024050769 A1 WO 2024050769A1 CN 2022117873 W CN2022117873 W CN 2022117873W WO 2024050769 A1 WO2024050769 A1 WO 2024050769A1
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WO
WIPO (PCT)
Prior art keywords
box
filler
rail
packaging
stack
Prior art date
Application number
PCT/CN2022/117873
Other languages
English (en)
Inventor
Maodong XUE
Shenyuan QU
Binbin Liu
Yin TIAN
Original Assignee
Abb Schweiz Ag
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 Abb Schweiz Ag filed Critical Abb Schweiz Ag
Priority to PCT/CN2022/117873 priority Critical patent/WO2024050769A1/fr
Publication of WO2024050769A1 publication Critical patent/WO2024050769A1/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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/14—Feeding individual bags or carton blanks from piles or magazines
    • B65B43/16—Feeding individual bags or carton blanks from piles or magazines 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
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/30—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated
    • 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

  • Example embodiments of the present disclosure generally relate to the packaging field, and more particularly, to an intelligent packaging system with high automation.
  • packaging is the final step before the finished products leave the factory.
  • the main components of the packaging material include packaging boxes as well as internal corner foam and top cover foam which can be used to protect the electrical appliance inside the packaging box from being hurt by vibration.
  • example embodiments of the present disclosure provide a packaging system and a method of packaging an object.
  • the packaging system comprises an upper layer comprising: a box stack comprising one or more packaging box arranged in a stack; a first filler stack comprising one or more first filler arranged in a stack; and a box gripper configured to grip the packaging box to a box rail below the upper layer, the packaging box is conveyed along the box rail to a handling position where the packaging box is handled; a bottom layer provided below the box rail and comprising: an object rail configured to convey an object to be packaged by the packaging box; and a handling apparatus configured to receive the packaging box from the handling position to the object rail to package the object; and an intermediate rail provided between the upper layer and the bottom layer and configured to convey the first filler from the upper layer to the bottom layer to allow the first filler to be filled within the packaging box after the object is packaged within the packaging box.
  • the space occupied by the packaging system can be controlled in a reasonable range, which will increase the usage range of the system.
  • the majority of the process of packaging the object can be conducted by automatically, which may bring about fast beat of the production line.
  • the packaging system further comprises a platform provided adjacent to and end of the intermediate rail and above the bottom layer, the platform is configured to allow a personnel to grab the first filler and fill the first filler within the packaging box after the object is packaged within the packaging box.
  • the upper layer further comprises: a filler gripper configured to grip the first filler from the first filler stack to the intermediate rail along a first filler rail provided at the upper layer.
  • the upper layer further comprises: a second filler stack comprising one or more second filler arranged in a stack, and the intermediate rail is further configured to convey the second filler from the upper layer to the bottom layer to allow the second filler to be filled within the packaging box after the object is packaged within the packaging box.
  • the upper layer further comprises: a filler tray configured to support the second filler and place the second filler from the second filler stack to the intermediate rail along a second filler rail provided at the upper layer.
  • the box stack comprises a first sensor; and the box gripper comprises a second sensor configured to sense the distance between the box gripper and the first sensor.
  • the box rail and the object rail are horizontal, and the intermediate rail extends at an angle relative to the box rail and the object rail.
  • the packaging box is stacked in a folded configuration at the box stack and is unfolded to an unfolded configuration by the handling apparatus at the handling position.
  • the handling apparatus comprises: a robot mounted to a base; and a clamp coupled to the robot, the clamp being configured to grab the packing box and unfold the packaging box from the folded configuration to the unfolded configuration.
  • the clamp comprises: a first clamping portion comprising a first sucking disc; and a second clamping portion coupled to the first clamping portion, the second clamping portion comprising a second sucking disc, the first sucking disc and the second sucking disc are coplanar when the clamp grabs the packing box, and the first sucking disc and the second sucking disc are non-coplanar when the clamp unfolds the packaging box from the folded configuration to the unfolded configuration.
  • a method of packaging an object comprises: actuating a box gripper to grip a packaging box from a box stack to a box rail, the box stack being provided at an upper layer and comprising one or more packaging box arranged in a stack, the box rail being provided below the upper layer, the upper layer comprises a first filler stack comprising one or more first filler arranged in a stack; conveying the packaging box along the box rail to a handling position where the packaging box is handled; conveying an object to be packaged by the packaging box along an object rail, the object rail being provided at a bottom layer provided below the box rail; actuating a handling apparatus configured to receive the packaging box from the handling position to the object rail to package the object, the handling apparatus being provided at the bottom layer; and conveying the first filler from the upper layer along an intermediate rail to the bottom layer to allow the first filler to be filled within the packaging box after the object is packaged within the packaging box, the intermediate rail being provided between the upper layer and the bottom layer.
  • Fig. 1 illustrates a front view of the packaging system in accordance with an example embodiment of the present disclosure
  • Fig. 2 illustrates a perspective view of an upper layer of the packaging system in accordance with an example embodiment of the present disclosure
  • Fig. 3 illustrates a top view of an upper layer of the packaging system in accordance with an example embodiment of the present disclosure
  • Fig. 4 illustrates a perspective view of a bottom layer of the packaging system in accordance with an example embodiment of the present disclosure
  • Fig. 5 illustrates a perspective view of a clamp of the handling apparatus in accordance with an example embodiment of the present disclosure
  • Fig. 6 illustrates a method of packaging an object in accordance with example embodiments of the present disclosure.
  • references in the present disclosure to “one embodiment, ” “an embodiment, ” “an example embodiment, ” and the like indicate that the embodiment described may include a particular feature, structure, or characteristic, but it is not necessary that every embodiment includes the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to apply such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
  • first and second etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and similarly, a second element could be termed a first element, without departing from the scope of example embodiments. As used herein, the term “and/or” includes any and all combinations of one or more of the listed terms.
  • the package of the large household electrical appliances are commonly achieved by manual processing or small-scale local automation.
  • packaging machines there are many kinds of packaging machines in the market, but the vast majority of packing machines are used in small packaging field like bottled industrials such as beverages and mineral water.
  • manual packaging is usually used for the packing of large household appliances such as refrigerators or washing machines. Such a manual operation mode will result in high labor intensity, high labor cost and low production efficiency.
  • the present disclosure proposes a solution involving an industrial robot, which takes great advantage of the spatial room and will bring about high degree of automation.
  • FIG. 1 illustrates a front view of the packaging system 1 in accordance with an example embodiment of the present disclosure.
  • the packaging system 1 generally comprises two layers, i.e., an upper layer 10 and a bottom layer 20.
  • the packaging system 1 also includes an intermediate rail 30 provided between the upper layer 10 and the bottom layer 20.
  • Figs. 2 and 3 illustrate a perspective view and a top view of an upper layer 10 of the packaging system 1 in Fig. 1, respectively.
  • the upper layer 10 of the packaging system 1 includes a box stack 11 and a first filler stack 12.
  • the box stack 11 contains one or more packaging box 110 arranged in a stack. In the illustrated embodiment, one box stack 11 is included in the packaging system 1 and the box stack 11 includes 11 stacks of boxes.
  • the packaging system 1 may include more than one box stack 11 and each box stack 11 may include other numbers of stacks of boxes.
  • the packaging boxes 110 in folded configuration are piled up in vertical direction.
  • the packaging box 110 in folded configuration is generally in planar form, which means the packaging box 110 may have a relatively small size in vertical direction than those other two directions.
  • the first filler stack 12 contains one or more first filler 120 arranged in a stack. In the illustrated embodiment, the first filler 120 may be the corner foam of packaging the object.
  • the first filler 120 may be other kinds of fillers according to the actual need.
  • the upper layer 10 may also include a box gripper 13 configured to grip the packaging box 110 to a box rail 40. With reference back to Fig. 1, as shown the box rail 40 is provided between the upper layer 10 and the bottom layer 20, the packaging box 110 can be conveyed along the box rail 40 to a handling position 42 where the packaging box 110 is handled.
  • the space of the bottom layer 20 can be saved accordingly.
  • the box rail 40 between the upper layer 10 and the bottom layer 20 can be fully utilized to maximize the space usage.
  • Fig. 4 illustrates a perspective view of a bottom layer 20 of the packaging system 1 in accordance with an example embodiment of the present disclosure.
  • the bottom layer 20 comprises an object rail 21 and a handling apparatus 22.
  • the object rail 21 is configured to convey the object 210 to be packaged by the packaging box 110.
  • the object 210 may be large household appliances such as refrigerators, television, or washing machines.
  • the handling apparatus 22 is configured to receive the packaging box 110 from the handling position 42 to the object rail 21 to package the object 210.
  • the handling apparatus 22 may include a robot 23 mounted to a base 25 and a clamp 24 coupled to the robot 23.
  • the clamp 24 may be configured to unfold the packaging box 110 from the folded configuration to the unfolded configuration.
  • the packaging system 1 may include an intermediate rail 30 provided between the upper layer 10 and the bottom layer 20.
  • the intermediate rail 30 is configured to convey the first filler 120 from the upper layer 10 to the bottom layer 20 to allow the first filler 120 to be filled within the packaging box 110 after the object 210 is packaged within the packaging box 110.
  • the arrangement of the packaging system 1 can be made more reasonable.
  • the process flow and the layout of the packaging system 1 are compact and reasonable, also the highly intelligent equipment control and management greatly improves the yield time.
  • the packaging system 1 may further comprises a platform 50 provided adjacent to and end of the intermediate rail 30 to allow the first filler 120 to move to a position near the platform 50 so that a personnel standing on the platform 50 may grab the first filler 120 and fill the first filler 120 within the packaging box 110 after the object 210 is packaged within the packaging box 110.
  • the platform 50 is also provided above the bottom layer 20. In this way, the space between the upper layer 10 and the bottom layer 20 can be effectively utilized.
  • the upper layer 10 may further comprise a filler gripper 14 configured to grip the first filler 120 from the first filler stack 12 to the intermediate rail 30 along a first filler rail 15 provided at the upper layer 10.
  • a throwing port 155 is provided adjacent to an end of the first filler rail 15.
  • the throw port 155 is provided an opening connected to the intermediate rail 30 so that the first filler 120 can be thrown to the intermediate rail 30 through the opening of the throwing port 155 to finally reach the bottom layer 20.
  • the filler gripper 14 may be configured to grip the first filler 120 of various dimensions. Therefore, no matter the actual size of the first filler 120, the filler gripper 14 may grab the first filler 120 from the first filler stack 12 to the intermediate rail 30 to allow the first filler 120 to arrive at the bottom layer 20. In this way, the packaging system 1 may be used in a production line adapted to package a variety of objects.
  • the box stack 11 may include a feeding port 111, through which the packaging box 110 may be conveyed to the box rail 40.
  • the box stack 11 may further comprise a box loading position to load the packaging boxes 110 folded in a stack.
  • the packaging system 1 may further comprises a second filler stack 16 comprising one or more second filler 160 arranged in a stack.
  • the number of the second filler 160 are not limited in this regard.
  • the second filler 160 may be the top cover foam of packaging the object 210. It is to be understood that this is only for illustration without suggesting any limitations as to the scope of the subject matter described here.
  • the second filler 160 may be other kinds of fillers in other scenarios.
  • the intermediate rail 30 may be further configured to convey the second filler 160 from the upper layer 10 to the bottom layer 20 to allow the second filler 160 to be filled within the packaging box 110 after the object 210 is packaged within the packaging box 110.
  • the upper layer 10 may further comprise a filler tray 17 at a bottom of the second filler 160 to support the second filler 160.
  • the filler tray 17 may also place the second filler 160 from the second filler stack 16 to the intermediate rail 30 along a second filler rail 18 provided at the upper layer 10.
  • the throw port 155 is also provided adjacent to an end of the second filler rail 18 so that the second filler 160 can be thrown to the intermediate rail 30 through the opening of the throwing port 155 to finally reach the bottom layer 20.
  • the box stack 11 may comprise a first sensor (not shown) .
  • the first sensor may be provided at the bottom of the box stack 11.
  • the box gripper 13 may comprise a second sensor (not shown) configured to sense the distance between the box gripper 13 and the first sensor. In this way, the packaging system 1 may know how much boxes 110 are now stacked on the box stack 11.
  • the box rail 40 and the object rail 21 may be horizontal, and the intermediate rail 30 may extend obliquely at an angle relative to the box rail 40 and the object rail 21.
  • the packaging system 1 may have a reasonable and compact spatial layout. Since the floor area may be controlled in a small range, the usage scope of the packaging system 1 can be enhanced.
  • Fig. 5 illustrates a perspective view of a clamp 24 of the handling apparatus 22 in accordance with an example embodiment of the present disclosure.
  • the clamp 24 generally includes a first clamping portion 241 and a second clamping portion 242 coupled to the first clamping portion 241.
  • the first clamping portion 241 and the second clamping portion 242 may be hinged to each other.
  • the first clamping portion 241 may include a first sucking disc 243; and the second clamping portion 242 may also a second sucking disc 244.
  • a number of the first sucking disc 243 and the second sucking disc 244 are illustrated in Fig. 5. It is to be understood that the number of the first sucking disc 243 and the second sucking disc 244 are not limited in this regard.
  • the first sucking disc 243 and the second sucking disc 244 may be coplanar when the clamp 24 grabs the packing box 110, and the first sucking disc 243 and the second sucking disc 244 may be non-coplanar when the clamp 24 unfolds the packaging box 110 from the folded configuration to the unfolded configuration.
  • the object 210 may be conveyed on the object rail 21 in forward direction L one by one.
  • the object 210 will first be packaged with the packaging box 110 by the robot 23, which means the robot 23 grasps the packaging box 110 to enclose the object 210 from top to bottom.
  • the personal on the platform 50 will put the fillers (for example, the first filler 120 and/or the second filler 160) into the packaging box 110.
  • a locating apparatus may be used to sense the relative positions between the object 210 and the packaging box 110 to accurately package the packaging box 110.
  • the packaging box 110 As to the packaging box 110, it is initially stacked at the box stack 11 at the upper layer 10.
  • the packaging boxes 110 folded in a stack may be conveyed to the box stack 11 with a trolley.
  • the box gripper 13 can be actuated to grip the packaging box 110 from the box stack 11 to the box rail 40.
  • the packaging box 110 will be delivered to the handling position 42 where the robot 23 will fetch the packaging box 110 by means of the clamp 24.
  • the first portion 241 and the second portion 242 of the clamp 24 are positioned coplanar to each other and the clamp 24 uses the first sucking disc 243 and the second sucking disc 244 to suck the packaging box in folded configuration.
  • the first portion 241 and the second portion 242 may then rotate to each other to cause the first sucking disc 243 and the second sucking disc 244 to be non-coplanar to each other, so as to transform the packaging box 110 from the folded configuration into the unfolded configuration to enclose the object 210. Since the transformation of the packaging box 110 can be completed by the robot 23 without human intervention, the labor can be saved and the beat can be improved accordingly, which greatly increases the work efficiency of the whole system.
  • the first filler 120 As to the first filler 120, it is initially stacked at the first filler stack 12 at the upper layer 10.
  • the first filler 120 in a stack may be conveyed to the first filler stack 12 with a trolley.
  • the filler gripper 14 provided above the first filler stack 12 can be actuated to grip the first filler 120 from the first filler stack 12 along the first filler rail 15.
  • the first filler 120 At the end of the first filler rail 15, the first filler 120 may be thrown to the box rail 40 through the throwing port 155.
  • the first filler 120 will be delivered to the platform 50 and the personnel at the platform 50 can put the first filler 120 into the packaging box 120, which has already packaged the object 210, before him.
  • the second filler 160 As to the second filler 160, it is initially stacked at the second filler stack 16 at the upper layer 10.
  • the second filler 160 in a stack may be conveyed to the second filler stack 16 with a trolley.
  • the filler tray 17 provided at the bottom of the second filler stack 16 can be actuated to put the second filler 160 from the second filler stack 16 along the second filler rail 18.
  • the second filler 160 At the end of the second filler rail 18, the second filler 160 may be thrown to the box rail 40 through the throwing port 155. Through the box rail 40, the second filler 160 will be delivered to the platform 50 and the personnel at the platform 50 can put the second filler 160 into the packaging box 120, which has already packaged the object 210, before him.
  • the packaging system 1 may include a production information management system to completely control the production processes, including data management, formula management, inventory management, equipment management and other management modules.
  • the task information when executing a production task, the task information may be automatically identified.
  • the formula model may be input manually and then can be obtained via touch screen. After knowing the formula model, the size of the packaging box 110 may be determined accordingly.
  • the packaging system 1 may further include an automated material storage system.
  • an intelligent warehouse may further be provided to receive material information, which contains the packaging box 110 and fillers that correspond to specification information, and such information may be automatically allocated to the storage system.
  • a code scanning gun may be utilized to scan the barcode of the objects 210 to allow the packaging system 1 to know the information of the object 210, including but not limited to, the dimension of the object 210.
  • the information may be transmitted to a controller, for example to allow the controller to initialize the operation according to the information.
  • Fig. 6 illustrates a method 600 of packaging an object 210 in accordance with example embodiments of the present disclosure.
  • the box gripper 13 is actuated to grip the packaging box 110 from the box stack 11 to a box rail 40, the box stack 11 being provided at the upper layer 10 and comprising one or more packaging box 110 arranged in a stack, the box rail 40 being provided below the upper layer 10, wherein the upper layer 10 comprises the first filler stack 12 comprising one or more first filler 120 arranged in a stack.
  • the packaging box 110 is conveyed along the box rail 40 to the handling position 42 where the packaging box 110 is handled.
  • the object 210 to be packaged by the packaging box 110 is conveyed along the object rail 21, the object rail 21 being provided at the bottom layer 20 provided below the box rail 40.
  • the handling apparatus 22 is actuated configured to receive the packaging box 110 from the handling position 42 to the object rail 21 to package the object 210, the handling apparatus 22 being provided at the bottom layer 20.
  • the present disclosure can significantly improve the work efficiency, save the cost of manpower and materials; meanwhile, the present disclosure may also reduce the risk and ensure the production beat.
  • the present disclosure may completely replace the manual operation necessary in the conventional operations.
  • the present disclosure has significant market value. It is to be understood that although the above disclosure are described by taking the large household electrical appliances as examples, this is only for illustration without suggesting any limitations as to the scope of the subject matter described here the above embodiments may be used in other scenarios.

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

Abstract

Des exemples de modes de réalisation de la présente divulgation concernent un système d'emballage et un procédé d'emballage d'un objet. Le système d'emballage comprend une couche supérieure, une couche inférieure disposée au-dessous du rail à boîtes et un rail intermédiaire disposé entre la couche supérieure et la couche inférieure. La couche supérieure comprend une pile de boîtes comprenant une ou plusieurs boîtes d'emballage disposées en une pile ; une première pile de produits de remplissage comprenant un ou plusieurs premiers produits de remplissage disposés en une pile ; et un dispositif de préhension de boîte conçu pour saisir la boîte d'emballage sur un rail à boîtes au-dessous de la couche supérieure, la boîte d'emballage étant transportée le long du rail à boîtes vers une position de manipulation dans laquelle la boîte d'emballage est manipulée. La couche inférieure comprend un rail à objets conçu pour transporter un objet à emballer par la boîte d'emballage ; et un appareil de manipulation conçu pour recevoir la boîte d'emballage depuis la position de manipulation vers le rail à objets afin d'emballer l'objet. Le rail intermédiaire disposé entre la couche supérieure et la couche inférieure et conçu pour transporter le premier produit de remplissage de la couche supérieure vers la couche inférieure pour permettre au premier produit de remplissage de remplir l'intérieur de la boîte d'emballage après que l'objet a été emballé à l'intérieur de la boîte d'emballage. Selon la présente divulgation, un ensemble complet de flux de traitement en boucle fermée depuis le stockage et la gestion intelligents de matériel jusqu'à l'emballage peut être réalisé.
PCT/CN2022/117873 2022-09-08 2022-09-08 Système d'emballage et procédé d'emballage d'un objet WO2024050769A1 (fr)

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PCT/CN2022/117873 WO2024050769A1 (fr) 2022-09-08 2022-09-08 Système d'emballage et procédé d'emballage d'un objet

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090031676A1 (en) * 2007-08-02 2009-02-05 Savoye Method and combined machine for cutting and closing boxes with inserted void-filling bags
CN103979138A (zh) * 2014-05-10 2014-08-13 佛山市锐博陶瓷机电有限公司 装箱机
CN206218308U (zh) * 2016-11-23 2017-06-06 楚天智能机器人（长沙）有限公司 立式装箱机
CN109229568A (zh) * 2018-09-05 2019-01-18 合肥哈工龙延智能装备有限公司 全自动开装封箱一体机
CN110451023A (zh) * 2019-08-26 2019-11-15 浙江正泰电器股份有限公司 包装设备和包装方法
CN111392096A (zh) * 2020-02-13 2020-07-10 安徽沛愉包装科技有限公司 一种箱内产品可等距固定的智能装箱机

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090031676A1 (en) * 2007-08-02 2009-02-05 Savoye Method and combined machine for cutting and closing boxes with inserted void-filling bags
CN103979138A (zh) * 2014-05-10 2014-08-13 佛山市锐博陶瓷机电有限公司 装箱机
CN206218308U (zh) * 2016-11-23 2017-06-06 楚天智能机器人（长沙）有限公司 立式装箱机
CN109229568A (zh) * 2018-09-05 2019-01-18 合肥哈工龙延智能装备有限公司 全自动开装封箱一体机
CN110451023A (zh) * 2019-08-26 2019-11-15 浙江正泰电器股份有限公司 包装设备和包装方法
CN111392096A (zh) * 2020-02-13 2020-07-10 安徽沛愉包装科技有限公司 一种箱内产品可等距固定的智能装箱机

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