• 专利附录
  • 专利说明
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  • 类似技术
  • 同族专利
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    • 专利摘要:
    Automatic packaging device (1) for wedging element (2) in a carton (C), mounted along a conveyor (4) directed along a longitudinal axis (Y, Y '), characterized in that it comprises a robotic cell (3) which comprises at least one wedging element gripping means (2) mounted in association with a storage zone.
    公开号:FR3051774A1
    申请号:FR1654813
    申请日:2016-05-27
    公开日:2017-12-01
    发明作者:Jacky Peterlini
    申请人:Gp System；
    IPC主号:
    专利说明:

    DEVICE FOR PACKAGING SETTING ELEMENT IN A CARDBOARD
    The present invention relates to a device for automated packaging of wedging element in a carton, as well as its method of implementation.
    The presence of wedging element, protects and wraps the items to be packaged in a carton. These wedges make it possible to wedge the voids inside a box and thus to absorb the shocks inherent to the transports and the possible falls.
    Although the placement, protection and packaging of items in cartons is becoming more automated, operator intervention is often required.
    In general, the distribution of these wedges by machines requires the presence of operators to adjust the amount of wedging, guide these wedges in the spaces to be filled, even to position manually by machine output, as in the teaching of US 6,718,729.
    To assist the operator in his tasks, cardboard size determination cells are placed upstream of the packaging stations, such as US 5,829,231, which discloses the determination of the dimensional characteristics of the cartons by reading barcodes. or EP 2 013 086 which describes the determination of the empty space of a container by an appropriate probe.
    Automated chuck placement systems in cartons have been developed, such as US 7,886,125 which discloses the vertical positioning of padded paper by a piston, US 7,665,275 which discloses the chuck distribution by an inclined plane, or the document EP 2 204 325 which describes the vertical distribution of a paper strip of a determined length according to the prior determination of the empty space of the carton. These documents therefore describe a random placement of wedging element in a carton, which does not necessarily ensure optimum cushioning of the packaged articles.
    EP 2 370 319 discloses the placement, by a gripper arm, custom made plastic bag, according to the distribution of the geometry of the empty space of a carton. This system accurately positions the wedging elements around the articles, but does not ensure a placement under stress of the wedging elements, ensuring a positional retention of the articles in a compressed manner in a carton.
    The present invention thus proposes a device for automated packaging of a wedging element in a carton, making it possible to overcome the aforementioned drawbacks.
    Thus, the device for automatic packaging of wedging element in a carton, according to the invention, is mounted along a conveyor directed along a longitudinal axis, while it comprises a robotic cell which comprises at least one means gripping element gripper mounted in association with a storage area.
    It should be added that the robotic cell comprises at least one means for placing the carton at a reference zero point along the longitudinal axis and a transverse axis.
    Note that the zero focusing means comprises two stops movable in translation along the transverse axis.
    Note that the zero focusing means comprises two arms, namely a first arm located at the entrance of the robotic cell and a second arm located at the output of the robotic cell, movable in translation along the longitudinal axis and according to vertical axes.
    According to one characteristic, the wedging element (2) is elastically compressible,
    According to one embodiment, the storage area is a magazine comprising at least one mobile cassette from a loading position to an unloading position.
    According to another embodiment, the carton comprises two so-called short flaps and two so-called long flaps, while the robotic cell comprises at least one movable means for partially opening a flap, preferably a long flap.
    According to the preceding embodiment, at least one movable means for partially opening a flap is an arm movable along a transverse axis and along a vertical axis.
    According to an additional feature, at least one gripping means is movable along a vertical axis.
    According to one embodiment, at least one gripping means comprises a gripper comprising two jaws movable along a longitudinal axis.
    According to another embodiment, at least one gripping means is associated with a vertical release means of a wedging element.
    According to a complementary feature, at least one gripping means is carried by two movable plates along vertical axes.
    According to one embodiment, the robotic cell comprises at least one means for determining either the coordinates of the ends of the flaps of the carton, or the coordinates of the lateral ends of the carton.
    According to another embodiment, the packaging device comprises at least one means for determining the dimensions of the carton upstream of the robotic cell.
    According to another embodiment, the carton comprises two so-called short flaps and two so-called long flaps, while the robotic cell comprises means for holding in vertical position at least one flap arranged along a transverse axis, preferably a short flap.
    According to an additional feature, at least one cassette is associated with at least one wedging element distributor. The invention also relates to a method of implementing a packaging device according to the invention, which comprises a step of positioning at least one wedging element under stress against at least the ends of two side walls of the invention. a cardboard arranged in opposition. Other features and advantages of the invention will become apparent from the description which follows with reference to the accompanying drawings which are given by way of non-limiting examples.
    Figures 1 to 6c are views of a packaging device according to one embodiment of the invention.
    Figure 1 is a perspective view of the packaging device.
    FIG. 2 is a side view of the packaging device in the loading position,
    Figure 3 is a side view of the packaging device in the unloading position.
    Figure 4 is a view is a partial perspective view of the packaging device, in an intermediate position of a gripping means.
    FIG. 5 is a view is a partial perspective view of the packaging device, in a release position of a wedging element,
    FIG. 6a is a partial perspective view of a gripping means, in an intermediate position,
    Figure 6b is a partial perspective view of a gripping means in a low position.
    Figure 6c is a partial perspective view of a gripping means in a release position of a wedging element.
    Thus, the packing device (1) of wedging element (2) advantageously elastically compressible in a carton (C), according to the illustrated embodiment, is provided by a robotic cell (3) comprising at least one means of placing the carton (C) at a reference zero point, advantageously at least one means for detecting the coordinates of the ends of the flaps, advantageously at least one means for partially opening at least one flap, at least one gripping means and a storage zone, or even at least one supply source of calibration element (2),
    It is indifferently used in this description, the term cardboard (C) to designate a container, a box or a container in which is packaged at least one article and at least one wedging element (2).
    By zero point is meant the reference point advantageously represented by the center of the chassis of the robotic cell (3), directly above the conveyor (4). It is understood that a zero point may be at any location, depending on the configuration of the robotic cell (3). The position of the reference zero point can change according to the number of wedging element (2) to be introduced, namely according to the even or odd number, as explained in more detail later in the description,
    It is considered three orthonormal axes at the zero point, namely a longitudinal axis (Y, Y '), a transverse axis (X, X') and a vertical axis (Z, Z '), as well as a succession of axes. parallel to these defining the position of the various elements of the packaging device (1). In the remainder of the description, these different parallel axes being named in the same way.
    It is understood by an external or internal position or direction, a position or a direction distant or close respectively, of the zero point.
    It should be added that the packaging device (1) according to the invention comprises a robotic cell (3), associated with a belt or roller conveyor (4), preferably with rollers, which conveys the cartons (C) along a longitudinal axis. (Y, Y '), and advantageously at least one wedging element distributor (2).
    In general terms, by means of a wedging element distributor (2), there is meant a device that distributes an element that is advantageously compressible.
    According to one embodiment, the dispenser shapes from a folded paper web, a wedging element (2), as explained in more detail in the following description.
    The packaging device (1) advantageously comprises a presence sensor for detecting the arrival of a carton (C) at the level of the robotic cell (3). This presence sensor particularly operates the zero focus means, as explained in more detail in the following description. it is understood that each of the moving elements is driven by a motorized device, as commonly used in the field of mechatronics, for example by pistons, slides, rails, chains, linear motors and / or belts.
    According to other embodiments, the packing element device (1) comprises at least one means for determining the dimensions of a carton (C) before it is taken over by the robotic cell. (3).
    According to one characteristic, a means for determining the dimensions of a carton may be the reading of barcodes, the determination of the empty space or the determination of the length, width and height of a carton, by means of appropriate probes. Packaging of articles in a carton is commonly done manually or semi-automatically.
    The articles to be packaged are advantageously placed, manually or automatically, in cartons upstream of the support by the packaging device (1) according to the invention.
    In general, a packaging line, along a conveyor (4) or a succession of independent positions, comprises first of all a forming machine, shaping the folded cardboards, and finally advantageously a closure or also called scotcheuse, closing cartons flaps mechanically and sealing them with adhesive.
    In the case of a box without flap, a suitable device positions a lid on the latter at the output of the packaging device (1) according to the invention.
    A carton (C) is commonly composed of two pairs of opposite flaps, namely two so-called short flaps (RC) and two so-called long flaps (RL) connected to the corresponding side walls of the carton (C).
    A box does not comprise flaps, and therefore consists of side walls, namely two so-called long walls and two so-called short walls, and a bottom wall,
    At the outlet of a forming machine, the flaps are in the neutral position, namely, in the extension of the side walls, perpendicular to the bottom wall, vertically.
    It is understood by a partially open position, or open flaps, a position of the flaps directed outwards, while it is understood by a partially closed position, or closed, a position of the flaps, directed inwardly.
    A cardboard orientator, also called orientation changer, allowing the rotation and alignment of the cartons in a desired direction, is advantageously placed upstream of the packaging device (1) according to the invention.
    A cardboard generally has a rectangular section, composed of long sides and small sides, namely so-called long and so-called side walls respectively. A carton is conveyed in the direction of the packaging device (1), preferably in the longitudinal direction, namely that the long sides are directed along the longitudinal axis (Y, Y '), while the short sides are directed along a transverse axis (X, X ').
    It is understood that a carton, having a square section, can be supported in the same manner as before, without departing from the scope of the invention.
    According to the illustrated embodiment, for the sake of optimizing the time of handling of a carton by the packaging device (1) according to the invention, it is understood that the cartons are oriented in the length direction in order to reduce the number of wedging element to be introduced, so it is the long flaps (RL) which are partially open, while the short flaps (RC) are left in their neutral position of arrival, see maintained in vertical position by means appropriate, as explained in more detail in the following description. It is understood that the cartons could be oriented in the direction of the width, however a greater number of wedging element would be necessary to wedge the articles in a carton, which would imply a longer handling time, so a lower rate, and necessarily, for large cartons, the width of the conveyor should be greater. It is understood that this configuration is not preferred.
    According to one embodiment, a wedging element (2) is a compressible element having elastic properties.
    According to the preceding embodiment, the wedging elements (2) are advantageously hollow profiles, such as tubes of crumpled paper, formed of a paper strip folded on itself, namely, assembled on its lateral edges and glued. This strip of paper is creased in both a longitudinal direction and a radial direction by a suitable distributor, such as that described in document EP 1 539 474. This strip of paper is cut to a predetermined length, preferably along the length or width of the paper. a carton, namely preferably a length greater than the length of a carton (C), wherein at least one wedging element (2), thus produced, is positioned in a compressed manner.
    The wedging elements (2) can also be of different material, shape and structure.
    The wedging elements (2) are preferably of tubular shape, but it could be otherwise, such as triangular, square or rectangular.
    These compressible elements are first compressible at least longitudinally by a gripping means, in order to be inserted in a carton, preferably placed parallel to the long flaps (RL) of a carton, but it could be otherwise, these elements compressible are placed parallel to the side walls, preferably so-called long walls.
    According to the illustrated embodiment, at least one wedging element (2) is positioned at least at a pair of flaps, preferably the short flaps (RC).
    According to one embodiment, not shown, in the case of a supported body, at least one wedging element (2) is positioned at the so-called long side walls.
    In addition, according to embodiments, the lower end of at least one wedging element (2) is positioned at the upper ends of the side walls of the carton.
    Their elastic properties allow them to exert a longitudinal pressure against the walls of the cardboard and advantageously the flaps arranged in their extension, ensuring their maintenance in position inside the latter.
    Note that the positioning of a wedging element (2) against the walls of a carton in a compressed manner, increase its compressive strength properties compared to uncompressed positioning.
    By type of wedging element (2) is meant a material, a shape or an appropriate length of a wedging element (2), to be distributed according to the dimensioning of the carton and, in particular, according to its positioning, namely at the bottom of the cardboard or on the surface of the latter.
    These compressible elements are also compressible radially during their positioning in a carton, especially next to each other, preferably in the width direction and vertically when closing the flaps or the positioning of a lid, ensuring a maintenance under constraint of packaged articles.
    In the field of mechatronics, we call a PLC, more precisely an industrial programmable logic controller (PLC), a computer that manages physical inputs and outputs, used to automate processes such as machine control on an assembly line or control. automatic handling systems.
    A sensor, such as a presence sensor, or a cell, such as a distance cell, are devices transforming a physical quantity into a signal, which is transmitted and interpreted by a PLC, to control in this case, the packaging device.
    According to one embodiment, the controller determines, according to the dimensions of the carton, the height of the corresponding flaps by the height of the side walls of the carton, according to a reference table, standard dimensions of the cartons usually used, prerecorded in the automaton.
    According to another embodiment, the automaton determines the height of the side walls of a carton according to the coordinates of the ends of the flaps, according to a reference table, pre-recorded in the automaton, standard dimensions of the cartons usually used.
    According to one embodiment, the coordinates of the ends of the side walls are transmitted to the controller.
    The latter information determines the vertical stroke of at least one gripping means and / or plates (17), in view of the release of a wedging element (2) in a carton, as explained in more detail in following the description.
    According to the illustrated embodiment, the robotic cell (3) comprises a frame consisting of uprights, advantageously at least four uprights, and plates (17) advantageously movable, preferably two parallel plates (17) arranged transversely to the axis longitudinal (Y, Y ').
    According to one characteristic, the plates (17) are movable in translation along vertical axes (Z, Z ').
    Note that the plates (17) carry at least rails, at least one wedging member gripping means (2), and preferably at least one vertical release means (14), as explained in greater detail in the following the description.
    The robotic cell (3) comprises an inlet and an outlet through which the conveyor (4) passes.
    More precisely, according to the illustrated embodiment, at least a portion of the robotic cell (3) is arranged directly above the conveyor (4), namely that the conveyor (4) passes right through the frame uprights. , while it comprises at least one gripping means, preferably at least one clamp (6) movable along a vertical axis (Z, Z '), constituted by jaws (7) movable in translation along a longitudinal axis (Y, Y '), as a gripping means, and at least one cassette (8) movable in translation along a transverse axis (X, X'), as at least one wedging element supply source, arranged in a store (18) as a storage area. These different elements will be described in more detail in the following description.
    According to other embodiments, a gripping means comprises a first gripper (6) consisting of jaws (7) movable in translation along a longitudinal axis (Y, Y '), and a second gripper consisting of jaws movable in translation according to a transverse axis (X, X '). These two grippers are intended to grip and compress a wedging element (2) in the two aforementioned directions.
    Preferably the robotic cell (3) is equipped with at least two cassettes (8), more preferably three cassettes (8), or even four cassettes (8), each intended to receive at least one type of wedging element (2). ).
    Add that according to the illustrated embodiment, at least one cassette (8) is arranged in a magazine (18) arranged in the extension of the robotic cell (3).
    According to one embodiment, not shown, at least one cassette (8) is removable from the magazine (18) which carries it, in order to be loaded as wedging element (2), advantageously by at least one distributor located at another place that the packaging device according to the invention. A suitable device thus charges and unloads at least one cassette (8) in a magazine (18), either automatically or in an operator-assisted manner.
    Recall that the robotic cell (3) comprises at least one gripping means, preferably at least one gripper (6), preferably at least two grippers (6), more preferably at least three grippers (6), preferably four grippers (6). ), intended (s) to feed vertically a carton (C), preferably along its width by at least one, two or three or even four wedging elements (2). The clamps (6) are all movable in translation along vertical axes (Z, Z '), while their jaws (7) are movable in translation along longitudinal axes (Y, Y').
    Note that the clamps (6) are aligned next to each other, between the plates (17), oriented along longitudinal axes (Y, Y ') as illustrated in Figure 2.
    According to a further characteristic, the robotic cell (3) is advantageously associated with at least one wedging element distributor (2), directed along a longitudinal axis (Y, Y '), facing at least one cassette (8 ), but it could be otherwise, at least one cassette (8) is fed by a stock of wedging element (2) produced previously.
    Preferably, the robotic cell (3) is associated with at least one dispenser, more preferably at least two distributors, located on either side of the magazine (18).
    Recall that in order to be supported, a carton needs to be aligned along the longitudinal axis (Y, Y ') and along the transverse axis (X, X') with respect to the robotic cell (3) , ie, positioned at a support zero point.
    According to the illustrated embodiment, at least one zero focusing means is constituted by at least one movable stop (9a, 9b), advantageously two stops (9a, 9b), namely a first stop (9a) and a second stop (9b) movable in translation along the transverse axis (X, X '), while two arms (10a, 10b), namely a first arm (10a) located at the entrance of the robotic cell (3) and a second arm (10b) located at the output of the robotic cell (3), movable in translation along a longitudinal axis (Y, Y ') and along a vertical axis (Z, Z'), center a carton (C) to be supported at a given reference zero point.
    The stops (9a, 9b) are advantageously movable in simultaneous translation movements, which move towards and away at the same deflection in opposition, whereas the zero point, along the transverse axis (X, X '), is controlled advantageously by a verification of identical strokes stops (9a, 9b). The carton centered at the zero point, is advantageously kept under pressure by the stops (9a, 9b), to maintain its positioning during its loading and released after loading for its conveyance to a closer or a device for the placement of a lid .
    It is understood that an operator can close and seal the flaps of a carton or position a lid on a crate.
    Note that according to the dimensioning of a carton, especially for an odd number of wedging element (2) to be introduced, the stops (9a, 9b) simultaneously move the carton along the transverse axis (X, X ') of a distance advantageously equal to half the width, namely the distance oriented along a transverse axis (X, X '), of a gripping means, preferably a clamp (6).
    The zero focus means are adapted to position any carton size.
    According to one embodiment, the coordinates of the stops (9a, 9b), the first arm (10a) and the second arm (10b) are transmitted to a PLC, as explained in more detail in the following description. , to determine the size of a carton, namely the width, length and height of the latter. The automaton thus determines, as a function of the dimensioning of the carton, the number and type of wedging elements (2) to be introduced.
    According to the illustrated embodiment, the stops (9a, 9b) are connected to the conveyor (4).
    The first arm (10a) and the second arm (10b) can take at least two vertical positions, namely a high rest position and a low support position.
    According to one embodiment, the first arm (10a) and the second arm (10b) can also take an intermediate position for holding the flaps, opposite these, advantageously short flaps (RC), in order to maintain these in vertical position, during the loading operations of at least one wedging element (2). At the arrival of a cardboard on the conveyor (4), the cardboard abuts against the second arm (10b) in the lower position, while the first arm (10a) is positioned opposite the second arm (10b) , while the first arm (10a) and the second arm (10b) each undergo a simultaneous translation movement and opposite approach, in order to position the cardboard supported at the zero point along the longitudinal axis (Y, Y ' ).
    Note that at least the centering management at a reference zero point of a carton along the longitudinal axis (Y, Y '), by the first arm (10a) and the second arm (10b), as well as according to the transverse axis (X, X '), by stops (9a, 9b), can be carried out according to at least three modes of operation.
    According to one embodiment, the management of the zero point centering of a carton is achieved by transmitting to the automaton the sizing of the carton, previously determined by a means for determining the dimensions of a carton. The automaton controls the movement of the arms (10a, 10b) and stops (9a, 9b) according to the transmitted information.
    According to another embodiment, a distance cell, as explained in more detail in the following description, arranged on each of the arms (10a, 10b), detects and controls the movement of the arms (10a, 10b) for zero point centering of a carton.
    According to another embodiment, the management of the zero point centering of a carton is achieved by stopping the first arm (10a) and the second arm (10b) by limiting the torque on the arm motors (10a). , 10b) and by a verification of identical strokes.
    Add that according to the illustrated embodiment, the robotic cell (3) comprises a third arm (11a) and a fourth arm (11b), movable in translation along transverse axes (X, X ') and along vertical axes (Z , Z '), as means for partially opening at least one flap, preferably at least one long flap (RL).
    According to the illustrated embodiment, the third arm (11a) and the fourth arm (11b) are equipped at their respective ends with a flap (12) movable in rotation, allowing the opening of flaps arranged in opposition, preferably the flaps. long (RL).
    According to another embodiment, not shown, the third arm (11a) and the fourth arm (11b) are equipped at their respective ends with at least one attachment projection directed downwards, namely in the direction of the conveyor, advantageously two attachment projections, in the form of a hook, for gripping the end of a flap, preferably a long flap (RL), in view of its opening.
    The opposing translational movements towards the outside of the third arm (11a) and the fourth arm (11b) allow at least partial opening of the flaps arranged in correspondence, preferably the long flaps (RL).
    According to one embodiment, as previously explained, distance cells, namely two distance cells for the short flaps (RC) and two distance cells for the long flaps (RL), determine the coordinates of the ends of the flaps. , at the zero point of the carton, to its support by the robotic cell (3).
    According to the previous embodiment, the coordinates of the ends of the short flaps (RC) are advantageously determined during the zero focusing by the first arm (10a) and the second arm (10b), while the coordinates of the ends of the flaps long (RL) are determined prior to the opening at least partially of these, by the third arm (IIa) and the fourth arm (Hb).
    According to one embodiment, a distance cell is located on each of the first and second arms (10a, 10b), for determining the coordinates of the ends, advantageously short flaps (RC), while a distance cell is located on each of the third and fourth arms (11a, 11b), for determining the coordinates of the ends, preferably long flaps (RL).
    According to one embodiment, a distance cell is located on each of the first and second arms (10a, 10b), for determining the coordinates of the ends, advantageously, so-called short walls, while a distance cell is located on each of the third and fourth arms (11a, 11b), for determining the coordinates of the ends, advantageously, so-called long walls.
    According to embodiments, these distance cells communicate with the automaton for determining the coordinates of the ends of the flaps or the side walls, for the determination of the size of the cardboard supported, namely the width, the length and advantageously the height of a carton. The automaton thus determines, as a function of the dimensioning of the carton, the number and type of wedging element (2) to be introduced.
    Thus, according to embodiments, at least one dispenser produces on demand at least one wedging element (2), according to the information transmitted by the automaton. A wedging element (2) is fed into at least one cassette ( 8), while at least one gripping means, preferably at least one gripper (6) inserting at least one wedging element (2) produced on demand in a carton (C), more precisely a gripper (6). inserting a wedging element (2).
    According to a particular embodiment, the packaging device (1) according to the invention comprises a single gripper (6), while the stops (9a, 9b) move the carton along the transverse axis ( X, X '), in view of its filling by the repetition of the process of loading at least one wedging element (2) by a single clamp (6).
    According to other embodiments, at least one dispenser produces a certain type of wedging element (2) in at least one cassette (8), namely that a cassette (8) is intended to receive at least one type of a wedging element (2), while at least one clamp (6) selects at least one wedging element (2) positioned in a cassette (8) determined according to the information transmitted by the automaton.
    According to a characteristic / as illustrated in FIG. 3, a cassette (8) is in the form of a plate on which separating parts are advantageously removable and adjustable according to the type of wedging element (2) introduced. . These separating parts are composed of vertical walls, now in position and delimiting a location of a wedging element (2) relative to another.
    Recall that a cassette (8) is mounted on a magazine (18), allowing a translation movement along a transverse axis (X, X '), from a loading position, to an unloading position and vice versa, as illustrated in Figures 2 and 3.
    A loading position advantageously corresponds to a position facing a distributor, while an unloading position corresponds to a position facing at least one gripping means, preferably at least one clamp (6).
    According to an additional feature, a clamp (6) is formed of two jaws (7) movable in translation along a longitudinal axis (Y, Y '). A clamp (6) is mounted on at least one set of rails (13) along longitudinal axes (Y, Y '), sliding along a vertical axis (Z, Z'), connected on both sides to the plates ( 17) advantageously movable chassis, allowing the vertical rise and descent of the latter and the approximation and spacing of the jaws (7) along the set of rails (13).
    Recall that the plates (17) being movable in vertical translation, the descent of the clamps may be modulated according to the height of a carton.
    A clamp (6) is also equipped with a vertical release means (14) for a wedging element (2), which is shown, as shown in FIG. 4, by two lateral bearing points (14a). ), arranged inside the jaws (7) and preferably a central fulcrum (14b). In a common manner, a suitable mechanism moves either the jaws (7) or the vertical release means (14) relative to each other vertically, in order to release a wedging element (2),
    According to one embodiment, the jaws (7) are fixed along the vertical axis (Z, Z ') relative to the rails (13) carrying them, while the vertical release means (14) is movable according to vertical axis (Z, Z '), but it could be otherwise, the vertical release means (14) is fixed according to vertical axis (Z, Z') relative to the rails (13) which carries it, while the jaws (7) ) are movable along the vertical axis (Z, Z '), as shown in Figures 4 to 6c.
    According to the embodiment illustrated in particular in Figure 4, the vertical release means (14) is fixed to the set of rails (13), while the jaws (7) are connected to the outside of the vertical release means (14). ) by slides. The jaws (7) are equipped with low stops (15) arranged at their upper ends, which extend transversely outwards along the transverse axis (X, X '). These low stops (15) are intended to interact with sleepers (16) arranged between the plates (17).
    According to the previous embodiment, the descent of a clamp by the lowering of the rail play (13) induces the interaction of the lower stops (15) with the crosspieces (16), the jaws (7) remaining blocked at the crosspieces (16), while the vertical release means (14) continues its downward stroke, releasing a wedging element (2) into the supported carton as shown in FIG. in detail in FIGS. 6a to 6c.
    Thus, a wedging element (2) is advantageously produced on demand by a dispenser, dispensed on a cassette (8), compressed by a clamp (6), which moves it vertically and released by the vertical release means (14). , in view of its positioning in a carton (C), in which it adopts a partially decompressed shape, allowing it to be held in position against at least one pair of flaps, preferably the short flaps (RC), but it could be otherwise, a wedging element (2) is held in position by the ends of the so-called long side walls.
    This positioning ensures that a gripping means, during its descent, does not damage one or articles placed (s) in a carton.
    The long flaps (RL) are therefore positioned partially open, so that the introduction of wedging element (2) in a carton, does not abut against the end of a long flap (RL), or even closes a long flap (RL) unwantedly.
    These flap configurations in the partially open position for the long flaps (RL) and in the neutral position for the short flaps (RC) induce a placement of the wedging elements (2) in the direction of the length of the carton, namely that a clamp (6) longitudinally compresses a wedging element (2). This mode of placement of at least one wedging element (2), allows that the short flaps (RC) arranged longitudinally, in a neutral position, does not interfere with the introduction of a wedging element (2), while that the partially open positioning of the long flaps (RL), arranged transversely to the longitudinal axis (Y, Y '), also does not interfere with the introduction of a wedging element (2), as previously explained .
    Thus at least one packaging device (1) according to the invention allows the superimposition of at least one wedging element (2) on the surface of at least one article, prior to sending by the conveyor (4). carton to advantageously a closure, for closing and sealing the carton.
    Note that the closure of the short flaps (RC) positions and at least vertically compresses at least one wedging element (2), in view of the maintenance under pressure of at least one article in a carton, but it could be otherwise the positioning a lid positions and compresses at least vertically at least one wedging element (2).
    Thus, the closure of the flaps or the placement of a cover, allows at least one wedging element (2) to substantially match the shape of at least one article and fill the empty spaces above the latter. The invention also relates to methods for implementing the packaging device (1) according to the invention,
    It should be noted that the methods according to the invention comprise a step of positioning at least one wedging element (2) under stress against at least the ends of two side walls arranged in opposition, preferably also against the flaps arranged along transverse axes. (X, X '), preferably the short flaps (RC).
    Recall that at least the management of zero point centering of a carton along the longitudinal axis (Y, Y '), by the first arm (10a) and the second arm (10b) / as well as along the transverse axis (X, X '), by the stops (9a, 9b), can be performed in at least three modes of operation.
    According to one embodiment, the method of automated packing of wedging element (2) in a carton (C) by a robotic cell (3), comprises the following steps: - determining the dimensions of the carton before taking care of it by the robotic cell (3), by a means for determining the dimensions of a carton, ~ transmitting the dimensions of the carton to an automaton which determines the number and type of wedging element (2) to be introduced, ~ centering in a zero point, a carton on a conveyor (4) with respect to the robotic cell (3), according to the dimensions of the carton previously transmitted to the automaton, - inserting at least one wedging element (2) in the carton, according to previously determined information.
    According to another embodiment, the method of automated packaging of wedging element (2) in a carton (C) by a robotic cell (3), comprises the following steps: - determining the coordinates of the ends of the long flaps ( RL) and short flaps (RC) at the zero point, ~ center at a zero point, a carton on a conveyor (4) relative to the robotic cell (3), "determine by an automaton the type and number of wedging element (2), to be loaded, according to the coordinates of the ends of the long flaps (RL) and the short flaps (RC) at the reference zero point, - inserting at least one wedging element (2) in the carton, according to previously held information.
    According to another embodiment, the method of automated packing of wedging element (2) in a carton (C) by a robotic cell (3), comprises the following steps: "centering at a zero point, a cardboard on a conveyor (4) with respect to the robotic cell (3), by checking identical strokes of the stops (9a, 9b), and the arms (10a, 10b), independently, "determining the height of the carton by a distance cell and transmission of this information to an automaton, - transmission of the width and length of the carton to an automaton, according to the positions of the stops (9a, 9b) and the arms (10a, 10b), - insert at least a wedging element (2) in the carton, according to the previously determined information.
    It should be added that the step of zeroing a cardboard comprises the following sub-steps: placing the second arm in the low position (10b); advancing the cardboard pulled by the conveyor (4) abutting the second arm; (10b), - placing the first arm (10a) in a low position, - centering the carton, along the longitudinal axis (Y, Y '), by bringing the first arm (10a) and the second arm (10b) closer together, - Advantageously release the carton centered along the longitudinal axis (Y, Y '), by spacing the first arm (10a) and the second arm (10b), - centering the carton along the transverse axis (X, X') by the simultaneous approach of the first stop (9a) and the second stop (9b), "pressurizing the cardboard by the stops (9a, 9b),
    Note that the methods according to the invention advantageously comprise a step of at least partially opening the flaps, advantageously long flaps (RL), which comprises the following sub-steps: - displacement of the third arm (11a) along at least one axis vertical (Z, Z '), until the distance cell determines the coordinates of the long flap (RL) arranged in correspondence, - displacement of the fourth arm (11b) along at least one vertical axis (Z, Z') , until the distance cell determines the coordinates of the long flap (RL) arranged in correspondence, - transmission to the PLC of the coordinates of the ends of the long flaps (RL), for the calculation of the width of the carton, - possible displacement of the stops (9a, 9b) for an odd number of wedging element (2), - displacement of the third arm (11a) and the fourth arm (11b), along a transverse axis (X, X ') and vertical (Z, Z '), in order to position the ends of the third arm (11a) and the fourth arm (11b), i.e. at least one respective latching projection or flap (12) at the ends of the long flaps (RL) arranged in correspondence, - outward displacements, along a transverse axis (X, X '), the third arm (11a) and the fourth arm (11b), to open at least partially the long flaps (RL),
    Note that the step of inserting at least one wedging element (2) comprises the following substeps: - Acquisition by the controller of the length, width and height of a carton taken in load, - determination of the number, the type and in particular the length of the wedging elements (2), according to the dimensioning of a supported carton, - inward displacement, along a transverse axis (X, X ') , of a cassette (8), towards a position of unloading, ~ downward displacement, along a vertical axis (Z, Z '), of a clamp (6), up to substantially the bottom of a cassette (8) in unloading position, - approximation of the jaws (7) along a longitudinal axis (Y, Y '), in a ratio depending on the length of the wedging element (2) produced, in order to compress it and grasping it, - upward displacement, along a vertical axis (Z, Z '), of the clamp (6) loaded, - outward displacement, along a transverse axis (X, X'), of the cassette ( 8) discharged from an unloading position to a position awaiting loading, - any displacement of the plates (1.7) along an axis (Z, Z ') according to the height of the carton, - displacement downwards, along a vertical axis (Z, Z '), of the gripper (6) loaded, - release of the wedging element (2) by the vertical release means (14), - spacing, along a longitudinal axis (Y, Y'), jaws (7) of the clamp (6) discharged, - upward displacement, along a vertical axis (Z, Z '), the clamp (6) discharged to a loading position.
    权利要求:
    Claims (17)
    [1" id="c-fr-0001]
    claims
    1. Packaging device (1) automatic wedging element (2) in a carton (C), mounted along a conveyor (4) directed along a longitudinal axis (Y, Y ') / characterized in that it comprises a robotic cell (3) which comprises at least one wedging element gripping means (2) mounted in association with a storage zone,
    [2" id="c-fr-0002]
    2. Packaging device (1) according to claim 1, characterized in that the robotic cell (3) comprises at least one cardboard setting means (C) at a reference zero point along the longitudinal axis (Y, Y ') and a transverse axis (X, X').
    [3" id="c-fr-0003]
    3. Packaging device (1) according to the preceding claim, characterized in that the zero focusing means comprises two stops (9a, 9b) movable in translation along the transverse axis (X, X ').
    [4" id="c-fr-0004]
    4. packaging device (1) according to claim 2 or 3, characterized in that the zero-focusing means comprises two arms (10a, 10b), namely a first arm (10a) located at the entrance of the robotic cell (3) and a second arm (10b) located at the output of the robotic cell (3), movable in translation along the longitudinal axis (Y, Y ') and along vertical axes (Z, Z') .
    [5" id="c-fr-0005]
    5. Packaging device (1) according to any one of the preceding claims, characterized in that the wedging element (2) is elastically compressible.
    [6" id="c-fr-0006]
    6. Packaging device (1) according to any one of the preceding claims, characterized in that the storage area is a magazine (18) comprising at least one cassette (8) movable from a loading position to a position unloading.
    [7" id="c-fr-0007]
    Packaging device (1) according to any one of the preceding claims, characterized in that the carton (C) comprises two so-called short flaps (RC) and two so-called long flaps (RL), while the robotic cell ( 3) comprises at least one movable means for partially opening a flap, preferably a long flap (RL),
    [8" id="c-fr-0008]
    8, Packaging device (1) according to the preceding claim, characterized in that at least one movable means of partial opening of a flap is an arm (11a, 11b) movable along a transverse axis (X, X ' ) and along a vertical axis (Z, Z ').
    [9" id="c-fr-0009]
    9. Packaging device (1) according to any one of the preceding claims, characterized in that at least one gripping means is movable along a vertical axis (Z, Z ').
    [10" id="c-fr-0010]
    10. Packaging device (1) according to any one of the preceding claims, characterized in that at least one gripping means comprises a clamp (6) comprising two jaws (7) movable along a longitudinal axis (Y, Y ').
    [11" id="c-fr-0011]
    11. Packaging device (1) according to any one of the preceding claims, characterized in that at least one gripping means is associated with a vertical release means (14) of a wedging element (2).
    [12" id="c-fr-0012]
    12. Packaging device (1) according to any one of the preceding claims, characterized in that at least one gripping means is carried by two plates (17) movable along vertical axes (Z, Z ').
    [13" id="c-fr-0013]
    Packaging device (1) according to any one of the preceding claims, characterized in that the robotic cell (3) comprises at least one means for determining either the coordinates of the ends of the flaps of the carton or the coordinates of the ends. side of the carton.
    [14" id="c-fr-0014]
    14. Packaging device (1) according to any one of the preceding claims, characterized in that it comprises at least one means for determining the dimensions of the carton upstream of the robotic cell (3).
    [15" id="c-fr-0015]
    Packaging device (1) according to any one of the preceding claims, characterized in that the carton (C) comprises two so-called short flaps (RC) and two so-called long flaps (RL), while the robotic cell ( 3) comprises means for holding in vertical position at least one flap arranged along a transverse axis (X, X '), preferably a short flap (RC).
    [16" id="c-fr-0016]
    16, packaging device (1) according to any one of claims 6 to 15, characterized in that at least one cassette (8) is associated with at least one wedging element distributor (2),
    [17" id="c-fr-0017]
    17. A method of implementing a packaging device (1) according to any one of the preceding claims, characterized in that it comprises a step of positioning at least one wedging element (2) under constraints. against at least the ends of two side walls of a carton (C) arranged in opposition.
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    同族专利:
    公开号 | 公开日
    JP2019517963A|2019-06-27|
    CA3025642A1|2017-11-30|
    US20200324929A1|2020-10-15|
    BR112018074310A2|2019-03-12|
    JP6941384B2|2021-09-29|
    WO2017203169A1|2017-11-30|
    FR3051774B1|2020-10-09|
    EP3464080A1|2019-04-10|
    US11053041B2|2021-07-06|
    EP3464080B1|2021-03-03|
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    法律状态:
    2017-05-29| PLFP| Fee payment|Year of fee payment: 2 |
    2017-12-01| PLSC| Search report ready|Effective date: 20171201 |
    2018-05-28| PLFP| Fee payment|Year of fee payment: 3 |
    2019-05-27| PLFP| Fee payment|Year of fee payment: 4 |
    2020-05-25| PLFP| Fee payment|Year of fee payment: 5 |
    2021-05-02| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1654813A|FR3051774B1|2016-05-27|2016-05-27|DEVICE FOR PACKAGING A SHIMMING ELEMENT IN A CARTON|FR1654813A| FR3051774B1|2016-05-27|2016-05-27|DEVICE FOR PACKAGING A SHIMMING ELEMENT IN A CARTON|
    PCT/FR2017/051285| WO2017203169A1|2016-05-27|2017-05-24|Device and method for packing a cushioning element in a carton|
    JP2019514866A| JP6941384B2|2016-05-27|2017-05-24|Equipment and methods for packing buffer elements in carton|
    BR112018074310A| BR112018074310A2|2016-05-27|2017-05-24|device and packing process of shim element within a box|
    EP17732972.9A| EP3464080B1|2016-05-27|2017-05-24|Device and method for packing a cushioning element in a carton|
    US16/304,671| US11053041B2|2016-05-27|2017-05-24|Device and method for packing a cushioning element in a carton|
    CA3025642A| CA3025642A1|2016-05-27|2017-05-24|Device and method for packing a cushioning element in a carton|
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