WO2003091107A1

WO2003091107A1 - Packing machine

Info

Publication number: WO2003091107A1
Application number: PCT/SE2003/000652
Authority: WO
Inventors: Bengt Stom; Mats Halen
Original assignee: Abb Ab
Priority date: 2002-04-24
Filing date: 2003-04-23
Publication date: 2003-11-06
Also published as: SE525605C2; AU2003224564A1; SE0201256D0; SE0201256L

Abstract

A method for packing a plurality of articles (14) on a feeder conveyor (2) in a package (15) at a packing station (5) comprising a handling device (6) and a packaging machine. The handling device is brought to comprise a programmable manipulator (6) and a packaging blank (12) adapted to enclose the articles. The articles are lifted, oriented and placed by the manipulator in the packaging blank, and the package is sealed.

Description

backing Machine

TECHNICAL FIELD

The present invention relates to a system and a method for packing a plurality of articles entering from a feeder conveyor in a package surrounding the articles. In particular, the invention comprises a system for packing articles comprising a handling device for orienting and grouping the articles. Further, the system includes a packaging machine including a packaging material that is adapted to be folded and to surround the grouped articles . In this technical field, the method of packaging is referred to as a wraparound packing. Starting from a plane sheet, which may be corrugated cardboard, this method comprises folding the sheet around the grouped articles to form an enclosing carton before the package is passed on for delivery.

BACKGROUND ART

For quite a long time, packing of objects has been done automatically with the aid of a handling device that orients and groups articles together and then pushes the articles on to a sheet that constitutes a package. Once the articles are placed on the sheet, the sheet is, folded together and forms a surrounding package. The automatic packing is performed such that articles arrive on a conveyor that may be a roller conveyor where they are arranged into rows with the aid of guides . The device may also be provided with means that orient the objects before they are placed in the correct guides. At the downstream end of the roller conveyor, the articles are grouped together in order to fit into the package. When the final quantity and grouping of the articles has been attained, the whole packet is pushed over to another conveyor where they are placed on a flat sheet that constitutes a packaging blank intended to be folded up and finally be wrapped around the grouped articles . The finished package is then delivered on a new roller conveyor for reception and after-treatment. One problem in connection with the packing is that it is difficult to group the articles together in more than one layer. To be able to group the articles in two layers or a plura- lity of layers, a new device must be provided that turns the articles and stacks them vertically before they are grouped at the end station.

From US patent US 6,360,514, a method for wrapping books is previously known. In this device, the books are supplied along a feeder conveyor. This conveyor includes a device that turns and stacks the books and then allows the stacked pack of books to continue on the conveyor. Plane sheets are supplied along another conveyor, and these sheets are cut and scored in two operations. The cut sheet is then placed in a packing station. The book pack is pushed in over the plane sheet and then the sheet is folded up and closed around the stacked books. The finished pack is then transported to a discharge station.

From US patent US 6,082,523, another packaging machine is previously known. The prior art packaging machine relates to the packing of objects that are of square shape, for example milk cartons. In this packaging machine, the milk cartons enter on a roller conveyor and are then oriented with the aid of guides in a line, where the cartons are placed one after the other in parallel rows. At the end of the roller conveyor, the cartons are grouped together and then pushed, in a transverse direction to the inlet direc- tion, on to a packaging sheet placed there. In the same way as with the previous machine, the packaging sheet is then wrapped around the grouped articles to form a finished package .

The disadvantage of the above two packing systems is that considerable readjustments have to be made to make it possible to pack a new type of articles . If the size of the package is changed, a change of the guides has to be made. Also, major changes have to be made if it is desired to stack the articles in two or more layers. The known packing devices are also less suited for packing articles of different dimensions or articles that are soft or have a casing of an undefined shape.

Thus, there is a need of a more flexible packing station where articles of different sizes and shapes may be stacked and grouped in a package .

SUMMARY OF THE INVENTION

The object of the invention is to suggest ways and means of providing a method and a system for automatic packing of a group of a plurality of articles. According to a first aspect of the invention, this object is achieved with a method of packing a plurality of articles on a feeder conveyor in a packing station including a handling device and a packaging machine. This method is characterized in that the handling device is brought to comprise a programmable manipulator. A flat packaging blank arranged to surround the articles is provided. The articles are then lifted, oriented and placed by the manipulator on the packaging blank. Finally, the package is closed around the grouped articles. N

According to a second aspect of the invention, the object is fulfilled by a system for packaging articles comprising a handling device for orienting and grouping the articles together, a packaging machine including packaging material that is adapted to be folded and surround the grouped articles. This system is characterized in that the handling device comprises a programmable manipulator with a control unit including a processor. The manipulator is adapted to lift, orient and place the articles on the packaging material in one operation. The fundamental idea behind the invention is that the articles are lifted, oriented and placed on an appropriately disposed packaging material in one operation. It may also be a question of a plurality of articles or a group of ar- tides that is lifted and oriented in one operation. By using a programmable manipulator for this operation, it is sufficient to reprogram the manipulator for making a package of other articles. If the articles are of such a nature that they cannot stand by themselves, the method comprises an operation where the edge portions of the packaging sheet are folded up to form an open box where the articles are placed supported by the edges of the box.

In a preferred embodiment, the open box, formed by a pack- aging sheet with the folded-up edges, is inclined in the above-mentioned operation, whereby the articles are placed in the box and are supported by the lowermost edge of the inclined box.

According to a preferred embodiment of the invention, the system comprises a device for automatic supply of packaging sheets . According to a further preferred embodiment of the invention, the machine also comprises a gluing station at which the wrapped package is glued. By reprogramming -the manipulator only, the articles may be placed in a plurality of layers and even be separated by placing an intermediate sheet between layers of articles. Advantageously, packaging blanks of corrugated board or cardboard which may be corrugated, as well as sheets of a plastic material, are used.

Thus, the system is also suited for lifting, orienting and grouping together articles of an indefinite shape. The packaging blank is folded up to form an open box in which the objects are placed. To properly handle the incoming articles, in one advantageous embodiment the manipulator is provided with a vision system. This vision system maps and controls how the incoming articles are lying on the roller conveyor. By means of this vision system, information is supplied to the manipulator not only as to where the articles are located but also how they are oriented. By means of this information, the manipulator is brought to simply lift up and orient the article to place it on the carton blank in the proper manner. Also, the vision system provides information to the manipulator about the appearance and orientation of so-called non-dimensional articles.

The invention also relates to a computer program that in- eludes instructions for a processor to carry out the method described above. Further, the invention relates to a computer-readable medium including the computer program.

BRIEF DESCRIPTION OF THE DRAWING

The invention will be explained in greater detail by description of embodiments with reference to the accompanying drawing, wherein

Figure 1 is a plan view of the packing system according to the invention,

Figure 2 is side view of the same system,

Figure 3 is a description of the packing process according to the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Figure 1 shows a packing system comprising a feeder conveyor 2 along which articles arrive at a packing station 5. The packing system also includes a sheet magazine 3 that is adapted to store a large number of packaging blanks. The packaging blanks are forwarded along a sheet path 4 to the packing station 5. The packing station is provided with a manipulator that is controlled by a control system mounted in a manipulator cabinet 7. The manipulator according to the example shown is a so-called picker manipulator. This type of manipulator is suspended from the roof of the packing station. It has a system of three arms that are capable of moving a gripper with the same orientation and angle within an operating sphere. In the packing station, the ma- nipulator lifts the articles from the feeder conveyor and places them on a packaging sheet that has been introduced into the packing station. When the sheet has been filled with a predetermined quantity of articles, the packaging sheet is folded up and surrounds the articles. The finished package leaves the packing station via a discharge conveyor 8. Associated with the packing system are also, in the example shown, a distribution board 9 and a gluing unit 10.

Figure 2 shows the same packing system in a view from the side. The same reference numerals as in Figure 1 are used in Figure 2 to designate the same objects. The figure also shows a lifting device 11 adapted to lift up the sheet magazine allowing the sheets to be fed into the sheet path 4.

Figure 3 shows a method of packing a plurality of articles in a surrounding package. From a storage 3, a sub-quantity of packaging blank is lifted over into an intermediate magazine 13. In a first operation A, a packaging blank 12 is supplied to the sheet path and brought into the packing station. In a second process operation B according to the figure, the packaging blank is folded loosely together into an open carton 15. In a subsequent operation, articles 14 entering into the inlet conveyor are placed in the open carton. In a subsequent operation C, a predetermined quan- tity of articles 14 have been placed and properly grouped together in the open package 15, whereupon the package is sealed. In the last operation D, the finished and sealed package leaves the packing station on a roller conveyor.

The gripper of the manipulator is primarily a mechanical gripper but may, of course, also comprise suction cups or other devices for lifting an article. Advantageously,' a gripper is provided with vacuum gripping devices or suction cups that are adapted to lift the incoming articles. The gripper may also be designed to engage a plurality of articles simultaneously and lift them into the package. By arranging the articles to arrive in the packing station in rows of 3-4 articles at a time, the packing process may be radically accelerated. This implies that the manipulator fetches the articles row by row from the feeder conveyor, lifts the articles and places them in groups on the packaging sheet. When, all the articles have been placed on the sheet, the sheet is folded together and surrounds the articles and leaves the packing station.

The method described entails considerable advantages as compared with known systems. When packing a new article, it is sufficient, for example, to reprogram the manipulator only. No guides have to be readjusted. No stacking machines need be added. The manipulator may be reprogrammed to orient and unstack the articles as well as to engage a plurality of articles at a time. Packing with the aid of a mani- pulator with a vision system is especially suitable for articles that are fragile or have an indefinite shape. The vision system assists in keeping the placement and orientation of the incoming articles under control . The method involving first folding up the sides of the sheets before the packing process is started is particularly suitable for objects that cannot stand by themselves or that are not stackable.

The invention thus also comprises software comprising in- structions for a processor that controls the manipulator to carry out the method described. Such software may also be stored on a computer-readable medium that is read into the control unit and carries out the method.

Claims

1. A method for packing a plurality of articles (14) on a feeder conveyor (2) in a package (15) at a packing station (5) comprising a handling device (6) and a packaging machine, characterized in that the handling device is caused to comprise a programmable manipulator (6), that a packaging blank (12) adapted to surround the articles is provided, that the articles are lifted, oriented and placed by the manipulator on the packaging blank, and that the package is sealed.

2. A method according to claim 1, wherein, prior to lifting the articles into the packaging blank, the edge portions of the packaging blank are folded up, thus creating an open box.

3. A method according to claim 1 or 2 , wherein the manipulator is provided with a gripper with suction cups for simultaneous lifting of one or more articles.

4. A system (1) for packing articles (14) comprising a handling device (6) for orienting and grouping the articles together, a packaging machine including a packaging blank (12) that is adapted to surround the grouped articles, characterized in that the handling device is caused to comprise a programmable manipulator (6) with a control unit (7) including a processor adapted, in one operation, to lift, orient and place the articles in a package (15) .

5. A system according to claim 4, wherein the packaging blank in the packing station is arranged to form an open box with folded-up edge portions .

6. A system according to claim 4 or 5, wherein the manipulator comprises a gripper with suction cups for simultaneous lifting of one or more articles.

7. A system according to any of claims 4-6, wherein the packing station comprises a vision system for locating articles .