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EP1352831A1 - Method and apparatus for placing articles into containers - Google Patents

Method and apparatus for placing articles into containers Download PDF

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Publication number
EP1352831A1
EP1352831A1 EP03405198A EP03405198A EP1352831A1 EP 1352831 A1 EP1352831 A1 EP 1352831A1 EP 03405198 A EP03405198 A EP 03405198A EP 03405198 A EP03405198 A EP 03405198A EP 1352831 A1 EP1352831 A1 EP 1352831A1
Authority
EP
European Patent Office
Prior art keywords
containers
storage element
conveyor
picker
piece goods
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
EP03405198A
Other languages
German (de)
French (fr)
Other versions
EP1352831B1 (en
Inventor
Emil Hüppi
Peter Dübendorfer
Frank-Peter Kirgis
Markus Sidler
Jacob Van Kogelenberg
Stephan Schüle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
SIG Pack Systems 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 SIG Pack Systems AG filed Critical SIG Pack Systems AG
Publication of EP1352831A1 publication Critical patent/EP1352831A1/en
Application granted granted Critical
Publication of EP1352831B1 publication Critical patent/EP1352831B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/02—Supply magazines
    • B65B35/04—Supply magazines with buffer storage devices

Definitions

  • the invention relates to a method and an apparatus for Filling of piece goods in containers according to the generic term of Claims 1 and 10 respectively.
  • a generic method is known from EP-A-0'856'465.
  • piece goods and containers are moved in counterflow a picker road.
  • the relative speed of the delivered general cargo to the delivered Containers from the control of the conveying direction of the containers last pickers controlled so that only fully filled Container the working area of this last picker leave.
  • This method has the disadvantage that the General cargo and containers must be delivered in counterflow.
  • packaging systems in the entire production cycle must be integrated, this limits the spatial design of the plant very strongly.
  • EP-A-0'749'902 also discloses a method for filling General cargo in containers, in which the general cargo and containers transported in direct current along a picker road become. Here are the delivered with a counting device General cargo counted. The empty containers are in front the Pickerstrasse jammed. Only after reaching one for filling of a container sufficient quantity is one empty container released into the work area of the picker.
  • EP-A-1,160,166 Another device for filling piece goods into containers using picker, here delta robot, is in EP-A-1,160,166 described. Again, the location and position detected by an optical detection station, the controller communicated to the individual picker and the general cargo individually the picker into the container by means of the gripping device used.
  • a storage element is used and the Relative speed between a container conveyor and a general cargo conveyor depending on this storage element controlled.
  • the relative speed remains constant until a maximum storage capacity is reached.
  • the relative speed is reached before this capacity is reached customized.
  • the speed the supply of the containers in the area of the Pickerstrasse or the individual picker controlled.
  • the storage element is used for storage of piece goods, in other embodiments it for storing containers.
  • the storage element is preferably in front of one in the conveying direction the container last picker arranged.
  • the speed a conveyor line of the container conveyor in the area this last picker takes place in preferred embodiments depending on the capacity of this last picker. It however, speed is also possible in this range not to control and the conveyor line with constant Speed to operate.
  • the device has a first Feed conveyor 1 for feeding piece goods S.
  • the feed conveyor 1 is preferably a conveyor belt.
  • Other funding types are also possible.
  • the general cargo S are in generally in disordered formation on the first feed conveyor 1 delivered. In this case, is usually at least an optical detection station, not shown here to detect the position and / or orientation of the individual General cargo S available, as they are from the prior art is known. If they are delivered in an orderly manner, this is not necessary the optical detection station or it becomes only Quality control used.
  • At least one second feed conveyor 2 is for feed of container B present.
  • two feed conveyors 2 shown which is along one side of the first Feed conveyor 1 and at least approximately parallel to this extend. However, it is also possible that they are in one Angle to it.
  • the second feed conveyor can Depending on the type of container, belt conveyors or others known types of sponsors.
  • the conveying directions are in the figures marked with large arrows.
  • the device also has a picker line with several pickers P N , P N-1 . Only four pickers are shown here, two of which place the piece goods S in the container B of a second feed conveyor 2. Usually, however, several pickers are arranged one behind the other in the conveying direction.
  • the pickers P N , P N-1 have gripping means for gripping the piece goods S from the first feed conveyor 1 and for storing the piece goods S into the containers B. Depending on the type of implementation desired, the piece goods S are gripped individually or in groups or into the Container B implemented. These pickers are known in the prior art. So-called delta robots are suitable, for example.
  • the device also comprises a storage element which temporarily stores containers B and / or piece goods S that are not yet completely filled.
  • this storage element is used for the intermediate storage of containers B in the picker street, which cannot yet be completely filled.
  • the second feed conveyor 2 is divided into at least two conveyor sections 20, 21.
  • at least the last and penultimate pickers P N , P N-1 in the conveying direction of the container B are assigned to two different conveying paths 20, 21.
  • a storage element in the form of a separately driven intermediate conveyor 3 is arranged between the conveyor sections 20, 21.
  • This intermediate conveyor 3 preferably forms a continuation of the conveyor sections, so that the containers B are stowed therein until the last picker P N has sufficient capacity to completely fill the containers B reaching the second conveyor section 21.
  • the intermediate conveyor 3 can be the same type of conveyor as the second conveyor 2, the containers B being retained on the intermediate conveyor 3 by retention means of a known type and thus being stowed. In one variant, a so-called yoyo memory is used.
  • the intermediate conveyor 3 Within the storage element, here the intermediate conveyor 3, the number of containers B using position sensors and / or Distance measuring device detected and monitored. These sensors and means are known and are therefore not detailed described.
  • the relative speed between the first and the second feed conveyor 1, 2, in this case between the first feed conveyor 1 and the first conveyor section 20, is controlled according to the invention as a function of the storage element.
  • a control unit 5 provided for this is only shown schematically in FIG. 1. Control units for conveyor speeds are known per se and are therefore not described in detail.
  • the relative speed is preferably already controlled before the maximum capacity of the storage element is reached.
  • the speed of the second conveyor section 21 is preferably controlled as a function of the last picker P N. In this way it can also be ensured that not only all containers B are completely filled, but also that at least approximately all piece goods S are placed in container B.
  • the control unit 5 also receives signals from at least one picker, preferably the last picker, which are taken into account in the control.
  • FIG. she has substantially the same features as the embodiment according to Figure 1.
  • the conveying directions run of the first and at least one second feed conveyor 1, 2 in parallel, i.e. in direct current, to each other.
  • the storage element is arranged outside the conveying direction of the container B. This arrangement can be used in both co-current and counter-current systems.
  • the storage element is a return conveyor 3 ', which runs at least approximately parallel to the second feed conveyor 2. At a removal point E, those containers B which cannot be completely filled are directed onto the return conveyor 3 '. If there is sufficient capacity in the picker line again, these temporarily stored containers B are placed on a return point R again on the second feed conveyor 2. The return point R is located in the conveying direction of the container B upstream from the removal point E. Again, the relative speed of the two feed conveyors is controlled depending on the storage capacity.
  • the intermediate conveyor 3 ' is preferably arranged in the region of the last picker P N in the conveying direction of the container B. It can in turn be a conveyor belt or another conveyor suitable for transporting the containers B. A transport system with individually driven containers B is also possible here.
  • the return to the second feed conveyor 2 takes place according to the first in / first out (first in / first out) principle. This embodiment is therefore also suitable for packaging frozen, cooled or otherwise perishable piece goods S.
  • the storage element is a container storage conveyor 3 ′′ running at least approximately perpendicular to the second feed conveyor 2. This conveys the containers B, which cannot yet be completely filled, away from a removal point E from the second feed conveyor 2 and back to this removal point E.
  • the removal point E is preferably located in the area of the last picker P N in the conveying direction of the container B.
  • different types of conveyors can be used as storage elements.
  • the conveyor is preferably provided with a reversible drive so that the piece goods S can be kept in the region of the removal point E as far as possible.
  • This storage element works on the principle of first in / last out (first in / last out).
  • a fifth embodiment is shown in FIG.
  • the first and the at least one second feed conveyor 1, 2 now run parallel to one another, the piece goods S and container B being transported in direct current.
  • a storage element in the form of a general cargo storage conveyor 4.
  • This runs at least approximately parallel to the conveying direction of the piece goods S and thus forms the extension of the first feed conveyor 1.
  • It preferably consists of the same type of conveyor as the first feed conveyor 1, for example it is a conveyor belt. However, it is driven separately. Its drive is preferably reversible so that the piece goods S remain in the working area of the last picker P N as far as possible.
  • the piece goods S which have been temporarily stored are taken by the last picker P N in order to completely fill the containers B.
  • the relative speed of the two feed conveyors is controlled depending on the storage capacity.
  • the device according to the invention enables efficient Conversion of piece goods into containers with the most complete possible Filling the container regardless of the type the relative direction of transport of piece goods and containers to each other. It can be used especially in direct current as also integrate in counter-current systems.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)

Abstract

The method involves controlling the relative speed between the feed of the containers (B) and the feed of the piece goods (S) at the vicinity of the picking line, as a function of a filling level of at least one storage member. An Independent claim is also included for a goods insertion apparatus.

Description

Technisches GebietTechnical field

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum Einfüllen von Stückgütern in Behälter gemäss Oberbegriff des Patentanspruchs 1 beziehungsweise 10.The invention relates to a method and an apparatus for Filling of piece goods in containers according to the generic term of Claims 1 and 10 respectively.

Stand der TechnikState of the art

Ein gattungsgemässes Verfahren ist aus EP-A-0'856'465 bekannt. Hier werden Stückgüter und Behälter im Gegenstrom entlang einer Pickerstrasse geführt. Dabei wird die Relativgeschwindigkeit der angelieferten Stückgüter zu den angelieferten Behältern von der Steuerung des in Förderrichtung der Behälter letzten Pickers so gesteuert, dass nur vollständig gefüllte Behälter den Arbeitsbereich dieses letzten Pickers verlassen. Dieses Verfahren weist den Nachteil auf, dass die Stückgüter und Behälter im Gegenstrom angeliefert werden müssen. Da Verpackungsanlagen jedoch in den gesamten Produktionskreislauf integriert werden müssen, schränkt dies die räumliche Gestaltung der Anlage sehr stark ein.A generic method is known from EP-A-0'856'465. Here, piece goods and containers are moved in counterflow a picker road. The relative speed of the delivered general cargo to the delivered Containers from the control of the conveying direction of the containers last pickers controlled so that only fully filled Container the working area of this last picker leave. This method has the disadvantage that the General cargo and containers must be delivered in counterflow. However, since packaging systems in the entire production cycle must be integrated, this limits the spatial design of the plant very strongly.

Auch EP-A-0'749'902 offenbart ein Verfahren zum Einfüllen von Stückgütern in Behälter, bei welchem die Stückgüter und Behälter im Gleichstrom entlang einer Pickerstrasse transportiert werden. Hier werden mit einer Zähleinrichtung die angelieferten Stückgüter gezählt. Die leeren Behälter werden vor der Pickerstrasse gestaut. Erst nach Erreichen einer zur Füllung eines Behälters genügenden Stückzahl wird jeweils ein leerer Behälter in den Arbeitsbereich der Picker freigegeben.EP-A-0'749'902 also discloses a method for filling General cargo in containers, in which the general cargo and containers transported in direct current along a picker road become. Here are the delivered with a counting device General cargo counted. The empty containers are in front the Pickerstrasse jammed. Only after reaching one for filling of a container sufficient quantity is one empty container released into the work area of the picker.

Eine weitere Vorrichtung zum Einfüllen von Stückgütern in Behälter mittels Picker, hier Deltaroboter, ist in EP-A-1'160'166 beschrieben. Auch hier wird die Lage und Position mittels einer optischen Erfassungsstation erfasst, der Steuerung der einzelnen Picker mitgeteilt und die Stückgüter einzeln mittels der Greifvorrichtung der Picker in die Behälter eingesetzt.Another device for filling piece goods into containers using picker, here delta robot, is in EP-A-1,160,166 described. Again, the location and position detected by an optical detection station, the controller communicated to the individual picker and the general cargo individually the picker into the container by means of the gripping device used.

Diese bekannten Systeme weisen den Nachteil auf, dass sie relativ rasch an Grenzen hinsichtlich ihrer erreichbaren Verpackungsleistung stossen.These known systems have the disadvantage that they are relative quickly reach the limits of their achievable packaging performance bump.

Darstellung der ErfindungPresentation of the invention

Es ist deshalb Aufgabe der Erfindung, ein Verfahren und eine Vorrichtung zum Einfüllen von Stückgütern in Behälter zu schaffen, welche eine Steigerung der Verpackungsleistung ermöglichen.It is therefore an object of the invention, a method and a Device for filling piece goods into containers create, which enable an increase in packaging performance.

Diese Aufgabe lösen ein Verfahren und eine Vorrichtung mit den Merkmalen des Patentanspruchs 1 beziehungsweise 10.This problem is solved by a method and a device the features of claims 1 and 10 respectively.

Erfindungsgemäss wird ein Speicherelement verwendet und die Relativgeschwindigkeit zwischen einem Behälterförderer und einem Stückgutförderer in Abhängigkeit dieses Speicherelementes gesteuert. According to the invention, a storage element is used and the Relative speed between a container conveyor and a general cargo conveyor depending on this storage element controlled.

In einer einfachen Variante des Verfahrens bleibt die Relativgeschwindigkeit konstant, bis eine maximale Speicherkapazität erreicht ist. In einer bevorzugten Variante des Verfahrens wird bereits vor Erreichen dieser Kapazität die Relativgeschwindigkeit angepasst. Vorzugsweise wird die Geschwindigkeit der Zufuhr der Behälter in den Bereich der Pickerstrasse bzw. der einzelnen Picker gesteuert. In einer anderen Variante wird nur die Geschwindigkeit der Zufuhr der Stückgüter in den oben genannten Bereich gesteuert oder es werden beide Geschwindigkeiten gesteuert.In a simple variant of the method, the relative speed remains constant until a maximum storage capacity is reached. In a preferred variant of the method the relative speed is reached before this capacity is reached customized. Preferably the speed the supply of the containers in the area of the Pickerstrasse or the individual picker controlled. In another variant only the speed of the supply of the piece goods in controlled the above range or both speeds controlled.

In einer Ausführungsform dient das Speicherelement zur Speicherung von Stückgütern, in anderen Ausführungsformen dient es zur Speicherung von Behältern.In one embodiment, the storage element is used for storage of piece goods, in other embodiments it for storing containers.

Das Speicherelement ist vorzugsweise vor einem in Förderrichtung der Behälter letzten Picker angeordnet. Die Geschwindigkeit einer Förderstrecke des Behälterförderers im Bereich dieses letzten Pickers erfolgt in bevorzugten Ausführungsformen in Abhängigkeit der Kapazität dieses letzten Pickers. Es ist jedoch auch möglich, die Geschwindigkeit in diesem Bereich nicht zu steuern und die Förderstrecke mit gleichbleibender Geschwindigkeit zu betreiben.The storage element is preferably in front of one in the conveying direction the container last picker arranged. The speed a conveyor line of the container conveyor in the area this last picker takes place in preferred embodiments depending on the capacity of this last picker. It however, speed is also possible in this range not to control and the conveyor line with constant Speed to operate.

Mit dem erfindungsgemässen Verfahren und der Vorrichtung lässt sich bei einer relativ hohen Verpackungsleistung erreichen, dass die Behälter stets vollständig gefüllt sind. Zudem lässt sich erreichen, dass stets alle Stückgüter verpackt werden.With the method and the device according to the invention can be achieved with a relatively high packaging performance, that the containers are always completely filled. moreover it can be achieved that all piece goods are always packed become.

Weitere vorteilhafte Varianten des Verfahrens und vorteilhafte Ausführungsformen gehen aus den abhängigen Patentansprüchen hervor. Further advantageous variants of the method and advantageous ones Embodiments go from the dependent claims out.

Kurze Beschreibung der ZeichnungBrief description of the drawing

Im folgenden wird der Erfindungsgegenstand anhand von bevorzugten Ausführungsbeispielen, welche in der beiliegenden Zeichnung dargestellt sind, erläutert. Es zeigen:

Figur 1
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer ersten Ausführungsform;
Figur 2
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer zweiten Ausführungsform;
Figur 3
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer dritten Ausführungsform;
Figur 4
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer vierten Ausführungsform und
Figur 5
eine schematische Darstellung einer erfindungsgemässen Vorrichtung in einer fünften Ausführungsform.
The subject matter of the invention is explained below on the basis of preferred exemplary embodiments which are illustrated in the accompanying drawing. Show it:
Figure 1
a schematic representation of an inventive device in a first embodiment;
Figure 2
a schematic representation of an inventive device in a second embodiment;
Figure 3
a schematic representation of an inventive device in a third embodiment;
Figure 4
a schematic representation of an inventive device in a fourth embodiment and
Figure 5
is a schematic representation of an inventive device in a fifth embodiment.

Wege zur Ausführung der ErfindungWays of Carrying Out the Invention

Anhand der in Figur 1 dargestellten ersten Ausführungsform werden die allgemeinen Grundelemente der erfindungsgemässen Vorrichtung beschrieben. Die Vorrichtung weist einen ersten Zufuhrförderer 1 zur Zufuhr von Stückgütern S auf. Der Zufuhrförderer 1 ist vorzugsweise ein Förderband. Andere Fördertypen sind jedoch auch möglich. Die Stückgüter S werden im allgemeinen in ungeordneter Formation auf dem ersten Zufuhrförderer 1 angeliefert. In diesem Fall ist üblicherweise mindestens eine hier nicht dargestellte optische Erfassungsstation zur Detektion der Lage und/oder Orientierung der einzelnen Stückgüter S vorhanden, wie sie aus dem Stand der Technik bekannt ist. Werden sie geordnet angeliefert, erübrigt sich die optische Erfassungsstation oder sie wird lediglich zur Qualitätskontrolle eingesetzt.Based on the first embodiment shown in Figure 1 are the general basic elements of the invention Device described. The device has a first Feed conveyor 1 for feeding piece goods S. The feed conveyor 1 is preferably a conveyor belt. Other funding types are also possible. The general cargo S are in generally in disordered formation on the first feed conveyor 1 delivered. In this case, is usually at least an optical detection station, not shown here to detect the position and / or orientation of the individual General cargo S available, as they are from the prior art is known. If they are delivered in an orderly manner, this is not necessary the optical detection station or it becomes only Quality control used.

Ferner ist mindestens ein zweiter Zufuhrförderer 2 zur Zufuhr von Behältern B vorhanden. Hier sind zwei Zufuhrförderer 2 dargestellt, welche sich entlang je einer Seite des ersten Zufuhrförderers 1 und mindestens annähernd parallel zu diesem erstrecken. Es ist jedoch auch möglich, dass sie sich in einem Winkel dazu befinden. Die zweiten Zufuhrförderer können je nach Art der Behälter ebenfalls Bandförderer oder andere bekannte Arten von Förderern sein. Im hier dargestellten Beispiel lassen sich die Förderrichtungen der ersten und zweiten Zufuhrförderer durch antiparallele Vektoren darstellen, das heisst, die Stückgüter S und Behälter B werden im Gegenstrom transportiert. Die Förderrichtungen sind in den Figuren jeweils mit grossen Pfeilen gekennzeichnet.Furthermore, at least one second feed conveyor 2 is for feed of container B present. Here are two feed conveyors 2 shown, which is along one side of the first Feed conveyor 1 and at least approximately parallel to this extend. However, it is also possible that they are in one Angle to it. The second feed conveyor can Depending on the type of container, belt conveyors or others known types of sponsors. In the example shown here the directions of conveyance of the first and second Represent feed conveyors by anti-parallel vectors that This means that the bulk goods S and container B are in countercurrent transported. The conveying directions are in the figures marked with large arrows.

Die Vorrichtung weist ferner eine Pickerstrasse mit mehreren Pickern PN, PN-1 auf. Hier sind lediglich vier Picker dargestellt, wobei je zwei die Stückgüter S in die Behälter B eines zweiten Zufuhrförderers 2 legen. Üblicherweise sind jedoch mehrere Picker in Förderrichtung hintereinander angeordnet. Die Picker PN, PN-1 verfügen über Greifmittel zur Erfassung der Stückgüter S vom ersten Zufuhrförderer 1 und zur Ablage der Stückgüter S in die Behälter B. Je nach Art der gewünschten Umsetzung werden die Stückgüter S einzeln oder in Gruppen erfasst beziehungsweise in die Behälter B umgesetzt. Diese Picker sind im Stand der Technik bekannt. Es eignen sich beispielsweise sogenannte Deltaroboter.The device also has a picker line with several pickers P N , P N-1 . Only four pickers are shown here, two of which place the piece goods S in the container B of a second feed conveyor 2. Usually, however, several pickers are arranged one behind the other in the conveying direction. The pickers P N , P N-1 have gripping means for gripping the piece goods S from the first feed conveyor 1 and for storing the piece goods S into the containers B. Depending on the type of implementation desired, the piece goods S are gripped individually or in groups or into the Container B implemented. These pickers are known in the prior art. So-called delta robots are suitable, for example.

Erfindungsgemäss umfasst die Vorrichtung zudem ein Speicherelement, welches noch nicht vollständig gefüllte Behälter B und/oder Stückgüter S zwischenspeichert. Im hier dargestellten Beispiel dient dieses Speicherelement zur Zwischenspeicherung von Behältern B in der Pickerstrasse, welche noch nicht vollständig gefüllt werden können. Hierfür ist der zweite Zufuhrförderer 2 in mindestens zwei Förderstrecken 20, 21 unterteilt. Vorzugsweise sind mindestens der in Förderrichtung der Behälter B letzte und vorletzte Picker PN, PN-1 zwei verschiedenen Förderstrecken 20, 21 zugeordnet. Zwischen den Förderstrecken 20, 21 ist jeweils ein Speicherelement in Form eines separat angetriebenen Zwischenförderers 3 angeordnet. Dieser Zwischenförderer 3 bildet vorzugsweise eine Fortsetzung der Förderstrecken, so dass die Behälter B darin gestaut werden, bis der letzte Picker PN genügend Kapazität hat, um die auf die zweite Förderstrecke 21 gelangenden Behälter B vollständig zu füllen. Der Zwischenförderer 3 kann derselbe Fördertyp sein wie der zweite Förderer 2, wobei die Behälter B durch Rückhaltemittel bekannter Art auf dem Zwischenförderer 3 zurückgehalten und somit gestaut werden. In einer Variante wird ein sogenannter Jojo-Speicher verwendet. Es ist jedoch auch möglich, ein Transportsystem für den zweiten Zufuhrförderer 2 wie auch für den Zwischenförderer 3 einzusetzen, bei welchem jeder Behälter B mit einem eigenen Motor versehen ist und somit einzeln steuerbar ist. Dadurch ist eine berührungs- beziehungsweise staudrucklose Bewegung und Speicherung im Transportsystem möglich. According to the invention, the device also comprises a storage element which temporarily stores containers B and / or piece goods S that are not yet completely filled. In the example shown here, this storage element is used for the intermediate storage of containers B in the picker street, which cannot yet be completely filled. For this purpose, the second feed conveyor 2 is divided into at least two conveyor sections 20, 21. Preferably, at least the last and penultimate pickers P N , P N-1 in the conveying direction of the container B are assigned to two different conveying paths 20, 21. A storage element in the form of a separately driven intermediate conveyor 3 is arranged between the conveyor sections 20, 21. This intermediate conveyor 3 preferably forms a continuation of the conveyor sections, so that the containers B are stowed therein until the last picker P N has sufficient capacity to completely fill the containers B reaching the second conveyor section 21. The intermediate conveyor 3 can be the same type of conveyor as the second conveyor 2, the containers B being retained on the intermediate conveyor 3 by retention means of a known type and thus being stowed. In one variant, a so-called yoyo memory is used. However, it is also possible to use a transport system for the second feed conveyor 2 as well as for the intermediate conveyor 3, in which each container B is provided with its own motor and can therefore be controlled individually. This enables contactless or back pressure-free movement and storage in the transport system.

Innerhalb des Speicherelementes, hier dem Zwischenförderer 3, werden die Anzahl Behälter B mittels Lagesensoren und/oder Distanzmessmittel detektiert und überwacht. Diese Sensoren und Mittel sind bekannt und werden deshalb nicht detailliert beschrieben.Within the storage element, here the intermediate conveyor 3, the number of containers B using position sensors and / or Distance measuring device detected and monitored. These sensors and means are known and are therefore not detailed described.

Die Relativgeschwindigkeit zwischen dem ersten und dem zweiten Zufuhrförderer 1, 2, in diesem Fall zwischen dem ersten Zufuhrförderer 1 und der ersten Förderstrecke 20, wird erfindungsgemäss in Abhängigkeit des Speicherelementes gesteuert. Eine hierfür vorhandene Steuerungseinheit 5 ist lediglich in Figur 1 schematisch dargestellt. Steuerungseinheiten für Fördergeschwindigkeiten an sich sind bekannt und werden deshalb nicht detailliert beschrieben. Vorzugsweise wird die Relativgeschwindigkeit bereits gesteuert, bevor die maximale Kapazität des Speicherelementes erreicht ist. Die Geschwindigkeit der zweiten Förderstrecke 21 wird vorzugsweise in Abhängigkeit des letzten Pickers PN gesteuert. Auf diese Weise lässt sich zudem sicherstellen, dass nicht nur alle Behälter B vollständig gefüllt sind, sondern dass auch mindestens annähernd alle Stückgüter S in Behälter B abgelegt werden. Die Steuerungseinheit 5 erhält in einer bevorzugten Ausführungsform auch Signale von mindestens einem Picker, vorzugsweise des letzten Pickers, welche bei der Steuerung berücksichtigt werden.The relative speed between the first and the second feed conveyor 1, 2, in this case between the first feed conveyor 1 and the first conveyor section 20, is controlled according to the invention as a function of the storage element. A control unit 5 provided for this is only shown schematically in FIG. 1. Control units for conveyor speeds are known per se and are therefore not described in detail. The relative speed is preferably already controlled before the maximum capacity of the storage element is reached. The speed of the second conveyor section 21 is preferably controlled as a function of the last picker P N. In this way it can also be ensured that not only all containers B are completely filled, but also that at least approximately all piece goods S are placed in container B. In a preferred embodiment, the control unit 5 also receives signals from at least one picker, preferably the last picker, which are taken into account in the control.

In Figur 2 ist eine zweite Ausführungsform dargestellt. Sie weist im wesentlichen dieselben Merkmale auf wie die Ausführungsform gemäss Figur 1. Hier verlaufen jedoch die Förderrichtungen des ersten und des mindestens einen zweiten Zufuhrförderers 1, 2 parallel, also im Gleichstrom, zueinander. A second embodiment is shown in FIG. she has substantially the same features as the embodiment according to Figure 1. Here, however, the conveying directions run of the first and at least one second feed conveyor 1, 2 in parallel, i.e. in direct current, to each other.

In den Figuren 3 und 4 sind weitere Ausführungsformen dargestellt. Hier ist das Speicherelement ausserhalb der Förderrichtung der Behälter B angeordnet. Diese Anordnung lässt sich sowohl in Anlagen mit Gleich- wie auch mit Gegenstromförderung einsetzen. Im Ausführungsbeispiel gemäss Figur 3 ist das Speicherelement ein Rückförderer 3', welcher mindestens annähernd parallel zum zweiten Zufuhrförderer 2 verläuft. An einer Entnahmestelle E werden diejenigen Behälter B, welche nicht vollständig gefüllt werden können, auf den Rückförderer 3' geleitet. Ist wieder genügend Kapazität in der Pickerstrasse vorhanden, so werden diese zwischengespeicherten Behälter B an einer Rückgabestelle R wieder auf den zweiten Zufuhrförderer 2 gelegt. Die Rückgabestelle R befindet sich dabei in Förderrichtung der Behälter B stromaufwärts von der Entnahmestelle E entfernt. Auch hier wird wiederum die Relativgeschwindigkeit der zwei Zufuhrförderer in Abhängigkeit der Speicherkapazität gesteuert. Der Zwischenförderer 3' ist vorzugsweise im Bereich des in Förderrichtung der Behälter B letzten Pickers PN angeordnet. Er kann wiederum ein Förderband oder ein anderer für den Transport der Behälter B geeigneter Förderer sein. Ein Transportsystem mit einzeln angetriebenen Behältern B ist auch hier möglich. Die Rückförderung auf den zweiten Zufuhrförderer 2 erfolgt nach dem First in/First out (zuerst rein/zuerst raus) Prinzip. Diese Ausführungsform eignet sich deshalb auch für die Verpackung von gefrorenen, gekühlten oder anderweitig verderblichen Stückgütern S.3 and 4 show further embodiments. Here the storage element is arranged outside the conveying direction of the container B. This arrangement can be used in both co-current and counter-current systems. In the exemplary embodiment according to FIG. 3, the storage element is a return conveyor 3 ', which runs at least approximately parallel to the second feed conveyor 2. At a removal point E, those containers B which cannot be completely filled are directed onto the return conveyor 3 '. If there is sufficient capacity in the picker line again, these temporarily stored containers B are placed on a return point R again on the second feed conveyor 2. The return point R is located in the conveying direction of the container B upstream from the removal point E. Again, the relative speed of the two feed conveyors is controlled depending on the storage capacity. The intermediate conveyor 3 'is preferably arranged in the region of the last picker P N in the conveying direction of the container B. It can in turn be a conveyor belt or another conveyor suitable for transporting the containers B. A transport system with individually driven containers B is also possible here. The return to the second feed conveyor 2 takes place according to the first in / first out (first in / first out) principle. This embodiment is therefore also suitable for packaging frozen, cooled or otherwise perishable piece goods S.

In der Ausführungsform gemäss der Figur 4 ist das Speicherelement ein mindestens annähernd senkrecht zum zweiten Zufuhrförderer 2 verlaufender Behälter-Speicherförderer 3''. Dieser fördert die Behälter B, welche noch nicht vollständig gefüllt werden können, von einer Entnahmestelle E vom zweiten Zufuhrförderer 2 weg und wieder zu dieser Entnahmestelle E hin. Die Entnahmestelle E befindet sich vorzugsweise im Bereich des in Förderrichtung der Behälter B letzten Pickers PN. Auch hier lassen sich wieder verschiedene Arten von Förderern als Speicherelement einsetzen. Vorzugsweise ist der Förderer mit einem reversiblen Antrieb versehen, so dass die Stückgüter S möglichst im Bereich der Entnahmestelle E gehalten werden können. Dieses Speicherelement funktioniert nach dem Prinzip First in/Last out (zuerst rein/zuletzt raus).In the embodiment according to FIG. 4, the storage element is a container storage conveyor 3 ″ running at least approximately perpendicular to the second feed conveyor 2. This conveys the containers B, which cannot yet be completely filled, away from a removal point E from the second feed conveyor 2 and back to this removal point E. The removal point E is preferably located in the area of the last picker P N in the conveying direction of the container B. Here, too, different types of conveyors can be used as storage elements. The conveyor is preferably provided with a reversible drive so that the piece goods S can be kept in the region of the removal point E as far as possible. This storage element works on the principle of first in / last out (first in / last out).

In Figur 5 ist eine fünfte Ausführungsform dargestellt. Hier werden nicht die Behälter B sondern die Stückgüter S zwischengespeichert. In dieser Ausführungsform verlaufen nun der erste und der mindestens eine zweite Zufuhrförderer 1, 2 parallel zueinander, wobei die Stückgüter S und Behälter B im Gleichstrom transportiert werden. Am stromabwärts angeordneten Ende des ersten Zufuhrförderers 1 ist ein Speicherelement in Form eines Stückgut-Speicherförderers 4 vorhanden. Dieser verläuft mindestens annähernd parallel zur Förderrichtung der Stückgüter S und bildet somit die Verlängerung des ersten Zufuhrförderers 1. Vorzugsweise besteht er aus demselben Fördertyp wie der erste Zufuhrförderer 1, beispielsweise ist er ein Förderband. Er ist jedoch separat angetrieben. Vorzugsweise ist sein Antrieb dabei reversierbar, so dass die Stückgüter S möglichst im Arbeitsbereich des letzten Pickers PN verbleiben. Bei fehlenden Stückgütern S auf dem ersten Zufuhrförderer 1 werden die zwischengespeicherten Stückgüter S vom letzten Picker PN genommen, um die Behälter B vollständig zu füllen. Auch hier wird wiederum die Relativgeschwindigkeit der zwei Zufuhrförderer in Abhängigkeit der Speicherkapazität gesteuert. A fifth embodiment is shown in FIG. Here, it is not the containers B but the piece goods S that are temporarily stored. In this embodiment, the first and the at least one second feed conveyor 1, 2 now run parallel to one another, the piece goods S and container B being transported in direct current. At the downstream end of the first feed conveyor 1 there is a storage element in the form of a general cargo storage conveyor 4. This runs at least approximately parallel to the conveying direction of the piece goods S and thus forms the extension of the first feed conveyor 1. It preferably consists of the same type of conveyor as the first feed conveyor 1, for example it is a conveyor belt. However, it is driven separately. Its drive is preferably reversible so that the piece goods S remain in the working area of the last picker P N as far as possible. In the case of missing piece goods S on the first feed conveyor 1, the piece goods S which have been temporarily stored are taken by the last picker P N in order to completely fill the containers B. Again, the relative speed of the two feed conveyors is controlled depending on the storage capacity.

Kombinationen der obengenannten Ausführungsformen sind möglich. So lassen sich in derselben Anlage sowohl Stückgüter S wie auch Behälter B zwischenspeichern. Auch ist es möglich, bereits entlang der Pickerstrasse und nicht nur im Bereich des letzten Pickers Speicherelemente anzuordnen.Combinations of the above-mentioned embodiments are possible. In this way, both general cargo S as well as store container B. It is also possible already along the Pickerstrasse and not just in the area of the last picker to arrange storage elements.

Die erfindungsgemässe Vorrichtung ermöglicht eine effiziente Umsetzung von Stückgütern in Behälter bei möglichst vollständiger Befüllung der Behälter und zwar unabhängig von der Art der relativen Transportrichtung der Stückgüter und Behälter zueinander. Sie lässt sich insbesondere in Gleichstrom- wie auch in Gegenstromanlagen integrieren. The device according to the invention enables efficient Conversion of piece goods into containers with the most complete possible Filling the container regardless of the type the relative direction of transport of piece goods and containers to each other. It can be used especially in direct current as also integrate in counter-current systems.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

SS
Stückgütercargo
BB
Behältercontainer
PN P N
letzter Pickerlast picker
PN-1 P N-1
vorletzter Pickerpenultimate picker
Ee
Entnahmestellesampling point
RR
Rückgabestellereturn point
11
erster Zufuhrfördererfirst feed conveyor
22
zweiter Zufuhrförderersecond feed conveyor
2020
erste Förderstreckefirst conveyor line
2121
zweite Förderstreckesecond conveyor line
2222
dritte Förderstreckethird conveyor line
33
Zwischenfördererintermediate conveyor
3'3 '
Rückfördererreturn conveyor
3''3 ''
Behälter-SpeicherfördererContainer storage conveyor
44
Stückgut-SpeicherfördererGeneral cargo storage conveyor
55
Steuerungseinheitcontrol unit

Claims (17)

Verfahren zum Einsetzen von Stückgütern (S) in Behälter (B) mittels einer Pickerstrasse, wobei die Relativgeschwindigkeit zwischen der Zufuhr der Behälter (B) und der Zufuhr der Stückgüter (S) im Bereich der Pickerstrasse gesteuert wird, dadurch gekennzeichnet, dass die Steuerung der Relativgeschwindigkeit in Abhängigkeit eines Füllstandes mindestens eines Speicherelementes (3, 3', 3'', 4) erfolgt.Method for inserting piece goods (S) into containers (B) by means of a picker line, the relative speed between the supply of the containers (B) and the supply of the piece goods (S) being controlled in the area of the picker line, characterized in that the control of the Relative speed as a function of a fill level of at least one storage element (3, 3 ', 3'', 4). Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass das mindestens eine Speicherelement (3, 3', 3'') mindestens einen Teil der Behälter (B) speichert.A method according to claim 1, characterized in that the at least one storage element (3, 3 ', 3'') stores at least some of the containers (B). Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass mindestens ein Teil der Behälter (B) im Bereich eines in Förderrichtung der Behälter (B) letzten Pickers (PN) der Pickerstrasse in das mindestens eine Speicherelement (3, 3', 3'') geleitet wird.Method according to one of claims 1 or 2, characterized in that at least some of the containers (B) in the area of a last picker (P N ) of the picker line in the conveying direction of the containers (B) into the at least one storage element (3, 3 ', 3 ''). Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Behälter (B) so lange im mindestens einen Speicherelement (3, 3', 3'') gehalten werden, bis ein in Förderrichtung der Behälter (B) letzter Picker (PN) der Pickerstrasse genügend Kapazität aufweist, um sie vollständig zu füllen.Method according to one of claims 1 to 3, characterized in that the containers (B) are held in the at least one storage element (3, 3 ', 3'') until a last picker (P N ) the picker line has sufficient capacity to fill it completely. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass das mindestens eine Speicherelement (3, 3', 3'', 4) nach dem Prinzip First in /First out (zuerst rein/zuerst raus) oder First in/Last out (zuerst rein/zuletzt raus) arbeitet.Method according to one of claims 1 to 4, characterized in that the at least one memory element (3, 3 ', 3'', 4) according to the principle first in / first out (first in / first out) or first in / last out (first in / last out) works. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass im mindestens einen Speicherelement (3', 3'') gespeicherte Behälter (B) ausserhalb der Förderrichtung der Behälter (B) aufbewahrt werden.Method according to one of Claims 1 to 5, characterized in that containers (B) stored in the at least one storage element (3 ', 3'') are kept outside the conveying direction of the containers (B). Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Geschwindigkeit einer Förderstrecke (21) für die Behälter (B), welche sich im Bereich eines in Förderrichtung der Behälter (B) letzten Pickers (PN) befindet, in Abhängigkeit der Kapazität dieses Pickers (PN), insbesondere von der Steuerung dieses Pickers (PN), gesteuert wird.Method according to one of claims 1 to 6, characterized in that the speed of a conveying path (21) for the containers (B), which is located in the area of a last picker (P N ) in the conveying direction of the containers (B), depending on the Capacity of this picker (P N ), in particular controlled by the controller of this picker (P N ). Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass das mindestens eine Speicherelement (4) mindestens einen Teil der Stückgüter (S) speichert.A method according to claim 1, characterized in that the at least one storage element (4) stores at least a part of the piece goods (S). Verfahren nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die Behälter (B) und Stückgüter (S) ausserhalb des mindestens einen Speicherelementes (3, 3', 3'', 4) und im Bereich der Pickerstrasse im Gleichstrom oder im Gegenstrom transportiert werden.Method according to one of claims 1 to 8, characterized in that the containers (B) and piece goods (S) outside the at least one storage element (3, 3 ', 3'', 4) and in the area of the picker line in cocurrent or in countercurrent be transported. Vorrichtung zum Einsetzen von Stückgütern (S) in Behältern (B), mit einem ersten Zufuhrförderer (1) zur Zufuhr der Stückgüter (S), mit einem zweiten Zufuhrförderer (2) zur Zufuhr der Behälter (B), mit einer Pickerstrasse zum Einsetzen der Stückgüter (S) in die Behälter (B) und mit einer Steuerungseinheit (5) zur Steuerung der Relativgeschwindigkeit zwischen dem zweiten Zufuhrförderer (2) und dem ersten Zufuhrförderer (1), dadurch gekennzeichnet, dass mindestens ein Speicherelement (3, 3', 3'', 4) zur Speicherung der Behälter (B) und/oder der Stückgüter (S) vorhanden ist und dass die Steuerungseinheit (5) die Relativgeschwindigkeit in Abhängigkeit eines Füllstandes des mindestens einen Speicherelementes (3, 3', 3'', 4) steuert.Device for inserting piece goods (S) in containers (B), with a first feed conveyor (1) for feeding the piece goods (S), with a second feed conveyor (2) for feeding the containers (B), with a picker line for inserting the General cargo (S) into the container (B) and with a control unit (5) for controlling the relative speed between the second feed conveyor (2) and the first feed conveyor (1), characterized in that at least one storage element (3, 3 ', 3 '', 4) for storing the containers (B) and / or the piece goods (S) is present and that the control unit (5) determines the relative speed as a function of a fill level of the at least one storage element (3, 3 ', 3'', 4 ) controls. Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass das mindestens eine Speicherelement (3, 3', 3'', 4) im Bereich der Pickerstrasse angeordnet ist.Apparatus according to claim 10, characterized in that the at least one storage element (3, 3 ', 3'', 4) is arranged in the area of the picker street. Vorrichtung nach einem der Ansprüche 10 oder 11, dadurch gekennzeichnet, dass das mindestens eine Speicherelement (3, 3', 3'', 4) ein Förderelement ist.Device according to one of claims 10 or 11, characterized in that the at least one storage element (3, 3 ', 3'', 4) is a conveying element. Vorrichtung nach einem der Ansprüche 10 bis 12, dadurch gekennzeichnet, dass der zweite Zufuhrförderer (2) in mindestens zwei Förderstrecken (20, 21) unterteilt ist, und dass das mindestens eine Speicherelement (3) zwischen den Förderstrecken (20, 21) angeordnet ist.Device according to one of claims 10 to 12, characterized in that the second feed conveyor (2) is divided into at least two conveyor lines (20, 21), and that the at least one storage element (3) is arranged between the conveyor lines (20, 21) , Vorrichtung nach einem der Ansprüche 10 bis 13, dadurch gekennzeichnet, dass das mindestens eine Speicherelement ein mindestens annähernd parallel zum zweiten Zufuhrförderer (2) verlaufender Rückförderer (3') ist, welcher die Behälter (B) von einer Entnahmestelle (E) auf eine in Förderrichtung der Behälter (B) stromaufwärts gelegene Rückgabestelle (R) auf den zweiten Zufuhrförderer (2) rückfördert.Device according to one of claims 10 to 13, characterized in that the at least one storage element is a return conveyor (3 ') which runs at least approximately parallel to the second feed conveyor (2) and which transports the containers (B) from a removal point (E) to an in Direction of conveyance of the containers (B) upstream return point (R) back to the second feed conveyor (2). Vorrichtung nach einem der Ansprüche 10 bis 14, dadurch gekennzeichnet, dass das mindestens eine Speicherelement (3'') ein mindestens annähernd senkrecht zum zweiten Zufuhrförderer (2) verlaufender Behälter-Speicherförderer (3'') ist, welcher die Behälter (B) von einer Entnahmesteile (E) vom zweiten Zufuhrförderer (2) weg und wieder zu dieser Entnahmestelle (E) zurück fördert.Device according to one of claims 10 to 14, characterized in that the at least one storage element (3 '') is a at least approximately perpendicular to the second feed conveyor (2) container storage conveyor (3 '') which the container (B) from a removal parts (E) away from the second feed conveyor (2) and back to this removal point (E). Vorrichtung nach einem der Ansprüche 10 bis 12, dadurch gekennzeichnet, dass das mindestens eine Speicherelement ein Stückgut-Speicherförderer (4) ist, welcher mindestens annähernd parallel in Förderrichtung des ersten Zufuhrförderers (1) verläuft und welcher in Förderrichtung der Stückgüter (S) stromabwärts am Ende des ersten Zufuhrförderers (1) angeordnet ist.Device according to one of claims 10 to 12, characterized in that the at least one storage element is a piece goods storage conveyor (4) which runs at least approximately parallel in the conveying direction of the first feed conveyor (1) and which is downstream in the conveying direction of the piece goods (S) End of the first feed conveyor (1) is arranged. Vorrichtung nach einem der Ansprüche 10 bis 16, dadurch gekennzeichnet, dass der erste und zweite Zufuhrförderer (1, 2) im Gleichstrom oder im Gegenstrom zueinander bewegbar sind.Device according to one of claims 10 to 16, characterized in that the first and second feed conveyors (1, 2) can be moved in cocurrent or in countercurrent to one another.
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ATE332840T1 (en) 2006-08-15
CA2423949C (en) 2011-10-18
DE50304180D1 (en) 2006-08-24
US20030182898A1 (en) 2003-10-02
CA2423949A1 (en) 2003-10-02
US6901726B2 (en) 2005-06-07
EP1352831B1 (en) 2006-07-12
ES2268311T3 (en) 2007-03-16

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