CN1121333C - A packaging machine - Google Patents

Abstract

A packaging machine for packaging articles into cartons selected from, at least, a first carton or a second carton is described, wherein the first and second cartons are of a different type or size. The cartons are stored in at least one hopper, and picked for packing by a carton engaging means arranged to remove cartons from said at least one hopper and transport them sequentially to a first predetermined position. From there the cartons are transferred to a paper feed chain which transports the cartons to a second predetermined position, from where the cartons are combined with said articles. The paper feed chain comprises a support means carrying a first endless chain from which is depended a first set of guide lugs and a second endless chain from which is depended a second set of guide lugs. The guide lugs are interleaved to produce carton receiving zones, the length of which can be altered, for different carton sizes or types, by altering the relative positions of the first and second set of guide lugs. The support means is movable such that when the relative positions of the lugs is changed, this change can be compensated for such that the position of the first set of lugs with respect to said first predetermined position is unaltered.

Description

Packaging machine and its control device and control method, method for packaging articles into cartons

technical field

The present invention relates to a packaging machine and its control device and control method and method of packing articles into cartons, which are used to pack main articles such as cans or bottles into various packing cartons, in particular to a packaging A machine that packs primary items into cartons that can be selected from two or more sizes or types of cartons.

Background technique

Most of the known packaging machines are special purpose machines, which are constructed for only one type of carton of one size. Thus, a modern bottling plant is required to use a variety of packaging machines for packaging different types of cartons, each of which takes up considerable floor space and is expensive to acquire and operate.

A limited number of packaging machines can pack different sizes or types of cartons, such as 6-, 8- or 12-bottle reeled cartons. All of these machines require adjustment when switching from one size or type of carton to another. This adjustment involves manually removing all cartons in the packaging machine and may require mechanical adjustments to components in the machine. During this switchover period, which may be 30 minutes or more, the machine cannot be used (known as "downtime"), which is a costly delay in a bottling plant. Such a delay could even shut down the entire bottling plant, not just the packaging machine, if something goes wrong during the switchover.

Contents of the invention

It is an object of the present invention to provide a packaging machine, its control device and method, and method of packaging articles into cartons, which overcome the technical and commercial disadvantages of the known packaging machines.

Another object of the present invention is to provide a packaging machine, its control and method, and method of packing articles into cartons, which can be switched from one type or size of carton to another with a minimum of downtime. A carton.

According to a first aspect of the present invention there is provided a packaging machine for packaging articles into cartons selected from at least a first type of carton or a second type of carton, said first and second types of cartons There are different types or sizes, the cartons are stored in at least one hopper, a carton engaging device grabs the cartons for packaging, the engaging device is arranged to be fed from the at least one hopper Remove the cartons, and convey them successively to a first predetermined position, and convey the cartons from this first position to a paper feed chain, which transports the cartons to a second predetermined position, whereby the second position begins, the carton is combined with the item,

The feed chain includes a support device carrying a first continuous chain from which a first set of guide lugs depends downwardly from the first chain, the support device also carrying a second continuous chain from which a second set of guide lugs depends. The second chain depends downwards, the guide lugs are staggered from each other, creating areas for receiving cartons, the length of these areas can be varied for different sizes and types of cartons by varying the first and second sets of guide lugs The relative position of the lugs and the change of the movable support means, these changes are such that when the relative position of the lugs is changed, this change can be compensated, so that the position of the first set of lugs is relative to the first predetermined position constant.

Preferably, the relative position of the first and second sets of guide lugs is set by controlling a motor which powers one of the first and second consecutive chains.

Preferably, the position of said support means is set by controlling a cylinder driven by compressed air which positions said structure.

Preferably, the packaging unit includes a control unit which controls the operation of each part of the machine during operation and switches between different types or sizes of cartons.

Preferably, the packaging machine comprises a first stocker for storing said first type of carton and a second stocker for storing said second type of carton, and includes removing the carton from any one of the stockers. The conveyor is transported to the first predetermined position, and the carton engaging device can engage the carton from the first hopper at the first position and the paper from the second hopper at the second position. Box engagement.

Preferably, the packaging means includes means for placing one of said hoppers in an operative position and control means for selecting the position of the means for engaging the carton corresponding to the selected operative hopper.

Advantageously, said carton gripping and conveying means is rotatable about a fixed axis on an orbital path.

Preferably, the first and second gripping positions are located at different parts of the track path.

Preferably, the packaging means includes means for placing one of said receptacles in an operational position in the form of a frame mounted on a second fixed axis, wherein said first and second receptacles are The hoppers are mounted to the frame such that each hopper is oppositely disposed about the second fixed axis.

Preferably, said running hopper is adjacent to the track path of said carton pick and transfer means.

Preferably, the packaging device comprises a device for successively processing, by said at least one hopper, flattened cartons having oppositely arranged panels with surfaces in contact with each other, the device also being used to realize the carton erected to an open-ended position, the apparatus is operable with the carton engaging means which successively engages one of the panels with surfaces in contact with each other and is used to place folded paper A box is extracted from a stocker, the carton comprising said one of said panels having surfaces in contact with each other, said means engaging the carton being drawn from said stock along a track about a rotatable axis. The device is transported to the first predetermined position, wherein the apparatus includes panel engaging means arranged outside the path of the track for engaging another of the panels in mutual contact with the surface so that when leaving the carton The other surface of the panels in contact with each other is pulled upwards in the direction of the gripping device, thereby opening the carton.

Preferably, a linear servo motor moves the panel engaging means in the first plane.

Preferably, said panel engaging means is mounted on a slider substantially perpendicularly to a rail, wherein said slider is movable relative to said rail so that said panel engaging means can be moved between two movement in the plane.

Preferably, a further linear servo motor moves said panel engaging means in the second plane.

Preferably, control means are provided for controlling the movement of the panel engaging means.

Preferably, said panel engaging means comprises a suction cup and suction cup fixing means mounted on said slide, said suction cup being connected to a vacuum supply during said opening of the carton.

Preferably, said panels having surfaces in contact with each other comprise opposing side walls of the carton.

Preferably, the packaging unit has an article feed arranged to advance the carton at a predetermined rate along a feed path for engaging the carton at a measured rate.

Preferably, the article feed means comprises a pair of star wheels which collect articles from the first feed belt and move them to the second feed belt at said predetermined rate.

Preferably, gripping blocks are provided on opposite sides of said second feed belt for collecting a predetermined number of articles and arranging them as individual units for packing into a carton.

According to a second aspect of the present invention there is provided a method of packaging articles into a carton comprising the steps of:

a) selection from at least a first type of carton or a second type of carton, said first and second type of carton being of a different type or having a different size, said cartons being stored in at least one hopper ;

b) grabbing cartons for packaging using a carton engaging device, the engaging device being arranged to remove the cartons from said at least one hopper and transport them successively to a first predetermined location;

c) conveying said carton to a feeder chain which conveys the carton to a second predetermined position whereby the second position carton is combined with said article, said feeder chain comprising a support means which carries A first continuous chain, from which a first set of guide lugs depends downwardly, the support device also carries a second continuous chain, from which a second set of guide lugs depends downwardly from the second chain, said guide The lugs are staggered from one another to create areas to accommodate the cartons, the length of which can be varied for different sizes or types of cartons;

d) changing said length by changing the relative position of the first and second sets of guide lugs; and

e) When changing the relative position of the lugs, moving the support means compensating for said change so that the position of the first set of lugs relative to said first predetermined position remains constant.

Preferably, the relative positions of the first and second sets of guide lugs are set by controlling one of the motors powering the first and second successive chains.

Preferably, the position of said support means is set by controlling a compressed air driven cylinder which positions said structure.

Preferably, the method employs a control device which controls the operation of each part of the machine during operation and switches between different types or sizes of cartons.

Preferably, the position of the carton engaging means is engaged at a first position with a carton from a first stocker and is positioned at a second position with a carton from a second stocker, the paper The cartridge engaging means is movable between said first and second positions.

Preferably, the method includes positioning one of said hoppers in an operational position and a position of the means for engaging the carton corresponding to selection of the selected operational hopper.

Preferably, the method allows said carton gripping and transporting means to rotate about a fixed axis on an orbital path.

Preferably, the first and second gripping positions are located at different parts of the track path.

Preferably, the method includes mounting said first and second hoppers to a frame such that each hopper is oppositely disposed about the second fixed axis.

Preferably, when in use, said running hopper is located adjacent to the track path of said carton pick and transfer means.

Preferably, the method comprises successively processing, by said at least one hopper, flattened cartons having panels with oppositely disposed surfaces in contact with each other, and which enable the cartons to all be erected as open-ended state, successively engaged with one of said mutually contacting panels, and used to extract a folded flat carton comprising said one of said mutually contacting panels, along conveyed from said stocker to said first predetermined position along a track about a rotatable axis, wherein panel engaging means is provided on the track for engaging another of the panels in mutual contact with said surface outside of the path such that said other surface-contacting panels are pulled in a direction away from the carton gripping means, thereby opening the carton.

Preferably, a linear servo motor moves the panel engaging means in the first plane.

Preferably, the method includes mounting said panel engaging means on a slide in substantially perpendicular relationship to a rail, and moving said slide relative to said rail such that said panel engaging means can Movement in two planes.

Preferably, said panel engaging means is moved in the second plane by a linear servo motor.

Preferably, the method includes using control means arranged to control movement of the panel engaging means.

Preferably, the method includes using said panel engaging means comprising a suction cup and suction cup retaining means mounted on said slide, said suction cup being connected to a vacuum supply during said opening of the carton.

Preferably, said panels having surfaces in contact with each other comprise opposing side walls of the carton.

Preferably, the method includes using an article feeder to advance the carton at a predetermined rate along a feed path for engaging the carton at a measured rate.

Preferably, the method includes using a pair of star wheels to collect articles from the first feed belt and move them to the second feed belt at said predetermined rate.

Preferably, the method includes using gripping blocks on opposite sides of said second feed belt to collect a predetermined number of articles and arrange them into individual units for packaging into a carton.

According to a third aspect of the present invention, there is provided a control device for a packaging machine as described above, the control device comprising a central processing unit, a manual input device and separate Means for individually positioning the first and second sets of guide lugs and support means carrying said guide lugs on the paper feed chain.

Preferably, the means for positioning the support means is a compressed air driven cylinder.

Preferably, the control unit is arranged to be used with a packaging machine having two hoppers, to which a single carton engaging device is proximate, wherein the control unit comprises a device which makes the carton The engaging means is positioned in a first position for engaging with cartons in said first hopper, and the carton engaging means is positioned in a second position for engaging with cartons in said second hopper. Carton splicing.

Preferably, the means for positioning the carton engaging means positions the engaging means in a third position from which the carton engaging means cannot engage a carton in any of the hoppers.

Preferably, said means is a cylinder driven by compressed air.

Preferably, the control device is arranged to be used with a packaging machine having an opening device for opening the cartons picked up by each hopper, wherein the setting on the opening device can be changed. The trajectory of the extraction device so that the opening device can open the cartons extracted from any hopper.

Preferably, the control means includes servomotors in X and Y orientations.

Preferably, the control means is arranged for use with a packaging machine having an article feed means in the form of a star wheel, the control means controlling the rotational speed of the star wheel.

Preferably, the control means controls the motor which rotates the star wheel.

According to a fourth aspect of the present invention, there is provided a control method for controlling the operation of a packaging machine for the purpose of changing from a first type of carton in a first hopper to one in a second hopper The second carton, it includes the following steps:

a) stop the carton engaging device from grabbing any carton;

b) Make the paper feed chain continue to run until it has no paper cassette;

c) Stop the paper feed chain;

d) stop supplying items;

e) repositioning the carton engaging device and hopper so that the carton can be extracted from another hopper;

f) changing the relative position of the first and second sets of guide lugs in said feed chain;

g) changing the position of the support means relative to said first predetermined position; and

h) Restart the carton pickup and delivery process and restart the supply of items.

Preferably, the command for switching is read from a pre-entered control program.

Alternatively, an instruction to perform switching is manually input into the control device.

Preferably, the packaging machine has means for opening the cartons, which means are also stopped during the changeover.

Preferably, before restarting, the trajectory of the extraction means in said carton opening means is changed so that the means can open cartons from said other hopper.

Preferably, during the switching, the extraction point and the movement trajectory of the extraction means in the carton splicing means are changed so that the means can extract cartons from said other hopper.

Preferably, the rate at which articles are supplied can be varied as required by the size or type of carton in each of said hoppers.

Preferably, a single sensor is used to sense the relative position and state of each movable part and communicate the information to the control means.

Description of drawings

An embodiment of the invention will now be described by way of example with reference to the accompanying drawings, in which:

Figures 1a and 1b are perspective views of a blank form and an open form of a basket-type carton suitable for use with a machine according to the invention;

Figure 2a is a perspective view of a fully encapsulated carton blank suitable for use with a machine according to the invention;

Figure 2b is a perspective view of the carton shown in its blank form in Figure 2a having been erected and loaded;

Figure 3a is a perspective view of a coiled carton blank suitable for use with a machine according to the invention;

Figure 3b is a perspective view of the carton shown in its blank form in Figure 3a having been erected and loaded;

Figure 4 is a perspective view of a feeding mechanism of a packaging machine, particularly showing a storage unit, a feeding mechanism and a paper feeding chain;

Figure 5 is a perspective view viewed from the opposite side of the packaging machine shown in Figure 4;

Figure 6 is a perspective view showing the storage unit in a first position;

Figure 7 is a perspective view showing the storage unit in a second position;

Figure 8 is a perspective view of the feeder shown in Figure 4;

Figure 9 is an exploded view of the feeder shown in Figure 4;

Figure 10 is a perspective view of the vacuum feeder, back feeder and paper feed chain shown in Figure 4;

Figures 11, 12 and 13 are further representations of the apparatus shown in Figure 10;

Figures 14 and 15 show graphs representing position, velocity, acceleration and the derivative of velocity as a function of time for the X and Y servomotors arranged to move the backfeeder shown in Figures 10 to 13;

Figure 15 is a plan view of the article feeding device;

Figure 16 shows the downstream end of the packaging machine shown in Figure 4;

Figure 17 is a block diagram of a control device according to the present invention;

Fig. 18 is a flowchart of the control device according to the present invention.

Detailed ways

The mechanism according to the present invention can erect various types of cartons, such as reeled cartons, fully enclosed cartons and basket type cartons. All references to carton types in this document include the different sizes of a particular type of carton. For example, the facility can load fully sealed cartons with 8 or 12 items.

Referring to the drawings, especially Figs. 1a and 1b, the carton 10 is a basket-type carrying device, shown in Fig. 1b in an erected state ready to be lowered onto objects. The carton 10 includes opposed side wall panels 12, 14 and opposed end wall panels 16, 18 which are pivotally connected to the adjacent panels. The carton also includes a handle structure interconnecting the end wall panels 16,18, and the carton includes transverse spacer panels 22 interconnecting each side wall 12,14. Bottom panels 24, 26 are pivotally attached to each side wall 12, 14, respectively.

Referring now to Figures 2a and 2b, these figures show a rolled carton 30, which is shown in its folded flat form in Figure 2a. The carton blank includes opposed side wall panels 32, 34 and opposed end wall panels 36, 38 which are pivotally connected to the adjacent panels. The carton also includes top panels 40,42 and bottom panels 44,46 which are pivotally connected to the respective side walls 32,34. Articles are inserted into the carton from above, or if that may be the case, from below, and the top and bottom panels are subsequently fastened together to provide a fully enclosed carton.

As shown in Figures 3a and 3b, the carton 31 is a roll-to-roll type of carton, the blank form of which is shown in Figure 3a. The carton blank 31 comprises a first bottom panel 33, side walls 35, a top panel 37, a second side panel 39 and a bottom panel 41 which are pivotally connected to the next panel. The top panel 37 includes three pairs of apertures 43, 45, spaced between the side edges of the top panel 37, and adapted to receive the upper portion of an item A, as shown in Figure 3b.

It is envisaged that the cartons can be varied according to the shape and/or number of items to be packaged, and therefore the machine according to the invention can be adjusted in many ways so that it can handle a wide range of such cartons. The main settings that may be changed are shown in Figures 1a, 2a and 3b, where "H" is the overall height of the erected carton, which is the distance between the upper edge of the side wall and the bottom panel equal, and "L" is the total length of the carton when the bottom panel has been closed.

Referring to Figures 4 to 7, there is shown a packaging machine 50 for processing cartons such as the type described above. The upstream end of the machine includes a double hopper 52 containing a plurality of basket-type and fully enclosed cartons 10, 30 in a folded-flat condition ready for processing.

The hopper unit 52 (FIGS. 6 and 7) includes two (or more) separate hoppers 58, 60 at adjacent locations. Each hopper 58, 60 is mounted to a frame 62 as shown in FIGS. 6 and 7 . The frame 62 is mounted on a spindle 64, which is rotatable about the axis X-X. Each hopper 58, 60 is of the gravity feed type so that the carton blanks are placed at an angle in their respective hoppers to provide reliable feeding. It is contemplated that the hopper unit may comprise any number of hoppers, adapted to accommodate different types or sizes of cartons, surrounding a rotary feeder as will be described below.

In this embodiment, a cylinder (not shown) powered by compressed air is used to rotate the frame between two positions, as shown in FIG. So that the fully enclosed cartons placed in the first hopper are fed into the packaging machine. Figure 7 shows the frame 62 in a second position, which places the second hopper 60 containing the basket-type carton in the operational position.

A control unit controls the position of the hoppers 58, 60, as will be described in more detail below.

As shown in Figures 6 and 7, when the first stocker 58 is in the operating position, a gripping device, preferably a rotary vacuum feeder 66, sequentially removes a fully enclosed carton. form. The vacuum feeder 66 includes several sets of suction cups 67 , 69 , for example three sets, a drive rod 72 connecting each set to a drive shaft 70 . A suitable conventional bearing 71 , 73 supports the drive shaft 70 at the end of the bearings, which are mounted to the side frame 84 . A suitable drive mechanism such as a servo motor 75 is provided to rotate the drive shaft. A cam lever and follower connects the drive rod 72 to a cam track which provides an even path for the suction cups as the drive shaft rotates. The cam track is routed so that the suction cups can be extended toward the hopper to grab a carton in the folded flat position and then rotate the suction cup and carton to the infeed end of the machine.

In order to transport the blanks from an inclined position to a vertical plane, the axis of rotation of the rotary feeder must be offset from the vertical plane, as shown in FIGS. 6 and 7 .

When a set of suction cups 67,69 contacts the side wall 32 of a carton 30, a vacuum is applied to the set of suction cups to remove the carton from the hoppers 58,60. During the rotation of the carton to a predetermined position, the vacuum is maintained. At the predetermined position, a vacuum interrupt device ceases to provide vacuum, disengaging the carton 30 from the feeder 66 .

If it is desired to pack different types of cartons, for example basket-type cartons 10 placed in a second hopper, some adjustments are made to the machine. The second hopper 60 is moved to the operational position, as described above. Because the position of the second hopper relative to the rotating feeder 66 is different from that of the first hopper 58, it is necessary to move the "grab" parts of the suction cups 67, 69 and to change the "on" and "off" states for providing vacuum. "Location. These changes are accomplished by moving the cam track and/or the cam controlling the supply of vacuum to the second position. A servomotor 167 shown in Figure 8 controlled by the control system moves the subassemblies between two positions.

Preferably, a third position is included for the means for providing vacuum, this position being a "defective setting", whereby the means for providing vacuum is disengaged during the entire rotation of the suction cup. This missing position is suitable to be used during the process of changing paper cassettes, or if the machine is malfunctioning.

Figure 8 shows a gripping device suitable for extracting the lowermost fold-flat carton from the storage unit. As noted above, the preferred form of gripping means is a vacuum feeder 66 which includes suction cups 67, 69 supported on suction cup fixtures 74 and 76, respectively. Preferably, the suction cup fixtures 74 and 76, respectively, are fixedly mounted on an elongated support rod 78 which is slidably mounted respectively on a collar structure 80 which is rigidly fastened to the main rotating shaft. on axis 70. Suction cup fixtures 74, 76 are mounted on cam levers 79 which extend into side frames 84 which house a cam track which will be described later. It can be seen from FIG. 8 that in combination with the rotatable main shaft 70, three groups of carton grabbing devices are provided. Only one set of such devices is described in detail, since all three sets of gripping devices have the same structure and operate in the same way.

Figure 9 is used to show an exploded view of the rotating vacuum feeder. A fixed cam plate 82 is mounted on the inner surface of the side frame 84 and is provided with a hole 86 through which the drive shaft 70 extends. Formed in this fixed cam plate 82 is a cam track 88 in which a cam follower (not shown) is located. The purpose of this cam track 88 is to make it easy for the cam lever 79 to extend away from the spindle 70 and contact the cartons so that one of the cartons can be removed by the stocker 58 and the carton can be rotated in a uniform path to the paper feed chain 100, as will be discussed below. When a carton is rotated by its stocker, a back feeder is used to separate the opposing side panels and help the carton stand upright.

A plurality of vacuum interrupting devices are provided in the feeding mechanism 66, and these devices are used in conjunction with the vacuum supplying means to set the vacuum connecting point and the vacuum breaking point.

Turning to the process that a carton is fed to the paper feed chain by the stocker, the main shaft makes the grabbing device 66 rotate in the direction indicated by the arrow "Z" in Figures 10 and 11. As the gripper rotates, the suction cups 67 , 69 are moved into contact with the side walls 32 of the carton 30 . Subsequently, when the suction cups are in contact with the side wall 32 of the carton 30, a vacuum is applied to that set of suction cups. In this way, the carton is extracted and conveyed to the paper feed chain 100. A vacuum is maintained during this transfer so that the suction cups hold against the side walls of the carton. When the carton is placed on the paper feed chain, the vacuum interruption device interrupts the vacuum provided to the suction cup and releases the carton. In this way, the operating speed of the device is improved, while improving its efficiency and service life.

As can be seen from FIG. 12, on the paper feed chain 100, the carton is changed from a folded flat state to a fully erected state. Of course, the final erecting operation is in part due to the engagement with the back feeder (or opening device) 90 .

Turning to the structure of the back feeder 90 shown in Figures 10 to 13, it includes suitable engagement means for engaging the wall or walls of the carton. In this embodiment, the engagement means comprises a suction cup 92 supported on a suction cup fixture 94 mounted on a slide 96 . Appropriate means are provided to move the engaging means in the "X" and "Y" directions. For example, the sliding member 96 is further mounted on a transverse sliding frame 98, and the sliding member 96 can move in the direction indicated by the letter X. The transverse carriage 98 is preferably connected to a guide rail 99 fixed to a supporting frame (not shown): the transverse carriage is adapted to move the suction cup and the slider in the direction indicated by the letter Y. Thus, the suction cups 92 can move toward or away from the rotating vacuum feeder 66 and follow the orbital path Z of the carton in a vertical direction. If desired, limit stops can be provided at the ends of the slide and/or rail.

It is contemplated that additional components or configurations may be used to provide an assembly that can move in the X-Y direction.

Suitable drive means such as a first linear servomotor (not shown) moves the slider 96, a suitable control system controls the first linear servomotor, and a second drive means such as a second linear servomotor (not shown) To move the transverse carriage 98, the control system also controls this second linear servo motor. Therefore, the position of the back feeder suction cup 92 can be moved to any desired position. In some embodiments, the control system is programmed to pre-set the appropriate X-Y coordinates and determine the path of the suction cup. More details of the control system will be described below.

In use, the back feeder 90 separates one or more walls 34 of the carton from the opposing wall 32 held by the rotating feeder 66 . In this embodiment, the opposing walls used are side walls 32,34. As the rotating feeder 66 carries the carton, the suction cups 92 of the back feeder 90 are moved forward into contact with the side walls 34 of the folded flat carton 18, as shown in FIG. Preferably, the point of contact is at the center of the walls to be separated. Vacuum is applied to the suction cups 92 to grip the side walls 34 . As the rotary feeder 66 continues to rotate the carton forward, the suction cups 92 of the back feeder move away from the rotary feeder 66, separating the two side walls 32, 34 shown in FIG.

In this embodiment, a pair of suction cups 67 , 69 on the front of the rotary feeder release the front panel 46 . Thus, the carton is folded into a partially erected condition so that the side walls and end walls are in a substantially trapezoidal relationship. Subsequently, the vacuum supply to the backfeeder is interrupted, causing the carton to be disengaged from the backfeeder shown in FIG. 13 .

While suction cups are preferably used to secure one of the walls, some embodiments may employ additional features, such as mechanical attachment means.

As noted above, the preferred "catch" location for the back feeder suction cups 92 is approximately in the center of the carton side panels. This position will vary according to the type of carton, in particular the size of the side and end walls of each type of carton, and will vary for different sizes of cartons. Similarly, the path of the suction cup that separates the two walls will also vary depending on the particular type of carton being erected. It is envisaged that the suction cup may adopt an oscillating path similar to that disclosed in patent document WO92/15450. Also, a rotary path is available for some cartons. The benefit of the back feeder is the good adaptability provided by the system. In particular, the back feeder can move the suction cup 92 to any position to accommodate any number of paths within the limits of the slide 96 and the end stops of the cross carriage 98 . Examples of some of the paths followed are shown in Figures 14 and 15, along with the velocity and acceleration components of the "X" and "Y" directional drives.

By preprogramming the control system, the position and path of the suction cups 92 can be preset, thus reducing downtime when switching carton types or styles. According to the invention, the operating speed of the equipment can be increased, and its efficiency and service life can be increased.

The carton 30 continues on its track path until it comes into contact with the paper feed chain 100 . In particular, the front edge 102 of the carton 30 is pressed against the front lug 104 of the paper feed chain 100 . The front lugs 104 guide the front edge 102 away from the suction cups 67, 69 of the rotary feeder 66, thereby separating the front end panel 46 from the side panels 34 in a substantially perpendicular relationship. At the same time, the rear lug 106 moves into contact with the rear end panel to assist in the erecting operation. The carton 30 is then released by the suction cups 67, 69 of the rotary feeder 66 and continues to move in the "Z" direction, the feed chain 100 moving the carton 30 downstream to the loading station.

Turning to the structure of the feed chain 100 shown in FIGS. 4 and 10 , it includes upper and lower lug chains 108 and 110 . Each set has a similar structure and includes continuous chains having a plurality of front and rear lobes 104 and 106 . Upper link 108 includes front lugs 104 and lower link 110 includes rear lugs 106 . Drive means, such as one or more servo motors controlled by a control system, move each chain set forward.

In order to change the setting of the machine from one type of carton to another, the distance D between the front and rear lugs must be changed. Thus, during shifting, the servomotor controlling the lower chain moves the rear lug 106 relative to the front lug 104, increasing or decreasing the distance between the lugs. For example, basket cartons have shorter side walls than fully closed cartons, so if the carton is switched from fully closed to basket, the distance D is reduced. In this embodiment, the distance between the front and rear lugs can be increased or decreased by 10 cm.

Relative movement of the rear lug 106 will change the position of the rear lug 106 in contact with the rear end panel of the carton as described above. The rear lug 106 must be in contact with the end panel, notwithstanding the end panel being rotated. If the rear lug 106 moves forward, the point of contact also moves forward. In order to reset the contact point at the correct position, the paper feed chain 100 must be moved backward by a corresponding distance (ie 10 cm). Those skilled in the art will understand that if the distance D is increased by moving the rear lug 106 away from the front lug, then the feed chain must be moved forward by a corresponding distance. The paper feed chain 100 is moved using a cylinder (not shown) powered by compressed air.

Feed chain 100 moves the erected carton forward, a horizontal plate (not shown) holds the erected carton in its position and moves the erected carton to module 11 which lowers the carton . Subsequently, the bottom panel 46 of the carton is folded outwardly using the guides 114 located on either side of the carton.

After the cartons have been erected, they are transferred to the loading station 120 . In this way, the carton is disengaged from the feed chain 100 and, as it is moved downstream, it is gradually conveyed into engagement with the lowering module 11 shown in FIGS. 3 and 4 .

The module for lowering the cartons includes a conveyor, such as a pair of side lug chains 112, mounted respectively on tables 113, which are inclined downward toward a loading station 114. Each side lug chain set 112 has a similar structure comprising a continuous chain 115 powered by a motor such as a servo motor. Appropriate means are provided attached to the side lug chain sets to periodically engage the cartons supplied by the feed chain. In this embodiment, the means for engaging the carton includes a plurality of guide pin lugs 116 mounted on a continuous chain, which engage the opposing bottom panels 24, 26 of the carton and, when the carton is During downstream movement, the bottom panels 24, 26, side panels 12, 14 and end panels 16, 18 are maintained in a set state.

Each lug 116 is preferably substantially wedge-shaped and includes a bearing surface 117 disposed at an acute angle with respect to an imaginary vertical plane. A plurality of pins, such as four pins 118 , are mounted at spaced intervals along the bearing surface 117 . Each pin 116 is located on a support surface 117 so that during use they are received in corresponding holes in the bottom panel to be supported for engagement with the carton. In this embodiment, only the first three of the four pins are required for the basket style carton. Of course, for larger cartons, such as fully sealed cartons, all pins are used. Conversely, smaller cartons may only need to engage two of the pins.

A motor such as a servo motor moves the continuous chain. As each lug 64 moves along the path of a cam track (not shown), the lugs 116 keep the cartons 10 in a horizontal plane while the continuous chain set 113 lowers them toward the loading station 120. .

It is envisaged to use the lowered modules to load the cartons with different configurations of articles, for example with two or three rows of articles. Thus, a compressed air driven cylinder (not shown) can move either or both of the chain sets and either or both of the tables towards each other, or away from each other. Also, hydraulically powered cylinders supporting the table can raise or lower the modules that lower the cartons. The compressed air driven cylinder and/or the hydraulically powered cylinder may be controlled by suitable control means.

An end feed conveyor 124 feeds articles such as bottles 122 into the machine and a feed star wheel 126 controls the bottle line pressure, as is well known (FIG. 16). The articles are divided into groups of the correct number for each carton 30 by a series of article grippers 128 which also control the flow of articles so that articles are introduced into the cartons at the same rate as the cartons flow.

Turning to the item holder assemblies 128 on either side of the item conveyor, there are provided pairs of four blocks or separators 131 mounted on otherwise continuous chains. Each block comprises four semi-circular recesses 133, positioned one behind the other, which accommodate a portion of a bottle or can. The continuous chain is mounted on a table. One or both of the gripper assemblies may be moved toward or away from the article conveyor as desired for two or three rows of articles. In this embodiment, when it is desired to pack two rows of items, the clip assembly is moved towards the second clip assembly. In this way, each clip assembly can grip a portion of the items forming each outer row, as shown in FIG. 16 . It is also possible to narrow the distance between the stock star wheels when required, ensuring that the flow of items is limited to two rows, or, when required, to move them to allow three rows. For those cartons requiring six items in two rows of three each, the front notch in each clip block remains empty.

For those cartons requiring three rows of articles, the middle row of articles is moved forward by means of the configuration shown in FIG. In this way, the correct number of items can be selected.

The items gradually come out of contact with the gripper assembly and are transported by the item conveyor to the loading station.

The loading station 120 shown in FIG. 4 guides the carton from above into the group of objects, while the carton and group of objects move forward in unison. The cartons are lowered onto the articles due to the fact that the successive chains on the modules lowering the cartons are inclined downwards, as described above. As shown in Figure 3, the lateral movement of the cartons in the loading station is controlled by a pair of guides positioned above each chainset and adapted to accommodate the free edges of each bottom panel. Vertical movement of the carton is minimized by a pressure belt positioned above the continuous chain set and adapted to apply downward pressure to the handle structure or, as may be the case, to the top panel put pressure on. It is contemplated that in some embodiments the pressure belt may be replaced by a fixed guide or, if appropriate, by a vertically mounted continuous chain and set of lugs in accordance with common practice.

Once the cartons have been filled with articles, the cartons are conveyed to the next continuous chain with side lugs 210 using article conveyors and/or pressure belts for conveying the cartons to the side of the machine. Shipping side. At this stage, the bottom panel is folded onto the bottom side of the carton with a suitable folding device such as fixed guides (not shown) and interconnected with locking mechanisms known in the art. A second pressure belt 212 is provided to prevent unwanted upward movement of the carrier.

Turning to the roll-to-roll carton construction as shown in Figures 3a and 3b, the machine is first adjusted to accommodate this type of carton. Thus, first and second pressure belts 206, 212 are also mounted on the unit shown in Fig. 17, and these pressure belts can be adjusted vertically by a computer controlled servo motor.

To change the machine to accommodate wound cartons of the type shown in Figures 3a and 3b, the article grouping mechanism is adjusted as described above to supply the desired number of rows of articles. The hopper 200 shown in Figure 17 holds a plurality of carton blanks 31, securing them ready for processing. Subsequently, a rotating vacuum feeder 202 is used to successively remove the blanks. In this embodiment, a vacuum feeder 202 is installed horizontally, and its structure is similar to that described above. It is contemplated that suitable feeders known in the art may be used. In this embodiment, the rotary feeder is provided with a cam guide which makes it possible to arrange the conveyed cartons directly into groups. The conveyance of cartons and articles is controlled using suitable controls so that their movements are coordinated. In other embodiments, the blanks are removed by the stocker 200 and fed one at a time to the chain feeder, thereby supporting the bottom and side panels.

The articles are introduced to the loading station 204 by the article conveyor in the same manner as described above.

At the loading station 204, the upper parts of the articles are passed through the holes 43, 45 by lowering the carton. In this embodiment, this is accomplished by means of a first pressure belt 206 located in the central area to lower the top panel and allow the neck of the item to pass through the hole. In this embodiment, the first pressure belt is mounted on a hydraulic platform 208 which can be raised or lowered according to the type of carton. Use the appropriate controls to control the height of the platform.

As the carton is moved downstream with the side lug chain set 210, fixed guides (not shown) fold the side panels 35 into a substantially perpendicular relationship with the top panel 35 and convey the partially erected carton. To the second continuous chain, this set of chains conveys the cartons to the outgoing end of the machine. In this embodiment, a second pressure belt 212 is used to minimize movement of the top panel and handle structure, and the belt can be raised or lowered to fit the carton. Similarly, successive chain sets 210 are moved apart, or brought closer together, by means of a horizontal adjustment device controlled and powered by a servo motor (not shown). Known means 214 are used to form the base and, where appropriate, known means 216 to form the panels for holding the items. In this way, the carton is fastened to complete the packaging operation.

FIG. 18 is a block diagram showing the electrical and electronic controls of the packaging machine 50. As shown in FIG.

Figure 18 shows a control device 130, which has a central processing unit 132, a manual input device 134, through which specific instructions can be programmed, and the control device also has a display device 136, which controls the machine's The operator displays useful information. The central processing unit 132 and the display device 136 can display operating information in a normal mode, such as the operating speed of the machine, and whether it complies with specific safety requirements. In addition, the central processing unit 132 and display device 136 can also display information specific to the machine, such as the feeders 58, 60 used, the position of the guide lugs 104, 106 and the support device 112, and the feeder 66 and back feeder 90 positions. All of this information is provided by sensors generally indicated at 138 .

As discussed above, the control device 130 also controls the position of the movable member, and the speed of movement of the variable speed member. For example, the central processor 132 controls the motor 140 that powers the feeders (drive belts, spiders, and blocks) that move the items 122 to package them into (the feed end of) the machine 50 .

The processor 132 also controls the position of the feeder 66 by activating a compressed air driven body 142 and controls the position of the back feeder 90 through programming and precise control of the X and Y servo motors 144 . In addition, the central processing unit 132 also controls the paper feed chain 100 by controlling either or both of the servo motor 146 and the compressed air driven cylinder 148, the servo motor 146 controls the guide lugs 104 and 106 depending downwardly from it. That continuous chain, while posts 148 control the position of support structure 112 .

Appropriate control means may be included to set the support table of the carton-loading module in the desired position for a particular type or size of carton, by controlling compressed air driven cylinders and/or hydraulically driven Power cylinder 96 realized. The control unit may also control the motors driving each successive chain to control and adjust speed and to coordinate the throughput of the cartons according to the type and/or size of the cartons.

In addition, the control means can control the feeding and loading device for the wound cartons, either in an active state or in an inactive state, as described above.

As will be discussed below, the position and speed of these devices can be entered manually, or a special pre-written program can be loaded into the central processing unit for controlling the packaging machine. Alternatively, controllably switching the machine from one type or size of carton to another may be the result of a pre-written program, or the result of a manual input signal, as discussed above.

Referring to Fig. 19, the switching process is initiated (block 150) either as a result of a manual input command (block 152) or by turning the machine to a pre-programmed operating end (block 154).

The first stage in the system is to stop the feeder 66 from picking up cartons from one of the hoppers 58, 60 (block 156). At this time, the backfeeder or carton opener 90 is also stopped (block 158). The paper feed chain 100 continues to run until there is no more paper cassettes. In the present invention, this requires the removal by the feed chain 100 of the four cartons located between the first and second predetermined positions.

However, unlike the prior art embodiments, this removal is not performed manually, but the feed chain 100 continues until the cartons are removed in the normal way (block 160) for filling in the cartons. Station 120 is filled. At this point, the paper feed chain 100 is stopped (block 162). As discussed above, the sensors can provide information about the number of items to be packaged to the central processor 132 so that the item feeder can be stopped at the moment at which all necessary items have been forwarded , for filling the above-mentioned four cartons (box 164).

At this point, the guide lugs 104 and 106 on the paper feed chain are reset relative to each other, as discussed above, and the support means are reset relative to the first predetermined position, also as discussed above (square box 168).

Subsequently, the feeder 66 is reconfigured for use with another hopper 58, 60, as discussed above (block 170).

In addition, the program that controls the operation of the suction cups 92 of the back feeder or carton opening device 90, so that this device will operate with the carton feeder 66, will open the cartons from the stocker that is currently being used (box 172).

Finally, the item feeder is controlled so that the appropriate quantity of items is provided to the packaging station 120 at the appropriate time, as discussed above (block 174).

After each of these steps is completed, the packaging machine 50 can be restarted and the carton removed from the newly used hopper for filling in the usual way (block 176). It should be noted that the reactivation of the carton picking process and item supply process is controlled such that no item is supplied that is not sent for packaging, nor is any carton supplied to the loading station without a corresponding item .

Various changes can be made without departing from the scope of the invention. In particular, additional sensors and additional means of locating each movable item may be employed without departing from the scope of the invention as set forth in the appended claims.

Also, although the preferred embodiment described herein is for packaging bottles into cartons, it will be appreciated that the invention is not limited to cartons for bottles. The invention can be used with machines that pack cans, cardboard "bricks" and other containers into cartons. Also, the present invention can handle cartons comprising groups of articles in multiple configurations, including a range of carton sizes and shapes, such as 6, 8 and 12 bottles, without spending downtime in adjusting the mechanism .

Claims (57)

1. A packaging machine for packaging articles into cartons selected from at least a first type of carton or a second type of carton, said first and second types of cartons being of different types or sizes, said cartons are stored in at least one hopper, a carton engaging device grabs said cartons for packaging, the engaging device is arranged to remove the cartons from said at least one hopper, and They are successively conveyed to the first predetermined position, and the carton is conveyed from the first position to a paper feed chain, which transports the carton to the second predetermined position, and thus the second position, the carton and all combination of items, The feed chain includes a support device carrying a first continuous chain from which a first set of guide lugs depends downwardly from the first chain, the support device also carrying a second continuous chain from which a second set of guide lugs depends. The second chain depends downwards, the guide lugs are staggered from each other, creating areas for receiving cartons, the length of these areas can be varied for different sizes and types of cartons by varying the first and second sets of guide lugs The relative position of the lugs and the change of the movable support means, these changes are such that when the relative position of the lugs is changed, this change can be compensated, so that the position of the first set of lugs is relative to the first predetermined position constant. 2. A packaging machine according to claim 1, characterized in that the relative positions of the first and second sets of guide lugs are set by controlling a motor which provides for one of the first and second continuous chains power. 3. A packaging machine as claimed in claim 1 or 2, characterized in that the position of said support means is set by controlling a cylinder driven by compressed air which positions said structure. 4. A packaging machine according to claim 1 or 2, characterized in that the machine comprises a control device which controls the operation of each part of the machine during operation and between cartons of different types or sizes to switch. 5. A packaging machine according to claim 1 or 2, characterized in that it comprises a first stocker for storing said first type of carton and a first stocker for storing said second type of carton Two hoppers, and comprising conveying means for transferring cartons from any one of the hoppers to said first predetermined position, said carton engaging means being capable of engaging a carton from the first hopper at a first position , while engaging a carton from a second hopper in a second position. 6. According to the packaging machine described in claim 5, it is characterized in that, this machine comprises the device that one of said hoppers is arranged in the operating position and selects the hopper corresponding to the selected operation. A control device for the position of the carton engaging device. 7. Packaging machine according to claim 5, characterized in that said carton gripping and conveying means is rotatable about a fixed axis on a track path. 8. The packaging machine of claim 7, wherein the first and second gripping positions are located at different parts of the path of the track. 9. Packaging machine according to claim 6, characterized in that it comprises means for placing one of said hoppers in an operating position in the form of a frame mounted to the second fixed axis , wherein said first and second hoppers are mounted to the frame such that each hopper is oppositely disposed about a second fixed axis. 10. The packaging machine of claim 9, wherein said running hopper is adjacent to the track path of said carton pick and transfer means. 11. The packaging machine according to claim 1, characterized in that it comprises a device for successively processing, by said at least one hopper, flattened cartons having oppositely disposed surfaces panels in mutual contact, the means also for effecting the erection of the carton into an open-ended condition, said apparatus being operable with said carton engaging means successively in mutual contact with said surfaces engaged with one of the panels of said one of said panels whose surfaces are in contact with each other and used to extract a folded flat carton from the hopper, said means for engaging the carton along a line about A track of a rotatable axis is conveyed by said stocker to said first predetermined position, wherein said apparatus includes panel engaging means provided on another of the panels for mutual contact with said surface. One engages the outside of the track path such that said other surface-contacting panels are pulled in a direction away from the carton gripping means to initiate opening of the carton. 12. A packaging machine as claimed in claim 11 wherein a linear servo motor moves the panel engaging means in the first plane. 13. The packaging machine according to claim 11 or 12, wherein said panel engaging means is mounted on a slide substantially perpendicularly to a guide rail, wherein said slide can be opposed to Moves on the rails so that the panel engaging device can move in two planes. 14. A packaging machine as claimed in claim 13 wherein a further linear servo motor moves said panel engaging means in a second plane. 15. A packaging machine as claimed in claim 11 or 12, characterized in that control means are provided for controlling the movement of the panel engaging means. 16. The packaging machine according to claim 13, wherein said panel engaging means comprises a suction cup and suction cup fixing means mounted on said slider, said suction cup is Connect to vacuum supply. 17. A packaging machine according to claim 11 or 12, wherein said panels of surfaces in contact with each other comprise opposing side walls of the carton. 18. A packaging machine according to claim 1, 2, 11 or 12, characterized in that the machine has an article feed device arranged to forward the carton at a predetermined rate along a feed path, Used to bind cartons at a measured rate. 19. A packaging machine according to claim 18, wherein the article feed means comprises a pair of star wheels which collect articles from the first feed belt and move them to the second feed at said predetermined rate. belt. 20. A packaging machine according to claim 19, wherein gripper blocks are provided on opposite sides of said second feed belt to collect a predetermined number of articles and place them for Individual units packed into a carton. 21. A method of packaging articles into a carton comprising the steps of: a) selection from at least a first type of carton or a second type of carton, said first and second type of carton being of a different type or having a different size, said cartons being stored in at least one hopper middle; b) grabbing cartons for packaging using a carton engaging device, the engaging device being arranged to remove the cartons from said at least one hopper and transport them successively to a first predetermined location; c) conveying said carton to a feeder chain which conveys the carton to a second predetermined position whereby the second position carton is combined with said article, said feeder chain comprising a support means which carries A first continuous chain, from which a first set of guide lugs depends downwardly, the support device also carries a second continuous chain, from which a second set of guide lugs depends downwardly from the second chain, said guide The lugs are staggered from one another to create areas for receiving cartons, the length of which can be varied for different sizes or types of cartons; d) changing said length by changing the relative position of the first and second sets of guide lugs; and e) When changing the relative position of the lugs, moving the support means compensating for said change so that the position of the first set of lugs relative to said first predetermined position remains constant. 22. A method as claimed in claim 21, characterized in that the relative positions of the first and second sets of guide lugs are set by controlling one of the motors powering the first and second successive chains. 23. A method as claimed in claim 21 or 22, characterized in that the position of the support means is set by controlling a compressed air driven cylinder which positions the structure. 24. A method as claimed in claim 21 or 22 using a control means which controls the operation of each part of the machine during operation and switches between different types or sizes of cartons. 25. The method of claim 21 or 22, wherein the position of the carton engaging means is engaged in a first position with a carton from a first stocker and is positioned in a second position The carton engaging means is movable between said first and second positions for engaging a carton from a second hopper. 26. A method as claimed in claim 25 which includes placing one of said hoppers in an operational position and selecting the position of the means for engaging the carton corresponding to the selected operative hopper. 27. The method of claim 25, wherein said carton gripping and transporting device is rotatable about a fixed axis on an orbital path. 28. The method of claim 27, wherein the first and second gripping locations are located at different parts of the path of the track. 29. The method of claim 26, further comprising mounting said first and second hoppers to a frame such that each hopper is opposed about a second fixed axis. 30. The method of claim 29 wherein, when in use, said running hopper is adjacent to the track path of said carton pick and transfer device. 31. The method of claim 21, further comprising sequentially processing, by said at least one hopper, flattened cartons having oppositely disposed face panels in contact with each other, and its effecting the erection of the carton into an open-ended condition, successively engaged with one of the panels in contact with said surfaces, and for extracting from the hopper a folded flat carton comprising said surfaces in mutual contact Said one of the contacted panels is conveyed from said stocker to said first predetermined position along a track about a rotatable axis, wherein said panel engaging means is positioned for engagement with said surface The other of the contacting panels engages the outside of the track path such that said other surface contacting panel is pulled in a direction away from the carton gripping means to initiate opening of the carton. 32. The method of claim 31 wherein a linear servo motor moves the panel engaging means in the first plane. 33. The method according to claim 31 or 32, further comprising mounting said panel engaging means on a slider in a manner substantially perpendicular to said rail, and said slider facing Moves on the rails so that the panel engaging device can move in two planes. 34. The method of claim 33, further comprising moving said panel engaging means in a second plane with a linear servo motor. 35. A method as claimed in claim 31 or 32, characterized in that control means are provided to control the movement of the panel engaging means. 36. The method according to claim 31 or 32, wherein said panel engaging means comprises a suction cup and suction cup fixing means mounted on said slide, during said opening of the carton, said The suction cup is connected to the vacuum supply. 37. A method according to claim 31 or 32, wherein said panels of surfaces in contact with each other comprise opposing side walls of the carton. 38. according to the described method of claim 31 or 32, it is characterized in that, also comprise a article feeding device, with a predetermined speed along a feeding path forward carton, used for with a measured speed and paper Box combined. 39. The method of claim 38, further comprising collecting articles from the first feed belt and moving them at a predetermined rate to the second feed belt using a pair of star wheels. 40. The method of claim 39, further comprising gripping blocks disposed on opposite sides of said second feed belt to collect a predetermined number of articles and disposing them for use Individual units that come packed into a carton. 41. A control device for a packaging machine as claimed in claim 1, comprising a central processing unit, a manual input device, and separate devices controlled by said central processing unit for individually switching the first The first and second sets of guide lugs are positioned with support means carrying said guide lugs on the paper feed chain. 42. A control device as claimed in claim 41, characterized in that the means for positioning the support means is a cylinder driven by compressed air. 43. A control device according to claim 41 or 42, for use with a packaging machine having two hoppers, a single carton engaging means being adjacent to both hoppers, wherein, The control means includes a means for positioning the carton engaging means in a first position for engaging with a carton in said first hopper, and for positioning the carton engaging means in a second position for engaging with a carton in said first hopper The cartons in the second hopper are engaged. 44. According to the described control device in the claim 43, it is characterized in that, the device that is used to make the carton engaging device position can make this engaging device be positioned at the 3rd position, and the carton engaging device can not contact any store material from this position. the tray in the feeder to engage. 45. The control device of claim 43 wherein said means for positioning the carton engaging means is a compressed air driven cylinder. 46. Control device according to claim 41 or 42, characterized in that it is intended to be used with a packaging machine having an opening device for opening the cartons extracted from each hopper, wherein , the trajectory of the extraction device on said opening device can be changed so that the opening device can open the cartons extracted from any hopper. 47. A control device as claimed in claim 46, characterized in that the control device comprises servomotors in X and Y orientations. 48. Control device according to claim 41 or 42, characterized in that it is intended to be used with a packaging machine having an article feed in the form of a star wheel, the control device controlling the star wheel wheel speed. 49. A control device as claimed in claim 48, characterized in that the control device controls a motor which rotates the star wheel. 50. A control method for controlling the operation of a packaging machine according to claim 1, the purpose of which is to change from a first type of carton in a first hopper to a second type in a second hopper carton, which includes the following steps: a) stop the carton engaging device from grabbing any carton; b) Make the paper feed chain continue to run until it has no paper cassette; c) Stop the paper feed chain; d) stop supplying items; e) repositioning the carton engaging device and hopper so that the carton can be extracted from another hopper; f) changing the relative position of the first and second sets of guide lugs in said feed chain; g) changing the position of the support means relative to said first predetermined position; and h) Restart the carton pickup and delivery process and restart the supply of items. 51. The control method according to claim 50, characterized in that the command for switching is read out from a pre-input control program. 52. The control method according to claim 50, characterized in that an instruction to perform switching is manually input into the control device. 53. The control method according to any one of claims 50 to 52, characterized in that the packaging machine has a device for opening the carton, which device is also stopped during the switching process. 54. According to the control method described in claim 53, it is characterized in that, before restarting, change the trajectory of the movement of the extracting device in the device for opening the carton so that the device can open the container from the other storage. feeder carton. 55. According to the control method described in any one of claims 50 to 52, it is characterized in that, in the process of switching, changing the extraction point and motion trajectory of the extraction device in the carton splicing device, so that the device can extract A carton from said other hopper. 56. A method of controlling according to any one of claims 50 to 52, wherein the amount of supplies can be varied as required by the size or type of carton in each of said hoppers speed. 57. The control method according to any one of claims 50 to 52, characterized in that a single sensor is used to sense the relative position and state of each movable part and transmit the information to the control device.

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