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WO2012034219A1 - Dispositif de déplacement automatique pour remplir un sac - Google Patents

Dispositif de déplacement automatique pour remplir un sac Download PDF

Info

Publication number
WO2012034219A1
WO2012034219A1 PCT/CA2011/001034 CA2011001034W WO2012034219A1 WO 2012034219 A1 WO2012034219 A1 WO 2012034219A1 CA 2011001034 W CA2011001034 W CA 2011001034W WO 2012034219 A1 WO2012034219 A1 WO 2012034219A1
Authority
WO
WIPO (PCT)
Prior art keywords
bag
robot
location
displacing
displacing device
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.)
Ceased
Application number
PCT/CA2011/001034
Other languages
English (en)
Inventor
Patrick Dumont
Yan GAGNÉ
Vital LÉVESQUE
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.)
Premier Tech Technologies Ltd
Original Assignee
Premier Tech Technologies Ltd
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 Premier Tech Technologies Ltd filed Critical Premier Tech Technologies Ltd
Publication of WO2012034219A1 publication Critical patent/WO2012034219A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
    • 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
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/20—Reducing volume of filled material
    • B65B1/26—Reducing volume of filled material by pneumatic means, e.g. suction
    • 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
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/30—Devices or methods for controlling or determining the quantity or quality or the material fed or filled
    • B65B1/32—Devices or methods for controlling or determining the quantity or quality or the material fed or filled by weighing
    • 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
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/30—Devices or methods for controlling or determining the quantity or quality or the material fed or filled
    • B65B1/46—Check-weighing of filled containers or receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B65B43/465—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers for bags

Definitions

  • the present invention relates to equipment for packaging solid bulk products in chemical and food industries just to name a few. More particularly, the present invention relates to a single automated displacing device for continuously holding the bag during the filling step. BACKGROUND OF THE INVENTION
  • bag means "flexible container” which is made of polyethylene (PE), plastic coated woven polypropylene (PP), paper or other materials, with or without inner liner, and could also include Cap-Sac® (bag within a bag).
  • PE polyethylene
  • PP plastic coated woven polypropylene
  • Cap-Sac® bag within a bag
  • the forming/preparing step which is responsible for preparing the bag before the filling step, is more or less complicated according to the type of flexible containers used and the forming process involved (flat film, U film, tubular film or ready-made bags).
  • the present invention mainly relates to the filling step which begins at an initial point (designated as a pick-up location); where the empty bag, previously delivered by the system carrying the forming/preparing step, is taken in charge for its filling (filling point); and finishes at a final point (designated as an unloading location) where the filled bag is delivered to the system carrying the closing/sealing step.
  • the filling step includes various actions carried out by different modules or devices. Some of these actions, presented below, are optional and thus may not be required depending on the type of equipment involved.
  • the latter actions can be performed at the closing/sealing step (following the unloading location).
  • the third step always includes the closing and sealing of the bag. It should be noted that the latter may be effected by gluing, sewing, seaming, folding or a combination of these modes of sealing.
  • the bag is exited through an outfeed device to palletizing equipment or other equipment.
  • actions taking place during the filling step give rise to various releases of the bag associated with the passage of an action to another performed by different transfer and handling components such as belts, straps, clips, grippers or conveyors.
  • different transfer and handling components such as belts, straps, clips, grippers or conveyors.
  • up to four releases may be made depending on the number of modules in the bagger. More specifically, releases can take place at the following places: where the bag placer transfers the bag to the spout, where the spout transfers the bag to the transport unit, where the transport unit transfers the bag to the upper exit unit and where the upper exit unit transfers the bag to the sealing system.
  • the bag is physically handed over from one component to another, involving two distinct handling mechanisms.
  • Each single transfer operation in the filling step increases the risk of a mishandling of the bag due to the transition of a mechanism to another.
  • quality problems such as misaligned bag closure, wrinkles, creases, etc.
  • This situation can affect the appearance of the filled bag and can also increase problems of compliance with hygienic standards or others due namely to contamination.
  • bags may not be sealed tight, letting the air or external contaminants damaging the material in the bag and also resulting in product leaking from the bag.
  • maintenance may be more difficult due to the fact that the equipment is complex considering the different transfer and handling components involved.
  • US 6955029 discloses a robotic system for packaging products.
  • the robotic system opens the bag and places it horizontally with respect to a material filling unit.
  • the horizontally filled bag can then be unloaded from the robotic system through a conveying system that carries away the bag from the filling point. Since the filling point and the unloading location are essentially at the same location, it would be difficult to add additional components at this location to carry out further processing of the bag between filling and unloading.
  • the present invention addresses at least one of the above-mentioned needs.
  • the present invention provides a single automated displacing device, such as a robot or a multi-axes programmable dedicated device, coupled with a multi-fonction end effector (named bag gripper) continuously holding the bag throughout the filling step, for filling a bag with solid bulk free flowing material.
  • a single automated displacing device being programmed to displace the bag according to a trajectory (between the pick-up location, the material filling point and the unloading location) associated to the following actions:
  • the single automated displacing device is capable of continuously staying in control of the bag by never releasing the upper portion of the bag. This way, the bag never loses its desired shape, which results in a bag of very good quality.
  • the walls of bag may be brought together during the bag displacements (towards the material filling point and towards the unloading location) avoiding product contamination and dust generation, thus enhancing hygienic conditions.
  • Such a system can carry out all of these actions, that are accomplished by a conventional packaging equipment through separate distinct transfer and handling components, without releasing the bag during the filling process.
  • the single automated displacing device is a programmable robot providing all displacements of the bag from the pick-up location up to the unloading location.
  • a single programmable robot that can bring the bag to every module, eliminates the need to transfer the bag from one mechanism to another.
  • such a device can allow a significant reduction in the number of modules found in a conventional bagger. Indeed, for example, a weighing capability, using at least one load cell that sends a signal to the weigh controller which controls very accurately the filling of the bag and records the weight of the bag, can be added to the robot. This situation allows eliminating a distinct weighing module, thus resulting in a system that is less complex and easier to maintain.
  • the robot is preferably suspended from the top, it makes the equipment even more hygienic since the floor is free, increasing cleaning access areas. Furthermore, robots are well known in the industry for their exceptional reliability (less downtime) and safety of operation. Finally, the use of a robot in the present invention makes it flexible to be suitable for different applications, different containers (for example: bags in a box or bag within a bag), different actions, different markets as well as different customer needs. In fact, the robot can be programmed to reach defined positions and thus vary the number of actions performed from one equipment to another.
  • the present invention is designed with the possibility of adding a second automated displacing device to gain speed.
  • the auxiliary modules such as the bag dispensing device, material filling device and unloading device, may be shared between the automated displacing devices. The relative positioning of the modules is thus calculated to optimize production rates while avoiding trajectory collisions between the two automated displacing devices.
  • the present invention is also designed with the possibility of performing a bottom up filling process which consists in initially depositing the product at the bottom of the bag and then at gradually higher positions in the bag as a level of the product in the bag increases, in order to minimise dust emission and product expansion.
  • a method for packaging material in a bag comprising the steps of:
  • Figure 1 is a perspective view of the system according to a preferred embodiment of the present invention, showing a robot acting as a single automated displacing device coupled with a bag gripper.
  • Figure 2 is a perspective view of the system according to a preferred embodiment of the present invention, with a robot acting as a single automated displacing device picking up an empty bag from the bag displacing device (at the pick-up location).
  • Figure 3 is a perspective view of the system shown in Figure 2, with the empty bag positioned under a material filling device.
  • Figure 4 is a perspective view of the system shown in Figure 2, with the empty bag positioned up at the material filling device.
  • Figure 5 is a perspective view of the system shown in Figure 2, with the filled bag positioned under a deaeration lance.
  • Figure 6 is a perspective view of the system shown in Figure 2, with the filled bag positioned under a top-up station.
  • Figure 7 a perspective view of the system shown in Figure 2, with the filled bag delivered to a closing system (at the unloading position).
  • Figure 8 is a perspective view of the system shown in Figure 2, with a filled bag at a closing system (at the unloading position) and the robot acting as a single automated displacing device picking up the next empty bag from the bag dispensing device (at the pick-up location).
  • Figure 9 is a perspective view of a system according to another preferred embodiment of the present invention, with two robots acting as automated displacing devices, the first robot positioning an empty bag under the material filling device, the second robot delivering a filled bag at a closing system (at the unloading position).
  • Figure 10 is a view of the system from a different perspective according to another preferred embodiment of the present invention, showing a multi-axes programmable dedicated device.
  • the present invention provides a single automated displacing device 12, preferably a robot 13 coupled with a bag gripper 24 continuously holding the bag, for filling a bag 18 with solid bulk free flowing material.
  • the single automated displacing device 12 is programmed to displace the bag according to a trajectory (between the pick-up location 14, the material filling point 16 and the unloading location 20) associated to the following actions:
  • the single automated displacing device 12 is a robot 13 coupled with a bag gripper 24, which comprises a weighing function using at least one load cell 26.
  • the process further may position the bag under a deaeration station or lance 30 for removing air from the bag.
  • the present invention provides a system 10 displacing the bag between a pick-up location 14, a material filling point 16 and an unloading location 20; where the transport of the bag in this system is done via the robot 3.
  • the robot 13 is a 6-axis robot which assures all displacements of the bag 18 from the pick-up location 14 up to the unloading location 20.
  • the robot 13 is suspended from the top, making the system highly hygienic.
  • the robot 13 is equipped with a bag gripper 24 which performs the following actions:
  • At least one load cell 26 sends a signal to a weigh controller which controls very accurately the filling of the bag and records the weight of the bag, (optional action),
  • the receiving of the bag at a pick-up location 14 may be done in a vertical, horizontal or any other configuration.
  • the relative positioning and orientation of the robot 13 and other modules of the system 10 may differ from what is illustrated in the figures.
  • the system 10 may further comprise a top- up station 50 to further fill up the bag after deaeration and before closure thereof.
  • Figure 9 shows a system according to another configuration, with two automated displacing devices, the first automated displacing device 12A positioning a bag under the material filling device at the material filling point 16, the second automated displacing device 12B positioning a filled bag at the unloading location 20.
  • Figure 10 shows a system according to another configuration, with a multi-axes programmable dedicated device.
  • the present invention addresses the needs of the food industry, as it can deal with quality bags. It can properly close bags through proper alignment and by avoiding incorrect folds. It can also provide tightly sealed closures to avoid air penetration or products leaking from the bag.
  • the present system can also help a packaging system meet strict legal and voluntary hygienic standards, through easily accessible finished surfaces and cleaning areas while facilitating inspection thereof.
  • the present system also addresses the various needs of operators and plant managers of packaging systems as it provides a system that is easy to operate, easy to maintain, reliable and efficient.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Quality & Reliability (AREA)
  • Basic Packing Technique (AREA)

Abstract

L'invention porte sur un système, qui comprend un dispositif de déplacement automatique unique couplé à un élément de saisie de sac, supportant de façon continue le sac, pour remplir un sac avec des matériaux s'écoulant librement en vrac solides. Le système déplace le sac entre un emplacement de saisie, un point de remplissage de matériau et un emplacement de déchargement. Le dispositif de déplacement automatique est programmé pour déplacer le sac selon une trajectoire associée aux actions suivantes : a) prise du sac vide à l'emplacement de saisie et positionnement de celui-ci à une sortie du dispositif de remplissage de matériau ; b) maintien du sac en position pendant le remplissage du produit ; c) transport du sac rempli et relâchement de celui-ci à l'emplacement de déchargement ; et d) éventuellement, réalisation pendant le processus d'autres actions en fonction du type d'équipement mis en jeu. Le dispositif de déplacement automatique unique exécute la séquence d'actions tout au long de l'étape de remplissage sans transférer le sac et sans relâcher la partie supérieure du sac.
PCT/CA2011/001034 2010-09-13 2011-09-13 Dispositif de déplacement automatique pour remplir un sac Ceased WO2012034219A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US38227910P 2010-09-13 2010-09-13
US61/382,279 2010-09-13

Publications (1)

Publication Number Publication Date
WO2012034219A1 true WO2012034219A1 (fr) 2012-03-22

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ID=45830896

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2011/001034 Ceased WO2012034219A1 (fr) 2010-09-13 2011-09-13 Dispositif de déplacement automatique pour remplir un sac

Country Status (1)

Country Link
WO (1) WO2012034219A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012022637A1 (de) * 2012-11-20 2014-05-22 Franz-Josef Diekstall Füllmaschine, Produktionsstraße mit der Füllmaschine und Verfahren zum Abfüllen
CN106347787A (zh) * 2016-08-20 2017-01-25 龚云超 一种智能纺织印染机械
CN110402683A (zh) * 2019-07-30 2019-11-05 盐城正邦环保科技有限公司 一种智能采棉机及其控制方法
EP3680188A1 (fr) * 2019-01-03 2020-07-15 B & B Di Borsoi Michele Appareil pour la manipulation d'enveloppes à poche
WO2023115100A1 (fr) * 2021-12-20 2023-06-29 Autorun Technologies Pty Ltd Système et procédé d'échantillonnage
FR3137667A1 (fr) * 2022-07-07 2024-01-12 Cetec Industrie Conditionnement Ensacheuse comprenant au moins un bras robotisé pour transférer des sacs entre au moins deux modules

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0836992A1 (fr) * 1996-08-14 1998-04-22 Fuji Photo Film Co., Ltd. Machine pour la fabrication d'emballages du type coussin
EP0995589A2 (fr) * 1998-10-19 2000-04-26 LEMO Maschinenbau GmbH Dispositif pour manipuler des piles de sacs, en particulier de sacs à fond plié
US20020039183A1 (en) * 2000-10-02 2002-04-04 Kiyoshi Yagita Integrated soft bag inspection system
US6412253B1 (en) * 1999-08-26 2002-07-02 Lemo Maschinenbau Gmbh Bag-boxing apparatus and method
EP1550610A1 (fr) * 2003-12-23 2005-07-06 OCME S.r.l. Unité et procédé d'emballage et de palletisation du rouleaux de papier higenique et/ou de papier de cuisine
WO2008133974A2 (fr) * 2007-04-26 2008-11-06 Pace Innovations, L.C. Appareil de préhension sous vide

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0836992A1 (fr) * 1996-08-14 1998-04-22 Fuji Photo Film Co., Ltd. Machine pour la fabrication d'emballages du type coussin
EP0995589A2 (fr) * 1998-10-19 2000-04-26 LEMO Maschinenbau GmbH Dispositif pour manipuler des piles de sacs, en particulier de sacs à fond plié
US6412253B1 (en) * 1999-08-26 2002-07-02 Lemo Maschinenbau Gmbh Bag-boxing apparatus and method
US20020039183A1 (en) * 2000-10-02 2002-04-04 Kiyoshi Yagita Integrated soft bag inspection system
EP1550610A1 (fr) * 2003-12-23 2005-07-06 OCME S.r.l. Unité et procédé d'emballage et de palletisation du rouleaux de papier higenique et/ou de papier de cuisine
WO2008133974A2 (fr) * 2007-04-26 2008-11-06 Pace Innovations, L.C. Appareil de préhension sous vide

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012022637A1 (de) * 2012-11-20 2014-05-22 Franz-Josef Diekstall Füllmaschine, Produktionsstraße mit der Füllmaschine und Verfahren zum Abfüllen
CN106347787A (zh) * 2016-08-20 2017-01-25 龚云超 一种智能纺织印染机械
CN106347787B (zh) * 2016-08-20 2021-10-29 嘉兴市盛翔织造有限公司 一种智能纺织印染机械
EP3680188A1 (fr) * 2019-01-03 2020-07-15 B & B Di Borsoi Michele Appareil pour la manipulation d'enveloppes à poche
CN110402683A (zh) * 2019-07-30 2019-11-05 盐城正邦环保科技有限公司 一种智能采棉机及其控制方法
CN110402683B (zh) * 2019-07-30 2022-05-10 盐城正邦环保科技有限公司 一种智能采棉机及其控制方法
WO2023115100A1 (fr) * 2021-12-20 2023-06-29 Autorun Technologies Pty Ltd Système et procédé d'échantillonnage
FR3137667A1 (fr) * 2022-07-07 2024-01-12 Cetec Industrie Conditionnement Ensacheuse comprenant au moins un bras robotisé pour transférer des sacs entre au moins deux modules
EP4310010A1 (fr) * 2022-07-07 2024-01-24 Cetec Industrie Conditionnement Ensacheuse comprenant au moins un bras robotisé pour transférer des sacs entre au moins deux modules

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