Method, device and system for feeding and transferring products in small units

Abstract

The present invention relates to a device and a method for feeding and transferring small products to a downstream device (PD), in particular a packaging device, as well as a system for feeding, transferring, and processing, in particular packaging, small products. To improve packaging quality with varying product dimensions (tolerances), the products are conveyed, according to the invention, on a conveyor belt (FB) to a transfer position where the products are transferred to the downstream device (PD). A dimension of each product perpendicular to the conveyor belt (FB) is detected by a sensing device (HS), and the transfer position of the product is adjusted by an adjustment device based on the detected dimension.

Description

[0001] The present invention relates to a device and a method for feeding and transferring small-piece products to a downstream device, in particular to a packaging device, as well as a system for feeding, transferring and processing, in particular packaging, small-piece products.

[0002] Small-piece products within the meaning of the present invention are, for example, products from the food sector, such as bouillon cubes and tablets, confectionery such as hard or soft caramels, pralines, chocolate pieces or the like, but also dishwasher or washing detergent tablets.

[0003] These products are typically packaged in a folding or twisting manner. To achieve high packaging throughput, the products are individually gripped in a processing unit, such as a packaging machine, and transported and processed by clocked or continuously rotating heads (also called rotary heads or working heads) or translationally moving elements. The individual products assigned to their respective stations are guided along a movement path. During this movement, a section of the packaging material is assigned, and processing elements are activated to create the folding or twisting effect.

[0004] Product feeding into the packaging and processing equipment (hereinafter referred to simply as the packaging system) is generally carried out via belt feeders or singulation plates. In these feeding systems, the products lie on a product surface (e.g., the product base) on a conveying element of the feeding system. The individual products are continuously picked up by the downstream packaging system while still on the feeding system and then transported away.

[0005] To ensure high packaging quality, the products to be picked up by the packaging system must be positioned precisely. Systems are known that align the products laterally across their width (i.e., perpendicular to the conveying / movement direction and parallel to the product's support surface). This is conventionally achieved using fixed side guides or symmetrically closing grippers of the packaging system. Furthermore, alignment along the length of the products (i.e., in the conveying / movement direction) is required. This is known to be accomplished in the case of a singulation plate by fixed side guides or by position control of product conveyor belts, as described in DE 197 15 949 A1. This brings the products into a transfer position for entry into the packaging system.Regarding product height, the feed system located beneath the product currently determines the transfer position of the products unilaterally.

[0006] Existing solutions for product positioning, or rather transfer positioning, are therefore limited with regard to product height. Any product tolerances that occur are unilaterally affected by the bottom-mounted feeding system, resulting in a shift in the product position (the product center or the product top) within the subsequent packaging system. Consequently, with varying product tolerances or batch-dependent height variations, the products are not positioned in the optimal transfer position for the packaging system. This, however, is a fundamental requirement, especially for producing a high-quality folded wrap.

[0007] For example, when products are gripped by packaging system grippers that close across the product width, the varying product height means they are not optimally positioned in the grippers. This means the actual position of the product's center axis along the vertical direction deviates from the ideal target position. This negatively impacts the entire subsequent packaging process and can result in a substandard appearance of the packaging, even leading to displaced or incomplete seals, thus reducing packaging quality.

[0008] Known feeding systems can, at best, be positioned optimally by manual height adjustment. However, this requires interrupting the entire feeding, transfer, and packaging process. Therefore, responding to product tolerances within a batch is not economically feasible, meaning that variations in product height during processing cannot be compensated for.

[0009] Apart from a poor positioning of the product's center axis along the vertical direction, variable product dimensions in the width and / or length direction can also result in unfavorable product positioning during handling. For example, products that are shortened in their width direction will be picked up later by the grippers of a downstream device, as these require a longer time to approach the jaw pairs in order to grip the product across its width.

[0010] Overall, a positioning of the products during transfer that deviates from the optimal target positioning has a detrimental effect on the entire subsequent packaging process, as explained above.

[0011] The present invention is therefore based on the objective of providing a method and a system for feeding and transferring small-sized products to a downstream device, in particular to a packaging device, and for processing, in particular packaging, the products with the downstream device in order to increase the packaging quality in the case of variable product dimensions (tolerances).

[0012] This problem is solved according to the invention by the features of the main claims. Preferred embodiments of the invention are the subject of the dependent claims.

[0013] According to the invention, the products are conveyed on a conveyor belt to a transfer position, where they are transferred to a downstream device. During this process, i.e., while the products are being conveyed to the transfer position, a dimension (i.e., height, width, and / or length) of each product is detected by a sensing device, and the transfer position of the product and / or the downstream device is adjusted by an adjustment device based on the detected dimension of the product.

[0014] By recording the dimensions of each product, deviations, such as product height, can be detected for each individual product. Based on these recorded dimensions, the product's transfer position is set. This allows for optimal transfer positioning, i.e., optimal alignment of the product's height, to be individually tailored to each product's specific dimensional deviation and ensured.

[0015] This allows the products to be arranged and gripped with individually adapted transfer positioning, for example in a holding jaw pair of a downstream packaging device.

[0016] Alternatively or additionally, based on the dimensions recorded for each product, the downstream equipment can be individually adjusted for each product to accommodate the specific deviation in its dimensions. For example, the spacing of packaging folding elements in downstream packaging equipment can be changed based on the measured dimensions. Furthermore, the position and / or gripping point of gripping elements in downstream equipment can be modified based on the measured dimensions.

[0017] According to the present invention, this enables an adaptive product position to be achieved in a processing process when product height tolerances occur.

[0018] The setting of the product's transfer position can be done by the upstream equipment and / or the downstream equipment.

[0019] Regarding the upstream equipment, the transfer position is preferably set, at least partially, by adjusting the position, particularly the height, of the conveyor track, especially essentially perpendicular to the conveyor track. This allows each product to be moved into its target transfer position by raising or lowering the conveyor track. The transfer position, in effect, represents the endpoint of the conveyor track. Setting the transfer position is based on a measured dimension of each product perpendicular to the conveyor track, i.e., relative to the conveyor track. Therefore, a change in the conveyor track does not affect the dimension of each product perpendicular to the conveyor track. Preferably, all products are conveyed on the same conveyor track, and the conveyor track is adjusted or modified separately for each individual product to set the transfer position.

[0020] Preferably, the downstream device comprises a transport device with at least one transport element, in particular a gripper, vacuum suction cup, and / or a pair of holding jaws, which grasps the products at the transfer position and is preferably arranged on a rotating head. The transfer position and / or the downstream device is adjusted at least partially by setting the gripping position of the transport element, the transfer position preferably being set substantially perpendicular to the conveyor path. With this preferred embodiment, the adjustment of the transfer position of the product and / or the downstream device is effected partially or completely by the downstream device. For example, the transport element can be adjusted radially to the axis of the rotating head to ensure that the products are picked up from the conveyor path in an optimal position relative to and within the transport element.

[0021] By setting the transfer position solely using the upstream equipment or solely using the downstream equipment, the number of required actuators or control elements can be reduced, thus minimizing the effort required to control the transfer position. Conversely, setting the transfer position through the interaction of both the upstream and downstream equipment shortens the travel distances of the individual actuators or control elements. This can enable particularly fast adjustment of the transfer position, especially with regard to high product throughput and the associated shorter timeframes within which the transfer position can be set.

[0022] Preferably, the products are conveyed on a support surface to the transfer position by means of a conveying device, preferably a linear conveying device, in particular a conveyor belt or vacuum conveyor, or a rotary and / or singulating unit, preferably continuously and / or by forming a product queue, wherein the support surface preferably forms the conveying path of the respective product. The formation of a product queue simplifies the traceability of the individual product position on the way to the transfer to the downstream equipment. Since the dimensions of each product are recorded during the conveying of the products to the transfer position, the time at which the respective product is transferred to the downstream equipment must preferably be calculated in order to adjust the setting of the transfer position individually for each product. Segmentation in a singulating unit or...Conveying on a linear conveyor, whose contact surface defines the conveying path of the respective product, facilitates the necessary traceability.

[0023] Preferably, the product dimension is a dimension of each product perpendicular to the conveyor track (FB), in particular a height, preferably of a top edge, top surface, and / or surface, of the product, which is detected by the detection device, in particular a sensor, preferably a height sensor, especially with respect to the conveyor track. This allows the product dimension to be detected using simple means, for example, by mounting a height sensor above the conveyor track. Preferably, at least one section of the conveyor track in which the product dimension is detected extends in a plane, preferably a horizontal plane.

[0024] To adjust the transfer position of each product and / or the downstream equipment, a correction signal is preferably calculated based on the detected dimension of the product, in particular a difference between the detected dimension and a target dimension of the product, and the adjustment device, in particular an actuator, preferably a servo drive and / or piezo element, is controlled to adjust the transfer position and / or the downstream equipment based on the correction signal.

[0025] Preferably, the transfer position of each product is set with respect to a target transfer position of a, in particular, geometric, center point, a, in particular, geometric, central axis, a top edge, and / or top surface of the product. If the products are picked up by the downstream equipment, for example, with grippers or jaw pairs, it is advantageous to correct the position of the central axis of the products (viewed in the width direction) when setting the transfer position in order to avoid an asymmetrical position of the products in the grippers or jaw pairs. This ensures that subsequent pivoting and / or rotating movements of the individual products during packaging and / or sealing can be carried out symmetrically, thereby guaranteeing high packaging quality.

[0026] Preferably, the transfer position of each product is set at the time of product transfer. This ensures optimal timing between setting the transfer position and the transfer or acceptance by the upstream and downstream systems.

[0027] Advantageously, the downstream device comprises a transport device with at least one transport element, in particular a gripper, vacuum suction cup and / or a pair of holding jaws, which grips the products at the transfer position in a gripping position and is preferably arranged on a rotating head, and / or processing elements, in particular packaging elements, for processing and / or packaging the products, and the temporal, relative and / or absolute positioning of the transport element and / or the processing elements or packaging elements is set based on the detected dimension of the product.

[0028] The continuous measurement of product heights during the process is thus advantageously used to modify the relationship between folding and processing elements and the product. This enables further process optimizations and quality improvements, for example, by changing the timing or position of folding and processing elements based on the measured product dimensions. Consequently, the measured dimensions can be used not only to set the transfer position but also to adapt further processing operations to the individual product dimensions.

[0029] It can be advantageous if the conveying device comprises at least one conveying element, preferably a linear conveying element, in particular a conveyor belt or vacuum conveyor, or a rotary and / or singulation plate, and is preferably configured to continuously feed the products, particularly by forming a product accumulation, wherein the conveying element preferably comprises a support surface for conveying the products, which preferably forms the conveying path of the respective product. As described above, segmentation in a singulation plate or conveying on a linear conveying element, whose support surface defines the conveying path of the respective product, facilitates traceability in order to calculate the optimal time at which the respective product is transferred to the downstream device.This ensures that the setting of the transfer position can be individually tailored to each product.

[0030] It can be further advantageous if the detection device includes a sensor, preferably a height sensor, and / or is configured to detect a dimension of the product perpendicular to the product's conveyor path, in particular a height, preferably of a top edge, top surface, and / or surface, of the product. This allows the product dimensions to be detected using simple means, for example, by placing a height sensor above the conveyor path.

[0031] In an advantageous embodiment for setting the transfer position, the setting device comprises an actuator, preferably a servo drive and / or a piezoelectric element, and is preferably coupled directly or indirectly, in particular mechanically, to the conveying device and / or the downstream equipment. This allows each product to be moved into its desired transfer position by raising or lowering the conveyor track. It is advantageous if the setting device is configured to adjust the transfer position at least partially by adjusting the position, in particular the height, of the conveyor track, especially substantially perpendicular to the conveyor track.

[0032] According to the system of the invention, it is possible to partially or completely control the adjustment of the product's transfer position via the downstream device. For example, the transport element can be adjusted radially to the axis of the rotating head to ensure that the products are optimally positioned relative to and within the transport element at the time of removal from the conveyor. Alternatively, the adjustment device can be designed independently of the conveyor and the downstream device, for example as a "product lift" arranged between the conveyor and the downstream device, which positions each product to achieve the desired transfer position, for example by raising or lowering it. Terms and definitions

[0033] The term "small-piece products" refers in particular to confectionery such as chocolate pieces, toffees or pralines, hard or soft caramels such as candies or chewy candies, but also to brewing products such as bouillon blocks, bouillon tablets or bouillon cubes, as well as washing machine or dishwasher tablets. The small-piece products preferably have a flat, especially rectangular, base and preferably rest on this base during conveying.

[0034] The processing of products refers in particular to the (individual) packaging of the products.

[0035] The transfer position defines the transfer point between an upstream system that conveys the products to the transfer point and a downstream system that...

[0036] The system takes over products at the transfer point from the upstream system, for example, by individually gripping and conveying the products. The transfer position is understood in particular as the product position (of the product center or the product top) or the positioning of the product's central axis, which runs along the width of the product, in relation to the upstream and / or downstream system.

[0037] The dimensions of the product are understood to be the length (for example, the dimension in the conveying / movement direction of the products), width (for example, the dimension perpendicular to the conveying / movement direction and parallel to the support surface of the products) and / or height (for example, the dimension perpendicular to the length and width) of the product. Brief description of the character

[0038] It shows: Fig. 1A schematic view of a device according to the invention, which is designed to carry out the method according to the invention, wherein products are conveyed in a product stream to a transfer position and are gripped and separated by a gripper of a rotary head, wherein the height of each product is detected by a sensor during conveying in order to set the transfer position. Detailed description of the preferred embodiment

[0039] The in Fig. 1 The system shown includes in particular a conveying device FE, a device designed as a packaging device VE downstream of the conveying device FE and a detection device designed as a height sensor HS.

[0040] The conveying system FE comprises, in particular, a conveying element designed as a conveyor belt F, which, for example, is guided as an endless belt over deflection rollers R1-R3. The conveyor belt F also includes a support surface that forms the conveying path FB for the respective products. The products are conveyed by the conveyor belt F in a product accumulation PS to a transfer station ÜS, where they are transferred to the downstream packaging system VE.

[0041] The downstream packaging unit VE comprises, in particular, a rotary head RK equipped with grippers G around its circumference. These grippers grasp a product at the transfer station ÜS, which forms the front edge of the product queue PS. The product is thereby separated and transported away to be fed into a further processing process, in particular a packaging process.

[0042] In the illustrated preferred embodiment, an actuator (not shown) is further provided, which is preferably coupled to the conveyor FE via a mechanical connection to a coupling axis B of the conveyor FE. The actuator can, for example, be designed as a servo drive, piezoelectric element, or similar device and change its length based on a setpoint output by a machine controller. This allows, for example, a pivoting movement about an axis A of a deflection roller R1 along a pivot direction a to achieve a height adjustment of the conveyor track FB in the transfer station ÜS. This height adjustment of the conveyor track FB allows the transfer position of each product to be set.

[0043] According to the invention, the height of each individual product lying on the conveyor belt F is measured by the height sensor HS before it reaches the transfer station ÜS. The height is measured, for example, as the distance of the product's top surface perpendicular to the support surface (i.e., the conveyor track) of the respective product.

[0044] This value, determined for each product, is evaluated, for example, by a machine control system, which calculates a setpoint for adjusting the height of the conveyor (FE) and outputs it to the actuator. Using the actuator, the conveyor (FB) is moved to a target position tailored to the specific product at the moment the product is in the transfer station (ÜS). This ensures that the product is picked up by the grippers (G) of the subsequent packaging unit (VE) in the optimal transfer position with respect to its product height.

[0045] In summary, the functional principle according to the invention for adaptive product positioning with regard to product height in the preferred embodiment comprises a product height detection (height sensor HS) and an actuator for adaptive height adjustment of the conveying device FE.

[0046] The continuous measurement of product heights during the process can also be advantageously used to modify the relationship between folding and processing elements and the product. For this purpose, the measured dimensions of the respective product are, for example, transmitted to the downstream packaging unit (VE). Based on this, the timing or position of folding and processing elements can be adjusted. This allows the measured dimensions to be used not only to set the transfer position but also to individually adapt all subsequent processing operations to the specific product tolerances. Reference symbol list

[0047] A Swivel axis B Coupling axis ES Transfer station F Conveyor belt (conveying element) F Conveyor track F Conveying device G Gripper or transport element HSH Height sensor (detection device) PS Product flow R1 - R3 Deflection rollers R Rotating head ÜS Transfer station V Packaging device

Claims

1. Method for feeding and transferring small-piece products to a downstream facility (VE), in particular to a packaging facility (VE), and for processing, in particular packaging, the products with the downstream facility (VE), wherein the products are conveyed on a conveyor belt (FB) to a transfer position at which the products are transferred to the downstream facility (VE), characterized by the fact that a dimension of each product is recorded by means of a recording device (HS) and the transfer position of the product and / or the downstream device (VE) is set to the recorded dimension of the product by means of a setting device.

2. Method according to claim 1, wherein the transfer position is set at least partially by adjusting the position, in particular the height, of the conveyor track (FB), in particular substantially perpendicular to the conveyor track (FB).

3. A method according to one of the preceding claims, wherein the downstream device (VE) comprises a transport device with at least one transport element, in particular a gripper (G), vacuum suction cup and / or pair of holding jaws, which grips the products at the transfer position in a gripping position and is preferably arranged on a rotary head (RK), and wherein the transfer position and / or the downstream device (VE) is at least partially adjusted by adjusting the gripping position of the transport element, wherein the transfer position is preferably adjusted substantially perpendicular to the conveyor track (FB).

4. Method according to one of the preceding claims, wherein the products are conveyed on a support surface to the transfer position by means of a conveying element, preferably a linear conveying element, in particular a conveyor belt (F) or vacuum conveyor belt, or a rotary and / or singulating plate, preferably continuously and / or forming a product accumulation (PS), wherein the support surface preferably forms the conveying path (FB) of the respective product.

5. Method according to one of the preceding claims, wherein the dimension of the product is a dimension of each product perpendicular to the conveyor track (FB) of the product, in particular a height, preferably of a top edge, top and / or surface, of the product, which is detected by means of the detection device (HS), in particular a sensor, preferably a height sensor (HS), in particular with respect to the conveyor track (FB).

6. Method according to one of the preceding claims, wherein a correction signal is calculated based on the detected dimension of the product, in particular a difference between the detected dimension and a target dimension of the product, and the setting device, in particular an actuator, preferably a servo drive and / or piezo element, is controlled for setting the transfer position and / or the downstream device (VE) based on the correction signal.

7. Method according to one of the preceding claims, wherein the transfer position of each product is set with respect to a target transfer position of a, in particular geometric, center point, a, in particular geometric, central axis, a top edge and / or top surface of the product.

8. Method according to any of the preceding claims, wherein the delivery position of each product is set at the time of delivery of the product.

9. A method according to one of the preceding claims, wherein the downstream device (VE) comprises a transport device with at least one transport element, in particular a gripper (G), vacuum suction cup and / or holding jaw pair, which grips the products at the transfer position in a gripping position and is preferably arranged on a rotating head (RK) and / or comprises processing elements, in particular packaging elements, for processing and / or packaging the products, and wherein temporal, relative and / or absolute positioning of the transport element and / or the processing elements, or packaging elements, is set based on the detected dimension of the product.

10. System for feeding, transferring and processing, in particular packaging, small-piece products, in particular for carrying out the method according to one of the preceding claims, comprising: a conveying device (FE) for conveying the products on a conveyor track (FB) to a transfer position at which the products are transferred to a downstream device, in particular a packaging device (VE); the downstream device (VE), in particular a packaging device (VE); a detection device (HS) for detecting a dimension of each product; an adjustment device for adjusting the transfer position of the products and / or the downstream device (VE) depending on a signal issued by the detection device (HS).

11. System according to claim 10, wherein the conveying device (FE) comprises at least one conveying element, preferably a linear conveying element, in particular a conveyor belt (F) or vacuum conveyor belt, or a rotary and / or singulation plate, and is preferably configured to continuously feed the products, in particular forming a product accumulation (PS), wherein the conveying element preferably comprises a support surface for conveying the products, which preferably forms the conveying path (FB) of the respective product.

12. System according to claim 10 or 11, wherein the detection device comprises a sensor, preferably a height sensor (HS), and / or is configured to detect a dimension of the product perpendicular to the conveyor path (FB) of the product, in particular a height, preferably of a top edge, top and / or surface, of the product as a dimension of the product.

13. System according to one of claims 10 to 12, wherein the adjusting device comprises an actuator, preferably a servo drive and / or a piezo element, for adjusting the transfer position and is preferably coupled directly or indirectly, in particular mechanically, to the conveying device (FE) and / or the downstream device (VE).

14. System according to one of claims 10 to 13, wherein the adjusting device is configured to adjust the transfer position at least partially by adjusting the position, in particular the height, of the conveyor track (FB), in particular substantially perpendicular to the conveyor track (FB).

15. System according to any one of claims 10 to 14, wherein the downstream device (VE) comprises: - a transport device with at least one transport element, in particular a gripper (G), vacuum suction cup and / or holding jaw pair, which is configured to grip the products at the transfer position in a gripping position and is preferably arranged on a rotating head; - and / or processing elements, in particular packaging elements, for processing and / or packaging the products, wherein the adjustment device is configured to adjust the transfer position at least partially by adjusting the gripping position of the transport element, preferably substantially perpendicular to the conveyor path (FB), and / or wherein the adjustment device is configured to adjust temporal, relative and / or absolute positioning of the transport element and / or the processing elements, respectively.To adjust packaging elements based on the recorded dimensions of the product.