Method and apparatus for packet grouping
By using individually controllable conveyors and control algorithms during the pack grouping process, the problems of pack damage caused by accumulated pressure and high cost of barrier guides are solved, achieving pack grouping without accumulated pressure, reducing production costs and the risk of pack damage.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- KHS GMBH
- Filing Date
- 2021-10-25
- Publication Date
- 2026-06-09
AI Technical Summary
Existing technologies have problems such as cumulative pressure leading to bag damage, high cost of railing guides, high adjustment costs, and production losses during the bag grouping process.
The conveying device is formed by multiple individually controllable conveyors. The position and speed of the packages are detected by the control algorithm, and the speed of the conveyors is adjusted to form a predetermined package group, avoiding the accumulation of pressure and eliminating the need for railing guides.
It achieves interference-free and fault-free packet grouping, reduces production and operating costs, reduces the risk of packet damage, and adapts to changes in packet specifications.
Smart Images
Figure CN116507568B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a method and apparatus for grouping packages into predetermined package groups. Furthermore, the invention relates to a control device for an apparatus for grouping packages and a computer program for such a control device. Additionally, the invention relates to a palletizing apparatus having such a package grouping device and a palletizing method. Background Technology
[0002] Generally, methods and apparatus for grouping packages are known in the art in a variety of designs, and are used here to combine packages, individually or sequentially delivered to the apparatus, into predetermined package groups, for example, so that they can be subsequently palletized.
[0003] This is typically achieved in existing methods and apparatuses by closing the gaps between the individual packages. Here, the gaps between the packages are forcibly closed before grouping and / or operating areas by accumulating the packages that follow each other. The accumulated packages are then transported individually or in groups as needed. During package accumulation, a staudruck is generated between the packages, where lateral breakage or fracture caused by the staudruck is typically prevented by rail guides. For this purpose, each accumulated package string typically has its own rail guide to ensure the safe and reliable guidance of the accumulated packages.
[0004] However, existing methods and apparatus for grouping packages have numerous drawbacks. First, packages can be unintentionally pushed into the grouping and / or operating areas and / or interfere with their allocation or grouping as the number of packages and the accumulated pressure increases during accumulation, thus preventing subsequent palletizing of the intended package groups from being achieved without disruption. Furthermore, the increased accumulated pressure often leads to damage to the packages or the containers used to group them.
[0005] Furthermore, guide rails present disadvantages. Manually adjustable rails involve high adjustment costs and high investment costs in case of changes in package specifications, while automatically adjustable rails have high maintenance costs and also involve high investment costs. Finally, contact between the package and the rails, especially under increased cumulative pressure, can also cause damage to the package or the container assembled into it, which can adversely lead to production losses. Summary of the Invention
[0006] The object of the present invention is to group packets into predetermined packet groups without interference and without failure, which is preferably simple and cost-effective in terms of apparatus and / or method.
[0007] This objective is achieved by the method for grouping packages according to the invention, the apparatus for grouping packages, the computer program for controlling the apparatus, and the palletizing apparatus including the apparatus for grouping packages according to the invention. Advantageous improvements of the invention are set forth in the following description.
[0008] The method of the present invention for grouping packages into predetermined package groups is implemented by means of a conveying device formed by a plurality of individually controllable, sequentially arranged conveyors, the conveying device having an inlet end and an outlet end. In the method of the present invention, packages are first supplied sequentially to the conveying device at the inlet end; and a control algorithm is executed as long as at least one package of the package group to be formed is on the conveying device. The control algorithm, as a method step according to the present invention, includes: interpolating and / or detecting the position and / or speed of each individual package on the conveying device; determining the rated speed of each individual package on the conveying device based on the detected and / or interpolated position and / or speed of the package to form the predetermined package group; determining the rated speed of each conveyor to achieve the rated speed of the corresponding package to adjust the predetermined interval with the package at the outlet end of the conveying device; and controlling the speed of each conveyor to the separately determined rated speed of the conveyor to group the packages into the predetermined package group without cumulative pressure.
[0009] In the palletizing method for palletized packages of the present invention, packages are grouped into predetermined package groups; palletizable layers are formed from the package groups in the grouping and operation area of the palletizing device; and the layers are stacked vertically using the palletizer of the palletizing device. Here, the package grouping is performed according to the method for grouping packages of the present invention described above or its subsequently described improvements.
[0010] The apparatus of the present invention for grouping packages into predetermined package groups comprises: a conveying device formed by a plurality of individually controllable, sequentially arranged conveyors, the conveying device having an inlet-side end and an outlet-side end; and a control device for individually controlling the conveyors to group the packages without cumulative pressure, wherein the control device is configured to execute a control algorithm in which the position and / or speed of the packages on the conveying device is interpolated and / or detected; a rated speed of each individual package on the conveying device is determined based on the detected and / or interpolated position and / or speed of the packages to form a predetermined package group; and a rated speed of each conveyor is determined to achieve the rated speed of the corresponding package to adjust a predetermined interval with the packages located before and / or after at the outlet-side end of the conveying device; and the speed of each conveyor is controlled to the separately determined rated speed of the conveyor to group the packages into predetermined groups without cumulative pressure.
[0011] Furthermore, the present invention also relates to a device for grouping packets, and in particular a control device for a device for grouping packets according to the present invention, wherein the control device is configured to control the device for grouping packets in such a way that the method of the present invention can be implemented or performed.
[0012] The present invention also includes a computer program for a control device of the packet grouping apparatus of the present invention, which, when executed on the control device, causes the packet grouping apparatus to implement the method of the present invention.
[0013] Finally, the present invention also relates to a palletizing apparatus, comprising: a palletizer for stacking packages; a grouping and operating area located in front of the palletizer for positioning the packages in an arrangement required for stacking; and means of the present invention for grouping packages for supplying packages to the grouping and operating area.
[0014] The inventors have discovered that pressure-free grouping of packages offers numerous advantages, particularly enabling the formation of exceptionally precise and reliable predetermined package groups, with the method operating especially smoothly and without disruption. Furthermore, the avoidance of pressure buildup during grouping effectively prevents damage to the packages and the containers assembled into them. Additionally, it is advantageous to eliminate the need for guide rails, which contributes to cost savings and significantly reduces labor and time costs in the event of changes in the package specifications, thus reducing overall production and operating costs. Even when guide rails are optionally applied, for example to prevent rotation of packages at transitions between conveyors, the contact pressure between the packages and the rails is significantly reduced, thereby greatly minimizing the risk of damage or disruption.
[0015] The package is, in principle, formed by a plurality of preferably identical containers arranged in a manner in which the containers are fixed to each other, wherein the containers are particularly preferably positioned completely fixed to each other within the package. Here, the individual containers of a package can be arbitrarily connected and / or jointly secured to each other. For example, these containers can be secured to each other between two adjacent containers by means of one or more adhesive joints. Alternatively or additionally, the package can also be secured by a film, tape, strap, and / or common label surrounding the package. Furthermore, it is preferred that all packages to be grouped are formed identically and / or have the same number of containers. The containers can here have any shape and size, be made of any material, and be provided for any content. Preferably, the containers are bottles, cans, or cardboard boxes. Also preferably, the containers are formed of plastic, glass, sheet metal, aluminum, and / or composite materials, particularly composite cardboard. Preferably, the containers are designed for food, particularly preferably for liquid food, and entirely particularly preferably for beverages.
[0016] Packet grouping is understood in principle as the merging and / or separating of individual packets or groups of packets as needed, so that all packets in a packet group have defined intervals between them after grouping. These intervals can be all the same size within a packet group or different from each other. Furthermore, one or more of the intervals can be zero. Additionally, the grouping may include buffers for individual packets or packet groups, wherein the buffering is particularly achieved through the closure of gaps.
[0017] Generally, defined package groups are generated by grouping, that is, package groups with a predetermined form. This form can be generated by the intervals between individual packages along the conveying direction of the conveyor and / or perpendicular to it. Here, the defined package groups can in principle be single-row, so that all the packages following each other are accurately arranged in a row or conveyed. It is also conceivable that at least two packages in the predetermined package group move perpendicular to each other with respect to the conveying direction and / or even be arranged side by side. However, the purpose of grouping is preferably to form a layer of packages to be stacked or to form a bundle of packages so that a layer to be stacked can be formed from one or more bundles of packages. Here, it is particularly preferred to orient the bundles of packages in the grouping and operation area and / or by rotation and / or movement of the packages or bundles of packages. In addition to the grouping of packages, the method can also be used for individual containers, so that the individual containers are subsequently grouped into predetermined groups, in particular so that packages can be formed therefrom.
[0018] For grouping packages, the invention includes a conveying device that allows the packages to be grouped to move linearly along at least one spatial direction, preferably along exactly one conveying direction. This conveying device can be formed or utilized in a single-channel or multi-channel configuration. Multi-channel conveying devices can particularly be configured with multiple package inlets or multiple separate package inlets. Furthermore, multi-channel conveying devices are preferred, wherein each individual channel can be independently driven or adjusted. Preferably, the packages are conveyed vertically on the conveying device.
[0019] The conveying device typically consists of multiple conveyors, each individually controllable and arranged sequentially. Each conveyor is configured to convey at least one package, wherein the conveying is preferably carried out vertically on the conveyor and / or along a linear conveying direction. For this purpose, the conveyors can be configured arbitrarily in principle, with mat chain conveyors being preferred. Preferably, each conveyor has exactly one surrounding conveying mechanism, particularly exactly one conveyor belt. Furthermore, it is preferred that the multiple conveyors of the conveying device, and particularly preferably all conveyors, are formed identically and / or have the same dimensions of the conveyor or conveying mechanism, particularly the same length along the conveying direction and / or the same width transverse to the conveying direction. Preferably, the conveying device has at least three conveyors, particularly preferably between three and six, and especially preferably exactly four conveyors. To form a common conveying device, these conveyors are arranged sequentially such that packages can be transferred from one conveyor to a subsequent conveyor, wherein, preferably, continuous conveying of packages along the conveying direction is possible. Particularly preferably, the individual conveyors are arranged directly adjacent to each other.
[0020] To enable the grouping of packages by means of individual conveyors in the conveying device, each conveyor can be individually driven according to the invention. Here, each conveyor preferably has a drive mechanism for the conveying mechanism, particularly a motor. The motor is preferably electrically driven and / or configured as a servo motor. Furthermore, each motor of the conveying device is preferably individually controllable.
[0021] The apparatus for grouping packages according to the present invention has a control device configured to execute a control algorithm or control software implementing the control algorithm. Here, the control device can be directly mounted on the package grouping device, or it can be an external and / or higher-level machine—or part of a process controller. The control algorithm preferably executes at least a series of steps until a complete predetermined package group is formed and / or as long as the packages are on the conveyor. For this purpose, the control algorithm preferably runs continuously and / or repeats the individual steps. Here, continuous repetition of the individual method steps can include not only uninterrupted continuous execution of the individual method steps, but also operation with temporal interruptions between one or more steps in the method steps and / or between repetitions of a series of method steps. Preferably, the control algorithm includes the following steps in the order of: interpolating and / or detecting position and / or speed; then determining the rated speed of each individual package; next determining the rated speed of an individual conveyor; and finally controlling the speed of each conveyor to the respectively determined rated speed.
[0022] The interpolation and / or detection of the position and / or velocity of the package can, in principle, be implemented in any manner, with interpolation preferably achieved by means of previously detected position and / or velocity of the package and / or the corresponding conveyor. For detecting position and / or velocity, preferably at least one sensor device is disposed on, beside, and / or before the conveyor. The sensor device can detect the position and / or velocity arbitrarily, for example, optically. For this purpose, the sensor device can have a light beam, particularly a laser beam, or a camera or other optical and / or imaging sensor. Possible sensor devices include, for example, gratings. However, alternatively, detection can also be achieved by means of one or more 3D sensors. Preferably, at least one sensor device is disposed in the area of the conveyor. Furthermore, preferably, the sensor device is also disposed before the first conveyor. Alternatively or additionally, the sensor device may also be disposed before and / or after at least one conveyor, preferably multiple conveyors, and particularly preferably all conveyors.
[0023] As another step in the control algorithm, the rated speed of the corresponding package on the conveyor is determined to form a predetermined package group. For this purpose, it is preferably determined whether the package at the outlet end is located before, after, or at a predetermined position within the package group to be formed along the conveying direction of the conveyor. In order to enable position matching of the corresponding package relative to preceding and / or following packages or with respect to the outlet end of the conveyor, the rated speed of each conveyor for the corresponding package is determined and subsequently controlled such that a predetermined interval with the preceding and / or following packages of the predetermined package group is reached no later than the outlet end of the conveyor.
[0024] In an advantageous improvement to the method according to the invention, in order to group the packages without accumulating pressure, the speed of each conveyor is controlled such that at least temporarily, intentional slippage is generated between the packages and the conveyors on the conveying device, thereby creating a speed difference between the conveyor speed and the package speed in a simple manner. Particularly preferred here is that the package slippage occurs in the transition zone between two conveyors. To achieve this, all conveyors are preferably steplessly controllable or adjustable, thereby allowing for arbitrary speed differences.
[0025] A preferred embodiment of the method for grouping packages according to the present invention involves continuously detecting the position and / or speed of all packages on the conveyor throughout the entire conveyor during the execution of a control algorithm, using at least one sensor device. This allows for continuous matching of package intervals and / or package speeds, and thus enables the formation of predetermined packages with particular reliability and accuracy. Continuous detection is preferably understood here as repeated detection within at least one time interval, which is preferably shorter than the dwell time of each package on the corresponding conveyor. However, it is particularly preferably achieved by means of a camera and / or at more than 1 detection / second, very particularly preferably more than 5 detections / second, and particularly preferably more than 10 detections / second.
[0026] The control algorithm of the present invention is only set to control the speed of each conveyor. In a preferred improvement of the method, the actual speed of each conveyor is adjusted to the respective rated speed of the conveyor by means of the detected position and / or speed of the package. This makes it possible for the actual speed of the corresponding package to be matched with the rated speed with particular precision, and thus for particularly precise positioning of the package to accurately reach the predetermined package group.
[0027] The grouping of individual packages on the conveying device and / or at the outlet end of the conveying device can be arbitrarily achieved in this principle, wherein the packages in the predetermined group are not only spaced apart from each other, but can also be in contact with each other.
[0028] In an advantageous design of the method according to the invention, the packages are grouped such that adjacent packages come into contact with each other, but particularly preferably without generating cumulative pressure between or through subsequent packages. In other words, in this advantageous design variation, the packages in the package group are grouped without gaps between each other, but preferably, the packages in the package group do not accumulate.
[0029] In principle, the rated speed of each individual package can be determined in any way, but preferably, this is done first by determining whether the corresponding package is the leading package or a non-leading package in the package group to be formed. Accordingly, it is also preferable to subsequently determine, in the case of leading packages, the time required for the package to reach the exit end of the conveyor or the beginning of the grouping and operation area. This can also be achieved, in particular, based on the interval with the preceding package group and / or based on the speed of subsequent processing, such as orientation and / or palletizing. In the case of non-leading packages, it is also preferable to first adjust the rated speed to the maximum possible speed, particularly until the braking distance of the package is greater than or equal to the current interval with the preceding package. Especially in the case of non-leading packages, the remaining gap is then closed by means of an adjustment method, thereby guiding the package onto the preceding package except at predetermined intervals.
[0030] To determine the time required for the leading package to reach the exit end of the conveyor, it is preferable to consider: the expected package throughput when supplying packages to the conveyor and the arrival time of the last package in the resulting package group; and / or the expected interval with the package group that was previously on the conveyor or has already completely passed through the conveyor. Particularly in the case of multi-channel devices for grouping packages, or in the case of multi-channel conveyors, it is also preferable to consider the stopping of packages or package groups on the conveyor so as to enable uninterrupted operation of the respective package groups in subsequent grouping and operation areas. The expected package throughput can here, for example, be determined statistically and / or calculated based on expected values and / or measured at the location preceding the conveyor or at the package processing location.
[0031] When determining the rated speed of each individual package, a multitude of factors for improving the method according to the invention can be considered, which can be derived from the packages to be grouped, the containers of the packages, and / or the means of grouping. In particular, the maximum permissible acceleration and / or deceleration values of the conveying device and / or the packages can be considered, wherein the maximum permissible values of the packages are particularly related to the coefficient of friction of the packages on the respective conveyors and / or to the mass and center of gravity position of the packages. Furthermore, the orientation of the packages on the conveying device, the size of the support surface of the packages on the respective conveyors, and / or the speed of the conveyors preceding and / or following the conveying device can also be considered.
[0032] Furthermore, according to an advantageous improvement of the method of the present invention, in order to determine the rated speed of each conveyor, it is first determined whether there is only one package or multiple packages on the corresponding conveyor. Then, if there is only one package on the conveyor, the rated speed of the conveyor is adjusted to the rated speed of the package; and if there is more than one package on the conveyor, particularly if there are exactly two packages that are only partially on the conveyor, the rated speed of the conveyor is adjusted according to the ratio of the contact surface between the corresponding package and the conveyor, wherein the rated speed of the conveyor is adjusted to the rated speed of the preceding package until the contact surface between the preceding package and the conveyor is below a predetermined boundary value. In this way, particularly controlled control of each conveyor can be generated to produce slippage of the corresponding package in the transition area between two conveyors, thereby allowing for easy matching of the interval between the package on the corresponding conveyor and the second package that is only partially on the same conveyor. Furthermore, it is preferable to compare the contact surfaces of the preceding and following packages when the contact surface is below the predetermined boundary value of the contact surface of the preceding package, and adjust the rated speed of the conveyor to the rated speed of the package with the larger contact surface.
[0033] Here, the contact surface between the corresponding bag and the conveyor can be directly measured or determined, or calculated from the measured or interpolated position of the bag on the conveyor. Accordingly, an advantageous design of the device according to the invention includes at least one means for determining the contact surface of the bag on each conveyor, wherein the means for determining the contact surface is preferably part of a sensor means for determining the position and / or speed of each bag. Particularly preferably, the means for determining the contact surface is provided on each conveyor and / or in the transition region between two conveyors. Particularly preferably, the determination of the contact surface is achieved by means of at least one optical sensor, and even more particularly preferably, by means of a camera. Direct measurement of the contact surface can be achieved, for example, by means of image recognition methods, particularly by recognizing the outline of the bag in optical imaging. Alternatively, to determine the contact surface, the interval between the bags at the beginning or end of the respective conveyor can also be measured, for example.
[0034] According to a preferred improvement of the method for grouping packages according to the present invention, in order to determine the rated speed of each conveyor, it is first determined whether there is no package on the corresponding conveyor, and if there is no package on the corresponding conveyor, the rated speed of the conveyor is adjusted to the rated speed of the expected next incoming package. If there is no expected next incoming package, then the rated speed of the conveyor is also preferably adjusted to the rated speed of the preceding conveyor, so that on the one hand, unobstructed transport of the leading package is possible, and on the other hand, the speed of the conveyors can be matched particularly quickly so that the package can be accelerated or decelerated.
[0035] While in principle all conveyors of the conveying device can be formed arbitrarily, an embodiment of the device for grouping packages according to the invention is preferred in which all conveyors have the same length along the conveying direction, thus enabling unified control of all conveyors of the same length, and furthermore, the conveying device can be matched in length particularly easily by adding or removing additional conveyors. Additionally or alternatively, the length of the conveyor along the conveying direction preferably corresponds approximately to the length of a package, thereby giving the device for grouping packages a particularly compact form. Also preferably, the length of the conveyor is between 10 cm and 100 cm, particularly preferably between 20 cm and 50 cm, and very particularly preferably about 30 cm. In addition to designs with fixed-length conveyors, one or more variable-length conveyors of the conveying device can also be used. Furthermore, the conveyors of the conveying device can also be formed by functionally connecting multiple shorter conveying units, which are particularly preferably functionally a single conveyor always operating at the same speed, wherein the length of the conveyor can be extended or shortened by adding or removing individual conveying units. Furthermore, it is preferable that each conveyor extends its width across the entire width of the conveying device and / or has exactly one conveying element, such as a pad chain for each conveyor.
[0036] Finally, the following embodiment of the device according to the invention is preferred, wherein at least one conveyor of the conveying device is formed without railings and / or side guides, and preferably the entire conveying device is formed without railings and / or side guides, thereby enabling particularly cost-effective production and particularly rapid specification changes of packages to be grouped. Attached Figure Description
[0037] Two embodiments of the apparatus and method for grouping packages according to the present invention are further illustrated below with reference to the accompanying drawings. In the drawings:
[0038] Figure 1a A schematic diagram of a device for grouping packages with a single-channel conveyor is shown;
[0039] Figure 1b Shown in Figure 1a The diagram shows a device for grouping, which has a first package;
[0040] Figure 1c Shown in Figure 1a The diagram shows a device for grouping, which has an incoming second package;
[0041] Figure 1d Shown in Figure 1a The diagram shows the grouping device along with two packages on the conveyor.
[0042] Figure 1e Shown in Figure 1a The diagram shows the device for grouping, along with a schematic of a group of three packages; and
[0043] Figure 2 A schematic diagram of a device for grouping packages is shown, featuring a dual-channel conveyor. Detailed Implementation
[0044] exist Figure 1a The first embodiment of the device 1 for grouping packages 2 shown in –1e consists of four identical pad chain conveyors 4 arranged sequentially, which together form a conveying device 5. Each pad chain conveyor 4 has a servo motor 11 and can be individually driven. The length of each pad chain conveyor 4 is on the order of the package size and is approximately 30 cm, so that the entire conveying device 5 has a length of approximately 120 cm along the conveying direction. The entire conveying device 5 is formed without railings or side guides.
[0045] Furthermore, the device 1 for grouping packages has multiple sensors 9 for detecting the position and / or speed of each package 2, which can be, for example, cameras. However, a preferred embodiment is one in which a grating is arranged at the beginning of each pad chain conveyor 4 along the conveying direction 12 such that the beginning and end of the conveyed package 2 can be detected, thereby measuring the position of the package 2 and calculating its speed (see [link]). Figure 1a Furthermore, the contact surface 10 between each package 2 and the corresponding pad chain conveyor 4 can be calculated simply and accurately based on the detected position and speed.
[0046] Furthermore, the device 1 for grouping package 2 has a control device (not shown) so that the method for grouping package 2 into predetermined package groups 3 can be controlled. The device 1 for grouping package 2... Figure 2 The main difference between the other embodiment shown and the first embodiment is that the pad chain conveyor 4 is formed in a dual-channel configuration, wherein the pad chain conveyor has two independently controllable pad chains side by side, thereby also forming two rows of package groups. In principle, conveyors with three or more conveying channels can also be used. In the case of such a dual-channel or multi-channel conveyor 4, the individual channels can be interconnected according to demand, particularly according to the package size transverse to the conveying direction 12 and / or according to the number of pre-grouped packages transverse to the conveying direction 12, i.e., operating at the same conveying speed.
[0047] The control of the device 1 for grouping packages 2 is implemented through a control algorithm, which is executed once a package 2 is on the conveyor 5 and whenever another package 2 is supplied to the conveyor 5 at the inlet-side end 6. Here, a series of steps are performed continuously and without interruption: first, the position and speed of each package 2 on the conveyor 5 are detected; then, the rated speed of the package 2 for forming a predetermined package group 3 is determined; next, the rated speed of the corresponding pad chain conveyor 4 required for this is calculated; finally, the actual speed of the corresponding pad chain conveyor 4 is adjusted to the desired rated speed, wherein the detected position and speed are used for adjustment. A particular problem with this method is that more than one package 2 may be on the conveyor 5 simultaneously, thus requiring coordination and matching within the conveyor 5.
[0048] Specifically, it always happens when a packet 2 moves into or out of one of the gratings (see [reference]). Figure 1b Position detection is performed. The corresponding speed can then be determined from the time difference and the known package size. Additionally, information from at least one camera can also be used.
[0049] When determining the rated speed of each package 2, the control device first determines whether the corresponding package 2 is the first package 2, i.e., the leading package 2, of the package group 3 to be formed. If so, the time when the package 2 reaches the end of the conveyor 5 is determined, which may be related, for example, to the feed rate of the package 2 to the conveyor 5, the speed of subsequent processing steps of the package group 3, and / or the desired interval relative to the preceding package group 3, which is at least partially on the conveyor 5 or has already completely passed through the conveyor 5.
[0050] Conversely, if the corresponding package 2 is not leading package 2 (see...) Figure 1c First, the rated speed is set to the maximum possible speed, whereby it is checked whether the speed of the previously delivered package is less than this maximum possible speed. If so, then once the braking distance between package 2 and the speed of the previously delivered package is equal to the sum of the current interval between package 2 and the desired interval 8 between the two packages 2 in package group 3, the rated speed of the subsequent non-leading package 2 is reduced. If no interval is desired between the two packages 2 in package group 3, then once the braking distance is equal to the current interval between package 2 and the previously delivered package 2, the rated speed is reduced.
[0051] The maximum possible speed of package 2 is related to several factors, particularly the maximum possible acceleration and / or deceleration, which in turn is mainly related to the position of the center of gravity of package 2 relative to the surface of conveying device 5, the weight of package 2, and / or the coefficient of friction on the surface of conveying device 5.
[0052] To determine the rated speed of each pad conveyor 4, first check whether at least partially no package 2, one package 2, or both packages 2 are located on the corresponding pad conveyor 4. If no package 2 is located on the corresponding pad conveyor 4, then its rated speed is adjusted to the expected rated speed of the next incoming package 2. If only one package 2 is located on the corresponding pad conveyor 4 (see...), then... Figure 1c Then, the rated speed of the pad chain conveyor 4 is adjusted to the rated speed of the corresponding package 2.
[0053] Conversely, if more than one package 2 is located on the corresponding pad chain conveyor 4 (see...) Figure 1d Then the contact surfaces 10 of the two packages 2 with the surface of the pad chain conveyor 4 are set in proportion, and once a boundary value is reached (which indicates that the contact surface 10 of one package 2 on the pad chain conveyor 4 is greater than the contact surface 10 of the other package 2 by a predetermined coefficient), the rated speed of the pad chain conveyor 4 is adjusted to the rated speed of the package 2 with the larger contact surface 10.
[0054] In practice, this means that once only package 2 is initially on the pad chain conveyor 4, the rated speed is determined by package 2. Then, if the second package 2 arrives in the area of the pad chain conveyor 4, its contact surface 10 increases while the contact surface 10 of the first package 2 decreases, because the length of the pad chain conveyor 4 is within the length of one package 2. Up to this point, slippage occurs between the pad chain conveyor 4 and the second package 2 due to the speed difference. However, once the contact surface 10 of the second package 2 is larger than that of the first package 2, the rated speed is determined by the second package 2, and the actual speed of the pad chain conveyor 4 is changed if necessary. Thus, due to the resulting speed difference, slippage also occurs, if necessary, between the first package 2, which is still partially on the pad chain conveyor 4, and the pad chain conveyor 4 itself.
[0055] Due to the speed difference between the various pad chain conveyors 4 of the conveying device 5 and the targeted slippage between the pad chain conveyors 4 and the packages 2, the spacing between the packages 2 of the package group 3 to be formed can be adjusted as needed until the predetermined spacing 8 is reached between all packages 2 (see [link]). Figure 1e ).
[0056] List of reference numerals in the attached diagram:
[0057] 1. Device for grouping packets
[0058] 2 packs
[0059] 3 packages
[0060] 4 Conveyor
[0061] 5. Conveying device
[0062] 6 Entrance side end
[0063] 7. Exit side end
[0064] 8. Pre-arranged interval
[0065] 9. Speed and position sensor device
[0066] 10 Contact surfaces
[0067] 11 Servo Motors
[0068] 12. Conveying direction.
Claims
1. A method for grouping packages (2) into predetermined package groups (3) by means of a conveying device (5) formed by a plurality of individually controllable, sequentially arranged conveyors (4), said conveying device having an inlet-side end (6) and an outlet-side end (7), in which, - The package (2) is supplied sequentially to the conveying device (5) at the inlet side end (6) of the conveying device; and -A control algorithm is executed whenever at least one package (2) of the package group (3) to be formed is located on the conveying device (5). The control algorithm includes the following steps: - Interpolate and / or detect the position and / or speed of each individual package (2) on the conveying device (5); - Determine the rated speed of each individual package (2) on the conveying device (5) based on the detected and / or interpolated position and / or speed of the package (2) to form a predetermined package group (3). - Determine the rated speed of each individual conveyor (4) to achieve the rated speed of the corresponding package (2), for adjusting the predetermined interval (8) between the package (2) at the outlet end (7) of the conveyor (5) and / or at the rear. - Control the speed of each individual conveyor (4) to the respective determined rated speed of the conveyor (4) so as to group the package (2) into predetermined package groups (3) without cumulative pressure. The characteristic feature is that, in order to group the packages (2) without accumulating pressure, the speed of each individual conveyor (4) is controlled such that slippage occurs at least temporarily between the packages (2) and the conveyors (4). Furthermore, the packages (2) are grouped in such a way that adjacent packages (2) come into contact with each other and at the same time no cumulative pressure is generated between the packages (2).
2. The method according to claim 1, characterized in that, During the execution of the control algorithm, the position and / or speed of all packages (2) of the package group (3) to be formed are continuously detected throughout the conveying device (5) by means of at least one sensor device (9).
3. The method according to claim 1 or 2, characterized in that, The speed of each individual conveyor (4) is adjusted by means of the detected position and / or speed of the package (2).
4. The method according to claim 1 or 2, characterized in that, To determine the rated speed of each individual packet (2), first determine whether the corresponding packet (2) is the leading packet (2) or a non-leading packet (2) of the packet group (3) to be formed, and then... - In the case of the leading package (2), determine the time required for the package (2) to reach the outlet end (7) of the conveying device (5); as well as - In the case of a non-leading package (2), first adjust the rated speed to the maximum possible speed until the braking distance of the package (2) is greater than or equal to the current interval with the preceding package (2).
5. The method according to claim 4, characterized in that, To determine the time required for the leading package (2) to reach the outlet end (7) of the conveyor (5), consider: - The expected package throughput when supplying packages (2) to the conveying device (5) and the arrival time of the last package (2) of the resulting package group (3) to be formed; and / or - The desired interval between the prior package group (3) that is still on the conveyor (5) or has already passed through the conveyor (5).
6. The method according to claim 1 or 2, characterized in that, When determining the rated speed of each individual package (2), the maximum permissible acceleration and / or deceleration values are considered, which are related to the coefficient of friction of the package (2) on the corresponding conveyor (4) and / or to the mass and center of gravity position of the package (2).
7. The method according to claim 1 or 2, characterized in that, To determine the rated speed of each individual conveyor (4), first determine whether there is only one package (2) or multiple packages (2) on the corresponding conveyor (4), and then: -When there is only one bag (2) on the conveyor (4), the rated speed of the conveyor (4) is adjusted to the rated speed of the bag (2); and - In the case where there is more than one package (2) on the conveyor (4), the rated speed of the conveyor (4) is adjusted according to the ratio of the contact surface (10) of the corresponding package (2) and the conveyor (4), wherein the rated speed of the conveyor (4) is adjusted to the rated speed of the preceding package (2) until the contact surface (10) of the preceding package (2) and the conveyor (4) is below a predetermined boundary value.
8. The method according to claim 7, characterized in that, If the contact surface (10) of the preceding package (2) is lower than a predetermined boundary value, the contact surfaces (10) of the preceding and following packages (2) are compared, and the rated speed of the conveyor (4) is adjusted to the rated speed of the package (2) with a larger contact surface (10).
9. The method according to claim 1 or 2, characterized in that, In order to determine the rated speed of each individual conveyor (4), first determine whether there is no package (2) on the corresponding conveyor (4), and if there is no package (2) on the corresponding conveyor (4), adjust the rated speed of the conveyor (4) to the rated speed of the expected next incoming package (2); and / or if there is no expected next incoming package (2), adjust the rated speed of the conveyor (4) to the rated speed of the prior conveyor (4).
10. An apparatus (1) for grouping packages (2) into predetermined package groups (3), comprising: - A conveying device (5) formed by multiple individually controllable, sequentially arranged conveyors (4), the conveying device having an inlet-side end (6) and an outlet-side end (7); and - A control device for individually controlling the conveyor (4) to group the packages (2) without cumulative pressure, wherein the control device is configured to execute a control algorithm in which the position and / or speed of the packages (2) on the conveyor (5) are interpolated and / or detected; The rated speed of each individual package (2) on the conveyor (5) is determined based on the detected and / or interpolated position and / or speed of the package (2) to form a predetermined package group (3); and Determine the rated speed of each individual conveyor (4) to achieve the rated speed of the corresponding package (2) in order to adjust the predetermined interval (8) between the package (2) at the outlet end (7) of the conveyor (5) and / or the package (2) at the front and / or rear. The speed of each individual conveyor (4) is controlled to its respective rated speed so that the package (2) is grouped into predetermined package groups (3) without cumulative pressure. The characteristic feature is that, in order to group the packages (2) without accumulating pressure, the speed of each individual conveyor (4) is controlled such that slippage occurs at least temporarily between the packages (2) and the conveyors (4). The packages (2) are grouped such that adjacent packages (2) come into contact with each other and no cumulative pressure is generated between the packages (2).
11. The apparatus (1) according to claim 10, characterized in that, Includes at least one means for determining the contact surface of the package (2) on each individual conveyor (4).
12. The apparatus (1) according to claim 11, characterized in that, The device for determining the contact surface is part of a sensor device (9) for determining the position and / or velocity of each package (2).
13. The apparatus (1) according to any one of claims 10-12, characterized in that, All conveyors (4) have the same length along the conveying direction.
14. The apparatus (1) according to any one of claims 10-12, characterized in that, Each conveyor (4) extends across the entire width of the conveying device (5) with its width.
15. The apparatus (1) according to any one of claims 10-12, characterized in that, At least one conveyor (4) of the conveying device (5) is formed without railings and / or side guides.
16. The apparatus (1) according to claim 15, characterized in that, The entire conveyor (5) is formed without railings and / or side guides.
17. A palletizing method for palletizing packages (2), wherein, - Group the package (2) into a predefined package group (3); - The package group (3) forms a stackable layer in the grouping and operation area of the palletizing device; and - The cladding layers are stacked one on top of the other using the palletizer of a palletizing device; Its features are, The package (2) is grouped by means of the method according to any one of claims 1-9.
18. The palletizing method according to claim 17, characterized in that, The package (2) is grouped when using the apparatus according to any one of claims 10-16.
19. A computer program for controlling a device (1) according to any one of claims 10-16, wherein when the computer program is implemented on the control device, the computer program causes the device (1) to perform the method according to any one of claims 1-9.
20. A palletizing device, comprising: - A palletizer for stacking packages (2); - A grouping and operation area is placed in front of the palletizer to position the package (2) in the arrangement required for stacking; as well as - A device for grouping packages (2) for supplying the packages (2) to the grouping and operating areas, characterized in that the device for grouping packages (2) is configured as the device (1) according to any one of claims 10-16.