Processing and palletizing unit for packaging products

Abstract

The invention relates to a handling and stacking unit for packaging products, comprising a first section (1) for forming and possibly baling production batches, in which a device for forming batches (L), a baling channel (TS) and a first manipulator (4) are arranged, and a second stacking section (2), in which a device for forming batches (L), a baling channel (TS) and a second manipulator (4) are arranged, a first manipulator (4) is arranged in the first palletizing section (2), the first manipulator (4) forming a layer (SL) of packed or unpacked batches (L) which are oriented according to a predetermined sequence, and wherein a second manipulator (M2) is arranged in the second palletizing section (2) for picking up the layers (SL) and positioning them on the pallets (P). The first manipulator (4) comprises one or more means (4P) for picking up and handling packed or unpacked batches (L), these means (4P) being constrained to a structure (TX) arranged in a fixed position at the exit of the packing channel (TS) in the first section (1).

Description

[0001] The present invention relates to a unit for handling and palletizing packaged products.

[0002] The operating unit according to the invention can be configured, for example, as a unit for handling and palletizing rolls of packaging paper, such as rolls of tissue paper.

[0003] As is well known, rolls of tissue paper, especially rolls of toilet paper, kitchen paper or "kitchen towels", are usually packaged by using a packaging machine which produces packages or wrappings containing a predetermined number of rolls. The packages are transported to a bundling machine where batches are formed, each batch consisting of a predetermined number of packages, and in which the batches can be bundled to produce bags, each bag containing a predetermined number of packages. Downstream of the bundling machine there is usually a palletizing station in which a robotic manipulator is installed which picks up the bags and arranges them on a pallet according to a predefined layer sequence. The bundling phase of the packages can be avoided, and in this case the batches pass through the bundling station of the machine without being bundled and form a layer of batches to be placed on the pallet. This type of process is described in EP1550610B1.

[0004] The main object of the present invention is to propose a unit for handling and palletizing packaged products which is capable of performing the above operations in a particularly small space.

[0005] Another object of the present invention is to propose a unit for handling and palletizing packaged products in which the system of layers consisting of batches of packages is integrated into the machine body of the packaging machine. According to the invention, this result is achieved by adopting the idea of implementing a unit for handling and palletizing packaged products having the features of claim 1. Other features of the present invention are the subject of the dependent claims.

[0006] Thanks to the present invention, the overall size and cost of the unit for handling and palletizing packaged products can be reduced, ensuring a high operating flexibility for the user in managing the packaging and palletizing of articles according to programmable patterns. In addition, the simplicity of the structure of the handling and palletizing unit according to the invention is emphasized.

[0007] From the following description and the drawings, those skilled in the art will more easily and better understand these and other advantages and features of the present invention, which are provided by way of example and should not be understood in a limiting sense, in which:

[0008] - Figure 1A shows a schematic top view of a unit for handling and palletizing roll-shaped articles, especially rolls of tissue paper, according to the invention;

[0009] - Figure 1BIllustrate by way of example a batch piece composed of packages of two roll-like articles;

[0010] - Figure 1C is Figure 1A a schematic side view of the unit, some parts of which are not shown to better highlight other parts;

[0011] - Figure 2A is a perspective view of the unit corresponding to the welding channel; Figure 1C of the unit;

[0012] - Figure 2B is a schematic diagram showing a possible adjustment of the lateral receptacle guide for the batch piece arranged on the lift;

[0013] - Figures 3A to 3C represents a dual manipulator including two independent grippers;

[0014] - Figures 4A to 4D in perspective view ( Figure 4A ), top view from below ( Figure 4B ), bottom view ( Figure 4C ) and cross-sectional view along the H-H line in Figure 4C ( Figure 4D ) shows a possible embodiment of the gripper of the manipulator shown in Figures 3A to 3C ;

[0015] - Figures 5A to 5B schematically represents two different layers of batch pieces;

[0016] - Figure 6 represents a single manipulator.

[0017] Simplified to its basic structure and with reference to the accompanying exemplary drawings, the processing and palletizing unit for roll-like articles according to the present invention includes a batch forming and packing section (1) and a palletizing section (2). The batch forming and packing section (1) has an entry station (10) which receives the packages (CP) of paper rolls produced by a packaging machine arranged upstream. The packaging machine is a machine known to those skilled in the art and will not be described in detail here. In the Figure 1A schematic diagram, the packaging machine is schematically represented by the frame "MC". Each package (CP) consists of a predetermined number of paper rolls (R) arranged in a single layer or multiple layers, and these layers are wrapped in a wrapping sheet made of, for example, a plastic material film.

[0018] A corresponding conveyor (1M) is arranged between the packaging machine (MC) and the said entry station (10).

[0019] The packaging machine (MC) horizontally arranges the packages (CP) on the conveyor (1M), that is, the axes of the paper rolls are horizontally arranged.

[0020] In the inlet station (10) there is an inclination device (1R) which, in a known manner, turns over the package (CP) and positions the package (CP) in the vertical position, i.e. the axis of the paper roll is oriented vertically.

[0021] The inclination device (1R) delivers the package (CP) to a diverter (1D) which cooperates with a suitable conveyor (1T), generally known as an indexing conveyor, which is arranged downstream of the same diverter with respect to the direction of origin of the package (CP) to form batches (L), each of these batches consisting of a predetermined number of packages (CP) arranged side by side. In Figure 1B the schematic representation, the batch (L) consists of two packages (CP), each package (CP) containing four rolls (R). However, it will be understood that the number of packages forming the batch and the number of rolls in each package may be different from those exemplified. For example, the batch (L) may also consist of a single package (CP), and the package (CP) may also contain a single roll (R).

[0022] The indexing conveyor (1T) comprises a conveyor belt (1N) and a series of bar-shaped pushers (1B) oriented transversely to the conveyor belt. Using known methods, the diverter (1D) rotates about a vertical axis (Y), as Figure 1A schematically indicated by the arrow "FD" in, and places each package (CP) on the corresponding area (Z) of the indexing conveyor (1T), and due to the coordinated movement of the belt (1N) and the pusher (1B), the latter conveys the package (CP) to a lift (1E) on which, finally, a single batch is arranged. The lift (E) has a plane (PE) which receives the packages forming a single batch and raises these batches to the height corresponding to the inlet of a passage (TS) in which there is a device and which is intended to wrap these batches in a bag of plastic material and to seal the bag itself at the end of the packing operation. In practice, the plane (PE) is positioned at the height of the passage (TS), and then the pusher (SP) pushes the batch in the passage (TS). The batches are packed using methods known to those skilled in the art. In practice, for packing, a film of plastic material supplied by a reel (BF) placed below the passage (TS) is used to produce a tube which is welded along the sides and at the tail end after the product has entered the defined passage through the pusher (SP). This type of process is described in EP1801012B1.

[0023] The coordinated intervention of the diverter (1D) and the indexing conveyor (1T) determines the formation of individual batch pieces (L) according to the planned production. It goes without saying that the operation of the above-mentioned operating units is controlled by a programmable control unit, in which the programmed production data is input and stored. The operation and structure of the packaging machine (MC), the tilting device (1R), the diverter (1D), the indexing conveyor (1T), the elevator (E), the pusher (SP) and the packing channel (TS) are known to those skilled in the art.

[0024] Preferably, according to the present invention, two lateral container guides (1GL, 1GU) are mounted on the elevator (E), which can be positioned symmetrically with respect to the center line (M) of the section (1), which defines the space occupied by the packages (CP) on the elevator on two opposite sides. In practice, the guides (1GL, 1GU) define the right and left sides of the above-mentioned space and their mutual positions, i.e., their positions with respect to the center line (M) of the section (1), which are adjusted according to the number and size of the packages that make up each batch piece. In this way, before being pushed into the channel of the packing station, the packages of the batch piece will be compacted. Refer Figure 2A to the illustrated embodiment, on the front side (AE) of the plane (PE), i.e., on the side facing the pusher (SP), two uprights (CG) are mounted, each upright (CG) having a horizontal base (BC), which is slidably inserted into a guide cavity (GE) formed on the same front side (AE). The base (BC) is fixed to a belt (CC) driven by an electric motor (MC), in such a way that the electric motor (MC) determines the simultaneous mutual approach and separation of the uprights (CG), i.e., the simultaneous approach and separation of the uprights (CG) at the center line (M) of the section (1). On each upright (CG), two horizontal bars longitudinally oriented with respect to the plane (PE) are mounted, and these bars constitute the above-mentioned guides (1GL, 1GU). The bars are applied to the uprights (CG) by means of corresponding transverse spacer arms (BD) and form two pairs of bars, where each pair of bars includes a lower bar (1GL) and an upper bar (1GU). Preferably, the lower bar (1GL) is fixed to the upright (CG) by means of a corresponding spacer (BD) at a predetermined distance from the plane (PE), and the upper bar (1GU) is preferably removably connected to the upright (CG) to facilitate the adjustment of the distance from the lower bar. Thus, as Figure 2B shown in the schematic diagram, the positions of these bars (1GL, 1GU) with respect to the center line (M) can be adjusted according to the width and height of the batch piece (L), as schematically indicated by the arrows (FH, PV).

[0025] For example, the arm (BD) of the upper bar (1GU) can be fixed to the upright (CG) with a screw device, allowing it to be repositioned at the desired height.

[0026] According to the planned working procedure, these batches (L) can be packed, i.e., packaged in bags of plastic material, or, without being packed, these batches (L) can also pass through the packing channel (TS).

[0027] Preferably, a longitudinal guide (TG) is arranged in the packing channel (TS), similar to that provided on the elevator (E). This longitudinal guide (TG) constitutes a lateral accommodation system for the batches in the same channel (TS), such that these batches (L) are correctly centered relative to the center line (M). The guide (TG) of the channel (TS) can be made similar to the guides (1GU, 1GL) provided on the elevator (E). For example, the guide (TG) can consist of two pairs of bars arranged longitudinally with respect to the channel (TS) and connected to corresponding uprights (CT), which can be moved to and from the center line (M) by means of an electric actuator (TM). Also in this case, the lower bar can be fixed at a fixed height of the corresponding upright (CT), and the upper bar can be removably connected to the same uprights in order to provide an accommodation and centering system for the batches in the channel (TS), similar to the system provided on the elevator (E), allowing adjustment of the mutual distance and their overall height of the guides (TG) according to the dimensions and height of the individual batches (L).

[0028] If not packed, the batches (L) are pushed by a pusher (SP) in the direction (Y) relative to the source of the batches onto a surface (3) provided immediately downstream of the packing channel (TS). However, if the batches (L) are packed, when the bag is formed, the bag containing the batches is already on the said plane (3). When the batches (L) are packed, the guide (TG) is removed so as not to interfere with the packing operation. The plane (3) is a horizontal plane used as a temporary storage for the batches (L) or the bags.

[0029] Above the plane (3) there is a programmable manipulator (4) which is used to pick up the batches (L) from the channel (TS) off the plane (3) and, as further described below, to form layers (LS) of batches, where each layer of batches (L) has a predefined orientation depending on the planned production. Thus, a layer (SL) is formed immediately downstream of the packing channel (TS).

[0030] Referring to Figures 3A to 3BIn the example shown, the programmable manipulator (4) consists of a pair of independent grippers (4P), both of which can move in two orthogonal directions (Y, X). Each gripper (4P) includes two jaws (G4), and the opening and closing movements of the jaws (G4) are controlled according to the dimensions of the batch parts located in real time on the plane (3). Referring to the example shown in the accompanying drawings, each gripper (4P) is constrained to a corresponding beam (4Y), which is oriented parallel to the direction (Y) of the source of the batch parts (L) leaving the packing channel (TS). Each gripper (4P) is connected to a belt (C4) driven by a corresponding gear motor (M4), and the gear motor (M4) controls its movement parallel to the beam (4Y). The beam (4Y) is in turn constrained to a third beam (4X), which is fixed to the structure (S1) and is oriented in a direction (X) orthogonal to the direction (Y) of the source of the batch parts (L). Each beam (4Y) is connected to a belt (CX) driven by a corresponding gear motor (MX), and the gear motor (MX) controls its movement parallel to the beam (4X). Thus, each gripper (4P) can move in two directions (X, Y) independently of the other gripper. In other words, each gripper (4P) can be transferred in the direction (X) and the direction (Y) independently of the transfer of the other gripper along these directions.

[0031] Referring to Figures 4A to 4BIn the example shown, each gripper (4P) includes a base plate (40) with a rear orthogonal attachment (41) through which the gripper is connected to the respective belt (4C). On the upper side of the plate (40), a first electric motor (42) is mounted, the shaft (43) of which passes through a toothed rotary ring gear (44) having external teeth and mounted on the lower side of the plate (40). The toothed rotary ring (44) is parallel to the plate (40) and has a rotational axis (Z) orthogonal to the same plate. At the end of the shaft (43) of the motor (42), a lever is mounted which has two arms (45) located in diametrically opposite positions. At the distal end of each arm (45), a rod (46) is mounted, i.e., on opposite sides, the rod is mounted on an attachment (47A) of a linear guide (47B) on which a respective jaw (47) is mounted. Each guide (47B) is inserted into a corresponding slider (47C) formed on the lower side of the toothed rotary ring (44). The toothed rotary ring (44) engages with a pinion (48A) driven by a second electric motor (48), the shaft of which passes through the plate (40) and is connected to the pinion (48A), which is also located on the lower side of the plate (40). Thus, the motor (42) controls the opening and closing, i.e., the distancing and approaching of the jaws (47) in the direction of the guide (47B), while the motor (48) controls the rotation of the toothed rotary ring (44) and thus the rotation of the jaws (47) about the aforementioned axis (Z).

[0032] Preferably, the jaws (47) are formed by a shaped plate with a relatively reduced thickness. Finally, each gripper (4P) can move in the directions (X) and (Y) and can rotate about the axis (Z), and the jaws (47) of each gripper (4P) can move away from and approach each other relative to one another.

[0033] All of the above actuators are controlled by a programmable control unit in which the programmed production data is input or stored.

[0034] Each gripper (4P) picks up a batch piece (L) from the plane (3) and places it in an orientation along a programmed direction (i.e., moves parallel to itself, or rotates clockwise or counterclockwise by 90° or 180°), and releases it onto a surface (5) arranged downstream of the plane (3) in the direction relative to the source of the batch piece (L). The surface (5) is the upper surface of a conveyor on which a layer (SL) of batch pieces to be palletized is formed. Each layer consists of a predetermined number of batch pieces (L), and each layer is oriented according to a predetermined orientation. As a non-limiting example, Figure 5A and Figure 5BTwo possible layers (SL) are shown. The batches (L) that make up the layer (SL) can be the same as each other or even different. During the formation of the layer (SL), the conveyor (5) can be stationary or can move at a speed that matches the speed of the gripper (4P).

[0035] Preferably, the barrier (50) is positioned behind the conveyor (5), which prevents the batches (L) from falling out of the conveyor itself. Preferably, the barrier (50) is mounted on a structure (51) that is arranged below the conveyor (5) and the height of the barrier can be adjusted as schematically indicated by the arrow (F50).

[0036] When the layer (SL) has been formed, the conveyor (5) transfers the layer to the palletizing section (2), in which a second manipulator (M2) is arranged and operative, which picks up the layer (SL) and places the layer (SL) on a pallet. This last operation can be carried out by means and methods known to those skilled in the art and will not be described in detail here.

[0037] If the packing of the batches (L) has been foreseen, these layers can also consist of bags containing the batches (L).

[0038] Using a dual manipulator including two independent devices (4P) to pick up and handle these batches (L) allows these units (4P) to move with very small accelerations and decelerations, thus reducing the risk of damaging these batches during the layer (SL) formation phase.

[0039] However, as shown in the example of Figure 6 a manipulator with a single device (4P) can be used for picking up and handling the batches (L).

[0040] Referring to the example shown in the accompanying drawings, the beam (4X) of the structure to which the device (4P) for picking up and handling the batches (L) is attached is in a fixed position and intersects the center line (M) of the machine. In other words, the manipulator consists of one or more devices (4P) that are linked at the outlet of the packing channel (TS) to a structure arranged in a fixed position.

[0041] As previously mentioned, the structure (TX) to which the device (4P) is attached is advantageously positioned immediately downstream of the packing channel (TS) and thus the layers (SL) are formed immediately downstream of the packing channel (TS) and then they are transferred to the palletizing section (2) in which the second manipulator (M2) is located. In practice, according to the present invention, the first manipulator (4) is integrated into the section (1) for forming the batches (L) such that the layers (SL) are formed in the same section (1) before being conveyed to the palletizing section (2).

[0042] Although the above description relates to roll-like articles, such as rolls of paper towels, the present invention is also applicable to the handling and palletizing of non-roll-like articles. For example, the package (CP) can consist of a pre-determined number of packages of handkerchiefs or paper towels for packing. In this case, as previously described, these layers (SL) consist of packages of packed handkerchiefs or paper towels. More generally, the package (CP) can contain other types of articles for which palletizing by formation of layers (SL) is envisaged, these layers consisting of a pre-determined number of packed or unpacked batches (L).

[0043] It is apparent from the previous description that the unit for handling and palletizing products for packaging according to the present invention comprises a first section (1) and a second palletizing section (2), the first section (1) being for forming and possibly packing batches of products, wherein in the first section (1) there are arranged means for forming batches (L), each batch being formed by a pre-determined number of packages (CP) which contain a pre-determined number of articles, a packing channel (TS), and a first manipulator (4), in which packing channel (TS) the batches (L) can be packed, the first manipulator (4) comprising means for picking up and handling packed and unpacked batches (L), wherein the first manipulator (4) forms layers (SL) consisting of packed or unpacked batches (L) which are oriented according to a pre-determined order, wherein in the second section (2) there is arranged a second manipulator (M2) for picking up the layers (SL) and positioning them on a pallet (P), and wherein the first manipulator (4) comprises one or more means (4P) for picking up and handling packed or unpacked batches (L), these means (4P) being constrained to a structure (TX) which is arranged in a fixed position at the outlet of the packing channel (TS) in the first section (1) for forming batches.

[0044] Furthermore, the unit for handling and palletizing products for packaging according to the present invention can exhibit one or more of the following characteristics, and even these characteristics can be combined with each other:

[0045] - The structure (TX) to which the means (4P) for picking up and handling packed or unpacked batches (L) are connected is a beam oriented in the outlet direction (Y) of the packed or unpacked batches (L) from the packing channel (TS).

[0046] - The first manipulator (4) comprises a single means (4P) for picking up and handling packed or unpacked batches (L).

[0047] - The first manipulator (4) comprises two independent means (4P) for picking up and handling packed or unpacked batches (L).

[0048] - The device for forming a batch piece (L) in the first section (1) comprises a lift (E) on which guides (1GL, 1GU) are arranged, which are adjustable in width and preferably also in height and are intended to delimit a space for the batch piece (L) on two opposite sides, which space is centered with respect to the center line (M) of the handling and palletizing unit.

[0049] - Guides (TG) which are adjustable in width and preferably also in height are provided in the packing channel (TS) and are intended to delimit a space for the batch piece (L) on two opposite sides, which space is centered with respect to the center line (M) of the handling and palletizing unit.

[0050] - Each device (4P) for picking up and handling a batch piece (L) comprises a two-jaw gripper (47) having a first actuator (42) and a second actuator (48), the first actuator (42) controlling the opening and closing of the jaws and the second actuator (48) controlling the rotation of the gripper about a respective axis of rotation (Z).

[0051] However, in practice, for the individual elements described and shown, the implementation details can vary in an equivalent manner without departing from the scope of the appended claims.

Claims

1. A handling and palletizing unit for packaging products, comprising a first section (1) and a second palletizing section (2), the first section being for forming and possibly packing batches of products, wherein, In the first section (1), there are devices for forming batch pieces (L), each batch piece being formed by a predetermined number of packages (CP), each package (CP) containing a predetermined number of articles, a packing channel (TS), and a first manipulator (4). In the packing channel (TS), the batch pieces (L) can be packed. The first manipulator (4) includes devices for picking up and handling packed and unpacked batch pieces (L). Among them, the first manipulator (4) forms a layer (SL) composed of packed or unpacked batch pieces (L), and the batch pieces (L) are oriented according to a predetermined order. In the second palletizing section (2), there is a second manipulator (M2) for picking up the layer (SL) and positioning them on a pallet (P). It is characterized in that the first manipulator (4) includes one or more devices (4P) for picking up and handling packed or unpacked batch pieces (L), and the devices (4P) are constrained to a structure (TX), and the structure (TX) is arranged at a fixed position at the outlet of the packing channel (TS) in the first section (1) for forming the batch pieces.

2. The handling and palletizing unit for packaging products according to claim 1, characterized in that, The structure (TX) to which the device (4P) for picking up and handling the packed or unpacked batch pieces (L) is connected is a beam oriented in the exit direction (Y) of the packed or unpacked batch pieces (L) from the packing channel (TS).

3. The processing and palletizing unit for packaging products according to claim 1, characterized in that, The first manipulator (4) includes a single such device (4P) for picking up and handling the packed or unpacked batch pieces (L).

4. The handling and palletizing unit for packaging products according to claim 1, characterized in that, The first manipulator (4) includes two separate such devices (4P) for picking up and handling the packed or unpacked batch pieces (L).

5. The handling and palletizing unit for packaging products according to claim 1, characterized in that, The devices for forming the batch pieces (L) in the first section (1) include a lift (E), on which there are guides (1GL, 1GU). The guides (1GL, 1GU) are adjustable in width and preferably also in height, and are intended to define a space for the batch pieces (L) on two opposite sides, and the space is centered with respect to the center line (M) of the processing and palletizing unit.

6. The handling and palletizing unit for packaging products according to claim 1, characterized in that, Guides (TG) that are adjustable in width and preferably also in height are provided in the packing channel (TS), and are intended to define a space for the batch pieces (L) on two opposite sides, and the space is centered with respect to the center line (M) of the processing and palletizing unit.

7. The handling and palletizing unit for packaging products according to claim 1, characterized in that, Each device (4P) for picking up and handling the batch pieces (L) includes a two-jaw gripper (47), the two-jaw gripper (47) having a first actuator (42) and a second actuator (48). The first actuator (47) controls the opening and closing of the jaws, and the second actuator (48) controls the rotation of the gripper around the corresponding rotation axis (Z).

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