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WO2012055411A1 - Système pour acheminement de moyens de mise en lots et pour mise en lots d'objets - Google Patents

Système pour acheminement de moyens de mise en lots et pour mise en lots d'objets Download PDF

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Publication number
WO2012055411A1
WO2012055411A1 PCT/DK2011/000123 DK2011000123W WO2012055411A1 WO 2012055411 A1 WO2012055411 A1 WO 2012055411A1 DK 2011000123 W DK2011000123 W DK 2011000123W WO 2012055411 A1 WO2012055411 A1 WO 2012055411A1
Authority
WO
WIPO (PCT)
Prior art keywords
conveyor
batching
objects
batch
trays
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DK2011/000123
Other languages
English (en)
Inventor
Bjørn Heide PEDERSEN
Niels Hundtofte
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Marel AS
Original Assignee
Marel AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Marel AS filed Critical Marel AS
Publication of WO2012055411A1 publication Critical patent/WO2012055411A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/54—Means for supporting containers or receptacles during the filling operation
    • B65B43/59—Means for supporting containers or receptacles during the filling operation vertically movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • B65B5/068—Packaging groups of articles, the groups being treated as single articles in trays

Definitions

  • the invention relates to a conveyor system for carrying and/or conveying batching means such as trays or the like, said conveyor system comprising at least one batch conveyor for carrying and/or conveying said batching means, while objects such as food objects are being transferred from a supply of said objects to said batching means by means of at least one robotic handling means, e.g. a robot, a pick-and- placing apparatus, or the like.
  • a robotic handling means e.g. a robot, a pick-and- placing apparatus, or the like.
  • the invention also relates to a system for batching of objects such as food objects, which system comprises such a conveyor system. Even further, the invention relates to a use of the conveyor system.
  • Prior art systems and methods for performing a batching of objects which are transferred from a supply of objects such as food objects, pieces of meat, etc. using robots, which may also be referred to as robotic handling means, are disclosed or referred to in for example WO 01/22043, WO 2006/061024, WO 2007/134603 and WO 2009/026925.
  • the batching of objects may be performed using various principles and/or under control of e.g. a control unit for selecting objects in order to provide batches fulfilling one or more criteria.
  • a control unit may be provided with software facilitating a selection of objects, which constitutes an optimal choice in consideration of a chosen package- operation.
  • Such software may for example be software operating in accordance with the operating rules described in EP 781 172 or WO 01/22043.
  • the batching may be performed in accordance with the so-called accumulation principle, i.e. by selecting and placing the objects in accordance with their weight and the weight of the objects already placed or selected (to be placed), or in accordance with the so- called combination principle, i.e.
  • the batching means used in connection with such batching systems and methods may as mentioned be trays or the like, where the trays may be individual trays that are delivered to the systems in manufactured form, e.g. for example in stacks to be delivered to the batching system from a tray dispenser.
  • the batching means may also be trays that are for example thermal-formed trays that may be manufactured online prior to being used for the batching.
  • Other forms of trays and batching means may be used as well. In general, these and other forms of trays will in the following be referred to as trays.
  • a further problem with such conveyor systems arises when it is desired to use e.g. trays having different sizes. This can for example be the case when e.g. a batching system is used for batching of e.g. large sized batches at certain times, thereby requiring trays that are larger than trays used at other times.
  • a conveyor system comprising a conveyor, e.g. a conveyor belt, which is adapted for conveying for example trays spaced, e.g. regularly spaced, by means of indexing means, wherein the indexing means are configured for being in an active or a passive position and can be activated in groups for providing different intervals.
  • the conveyor belt can be used for transporting e.g. trays having different sizes, corresponding to the different intervals between the indexing means of the respective groups.
  • the robotic handling means are controlled in dependence hereof, e.g. when changing from one type of tray with a certain height to another type of tray with a higher or a lower height, where it is of importance that the robot or any part of the robot, e.g. a gripper or picker, does not collide with e.g. the rim of the tray, when moving downward (and/or sideways) for releasing a gripped object on/in the tray.
  • the object is released at a certain level above the tray.
  • the object in order for the object to be delivered and placed on/in the tray with a desired accuracy, e.g. being placed fully within the tray without parts sticking out and possibly also placed in a desirable relationship to other objects in the tray, it is of importance that the object is released while it is within a maximum distance from the tray or the bottom of the tray.
  • the invention relates to a conveyor system for carrying and/or conveying batching means such as trays or the like, said conveyor system comprising at least one batch conveyor for carrying and/or conveying said batching means, while objects such as food objects are being transferred from a supply of said objects to said batching means by means of at least one robotic handling means, e.g. a robot, a pick-and- placing apparatus, or the like, wherein said at least one batch conveyor is configured for being adjustable in an essentially vertical direction in relation to said at least one robotic handling means.
  • at least one robotic handling means e.g. a robot, a pick-and- placing apparatus, or the like
  • the at least one robotic handling means e.g. a robot as regards the adaptation to the different height of the batching means such as trays, e.g. change control parameters or the like, or to perform subsequent tests, etc, because the at least one robotic handling means, e.g. a robot can continue using the same handling pattern etc. as before without any risk of colliding with the batching means, e.g. rim or edge of a tray or the like, while still being able to deliver and place the objects with an unchanged accuracy, i.e. because the objects will be released from essentially the same level above e.g. the upper edge of a tray. It is apparent, though, that the at least one robotic handling means, e.g.
  • a robot need to be adapted to a new tray size for other reasons, e.g. because a larger tray is loaded with a larger batch, more objects, etc., which although has no influence on the movement of the at least one robotic handling means, e.g. a robot in the vertical direction.
  • a prior art conveyor in the form of a portable conveyor which can be moved from place to place and used under varying conditions, can be adjusted in the vertical direction.
  • a conveyor frame supporting the conveyor belt can be raised and lowered by means of lifting cables connected to lifting drums, which lifting drums can be rotated manually by means of handles in order to adjust the conveyor frame.
  • this prior art conveyor is not intended for use in connection with batching of objects and it is apparent that this prior art conveyor is neither suitable for such a purpose, e.g. batching of objects using robotic handling means.
  • said at least one batch conveyor may be configured to be supported by a support structure, and wherein said at least one batch conveyor is adjustable in relation to said support structure in said essentially vertical direction.
  • the adjustment in the vertical direction can be effected by lifting and/or lowering e.g. a batch conveyor unit in relation to the support structure, that can be a frame structure or the like, placed on e.g. the floor or ground.
  • a batch conveyor unit in relation to the support structure, that can be a frame structure or the like, placed on e.g. the floor or ground.
  • said support structure may further support said at least one robotic handling means, whereby a relatively simple and compact construction may be achieved.
  • said system may further comprise a supply conveyor for providing said supply of said objects, said supply conveyor being located adjacent to said at least one batch conveyor at least in an effective working area for said at least one robotic handling means.
  • the robotic handling means and the supplied objects will be placed optimally in relation to each other, e.g. with the robotic handling means being placed with a fixed position in relation to the supply conveyor and in particular with a fixed vertical position in relation to the level, at which the objects are supplied.
  • the supply conveyor can be supported by the above- mentioned support structure or support frame.
  • said at least one batch conveyor may be designed for carrying and/or conveying one or more rows of said batching means, wherein further guide rails are provided for guiding said one or more rows of said batching means.
  • the batching means e.g. trays
  • said guide rails may be configured for covering at least part of a rim of said batching means, e.g. a side rim of said trays or the like.
  • the tray can hereby be guided in a more reliable manner by the guide rails and can e.g. be held down towards the conveyor.
  • said guide rails may be fixed in the essentially vertical direction in relation to said at least one robotic handling means, e.g. in relation to said support structure.
  • the adjustment of the at least one batch conveyor in an essentially vertical direction in relation to said at least one robotic handling means can be performed with a high degree of security and without any risk of error due to e.g. human error when performing the adjustment.
  • the upper level of the guide rails will always be in the same level in relation to the robotic handling means, and since the parameters of the robotic handling means are unchanged as regards the vertical level, i.e. the height, when moving in over the batching means, e.g. the trays, there will be no risk of any part of the e.g. robot colliding with the guide rails after the batch conveyor has been adjusted in the vertical level.
  • the guide rails may be configured for covering the rim or edge of the batching means, it is avoided that the robot will collide with the edge or rim of the batching means even though the vertical level of the at least one batch conveyor has been set too high, e.g. because of an human error, because the batching means, e.g. the trays, will in this instance get in contact with the guide rails and be forced downwards, whereby it will be discovered that a fault has been made the very moment the at least one batch conveyor is started with the new size trays.
  • said guide rails may be adjustable in a transverse direction of said at least one batch conveyor.
  • said at least one batch conveyor may comprise indexing means arranged in one or more rows, which indexing means are configured for being in an active or an inactive state, where in the active state the indexing means extend above the surface of the at least one batch conveyor for facilitating positioning of said batching means, e.g. said trays, and wherein said indexing means can be activated with a spacing adapted for batching means, e.g. trays, having various sizes, e.g. lengths.
  • a further enhanced degree of flexibility has been achieved as regards the sizes of batching means, e.g. trays that can be used, since also trays with different lengths can be used by controlling the respective indexing means.
  • said indexing means may be controlled to be in an active state by means of control means such as control guides, etc., which can cooperate with taps, cams or the like on said indexing means.
  • the indexing means can be controlled in a relatively simple and efficient manner.
  • indexing means it is noted that these can be arranged in a multitude of varieties, for example in one or more rows for each batch conveyor and/or for each intended row of trays.
  • control these indexing means in numerous manners.
  • a control pin, tap or the like can be present on each indexing means, whereby these can be actuated selectively or in groups.
  • a single control rail or the like can be used for controlling a row of indexing means, for example by lifting/lowering the control rail towards the underside of the conveyor or by sliding the control rail in the transverse direction, whereby all indexing means passing along the control rail will be activated, e.g. lifted by the control rail.
  • different intervals can be achieved by having two or more rows of indexing means placed with different intervals, where each of these rows can be activated by a single control rail.
  • the various adjustments that takes place when shifting from one tray size to another may be performed in a more or less automated manner and optionally in a completely automated manner, for example since the adjustment of the vertical level of the one or more batch conveyors, the adjustment of the guide rails in the transverse direction and/or the shifting between different indexing means that are active, can be performed using control equipment for controlling servo means or other actuating means for performing the various adjustments, when a tray size is selected.
  • said at least one batch conveyor may comprise an outlet end part, which is configured to be maintained at a fixed vertical level regardless of the adjustment of the at least one batch conveyor in said essentially vertical direction.
  • the end part of the at least one batch conveyor can gradually lower or lift the completed batches as necessary in order to lead the completed batches to a further conveyor or the like, regardless of the adjustments of the at least one batch conveyor.
  • the invention relates to a system for batching of objects such as food objects, said system comprising a supply of said objects, at least one robotic handling means and a conveyor system according to any one of claims 1 - 11, wherein said at least one robotic handling means is controlled to transfer objects to said batching means carried and/or conveyed by said at least one batch conveyor.
  • said at least one robotic handling means e.g. a robot, a pick-and-placing apparatus, or the like, may be of a type having at least three degrees of freedom, for example operating in an effective operation area in e.g. an X-Y-plane and designed for gripping or picking-up an object and placing it within the effective operation area.
  • the invention relates to a use of a conveyor system according to any one of claims 1 - 11 for batching of objects such as food objects, wherein said objects are supplied to transfer means comprising at least one robotic handling means and wherein said at least one robotic handling means is controlled to selectively transfer objects to said batching means carried and/or conveyed by said at least one batch conveyor of the conveyor system.
  • FIG. 1 is a schematic view from above of an example of a conveyor system
  • Fig. 2 shows an example of a conveyor system according to an embodiment of the invention in a schematic side view
  • Fig. 3 shows a basic configuration of a batch conveyor and a supply conveyor from above in a schematic view
  • Fig. 4 shows an example of a batch conveyor and a guide rail arrangement seen from the end
  • Figs. 5a and 5b show the arrangement shown in fig. 4, but with the two arrangements conveying two different tray sizes, and
  • Fig. 6 shows an example of a conveyor system corresponding to
  • FIG. 2 in a schematic side view, but wherein further exemplary variations are illustrated. Detailed description
  • the conveyor system 1 comprises a supply conveyor 4 for supplying objects 2 to be transferred to batching means, e.g. trays 8 that are conveyed by means of one or more batching conveyors 6.
  • batching means e.g. trays 8 that are conveyed by means of one or more batching conveyors 6.
  • a single batching conveyor 6 can be used, which can convey one or more rows of batching means, e.g. trays 8, but two or more batching conveyors 6 can be used, where each one of these can convey one or more rows of batching means, e.g. trays 8.
  • the objects 2 that may be food objects such as pieces of meat, etc., as explained in the previously mentioned documents WO 01/22043, WO 2006/061024, WO
  • sensor means and control means are involved, e.g. for controlling the transfer means, e.g. one or more robots.
  • means for supplying trays e.g. tray dispensers, may be comprised in the system and it will be apparent that means for handling the completed batches, e.g. packaging, labelling, etc. may be provided. However, as it will be apparent to a skilled person, these need not be disclosed in detail here.
  • the one or more robotic handling means which may also be referred to as handling means of the robot type or robots
  • handling means of the robot type or robots are of a type having at least three degrees of freedom, for example meaning that the robots are operating in a effective operation area (for example in the X-Y-plane) and that the robots are designed for gripping or picking-up an object and placing it within the effective operation area (for example also operating in the Z-direction).
  • the robots involved are of a type having e.g. a gripping or picking-up element for the lifting of objects or items and a controllable movement system for the transfer of a gripped or picked object or item selectively to a selected depositing position. These robots are controlled by e.g.
  • a central control unit in order to batch the objects based on the information available to the system regarding e.g. the mass and position of the objects available for the batching, the mass of objects possibly already placed on the batching means in unfinished batches and desired parameters for the batches.
  • a control unit for controlling the operation of the system may be connected to a vision- or scanning system, for providing precise information regarding the position/location, orientation and possibly also type of the objects, whereby it is possible for it to control e.g. the robots to move the objects, e.g. lift the objects and place them on the batching means, including changing the orientation of the objects if necessary.
  • the control unit is connected to weighing means or means for determining the mass in other manners, whereby it also comprises weight information relating to each of the objects.
  • This control unit may be provided with software facilitating a selection of objects, which constitutes an optimal choice in consideration of a chosen package-operation.
  • software may for example be software operating in accordance with the operating rules described in EP 781 172 or WO 01/22043.
  • the batching may be performed in accordance with the so-called accumulation principle, i.e. by selecting and placing the objects in accordance with their weight and the weight of the objects already placed or selected (to be placed), or in accordance with the so-called combination principle, i.e. by selecting the object for a batch as a combination of items available for the selection.
  • accumulation principle i.e. by selecting and placing the objects in accordance with their weight and the weight of the objects already placed or selected (to be placed
  • combination principle i.e. by selecting the object for a batch as a combination of items available for the selection.
  • Other principles or combinations hereof may be used as well.
  • the weight or mass of the objects may be determined in other manners than by weighing. For example, a determination of the weight may be effected using vision equipment, possibly simultaneously with a scanning of the objects that take place in order to determine the position, the orientation and possibly also the type of the objects. Other means and methods for determining the mass of the objects may also be utilized. Further, it is mentioned that instead of batching objects in order to obtain batches having a total weight which fulfils a predetermined criterion or criteria, other manners of performing a batching can be performed, for example batching in order to acquire a predetermined number of objects in a batch. As shown in fig.
  • the trays 8 are conveyed in two rows in the illustrated example, but it will be evident that they can be conveyed in one or more rows.
  • the one or more batching conveyors 6 may be configured with indexing means 12, e.g. controllable indexing means, which may serve to define the position of the trays 8, e.g. ensure that the trays are not moved (in relation to the conveyor) during the conveying, and these may as disclosed in for example Danish patent application No. DK 2009 01058 A be configured in such a manner that trays of different lengths can be used.
  • the conveyor system 1 comprises a support structure 16, e.g. a frame structure placed on the ground 22, which support structure supports the batch conveyor 6, which is shown in a schematic manner comprising a support unit 20 having rollers 18 or the like for supporting the conveyor belt, drive means, etc..
  • the support unit 20 is connected to the support structure 16 by means of adjustable connections 24, 26, which may be actuators of various types, for example mechanical actuators, by means of which the batch conveyor 6 can be lifted and/or lowered in relation to the support structure 16 and thus also in relation to the transfer device(s), which in fig. 2 is shown in the form of two robots 14 that by means of e.g.
  • grippers 15 can grip a selected object from the supply conveyor (not shown in fig. 2) and transfer it to a selected tray on the batch conveyor 6.
  • the adjustable connections 24, 26, which for example can be placed at each end of the support structure 16, may as shown be connected by means of a mechanical connection 28 in order to ensure that the vertical adjustments are performed evenly, e.g. with synchronized movements at the adjustable connections 24, 26.
  • the vertical level of the batch conveyor 6 in relation to the robotic handling means 14, e.g. the two robots can be effected in a relatively simple and reliable manner, which facilitates an advantageous changing of tray sizes as explained in the introductory parts of this description.
  • fig. 3 an example of the basic configuration of a batch conveyor 6 and a supply conveyor 4 is shown from above in a schematic view, without showing the e.g. robot or robots, which perform the transfer of objects.
  • the two conveyors are illustrated as moving in the same direction, but it will be apparent to a skilled person that they can move in different directions.
  • the batch conveyor can convey three rows of batching means, e.g. trays 8, which in the longitudinal direction may be positioned by means of indexing means (not shown in fig. 3) as explained above. In the transverse direction the trays 8 are positioned by means of guide rails 30, which will also be explained below with reference to fig. 4.
  • fig. 3 As shown in fig.
  • the guide rails 30 can be fixed by means of a number of guide rail supports 32, e.g. two guide rail supports as shown, and the guide rails can be fixed to these in such a manner that it is made possible to adjust the position in the sidewards direction, i.e. the transverse direction, whereby the guide rails 30 can accommodate trays of different sizes, e.g. widths.
  • the guide rails 30 are fixed in the vertical direction without possibility of altering the position, which is of particular importance as it will be explained in connection with fig. 4.
  • the trays 8 are guided by the guide rails 30, the trays are positioned with a high degree of accuracy, which furthermore facilitates that the objects can be delivered by the robot or robots with high accuracy and with a relative high processing speed.
  • the guide rails 30 can be adjusted in the transverse direction to allow the conveyors to convey batching means, e.g. trays, having a larger width, if for example one or more of the guide rails 30 are moved to one side of the conveyor, whereby an e.g. tray having a width corresponding to two "normal" trays can be conveyed, etc.
  • batching means e.g. trays, having a larger width
  • the guide rails 30 can be adjusted in the transverse direction to allow the conveyors to convey batching means, e.g. trays, having a larger width, if for example one or more of the guide rails 30 are moved to one side of the conveyor, whereby an e.g. tray having a width corresponding to two "normal" trays can be conveyed, etc.
  • a batch conveyor 6 is shown seen from the end, also in a schematic view, in an example, where three rows of batching means, e.g. trays 8 are conveyed.
  • the guide rails 30 are shown fixed to the guide rail supports 32 by means of connectors 36 in such a manner that they can be adjusted in the transverse direction, but are fixed in the vertical direction.
  • the batch conveyor 6 is as indicated provided with indexing means 12 as explained above, of which some (the indexing means not in an active position) can be seen below the batch conveyor 6.
  • indexing means 12 can be designed with control taps 42 or the like, which may cooperate with control guides (not shown) for activating the indexing means as explained in for example the above-mentioned Danish patent application No. DK 2009 01058 A.
  • the guide rails 30 can be designed in such a manner that at least a part 34 of the guide rail 30 will cover the edge or rim 46 of a tray 8. In this manner, the trays 8 are reliably guided and the edge or rim (at least on two sides) is protected from being contacted by e.g. pieces of meat or the like as the objects are delivered to the trays 8. Furthermore, the guide rails 30 will in this manner also prohibit any failure to the equipment if the batch conveyor 6 by mistake has been lifted too high for a certain size of trays.
  • a transverse boom can be arranged in front of the at least one batch conveyor 6 in a height corresponding to the guide rails, for example where the e.g. trays are fed to the batch conveyor or prior to the work area of the robot(s), which boom will prohibit the trays from entering the area of the guide rails.
  • a batch conveyor 6 is shown seen from the end together with guide rails 30 etc., corresponding to fig. 4, but where the effect of the invention is illustrated by a comparison of the two figures in figs 5a and 5b.
  • the batch conveyor 6 is shown adjusted to convey a comparatively low tray 8, and
  • the robots and/or cause losses in the form of downtime, lost production, etc., and with the advantage that the robots can work with a constant high processing speed while maintaining a constant high degree of accuracy as regards the delivery of objects to the batches that are being formed on e.g. the trays.
  • conveying means that can gradually lower or lift the completed batches may be provided, for example in the form of a conveyor with an adjustable angle, connected for example to the exit of the at least one batch conveyor and leading the completed batches to a further conveyor or the like.
  • FIG. 6 An example of an embodiment, wherein completed batches leave the conveyor system 1 at a fixed vertical level is shown in fig. 6.
  • the embodiment shown in fig. 6 essentially corresponds to fig. 2 and shows an example of a conveyor system 1 in a schematic manner in a side view and using the same reference signs for the same elements and features as described in connection with fig. 2.
  • an outlet roller 19 is supported by a fixed roller support 23, which is fixed in the vertical direction in relation to the floor 22 and thus ensures that the outlet end part 6', i.e. as shown the right hand end of the batch conveyor 6 is maintained at a fixed vertical level, regardless of the vertical adjustments of the main part of the batch conveyor 6.
  • Such an arrangement can for example be achieved by configuring the batch conveyor 6 in various manners, e.g. by using a guide roller 21 or the like on the support unit 20 as illustrated to guide the e.g. conveyor belt between the main part of the batch conveyor 6 and the outlet end part 6'.
  • a guide roller 21 or the like on the support unit 20 as illustrated to guide the e.g. conveyor belt between the main part of the batch conveyor 6 and the outlet end part 6'.
  • Other manners of doing this than illustrated and other structural details will be apparent to a skilled person, such as e.g. means for tensioning the conveyor belt, etc.
  • the batch conveyor 6 is equipped with indexing means 12 as explained above, which indexing means may be activated at the upper part of the batch conveyor 6, including at least part of the right hand end of the batch conveyor 6 in order for the completed batches to be delivered with the predetermined distance to each other.
  • control means 50 e.g. central control means are comprised, which serves as control means for the one or more robotic handling means 14, and which receives e.g. measured and/or detected data from for example object detection or sensor means 52, which may be arranged as e.g. a vision system located above the supply conveyor 4 in order to detect the position of the objects 2 and possibly further data such as the orientation, colour, volume, etc. which will be apparent to a skilled person.
  • object detection or sensor means 52 which may be arranged as e.g. a vision system located above the supply conveyor 4 in order to detect the position of the objects 2 and possibly further data such as the orientation, colour, volume, etc. which will be apparent to a skilled person.
  • further measuring and/or sensor means may be provided, e.g. for determining or estimating the mass or weight of each of the objects, which data may also be provided to the control means 50.
  • Robotic handling means robot
  • Control unit e.g. central control unit

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

La présente invention se rapporte à un système d'acheminement (1) destiné à transporter et/ou à acheminer des moyens de mise en lots tels que des bacs (8) ou autres, ledit système d'acheminement comprenant au moins un convoyeur à lots (6) destiné à transporter et/ou à acheminer lesdits moyens de mise en lots, tandis que des objets (2), tels que des objets alimentaires, sont transférés depuis une alimentation (4) desdits objets vers lesdits moyens de mise en lots à l'aide d'au moins un moyen de manipulation robotisé, par exemple un robot (14), un appareil de prise et de mise en place, ou autres, ledit ou lesdits convoyeurs à lots (6) étant conçus pour être réglables selon une direction principalement verticale par rapport audit ou auxdits moyens de manipulation robotisés.
PCT/DK2011/000123 2010-10-29 2011-10-28 Système pour acheminement de moyens de mise en lots et pour mise en lots d'objets Ceased WO2012055411A1 (fr)

Applications Claiming Priority (2)

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WO2022189323A1 (fr) 2021-03-08 2022-09-15 Marel A/S Système de transporteur

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EP0342825A2 (fr) * 1988-05-18 1989-11-23 Fleetwood Systems, Inc. Système de chargement, déchargement et stockage automatique pour paniers
EP0781172A1 (fr) 1994-09-15 1997-07-02 Scanvaegt A/S Procede et dispositif de division par pesee d'articles de poids non uniforme
WO2001022043A2 (fr) 1999-09-10 2001-03-29 Scanvægt International A/S Trieuse
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WO2007134603A1 (fr) 2006-05-19 2007-11-29 Scanvaegt International A/S Procédé et système de mise en lots d'objets
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WO2009026925A1 (fr) 2007-08-28 2009-03-05 Scanvaegt International A/S Dispositif de préhension, destiné par exemple à un robot
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WO2021044053A1 (fr) * 2019-09-06 2021-03-11 Marel Iceland Ehf. Procédé et appareil de remplissage de récipients avec des articles alimentaires
CN114341004A (zh) * 2019-09-06 2022-04-12 马瑞奥冰岛有限责任公司 用于用食品项目填充容器的方法和装置
JP2022546976A (ja) * 2019-09-06 2022-11-10 マレル・アイスランド・エーハゥーエッフ コンテナに食品アイテムを充填するための方法及び装置
JP7558255B2 (ja) 2019-09-06 2024-09-30 マレル・アイスランド・エーハゥーエッフ コンテナに食品アイテムを充填するための方法及び装置
WO2022189323A1 (fr) 2021-03-08 2022-09-15 Marel A/S Système de transporteur
US12006153B2 (en) 2021-03-08 2024-06-11 Marel A/S Conveyor system

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