EP0856465A1 - Tray conveyor moving in the opposite direction to the picker system - Google Patents

Abstract

The production line has a first storage surface for the single products (2), and a second storage surface for the containers (3). At least one pick-up device (4a,4b) transfers the single products from the first storage surface to the containers. The first and second surfaces, in the form of conveyor belts (6,7), move in contra-flow. The speed of the first and second surfaces is controlled in relation to each other. A first camera scans the entire width of the products-belt and is connected to a calculator(11).

Description

The invention relates to a picker line, as used to implement Individual products can be used in containers that have a certain number of Can record individual products.

The individual products are usually on a product line and the Containers delivered on a container belt and in a fixed position led pickers along, which is why in the following only from this Design is spoken without restricting the invention to this, since in Principle also the individual products and / or the containers stand still and the Picker, on the other hand, could be moved.

So far, it has been done so that the container on a first Container belt was delivered and mostly accumulated there, from the first Container belt were transferred to a second container belt on which the filling was done with the individual products, and after complete filling on a third container belt for the removal of the filled containers was passed again.

Furthermore, DE 42 08 818 C2 already shows a picker line in which the Picker not tighter with regard to the product belt and container belt Stand position, but are limited in their direction of movement. There However, either the product range leading to the individual products becomes temporarily stopped what is coupling to a continuously producing Manufacturing machine for individual products difficult, or the container belt is stopped when a container that is not yet completely filled The picker threatens to leave the work area.

It is therefore the object according to the present invention, a method and to create an associated device, in which the effort for the handling of the containers to be filled is reduced without the efficiency of the Facility to deteriorate.

By arranging a counter for the individual products on the product line At the beginning of the picker area it is possible to always empty the container release and drive into the area of the picker (s) if a filling number of the individual products was determined. This is only one the only container belt required, with a stopper for accumulating the empty one Container which is controlled by the counting device.

Preferably, the container belt is driven at the same speed as that Product belt, and preferably at a constant speed.

A particularly simple design results when the product band and Container belt are driven by a common drive, or can be combined into a one-piece conveyor belt, for example in the longitudinal direction separated by a standing wall in a transport area for the individual products and for the containers.

Depending on the position of the counter in the direction of transport compared to the Picker area and opposite the arrangement of the stopper on the - in the Rule parallel to the product belt - running container belt becomes a time offset intended for the release of the next empty container to the filling container approximately parallel to the products intended for it to transport the product belt.

It can completely fill a container with just one picker take place, or - depending on the running speed and the density of the Individual products per unit length of the product belt - over several in Direction of transport along the belt arranged picker.

The counting device is preferably a line by line scanning camera, preferably with a CCD sensor, the scanning line extends across the product belt, preferably at right angles.

It is already known from the prior art, the picker (s) to connect on the one hand with a computer and on the other hand with a image-recording unit, for example a CCD camera, here again with a line scan camera, the recording area across the Product band runs.

With the help of this line camera for the control of the picker is during the Passage of the product belt at a defined point, namely that of the Camera scanned line, the position of each one in front of the picker area Product determined on the product belt and its location, and in the computer taking into account the transport speed of the products and the Distance between the scanned line and the picker position processed to pinpoint the picker for gripping the individual products and Put in the container including the necessary rotation of the Product control.

In the present case, the first camera can preferably be used for counting the Individual products arriving on the product line to control the Container feed on the one hand and the second camera for controlling the picker on the other hand, can be combined in a single camera, provided that this is arranged sufficiently far before the start of the picker area to a timely release of the next container on the container belt enable.

In addition to the counting device for the products and the Stopper for the delivered empty containers also all existing ones Picker of a product band via a data bus with the control computer connected so that from the originally from the camera to the picker control positions and orientations of the individual products the product volume is updated, which individual product has already been implemented by the picker.

This means that the next picker has to be at the start of each new work area Control of this picker known on which originally occupied Product items there is still a product on the product belt.

This prevents empty movements of the picker and also empty filling processes on the container, the incompletely filled containers and carry out mechanical rework or committee.

If with the described procedure on the product belt various individual products are delivered randomly arranged in a jumble be by means of the counting device and by means of the camera for the Picker control can be distinguished and assigned in defined Positions of the containers are filled, the next one is released empty container only when the necessary for each container Minimum number of each variety of different products in the Containers should find receptacle that have passed the counting device.

However, this leads to the fact that - in contrast to the implementation of only one Kind of products of a product line - after filling the container that Product belt is not completely empty as the release of the containers is delayed which has to orientate itself to the comparatively rarest delivered product type.

With the help of the aforementioned method, it is also possible, for. B. only one product band on both sides of this product band in parallel Various container belts - separately or in one piece with the product belt executed - to operate. This is not only for such product tapes sensible, the high number of individual products per unit length transport, i.e. they are appropriately broadly trained and closely loaded, but also for reasons of the most efficient use of the picker:

If the entire system is connected to a common control computer or a data bus is connected to one another in terms of control technology it is possible to use the same picker not only to fill one, but alternately of one or the other conveyor belt to use.

Especially when there are different individuals on the product line Products, it is also conceivable to use one of the two container belts with a maximum possible speed to run the other container belt on the other hand at a significantly reduced speed, so that the Containers of the second container belt, so to speak, as a buffer for the distributed differently on the product belt, different serve individual products. This results in an optimal degree of emptying of the Product range.

A further simplification in terms of construction work and control can be achieved in that the container belt and the product belt are not are moved in parallel, but in the opposite direction, at least not in Synchronism. So theoretically they are also crossing variants of Product belt and container belt possible, although the parallel movement in The opposite direction is the most efficient form.

Due to the counterflow of containers and individual products, the initial counting of individual products and releasing the containers depending on Number of individual products counted.

The speed of containers on the one hand and individual products on the other relative to each other is only controlled so that no container The work area of the implementation leaves without being completely filled. In addition, the goal is that in the opposite direction on the Product band no more individual products as soon as that Product range the implementation area, i.e. the work area of the individual or leaves the picker working in succession on the same containers.

Whether one of the speeds, i.e. from the product belt, is specified, and then only the other band at the current speed is controlled, or both bands are controlled so that the maximum Working speed of the picker working on it can be fully utilized may depend on the previous work steps that are carried out on the product belt or on the Container belt must be completed from. Whether both partial goals, on the one hand complete filling of all containers leaving the transfer area and complete emptying of the product belt at the same time can be realized, depends on, among other things, whether only one type of product is hanging on the product belt is present and must be transferred to the container, or whether several varieties are mixed on the product belt will. In this case, it is hardly possible to achieve both goals at the same time possible, unless the composition of the products on the Product belt according to the individual types can be controlled in terms of quantity, or there is no specific composition according to products within the Container necessary.

The advantages of such a counter-current operation are manifold: the costs for the construction of the system are reduced and the susceptibility to faults is also reduced, because this counterflow mainly means the number of photocells required, for example at the no longer existing pitches for the containers etc. is reduced to about a tenth of the need for the direct current principle.

The control effort is also drastically reduced because the counting of the incoming individual products no longer exist before reaching the implementation area:

The relation of the speeds of the containers on the one hand and the Individual products, on the other hand, are used as needed during the function readjusted to only completely filled containers from the transfer area dismiss. Depending on the relocation route and thus the time required, this is the picker etc. - better optimization of sales performance possible if one the tapes, e.g. B. the product belt at a constant speed must be driven predetermined. This is not the case with DC operation possible.

Another advantage is that as container tapes too Transport chains, i.e. means of transport in which the containers are in fixed Distances on the means of transport are used can.

Other functional advantages are that - in the direction of the container considered - always a vacancy at the beginning of the implementation area so-called "nest" is available in the container, and towards the end of Implementation area - especially if different on the product line Products are delivered mixed, the probability is greatest is that a single product just needed in the work area Direction of the container of the last picker is located. So that's it Extremely low probability that an incompletely filled container leaves the implementation area or a necessary slowdown or Stopping the container belt can be reduced to a minimum.

If the containers are arranged at fixed intervals and therefore at fixed intervals Ideally, positions of the container belt is not a photocell at all Checking the container and checking whether there are certain nests in the container are free, necessary because starting from the fixed existing Empty positions at the beginning of the implementation area by the system control is known at which position - both relatively within a container as also absolutely along the container belt - a free nest for which kind of Individual products are available.

Countercurrent operation is therefore particularly suitable for use together with two-armed robots as pickers.

Fig. 1:

eine Aufsicht auf eine Pickerstraße im Gleichstrombetrieb, und

Fig. 2:

eine Aufsicht auf eine Pickerstraße im Gegenstrombetrieb.

An embodiment according to the invention is described below with reference to Figures 1 and 2. Show it:

Fig. 1:

a supervision of a picker line in direct current operation, and

Fig. 2:

a supervision of a picker road in counter-current operation.

In Fig. 1, a picker line 1 is shown in the top view, which is in the running direction 20, from left to right, individual products 2 that are arbitrarily on one Pass through product belt 6 arranged under pickers 4a, b.

As shown in the left half of the figure, run parallel to the product belt 6 on container belts 7a, b empty containers 3 parallel to the product belt 6.

Before the first picker begins, one is passed across the product belt 6 running line scanned by a first line camera 8. The Line camera 8 is like each of the pickers 4a, b with a central one Controller 11, which comprises a computer, connected.

On the container belt 7, the empty containers 3 are transported and by means of a stopper 17 running across the container belt 7, against which the foremost empty container bumps. The stopper 17 is also with the controller 11 connected.

The first pent-up empty container 3 is always released, as soon as such a number of under the first line camera 8 Individual products 2 has passed through on the product belt 6, as is the case Filling number of a container 3 corresponds.

So that the next container 3 to be filled with these individual products 2 the release runs approximately parallel to the products 2 intended for him preferably the first line camera 8 or its scanning line approximately on the Height of the rear edge of the foremost jammed, abutting the stopper 17, Container 3 are located or even opposite in the direction 20 set back to the container approximately in the middle of the longitudinal area of the To let product tape 6 run in parallel, in which the corresponding Products lie.

Since preferably the container belt 7 about the same speed as that Has product tape 6, is in the right half of the figure with a solution one-piece product and container belt shown.

The pickers 4a, 4b are - as is known per se - mostly with one over at least the product belt 6 extending, bridge-like base frame formed on which the picker arm 5 is articulated.

The picker arm 5 usually consists of an upper arm 13a, b via a shoulder joint 15 on the base frame by an essentially vertical axis is pivotally attached.

At the free end of the upper arm 13a, 13b, there is a forearm 12a, 12b also in turn fastened pivotable about an approximately vertical axis. The The forearm 12a, 12b is moved via a forearm parallelogram 14a, 14b, one parallel strut of which the upper arm 13a, 13b represents.

A sucker 16 is attached to the free end of the forearm 12a, 12b, the - after activation of a defined position in the horizontal plane by the controller 11 - is lowered onto an individual product 2 located there, this then lifts and into the container 3 after rotation by a vertical Lower the axis according to the desired, correct orientation.

So that the sucker 16a, 16b of the picker 4a the individual positions on the know the constantly moving product belt 6 that must be started up, is by means of a second line camera assigned to the first picker 4a when passing through the individual products 2 under the scanning line of these Line camera 10 any position at which a single product 2 is located registered and the rotational position of the individual product, and in the controller 11 saved as well as taking into account the belt speed in the Practice is not always constant, calculated further.

Furthermore, the control 11 already does this on the product belt 6 removed individual product 2 also taken into account, so that each products still available and to be implemented from the following Picker movements or subsequent pickers 4b, etc. are implemented can.

In a preferred embodiment, the first line camera 8 does not register only the number of individual products passing under it 2, but - instead of the second line camera 10 - its orientation and immediately Position, so that only a single line scan camera is necessary.

A separate container belt 7 has the advantage that its speed Regardless of which of the product volume 6 can be regulated:

For example, the container belt 7 can be moved faster than that Product belt 6, so that in the area of the picker 4a, b, the container 3 them overtake assigned individual products 2.

As long as the speed of difference is not too great, so that So overtaking is not finished before the area of the single or the the picker required for the total filling of the containers has gone through, the faster running of the container belt causes a desired fast Removal of the completely filled containers.

Separate container belts 7a, b can also be used to - as in the shown left part of the figure - two separate container belts 7a, b on both sides the product belt 6 to run on which there are different Containers 3 or containers to be filled differently.

Likewise, the container tapes 7a, b can also be different from one another Speeds run, so that the one product band 7a primarily is filling, while the second, slower running product belt 7b as a buffer if there are not enough empty containers on the first one Conveyor belt serves or - what z. B. at different on the Product belt 6 incoming individual products 2 is the case - this Individual products do not exist in the correct quantity relation to each other are.

A further possibility is to use line scan cameras 8, 10 not only to have the area of the product belt 6 scanned, but also the area of the container belt 7, and the stopper 17 for the container belt 7 in the direction of travel only after the scanning line of the corresponding line scan camera to arrange:

This makes it possible, for example, to have different on the container belt 7 randomly arriving containers 3, or their different orientation or their different, partially filling capture, making the picker line particularly flexible.

In contrast to the illustration in FIG. 1, the product belt 6 runs in FIG. 2 and the container belt 7 in the opposite direction parallel to each other.

There is no longer a line scan camera for counting the products, and in generally also no stop for damming the container 3 on the Container belt 7, of which there are two container belts in Fig. 2, which are parallel and in the same direction are moved, there on both sides of the product belt 6. However, the two container belts 7a, 7b do not have to be the same Speed are driven. Only on the upper container belt 7a Motor 19 shown, which also with the controller 11 of the system in Connection is established, and its speed and thus the Transport speed of the containers on this container belt accordingly is regulated.

As an alternative to a central controller 11, the speed of the Container belt 7 - in relation to that at a given speed running product belt 6 - through in the running direction 21 of the container belt 7 last picker 4a or its separate control can be controlled:

As soon as the control of this picker 4a recognizes that there is a risk that an incompletely filled container could leave the transfer area, the control of this picker 4a causes the reduction of Speed of the container belt 7. Should this - in the direction of 20 of the Container belt 7 last - picker 4a fail, this function of last picker 4b in operation.

Even at irregular intervals the container 3 is on a container belt it is sufficient, only the speed of this container belt and not also the relative distance between the containers on the container belt Taxes:

Because if to fill the container shortly before leaving the Conversion area, that is to say by the last picker 4a in this direction the container belt z. B. 7b temporarily reduced in speed must, this only means that those containers 3b, 3c that are in Direction of travel of the container belt 7 in the working area of the previous pickers 4b, 4c are to be filled to a higher degree, and thus on one earlier point within the implementation area are completely filled.

The controller 11 thus controls the speed of the container belts 7a, 7b and usually also the working speed of the pickers 4a, 4b, 4c - die Speed of the product belt 6 is mostly due to the production of it delivered individual products predetermined - so that the the area of implementation, thus the gripping area of the last in the direction of travel 21 of the container belt 7 Pickers 4a leaving container z. B. 3a just completely filled can be. This makes optimal use of the efficiency of the system, and with sufficient working speed of the picker 4a, 4b this can - provided only one type of individual products 2 is delivered on the product belt 6 will - be achieved that at the right end of Fig. 2, so when leaving of the product band 6 in its running direction 20 and running out of the Implementation area of the last picker 4c in this viewing direction on the Product volume 6 no more individual products 2 are available after the Density of the individual products 2 while passing through the transfer area, So the working areas of the pickers 4a, 4b, 4c has continuously reduced. Should individual products will still be available in the implementation area if necessary, in a circle in front of the transfer area on the product belt 6 returned.

This procedure can also be used with only a single picker 4 be, so that the implementation area exclusively from the work area of this single picker.

The principle of operation can also be used for those running at an angle Product belt 6 and container belt 7 are used as long as the Crossing area is large enough, though by this crossing and thus in running at different levels and covering each other individual transport units have to be accepted disadvantageously.

REFERENCE SIGN LIST

1

Pickerstrasse

2nd

Single product

3rd

container

4a, 4b

Picker

5

Picker arm

6

Product tape

7

Container belt

8th

1. Line camera

9

Stop

10th

2. Line camera

11

control

12th

forearm

13

upper arm

14

Forearm parallelogram

15

Shoulder joint

16

Mammal

17th

stopper

19th

engine

20th

Direction of product belt

21

Direction of movement of the conveyor belt

Claims (19)

Method for inserting individual products into containers holding a certain number of individual products by means of a picker line,
characterized in that the individual products and the containers are not transported in direct current, depending on this, the delivery of the next container (3) to be filled into the work area of the pickers (4a, 4b) is controlled. Method according to claim 1,
characterized in that
the individual products and the containers are transported in countercurrent, in particular in mutually parallel directions. Method according to one of the preceding claims,
characterized in that
the individual products (2) are transported in irregularly. Method according to one of the preceding claims,
characterized in that
the picker line has a plurality of pickers (4a, 4b, 4c) arranged one behind the other and filling the containers along the direction of delivery of the containers or the individual products. Method according to one of the preceding claims,
characterized in that
at a z. B. by the production of the individual products certain speed of delivery of the individual products, the transport speed of the container and / or the working speed of the picker is controlled so that the working area of the last picker (4a) in the transport direction of the container just leaving the container completely with the corresponding products are filled and / or when leaving the work area of the last picker (4c) in the transport direction of the individual products, there are no longer any individual products on the transport device for the individual products. Method according to one of the preceding claims,
characterized in that
at a z. B. by the production of the container certain speed of delivery of the container, the speed of delivery of the individual products and / or the working speed of the picker is controlled so that the working area of the last picker (4a) leaving the container in the direction of transport just completely with the container corresponding products are filled and / or when leaving the work area of the last picker (4c) in the transport direction of the individual products, no individual products are present on the transport device for the individual products. Method according to one of the preceding claims,
characterized in that
when approaching the picker line at a predetermined speed of delivery of the individual products, the speed of delivery of the containers is increased in accordance with the fact that the first container to be filled is not successively used by all pickers (4a, 4b, 4c) working in succession, but only the last, in particular the last picker (4a) is filled, while the subsequent containers (3b, 3c, ...) are filled by more and more pickers (4a, 4b, 4c) working in series. Method according to one of the preceding claims,
characterized in that
the individual products (2) are counted before they reach the working area of the picker (4a, 4b). Method according to one of the preceding claims,
characterized in that
the delivery of the next container (3) to be filled into the work area of the pickers (4a, 4b) is only released when the number of fillings of the individual products (2) has been determined during the counting. Method according to one of the preceding claims,
characterized in that
after the minimum number of individual products has been determined, the next container (3) to be filled is delivered with such a time offset that, taking into account the position of the counting device on the one hand and the starting point of the delivery movement for the containers (3) on the other hand, with individual products (2) moving in parallel and containers (3) to be filled move the container (3) to be filled approximately parallel to the individual products (2) intended for it. Method according to one of the preceding claims,
characterized in that
the containers (3) that are constantly being transported up to the picker (4a, 4b) before they reach the working area. Method according to one of the preceding claims,
characterized in that
the individual products (2) and the containers (3) to be filled are transported together. Picker line for inserting individual products into containers that hold a certain number of individual products a first storage area for the individual products, a second storage area for the containers at least one picker for transferring the individual products from the first storage area into the containers, Control and drive devices for moving the first storage area, the second storage area or the picker base relative to one another and Control and drive means for the movement of the picker arm comprises, in particular for performing the method according to claim 1 to 12,
characterized in that the first storage area for the individual products and the second storage area for the containers are not moved in parallel with one another, and the speed of the first storage area for the individual products or the second storage area for the containers can be controlled relative to one another in such a way that, when leaving the working area of the last picker in the direction of transport of the second storage area for the containers, the containers are completely filled with individual products. Picker line according to claim 13,
characterized in that
when leaving the working area of the last picker in the direction of travel (20) of the first storage area for the individual products, there are no longer any individual products on this storage area. Picker line according to one of the preceding device claims,
characterized in that
the first storage area for the individual products is a conveyor belt (product belt 6) and the second storage area is also a conveyor belt (container belt 7). Picker line according to one of the preceding device claims,
characterized in that
the product belt (6) and the container belt (7) are guided essentially parallel to one another and the counting device is a first line camera (8) scanning across the entire width of the product belt (6) with a connected computer (11). Picker line according to one of the preceding device claims,
characterized in that
the container belt (7) runs so fast that the time it takes for a container (3) located on the container belt (7) to pass through the working area of the picker (s) (4a, b) is precisely on the product belt (6) a filling number of individual products (2) reaches or leaves the picking area (4). Picker line according to one of the preceding device claims,
characterized in that
the pickers (4a, b) have at least one device for registering the position of all the individual products on the product belt (6) and a controller (11) for controlling the picker (4) that takes into account the transport speed of the product belt (6) and the position of the picker is. Picker line according to one of the preceding device claims,
characterized in that
the device for registering the positions of the individual products (2) on the product belt (6) comprises a second line camera (10) scanning across the entire width of the product belt (6).

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