Method and assembly for transferring products

Abstract

A transfer device having a plurality of pick-up heads loads products into receptacles. The products are provided in a random arrangement in a pick-up area, and the position of each product is detected. To pick up the products, the transfer device is moved over the pick-up area and each pick-up head picks up an individual product at a pick-up time and in a pick-up position. The pick-up position and the pick-up time for the products are determined on the basis of the previously detected positions of the products. The placement of the products in a placement area may also occurs while the transfer device is moving relative to the receptacles.

Claims

1. A method for loading products into receptacles by means of a transfer device, which has a plurality of pick-up heads, wherein each of the plurality of pick-up heads picks up an individual product, the method comprising the steps of: (a) providing a plurality of products in a pick-up area, wherein the products are randomly arranged in at least one direction; (b) determining a position of each product of the plurality of products in the pick-up area; (c) determining, for each pick-up head of the plurality of pick-up heads, a pick-up position where each pick-up head of the plurality of pick-up heads picks up a product, and a pick-up time when each pick-up head of the plurality of pick-up heads picks up a product, based on the arrangement of the plurality of pick-up heads relative to each other and based on the determined position of each product of the plurality of products in the pick-up area; (d) determining a pick-up path of the transfer device along the determined pick-up positions and in accordance with the determined pick-up times of each pick-up head; (e) moving the transfer device along the pick-up path relative to the plurality of products arranged in the pick-up area; (f) picking up an individual product by each pick-up head in each of the determined pick-up positions and at each of the determined pick-up times during moving the transfer device along the pick-up path; (g) moving the loaded transfer device to a placement area, where a plurality of receptacles for the moved products are provided; and (h) placing each individual product in a receptacle by the use of the pick-up heads; wherein the method further comprises the steps of: determining a state of each product of the plurality of products by determining one or more quality features of each product prior to step (c); continuing with step (c) only for those products which are in a predetermined state corresponding to a predetermined quality; and sorting out products which are not in the predetermined state.

2. The method according to claim 1, wherein step (b) comprises detecting the position of each product in the pick-up area.

3. The method according to claim 1, wherein step (b) comprises detecting the position of each product while taking into account the movement of each product in the transport direction after each position has been detected.

4. The method according to claim 1, wherein step (c) comprises assigning an individual pick-up head to an individual product based on the determined position of the products and the arrangement of the plurality of pick-up heads relative to each other.

5. The method according to claim 4, wherein assigning an individual pick-up head to an individual product is carried out by the control unit by the use of a mathematical operation.

6. The method according to claim 1, wherein step (d) comprises determining the pick-up path based on the determined pick-up positions and pick-up times, or the selection of a predetermined pick-up path.

7. The method according to claim 6, with reference to the first alternative, wherein steps (c) and (d) comprise optimizing the pick-up positions and pick-up times and thus of the pick-up path, so that the pick-up path between the picking-up of a first product and the picking-up of a last product is as short as possible.

8. The method according to claim 1, wherein step (b) also comprises detecting an orientation of the products; and step (e) or step (f) also comprises rotating the transfer device or at least one of the pick-up heads in such a way that the product to be picked up is aligned with the other products on the transfer device to be transferred; or step (h) also comprises rotating the transfer device or at least one of the pick-up heads in such a way that the product to be placed is aligned with the corresponding receptacle.

9. The method according to claim 1, wherein the plurality of products are arranged in the pick-up area in a plane; and step (f) comprises moving one of the pick-up heads relative to the other pick-up heads in a direction perpendicular to the plane, and activating the one pick-up head.

10. The method according to claim 1, wherein step (h) comprises moving the transfer device along a placement path relative to the plurality of receptacles in the placement area.

11. The method according to claim 10, further comprising, prior to step (h), determining the placement path by: assigning, in each case, a pick-up head to an individual receptacle based on the arrangement of the plurality of pick-up heads relative to each other and based on the arrangement of the plurality of receptacles relative to each other, and calculating the placement path based on the result of the step of assigning; or selecting a predetermined placement path.

12. The method according to claim 1, wherein the plurality of receptacles in the placement area are arranged in a plane, and step (h) comprises moving one of the pick-up heads relative to the other pick-up heads in a direction perpendicular to the plane, and deactivating the one pick-up head.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a top view of a first embodiment of a transfer assembly according to the disclosure;

(2) FIG. 2 is a top view of a second embodiment of a transfer assembly according to the disclosure; and

(3) FIG. 3 shows a schematic, cross-sectional view of a transfer device of the transfer assembly according to the present disclosure.

DETAILED DESCRIPTION

(4) FIG. 1 shows a schematic top view of a transfer assembly 2 according to the disclosure. The transfer assembly 2 for transferring and loading products 4 into appropriate receptacles comprises a transport device 6, which conveys a plurality of separate, randomly arranged products 4 in a transport direction T to a pick-up area 8, and a conveying device 10, which conveys a plurality of receptacles 12 in conveying direction F from a placement area 14. The transfer assembly 2 also comprises a transfer device 16, which transfers the products from the pick-up area 8 to the placement area 14 and which for this purpose can be moved between the transport device 6 and the conveying device 10.

(5) For the sake of better illustration, the transfer device 16 in FIG. 1 is shown in a first position above the pick-up area 8 and in a second position above the placement area 14. Movement between the first and the second positions is indicated by curved arrows. It is also conceivable that the transfer assembly 2 could comprise two or more transfer devices 16, which would have to be moved past each another as needed. The transfer device 16 comprises a plurality of pick-up heads 18, each of which picks up a product 4. These units are merely indicated in FIGS. 1 and 2, but are illustrated in detail in FIG. 3.

(6) The transfer assembly 2 also comprises a detection unit 20, which detects the position of each product 4 of the plurality of products 4. A control unit (not shown) is also provided, which communicates with the detection unit 20 and with the transfer device 16 and which preferably also communicates with the transport device 6 and the conveying device 10.

(7) The transport device 6, in the embodiment shown here, is configured as a transport belt, but it could also be formed by other means familiar to the skilled person such as shaking or vibrating channels. On the transport device 6, the products 4 are arranged in a plane and are randomly distributed at least in one direction. The products 4 here are randomly arranged both in the transport direction T and in a first transverse direction Q1, which is perpendicular to the transport direction T and parallel to the plane of the transport device 6. The products 4 are therefore at different arbitrary distances from each other both in the transport direction T and in the first transverse direction Q1. If, however, the transport device 6 comprises channels extending in the transport direction T, the products 4 are then at a defined distances from each other in the first transverse direction Q1, whereas the products 4 are at arbitrary, different distances from each other in the transport direction T.

(8) The detection unit 20 is indicated here schematically; it is located upstream, with respect to the transport direction T, from the pick-up area 8. The detection unit 20 detects at least the position of each product 4 and, if desired, it can also detect additional product features such as the shape, orientation, color, or state of the products 4.

(9) If the detection unit 20 is located upstream of the pick-up area 8 as illustrated here, the control unit calculates a position of the products 4 in the pick-up area 8 on the basis of the position of the products 4 detected by the detection unit 20 and also on the basis of the speed at which the products are being transported in the transport direction T by the transport device 6.

(10) It is also conceivable, however, that the detection unit 20 could be aimed directly at the pick-up area 8 and detect the position of each product 4 in the pick-up area 8. If the products are not moved between the time their position is detected and the time they are picked up by the transfer device 16, there is no need to take into account a movement in the transport direction; otherwise, the procedure already described above is to be used.

(11) To pick up the products 4, the transfer device 16 is movable relative to the transport device 6 or the pick-up area 8 at least in the transport direction T. In particular, when the products 4 are also randomly arranged in the first transverse direction Q1, the transfer device 16 is preferably movable also in the first transverse direction Q1 relative to the transport device 6 or the pick-up area 8. In the pick-up area 8, the transfer device 16 preferably has the greatest possible freedom of movement parallel to the plane of the transport device 6.

(12) If the detection unit 20 detects the state of the products 4 or quality features of the products 4, the transfer device 16 can be actuated in such a way that it picks up only those products which are in a predetermined state or which have sufficient quality. Products 4 which are not in the predetermined state or which are of insufficient quality then remain on the transport device 6. The transport device 6 moves such products 4 onward in the transport direction T and out of the pick-up area 8, whereupon they can be sent on for destruction and disposal.

(13) The conveying device 10 can comprise a blister web, which consists of a molded film, in which a plurality of blister pockets are formed as receptacles 12. After the pockets have been filled with products 4 by the transfer device 16 and a lidding film has then been sealed onto the blister web, individual blister packs are stamped out of a blister web of this type; these blister packs are indicated in FIG. 1 for the sake of illustration and provided with the reference number 22. It is also conceivable, however, that the conveying device 10 could be configured as a conveyor belt, on which appropriate containers 22 with receptacles 12 are arranged. For example, each receptacle 12 could form a compartment of a tablet container 22.

(14) The conveying device 10 provides the receptacles 12 in the placement area 14, where they are filled with products 4 by the transfer device 16. The conveying device 10 moves the receptacles 12 in the conveying direction F, which is preferably parallel to the transport direction T. As illustrated, the conveying device 10 can move the receptacles 12 both into the placement area 14 and also out of the placement area 14. The receptacles 12 are preferably arranged in a predetermined pattern relative to each other. In the placement area 14, the transfer device 16 is preferably movable relative to the receptacles 12 or the conveying device 10 in the conveying direction F and/or in a second transverse direction Q2, which is perpendicular to the conveying direction F and parallel to the plane of the conveying device 10 in the placement area 14. The transfer device 16 preferably has freedom of movement parallel to this plane.

(15) As can be seen in FIG. 2, the transfer device 16 can also be rotated around an axis perpendicular to the plane of the transport device 6 in the pick-up area 8 or of the conveying device 10 in the placement area 14. As an alternative to the rotation of the entire transfer device 16, each pick-up head 18 of the plurality of pick-up heads 18 could also be configured rotatably. In the case of products which are not rotationally symmetric to such an axis, this rotatability offers the advantage that the products 4 can be placed in such a way that that they are aligned with the receptacle 12 in question despite their arbitrary orientation in the pick-up area 8.

(16) In addition, the rotation of the transfer device of this type results in a change in the spacing between the pick-up heads 18 in a direction parallel to the first transverse direction Q1 or the second transverse direction Q2, which means that it is possible to adapt them to the arrangement of the products in the pick-up area 8 or to an arrangement of the receptacles 12 in the placement area 14. Otherwise the embodiment according to FIG. 2 corresponds to the embodiment of FIG. 1, and reference can be made in this regard to the earlier description.

(17) FIG. 3 shows a schematic cross-sectional view of the transfer device 16. The transfer device 16 comprises a plurality of pick-up heads 18, three of these pick-up heads 18 being shown here. Each pick-up head 18 is movable relative to, and independently of, the other pick-up heads 18 parallel to a first direction V, which is perpendicular to the plane of the transport device 6 in the pick-up area 8 or of the conveying device 10 in the placement area 14. Each pick-up head 18, furthermore, can be activated and deactivated independently of the other pick-up heads 18.

(18) In the preferred embodiment shown here, each pick-up head 18 is configured as a suction unit and comprises a suction element 24 for pulling in and picking up a single product 4. Each suction element 24 comprises a suction cup, which is indicated here as a funnel and which can be adapted to the shape of the products 4 to be transferred. Each suction unit 18 also comprises a first actuator 26 for moving the suction unit 24 in the first direction V. The first actuator 26 can be, for example, an electrical, magnetic, pneumatic, hydraulic, or mechanical actuating drive.

(19) Each suction unit 18, furthermore, comprises a second actuator (not shown) for individually activating and deactivating the suction unit 18; this second actuator can be configured as, for example, a valve or as a source of negative pressure or vacuum. Each suction unit 18 can for this purpose comprise a cylindrical pin 28 with a bore 30, wherein the bore 30 leads to the end of the pin 28 provided with the suction element 24. In addition, the other end of the pin 28 or a lateral surface of the pin 28 can have an opening 32, which creates a fluid connection between a negative pressure line 34 of the transfer device 16 and the bore 30 and thus between the suction unit 24 and the negative pressure line 34.

(20) In addition, the transfer device 16 can comprise a positive pressure line 36 to supply the suction unit 24 via the bore 30 and the opening 32 or some other opening with positive pressure, as a result of which the placing of the products 4 by the suction unit 24 is supported, and contamination of the suction unit 24 is avoided.

(21) The lines 34, 36 can be configured in the body of the transfer device 16 or as separate lines in the form of, for example, hoses, which are connected to the individual pick-up heads 18.

(22) Each pick-up head 18 can be activated or deactivated by individual actuation of a valve connected to the lines 34, 36 between the pick-up head 18 and a source of negative or positive pressure. Alternatively, the movement of the pick-up head 18 in the first direction V can make or break the connection of the suction unit 24 with the associated line 34, as indicated in FIG. 3.

(23) An embodiment of the method according to the disclosure is described below with reference to FIGS. 1 and 2. The method according to the disclosure is basically independent of the detailed features or configurations of the transfer assembly 2, but it is advantageous for the method to be implemented by it.

(24) First, a plurality of products 4 is provided in the pick-up area 8, wherein the products 4 are randomly arranged. The providing of the plurality of products 4 is preferably achieved by means of the transport device 6, on which the products 4 are arranged as bulk goods and are different distances apart at least in the transport direction T of the transport device 6.

(25) The position of each product 4 of the plurality of products 4 in the pick-up area 8 is then determined. For this purpose, the detection unit 20 can detect the position of each product 4, and a control unit of the transfer assembly 2 can then, on the basis of the detected position of each product and the transport speed of the products 4 on the transport device 6, calculate the position of each product 4 in the pick-up area 8.

(26) The detection unit 20, however, can also be aimed directly at the pick-up area 8 to detect the position of each product 4 in the pick-up area 8.

(27) The control unit now determines, for each pick-up head 18 of the transfer device 16, a pick-up position where, and a pick-up time when, the pick-up head 18 in question picks up a product 4. This determination is made on the basis of the arrangement of the plurality of pick-up heads 18 relative to each other and the previously determined position of the products 4 in the pick-up area 8.

(28) After that, a pick-up path for the transfer device 16 is determined; it is along this path that the transfer device 16 will move relative to the plurality of products 4 arranged in the pick-up area 8. The pick-up path is preferably calculated on the basis of the determined pick-up positions and pick-up times. If the products 4 in the pick-up area 8 are provided at uniform distances from each other at least in the first transverse direction Q1, in, for example, shaking or vibrating channels, and if these distances correspond to the distances between the pick-up heads 18 of the transfer device 16, the pick-up path of the transfer device 16 can also be predetermined. In that case, there remains only the need to determine the pick-up positions and pick-up times and to activate the pick-up heads 18 correspondingly.

(29) During the movement of the transfer device 16 along the pick-up path, each pick-up head 18 picks up a product 4 in the individually determined pick-up position and at the individually determined pick-up time. Because the transfer device 16 is moved over the products 4 during the picking-up process, the transfer device 16 and its pick-up heads 18 can be stocked as desired with products 4 independently of the arrangement of the plurality of products 4 in the pick-up area 8. The pick-up path can be adapted in each cycle to the arrangement of products at the time in question in the pick-up area 8.

(30) Once the transfer device 16 has been stocked as desired, it is moved to the placement area 14, in which the plurality of receptacles 12 for the products 4 are provided.

(31) In the placement area, the transfer device 16 is moved relative to the plurality of receptacles 12 along a placement path, during which an individual product 4 is placed in a receptacle 12 by each pick-up unit 18. Because the receptacles 12 are preferably arranged in predetermined patterns relative to each other, the placement path of the transfer device 16 can be predetermined.

(32) To achieve format independence, the transfer device 16 is preferably moved over the receptacles 12, wherein, in each case, a pick-up head 18 places a product 4 in a receptacle 12, once these are aligned with each other. The method can be used when none of the receptacles 12 have previously been filled with a product 4 and all of the receptacles 12 are to be filled by the transfer device 16. But the method can also be used for post-filling, when some of the receptacles 12 have already been filled with products 4 but certain other receptacles 12 have not yet been filled or will not be filled with products 4.

(33) If the spacing and the orientation of the pick-up heads 18 in the second transverse direction Q2 corresponds to the spacing and the orientation of the receptacles 12, it is also conceivable that the transfer device 16 could substantially stand still in the placement area 14, and that the receptacles 12 could be moved through in the conveying direction F under the transfer device 12.

(34) Additional embodiments within the scope of the disclosure will be evident to the skilled person on the basis of the exemplary embodiments described here. The method according to the disclosure and the assembly according to the disclosure offer a high degree of flexibility in the picking and placing of products such as tablets. As a result, the method and the assembly can be used in a wide variety of applications and can also have the simplest possible configuration.