Packaging device and process for articles to be packaged

Abstract

A continuously operating device and process for packaging articles are presented, where the overall dimensions are contained despite use of a high number of robotic systems. The articles are fed on a first conveyor line. A second conveyor line is provided for flow of open box-shaped packagings to be filled with the articles arranged in layers. Transfer devices pick the articles and insert them in a respective target box-shaped packaging. Each transfer device includes a handling member and a gripping device, both movable along three orthogonal axes. A control unit for controlling the transfer devices includes a collection of laws of motion and/or relevant trajectories defining the motion of the transfer devices. A set of laws of motion and/or relevant trajectories is selected from the collection according to a predetermined number and size of the layers.

1 - 17 . (canceled) 
     
     
         18 . A continuously operating packaging device for articles to be packaged fed on a first conveyor line, said packaging device comprising:
 a second conveyor line placed in proximity of said first conveyor line, said second conveyor line being configured to convey a flow of box-shaped packagings in an open configuration, said box-shaped packagings configured to be filled with said articles in layers of articles having predetermined dimensions;   transfer devices for picking the articles from said first conveyor line and inserting the articles in a respective target box-shaped packaging, each transfer device comprising a handling member and a gripping device controlled by said handling member, both being movable along three orthogonal axes; and   a control unit for controlling the transfer devices, comprising a collection of laws of motion and/or relevant trajectories defining movement of said transfer devices, wherein a set of laws of motion and/or relevant trajectories is selected from said collection according to number and predetermined size of the layers of articles configured to be grouped in said box-shaped packagings.   
     
     
         19 . The packaging device according to  claim 18 , wherein said transfer devices comprise respective robotic systems having parallelogram arms connected by universal joints to a base, the parallelogram arms being configured to maintain orientation of the gripping device at their end, the robotic systems being aligned in proximity of and along said second conveyor line, and being positioned such that an operational volume of the robotic systems is partially superimposed between adjacent systems. 
     
     
         20 . The packaging device according to  claim 19 , wherein said first and said second conveyor lines each operate continuously, and in counter-current with respect to each other. 
     
     
         21 . The packaging device according to  claim 18 , wherein each gripping device is configured to pick, from said first conveyor line, a single layer of predetermined dimensions of articles to be packaged, and to insert the single layer, in a single solution, into the respective target box-shaped packaging. 
     
     
         22 . The packaging device according to  claim 21 , comprising a set of interchangeable gripping devices for each transfer device, each gripping device of the set forming a different layer of predetermined dimensions. 
     
     
         23 . The packaging device according to  claim 18 , comprising one or more image detecting devices, each corresponding to at least one respective transfer device (200), and positioned near the flow of box-shaped packagings,
 said one or more image detecting devices being configured to detect conformity of the layers downstream of each transfer device with respect to said flow,   said control unit being configured to receive (i) a signal, from the one or more image detecting devices, for correct placing of the layers, or (ii) an alarm signal for incorrect placing of the layers.   
     
     
         24 . The packaging device according to  claim 18 , further comprising buffers arranged at said first conveyor line and configured to receive articles placed by said transfer devices. 
     
     
         25 . The packaging device according to  claim 23 , further comprising buffers arranged at said first conveyor line and configured to receive articles placed by said transfer devices, wherein the transfer devices are configured to place the articles in said buffers following said alarm signal for incorrect placing. 
     
     
         26 . The packaging device according to  claim 24 , wherein said control unit, via the transfer devices, provides for the picking of the articles from said buffers to transfer the articles to subsequent box-shaped packagings. 
     
     
         27 . A continuous packaging process for articles to be packaged fed on a first conveyor line, in a flow of respective box-shaped packagings in an open configuration conveyed on a second conveyor line, said process comprising:
 a picking step of picking the articles from said first conveyor line, performed by transfer devices;   a transfer step of transferring the articles from said first conveyor line to said second conveyor line; and   a forming step of forming layers of articles in said box-shaped packagings by inserting picked articles into a respective box-shaped packaging,   wherein, in the transfer step, said transfer devices move according to laws of motion and/or relevant trajectories selected from a collection of laws of motion and relevant trajectories, wherein a set of movement laws and/or relevant trajectories for said transfer devices is selected from said collection according to a predetermined size and a number of layers placed in said box-shaped packagings.   
     
     
         28 . The packaging process according to  claim 27 , wherein the picking step comprises forming, in a respective transfer device, a single layer of said articles, having a predetermined size, before a respective transfer step. 
     
     
         29 . The packaging process according to  claim 27 , wherein said first and said second conveyor lines operate continuously and in counter-current with respect to each other. 
     
     
         30 . The packaging process according to  claim 27 , further comprising:
 a detecting step of detecting images of the layers formed in said forming step and,   in case of incorrect formation of the layers of the articles previously inserted in a box-shaped packaging, an emission step of emitting a non-conformity signal for the already inserted layers.   
     
     
         31 . The packaging process according to  claim 30 , further comprising, in case of emission of the non-conformity signal,
 a placing step of placing the articles, following the picking step, in buffers provided at said first conveyor line.   
     
     
         32 . The packaging process according to  claim 31 , further comprising:
 an additional picking step of picking the articles from said buffers,   an additional transfer step of transferring the articles from said buffers to said second conveyor line, and   a complementary step of forming layers of said articles in said box-shaped packagings by inserting picked articles in a respective target box-shaped packaging.   
     
     
         33 . A packaging apparatus comprising the device according to  claim 18 .