Method for packing a product using a flat tubular package
A method and machine for packing a group of cartons of cigarettes using a flat tubular package, whereby a top wall of the flat tubular package is engaged by suction by a gripping head, which is then moved to feed the flat tubular package to a seat which engages a bottom wall of the flat tubular package by suction; a relative rotation movement is then produced between the seat and the gripping head to convert the tubular package from the flat configuration to an open configuration; the group of cartons of cigarettes is pushed inside the open tubular package; the gripping head releases the top wall of the open tubular package; and the seat is moved to feed the tubular package to a closing station where the tubular package is closed.
1. A method of packing a product using a flat tubular package, which comprises a top wall ( 4 ), a bottom wall ( 5 ), and two lateral walls ( 6 ), each connected on one side to the top wall ( 4 ) and on the other side to the bottom wall ( 5 ); the method comprising the steps of:
engaging the top wall ( 4 ) of the flat tubular package ( 3 ) by suction using a gripping head ( 10 ); moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to a seat ( 11 ) engaging the bottom wall ( 5 ) of the flat tubular package ( 3 ) by suction;
producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to an open configuration; and
inserting the product ( 2 ) inside the open tubular package ( 3 )
wherein the gripping head ( 10 ) engages by suction both the top wall ( 4 ) and a lateral wall ( 6 ) of the flat tubular package ( 3 ); and the gripping head ( 10 ) releases the lateral wall ( 6 ) of the flat tubular package ( 3 ) prior to the step of producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to the open configuration.
2. A method as claimed in claim 1 , wherein, following the step of inserting the product ( 2 ) inside the open tubular package ( 3 ), the gripping head ( 10 ) releases the top wall ( 4 ) of the open tubular package ( 3 ), and the seat ( 11 ) is moved to feed the package ( 3 ) to a closing station ( 28 ).
3. A method as claimed in claim 2 , wherein the open tubular package ( 3 ) containing the product ( 2 ) is transferred from the seat ( 11 ) to the closing station ( 28 ), and the seat ( 11 ) is then returned to the initial position to receive another flat tubular package ( 3 ).
4. A method as claimed in claim 1 , wherein, following the step of inserting the product ( 2 ) inside the open tubular package ( 3 ), the gripping head ( 10 ) releases the top wall ( 4 ) of the open tubular package ( 3 ), and the seat ( 11 ) is moved to feed the package ( 3 ) through a closing station ( 28 ).
5. A method as claimed in claim 1 , wherein, following the step of inserting the product ( 2 ) inside the open tubular package ( 3 ), the gripping head ( 10 ) and the seat ( 11 ) release the open tubular package ( 3 ), and the open tubular package ( 3 ) is transferred to a closing station ( 28 ).
6. A method as claimed in claim 1 , wherein the flat tubular package ( 3 ) is removed by the gripping head ( 10 ) off a stack ( 9 ) of flat tubular packages ( 3 ).
7. A method as claimed in claim 6 , wherein, during the step of moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to the seat ( 11 ), the flat tubular package ( 3 ) is rotated 90° about an axis ( 15 ) perpendicular to the plane of the flat tubular package ( 3 ).
8. A method as claimed in claim 6 , wherein, before engaging the flat tubular package ( 3 ) on top of the stack ( 9 ), the gripping bead ( 10 ) determines the exact position of the flat tubular package ( 3 ), and adapts its own position accordingly, so as to engage the flat tubular package ( 3 ) in accordance with a predetermined mutual arrangement.
9. A method as claimed in claim 8 , wherein the gripping head ( 10 ) is moved with four degrees of freedom comprising three translations in three directions perpendicular to one another, and one rotation about an axis ( 15 ) perpendicular to the plane of the flat tubular package ( 3 ).
10. A method as claimed in claim 1 , wherein the gripping head ( 10 ) comprises a first suction portion ( 13 ) for engaging the top wall ( 4 ), and a second suction portion ( 14 ) hinged to the first suction portion ( 13 ) and for engaging the lateral wall ( 6 ); the gripping head ( 10 ) engaging by suction both the top wall ( 4 ) and a lateral wall ( 6 ) of the flat tubular package ( 3 ); the second suction portion ( 14 ) being kept parallel to the first suction portion ( 13 ) up to the step of producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to the open configuration; and the second suction portion ( 14 ) being rotated with respect to the first suction portion ( 13 ) to accompany the movement of the lateral wall ( 6 ) during the step of producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to the open configuration.
11. A method as claimed in claim 1 , wherein the product ( 2 ) is defined by a group ( 2 ) of cartons of cigarettes.
12. A method as claimed in claim 1 , wherein the method is performed in a packing machine comprising
the suction gripping head ( 10 ) for engaging the top wall ( 4 ) of the flat tubular package ( 3 );
the suction seat ( 11 ) for engaging the bottom wall ( 5 ) of the flat tubular package ( 3 );
a feed device ( 12 ) supporting the gripping head ( 10 ), for moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to the suction seat ( 11 ), and for producing the relative rotation movement between the suction seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to the open configuration; and
an insertion device ( 30 ) for inserting the product ( 2 ) inside the open tubular package ( 3 ).
13. A method as claimed in claim 12 , wherein the packing machine is provided with a closing station ( 28 ); the method further comprising the step of moving the suction seat ( 11 ) by a conveyor ( 26 ) to feed the tubular package ( 3 ) to the closing station ( 28 ) following insertion of the product ( 2 ) inside the open tubular package ( 3 ).
14. A method as claimed in claim 13 , further comprising transferring the open tubular package ( 3 ) containing the product ( 2 ) from the suction seat ( 11 ) to the closing station ( 28 ).
15. A method as claimed in claim 13 , wherein the suction seat ( 11 ) runs along a fixed guide of the conveyor ( 26 ) the method comprising the step of moving the suction seat ( 11 ) along the fixed guide by a reversible motor.
16. A method as claimed in claim 12 , wherein the packing machine has a closing station ( 28 ); the method further comprising the step of moving the suction seat ( 11 ) to feed the open tubular package ( 3 ) containing the product ( 2 ) through the closing station ( 28 ).
17. A method as claimed in claim 12 , wherein the packing machine has a closing station ( 28 ); the method further comprising the step of transferring by a push device the open tubular package ( 3 ) containing the product ( 2 ) from the suction seat ( 11 ) to the closing station ( 28 ); and fitting the suction seat ( 11 ) to the machine ( 1 ) in a fixed position.
18. A method as claimed in claim 12 , wherein the packing machine has an input station ( 7 ) housing at least one stack ( 9 ) in said input station, the method further comprising the step of gradually engaging the tubular packages by the gripping head ( 10 ).
19. A method as claimed in claim 18 , further comprising the steps of determining the exact position of the flat tubular package ( 3 ) on top of the stack ( 9 ), before the flat tubular package ( 3 ) is engaged; and controlling the feed device ( 12 ) supporting the gripping head ( 10 ), so as to adapt the position of the gripping head ( 10 ) as a function of the exact position determined of the flat tubular package ( 3 ), and engage the flat tubular package ( 3 ) in accordance with a predetermined mutual arrangement.
20. A method as claimed in claim 19 , further comprising moving the gripping head ( 10 ) with four degrees of freedom comprising three translations in three directions perpendicular to one another, and one rotation about an axis ( 15 ) perpendicular to the plane of the flat tubular package ( 3 ).
21. A method as claimed in claim 18 , wherein the plane of the flat tubular package ( 3 ) is a substantially horizontal plane; the feed device ( 12 ) having a base ( 16 ) supporting a powered articulated arm comprising two members hinged to each other; a first member ( 18 ) being hinged at one end to the base ( 16 ) rotating with respect to the base ( 16 ) about a horizontal first axis ( 20 ), and being hinged at the opposite end to the second member ( 19 ) for rotating with respect to the second member ( 19 ) about a horizontal second axis ( 21 ); the second member ( 19 ) being hinged at one end to the first member ( 18 ) for rotating with respect to the first member ( 18 ) about the horizontal second axis ( 21 ), and being hinged at the opposite end to the gripping head ( 10 ) for rotating with respect to the gripping head ( 10 ) about a horizontal third axis ( 23 ).
22. A method as claimed in claim 21 , further comprising interposing a powered articulated joint ( 22 ) between the second member ( 19 ) and hinging the gripping head ( 10 ), on one side, to the second member ( 19 ), and, on the opposite side, to the gripping head ( 10 ) to rotate the gripping head ( 10 ) about a vertical axis ( 15 ).
23. A method as claimed in claim 21 , further comprising mounting the base ( 16 ) of the feed device ( 12 ) to run, by virtue of a respective motor, along a horizontal guide ( 24 ) parallel to the horizontal first, second and third axes ( 20 , 21 , 23 ).
24. A method as claimed in claim 12 , wherein the gripping head ( 10 ) comprises a first suction portion ( 13 ) for engaging the top wall ( 4 ), and a second suction portion ( 14 ) for engaging the lateral wall ( 6 ); and controlling the suction through the first suction portion ( 13 ) independently with respect to suction through the second suction portion ( 14 ).
25. A method as claimed in claim 12 , wherein the gripping head ( 10 ) has a first suction portion ( 13 ) for engaging the top wall ( 4 ), and a second suction portion ( 14 ) hinged to the first suction portion ( 13 ) and for engaging the lateral wall ( 6 ); the gripping head ( 10 ) having an actuator for keeping the second suction portion ( 14 ) parallel to the first suction portion ( 13 ) up to the step of producing a relative rotation movement between the suction seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to the open configuration, and for rotating the second suction portion ( 14 ) with respect to the first suction portion ( 13 ) to accompany the movement of the lateral wall ( 6 ) during the step of producing a relative rotation movement between the suction seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to the open configuration.
26. A method as claimed in claim 12 , comprising feeding the product ( 2 ) into aligmnent with respect to the open tubular package ( 3 ) by a conveyor of the insertion device; and pushing the product ( 2 ) into the open tubular package ( 3 ).
27. A method of packing a product using a flat tubular package, which comprises a top wall ( 4 ), a bottom wall ( 5 ), and two lateral walls ( 6 ), each connected on one side to the top wall ( 4 ) and on the other side to the bottom wall ( 5 ); the method comprising the steps of:
engaging the top wall ( 4 ) of the flat tubular package ( 3 ) by suction using a gripping head ( 10 ); moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to a seat ( 11 ) engaging the bottom wall ( 5 ) of the flat tubular package ( 3 ) by suction;
producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to an open configuration; and
inserting the product ( 2 ) inside the open tubular package ( 3 );
wherein the flat tubular package ( 3 ) is removed by the gripping head ( 10 ) off a stack ( 9 ) of flat tubular packages ( 3 ); and wherein, during the step of moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to the seat ( 11 ), the flat tubular package ( 3 ) is rotated 90° about an axis ( 15 ) perpendicular to the plane of the flat tubular package ( 3 ).
28. A method of packing a product using a flat tubular package, which comprises a top wall ( 4 ), a bottom wall ( 5 ), and two lateral walls ( 6 ), each connected on one side to the top wall ( 4 ) and on the other side to the bottom wall ( 5 ); the method comprising the steps of:
engaging the top wall ( 4 ) of the flat tubular package ( 3 ) by suction using a gripping head ( 10 ); moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to a seat ( 11 ) engaging the bottom wall ( 5 ) of the flat tubular package ( 3 ) by suction;
producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to an open configuration; and
inserting the product ( 2 ) inside the open tubular package ( 3 );
wherein the flat tubular package ( 3 ) is removed by the gripping head ( 10 ) off a stack ( 9 ) of flat tubular packages ( 3 ), and wherein, before engaging the flat tubular package ( 3 ) on top of the stack ( 9 ), the gripping head ( 10 ) determines the exact position of the flat tubular package ( 3 ), and adapts its own position accordingly, so as to engage the flat tubular package ( 3 ) in accordance with a predetermined mutual arrangement.
29. A method as claimed in claim 28 , wherein the gripping head ( 10 ) is moved with four degrees of freedom comprising three translations in three directions perpendicular to one another, and one rotation about an axis ( 15 ) perpendicular to the plane of the flat tubular package ( 3 ).
30. A method of packing a product using a flat tubular package, which comprises a top wall ( 4 ), a bottom wall ( 5 ), and two lateral walls ( 6 ), each connected on one side to the top wall ( 4 ) and on the other side to the bottom wall ( 5 ); the method comprising the steps of:
engaging the top wall ( 4 ) of the flat tubular package ( 3 ) by suction using a gripping head ( 10 ); moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to a seat ( 11 ) engaging the bottom wall ( 5 ) of the flat tubular package ( 3 ) by suction;
producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to an open configuration; and
inserting the product ( 2 ) inside the open tubular package ( 3 );
wherein the gripping head ( 10 ) comprises a first suction portion ( 13 ) for engaging the top wall ( 4 ), and a second suction portion ( 14 ) hinged to the first suction portion ( 13 ) and for engaging the lateral wall ( 6 ); the gripping head ( 10 ) engaging by suction both the top wall ( 4 ) and a lateral wall ( 6 ) of the flat tubular package ( 3 ); the second suction portion ( 14 ) being kept parallel to the first suction portion ( 13 ) up to the step of producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to the open configuration; and the second suction portion ( 14 ) being rotated with respect to the first suction portion ( 13 ) to accompany the movement of the lateral wall ( 6 ) during the step of producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to the open configuration.
31. A method of packing a product using a flat tubular package, which comprises a top wall ( 4 ), a bottom wall ( 5 ), and two lateral walls ( 6 ), each connected on one side to the top wall ( 4 ) and on the other side to the bottom wall ( 5 ); the method comprising the steps of:
engaging the top wall ( 4 ) of the flat tubular package ( 3 ) by suction using a gripping head ( 10 ); moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to a seat ( 11 ) engaging the bottom wall ( 5 ) of the flat tubular package ( 3 ) by suction;
producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to an open configuration; and
inserting the product ( 2 ) inside the open tubular package ( 3 );
wherein the method is performed in a packing machine comprising:
the suction gripping head ( 10 ) for engaging the top wall ( 4 ) of the flat tubular package ( 3 );
the suction seat ( 11 ) for engaging the bottom wall ( 5 ) of the fiat tubular package ( 3 );
a feed device ( 12 ) supporting the gripping head ( 10 ), for moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to the suction seat ( 11 ), and for producing the relative rotation movement between the suction seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the fiat configuration to the open configuration;
an insertion device ( 30 ) for inserting the product ( 2 ) inside the open tubular package ( 3 ); and
a closing station ( 28 );
wherein the method comprises the further step of moving the suction seat ( 11 ) by a conveyor ( 26 ) to feed the tubular package ( 3 ) to the closing station ( 28 ) following insertion of the product ( 2 ) inside the open tubular package ( 3 ).
32. A method as claimed in claim 31 , further comprising transferring the open tubular package ( 3 ) containing the product ( 2 ) from the suction seat ( 11 ) to the closing station ( 28 ).
33. A method as claimed in claim 31 , wherein the suction seat ( 11 ) runs along a fixed guide of the conveyor ( 26 ) the method comprising the step of moving the suction seat ( 11 ) along the fixed guide by a reversible motor.
34. A method of packing a product using a fiat tubular package, which comprises a top wall ( 4 ), a bottom wall ( 5 ), and two lateral walls ( 6 ), each connected on one side to the top wall ( 4 ) and on the other side to the bottom wall ( 5 ); the method comprising the steps of:
engaging the top wall ( 4 ) of the flat tubular package ( 3 ) by suction using a gripping head ( 10 ); moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to a seat ( 11 ) engaging the bottom wall ( 5 ) of the flat tubular package ( 3 ) by suction;
producing a relative rotation movement between the seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to an open configuration; and
inserting the product ( 2 ) inside the open tubular package ( 3 );
wherein the method is performed in a packing machine comprising:
the suction gripping head ( 10 ) for engaging the top wall ( 4 ) of the flat tubular package ( 3 );
the suction seat ( 11 ) for engaging the bottom wall ( 5 ) of the flat tubular package ( 3 );
a feed device ( 12 ) supporting the gripping head ( 10 ), for moving the gripping head ( 10 ) to feed the flat tubular package ( 3 ) to the suction seat ( 11 ), and for producing the relative rotation movement between the suction seat ( 11 ) and the gripping head ( 10 ) to convert the tubular package ( 3 ) from the flat configuration to the open configuration;
an insertion device ( 30 ) for inserting the product ( 2 ) inside the open tubular package ( 3 ); and
an input station ( 7 ) housing at least one stack ( 9 ) in said input station;
wherein the method comprises the step of:
gradually engaging the tubular packages by the gripping head ( 10 ); determining the exact position of the flat tubular package ( 3 ) on top of the stack ( 9 ), before the flat tubular package ( 3 ) is engaged; and
controlling the feed device ( 12 ) supporting the gripping head ( 10 ), so as to adapt the position of the gripping head ( 10 ) as a function of the exact position determined of the flat tubular package ( 3 ), and engage the flat tubular package ( 3 ) in accordance with a predetermined mutual arrangement.
35. A method as claimed in claim 34 , comprising moving the gripping head ( 10 ) with four degrees of freedom comprising three translations in three directions perpendicular to one another, and one rotation about an axis ( 15 ) perpendicular to the plane of the flat tubular package ( 3 ).
36. A method as claimed in claim 34 , wherein the plane of the flat tubular package ( 3 ) is a substantially horizontal plane; the feed device ( 12 ) having a base ( 16 ) supporting a powered articulated arm comprising two members hinged to each other; a first member ( 18 ) being hinged at one end to the base ( 16 ) for rotating with respect to the base ( 16 ) about a horizontal first axis ( 20 ), and being hinged at the opposite end to the second member ( 19 ) for rotating with respect to the second member ( 19 ) about a horizontal second axis ( 21 ); the second member ( 19 ) being hinged at one end to the first member ( 18 ) for rotating with respect to the first member ( 18 ) about the horizontal second axis ( 21 ), and being hinged at the opposite end to the gripping head ( 10 ) for rotating with respect to the gripping head ( 10 ) about a horizontal third axis ( 23 ).
37. A method as claimed in claim 34 , comprising interposing a powered articulated joint ( 22 ) between the second member ( 19 ) and hinging the gripping head ( 10 ), on one side, to the second member ( 19 ), and, on the opposite side, to the gripping head ( 10 ) to rotate the gripping head ( 10 ) about a vertical axis ( 15 ).
38. A method as claimed in claim 34 , comprising mounting the base ( 16 ) of the feed device ( 12 ) to run, by virtue of a respective motor, along a horizontal guide ( 24 ) parallel to the horizontal first, second and third axes ( 20 , 21 , 23 ).