阅读说明：本技术 装箱冰激凌类产品的方法和设备 (Method and apparatus for boxing ice cream type products ) 是由 A·博纳扎 D·梅扎罗 D·罗西格诺里 于 2020-04-26 设计创作，主要内容包括：描述了一种用于自动装箱冰淇淋型产品(p1、p2、p3、p4)的方法,该方法允许借助具有简单机械构造的设备(1)执行一系列装箱步骤,从一个装箱序列到另一个装箱序列保持装箱产品的数量恒定,考虑到在运输系统(7)上不存在产品的空间分布中,从一个装箱序列到另一装箱序列的可能变化,在用于产品生产的设备和装箱单元(3)之间操作,对于每个装箱序列,装箱单元(3)构造成用于拾取产品(p1、p2、p3、p4)并将它们转移到至少一个箱子(S)中。本发明还涉及一种构造成自动执行该方法的设备。(A method is described for automatically boxing products of ice-cream type (p1, p2, p3, p4), which allows to carry out a series of boxing steps by means of an apparatus (1) having a simple mechanical configuration, keeping the number of boxed products constant from one boxing sequence to another, operating between an apparatus for product production and a boxing unit (3) considering the possible variations in the spatial distribution of the absence of products on the transport system (7), from one boxing sequence to another, for each boxing sequence the boxing unit (3) being configured for picking up the products (p1, p2, p3, p4) and transferring them into at least one box (S). The invention also relates to a device configured to automatically perform the method.)

1. A method for boxing products, comprising a sequence of operations comprising:

a step of storing a predetermined number of products to be packed (p1, p2, p3, p4) in the storage area (Z2);

after the storage step, a step of extracting the stored products, during which each boxing element (31; 32; 33; 34) of the plurality of boxing elements picks up a respective product (p1, p2, p3, p4) to be boxed, starting from a respective starting position with respect to the storage area (Z2);

a step of boxing the picked products (p1, p2, p3, p4), during which each of said boxing elements (31; 32; 33; 34) boxes the respective picked product (p 1; p 2; p 3; p 4);

wherein:

the storage step comprises at least one step of moving a plurality of storage elements (21, 22, 23) from a zone (Z1) for receiving products to the storage zone (Z2), each of the storage elements (21; 22; 23) being configured to transport a respective product present in the respective storage element (21; 22; 23) during the moving step;

for each moving step, the sequence of operations comprises a step of monitoring the presence or absence of the corresponding product in each moving storage element (21; 22; 23);

the sequence of operations comprises an acquisition step during which, for each product (p 1; p 2; p 3; p4) to be boxed, and according to the presence or absence of the respective product in the respective storage element (21, 22, 23, 24, 25, 26), the respective storage position in said storage zone (Z2) of the product (p 1; p 2; p 3; p4) to be boxed is automatically acquired;

the operational sequence comprises an automatic setting step during which, for each boxing element (31; 32; 33; 34) and depending on the storage position of the respective product (p 1; p 2; p 3; p4) acquired to be boxed, a starting position of the respective boxing element (31; 32; 33; 34) is automatically set.

2. Method for boxing products according to claim 1, wherein each of the boxing elements (31; 32; 33; 34) is mechanically movable independently of each other with respect to the storage area (Z2), so that the setting step is performed by automatically controlling the starting position of each of the boxing elements (31; 32; 33; 34) at least partly independently of the starting positions of the other boxing elements.

3. Method for boxing products in accordance with claim 1 or 2, characterized in that:

for each moving step, the plurality of memory elements (2) is a row of memory elements (21, 22, 23), and the respective moving step occurs by translation along an extension direction (L) of said row;

for each boxing element (31; 32; 33; 34), said setting step is carried out by automatically selecting, along a longitudinal direction (X) parallel to said direction of extension (L), a respective position (q 1; q 2; q 3; q4) of the respective boxing element (31; 32; 33; 34), the respective selected position of each boxing element (31; 32; 33; 34) corresponding to the respective position, along said direction of extension (L), of the obtained position of the respective product (p 1; p 2; p 3; p4) to be boxed.

4. A boxing method in accordance with claim 3, wherein:

the boxing elements (31, 32, 33, 34) are mechanically movable independently of each other along a shared support (35) oriented at least mainly in the longitudinal direction (X);

for each packing element (31; 32; 33), the respective position (q 1; q 2; q 3; q4) is a position along the shared support (35);

said picking step is carried out by at least a first movement of said support (35), said first movement of said support (34) comprising at least one component along a second direction (Y) transversal to said longitudinal direction (X), and said boxing elements (31, 32, 33, 34) being integral with said first movement.

5. A boxing method according to claim 4, wherein the boxing step is carried out by means of at least a second movement of the support (35) comprising at least one component along a third direction (Z) transversal to the first direction (X) and to the second direction (Y), and the boxing elements (31, 32, 33, 34) are integral with said second movement.

6. A boxing method in accordance with claim 5, wherein the number of the storage elements (21, 22, 23, 24) by means of which the storage step is performed is different from the predetermined number of products (p1, p2, p3, p4) to be boxed.

7. A boxing method according to any one of the preceding claims, wherein the monitoring step is carried out by detection by a sensor (41) operating between the receiving zone (Z1) and the storage zone (Z2).

8. Method for boxing products according to any one of the preceding claims, comprising performing the sequence of operations repeatedly and sequentially, wherein, for each repetition, the setting step is performed such that, from one repetition to another, the number of boxed products (p 1; p 2; p 3; p4) remains constant, with or without corresponding product variations in the storage elements (21, 22, 23, 24).

9. An apparatus (1) for boxing products, comprising:

a storage unit (2) for storing a predetermined number of products (p1, p2, p3, p4) to be boxed in a storage area (Z2);

a boxing unit (3), said boxing unit (3) comprising a plurality of boxing elements (31, 32, 33, 34), said boxing unit (3) being configured in such a way that each of said boxing elements (31; 32; 33; 34) picks up and boxes a respective product (p1, p2, p3, p4) to be boxed, starting from a respective starting position with respect to said storage area (Z2);

wherein:

the storage unit (2) comprises a plurality of storage elements (21, 22, 23, 24, 25, 26) and is configured to move the plurality of storage elements (21, 22, 23, 24, 25, 26) in order to store the products (p1, p2, p3, p4) to be packed from a receiving zone (Z1) of products to the storage zone (Z2), each of the storage elements (21; 22; 23; 24; 25; 26) being configured to transport a respective product present in the respective storage element (21; 22; 23; 24; 25; 26);

the device (1) comprises a monitoring unit (4), the device (1) being configured such that the monitoring unit (4) automatically monitors whether a respective product is present in each storage element (21; 22; 23; 24; 25; 26) moved from the receiving zone (Z1) to the storage zone (Z2);

the apparatus (1) comprises an acquisition module (5) configured such that said acquisition module (5) automatically acquires, for each product (p 1; p 2; p 3; p4) to be boxed, and according to the presence or absence of the respective product in the respective storage element (21, 22, 23, 24, 25, 26), the respective storage position in said storage area (Z2) of the product (p 1; p 2; p 3; p4) to be boxed;

the apparatus comprises a setting unit (6) configured such that the setting unit (6) automatically sets, for each boxing element (31; 32; 33; 34), a starting position of the respective boxing element (31; 32; 33; 34) according to the obtained storage position of the respective product (p 1; p 2; p 3; p4) to be boxed.

10. Boxing apparatus (1) in accordance with claim 9, wherein the setting unit (6) is configured to mechanically move each of the boxing elements (31, 32, 33) independently of each other with respect to the storage area (Z2) such that the starting position of each of the boxing elements (31; 32; 33; 34) is automatically controlled at least partly independently of the starting positions of the other boxing elements.

11. Boxing apparatus (1) according to claim 9 or 10, characterized in that:

the memory elements (21, 22, 23, 24, 25, 26) defining rows of memory elements (21, 22, 23, 24, 25, 26);

-the storage unit (2) is configured for moving the storage element (21, 22, 23, 24, 25, 26) from the receiving zone (Z1) to the storage zone (Z2) by translating along the direction of extension (L) of the row;

the boxing unit (3) comprises a shared support (35), the shared support (35) supporting the boxing elements (31, 32, 33, 34) and being oriented at least mainly along a longitudinal direction (X) parallel to the extension direction (L);

the setting unit (6) is configured to automatically set a respective starting position of each packing element (31; 32; 33; 34), to move each packing element (31; 32; 33; 34) along the support (35) and to be mechanically independent from the other packing elements;

the boxing unit (3) is configured to cause a first movement of the support (35) and to make the boxing elements (31, 32, 33) integral with the first movement, so that the boxing elements (31, 32, 33, 34) pick up, at least by means of the first movement, respective products (p1, p2, p 3; p4) to be boxed, the first movement comprising at least one component along a second direction (Y) transversal to the longitudinal direction (X);

the boxing unit (3) is configured to cause a second movement of the support (35) and to make the boxing elements (31, 32, 33, 34) integral with the second movement, so that the boxing elements (31, 32, 33, 34) pack the respective products (p1, p2, p 3; p4) picked up at least by the second movement, the second movement comprising at least one component along a third direction (Z) transversal to the first direction (X) and to the second direction (Y).

12. Boxing apparatus (1) according to claim 11, wherein said monitoring unit (4) comprises a sensor (41) positioned between said receiving zone (11) and said pick-up zone (12) for detecting whether a respective product is present in each storage element (21; 22; 23, 24) in motion.

Technical Field

The present invention relates to a method for automatically boxing ice-cream type products, which allows to carry out a series of boxing steps, keeping constant the number of boxing products from one boxing sequence to another, operating between a product production plant and a boxing unit configured for each boxing sequence for picking up the products and transferring them into at least one box, without having a spatial distribution of the products on the transport system, taking into account possible variations from one boxing sequence to another. The invention also relates to a device configured to automatically perform the method.

Background

Currently, the methods for making and boxing products of the ice cream type comprise the use of a plant for producing the products, a unit for packaging the products, which operates on the products at their discharge from the production plant, and a unit for boxing the products, which operates on the packaged products. The packaging unit operates on the product while the product is on a transport system operatively located between the production facility and the packing unit.

The configuration of the transport system must be designed to allow the packaging unit to package the product leaving the production facility. In particular, the transport system comprises a conveyor belt suitably configured for stably holding the packaged and to-be-boxed products on the conveyor.

As previously mentioned, this configuration of the transport system depends on the need to pack the product, which in turn requires an automated boxing unit with a rather complex mechanical configuration.

The packing unit is configured to sequentially repeat the operation of the packing sequence. Each repetition of the sequence of boxing operations comprises picking up the products packed and on the transport system and transferring the picked products into at least one box. In order to keep the number of products packed constant from one repetition to another, the boxing unit must be able to automatically detect, for each repetition, the actual respective position of the packed products on the transport system, so that, for each sequence, the desired number of packed products can always be picked up.

Disclosure of Invention

Therefore, it is necessary that the boxing units boxing the same desired number of products from one sequence to another and that the products are packaged, complicating the mechanics and control of the boxing apparatus, which can be considered to include at least the packaging units and the boxing units.

The method according to the invention and/or according to any of the appended claims of the method allows to automatically case products of the ice cream type by successive repetitions of the operative boxing sequence, keeping the number of products from one repetition to the next constant and which is easier to control than the methods currently known and designed for this purpose.

The apparatus according to the invention and/or the apparatus according to any of the appended apparatus claims is configured to perform the method according to the present description and/or the method according to any of the appended method claims.

The apparatus according to the invention and/or the method according to any of the appended claims of the apparatus allow to automatically case products of the ice cream type by successive repetitions of the operative boxing sequence, keeping the number of products packed constant from one repetition to the next, with a mechanical construction simpler than that of the apparatuses currently known and designed for this purpose.

The method according to the invention and/or the method according to any of the appended method claims is designed to be carried out in particular by means of a device according to the present description and/or a device according to any of the appended device claims.

The characteristics of the method and the device according to the invention will become clearer from the following detailed description, referring to various possible exemplary embodiments of the method and device according to the description.

Drawings

The following detailed description refers to the accompanying drawings, in which:

FIG. 1 is a schematic illustration of an exemplary embodiment of an apparatus according to the present invention;

FIG. 2 is a schematic diagram of a first part of an operational binning sequence in an exemplary embodiment of a method according to the invention, which first part is performed by the apparatus of FIG. 1;

FIG. 3 is a schematic diagram of a second portion of the sequence of operations referred to in FIG. 2, the second portion being performed by the apparatus of FIG. 1;

FIG. 4 is a schematic diagram of a third portion of the sequence of operations involved in FIG. 2, performed by the apparatus of FIG. 1;

FIG. 5 is a schematic diagram of a fourth portion of the sequence of operations involved in FIG. 2, the fourth portion being performed by the apparatus of FIG. 1;

fig. 6 is a perspective view of a possible preferred embodiment of the device according to the invention during a possible preferred embodiment of the method according to the invention;

FIG. 7 is a detail of the preferred embodiment of FIG. 6;

FIG. 8 is a perspective view of the moving steps of the components of the preferred embodiment.

Detailed Description

Fig. 1 to 5 relate to possible exemplary embodiments of the method according to the present invention.

Unless otherwise indicated, the term "method" is used to denote possible embodiments of the method.

Fig. 1 to 5 relate to possible exemplary embodiments of the device according to the present invention.

In the following, the term "device" denotes possible embodiments of the device, unless otherwise specified.

The device is denoted by reference numeral 1.

The apparatus 1 is configured to automatically perform the method. The method is designed such that it can be performed using the device.

The apparatus 1 is configured to automatically perform the boxing of the products. The apparatus 1 is particularly configured for automatically boxing products of the ice cream type. For this reason, each of these products may be ice cream-like products. The ice cream-like product may be e.g. ice cream with a stick.

The apparatus comprises a storage system or unit 2. Storage unit 2 is configured to automatically store a predetermined number of products in storage area Z2.

The method includes at least one operational binning sequence.

The apparatus 1 is configured to perform this sequence of operations.

The method may include repeatedly and sequentially performing a sequence of operations. This means that the method can automatically perform a plurality of consecutively repeated sequences of operations.

The apparatus 1 is configured to repeatedly and sequentially perform this sequence of operations. This means that the apparatus is configured to automatically perform a plurality of consecutively repeated sequences of operations.

Fig. 1-5 may be considered a general repetition of the sequence of operations.

For each repetition of the sequence of operations, a predetermined number of products and a predetermined number of boxes may be considered. This means that for each repetition of the sequence of operations a predetermined number of products will be packed into this predetermined number of boxes.

In fig. 1-5, each black circle identifies and/or schematically represents a product.

Figures 1 to 5 are the cases where the predetermined number of products to be packaged is equal to four. However, the predetermined number may be any number. In fig. 2 to 5, the products packaged by means of the sequence of operations are the first product p1, the second product p2, the third product p3 and the fourth product p 4.

Fig. 1 to 5 relate to an example case such that a predetermined number of boxes equals one. However, the predetermined number of bins may be any number. Fig. 5 shows a box S in which products p1, p2, p3 and p4 are packaged.

The sequence of operations includes a storing step. During the storing step, a predetermined number of products to be packaged are stored in storage area Z2.

The storage unit 2 is configured to perform the storing step.

Fig. 2 shows a first part of the storing step. Fig. 3 shows a second part of the storing step.

In the first part of the storing step, as shown in fig. 2, the first product p1 and the second product p2 are stored in the storage region Z2. In the second part of the storing step, as shown in fig. 3, a third product p3 and a fourth product p4 are stored.

The apparatus comprises a boxing system or unit 3. The boxing unit 3 includes a plurality of boxing members 31, 32, 33 and 34. The number of boxing elements may be equal to the predetermined number of products or different from the predetermined number of products.

Fig. 1 to 5 relate to an example situation such that the number of encasing elements is equal to four and thus equal to the predetermined number of products to be encased. In fig. 1 to 5, the casing elements are marked 31, 32, 33 and 34.

The boxing unit 3 is configured to pick up the stored products p1, p2, p3 and p 4. The boxing unit 3 is configured so that each boxing element 31 or 32 or 33 or 34 picks up and boxes a respective product to be boxed, p1 or p2 or p3 or p4, starting from a respective starting position with respect to the storage area Z2. Thus, each boxing element can also be considered as a pick-up element and/or a transfer element.

After the storing step, the sequence of operations comprises steps for picking up the stored products p1, p2, p3 and p 4. During the picking step, each boxing element 31 or 32 or 33 or 34 picks a respective product p1 or p2 or p3 or p4 to be boxed, starting from a respective starting position with respect to said storage zone Z2.

Fig. 4 relates to the initial moment of the picking step, in which each boxing element 31 or 32 or 33 or 34 is positioned in a respective starting position.

After the picking step, the sequence of operations comprises the step of boxing the picked products p1, p2, p3 and p 4. During the boxing step, each boxing element 31 or 32 or 33 or 34 boxes the respective picked product p1 or p2 or p3 or p 4.

The packing unit 3 is configured to perform a picking step and a packing step.

Fig. 5 relates to the last moment of the boxing step, in which the picked products p1, p2, p3 and p4 have been boxed into a predetermined number of boxes. Fig. 5 shows the boxes marked S, since in the example shown in fig. 1 to 5 the predetermined number of boxes is equal to one.

The apparatus comprises a conveyor 9, which conveyor 9 conveys and/or transports the boxes packed with the products.

The memory cell 2 includes a plurality of memory elements.

Fig. 1 to 5 relate to an example case in which the number of storage elements is equal to 6. However, the number of storage elements may be any number.

Fig. 2 shows three storage elements, labeled 21, 22 and 23, respectively. In fig. 3 and 4, the other three storage elements are labeled 24, 25, and 26, respectively.

The storage unit 2 is configured for moving the plurality of storage elements 21, 22, 23, 24, 25 and 26 in order to store the products p1, p2, p3 and p4 from the receiving region Z1 to the storage region Z2.

Storage unit 2 is configured such that a plurality of storage elements may receive products in receiving zone Z1 and from transport system 7. The transport system 7 in turn receives products fed out from the production facility. This transport system is marked 7 in fig. 1 to 4. The transport system 7 comprises transport elements, each configured for transporting a product present in the transport element.

The apparatus 1 may comprise a transport system 7.

The apparatus 1 may also comprise a transfer system 8. The transfer system 8 is configured to transfer each product present in the transport system 7 from the respective transport element 7 to the respective storage element.

Fig. 1 to 5 relate to an example case in which the number of transport elements is equal to six. However, the number of transport elements may be any number.

Fig. 2 shows three transport elements, respectively referenced 71, 72 and 73. In fig. 3, three further transport elements are respectively designated 74, 75 and 76.

In fig. 1 to 4, if the inside of the transport element is white, there is no product in the transport element. In fig. 1 to 4, if the inside of the transport element is black, the product is present in the transport element.

It should be noted that fig. 1 does not show the product, since fig. 1 is mainly intended to schematically show the characteristics of the device.

Each storage element 21, 22, 23, 24, 25, or 26 is configured to transport a respective product present in the respective storage element 21, 22, 23, 24, 25, or 26 during movement from receiving zone Z1 to storage zone Z2.

In fig. 1 to 4, if the inside of the memory element is white, there is no product in the memory element. In fig. 1 to 4, if the inside of the memory element is black, a product exists in the memory element.

The storing step includes at least one step of moving the plurality of storage elements from receiving zone Z1 to storage zone Z2.

If the storing step comprises a plurality of moving steps, at least two of these moving steps may occur at least partially simultaneously.

Fig. 1 to 5 relate to an exemplary case such that the storing step includes a first moving step and a second moving step. The number of moving steps may be arbitrary.

Fig. 2 can be regarded as an example of a first movement step, during which the first three memory elements 21, 22 and 23 are moved from the reception zone Z1 to the storage zone Z2. Thus, in fig. 2, the first three memory elements 21, 22 and 23 with products p1 and p2 are shown in both the receiving zone Z1 and the storage zone Z2.

Fig. 3 can be regarded as an example of a second movement step, during which the second three memory elements 24, 25 and 26 are moved from the reception zone Z1 to the storage zone Z2. Thus, in fig. 3, the second three memory elements 24, 25 and 26 with products p3 and p4 are shown in both the receiving zone Z1 and the storage zone Z2.

Each storage element 21, 22, 23, 24, 25 or 26 is configured to transport the respective product present in the respective storage element 21, 22, 23, 24, 25 or 26 during the moving step.

Fig. 2 relates to an exemplary embodiment such that during a first movement step, first storage element 21 transports a first product p1 from receiving zone Z1 to storage zone Z2, while third storage element 23 transports a second product p2 from receiving zone Z1 to storage zone Z2.

Fig. 2 relates to an exemplary embodiment such that during the first movement step no product is present in the second memory element 22. This may be due to errors in the production steps of the products and/or in the steps of transporting the products towards the storage unit 2 using the transport system 7. In the example shown in the figures, the absence of products in the second storage element 22 is due to the absence of products in the second transport element 72.

In fig. 3, the fifth storage element 25 transports a third product p3 from receiving zone Z1 to storage zone Z2, while the sixth storage element 26 transports a fourth product p4 from receiving zone Z1 to storage zone Z2.

Fig. 3 relates to an exemplary embodiment such that during the second movement step no product is present in the fourth memory element 24.

The device 1 comprises a monitoring unit 4. The apparatus 1 is configured such that the monitoring unit 4 automatically monitors for each storage element 21, 22, 23, 24, 25 or 26 whether the respective product is present in the respective storage element 21, 22, 23, 24, 25 or 26, while the respective storage element 21, 22, 23, 24, 25 or 26 is moved from the receiving zone Z1 to the storage zone Z2.

For each moving step, the sequence of operations includes a monitoring step. During the monitoring step, for each storage element 21, 22, 23, 24, 25 or 26, the presence or absence of the respective product in the respective storage element 21 or 22 or 23 or 24 or 25 or 26 is monitored, while the respective storage element 21, 22, 23, 24, 25 or 26 is moved from reception zone Z1 to storage zone Z2.

The monitoring unit 4 is configured to perform the monitoring step. To perform the monitoring step, the monitoring unit 4 may comprise an operating sensor 41 between the receiving zone Z1 and the storage zone Z2.

To perform the monitoring step, the monitoring unit 4 may comprise an electronic processing unit. The electronic processing unit of the monitoring unit 4 may comprise hardware and software loaded on the hardware of the monitoring unit 4 to perform at least part of the monitoring step.

Fig. 1 to 5 relate to an example situation such that the sequence of operations comprises a first monitoring step for the first moving step and a second monitoring step for the second moving step.

Since the first three memory elements 21, 22 and 23 are also visually illustrated in the monitoring unit 4, fig. 2 can also be considered as an illustration of the first monitoring step.

Fig. 3 can also be considered as a diagram of the second monitoring step, since the second three memory elements 24, 25 and 26 are also visually illustrated in the monitoring unit 4.

The device 1 comprises an acquisition module 5. The apparatus 1 is configured such that the acquisition module 5 automatically acquires, for each product to be boxed, p1 or p2 or p3 or p4, and depending on whether the respective product is present in the respective storage element 21, 22, 23, 24, 25, 26, the respective storage location of the respective product to be boxed, p1 or p2 or p3 or p4, in the storage zone Z2. The acquired position is considered to be the position in storage area Z2 and relative to storage area Z2.

The sequence of operations includes an acquisition step. During the acquisition step, for each product to be boxed p1 or p2 or p3 or p4 and depending on whether the respective product is present in the respective storage element 21, 22, 23, 24, 25, 26, the respective storage location of the product to be boxed p1 or p2 or p3 or p4 in storage region Z2 is automatically acquired. The acquired position is considered to be the position in storage area Z2 and relative to storage area Z2.

The acquisition module 5 is configured to perform the acquisition step. In order to perform the acquisition step 5, the acquisition module 5 may comprise an electronic processing unit. The electronic processing unit of the acquisition module 5 may comprise hardware and software loaded on the hardware of the acquisition module 5 to perform at least part of the acquisition step 5.

The acquiring step is performed automatically based on the results of the monitoring step.

The monitoring unit 4 and the acquisition module 5 communicate to exchange signals and/or data.

In order to perform the acquisition step, the acquisition module 5 knows at least the kinematic configuration of at least one of the movement steps performing the storage step and the geometrical configuration of the storage unit 2.

The device 1 comprises a setting unit 6. The apparatus 1 is configured such that the setting unit 6 automatically sets, for each boxing element 31 or 32 or 33 or 34 and depending on the storage position of the obtained corresponding product to be boxed p1 or p2 or p3 or p4, the starting position of the corresponding boxing element 31 or 32 or 33 or 34. For this purpose, the setting unit 6 automatically sets the starting position of each boxing element for the respective product that the respective boxing element has to pick up or will have to pick up, according to the storage position obtained during the acquisition step.

The operational sequence includes an automatic setup step. During the setting step, for each boxing element 31 or 32 or 33 or 34, and according to the storage position of the respective product p1 or p2 or p3 or p4 obtained to be boxed, the starting position of the respective boxing element 31 or 32 or 33 or 34 is automatically set.

The starting position of each packing element 31 or 32 or 33 or 34 is automatically set such that in the respective starting position of each packing element 31 or 32 or 33 or 34 the distance between each packing element 31 or 32 or 33 or 34 and the respective product to be packed p1 or p2 or p3 or p4 is minimized as mechanically as possible. For this purpose, for each boxing element, the respective starting position is set so as to minimize the distance between the respective boxing element and the product which the respective boxing element has to pick up or is about to pick up.

The setting step is automatically performed according to the result of the obtaining step. The setting unit 6 is configured to perform a setting step.

To perform the setting step, the setting unit 6 may comprise an electronic processing unit. The electronic processing unit of the setup unit 6 may comprise hardware and software loaded on the hardware of the setup unit 6 to perform at least part of the setup step 6.

The acquisition module 5 communicates with the setup unit 6 to exchange signals and/or data.

To perform the setting step, the setting unit 6 may comprise a mobile system. The moving system is configured for adjusting the starting position of each packing element 31, 33 or 34 mechanically independently of the starting positions of the other packing elements. In this case, the setting unit 6 is configured such that the moving system can be automatically controlled by the processing unit of the setting unit 6, thereby automatically performing the setting step.

During the setting step, one or more of the packing elements may be moved relative to storage area Z2 mechanically independently of the other elements.

The monitoring step, the acquisition step and the setting step are carried out so that the starting position of each boxing element 31 or 32 or 33 or 34 is optimized so as to make it possible and/or accelerate and/or facilitate the picking step to be automatically performed by the boxing unit 3, automatically taking into account the actual distribution of the possible absence of product in one or more of the storage elements 21-26. In this way, it is possible to keep the number of products actually packed constant, from one repetition of the sequence of operations to another, even with a packing unit having a simpler mechanical construction.

In particular, according to the method, the product is preferably boxed without packaging. Since it is not necessary to pack the product, the storage unit does not have to have a configuration depending on what is required to perform the packing step, and in this way it is also possible to use a packing unit of simpler mechanical and/or electronic configuration, for example with serial kinematics (serial kinematics).

The monitoring step, the acquisition step and the setting step allow the less complex boxing unit to be able to adapt automatically in any case to the variations in the distribution of the absence of products in the storage unit.

It should be noted that the binning method may comprise sequentially repeating the above-described sequence of operations.

The distribution and/or location of product starvation in the storage unit 2 may vary from one iteration to another.

For each repetition of the sequence of operations, an automatic setting step is performed so that the number of products p1 or p2 or p3 or p4 picked up from one repetition to another is kept constant, with or without corresponding product variations in the storage elements.

The memory elements 21, 22, 23, 24, 25, 26 define rows of memory elements.

The storage unit 2 is configured for moving the storage elements 21, 22, 23, 24, 25, 26 from said receiving zone Z1 to said storage zone Z2 by translating along the direction of extension L of the rows.

Each moving step thus takes place by translation along the extension direction L of the row.

Each of the box-filling elements 31 or 32 or 33 or 34 is mechanically movable independently of each other with respect to said storage area Z2, so that the setting step is performed by controlling the starting position of each of the box-filling elements 31 or 32 or 33 or 34 at least partly independently of the starting positions of the other elements.

The apparatus 1 is configured such that the setting unit 6 is able to mechanically move each boxing element 31 or 32 or 33 or 34 with respect to said storage area Z2 independently of each other, so as to automatically control the starting position of each boxing element 31 or 32 or 33 or 34 at least partly independently of the starting positions of the other elements.

The setting unit 6 is configured for mechanically displacing each packing element 31 or 32 or 33 or 34 independently of each other with respect to said storage zone Z2 by means of the above-mentioned displacing system. The moving system may comprise a respective motor for each of the packing elements 31 or 32 or 33 or 34. The motor may be a linear electric motor.

The boxing unit 3 comprises a shared support 35, the shared support 35 supporting the boxing elements 31, 32, 33 and 34. The shared support 35 is at least mainly oriented along a longitudinal direction X parallel to said extension direction L.

For each boxing element 31 or 32 or 33 or 34, the setting step is carried out by automatically selecting a respective position q1 or q2, q3 or q4 of the respective boxing element 31 or 32 or 33 or 34 along a longitudinal direction X oriented at least mainly along said extension direction L. The respective selected position of each boxing element 31 or 32 or 33 or 34 corresponds to a respective position along the extension direction L of the position obtained by the respective element to be boxed p1 or p2 or p3 or p 4. For this purpose, each boxing element is positioned by the setting unit 6 in the longitudinal direction X at the same position of the respective product that the respective boxing element has to pick up or will have to pick up.

For each boxing element 31 or 32 or 33 or 34, the respective position along the longitudinal direction X is a position along the support 35.

In fig. 4, the reference q1 denotes the set position of the first packing element 31, q2 denotes the set position of the second packing element 32, q3 denotes the set position of the third packing element 33 and q4 denotes the set position of the fourth packing element 34.

The setting unit 6 is configured to automatically set a respective starting position of each boxing element 31 or 32 or 33 or 34, to move each boxing element 31 or 32 or 33 or 34 along said support 35 and to be mechanically independent from the other boxing elements.

The support 35 is a rail which allows guiding the movement of each boxing element in order to adjust the respective starting position.

The picking step is performed by at least a first movement of said support 35. The first movement of the support 35 comprises at least one component along a second direction Y transverse to said longitudinal direction X. The casing elements 31, 32, 33 and 34 are integral with the first movement.

The boxing step is performed by at least a second movement of said support 35. The second movement comprises at least one component along a third direction Z transverse to said first direction X and second direction Y. The casing elements 31, 32, 33 and 34 are integral with said second movement.

In fig. 5, support 35 is shown before the second movement, but products p1, p2, p3 and p4 are shown in the box as if the second movement had been performed.

Each boxing element 31, 32, 33 or 34 is configured for gripping the respective product to be boxed, during the picking step, so as to move it towards the box S and to release or store it in the box S during the boxing step.

By comparing fig. 1 to 4, which show the device sideways, with fig. 5, which shows the device from above, the mutual orientation between the first direction X, the second direction Y and the third direction Z can be derived.

The boxing unit 3 is configured to cause a first movement of the support 35 and to make the boxing elements 31, 32, 33 and 34 integral with said first movement. In this way, the boxing elements 31, 32, 33 and 34 pick up, at least by said first movement, the respective products p1, p2, p3 and p4 to be boxed.

The setting unit 6 is configured to maintain the setting position of each boxing element during the first movement, so that the setting of the starting position of each boxing element 31, 32, 33 or 34 is maintained during the picking step.

The boxing unit 3 is configured to cause a second movement of the support 35 and to make the boxing elements 31, 32, 33 and 34 integral with said second movement. In this way, the boxing elements 31, 32, 33 and 34 at least box the respective products p1, p2, p3 and p4 picked up by said second movement.

The boxing unit 3 has a series of kinematics in this way and is therefore mechanically easier to control than the boxing units of the prior art methods for boxing ice-cream-like products.

In any case, the apparatus allows the number of products packed to remain constant for each repetition of the sequence of operations, by detecting the absence of products in the storage unit 2.

The method makes it possible to keep the quantity of product packed constant even if the quantity of storage elements used during the storage step differs from the predetermined quantity of product to be packed. In fig. 1 to 4, the number of storage elements for performing the storage step is equal to six, and the predetermined number of products to be boxed is four.

This enables greater flexibility of the boxing apparatus with respect to possible variations in the transport system 7.

Fig. 6 to 8 show a preferred embodiment of the device according to the invention. The preferred embodiment is labeled 1'.

In fig. 6 to 8, p6' and p5' are any two products that have not yet been received by the storage unit 2 '. The system for transferring the products from the transport system to the storage unit 2 'is designated 8'. The transfer system 8' shown in the figures is a rotating or translating gripper.

The references 31', 32', 33 'and 34' indicate a plurality of packing elements which are part of the packing unit 3 'and are supported by a shared support 35'. The labels p1', p2', p3' and p4' denote stored products and they will be packed in the box S ' by packing elements 31', 32', 33' and 34', respectively.

In the case of fig. 6 to 8, the predetermined number of products, equal to the number of encasing elements, is equal to twenty. In the case of fig. 6 to 8, the number of storage elements for the storage step of each sequence of operations is equal to sixteen. In the case of fig. 6 to 8, the predetermined number of boxes is greater than one.

Fig. 6 shows a first memory element 21' in which there is no product and which is located in a memory area; and a second memory element 22' in which there is no product and which is located between the receiving zone Z1 and the memory zone Z2.

Fig. 6 and 7 do not show a storage element in which a product is present.

Reference numeral 41' in fig. 6 denotes a sensor of the detection unit, which detects whether or not a product is present in each memory element.

Fig. 7 shows the storage element 21 'and the casing element 33' more closely.

Each memory element may have one or more features of memory element 21 'or all features of memory element 21'. Each packing element may have one or more features of packing element 33 'or all of the features of packing element 33'.

Each storage element includes a body 212' and a holder 211' supported by the body 212' and configured to hold a product. The gripper 211 'of each storage element is configured to adopt a release condition in which the gripper 211' receives the respective product from the transfer system 8 or releases it so that it is gripped by the respective boxing element. The gripper 211 'of each storage element is configured to adopt an operating state in which the gripper 211' holds the product to move it from the reception zone Z1 to the storage zone Z2.

The holder 211' of each storage element is configured to hold the product in the operating condition, if the product is of the ice cream type with a stick, the stick of product.

Each packing element comprises a body 312' and a clamp 311' supported by the body 311' and configured for holding a product. The gripping members 311' of each packing element are configured to adopt a release condition in which the gripping members 311' receive the respective product from the respective storage element or release the product to be stored in the case S '. The gripping members 311' of each boxing element are configured to adopt an operating condition in which the gripping members 311' hold the product during its transfer to the box S ', which preferably occurs by means of the second movement described above.

In fig. 8, the shared support 35 'supporting the boxing element is visible both at the beginning and at the end of the above-mentioned second movement, which comprises at least one part along the third direction Z and which allows the boxing unit to load the products into the boxes S'.

The boxing method according to the invention allows the automatic boxing of products of the ice cream type using a boxing unit which is simpler from a mechanical and/or electronic point of view, by means of a continuously operating boxing sequence, and the number of products boxed is kept constant in each repetition of the operating sequence, with respect to the variations in the spatial distribution of the product gaps in the upstream components of the boxing apparatus.

In particular, the method is suitable for the boxing of unpackaged ice cream-like and/or ice cream-like products on sticks.

The device according to the invention is configured for automatically carrying out the method according to the invention.