Container seaming apparatus and methods
Contents
1. 8 06 Vd 8 OO ANIHOVI GI OAV lj 4j 5 938 ddo puz 134S wess ddo jsp 9 33 09 ONINNAY SNIHOVIN 932 1 H3AAO 1 HO 3SIVMH 033019 YOLOW 13S LJ 10 109 HOLOW JU rm OOUR 5 860 782 Sheet 12 of 13 Jan 19 1999 U S Patent 43 uo uo ze 8 o8 6 uong JuawBpajmouxysy wie 908 94 uo uo 2 or uong 8 9 I 208 JO UO pz 221 9 864 HO uo 96 95z ze Bulmeig Jauueg wey 962 49 uonoj Math t uino uonisogd ALIEN 12efqo ouieN Bel gi Jauueg uue y u 15s woday Ajeuiuing u ios pov EE I Z3 rd 1280 030 7 3 133HM ONVH L 5 860 782 Sheet 13 of 13 Jan 19 1999 U S Patent 3NIHOVIN ONIIAV3S 68 WSINVHOSW ONIINV3S HILIM JNIHOVIN 5 860 782 1 CONTAINER SEAMING APPARATUS AND METHODS BACKGROUND OF THE INVENTION The present invention relates generally to seaming machines A seaming machine is used to seam a lid to a contents filled container body so as to form a sealed con tainer The seaming machine typically has two seaming rollers associated with the seaming machine to form a sanitary seam also called a double seam between the container b2. Acceleration Setting for 2nd Opperation Stepper Module i copy File 1 N9 26 MOV File 2 COP File 2 LEQ File 2 CPT File 2 FILE N9 26 LEN 8 COP File 2 N 7 2 DIV File 2 CPT File 2 9 26 MOV File 2 COP File 2 LEQ File 2 CPT File 2 FILE N9 26 LEN 8 COP File 2 FILE N9 26 LEN 1 COP File 2 FILE N9 34 LEN 8 File 2 N9 24 COP File 2 SCP File 2 FILE N9 24 LEN 8 COP File 2 FILE N9 54 LEN 8 COP File 2 FILE N9 64 LEN 8 OOP File 2 FILE N9 36 LEN 8 COP File 2 MY File 2 cop File 2 LEQ File 2 CPT File 2 FILE N9 26 LEN 8 COP File 2 FILE N9 56 LEN 8 COP File 2 FILE N9 66 LEN 8 cop File 2 oou 11 10 oco 3 12 1i 21 23 12 0 11 21 23 5 860 782 20 Start First Opperation Seam Motor Speed Prox Indicator 1 1 0 mI w 2 DIV File 2 10 10 B Divide H CPT File 2 6 3 Source A 54 N7 54 COP File 2 4 IV16 32395 DIV File 42 10 Source B 341 SCP File 2 5 FILE N7 54 LEN 1 Dest N7 2 COP File 2 4 95 ee Z SS End of First Opperation Mode Type Conmand Error Command Mode Start of Second Stepper Module 1 Config 1 Error Invalid Opperation Oonfiguration 0 Command 0 No Error Position Prox file 1 5 0 1 5 0 1 5 0 1 1 0 0 5 0
3. A IA oc s9L 9 zi oh oe ol oe 8p 9 8p 9 8 pa gp pg aullino gg ss o 09 oSt 09 oy oer 08 6 o8 08 08 o o uonisod uxal 91 10jeaipu 2 85 10je2tpu a3je snint amp uiweig ajbuejyoay 0109 uoyng usnd Alejuawoy uoyng usnd Aiequawoy uoyng usng Asejuawoy euleN yalqo yod y AjeuiuingS u ios 8 Bp pul Sod 9MeA LLP puy sog LSP 4 SPP dos jsiou Iep JaMO71 JSIOH BALLA gzy 9515 SIOH AJLA cop awen 921A183S P JE Jb Je eJ ON SAA NOILISOd NI HOLIMS NOILVYOOT ANIVA ANY TVONVIA NI 38 LSAW 3NIHOVIA 5 860 782 Sheet 8 of 13 Jan 19 1999 U S Patent uo uo ap 8 po os uoyng usnd paulejuew weas uo uonejeddo puooes ggg E uo uo 8p 9 08 uong usng Alejuawow doS 10101 098 JO uo ez 88 o g9L xal d 09 JO uo 9L ze giz 9 LSS JO uo 9L 8p 89L ejdsig ejeg oueuinN pu tueas 1514 LGG 014 j uo uo ze 9 96 z61 UBBIDS 0109 SES t uo uo gp og 0 08 uo ing usng Aleyuawiow ueas
4. Tightens 2nd 2nd Opperation Seem nd Opperation seam Tightning Oppration seam Seam One Shot Bit data file B3 B3 H OSR Addi 1 Source A 9 53 35 12 28 N9 53 COP File 2 30 31 eH ADD File 2 30 SUB File 2 31 FILE N9 53 LEN 8 cop File 2 21 FILE N9 53 LEN 1 Dest N9 53 COP File 42 30 31 231 ji Loosen 2nd Opperaticn seam data mD 9 63 ADD File 2 30 aa He SUB File 2 31 Source A 9 63 FILE N9 63 LEN 8 231 ODP File 42 23 Source B 7 5 Dest N9 63 I 2111 2nd Opperation Seam Dimension _ N7 16 File 2 30 31 N9 53 COP File 2 21 FILE 9 53 LEN 1 COP File 2 30 31 2nd Opperation No Seam Handwheel Position Engaged 0 2 0 1 1 0 i 9 13 O16 FILE N7 16 LEN 1 l Cop File 2 30 31 N9 53 COP File 2 30 31 l ADD File 2 30 SUB File 2 31 19 53 COP File 2 30 31 ADD File 42 30 SUB File 42 31 FILE N9 53 LEN 8 cop File 42 21 FILE N9 53 LEN 1 COP File 2 30 31 9 63 ADD File 2 30 SUB File 2 31 FILE N9 63 LEN 8 COP File 2 23 N7 16 COP File 2 30 1 FILE N7 16 LEN 1 COP File 2 30 31 N9 53 COP File 12 30 31 ADD File 2 30 SUB File 2 31 33 34 37 38
5. Brochure for Panelview 550 Operator Terminals Panel builder 550 Software Publication 2711 1 3 Allen Bra dley Milwaukee Wisconsin Jan 1994 Double Seam Terminology date unknown 1 page U S Patent Jan 19 1999 Sheet 1 of 13 5 860 782 OPERATOR TERMINAL 1 Fig U S Patent Fig 2 Jan 19 1999 Arg Sheet 2 of 13 68 ES iz 84 38 T m q 8 E HO D 48 5 860 782 FROM CONTROLLER 54 42 70 Jan 19 1999 U S Patent Sheet 3 of 13 lt 5 860 782 U S Patent Jan 19 1999 Sheet 4 of 13 5 860 782 CONTROLLER 8 FROM 6 pn a 42 54 5 860 782 Sheet 5 of 13 Jan 19 1999 U S Patent bd 94 old rd ax4 uo uo uo HO HO uo uo u no 3 uo 4 uo Li uo uo amp uo 3 uo uo AIA ze gp gp 08 OL s8 sz ze ap ge 9 suno 96 ZLL uoyng usnd Aipjuawoy peysg 10101 6 08 o uoyng usnd Kirejueuro dojs 10 0N 098 o uong usng Alejuawioy uonisod JOY 28 gp 88 3 BLE p9 96 S17 J013u02 88 8 1 aure giz 96 80z 10 99 1 iz 6 uoyng usnd i1ejueuio g Bor 10 0iN coz
6. 4 UO uo JO uo HO uo JO uo JO uo JO uo 01 34 uo uo ua uo uo uo uo yonoL MBA gy 9 ze Bp ze 8p or SL oe SLL or 6g ct op ap L 9 ap 9 suno 9 gy usnd K1ejuauio dos 10 9L 9L uogng usnd Auejuawoy EIS 1030 08 uoyng ysng A1e uauloN 19 19598 0 o8l sk ozz 9 SLL sz xol sv OpL xal 09 soz 08 802 013925 u3312S OJOH 96 96 Yd 1051 0 1ju3 ouatunNn puj 9 9 091 4d 1951 jju3 2119umwN puj paads 00W pg azi 14 dosing Asjuq puy aut uny 10301 0 auiewN 0 aweN be L 098 216 989 789 819 299 999 erg 82 ceg 829 dl 8 0 aulyoey uaa 11009 AJBUUNS 6 NOILONGOdd E 4345 Tg Za YOLOW dois sunou HmHm 2 1 NOY L3 Ndo HHH uaiNnoo YLS 5 860 782 Sheet 11 of 13 Jan 19 1999 U S Patent JO uo ge siz og sz xal 996 13 UO UO v9 ze 1013986 1511 uaal0s S69 Aang 2001 MaA UNO uonisog WEN 0 suey Be J al 1511 1 7 UIS 9 6 ze OG
7. File 2 0 2 ul 1 t 1 1 4 I T Copy File H 11 12 16 15 12 10 1 i Source N9 20 0 5 0 5 File 2 3 HSTPl HSTPl HSTP1 116 l Dest 40 5 0 0 5 0 15 U File 2 Length 8 0 5 0 IEN 8 Start First 09 OP File 2 0112 12 Opperation 12 16 Seam Prox I 1 0 l 3 1 6 l Stepper Module l Move Completed Test Button Configuration l flag end of first file l 1 5 0 1 1 0 OOP 0 5 0 OP File 2 0 2 H 11 12 16 Source 1N9 30 0 5 0 5 File 2 3 HSTPl HSTPL 116 Dest 40 5 0 o 5 0 15 U File 2 End of First Length 8 FILE O 5 0 LEN 8 lOpperation OOP File 2 0 2 11 Begining Of 12 16 second Prox l 1 10 l ki 4 if 1916 Clock wise Out put relay Limit prox to Stepper 0 Ball Screw Module cw limit 1 1 0 0 2 0 1V16 BBR 8 1 w16 Output Relay to Command Mode Stepper Module Home Limit Prox Invalid Home Limit On Ball Screw Position input 1 1 0 1 5 0 0 2 0 14 F C 6 10 2 1V16 HSTP1 OW16 Counter Clockwise limit Output relay to Prox on Ball CCW Limit in Screw Stepper Module 1 1 0 0 2 0 15 1 7 3 IV16 OW16 T 1 21 5 860 782 22 Command Error Stepper Module 1 Error Configuration 0 No Error file 1 5 0 OOP lo 5 0 OP File 2 0 2 1
8. i adjusting the control data output by the controller based upon the results of the comparison while the machine is in operation and without having to stop the machine 39 A method according to claim 38 wherein the seam data is communicated to a location remote from where the seaming operation is performed and step h is performed at the remote location the method further comprising the step of j sending adjustment instructions from the remote loca tion to the controller and using the adjustment instruc tions to perform step 1 40 A method according to claim 37 wherein step e further comprises the step of programming the controller to output a plurality of different sets of instructions each set of instructions relating to a specified container body size and including position instructions for the first drive and rotation instructions for the second drive 41 A method according to claim 36 wherein in step c the seaming chuck is rotated thereby causing rotation of the container body and lid with respect to the seaming roller 42 A method according to claim 36 wherein step b further comprises adjustably positioning the seaming roller toward and away from a center axis of the container body thereby positioning the seaming roller with respect to the circumferential edge of the lid
9. 29 5 860 782 30 Valve Hoist Raise Push Button on Panel Hoist Raise view Output B3 0 2 0 0 2 0 11 File 2 O 33 13 11 4 F File 2 W16 33 Valve Hoist Stop Push Hoist Raise Button on panel Output View 0 2 0 B3 l 1 H 11 11 OW16 133 tube Failure lube Failure i I 1 0 0 2 0 H 15 7 116 016 1st Opperation 1st Opperation Stepper Modules Stepper Module Configuration Stepper Module Fault Condition Input Error Command Error Error Module OK Bit To Stop Main 1 Error 1 Error 1 Error 1 OK Drive Motor on 0 No Error 0 No Error 0 No Error 9 Fault Machine 5 I 5 0 B3 B3 24 File 2 35 kK Ah File 2 36 14 24 38 39 HSTPl File 2 42 2nd Opperation l Stepper Module l command Error config Error Module OK bit 1 Error 1 Error 1 OK 0 No Error No Error 0 Fault 6 1 6 0 Stepper Modules 2nd Opperation Fault Conditian Stepper Module Start Motor To Stop Main Command Mode Comand Mode Push Buton on Drive Motor on Invalid Invalid Panel View Machine Position Position Indicator B3 B3 I 5 0 1 6 0 B3 B3 4 File 2 36 4 File 2 36 0 l 24 10 10 4 38 39 47 56 5 HSTPl HSTPl 57 58 A H File 2 40 Motor Stop Indicator Indicator 59 B3 4 5 36 401 2nd Op
10. 7 The container diameter may also be used to automatically select on the fly the appropriate chuck 44 from a plurality of chucks for automatic mounting to a seaming machine The seaming machine 24 shown in the figures does not have this capability although it could be provided if desired In this manner a very wide range of container diameters can be processed continuously by the same seaming machine with out requiring any downtime for manually changing chucks Since the programmable controller 54 has complete con trol over the drive 46 and because the drive 46 is not mechanically linked to the drives 40 and 42 the direction of the seaming process can be selected In the seaming machine 24 of FIG 1 this means that the container body 12 can be spun in reverse during a seaming operation if desired thereby maximizing the strength of certain composite con tainers depending upon how the composite material is wound e g clockwise or counterclockwise around a mandrel Such composite containers would otherwise be weakened by a forward rotation during a seaming operation The programmable controller 54 also includes a remote communication module 80 for bidirectional communication with a remote operator terminal 82 This allows an operator at a remote site to operate the seaming machine 48 program or reprogram the controller 54 and to remotely perform diagnostics To simplify the subsequent explanation of the invention the seamin
11. B 100 1 52 4 Source A N7 70 36 i Source B 7 7 56 Minute l MUL jN20 0 File 2 38 Multiply H MUL File 42 52 Source A 11 N7 1 MUL File 2 52 181 LEQ File 2 52 Source B 341 Dest n20 0 6138 Overflow Motor Faulted Relay Bit N7 70 MOV File 2 55 56 57 58 BU File 42 56 57 58 N7 71 COP File 2 56 File 82 57 Source 5 41 8141 COP File 2 56 Dest 87 71 NEQ File 42 57 Length ili 1 Hour Meter sequencer m N 70 File 82 55 56 H 57 58 Source i EQU File 82 56 57 58 Dest N7 70 i 37 5 860 782 Clock Hour Meter Hour Meter Calendar One Shot Relay Time Data file Indicator sequencer Minutes to count Minute 2 B3 r EQU 1 1 B3 rp N7 72 MOV File 82 L HNot Equal i OSR Add Heo ADD File 2 4 Source A N 70 Source A 8 41 37 Source A 11 EQU File 2 36 1 47 H LES File 2 Source B i Source 8 N7 71 source B N7 72 E 46 17 L J Dest 17 72 N7 70 57 8141 56 lI 17 N7 71 56 Hour Meter sequencer 7 70 Mw File 42 Uvove H 57 58 source 2 EQU File 2 58 Desc N7 70 1 et Hour Meter
12. B3 B3 9 23 COP File 2 28 B OSR Add ADD File 2 9 33 Source A 7 5 SUB File 2 33 COP File 2 12 lst Opperation Seam Loosening Seam on Shot bit d B3 23 19 23 COP File 2 11 AIT Mi w g 596 596 ist opperation Seam Dimension cop Yoopy File F Source N9 33 Dest N7 12 Length 1 Move file to Stepper Module Data file in Direction Dest N9 33 596 FILE N9 23 LEN 8 GOP File 42 FILE N9 23 LEN 1 COP File 2 19 33 COP File 2 Heo ADD File 2 l SUB File 2 FILE N9 33 LEN 8 File 2 FILE N9 33 LEN 1 OP File 2 N7 12 COP File 2 N7 12 LEN 1 P File 82 N9 33 COP File 42 ADD File 2 SUB File 2 N9 23 COP File 2 ADD File 2 SUB File 2 FILE 9 23 LEN 8 OOP File 2 N9 23 LEN 1 P File 2 N9 33 COP File 2 ADD File 2 SUB File 2 FILE N9 33 LEN 8 COP File 2 FILE N9 33 LEN 1 cop File 2 N7 12 OOP File 2 H FILE N7 12 LEN 1 COP File 2 N9 23 COP File 2 ADD File 2 SUB File 2 29 11 29 28 28 12 28 28 9 28 9 29 11 29 12 28 28 9 28 29 G 30 32 27 5 860 782 FILE N9 53 LEN 1 COP File 2 30 31
13. KE Interface Module provides full remote capability so that all of the functions of the program mable controller 54 including the functions of adjusting drive instructions based on sensed container types and seam feedback data can be performed remotely A sample ladder diagram for implementing seaming machine control via the Stepper Controller Module is shown in the Appendix The ladder diagram performs the following machine control functions 10 15 20 25 30 35 40 45 50 55 60 65 10 1 Configure the Stepper Controller Modules 2 Start stop and jog the seaming machine 24 sends signal to AC motor inverter also controls machine speed This function also includes controlling power to the chuck drive 46 and the feed valves 26 and 28 Synchronize machine speeds and stepper motors Provide safety stops to protect machinery Track production and machine running hours Provide an interface with PanelView 550 Operator Ter minal to allow for seaming roll adjustments Provide circuitry to allow valves to be raised and lowered for cleaning and maintenance Referring to function 2 above the chuck drive 46 may also be controlled by a stepper motor which would require more precise control signals than power on off signals used in the present embodiment of the invention Sample PanelView 550 display screens and their respec tive screen summary reports are shown in FIGS 5A 5H These display scree
14. applied to a succession of container bodies 12 1 At a first station 106 each container body 12 is filled with a predetermined quantity of goods 108 dispensed from a storage bin 110 The storage bin 110 is illustrated in FIG 6 as a hopper but may be any type of storage facility which has a dispensing passage 2 At a second station 112 each goods filled container body 12 is injected with a predetermined amount of liquid nitrogen 114 dispensed from a holding tank 116 The predetermined amount of liquid nitrogen 114 is an amount which is sufficient to displace substantially all of the air which is originally in the container body 12 3 At a third station 118 the open top of each container body 12 is covered with a lid 16 4 After each container body 12 exits the third station 118 a lid holder 120 applies a biasing force against the lids 16 to maintain the lids 16 on the container bodies 12 until they reach the seaming mechanism of the machine 102 One suitable lid holder 120 is a spring loaded guide rail 122 which simultaneously applies the biasing force to all lidded container bodies 12 traveling along the conveyer 104 The biasing force is sufficient to allow a portion of nitrogen gas from vaporization of the liquid nitrogen as well as air originally present in the container body 12 to escape from the container body while preventing sur rounding air from entering the container body 12 The lid holder 120 thus allows each of the
15. lids 16 to act as a check valve for its respective container body 12 In one suitable embodiment of the invention the biasing force is no more than about three pounds of spring pressure on each container body 12 The biasing force is selected to prevent the lid 16 from raising more than about vs inches off the 10 15 20 25 30 35 40 45 50 55 60 65 12 top of the container body 12 for a typical lid which has a vertical thickness of about 1 4 inch Steps 3 and 4 are preferably performed in rapid succession and immediately after step 2 In this manner the amount of liquid nitrogen 114 used in the process 100 is kept to a minimum because almost all of the vaporizing liquid nitrogen 114 is used to expel air trapped inside the lidded container body 12 Step 4 is performed for a period of time sufficient to allow substantially all of the liquid nitrogen 114 trapped within the container body 12 to vaporize and thereby displace substantially all of the air originally present therein Since the lids 16 act as check valves there is no harm in exceeding this period of time That is as long as the biasing force continues to be applied no air can reenter the lidded but unseamed container bodies 12 As discussed above a conventional liquid nitrogen filling process requires precise control between the time when liquid nitrogen is injected into the container body and the time when the seaming process occurs
16. operation thereby causing an new set of instructions to be output without having to stop the machine 13 A machine according to claim 3 wherein the controller is a programmable controller for independently controlling the first and second drives based upon a stored program 10 15 25 30 35 40 45 50 55 60 65 40 14 A machine according to claim 3 wherein the controller controls the first drive to intermittently engage and disen gage the first seaming roller from a seaming position during rotation of the first seaming roller with respect to the chuck container body and container lid thereby allowing the machine to perform spot clinching on the container body 15 A machine according to claim 1 further comprising e a third drive for adjusting the relative vertical position of the container end with respect to the first seaming roller so that the machine may accommodate container bodies of different heights 16 A machine according to claim 15 further comprising a controller for outputting position instructions for the third drive 17 A machine according to claim 16 wherein the con troller has an input for receiving height data regarding container bodies to be seamed the controller using the height data to output the position instructions for the third drive 18 A machine according to claim 17 wherein the height data is received from an automated container body height measuring device 19 A mach
17. uonisog euieN joalqo amen Bey dl SN E S JOJOW L UaaIDS AieuiuinG uaaJog TIWANVA OLIV 4 3GON 194 13S 94 NOILISOd 110d 211 701 IVA 5 860 782 Sheet 6 of 13 Jan 19 1999 U S Patent uo uo v9 JO uo SL ze HO UO HO uo OL ze JO uo OL 74 uo 9 9 JO uo ob JO uo zp JO uo 2 JO uo 96 s Jo uo 96 9 0 43 uo uo ze sr 4941 0 MIA suno 9 os orz ot soz 06 St ze at SLL ost sz sci SZ OZL s2 081 96 g0z uonisod uong usng Auejuawoy e dsig ejeg 3 qx L 7 91 Yd 1051 1ju3 VoL xal xe 4515 jeg 29 95 u ios CJOH euieN 0 dos 10 0W 098 66E puj paads 10104 88 paads 10jou 8 92E LZE cge 09 gge ese puj paads 1030W se WEN Be L 8y al paads Jojo z US 110 4 AIBUJUINS OOOO HHH WdO Q33dS ANIHOVW 00 Ndo HHH 013309 3 5 860 782 Sheet 7 of 13 Jan 19 1999 U S Patent uo c 0 uo uo uo uo uo uo UO uo uo yonoy
18. 2 may be eliminated and the linear actuator s output shaft 72 may be directly connected to the base plate 48 This configuration allows for precise computer controlled height adjustments of the base plate 48 As a result the drive 50 is program mable to cause varying degrees of force to be exerted between the container body 12 and the lid 16 Data obtained from the feedback sensor 64 may also be used to make fine adjustments to the final position of the base plate 48 To obtain even better control of the force exerted between the container body 12 and the lid 16 a pressure sensor 76 may be associated within the drive 50 so that an immediate indication of the force may be detected and used for feed back control In this scheme a desired force is preset by the programmable controller 54 In operation the program mable controller 54 sends instruction data to the drive 50 to cause movement of the base plate 48 toward the chuck 44 The output of the pressure sensor 76 is continuously trans mitted to the programmable controller 54 and compared to the desired force The comparison data is used to set the final position of the drive 50 The pressure sensor 76 may be a strain gage attached to the linear actuator s output shaft 72 Alternatively the pressure sensor 76 may be an air pressure sensor if the linear actuator 70 is a pneumatic cylinder Controller driven drives provide significant advantages for the seaming machine 24 some of whic
19. 4 12 1 16 016 Low Lid Supply Missing Lid Prox Indicator 1 1 0 0 2 0 O 1 14 10 1V16 OW16 B3 5 File 2 File 2 4 F File 42 40 42 36 33 5 860 782 34 DISPLAYS Find Home ipa A l initiate Production l push button Count 1 1 0 45 1 Count Up Lic 0 Counter cs o iN IV16 Preset 5000 Accum 0 Resets Displays Production Production Count Count B3 C5 0 46 j RES 1 15 Vacuum Reading Indicator ist stage B3 p P a7t riMove 4 Source 2 136 ll l l 49 50 valve Hoist Lower output Relay View 0 2 0 23 L 1 F 14 11 OW16 48 Valve Hoist Stop Push Button on panel View B3 Valve Position indicator 0 2 0 1 1 11 13 OW16 SCANport Channel 1 Enable 0 4 0 0 OTHER 05 0 CIU RES cs 0 Clu RES 0 2 0 14 File 2 45 File 2 46 File 2 45 File 42 46 File 2 48 4 F File 2 48 35 5 860 782 36 Jog Input Motor jog indicator B3 7 Increment speed one Can Per Motor Auto Motor Jog or Manual Push Button on Indicator Panel View B3 51 HBqual 1 E Source A N7 0 6 ol Source B 1 pul Motor speed Control pe o 52 Htess Than or Eql A lt B Source A N7 1 18 Source
20. 6 t Copy File H 11 12 16 12 Scurce 9 40 0 5 0 5 File 2 3 HSTPl pest 0 5 0 N9 40 COP File 82 16 27 Length 8 N9 40 LEN 8 L OOP File 2 16 27 O 5 0 15 U File 82 1 FILE 0 5 0 LEN 8 OOP File 2 0 2 11 12 16 2nd opperation stepper Module config Error Second Stepper 1 Error Module Config 0 No Error file 1 6 0 0 6 0 OP File 42 17 19 17 Copy File H 21 23 27 13 Source N9 0f 0 6 0 5 File 2 20 HSTPl Dest 0 6 0 JN9 0 COP File 2 17 Length 8 FILE N9 0 LEN 8 COP File 2 0 17 0 6 0 15 U File 2 18 l FILE O 6 0 LEN 8 OOP File 2 17 19 21 23 27 2nd opperation 2nd opperation 2nd Operation stepper Module Stepper Module stepper Module l config Error Mode Type Mode Type I 1 Error 1 Config 1 Config l 0 No Error Command 0 Command l 6 0 1 6 0 0 6 0 9 6 0 COP File 2 17 19 lP 21 23 27 FILE 0 6 0 15 LEN 8 l P File 2 17 19 l 21 23 27 0 6 0 COP File 42 17 19 H 21 23 27 6 0 5 File 2 20 z N9 10 COP File 2 2 19 FILE 29 10 LEN 8 d COP File 2 2 19 _ Q 6 0 15 U File 2 18 FILE O 6 0 LEN 8 COP File 82 17 19 21 23 27 2nd Opperation 2nd opperation 2nd Opperation Stepper Module Stepper Module Stepper Module command Error Mode Type Command Mode Find Home 2nd O
21. Time Data file Hour Meter Indicator sequencer 2 sequencer l B3 ru es 1 HOV N7 70 MV File 2 H H Less Than A B Move H 57 58 4 Source A 7 Source A N7 72 Source ol EQU File 2 036 1 17 58 Source B 2 Source B 59 pest N7 70 B 1 N7 70 58 N7 72 59 Hour Meter One Shot Relay Hime Data file To Add to Hour Motor speed Display Display 23 ADD 7 7 ADD File 2 Hema orm src HH Source A 72 38 Source A 11 17 ll EN Source B 59 source B Il 15 io Dest 17 7 7 72 59 lI isf Time Data file 2 1 N7 72 MN File 2 HMove H ADD File 2 Source ol EQU File 2 l LES File 2 Dest N7 72 17 pl End of First Start First Opperation Opperation Begining Of Seam second Opper Prox Prox Low Lid Supply 1 1 0 1 1 0 0 2 0 0 2 0 8 File 2 T FI T d File 2 3 4 8 l IV16 116 Low Lid Supply 0 2 0 8 W16 160 END 59 57 58 58 55 56 55 56 59 59 57 59 58 56 57 56 57 60 60 5 860 782 39 I claim 1 A container seaming machine comprising a a seaming chuck for holding a lid firmly against an end of a container body during a seaming operation b a first seaming roller c a first drive connected to the first seaming roller for
22. United States Patent Campbell US005860782A 5 860 782 Jan 19 1999 11 Patent Number 45 Date of Patent 54 CONTAINER SEAMING APPARATUS AND METHODS 75 Inventor Robert H Campbell Brookhaven Pa 73 Assignee ABC Seamer Technologies Inc Aston Pa 21 Appl No 996 874 22 Filed Dec 23 1997 51 Intel eu eus B21D 51 26 53 USCS 413 6 413 27 413 31 58 Field of Search 413 2 3 4 5 413 6 7 31 40 41 43 27 26 53 334 338 488 486 485 56 References Cited U S PATENT DOCUMENTS 635 608 10 1899 Steward 648 037 4 1900 Leffler 1 862 290 6 1932 Anderson 2 150 002 3 1939 Link 413 5 X 2 216 082 9 1940 Kronquest et al 2 391 684 12 1945 Diezel 3 033 264 5 1962 Henrickson 4 633 553 1 1987 Chronis et al 4 662 153 5 1987 Wozniak 4 961 300 10 1990 Mihara et al 5 228 274 7 1993 De Man et al seeds 5 358 369 10 1994 Katou et al 413 27 OTHER PUBLICATIONS Cost Effective Conversion from Vacuum Packing to Gas Flushing Jescorp Packaging Machinery amp Electronics copyright dated 1996 downloaded from Jescorp website www jescorp com canco htm1 on Sep 8 1997 3 pages Product catalog description of 3 can seaming machines Irregular Can Seaming Machine BMT SPS 200 Round Can Seaming Machine SRS 200 Can Sea
23. aming roller with respect to the circumferential edge of the lid and the position of the seaming roller with respect to the container body and container lid during the rotation are coordinated to perform a seam ing operation 36 A method of seaming containers comprising the steps of a holding a container lid firmly against an end of a container body by using a seaming chuck 10 15 20 25 30 35 40 50 42 b positioning a seaming roller with respect to a circum ferential edge of the lid c rotating the seaming roller with respect to the chuck container body and container lid while simultaneously and independently positioning the seaming roller with respect to the circumferential edge of the lid to seam the lid to the container body 37 A method according to claim 36 wherein step b is performed by a first drive and step c is performed by a second drive the method further comprising the step of e programming a controller to independently control the first and second drive so that the drives are coordinated to perform a seaming operation and f outputting control data from the controller to control the first and second drives 38 A method according to claim 37 wherein steps a c are performed by a seaming machine the method further comprising the steps of g measuring seams of seamed container bodies and obtaining seam data h comparing the seam data to desired seam values and
24. arge or exit feed valve 28 each of which have respective inlets and outlets in fluid communication with the seaming station 14 The entrance feed valve 26 introduces the container bodies 12 to the vacuum chamber 22 of the seaming station 14 Vacuum begins to be pulled on the container bodies 12 as the container bodies 12 pass through the feed valve 26 The exit feed valve 28 removes the lidded sealed containers 18 from the seaming station 14 The region of FIG 1 labeled as 30 is a vacuum region the highest vacuum occurring in the vacuum chamber 22 Thus while not illustrated in FIG 1 the outlet of the entrance feed valve 26 and the inlet of the exit feed valve 28 are in fluid communication with each other and are sealed from the surrounding environment An integrated seaming mecha nism which has an entrance feed valve 26 a seaming station 14 under vacuum and an exit feed valve 28 is conventional and thus is not described in detail herein One example of such a mechanism is a CANCO 117 seaming machine made by Canco Greenwich Conn The feed valves 26 and 28 in such a mechanism use turrets to move the container bodies 12 from the valve inlets to the valve outlets The feed valves 26 and 28 may be similar to the feed valves in the Canco machine or they may be similar to feed valves of other types of conventional vacuum operated seaming mechanisms While the disclosed embodiment of the present invention seams under vacuum the vacuum envi
25. at has been developed to avoid having to seam in a vacuum environment while still obtaining a substantially air free container interior is a liquid nitrogen injection process In this process a container body having a sealed bottom is filled with contents Liquid nitrogen is then injected into the open top of a container body The liquid nitrogen immediately begins to vaporize and drives out substantially all of the air and thus substantially all of the oxygen from the container body The container body is then covered by a lid which may have a removable center foil seal and the lidded container body is delivered to a seaming machine which seams the lid to the container body The conventional liquid nitrogen injection process suffers from many problems One problem is that it is difficult to properly time the process so that at the exact time when the lid is seamed to the container body 1 substantially all of 5 860 782 11 the air has been displaced so that the sealed container has less than about 2 oxygen 2 all of the liquid nitrogen has vaporized and 3 no surrounding air has flowed back into the container body Referring to condition 1 if substan tially all of the air is not displaced the seamed container will have significant quantities of oxygen trapped therein which will accelerate spoilage of the contents Referring to condi tion 2 if all of the liquid nitrogen is not displaced when the container is seamed the vap
26. because air is free to flow back into the container body if all of the liquid nitrogen vaporizes before the container body has reached the seaming mechanism and because a bulge may form in a container if the container body is seamed before all of the liquid nitrogen has vapor ized By freeing the process from the need for tight timing control it is possible to improve the final results of the process e g less bulging containers less likelihood of high oxygen levels while reducing its complexity Furthermore the process 100 requires substantially less liquid nitrogen than conventional filling processes A con ventional filling process typically calls for filling container bodies with substantially more liquid nitrogen than is nec essary to displace the air therein because the vaporization and air displacement occurs in an open environment 1 6 no lid Accordingly much of the nitrogen gas escapes from the container body throughout the displacement process Also ambient air constantly enters the container body throughout the displacement process thereby adding to the total amount of ambient air that must be displaced To compensate for these two factors a significant quantity of extra liquid nitrogen must be injected to ensure that there is a sufficient amount of vaporizing liquid nitrogen so that the resultant sealed container has less than about 2 oxygen In contrast to conventional liquid nitrogen filling processes the amount of
27. d to allow a new container body 12 to be placed on the base plate 48 The base plate drive 50 is independently controllable from the roller drives 40 and 42 and from the chuck drive 46 as described in more detail hereafter In an alternative embodiment of the invention the base plate 48 is fixed and the chuck 44 moves vertically down ward to hold the container body 12 and lid 16 firmly together against the base plate 48 In this alternative embodiment the drive 50 would be linked via the shaft 52 to the chuck 44 In the preferred embodiment of the invention shown in the figures the seaming rollers 32 and 34 do not move vertically Accordingly when a container body is properly positioned in the seaming machine 24 it is only necessary to move the seaming rollers 32 and 34 toward the center axis of a container body 12 to properly position the rollers 32 and 34 to perform a seaming operation However if the fixed base plate alternative embodiment is used it would be necessary to either link the seaming rollers 32 and 34 and related parts together with the vertically movable chuck 44 to obtain the proper vertical position for the seaming rollers 32 and 34 for the particular container height or it would be necessary to independently move the seaming rollers 32 and 34 in a vertical direction using drives similar to the drive 50 The lid 16 is placed on the top end of the container body 12 before the two items enter the feed valve 26 The mec
28. data from the programmable controller 54 related to the desired position of the seaming roller 34 with respect to the circum ferential edge of the container body 12 and the container lid 16 and an output The output of the servomotor 68 is connected to the linear actuator 70 which translates the servomotor output The linear actuator 70 has an output shaft 72 which is pivotally connected to one end of a linking plate 74 The other end of the linking plate 74 is fixedly secured to the top surface of the roll shaft 38 Another linking plate 88 is fixedly secured at one end to the bottom surface of the roll shaft 38 and at the other end to the seaming roller 34 In this manner movement of the output shaft 72 out of the linear actuator 70 causes rotation of the roll shaft 38 in a counterclockwise direction which in turn causes the seam 10 15 20 25 30 35 40 45 50 55 60 65 8 ing roller 34 to move toward the center axis A of the container body 12 FIG 2 shows the seaming roller 34 in contact with the circumferential edge of the lid 16 and thus in the position for performing a seaming operation Likewise movement of the output shaft 72 into the linear actuator 70 causes rotation of the roll shaft 38 in the clockwise direction which in turn causes the seaming roller 34 to move away from the center axis A of the container body 12 During a seaming operation the seaming roller 34 rotates about its center ax
29. ddo js uesoo 20S 4 uo sr 8 uojng usng Aiejuswiow weas ddo js 86 Kays euiino uoinsod awen 0 queny Bey al sjueursn pe 9000 js p p uaaias Asewwns u iSc C EE tee NO TIO NOIL V amp zdO GNC d Ld VAS NYS NOILISOd NOllVH3dO NOILVH3dO qs AV3S 3 1 19 15 N3S001 16 4 N31H9LL 5 860 782 Sheet 9 of 13 Jan 19 1999 U S Patent ed uo uo 8p v9 v9 ed f uo uo o 8 Ld uo uo 8t og a JO uo gt sc sc ozz 014 uo uo 8p 8v v9 6 JO uo 9 soL JO pz o 4914 yono MAA suino uonisod uojng ysng Aieyuawow uoyng usng Aseyuawoy uojng usng Areyuawoy xal 10 23 8S UaaIDS 65 0 ejeg ouawny qx 1 WEN 12 qo Aiguluins ue8ajog dos 10104 098 weas ddo puz uasoo 09 weas ddo puz uay 99 269 5 i 88S pul weas puosas 88 GZS aureN Bey al sjuaurnsnfpe addo puz uaal2s Eod HHH 4 l4 WYJS Vas NOILISOd NOLLVH3dO NOLLVH3dO WVS LN3HMHDO 000935 38001 10010939 N3LHOIL 5 860 782 Sheet 10 of 13 Jan 19 1999 U S Patent ed uo uo td d UO
30. ent of the present invention is implemented using an SLC 500 programmable controller equipped with preferably two Stepper Controller Modules The SLC 500 programmable controller and the Stepper Controller Modules are both available from Allen Bradley Milwaukee Wis The output of the Stepper Controller Module provides the control data for the respective drives Asystem overview of the SLC 500 family of programmable controllers is available from Allen Bradley and has Publi cation No 1747 2 30 A User s Manual for the Stepper Controller Module is available from Allen Bradley and has Catalog No 1746 HSTP1 Alternatively one or three or more Stepper Controller Modules may be used depending upon the needs of the overall system One preferred configuration of the SLC 500 program mable controller has the following components SLC 500 Modular Controller with an SLC 5 03 processor Memory Module Catalog No 1747 M1 12K Words Power Supply Catalog No 1746 P2 24 VDC 16 input Discrete Input Module Catalog No 1746 IV16 120 240 VAC 16 output Discrete Output Module Catalog No 1746 OA16 VAC VDC Relay 16 output Discrete Output Module Catalog No 1746 OW16 I O Analog Module NIO4I and NIO4V Operator Terminal 2711 PanelView 550 Operator Terminal Panelbuilder 550 Software Remote communication module 1746 BAS Basic Mod ule or 1747 KE Interface Module The 1746 BAS Basic Module provides limited remote capability The 1747
31. er data 6 A machine according to claim 5 wherein the position instructions for the first drive are adjustable while the machine is in operation thereby causing a new set of position instructions to be output from the controller without having to stop the machine 7 A machine according to claim 5 wherein the input is an operator input device associated with the controller 8 A machine according to claim 5 wherein the input is adapted to receive the diameter from an automated measur ing device 9 Amachine according to claim 4 wherein the controller includes an input for receiving feedback data regarding seamed containers the position instructions for the first drive being adjustable based on the feedback data 10 A machine according to claim 9 wherein the position instructions for the first drive resulting from the feedback data are adjustable while the machine is in operation thereby causing a new set of position instructions to be output from the controller without having to stop the machine 11 Amachine according to claim 3 wherein the controller is programmable to output a plurality of different sets of instructions each set of instructions relating to a specified container body size and including position instructions for the first drive and rotation instructions for the second drive 12 A machine according to claim 11 wherein the con troller has an input for allowing the container size to be changed while the machine is in
32. g machine 24 is described with respect to only a single seaming roller and drive particularly seaming roller 34 and its corresponding drive 42 The remaining discussion of these components is equally applicable to the seaming roller 32 and its drive 40 Also the position coordination of two seaming rollers with respect to each other which is required to create a double seam is well known and thus not described in detail herein However the process generally works as follows 1 The first roller is brought into contact with the lid and begins to roll the lid and the container body While the first roller is contacting the lid the second roller is not in contact with the lid 2 Next the first roller is moved away from and out of contact with the lid and the second roller is brought into contact with the lid to complete the seam 3 When the seam is completed the second roller is moved away from the lid FIGS 2 4 show detailed views of one preferred embodi ment of the drive 42 and its linkages to the seaming roller 34 Referring to FIG 2 4 the drive 42 is linked via the roll shaft 38 to the seaming roller 34 The roll shaft 38 is rotatable about its center axis The roll shaft 38 rotates within a bushing not shown of a shaft housing 84 The shaft housing 84 is fixed to a housing 86 of the seaming machine 24 The drive 42 includes a servomotor 68 and a linear actuator 70 The servomotor 68 has an input for receiving control
33. h are discussed below It is sometimes desirable to spot clinch containers during a seaming operation Spot clinching is performed on a seaming machine by intermittently engaging and disengag 5 860 782 9 ing the seaming rollers from a seaming position during rotation of the seaming rollers with respect to the chuck container body and lid It is difficult if not impossible to use a conventional seaming machine for both spot clinching and complete airtight seaming In one known technique a rail substation is used when spot clinching with a conventional seaming machine The seaming machine 24 is easily adaptable to spot clinching and to a combination of spot clinching and complete seaming operations To perform spot clinching it is only necessary to program the controller 54 with seaming roller engaging and disengaging instructions during rotation of the seaming chuck drive 46 For example if four clinches are desired the controller 54 would be programmed to engage the seaming roller 34 at 0 90 180 and 270 Since the seaming roller 34 is controlled independent of the seaming chuck drive 46 it is not necessary to make any internal adjustments to the seaming machine 24 to perform spot clinching to mix spot clinching and complete seaming operations in the same machine or to perform spot clinching followed by complete seaming on the same container Preferred Components of Programmable Controller 54 One preferred embodim
34. hanism for placing the lids 16 on the succession of container bodies 12 is not shown in FIG 1 In the embodi ment of the invention which does not seam in a vacuum environment the lid 16 is placed on the container body 12 before the two items are placed on the base plate 48 To allow for independent controlling of the respective drives the assembly line 10 preferably includes a program mable controller 54 which executes a programmable logic 10 15 20 25 30 35 40 45 50 55 60 65 6 control PLC program stored therein A sample PLC program shown as a ladder diagram appears in the Appen dix Based on the program control data is output from the controller 54 and sent to the respective drives 40 42 46 and 50 One purpose of the programmable controller 54 is to appropriately position the seaming rollers 32 and 34 with respect to the circumferential edge of the lid 16 during rotation of the container body 12 lid 16 and chuck 44 so as to perform a seaming operation Another purpose of the programmable controller 54 is to control the base plate drive 50 so that the base plate 48 is lifted to the appropriate final position The program thus coordinates the seaming opera tion in accordance with the stored program and thereby replaces conventional mechanical linkages which perform similar functions The programmable controller 54 includes an operator input panel 56 for allowing at least some of the operating va
35. id the servomotor having an output ii a linear actuator for translating the servomotor output to cause movement of the first seaming roller 24 A machine according to claim 23 wherein the servo motor is a stepper motor 25 A machine according to claim 23 wherein the linear actuator is a ball screw mechanism 26 A machine according to claim 23 wherein the linear actuator is a pneumatic cylinder 27 A machine according to claim 1 further comprising e a second seaming roller a third drive connected to the second seaming roller for positioning the second seaming roller with respect to the circumferential edge of the lid wherein the third drive is independently controllable from the first and the second drives 5 860 782 41 28 A machine according to claim 27 wherein the first seaming roller begins to roll the lid and the container body and the second seaming roller completes the seam the first drive and the third drive being coordinated to position the first and second rollers with respect to the circumferential edge of the lid to cause the first and second seaming rollers to form a double seam 29 A machine according to claim 1 wherein the first and second drives are independently controllable while the machine is in operation 30 A machine according to claim 1 wherein the second drive causes rotation of the seaming chuck thereby causing rotation of the container body and container lid 31 A machine accordi
36. id by using a seaming roller The machine includes a seaming chuck a base surface a drive and a pressure sensor The seaming chuck holds the lid 10 15 25 40 45 50 55 60 65 2 firmly against an end of the container body during a seaming operation The other end of the container body is placed on the base surface The drive causes the base surface to move toward the seaming chuck so that the end of the container body and the lid are held firmly against the seaming chuck and so that the container body and lid are in position for performing the seaming operation The end of the container body and the lid exert a force against each other which is determined by the final position of the drive In this manner the final position of the drive is adjustable so that the drive may cause varying degrees of force to be exerted between the container body and the lid The pressure sensor is associated with an output of the drive The pressure sensor measures the force exerted between the container body and the lid The measured force is used to determine the final position of the drive Another embodiment of the invention provides a process to displace air from containers prior to seaming a lid to a container In the process a container body is filled with contents and is then injected with liquid nitrogen A lid is immediately placed on the container body and a biasing force is immediately applied against the lid to maintain the
37. ine according to claim 17 wherein the height data is received from an operator input device associated with the controller 20 A machine according to claim 17 wherein the position instructions for the third drive are adjustable while the machine is in operation thereby causing a new set of position instructions for the third drive to be output from the controller without having to stop the machine 21 A machine according to claim 15 wherein the con tainer body has another end the machine further comprising a base surface for placing the other end of the container body thereon the third drive causing the base surface to move toward the seaming chuck so that the end of the container body and the lid are held firmly against the seaming chuck 22 A machine according to claim 15 wherein the third drive includes i a servomotor for receiving control data related to the desired vertical position of the container end with respect to the first seaming roller the servomotor having an output and ii a linear actuator for translating the servomotor output to cause the appropriate vertical movement of the container end with respect to the first seaming roller prior to a seaming operation 23 A machine according to claim 1 wherein the first drive includes i a servomotor for receiving control data related to the desired position of the first seaming roller with respect to the circumferential edge of the container body and the container l
38. is in a conventional manner To obtain precise control of the drive 42 the servomotor 68 is preferably a stepper motor which accepts control data from a programmable controller and the linear actuator 70 is preferably a ball screw mechanism Alternatively the linear actuator 70 may be a pneumatic cylinder Such servomotor and linear actuator combinations 68 and 70 are well known to those skilled in the art Accordingly further description thereof is omitted for purposes of brevity and convenience only and is not limiting Poor seams are sometimes the result of insufficient or excessive force being applied between the container body 12 and the lid 16 during the seaming operation Also when the container bodies 12 are made of cardboard or a soft poly meric material excessive force may cause crushing or bulging of the seamed container sidewalls All of these problems can be minimized or eliminated by the present invention Referring to FIG 1 the drive 50 associated with the base plate 48 is preferably similar to the drive 42 and thus also includes a servomotor 68 and a linear actuator 70 However the output shaft 72 of the linear actuator 70 associated with the drive 50 is directly connected to the shaft 52 which extends from the base plate 48 The connection is along a common vertical axis In FIG 1 the shafts 52 and 72 appear as one continuous shaft even though there are actually two shafts linked together Alternatively the shaft 5
39. lid There are typically two seaming rollers on a seaming machine used for food products The two seaming rollers form a sanitary seam called a double seam 10 15 20 25 30 35 40 45 50 55 60 65 4 between the container body and the lid The first roller begins to roll the lid and the container body forming a first operation roll seam and the second roller completes the seam forming the second operation roll seam The resultant seam is airtight The seaming machine 24 has two such seaming rollers 32 and 34 linked to respective seaming roll shafts 36 and 38 The rollers 32 and 34 are of conventional design and thus not described in detail herein The shafts 36 and 38 are described in detail below While the seaming machine 24 has two seaming rollers the present invention is equally appli cable to a seaming machine which has only one seaming roller Conventional seaming rollers are positioned by mechani cal cams controlled by mechanical drives gear trains and the like all of which are carefully coordinated and interlinked with the second drive that rotates the container body with respect to the seaming rollers To change the settings of a conventional seaming machine such as to accommodate a different container diameter or to correct a seam out of tolerance condition the entire machine must be shut down and a very time consuming resetting procedure must be performed A changeover to a different co
40. lid on the liquid nitrogen filled container bodies until the container body reaches the seaming mechanism The biasing force is sufficient to allow a portion of nitrogen gas from vaporization of the liquid nitrogen to escape from the container body and to allow air originally present in the container body to escape from the container body while preventing surrounding air from entering the container body The biasing force is applied for a period of time which is sufficient to allow substantially all of the liquid nitrogen to vaporize and thereby displace substantially all of the air originally present in the container body The biasing force may be applied by a spring loaded rail An apparatus for performing this process is also provided BRIEF DESCRIPTION OF THE DRAWINGS The foregoing summary as well as the following detailed description of preferred embodiments of the invention will be better understood when read in conjunction with the appended drawings For the purpose of illustrating the invention there are shown in the drawings embodiments which are presently preferred It should be understood however that the invention is not limited to the precise arrangements and instrumentalities shown In the drawings FIG 1 is a schematic illustration of an assembly line process which uses a container seaming machine in accor dance with the present invention FIG 2 is an enlarged front elevational view of a portion of the seaming machine
41. liquid nitrogen 114 required by the process 100 of FIG 6 is an amount which is only slightly greater than the amount sufficient to displace substantially all of the air which is originally in the container body 12 The amount must be slightly greater to account for some leakage as the container bodies travel between the second station 112 and the third station 114 and between the third station 114 and the lid holder 120 An alternative embodiment of FIG 6 may use a clincher as the lid holder 120 The force applied by the clincher would meet the same criteria as the force applied by the spring loaded guide rail 122 discussed above To further enhance the efficiency of the process 100 the container bodies 12 may optionally be heated from below during step 4 to drive out 1 9 vaporize all of the liquid nitrogen 114 The preferred embodiment of the invention uses liquid nitrogen as the oxygen displacing gas However the scope of the invention includes processes which use other inert gases in place of some or all of the liquid nitrogen Retrofit of Conventional Seaming Machine The present invention is preferably implemented by designing a seaming machine which has independently 5 860 782 13 controlled drives for the seaming chuck and for the seaming rollers However the scope of the invention also includes conventional seaming machines both vacuum and non vacuum environment machines which are retrofitted with independently co
42. lues to be entered into the program and a display 58 for interfacing with the operator during inputting and for com municating operating status The programmable controller 54 may optionally receive input data from automated mea suring devices or sensors placed along the assembly line 10 For example there may be a container body diameter sensor 60 and a container height sensor 62 located prior to the seaming station 14 Data from these sensors may be used in place of an operator input values or preset values to set parameters of the program which will control the drives In particular the diameter sensor 60 may be used to control the roller drives 40 and 42 and the chuck drive 46 whereas the height sensor 62 may be used to control the base plate drive 50 Roller drives 40 and 42 may periodically require fine position adjustments due to wear at contact surfaces or due to play in linkage components An additional feedback sensor 64 may be located after the seaming station 14 to obtain data regarding the quality of the seam e g its width body hook and cover hook of seamed containers 18 The feedback data may be analyzed compared to desired values and used to make the fine position adjustments to the appropriate drives Seamed containers may also be manually examined by quality control personnel and based upon visual inspection fine position adjustments may be manu ally entered into the operator input panel 56 Each production run of c
43. machine running l Speed E N7 54 COP File 2 4 4 M Copy File H DIV File 2 10 Source 1 4 3 scp File 2 5 Dest N7 54 Length i Scale function l to control l Velocity of I Stepper s N9 24 OP File 2 8 5 scale w Parameters SCP File 2 5 Input N7 54 FILE N9 24 LEN 8 32395 P File 2 11 Input Min O FILE N9 24 LEN 1 COP File 2 8 mput Max 16383 N7 54 COP File 2 4 ll DIV File H2 10 Scaled Min SCP File 2 5 FILE N7 54 LEN 1 scaled Max 30 COP File 2 4 joutput N9 24 l 59 AS 17 5 860 782 18 Velocity for 2nd opperation Stepper roe copy File Source Dest Length 4 Start First Speed A 2 CALLING Opperation For Accel Seam Time on the Prox Stepper Modules Ing r 1 6 1 Compute H 3 Dest 9 26 6 7761 Expression i 0 086 N7 2 2 0 0 387 1 N9 26 COP File 42 9 Speed Scalling Speed Scalling jFor Accel For Accel Time on the Time on the Stepper Modules Stepper Modules LEQ 4 7HLess Than or Eql A B Move H Scurce A N9 26 Source 1 776 Source B 1 Dest N9 26 l 776 e N9 26 7 send velocity setting to h N9 24 49 54 1 oo Ucopy File Source pest N9 64 oul direc
44. ming Machine SRS 200 SB with Control Unit BMT P 200 for Round Cans downloaded from Bubber Machine Tools website www optimal india com bubber catalog htm on Sep 8 1977 3 pages Assembly view vertical cross section thru valves and hoist of CANCO 117 seaming machine Canco Greenwich Con necticut date unknown 1 page numbered 53 Catalog pages for Step Motor Drivers Introduction to Step Motor Drivers SD8055 Microstep Motor Driver SD8055 Installation AMCI pp 4 and 10 17 List continued on next page Primary Examiner James F Coan Attorney Agent or Firm Panitch Schwarze Jacobs amp Nadel P C 57 ABSTRACT A container seaming machine has a first drive for positioning a seaming roller with respect to a circumferential edge of the lid and a second drive for rotating the seaming roller with respect to a container lid chuck container body and con tainer lid The first drive and the second drive are indepen dently controllable from each other and each drive is controlled and coordinated by a programmable controller to seam the lid to the container body Another drive also controlled by the programmable controller lifts the con tainer body toward the chuck and allows for varying degrees of force to be exerted between the container body and the lid The drives use servomotors and linear actuators for precise positioning control A process for displacing air from con tainers prior to seaming a lid to a con
45. nd lid In either configuration the first and second seaming roller drives 40 and 42 are independently control lable from the drive which rotates the seaming rollers 40 and 42 with respect to the chuck In the disclosed example of the present invention the first and second seaming roller drives 40 and 42 are thus independently controllable from the drive 46 that rotates the chuck 44 as described in more detail hereafter The seaming machine 24 also has a vertically movable base surface or base plate 48 for receiving the container body 12 and for lifting it towards the chuck 44 The base plate 48 is lifted by a base plate drive 50 which is linked via shaft 52 to the base plate 48 In use a container body 12 and an unattached lid 16 resting on the top end of the container body 12 are placed on the base plate 48 and the container body 12 and unseamed lid 16 move toward the chuck 44 a predetermined vertical distance until the top end of the container body 12 and lid 16 are held firmly against the chuck 44 The top end of the container body 12 and the lid 16 thus exert a force against each other which is determined by the final position of the base plate 48 as determined by the action of the drive 50 The container body 12 lid 16 and chuck 44 remain in the final position during the seaming operation After the seaming operation is completed the base plate drive 50 moves the base plate 48 downward to allow the lidded container 18 to be released an
46. ng to claim 1 further comprising e a programmable controller for independently control ling the first and the second drive so that the position of the first seaming roller with respect to the circumfer ential edge of the lid and the position of the first seaming roller with respect to the container body and container lid during the rotation are coordinated to perform a seaming operation 32 A machine according to claim 1 further comprising e a programmable controller for independently control ling the first and second drive so that the drives are coordinated to perform a seaming operation 33 A machine according to claim 1 wherein the first drive includes a linear actuator for causing movement of the first seaming roller 34 A container seaming machine comprising a a seaming chuck for holding a lid firmly against an end of a container body during a seaming operation b a first drive for causing rotation of the seaming chuck thereby causing rotation of the container body and container lid c a seaming roller and d a second drive connected to the seaming roller for positioning the seaming roller with respect to a circum ferential edge of the lid the first drive and the second drive being independently controllable from each other 35 A machine according to claim 34 further comprising e a programmable controller for independently control ling the first and the second drive so that the position of the se
47. ns may be generated using a PV550 Keypad and Touch Screen with software version FRN 2 00 2 xx available as Allen Bradley Catalog Part no 2711 B5A3 Nn WwW N Components of Drives 40 42 50 One family of drives which are suitable for use as the drives 40 42 and 50 are the ET Series Electro Thrust Electric Cylinder available from Parker Motion amp Control Parker Hannifin Corporation Automation Actuator Division Wadsworth Ohio Each of these drives have a ball screw and a stepper motor Rotations for Seaming Operation One preferred embodiment of the invention requires a total of five container revolutions to seam a container 2 revolutions for the first initial seam and 2 revolutions for the second final seam The precise number of revolutions depends upon a myriad of factors including the desired properties of the containers and the seams Liquid Nitrogen Injection Many types of containers are seamed under vacuum so that the container interiors have substantially no air after they are seamed In this manner the container contents cannot become spoiled by exposure to oxygen in air trapped in the sealed container Nuts are one product which is easily spoiled by exposure to oxygen Seaming machines which operate in a vacuum environment such as the seaming machine of FIG 1 are complex expensive and difficult to operate compared to seaming machines which do not oper ate in a vacuum environment One technique th
48. ntainer diameter may take several hours Furthermore conventional seaming machines typically require thousands of dollars of change parts to handle a different container sizes One important feature of the present invention is that the seaming rollers 32 and 34 are positioned by drives that are independently controllable from or independent of the drive that rotates the seaming rollers 32 and 34 with respect to a circumferential edge of the lid 16 to be seamed to the container body 12 That is the two drives are separate mechanically unlinked motive means There are no mechanical cams Adjustments may be made to one drive without affecting the other In this manner the seaming roller drive or seaming roller drives if there are two seaming rollers may be positioned more easily and without having to shut down the machine or adjust any gears or the like within the seaming machine The seaming roller drives may even be adjusted while the seaming machine is in operation i e on the fly and without having to stop the seaming machine at all Furthermore different container sizes may be run through the same seaming machine with a minimum of extra tooling The seaming roller drives must be coordinated with the drive that rotates the seaming rollers 32 and 34 with respect to a circumferential edge of the lid 16 to be seamed to the container body 12 In the present invention this coordina tion is performed by a controller preferably a p
49. nto the container before the lid is seamed on It is very difficult to achieve the precise timing Accordingly there is a need for seaming machines and processes which overcome the problems discussed above BRIEF SUMMARY OF THE INVENTION A container seaming machine is provided which includes a seaming chuck a seaming roller and a first and a second drive The seaming chuck holds a lid firmly against an end of a container body during a seaming operation The first drive is connected to the seaming roller and positions the seaming roller with respect to a circumferential edge of the lid The second drive causes rotation of the seaming chuck thereby causing rotation of the container body and container lid The first drive and the second drive are independently controllable from each other A programmable controller provides the separate control and coordination of the two drives A method of seaming a lid to a container body by using the container seaming machine is also provided The first drive may include a servomotor and a linear actuator The servomotor receives control data related to the desired position of the seaming roller with respect to the circum ferential edge of the container body and the container lid The linear actuator translates a servomotor output to cause movement of the seaming roller Another embodiment of the invention provides a con tainer seaming machine for performing a seaming operation on a container body and l
50. ntrollable drives A conventional seaming machine has a single motor but two power takeoffs one for the drive which rotates the seaming roller with respect to the chuck and one for the drive s which control the position of the seaming rollers with respect to a circumferential edge of the lid In one suitable retrofit method the drive which rotates the seaming roller with respect to the chuck becomes directly controlled by the programmable controller 54 and new drives which are also directly controlled by the programmable controller 10 14 54 are installed to control the position of the seaming rollers with respect to a circumferential edge of the lid Alternatively a new drive is also installed to rotates the seaming roller with respect to the chuck In addition another drive also directly controlled by the programmable control ler 54 is installed to control container body lifting if precise control of the lifting process is desired It will be appreciated by those skilled in the art that changes could be made to the embodiments described above without departing from the broad inventive concept thereof It is understood therefore that this invention is not limited to the particular embodiments disclosed but it is intended to cover modifications within the spirit and scope of the present invention as defined by the appended claims 5 860 782 15 16 APPENDIX Configuration Error Steppe
51. ody and the lid Conventional seaming rollers are positioned by mechani cal cams controlled by mechanical drives gear trains and the like all of which are carefully coordinated and interlinked with a drive that rotates the container body with respect to the seaming rollers Due to the complex linkages uses in conventional seaming machines and reliance on primarily mechanical drives it is very time consuming to make adjustments to a seaming machine when the machine becomes out of tolerance or if a different size container is used For example it may take as long as an entire workday as well as the swapping of parts to change a machine if a different container size is used The changeover results in lost production time and requires skilled hard to find machine operators A conventional seaming machine by virtue of its inherent design is also limited in the range of different container sizes that it can be adjusted to handle When packaging goods which spoil due to exposure to air the air is removed from the container before the lid is sealed thereon One process for removing the air and which avoids the necessity to seam under a vacuum is to inject liquid nitrogen into the container before the lid is seamed onto the container As the liquid nitrogen vaporizes the resultant nitrogen gas drives out the air This process requires precise timing to ensure that substantially all of the liquid nitrogen vaporizes and that no air leaks back i
52. of FIG 1 FIG 3 is a top plan view of a seaming roller drive for the seaming machine of FIG 2 taken along line 3 3 of FIG 2 FIG 4 is an elevation view of the seaming roller drive of FIG 3 taken along line 44 of FIG 3 FIGS 5A 5H are sample display screens and their respective screen summary reports for a programmable controller which is shown in FIG 1 and which controls the seaming machine of FIG 1 and FIG 6 is a schematic illustration of an assembly line process for removing air from containers prior to seaming the containers in accordance with the present invention DETAILED DESCRIPTION OF THE INVENTION In the drawings the same reference numerals are employed for designating the same elements throughout the several figures 5 860 782 3 FIG 1 shows an assembly line 10 for moving content filled container bodies 12 through a seaming station 14 which seams lids 16 to the container bodies 12 to form lidded sealed containers 18 The assembly line 10 includes a conveyor 20 for moving the container bodies 12 and the seamed containers 18 The seaming station 14 defines a vacuum chamber 22 having a seaming machine 24 therein The individual components of the seaming machine 24 are described in detail below The container seaming machine 24 described herein seams lids to container bodies under a vacuum state To accomplish this task the assembly line 10 further includes an inlet or entrance feed valve 26 and a disch
53. ontainers requires specific drive instructions based upon the container size e g diameter and height and desired qualities of the seam e g width body hook and cover hook These factors are processed by the programmable controller 54 and used to create a set of instructions The set of instructions are used to output drive control data for each of the seaming machine drives For example a container body having a three inch diameter and a six inch height requires a first set of instructions including position instructions for the roller drives 40 and 42 to appropriately position the seaming rollers 32 and 34 rota tion instructions for the chuck drive 46 and final position instructions for the base plate drive 50 whereas a container body having a two inch diameter and a four inch height requires a second set of instructions that will be completely different from the first set of instructions The set of instructions may be initiated at the start of a production run of similar containers to be seamed in the same manner Alternatively the set of instructions may be modified during the production run based upon feedback data from the sensor 64 Another alternative embodiment uses the diameter and or height sensors 60 and 62 to define a new set of instructions on the fly without having to stop the seaming machine 24 In this manner a single production run may include containers of different sizes and or seam types 5 860 782
54. orized nitrogen gas from the remaining liquid nitrogen will become trapped inside the container and will cause the container to visibly bulge Consumers will not purchase visibly bulging containers assuming that the contents are spoiled or defective Refer ring to condition 3 if the container body is not seamed immediately after all of the liquid nitrogen has vaporized the surrounding air will start to flow back into the container thereby displacing a portion of the nitrogen gas The result ant seamed container will contain a significant quantity of oxygen which will accelerate spoilage of the contents Another problem with the conventional liquid nitrogen injection process is that it is very wasteful of liquid nitrogen primarily because the vaporization and air displacement process occurs in an open environment 1 6 no lid is on the container body FIG 6 shows an assembly line process 100 which uses liquid nitrogen injection in accordance with the present invention to pack goods in seamed containers Each con tainer has a container body 12 and a lid 16 which are seamed together by a seaming mechanism of a machine 102 typically a seaming machine located at the end of assem bly line process 100 Each container body 12 has a sealed bottom and an open top as it enters a conveyer 104 which moves the container body 12 through the assembly line process 100 The assembly line process 100 comprises the following sequential steps which are
55. peration Stepper Module Command Mode Command Mode Invalid Invalid Roll Position Position Position validated l 1 5 0 1 6 0 B3 E Vi 17 O 4 10 10 3 l HSTPl HSTPl l Stepper Modules Fault Condition To Stop Main SCANport 1 Drive Motor on Frequency Indicator Machine Reference B3 B3 MO N20 0 MOV File 2 38 Move H MUL File 2 52 4 24 Source N20 0 36 35 6138 56 0 4 3 32736 u 39 Stepper Modules Fault Condition To Stop Main SCANport 1 Drive Motor on Start Command Indicator Machine Bit B3 B3 0 4 2 1 1 4 24 1 36 35 OTHER Motor Stop Motor Jog push Button on Push Button on Motor Stop Panel View Panel View Indicator B3 B3 B3 H br T 1 1 6 5 Indicator BB 1 4 36 Command Mode Invalid Position l 15 0 10 mm 2nd Opperation I stepper Module l Command Mode i Invalid l Position I 6 0 I l ry n 10 HSTP1 Reset Fault l Motor Stop Command to l push Button on SCANport Panel View Channel 1 E B3 0 4 2 43 44 31 5 860 782 32 Indicator Bit H B3 0 4 2 F i 5 0 40 OTHER I Stepper Modules Fault Condition To Stop Main Drive Motor on Machine 23 24 35 Low Lid Supply Main Drive Prox Slip Clutch j I 1 0 0 2 0 1 gt 1 1
56. positioning the first seaming roller with respect to a circumferential edge of the lid and d a second drive for causing rotation of the first seaming roller with respect to the chuck container body and container lid the first drive and the second drive being independently controllable from each other 2 Amachine according to claim 1 wherein the first drive adjustably positions the first seaming roller toward and away from a center axis of the container body thereby positioning the first seaming roller with respect to the circumferential edge of the lid 3 A machine according to claim 2 further comprising e a controller for independently controlling the first and the second drive so that the position of the first seaming roller with respect to the circumferential edge of the lid and the position of the first seaming roller with respect to the container body and container lid during the rotation are coordinated to perform a seaming opera tion 4 A machine according to claim 3 wherein the controller is programmable to output a set of instructions for a speci fied container body diameter the instruction including posi tion instructions for the first drive and rotation instructions for the second drive 5 A machine according to claim 4 wherein the controller includes an input for receiving data regarding the diameter of container bodies to be seamed the position instructions for the first drive being adjustable based on the diamet
57. pperation 1 Error 1 Config Invalid initiate Stepper Module 0 No Error 0 Commend Position push button Find Home 4 1 6 0 1 6 0 1 6 0 1 1 0 0 6 0 0 6 0 COP File 2 17 19 29 4 9 M E 4 F IT Vn i 21 23 27 12 15 10 I 5 FILE 0 6 0 5 LEN 8 HSTP1 HSTP1 HSTPL 116 HSTPl Cop File 2 17 19 21 23 27 validate Roll position B3 2 2nd opperation 2nd Opperation 2nd Opperation End of First Stepper Module Stepper Module Stepper Module Opperation Mode Type command Error Command Mode Begining Of Second Stepper 1 Config 1 Error Invalid second Opper 2nd Opperation Module Config 0 Command 0 No Error Position Prox No Seam Relay file 1 6 0 1 6 0 1 6 0 1 10 B3 OP 0 6 0 OP File 82 17 19 21 Ul Vi E ory site H 21 23 27 15 12 10 4 25 Source N9 50 6 0 5 File 2 20 HSTPL HSTPl HSTPl 116 22 Dest 0 6 0 0 6 0 15 U File 2 Length aj 18 FILE 0 6 0 LEN 8 0 6 0 OP File 2 17 19 21 23 27 5 860 782 23 24 Takes 2nd Opperation Roll 2nd Opperation Off Seam No Seam Relay B3 B3 B3 25 File 2 22 22 B T GO r1 A F File 2 21 17 25 2n Opperatien Roll Off Seam Relay B3 a i 18 2nd Opperation Stepper Module 2nd Opperation command Error Stepper Module End of 2nd Second Stepper 1 E
58. r Module 1 Error Configuration 0 No Error file 1 5 0 OP 0 5 0 File 2 0 2 0 Copy File H 11 12 16 13 Source N9 0 0 5 0 5 File 2 3 HSTPl Dest 0 5 0 N9 0 COP File 2 0 17 Length 8 N9 0 IEN 8 COP File 2 0 17 0 5 0 15 U File 2 1 FILE 0 5 0 LEN 8 COP File 2 0 2 11 12 16 Configuration Error Mode Type Mode Type 1 Error 1 Config 1 Config No Error 0 Command 0 Command I 5 0 1 5 0 0 5 0 0 5 0 COP File 2 0 2 1 1 0 1 11 12 16 13 15 15 FILE 0 5 0 15 LEN 8 HSIPl HSTPl HSTPL COP File 2 0 2 11 12 16 Command Mode Stepper Module Invalid Configuration Position file 1 5 0 OP 0 5 0 File 2 0 2 2 H copy File H 11 12 16 10 Source 9 10 0 5 0 5 File 2 3 HSTPl Dest 0 5 0 N9 10 COP File 42 2 19 Length 8 FILE N9 10 LEN 8 ips COP File 42 2 19 5 5 0 15 U File 2 1 FILE O 5 0 LEN 8 OOP File 2 0 2 11 12 16 Gormand Error Mode Type Command Mode Find Home Error 1 Config Invalid initiate Find Home No Error 0 Commend Position push button iE 1 5 0 1 5 0 1 5 0 1 10 0 5 0 0 5 0 COP File 2 0 2 J 11 12 16 12 15 10 9 5 FILE O 5 0 5 LEN 8 HSTP1 HSTP1 HSTP1 1 6 i HSTP1 cop File 2 0 2 11 12 16 validate Roll position B3 2 Data File to read actual l
59. rogram mable controller which executes a programmable logic control PLC program The programmable controller pro vides significantly more flexibility than the conventional approach of mechanically synchronizing seaming machine drives Referring again to FIG 1 the seaming machine 24 includes a first seaming roller drive 40 and a second seaming roller drive 42 The first seaming roller drive 40 is linked via the roll shaft 36 to the seaming roller 32 and the second seaming roller drive 42 is linked via the roll shaft 38 to the seaming roller 34 The drives 40 and 42 adjustably position the circumferential edge of the respective seaming rollers 32 and 34 toward and away from a center axis A of the container body 12 thereby positioning the seaming rollers 32 and 34 with respect to the circumferential edge of the lid 16 to perform a seaming operation The seaming machine 24 is of the type wherein a seaming chuck holds the lid 16 firmly against the top end of the 5 860 782 5 container body during the seaming operation and a drive rotates the chuck thereby causing rotation of the container body 12 and container lid 16 and the chuck in unison The seaming chuck and drive are schematically shown and are labeled as 44 and 46 respectively The present invention may alternatively be used with a seaming machine 24 wherein a chuck container body and lid remain stationary and a drive rotates the seaming roller around the container body a
60. ronment is not a necessary feature of the invention and the seaming may occur at atmospheric pressure Thus the vacuum chamber 22 is optional the feed valve 26 need not necessarily draw a vacuum and the outlet of the feed valve 26 and the inlet of feed valve 28 need not necessarily be in fluid communi cation to maintain a vacuum A less complex feed process may also be used in place of the feed valves 26 and 28 to deliver container bodies 12 to and remove lidded containers 18 from the seaming station 14 Seaming machines use seaming heads which have seam ing rolls or seaming rollers attached thereto for performing the seaming function In one type of seaming machine a seaming chuck holds a lid firmly against a top end of a container body so that the lid 1s held in contact with the top end of the container body A first mechanical drive positions the two seaming rollers with respect to a circumferential edge of the lid A second drive on the seaming machine rotates the seaming roller with respect to the chuck con tainer body and container lid There is typically one motor which has two power takeoffs one for each of the drives In one conventional configuration the chuck container body and lid remain stationary and the second drive rotates the seaming roller around the container body and lid In another conventional configuration a second drive on the seaming machine rotates the chuck which in turn rotates the con tainer body and
61. rror Move Completed Opperation Module Qonfig 0 No Error Flag Prax file 1 6 0 1 6 0 1 1 0 0 6 0 OP File 82 17 19 23 Copy File 21 23 27 12 7 5 Source N9 60 9 6 0 5 File 2 20 HSTPl HSTPi 1 16 Dest 0 6 0 9 6 0 15 U File 2 Length 8 18 L T FIL 0 6 0 LEN 8 0 6 0 COP File 2 17 19 21 23 7 Clock wise Output to 2nd Limit on 2nd Opperation Opperation Ball Stepper Module l Screw CW Limit I 1 0 0 2 0 f 11 4 IV16 016 2nd Opperation Output relay to Stepper Module 2nd opper Command Mode Stepper Module Invalid home Limit Position Input 0 2 0 Output Relay to Gtockwise Limit 2nd Opper fon 2nd opper Ba Stepper Module Up screw COW Limit 2 1 1 0 0 2 0 A F T i 1 12 6 i vie 06 2nd Opperation Stepper Module command Error Second Stepper 1 Error Module Config 0 No Error file 1 6 0 0 6 0 OP File 2 17 19 27 1 Copy File H 21 23 27 12 Source N9 40 0 6 0 5 File 82 20 HSTP1 Dest 0 6 0 N9 40 COP File 2 16 27 Length 8 FILE 9 40 LEN 8 cop File 2 16 27 0 6 0 15 U File 2 FILE O 6 0 LEN 8 COP File 18 2 17 19 21 23 27 25 5 860 782 26 Meve SB file to Tightens First Ste Module Opperation Single scan add Data file in Seam Bit Direction
62. tainer is also provided In the process a container body is filled with contents and is then injected with liquid nitrogen A lid is immediately placed on the container body and a biasing force is imme diately applied against the lid to maintain the lid on the liquid nitrogen filled container bodies until the container body reaches the seaming mechanism The biasing force is sufficient to allow a portion of nitrogen gas from vaporiza tion of the liquid nitrogen to escape from the container body and to allow air originally present in the container body to escape from the container body while preventing surround ing air from entering the container body 42 Claims 13 Drawing Sheets i Lf o us OPERATOR TERMINAL 5 860 782 Page 2 OTHER PUBLICATIONS Catalog for ET Series Electro Thrust Electric Cylinder Catalog 1890 Parker Motion amp Control Parker Hannifin Corporation Automation Actuator Division Wadsworth Ohio Jul 1994 SLC 500 Family of Small Programmable Controllers System Overview catalog Publication 1747 2 30 Allen Bradley Milwaukee Wisconsin Aug 1993 User s Manual for Allen Bradley Stepper Controller Mod ule Catalog No 1746 HSTP1 Allen Bradley Milwaukee Wisconsin Jun 1996
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