A system and method for removing bottles from inside cardboard boxes.

Abstract

The invention is a system and method by which boxes (3.1) containing bottle-type products (3.2) are taken from at least one product group feeding conveyor (5) and the products inside (3.2) are automatically emptied into at least one product exit conveyor (6). In the invention, at least one robot arm (1.1) and at least one gripper unit (2) belonging to a robot (1) are brought to the product group feeding conveyor (5) and brought close to at least one box (3.1), the said gripper unit (2) holds at least one surface of the boxes (3.1) with vacuum, after the boxes (3.1) are held, they are moved linearly and taken into the gripper unit (2), the boxes (3.1) are turned upside down and rotated by the gripper unit (2), the said robot (1) and robot arm (1.1) and gripper unit (2) are moved between the feeding conveyor (5) and the product output conveyor (6), the said inverted boxes (3.1) are released onto the product output conveyor (6) (3.2).

Description

1 Specifications A system for removing bottles from inside cardboard boxes. METHOD Technical Area 5 The invention relates to box unloading systems and methods. The invention is particularly relevant for the food, beverage, pharmaceutical, chemical, cosmetics, logistics, automotive parts, and warehousing industries. In automation fields; the automatic sorting of bottles inside cardboard boxes. It relates to a system and method that enables its extraction. 10 State of the Art Today, the food, beverage, pharmaceutical, chemical, cosmetics, logistics, automotive parts and warehousing industries are all involved. In automation fields; inside cardboard boxes or crates where bottles are placed The process of automatically removing products is widely implemented. For this purpose, 15 The currently developed systems generally consist of a decasing unit and subsequently the products. It consists of conveyor structures that separate and even feed the components. Known decasing systems involve conveying boxes or cases via conveyor belts. feeding, fixing in a specific position and extracting the products inside 20 It operates on the principle of using various methods for separating products from boxes or crates. Methods used include vacuuming, which involves gripping the products from above. Grippers are mechanical grippers that hold products by the body or neck. systems, magnetic holders on metal-packaged products and inverting the boxes It features inverting systems that allow the contents to be released. 25 Current systems offer high speed, low labor costs, and integration into production lines. While it has advantages in this respect, it also has some limitations. Different sizes and In processing products in these shapes, it may be necessary to change the system settings. This can also cause the line to stop. Fragile glass bottles or thin plastic bottles 30 It can be damaged by high speed or incorrect grip. By reversing the process. Impact, cracking, and tipping problems can occur in the operating systems. In addition, these systems generally take up a large area and have high energy consumption. It includes components. 2 Also included in the existing technology is the invention US 2,758,731 A entitled “Case unloader”, A classic case unloader for separating vertical bottles from compartmentalized cases. It is a machine that separates bottles from the crate using tandem conveyor / guide arrangements in a single line. It is delivered in this condition. In addition, the invention entitled “Carton decasing system”, US 2013 / 0247524 A1, decasing of products by turning cardboard boxes upside down This includes the processes of loading and unloading the boxes onto the line. The invention, numbered US 5,426,921 A and titled “Carton stacking method and apparatus,” It is a method and device for transporting and stacking boxes or cartons, 10 It does not directly involve the process of removing bottles from boxes. Purpose of the Invention The invention aims to eliminate the disadvantages inherent in the prior art. One purpose is to organize cardboard boxes containing bottles of different sizes, shapes, and materials, 15 the production line is automatically unloaded without stopping and without damaging the products to provide. Another purpose is to prevent fragile materials like glass or plastic from being damaged when bottles are removed from boxes. to prevent damage to products, impacts encountered during inversion methods and 20 The goal is to eliminate the risk of tipping over. The system described in the invention separates bottles inside cardboard boxes, synchronizing them along the upper and lower axes. The robotic gripper groups work by gripping from the front and bottom surfaces using vacuum suction. The products are placed onto the conveyor line in a controlled manner, and the empty cartons are folded. 25 By directing it to the station, it prepares it for the next process. Thus, the invention, both the safe and quick separation of bottles from cans, and the disposal of empty cans. An integrated solution that enables the systematic folding and stacking of objects in a single flow. It offers. Explanation of the Figures Figure 1 is a general perspective view of the system that is the subject of the invention. Figure 2 is a perspective view of the robot belonging to the system that is the subject of the invention. Figure 3 is a perspective view of the gripping unit of the system that is the subject of the invention. 3 Figure 3A shows the upper axis group in the forward position and the lower axis group in the backward position in the gripper unit. It is the appearance of being in that location. Figure 3B shows the vacuum pads of the upper axis assembly in the gripper unit and the front of the product group. It is the appearance of something clinging to the surface. Figure 3C shows the upper axis group of the gripper unit returned to its original position, 5 Figure 3D shows the vacuum pads of the lower axis group of the gripper unit and the product group lower axis. It is the appearance of something clinging to the surface. Figure 3E shows the view of the gripping unit about to be rotated. Figure 3F shows the holder unit rotated 180°. Figure 3G shows the upper and lower axis groups of the gripper unit moving forward to the 10 position. It is appearance, Figure 3H shows the gripper unit moving upwards, releasing the products from the box to the product outlet. It is the appearance it leaves on the conveyor. Figure 3I shows the product release clamp unit with the upper and lower axis groups back to their original position. It is the appearance of movement, 15 Figure 3J shows the lower axis group of the gripping unit ceasing to vacuum the bottom surface of the box. It is appearance, Figure 3K shows the gripping unit with the upper axis in the forward position and the front surface of the box. It is the image of him leaving the box on the folding station, Figure 3L shows a perspective view of the gripping jaw in the gripping unit, 20 The figure shows a perspective view of the upper axis group on the 3M gripper unit. Explanation of Reference Numbers Reference Number Reference Name 1 Robot 1.1 Robot arm 1.2 Robot base 2 Holding units 2.1 Fuselage block 2.2 Height adjustment mechanism 2.3 Gripping jaws 2.3.1 Jaw indexing pin 2.3.2 Jaw locking pin 4 2.4 Cable channel 2.5 Lower axis group 2.5.1 Lower axis drive shaft 2.5.2 Lower axis linear piston bearing 2.5.3 Lower axis base plate 2.5.4 Lower axis drive motor 2.5.5 Lower axis vacuum pad 2.5.6 Vacuum pad cylinder 2.5.7 Support piece 2.6 Upper axis group 2.6.1 Upper axis drive shaft 2.6.2 Upper axis linear piston bearing 2.6.3 Upper axis vacuum pad 2.6.4 Upper axis drive motor 3 Product Groups 3.1 Box 3.2 Product 3.3 Folded box 4 Box folding stations Product group feeding conveyor 6 Product output conveyors A, B, C, D. Directions Detailed Description of the Invention The invention has applications in food, beverages, pharmaceuticals, chemicals, cosmetics, logistics, automotive parts, and warehousing. In the fields of automation; cardboard boxes (3.1) containing products such as bottles (3.2) 5 automatic emptying and empty boxes (3.1) are placed in a box to be folded. with a system configured to ensure that it is directed to the folding station (4) The system generally consists of a gripper mounted on at least one robotic arm (1.1). unit (2) can be held, moved and held with the aforementioned gripping unit (2) Rotatable product groups (3), boxes (3.1) 10 after products (3.2) are removed a box folding station (4) configured for folding, product to the holder unit (2) at least one product group feeding conveyor (5) feeding group (3) and the extracted products (3.2) consists of at least one product output conveyor (6) components to which it is directed. (Figure 1) The robot (1) shown in Figure 2 is a multi-axis, programmable conveying device. Robot 5 The robot arm (1.1) is configured to operate in various positions of the system. The base (1.2) is the structural part on which the robot (1) is fixed and balanced. The gripper unit (2) shown in Figure 3 is mounted on the robot arm (1.1) and product (3.2) It is responsible for conveying the boxes (3.1) by vacuuming them from their front and bottom surfaces. Holder 10 unit (2), body block (2.1), height adjustment mechanism (2.2), gripping jaws (2.3), cable channel (2.4), lower axis group (2.5) and upper axis group (2.6) components It consists of. The body block (2.1) is the main structure on which all mechanical elements are carried. When the gripping jaws (2.3) contact the box (3.1), the jaw indexing pin (2.3.1) and The jaw locking pin (2.3.2) ensures the positioning and fixation of the jaws. Top 15 The axis group (2.6) and sub-axis group (2.5) work synchronously, so that the products (3.2) for controlled removal and stable transport of the boxes (3.1) It is structured. In the invention, a body block (2.1) is located in the holding unit (2). The aforementioned body is 20 block (2.1) on all mechanical and moving parts in the gripping unit (2) It refers to the main support structure on which it is placed. This structure, which is connected to the robot arm (1.1), It ensures the overall rigidity and integrity of the gripping unit (2). The upper axis group (2.6), lower axis group (2.5), gripping jaws (2.3), height adjustment mechanism (2.2) and cable channel All sub-components such as (2.4) are mounted on this body block (2.1). 25 The invention includes a height adjustment mechanism (2.2) in the holding unit (2). The mentioned height adjustment mechanism (2.2) allows the holder unit (2) to be adjusted to different heights. C and D on the vertical axis to accommodate boxes (3.1) and product groups (3). It is the guiding element that enables movement in the directions. Box (3.1) height 30 Thanks to this structure, which provides linear motion, the system can accommodate boxes of different sizes. (3.1) adaptable and suitable gripping capability according to box (3.1) position. can be provided. 6 The invention includes gripping jaws (2.3) in the gripping unit (2). gripping jaws (2.3), size variation of boxes (3.1) in product group (3) They are movable parts that can be adjusted to adapt. Gripping jaws, size the adjustment mechanism (2.2) can be adjusted to suit different heights and It ensures holding. A jaw indexing pin (2.3.1) is located on the gripping jaws (2.3). 5 and a jaw locking pin (2.3.2). The jaw indexing pin (2.3.1) holds the jaw in place. When adjusting the height, the jaw locking pin (2.3.2) secures this position during transport. It provides stability during the process. (Figure 3L) The holding unit (2) mentioned in the invention contains a cable channel (2.4). 10 The aforementioned cable channel (2.4) is the cable that reaches the movable parts of the holder unit (2), proper handling and protection of hoses and other conveying elements It is the channel that provides connections for vacuum pads, sensors, and pneumatic equipment. A neat wiring is routed through this channel inside the gripping unit (2) This facilitates the maintenance and continuity of the system. 15 The invention includes a sub-axis group (2.5) in the holding unit (2). The aforementioned sub-axis group (2.5) The axis group (2.5) is placed inside the holder unit (2) from the bottom surface of the box (3.1). It is supported and transported by being held in place by a vacuum. The aforementioned bottom Axis group (2.5) one sub-axis drive shaft (2.5.1), two sub-axis linear piston bearings 20 (2.5.2), a lower axis base plate (2.5.3), a lower axis drive motor (2.5.4), at least one lower axis vacuum pad (2.5.5), a vacuum pad roller (2.5.6) and a support piece (2.5.7) includes. Lower axis vacuum pads (2.5.5) from the bottom surface of the box (3.1) Provides grip by applying vacuum. Lower axis vacuum pads (2.5.5), vacuum pad roller. It is moved in directions C and D via (2.5.6). Lower axis drive motor (2.5.4) and 25 The drive shaft (2.5.1) enables the forward and backward movement of the entire lower axis group (2.5) in directions A and B. The support piece (2.5.7) provides the bearing and guiding of the system. In the invention, a top axis group (2.6) is located in the holding unit (2). The aforementioned top The axis group (2.6) allows the boxes (3.1) to be carried by vacuum holding them from the front surface A and B 30 Moving linearly back and forth in the directions, the boxes (3.1) are placed inside the holding unit (2). It is a movable mechanism that allows something to be taken in or removed. This structure is a upper axis drive shaft (2.6.1), two upper axis linear piston bearings (2.6.2) and at least one The upper axis vacuum pad (2.6.3) includes an upper axis drive motor (2.6.4). Vacuum 7 The pads (2.6.3) adhere to the front surface of the box (3.1) and the retaining unit (2) holds the box (3.1) It allows for its transport. The upper axis group (2.6) is synchronized with the lower axis group (2.5). by working it is possible to hold and rotate the box (3.1) in a balanced way. (Figure 3M) As shown in Figure 3A, the invention first involves the lower axis group of the gripping unit (2). (2.5) Located in the rear position in direction A, vacuum pad cylinder (2.5.6) in direction D It is located in the downward position. At the same time, the upper axis group (2.6) moves forward in direction B. It is positioned. This positioning is the product group of the gripping unit (2). (3) represents the preparatory position before approach. 10 In the next step, as shown in Figure 3B, the gripper unit (2) is moved by means of the robot arm (1.1), (3.2) to the products which form the product group (3) and are contained in cardboard boxes (3.1) It approaches. The upper axis vacuum pads (2.6.3) located in the upper axis group (2.6) are activated. It is brought and attached to the front surface of the box (3.1). 15 In the next step shown in Figure 3C, the upper axis group (2.6) is moved back in the direction of A. With its movement, the product group (3) is taken into the holder unit (2). Box (3.1), front It is continuously held in place by a vacuum from the surface. In the next step shown in Figure 3D, the vacuum pad located in the lower axis group (2.5) The cylinder (2.5.6) moves upwards in the direction C on the lower axis base plate. (2.5.3) lower axis vacuum pads (2.5.5) in contact with the bottom surface of the box (3.1) This causes a vacuum to be applied from the bottom surface as well. At this stage, the box (3.1) is vacuumed from both the front surface. (with upper axis vacuum pads (2.6.3)) and from the lower surface (lower axis vacuum pads 25 It is held in a vacuum in both directions with (2.5.5). In the next step, as seen in Figure 3E, the product group (3) is separated from its front and bottom surfaces. The vacuum gripping unit (2) is rotated by the robot arm (1.1). It is positioned in such a way as to be prepared. This position is 30 minutes before the box (3.1) is inverted. It represents an intermediate position. In the next step, as seen in Figure 3F, the gripper head of the gripper unit (2) is attached to the robot arm. It is rotated 180° by means of (1.1). As a result of this movement, the box (3.1) is turned upside down. 8 and the products inside the box (3.1) are ready to be unloaded by gravity (3.2) income. In the next step shown in Figure 3G, the lower axis group (2.5) and the upper axis group (2.6) It moves forward in the direction of B in a synchronized manner. Thanks to this movement, the box (3.1) and 5 The products inside (3.2) are released onto the product exit conveyor (6) by gravity. In the next step shown in Figure 3H, the gripper unit (2) connects to the product output conveyor (6) It is moved upwards in the direction of C. At this stage, the box (3.1) is still in the retaining unit (2) while the products (3.2) remain on the conveyor. 10 In the next step shown in Figure 3I, the products (3.2) are transferred to the product exit conveyor (6) After being released, the lower axis group (2.5) and upper axis group (2.6) of the gripping unit (2) It is pulled back to the position in the direction A in a synchronized manner. Thus, the empty box (3.1) holder unit (2) is included. 15 In the next step, as seen in Figure 3J, the robot arm (1.1) attaches the gripper unit (2) to the system. It directs the vacuum pad to one of the defined box folding stations (4). Meanwhile, the vacuum pad The cylinder (2.5.6) moves downwards in the D direction, the lower axis vacuum pads (2.5.5) box (3.1) Release the vacuum by holding onto the bottom surface. 20 In the next step shown in Figure 3K, the upper axis group (2.6) moves forward in direction B. By doing so, it pushes the box (3.1) out of the holding unit (2). In this position, the upper axis The upper axis vacuum pads (2.6.3) belonging to group (2.6) release the vacuum. Thus the box (3.1), The box is released to the box folding station (4). Box (3.1), box folding 25 At station (4), it is folded and converted into the form of a folded box (3.3). The robot (1) included in the invention attaches the gripping unit (2) to the product group feeding conveyor (5), It is responsible for directing the product to the output conveyor (6) and the box folding station (4). The gripping unit (2) is vacuumed from at least one surface of the box (3.1) in product group (3) 30 It grips the box (3.1) and takes it into the gripping unit (2). Lower and upper axis groups (2.5, 2.6) work synchronously to apply double pressure from both the front and bottom surfaces of the box (3.1). It enables holding with a unilateral vacuum. The gripping unit (2) is moved 180° by means of the robot arm (1.1). The box (3.1) is turned upside down and the products inside (3.2) are moved by gravity. 9 The product is transferred to the product exit conveyor (6). After the products (3.2) are unloaded, the robot (1) directs the gripping unit (2) to the box folding station (4); where the upper axis group (2.6), the vacuum is released when pushing the box (3.1) forward and the box (3.1) folds. It is left at station (4). In this way, the box (3.1) is picked up, the products (3.2) The processes of emptying and conveying the empty box (3.1) to the box folding station (4) 5 It is carried out automatically and in an integrated manner. Thanks to all these steps, the box (3.1) The emptying process of bottle-type products (3.2) inside does not require human intervention. It is managed without hearing, in an automated manner. 15 25

Claims

REQUESTS 1. The invention relates to at least one product group in boxes (3.1) containing bottle-type products (3.2). taken from the feeding conveyor (5), at least one of the products (3.2) inside it It is a method in which the discharge is automatically discharged to the exit conveyor (6), and its feature is 5 The method involves the following steps:  at least one robot arm (1.1) and at least one gripper unit (2) belonging to a robot (1) The product group is taken to the feeding conveyor (5) and into at least one box (3.1) bringing closer,  The mentioned gripping unit (2) can be used to vacuum at least one surface of the boxes (3.1) 10 eclipse,  After the boxes (3.1) are held, they are moved linearly by the gripping unit (2) inclusion,  Turning the boxes (3.1) upside down with the holding unit (2),  Feeding of the mentioned robot (1) and robot arm (1.1) and gripper unit (2) 15 moving between conveyor (5) and product exit conveyor (6),  product output of the products in the inverted boxes mentioned (3.1) (3.2) being placed on the conveyor (6).

2. A method that conforms to Claim 1, and its characteristic is:  Backward movement in direction A and forward movement in direction B located in the gripping unit (2) 20 an upper axis group (2.6) capable of moving forward in direction B positioning,  Backward movement in direction A and forward movement in direction B located in the gripping unit (2) a sub-axis group (2.5) capable of reversing in direction A positioning, 25  the gripping unit (2) of the robot arm (1.1) on the product group feeding conveyor (5) taking it near a box (3.1),  upper axis vacuum pads located in the mentioned upper axis group (2.6) (2.6.3) is to hold the mentioned box by vacuuming it from the front surface (3.1).

3. A method that conforms to Claim 2, the feature of which is that it grips the box (3.1) on its front surface 30 The upper axis group (2.6) moves in direction A, gripping the box (3.1) with the clamping unit (2) is to include it. 11 4. A method that conforms to claim 3, and its feature is a sub-unit located in the holding unit (2). the bottom surface of the box (3.1) of the sub-axis vacuum pads (2.5.5) in the axis group (2.5). It holds by vacuuming.

5. A method that complies with claim 4, the feature of which is that the gripper unit (2) is connected to the robot arm (1.1). By rotating the box (3.1) 180° together, the products inside are turned upside down. (3.2) is to make it ready for unloading.

6. This is a method that complies with Claim 5, and its characteristic is:  The robot arm (1.1) grips the unit (2) onto the product output conveyor (6). taking,  The upper axis group (2.6) and the lower axis group (2.5) are synchronized B 10 moving in that direction,  by the robot arm (1.1) moving the gripper unit (2) in direction C The products (3.2) are placed on the product exit conveyor (6).

7. A method that conforms to claim 6, the feature of which is the upper axis group (2.6) and the lower axis With the group (2.5) moving synchronously in direction A, products (3.2) 15 the empty box (3.1) is placed inside the holder unit (2).

8. This is a method that complies with Claim 7, and its characteristic is:  The robot arm (1.1) gripper unit (2) onto the box folding station (4) taking,  The lower axis group (2.5) remains in the backward position in direction A, 20  lower axis vacuum pads (2.5.5) stop vacuuming the box (3.1),  The upper axis group (2.6) moves forward to the position in direction B,  with the upper axis vacuum pads (2.6.3) ceasing to vacuum the box (3.1) The empty box (3.1) is placed in the box folding station (4).

9. A method that conforms to claim 8, and its characteristic is that the mentioned box folding station is 25 (4) is to stack the empty boxes (3.1) by folding them.

10. The invention relates to at least one product group in boxes (3.1) containing bottle-type products (3.2). taken from the feeding conveyor (5), at least one of the products (3.2) inside it It is a system in which the discharge is automatically discharged to the exit conveyor (6), and its feature is;  a robot (1) and at least 30 capable of multi-axis movement a robotic arm (1.1),  at least one gripper unit (2) that can be attached to the end of the mentioned robot arm (1.1), 12  Linear movement in directions A and B within the mentioned gripping unit (2) at least one sub-axis group (2.5) that can do  Linear movement in directions A and B within the mentioned gripping unit (2) at least one upper axis group (2.6) that can do,  In the mentioned sub-axis group (2.5), the box (3.1) from its bottom surface 5 Lower axis vacuum pads gripping by vacuuming (2.5.5),  In the upper axis group mentioned (2.6), the box (3.1) from its front surface by including upper axis vacuum pads (2.6.3) that grip by vacuuming It is characterized by...

11. It is a system that complies with claim 10, and its feature is that the equipment (2) in the holding unit is 10 a volume containing, within its structure, a volume in which boxes (3.1) can fit. It contains a fuselage block (2.1).

12. A system that complies with claim 11, and its feature is that the gripping unit (2) is different. to be compatible with boxes (3.1) and product groups (3) of varying heights Height adjustment mechanism (2.2) that enables movement on the vertical axis 15 It includes.

13. It is a system that conforms to claim 12, and its feature is the aforementioned height adjustment. gripping jaws (2.3) which are the movable parts of the mechanism (2.2) It includes.

14. It is a system that conforms to claim 12, and its feature is; the mentioned height adjustment 20 Jaw indexing pin which performs height adjustment of the mechanism (2.2) (2.3.1) includes.

15. A system that complies with claim 13, and its feature is; adjustable gripping jaws (2.3) It includes locking jaw locking pins (2.3.2).

16. A system that conforms to Claim 10, and its characteristic is; 25  The lower axis group (2.5) is linear in the A and B directions within the clamping unit (2). lower axis linear piston that allows it to be mounted in a movable manner beds (2.5.2),  lower axis drive motor (2.5.4) and lower It includes the axis drive shaft (2.5.1). 30 17. It is a system that conforms to claim 10, and its feature is that the sub-axis group (2.5) sub-axis A lower axis base plate (2.5.3) which serves as a carrier for vacuum pads (2.5.5) It includes. 13 18. A system that conforms to claim 10, characterized by its movement in directions C and D. at least one vacuum pad (2.5.5) that contacts or separates the bottom surface of the box (3.1) It includes a vacuum pad cylinder (2.5.6).

19. It is a system that conforms to Claim 10, and its characteristic is;  The upper axis group (2.6) is linear in the A and B directions within the clamping unit (2). upper axis linear piston that allows it to be supported in a movable manner beds (2.6.2),  The upper axis drive motor (2.6.4) and upper It includes the axis drive shaft (2.6.1).

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