Methods and related apparatus for removing the film from a tray

Abstract

A method for removing the film from a tray (500) of a product (510) preferably arranged in layers on a substrate (520) or plate, the tray (500) being coated with a protective film (550) for holding and protecting the product (510) itself, the film being adapted to cover the upper surface (501) of the tray (500) and preferably up to the side surface (502) of the substrate (520), the method comprising: separating the protective film (550) into two segments (550s), each segment (550s) comprising an upper portion (551s) of the upper part (551s) of the film (550) at the upper surface (501) of the tray (500) and a side portion (550s) of the film (550) at the side surface (502) of the tray (500). The lower piece (552s) of 552) is characterized in that the method comprises: making the two segments (550s) by the following steps: performing a first cut (561t) ​​near the substrate (520), the first cut (561t) ​​extending in a substantially horizontal direction along each side (502a) of the side surface (502); performing at least a second cut (562t), the second cut (562t) extending in a substantially vertical direction along the preferably opposite sides (502a) of the side surface (502); and performing a third cut (563t), the third cut (563t) preferably extending on the upper surface (501) of the tray (500) in a direction parallel to at least one of the sides (502a).

Description

Technical Field

[0001] This invention belongs to the field of palletized cargo removal. Specifically, this invention relates to a method and related apparatus for ensuring the removal of protective film from palletized cargo. Background Technology

[0002] Packaging or bottling plants, for example, supply pallet loads consisting of multiple layers of products or containers, which are surrounded by heat-shrinkable or elastic films covering the products.

[0003] A pallet load or pallet refers to multiple products preferably arranged in layers on a base, also called a pallet, typically made of wood or plastic. Between each layer may be inserts called padding, made of plastic or cardboard, which contribute to the stability of the pallet. Padding may also be positioned between the pallet and the load.

[0004] If recyclable plastic inserts are used in pallet loading, these components must be retained for future use.

[0005] The pallets are stored and the products are moved between the product manufacturing plant and subsequent processing plants before being unloaded from the pallets on the processing line (e.g., a filling line, if the product is a container such as a bottle or can). To ensure the integrity and stability of the pallets during the various steps described above, the pallets are typically wrapped with a protective film that defines a covering around the product. The film is typically of the plastic type.

[0006] When the container is used in the food industry, the membrane completely covers the product and the pallet supporting the load to ensure that insects and dirt cannot enter and to ensure the stability of the pallet load.

[0007] The wrapping can be applied by wrapping the peripheral surface of the pallet with a stretch film or by attaching a heat-shrinkable film to the peripheral surface of the pallet using heat shrink adhesion. Alternatively, the pallet can be wrapped in a stretch cover-type film, which is mounted on the pallet and adapted to it due to its elastic properties, without the need for heat shrink adhesion.

[0008] Even the perimeter of the tray's base can be wrapped in a protective film.

[0009] The process of removing the protective film from the tray, colloquially known as tray unwrapping, is typically done manually. In fact, unwrapping by automated machines is always unreliable due to variables related to product stability and uneven adhesion of the protective film, as well as the possibility of damage to the product and / or the liner.

[0010] However, manual unwrapping performed by one or more operators is an operation that poses risks not only to the integrity of the pallet load but also to the safety of the operators.

[0011] In fact, during the demolding process, operators may find themselves in a dangerous situation because the product may be dragged off by the removed membrane.

[0012] To overcome this drawback, some automated devices and methods for removing the film from trays are known in the prior art.

[0013] The apparatus and method have a number of problems, particularly when the pallet load includes many unstable and fragile products (e.g., glass bottle pallets).

[0014] US Patent 5727747 describes a method and machine for removing a film from a pallet load, in which continuous vertical cuts are made in the film and the film is removed by tearing open the plastic film from the pallet by means of relative rotational movement between the pallet and the film.

[0015] The main problem with this machine and method is that, particularly in the case of demolding heat-shrinkable films, the plastic film has creases or folds that, depending on the area, alter the film's performance during the tearing process and the performance of the load during the unfolding process.

[0016] Therefore, the cargo may tilt, get stuck in the membrane, or even have parts of the bottles in the cargo fall out.

[0017] This can cause production line shutdowns because the situation cannot always be resolved quickly.

[0018] Document EP3214004B1 describes another machine and method for demolding, which describes performing vertical and / or horizontal linear cuts on a plastic material surrounding a pallet load. At least one linear cut is discontinuous and comprises cut portions having multiple cuts of defined length and constant pitch; the method describes a subsequent step including tearing off the discontinuous cut portions. The discontinuous cut portions are vertical, made on the side of the pallet load, and connected to cuts made on the base of the pallet load.

[0019] This method also has the disadvantage of removing the film by tearing, which highlights the same problem as in the aforementioned literature, especially in the case of heat-shrinkable films.

[0020] Another problem with known methods and machines is the difficulty in performing the cuts and the type of membrane cutting tools that may come into contact with the container; this is particularly important in terms of consumer food safety, especially for glass containers (such as bottles or jars), as resistance and integrity may be lost.

[0021] Contact between cutting tools and containers may cause damage to the outer walls, openings, or necks of the containers.

[0022] To overcome the above problems, document EP3214004B1 describes cutting the film by inserting a blade between each row of bottles. However, this is not always possible because it depends on the correct positioning of the bottles on the pallet. Due to stacking errors or displacement after moving the pallet, the correct positioning of the bottles on the pallet cannot be guaranteed in the long term.

[0023] In addition, another key aspect of unwrapping the film from the tray relates to the removal of the film once it has been removed, as the film takes up a lot of space and is not easy to handle. Summary of the Invention

[0024] The technical problem solved by the present invention is to provide a method and related apparatus for removing the film from a product tray, which is designed in structure and function to overcome one or more limitations described above with reference to the prior art.

[0025] Within the scope of the aforementioned problems, the main objective of this invention is to develop a method and related apparatus for removing the film from product pallets, which minimizes the risk of products falling off and being damaged, and the resulting system failures or downtime.

[0026] Another object of the present invention is to provide a method and related apparatus for removing the film from product pallets, as part of a flexible solution that can adapt to the frequency and space of downstream pallet unloading lines.

[0027] Specifically, the present invention describes a method for removing the film from a product tray.

[0028] Preferably, the products are arranged in layers on a base or board called a tray.

[0029] The tray is coated with a protective film for holding and protecting the product itself, the film being adapted to cover the upper surface of the tray and preferably up to the side surface of the substrate.

[0030] The method preferably describes separating the protective film into at least two segments, each segment comprising an upper sheet of the film on the upper surface of the tray and a lower sheet of the film on the side surface of the tray.

[0031] Preferably, the method describes: performing the two segments, performing a first cut near the base, the first cut extending in a substantially horizontal direction along each side of the side surface.

[0032] The method preferably describes: performing at least a second cut, the second cut extending in a substantially perpendicular direction along the preferred opposite sides of the side surface.

[0033] The method preferably describes a third cut, which preferably extends on the upper surface of the tray in a direction parallel to at least one of the two sides.

[0034] This method facilitates the separation of the film from the tray, reducing product spillage.

[0035] The method preferably describes making a first cut near the substrate.

[0036] Specifically, the method provides: performing a first cut and a second cut on two consecutive sides of the tray, respectively.

[0037] Therefore, according to a preferred aspect, the method describes: rotating the tray about its vertical axis of symmetry and performing a third and fourth cut on the remaining two consecutive sides.

[0038] The preferred embodiment describes that the second cut includes a first portion extending to the upper surface on one side and a second portion extending to the upper surface on the other side.

[0039] Preferably, the method includes: performing a first portion of a second cut, then rotating the tray about its vertical axis of symmetry and performing a second portion.

[0040] Preferably, the method describes a third cut comprising a first upper portion and a second upper portion that preferably extend from opposite sides to the center of the upper surface.

[0041] Specifically, the method can be described as follows: the first part of the second cut intersects with the first part or the second part of the first cut, and preferably the second part of the second cut intersects with the third part or the fourth part of the first cut.

[0042] Preferably, the first upper portion and the second upper portion of the third cut are continuous with the first portion and the second portion of the second cut, respectively.

[0043] Specifically, the segments of the membrane are removed from the tray by means of a removal device.

[0044] The method may include performing an alignment step before removing the segment from the pallet, preferably performing the alignment step on the upper layer of the pallet.

[0045] The method preferably describes: positioning the holding device between the product and the film before starting the cutting; keeping the film in contact with the blade.

[0046] Specifically, the method includes: using a first humanoid robot to perform a first cut, a second cut, and a third cut.

[0047] Furthermore, the method preferably includes: removing segments from the tray by means of a second anthropomorphic robot.

[0048] The present invention also relates to an apparatus for performing multiple cuts according to the above method and the associated removal of the film from the tray.

[0049] Specifically, the device includes a cutting apparatus for cutting the protective film.

[0050] Preferably, the device is configured to perform a first cut near the substrate, the first cut extending in a substantially horizontal direction along each side of the side surface.

[0051] Preferably, the device is configured to perform at least a second cut, the second cut extending in a substantially perpendicular direction along the preferred opposite sides of the side surface.

[0052] Preferably, the device is configured to also perform a third cut, which preferably extends on the upper surface of the tray in a direction parallel to at least one of the two sides.

[0053] Specifically, the device includes a protective film removal device configured to remove protective film segments made using a cutting device from a tray.

[0054] According to a preferred embodiment, the device includes a first humanoid robot, a cutting device mounted on the first humanoid robot to perform first, second and third cuts, and preferably, a removal device mounted on the first humanoid robot to remove segments from a tray.

[0055] An alternative embodiment describes the device as including a second humanoid robot, on which a removal device is mounted to remove segments from a tray.

[0056] Preferably, the device includes a conveying and / or supporting device configured to position the tray in the working area of ​​the first and / or second humanoid robot.

[0057] The conveying and / or supporting device preferably includes a rotating device configured to rotate the pallet about its vertical axis of symmetry when the pallet is positioned by the first anthropomorphic robot for cutting.

[0058] Preferably, the apparatus includes a centering device configured to perform a centering step relative to a vertical axis of symmetry, preferably performing the centering step relative to the upper layer of the tray relative to the vertical axis of symmetry.

[0059] Preferably, the cutting device includes a blade.

[0060] The blade is preferably circular and rotated by an actuation device.

[0061] Preferably, the cutting device further includes an adapter element adapted to support the blade and configured to fit the shape of the tray.

[0062] Specifically, the cutting equipment may further include a protective element configured to be inserted between the product and the film to keep the film near the blade.

[0063] Preferably, the protective element is in a fixed position relative to the blade.

[0064] Preferably, the protective element is configured such that the blade is embedded in the thickness of the protective element and preferably does not protrude therefrom.

[0065] The preferred embodiment describes that the cutting device further includes at least one separating device.

[0066] The separation device may include a suction head configured to remove a portion of the membrane from the tray and assist in the insertion of a protective element.

[0067] According to one aspect of the invention, the removal device includes at least one clamping device, the clamping device including a gripping head configured to remove a portion of the film from the tray.

[0068] Preferably, the removal device includes a locking device adapted to securely hold the segment portion that has previously been removed from the tray by a clamping device.

[0069] Specifically, the present invention also relates to an apparatus for removing the protective film from a product tray, comprising a cutting device and a protective film removal device.

[0070] Preferably, the cutting device is configured to separate the protective film into at least two segments, each segment comprising an upper sheet of the film at the upper surface of the tray and a lower sheet of the film at the side surface of the tray. The segments are removed from the tray by a removal device.

[0071] Specifically, the cutting device is configured to separate at least one upper sheet of the segment by performing a first horizontal cut on the upper portion of the film, the first horizontal cut extending from one side of the side surface to a corresponding symmetrical opposite side or alternatively from an edge extending from the side to a corresponding diagonally opposite edge. The cutting device is also configured to separate at least one lower sheet of the segment by performing first and second vertical cuts on the sides of the film, the first and second vertical cuts being continuations of the ends of the first horizontal cut along the corresponding sides or edges of the side surface, preferably extending across the entire height of the tray, and preferably in the vertical direction.

[0072] According to a preferred aspect of the invention, the cutting device can separate multiple segments, preferably four segments. This is particularly advantageous when the products on the pallet are unstable, because dividing the product into more segments increases the ease of removing the segments from the pallet and reduces the possibility of the film being dragged along the product.

[0073] In one example, the cutting device may separate the upper sheet of a segment by performing at least a second horizontal cut on the upper portion of the film, the second horizontal cut intersecting the first horizontal cut at an intersection point and extending from one side of the side surface to a corresponding symmetrical opposite side, or alternatively from one edge of the side surface to a corresponding diagonally opposite edge; the cutting device is also configured to separate the lower sheet of a segment by performing at least a third and a fourth vertical cut on the side portion of the film, the third and fourth vertical cuts being continuations of the second horizontal cut along the corresponding side or edge of the side surface, preferably across the entire height of the tray, preferably in the vertical direction.

[0074] Alternatively, the cutting device is configured to separate the upper sheet by performing a first pair of cuts and a second pair of horizontal cuts on the upper portion of the film, the first pair of cuts intersecting each other at a first intersection point in the central region of the upper surface, and the second pair of horizontal cuts intersecting each other at a second intersection point in the central region of the upper surface, wherein the first pair of cuts extends from the first intersection point to two adjacent sides or alternatively two adjacent edges of the side surface, and the second pair of horizontal cuts extends from the second intersection point to two adjacent sides or alternatively two adjacent edges, the sides or two edges being opposite to the sides or two edges of the first pair of horizontal cuts. Furthermore, the cutting device is also configured to separate the lower sheet by performing a first pair of cuts and a second pair of vertical cuts on the sides of the film, the first pair of cuts and the second pair of vertical cuts being continuations of the first pair of horizontal cuts and the second pair of horizontal cuts along the corresponding sides or corresponding edges of the side surface, preferably across the entire height of the tray, preferably in the vertical direction.

[0075] These are all embodiments of membrane cutting that are particularly advantageous for the above-mentioned aspects.

[0076] According to a preferred embodiment, the cutting device includes a blade, preferably a circular blade that is rotated by an actuation device.

[0077] Circular blades combine the cutting power of the blade itself with the higher efficiency brought by rotation.

[0078] Preferably, the cutting device further includes a holding device configured to be inserted between the product and the film to hold the film near the blade.

[0079] Thanks to this design, the blade can cut continuously in all cutting steps without losing the film, and the blade does not come into contact with the product, thus avoiding any risk of damage.

[0080] According to a preferred embodiment, the removal device is configured to preferably remove the upper sheet near the intersection, thereby transporting the upper sheet away from the upper surface of the tray.

[0081] Preferably, the removal device is configured to release the upper sheet to at least one retraction device of the device.

[0082] Specifically, the removal device includes a dragging device configured to receive a piece from the removal device and apply traction to the segment in order to separate the segment from the tray, preferably from the substrate, or from a possible second membrane adhered to the substrate.

[0083] Thanks to this method, the cut segments are gradually removed from the tray.

[0084] The removal device may include a shredding device configured to cut / shred each segment of the film into smaller portions before removal, and preferably configured to cut / shred the upper sheet and subsequently the lower sheet, thereby receiving the upper sheet, in particular, from the dragging device.

[0085] Thanks to this solution, not only can the membrane be removed from the tray, but it can also be processed for subsequent disposal.

[0086] The present invention also relates to a method for manufacturing segments and related movements away from the pallet.

[0087] These and other objectives are achieved by the features of the invention set forth in the independent claims. The dependent claims summarize the preferred and / or particularly advantageous aspects of the invention.

[0088] The stated objectives and advantages are achieved entirely by the method and related apparatus for removing the product tray from its film, which are the subject of this invention and are characterized by the features described in the appended claims. Attached Figure Description

[0089] These and other features will become more apparent from the following description of certain embodiments illustrated by non-limiting examples in the accompanying drawings.

[0090] Figure 1 An isometric view of a tray with visible cuts and hidden dashed cuts is shown;

[0091] Figure 2 An isometric view of a tray with cut sections is shown, along with its related subdivision into two segments;

[0092] Figure 3 An isometric view of an apparatus for removing film from a tray according to the present invention is shown, the apparatus having a single humanoid robot;

[0093] Figure 4 An isometric view of an apparatus for removing film from a pallet according to the present invention is shown, the apparatus having two humanoid robots and a centering device;

[0094] Figure 5a , Figure 5b Two possible sequences of membrane cutting steps are shown;

[0095] Figure 6a , Figure 6b The sequence of membrane neutralization and removal steps is shown;

[0096] Figure 7 A top view of a robot with an extraction device is shown;

[0097] Figure 8a , Figure 8b Two isometric views of the cutting equipment are shown;

[0098] Figure 9a , Figure 9b Two isometric views of a cutting device and a removal device mounted on the same robot are shown.

[0099] Figure 10 The diagram shows a tray with cut sections in different possible embodiments;

[0100] Figure 11 The diagram shows a tray with cut sections in different possible embodiments;

[0101] Figure 12a and Figure 12b A tray with cut sections and associated subdivisions into two segments are shown according to another embodiment;

[0102] Figure 13 An isometric view of an apparatus for removing film from a tray according to the present invention is shown;

[0103] Figure 14 A side view of an apparatus for removing film from a tray according to the present invention is shown;

[0104] Figure 15 A front view of an apparatus for removing film from a tray according to the present invention is shown;

[0105] Figure 16 A top view of an apparatus for removing film from a tray according to the present invention is shown;

[0106] Figure 17a , 17b17c shows the front view, top view and detailed view of the device during step 1;

[0107] Figure 18a , 18b A top-view axonometric view of the apparatus during steps 2 and 3 is shown;

[0108] Figure 19a , 19b The top axonometric view and front view of the device during step 4 are shown;

[0109] Figure 20 A top-view axonometric view of the device during step 5 is shown;

[0110] Figure 21a , 21b A top-view axonometric view of the device during step 6 is shown;

[0111] Figure 22a , 22b A top-view axonometric view of the device and related details are shown during step 7;

[0112] Figure 23a , 23b A top-view axonometric view of the device during step 8 and related details are shown;

[0113] Figure 24a , 24b The top-view axonometric view of the extraction device and the relevant working positions are shown;

[0114] Figure 25a , 25b 25c shows a side view and isometric view of the cutting equipment, as well as the relevant operating procedures;

[0115] Figure 26a , 26b Figure 26c shows a side view and isometric view of the evacuation equipment, as well as the relevant operational procedures. Detailed Implementation

[0116] For details, please refer to the following: Figure 3 and Figure 4 The invention describes a device 100 for removing the film from a tray 500 of a product 510, which is preferably arranged in layers on a substrate or plate 520.

[0117] The tray 500 is coated with a protective film 550 for holding and protecting the product 510 itself. The protective film 550 is configured to cover the upper surface 501 of the tray 500 and preferably at least to the side surface 502 of the substrate 520 to ensure better sealing, thereby achieving stability and isolation from the outside.

[0118] Pallets 500 can have various approximate dimensions, typically ranging from 600*800mm to up to 1120*1420mm, and typically up to 3000mm in height. The device 100 described below is capable of handling pallets 500 of various sizes.

[0119] Therefore, the protective film 550 includes an upper portion 551 located on the upper surface 501 of the tray 500 and a side portion 552 located on the side surface 502 of the tray 500. For example... Figure 2 As shown, the side portion 552 extends on all four sides 502a of the side surface 502 of the tray 500. Similarly, in Figure 2 In the diagram, the four edges 502b of the side surface 502 are marked.

[0120] Specifically, the device 100 includes a cutting device 110 for cutting the protective film 550 on the tray 500, and a removal device 120 preferably for removing the protective film 550 from the tray 500 after the protective film 550 has been cut.

[0121] The cutting device 110 cuts the membrane 550, thereby defining and separating portions of the membrane 550.

[0122] According to one aspect of the invention, the cutting device 110 is configured to divide the protective film 550 into two segments 550s.

[0123] The term "segment" refers to a portion of the protective membrane 550 that has been separated from the remaining membrane 550 by cutting. More specifically, according to a preferred embodiment, each segment 550s includes an upper sheet 551s of the upper portion 551 of the membrane 550 and a lower sheet 552s of the side portion 552 of the membrane 550.

[0124] Advantageously, each segment 550s is removed from the tray 500 by the removal device 120.

[0125] According to one aspect of the invention, the device is configured to perform a first cut 561t on the side portion 552 near the substrate 520.

[0126] Specifically, the first cut 561t extends in a substantially horizontal direction along each side 502a of the side surface 502.

[0127] More preferably, the device 100 is configured to make at least a second cut 562t to the side portion 552.

[0128] Specifically, the second cut 562t extends along both sides 502a in a substantially perpendicular direction.

[0129] The two sides 502a are preferably two sides 502a that are opposite to each other on the side surface 502.

[0130] The preferred embodiment describes the execution of a third cut 563t, which preferably extends on the upper surface 501 in a direction parallel to at least one of the two sides 502a.

[0131] This allows the two segments 550s to be completely separated from each other and from the remaining protective film 550.

[0132] Therefore, removing each of the two segments 550s from the tray 500 does not require a tearing action to achieve complete separation from the remaining protective film 550.

[0133] According to one aspect of the invention, once two segments 550s have been manufactured, the removal device 120 can operate to remove the segments 550s of the protective film 550 from the tray 500.

[0134] Figure 3 The preferred embodiment described herein indicates that the apparatus 100 includes a first humanoid robot 200, and a cutting device 110 is mounted on the first humanoid robot 200 to perform a first cut 561t, a second cut 562t, and a third cut 563t.

[0135] according to Figure 3 In an embodiment not depicted, the removal device 120 may be mounted on the first anthropomorphic robot 200 to remove segment 550s from tray 500.

[0136] Two-axis or three-axis Cartesian robots also fall under the definition of humanoid robots.

[0137] This solution enables the creation of a compact device 100, thereby reducing the overall size of the positioning layout within the factory.

[0138] Alternatively, such as Figure 4 As depicted, the device 100 may include a second anthropomorphic robot 300, and the removal device 120 is mounted on the second anthropomorphic robot 300 to remove the segment 550s from the tray 500.

[0139] Therefore, the device 100 will include a first humanoid robot 200 on which a cutting device 110 is mounted and a second humanoid robot 300 on which a removal device 120 is mounted.

[0140] Compared to the previous approach, this approach requires more space in terms of factory layout, but it enables the realization of device 100, which achieves higher productivity.

[0141] Therefore, one or another embodiment can be selected according to the requirements of the stripping line.

[0142] The apparatus 100 of the present invention may also include a conveying and / or supporting device 170 configured to position the tray 500 in the working area of ​​the first humanoid robot 200.

[0143] In the case where the device also includes a second humanoid robot 300, the conveying and / or supporting device 170 will preferably be configured to extend until the tray 500 is positioned in the working area of ​​the second humanoid robot 300.

[0144] Specifically, the base 520 of the tray 500 rests on the conveying and / or supporting device 170, which is suitably configured to move the tray 500 to the demolding position and support the tray 500 during the demolding operation. Since the conveying and / or supporting device 170 is known to those skilled in the art as a conveyor with chains, rollers, etc., we will not discuss the conveying and / or supporting device 170 in detail. The conveying and / or supporting device 170 is selected, for example, according to the type of the base 520 and / or the type of the tray 500. The conveying and / or supporting device 170 is also shown in the figures.

[0145] The conveying and / or supporting device 170 preferably includes a rotating device 171, which is configured to rotate the tray 500 about the vertical axis of symmetry Z of the tray 500.

[0146] Specifically, when the tray 500 is positioned at the first anthropomorphic robot 200, the rotating device 171 allows the tray 500 to rotate.

[0147] In fact, the method describes performing the first cut 561t, the second cut 562t, and the third cut 563t through a series of steps including a rotating tray 500 step.

[0148] In this configuration, the rotating device 171 is configured to rotate the tray 500 by at least 180°.

[0149] The rotating device 1717 specifically cooperates with a first anthropomorphic robot 200 on which a cutting device 110 is mounted, enabling the cutting device 110 to perform the cutting steps as described in the method.

[0150] The Rotary Pallet 500 allows for the use of a variety of humanoid robots, even in very small work areas.

[0151] The method subject of the present invention is preferably performed using apparatus 100, which will be further described below.

[0152] Specifically, the method describes the creation of two segments 550s by performing a first cut 561t on the side surface 502 near the substrate 520.

[0153] The first cut 561t extends in a substantially horizontal direction along each side 502a of the side surface 502.

[0154] Furthermore, the method preferably describes performing a second cut 562t on the side surface 502.

[0155] The second cut 562t extends in a substantially perpendicular direction along the preferably opposite sides 502a of the side surface 502.

[0156] Advantageously, the method describes a third cut 563t, which preferably extends on the upper surface 501 in a direction parallel to at least one of the two sides 502a.

[0157] This allows the two segments 550s to be completely separated from each other and from the remaining protective film 550.

[0158] Therefore, removing each segment from the tray 500 in two segments 550s does not require a tearing action to achieve complete separation from the remaining protective film 550.

[0159] According to a preferred embodiment, the method describes performing a first cut 561t near the substrate 520.

[0160] like Figure 1 , 5a As described in 5b by the term "near the substrate 520," this term means that the first cut 561t can be made in the area between the first layer and the substrate 520, or in the lower area of ​​the tray slightly above the substrate 520. For example, in the second case, if the height of the product 510 laid on the tray 500 is reduced, the first cut 561t can be made directly above one or more first layers.

[0161] Thanks to the location of the first cut 561t, the membrane 550 is separated above an area that is typically more difficult to cut (because the membrane becomes irregular and overlapping due to heat shrinkage). In fact, multiple heat-shrinkable overlapping membranes can usually be found at the substrate 520, creating seams that are difficult to cut.

[0162] The method describes performing the first cut 561t in several steps, including:

[0163] - Perform the first part 561t1 and the second part 561t2 on the two consecutive sides 502a of the pallet 500 respectively;

[0164] - Rotate tray 500 around its vertical axis of symmetry Z;

[0165] - Perform the first cut 561t's third part 561t3 and fourth part 561t4 on the remaining two consecutive sides 502a.

[0166] According to one aspect of the invention, the method describes that the second cut 562t includes a first portion 562t1 that preferably extends from the substrate 520 to the upper surface 501 on one side 502a and a second portion 562t2 that extends to the upper surface 501 on the other side 502a.

[0167] Preferably, such as Figure 1 , 5a As described in 5b, the first part 562t1 and the second part 562t2 are performed on the opposite side 502a.

[0168] Preferably, the first portion 562t1 and the second portion 562t2 are performed substantially vertically and preferably in the central region of the respective side 502a.

[0169] It should be understood that possible alternatives to performing the first part 562t1 and the second part 562t2 along the inclined direction are now considered to fall within the same protection range.

[0170] The method describes performing the second cut 562t in several steps, including:

[0171] -Execute the first part 562t1 of the second cut 562t;

[0172] - Rotate tray 500 around its vertical axis of symmetry Z;

[0173] -Execute part 2, 562t2.

[0174] Preferably, the method describes that: the first portion 562t1 of the second cut 562t intersects with the first portion 561t1 or the second portion 561t2 of the first cut 561t that has been executed or will be executed subsequently, and preferably the second portion 562t2 of the second cut 562t intersects with the third portion 561t3 or the fourth portion 561t4 of the first cut 561t that has been executed or will be executed subsequently.

[0175] Figure 1 Possible embodiments of the cutting are described, which describe that: the first portion 562t1 of the second cut 562t intersects with the first portion 561t1 of the first cut 561t, and the second portion 562t2 of the second cut 562t made on the opposite side 502a intersects with the third portion 561t3 of the first cut 561t.

[0176] Therefore, one embodiment describes that the cutting device 110 starts from a cut that has already been performed near the base 520 and continues to perform the first part 562t1 upwards.

[0177] Conversely, the method can be described as follows: the cutting device 110 begins to execute a first part 562t1, and then executes a first part 561t1 or a second part 561t2 of a first cut 561t, such that at least one of the first part 561t1 and the second part 561t2 intersects with the already executed first part 562t1.

[0178] Both schemes can guarantee complete segment separation within 550 seconds.

[0179] According to an aspect of the invention, the method can be described as follows: the third cut 563t includes a first upper portion 563t1 and a second upper portion 563t2 that preferably extend from the opposite side 502a to substantially the center of the upper surface 501.

[0180] Preferably, the first upper portion 563t1 and the second upper portion 563t2 may be straight or each may include, for example, straight and / or curved portions that are orthogonal to each other.

[0181] Specifically, if we imagine multiple parts, these parts are continuous with each other, that is, without interruption or cutting.

[0182] A preferred embodiment of the method can be described as follows: the first upper portion 563t1 and the second upper portion 563t2 of the third cut 563t are continuous with the first portion 562t1 and the second portion 562t2 of the second cut 562t, respectively, that is, the cut is not interrupted.

[0183] Therefore, preferably, the cutting device 110 begins to execute the first part 562t1 and continues to execute the first upper part 563t1 by passing from the side 502a to the upper surface 501 without interrupting the execution of the cutting.

[0184] Preferably, the same applies to the second part 562t2 and the second upper part 563t2.

[0185] Thanks to this scheme, the two segments can be separated more completely in 550 seconds.

[0186] If the working area of ​​the first anthropomorphic robot 200 allows, alternatively, the first upper part 563t1 and the second upper part 563t2 can be performed in a single continuous cut.

[0187] In this case, for example, the cutting device 110 begins to execute the first part 562t1 and continues to execute the first upper part 563t1, which at this time extends beyond the center of the upper surface 501 and preferably until it reaches the opposite end of the upper surface 501.

[0188] As mentioned above, the cutting order is not restricted, as will be explained in more detail below.

[0189] Once the cutting step has been completed and both segments 550s have been completely cut, the method describes the removal of the segments 550s of the film 550 from the tray 500 by the removal device 120.

[0190] The method preferably describes performing an alignment step before removing the segment 550s of the film 550 from the pallet 500, preferably performing the alignment step on the upper layer of the pallet 500.

[0191] To do this advantageously, the apparatus 100 may include a centering device 350 configured to perform a centering step on the pallet 500 relative to the vertical axis of symmetry Z of the pallet.

[0192] Specifically, it is particularly useful for centering on the upper layer of tray 500.

[0193] In fact, to be precise, these layers may experience greater displacement and misalignment, especially after the protective film 550 has been cut and no longer provides a retaining effect.

[0194] To reduce the risk of the product falling when the membrane 550 is removed, it is preferable to place it on the upper layer of the tray 500.

[0195] Therefore, the centering device 350 is preferably positioned near the humanoid robot 200, which includes the cutting device 110.

[0196] This allows for optimization of product stability before moving the pallet 550 from the position where the cutting is performed.

[0197] An alternative solution is described in which the centering device 360 ​​is positioned near the humanoid robot 300, which includes a retrieval device 120.

[0198] If the extraction device 120 is mounted on the second anthropomorphic robot 300, the centering device 350 can be mounted such that the position for centering the tray 500 is the same as the position where the extraction device 120 operates to extract the two segments 550s.

[0199] Figure 4Another embodiment described herein describes that the centering device 350 is positioned at a central station between the humanoid robot 200, which includes the cutting device 110, and the humanoid robot 300, which includes the extraction device 120.

[0200] This design enables increased productivity of device 100 because the centering position of pallet 500 differs from the position where cutting device 110 or removal device 120 operates.

[0201] In all cases, the centering step is after the cutting step and before the step of removing the membrane 550 from the tray 500.

[0202] like Figure 4 The centering device 350, as depicted, preferably includes a lifting structure 180 and a movable frame 190.

[0203] The lifting structure 180 defines the supporting body of the centering device 350, and, as known to those skilled in the art, can be manufactured to have, for example, Figure 4 The single column or double column shown.

[0204] The lifting structure 180 is also configured to accommodate the movable frame 190. In the case of the double-column lifting structure 180, the movable frame 190 is inserted between the two columns.

[0205] The movable frame 190 is configured to translate vertically on the lifting structure 180.

[0206] In this case, the construction details of the lifting structure 180 and the movable frame 190 will not be described further, as they are known to those skilled in the art. The lifting structure 180 also preferably includes a vertical movement device, such as a motor, transmission element, etc., for moving the movable frame 190 in the vertical direction.

[0207] According to the features of the invention, the frame 190 is annular, that is, it includes a structure 191 having four load-bearing sides 191a (each load-bearing side 191a is parallel to the side 502a of the tray 500) and thus configured to surround the tray 500.

[0208] This shape allows the movable frame 190 to operate across the entire height of the side surface 502, thus descending from a position above the tray 500 until it passes around the side surface 502.

[0209] Preferably, the movable frame 190 includes four translation elements 192 parallel to the load-bearing side 191a. The translation elements 192 are preferably movable in a plane orthogonal to the upward / downward direction of the movable frame 190.

[0210] In other words, the centering device 350 also includes a lifting structure 180 and a frame 190 capable of vertical movement on the structure 180, and the frame 190 includes a structure 191 configured to surround the periphery of the tray 500 and preferably to translate elements 192, preferably four translation elements 192 translating horizontally on the structure 191, the translation elements being configured to approach or move away from the corresponding side 502a of the side surface 502 of the tray 500.

[0211] exist Figure 4 , Figure 6a and Figure 6b The image depicts a configuration with four translation elements 192.

[0212] An alternative solution could be described as mounting the movable frame 190 of the centering device 350 onto the humanoid robot.

[0213] For cutting equipment 110, such as Figure 8a and 8b The depicted part preferably includes a blade 111 and preferably an actuating device 112 for the blade 111.

[0214] The advantages are described as follows: the blade 111 is of a circular type, and preferably rotatable.

[0215] The blade 111 is rotated by the actuator 112.

[0216] Alternatively, blades 111 with different shapes and / or non-rotatable but fixed shapes can also be used to implement the invention.

[0217] like Figure 8a , 8b As shown, the cutting device 110 also preferably includes an adapter element 114 on which the blade 111 is mounted to allow the blade 111 to adapt to any irregularities of the tray 500 and / or protective film 550. As known to those skilled in the art, the adapter element 114 may be, for example, of the inclined type, i.e., hinged to a pivot point.

[0218] Adaptability can be achieved through gravity or by setting up elastic, pneumatic, or hydraulic components.

[0219] According to an advantageous embodiment, the cutting device 110 includes a protective element 113 configured to be inserted between the product 510 and the film 550 to hold the film 550 near the blade 111. Specifically, the protective element 113 is intended to protect the product 510 from damage that may be caused by the blade 111 during the cutting step.

[0220] The method for removing the film is preferably described as follows: positioning the protective element 113 between the product 510 and the film 550 before starting the cutting, keeping the film 550 in contact with the blade 111.

[0221] The protective element 113 is preferably located near the blade 111.

[0222] Preferably, the protective element 113 is in a fixed position relative to the blade 111 and is configured such that the blade 111 is embedded in the thickness of the protective element 113, but preferably does not protrude therefrom.

[0223] Therefore, when the blade 111 is circular, the protective element 113 surrounds a portion of the blade 111, so that it contacts the membrane 550 but not the product 510.

[0224] Specifically, the cutting process is described as follows: before cutting begins, a protective element 113 is inserted between the product 510 and the film 550.

[0225] Prior to cutting, the insertion of the protective element 113 between the membrane 550 and the product 510 can be performed by means of, for example, a force sensor or by means of torque control available on the anthropomorphic robot 200, as will be described in detail below.

[0226] In particular, to facilitate the insertion of the protective element 113, the method describes moving a portion of the membrane 550 away from the side surface 502 of the tray 500 before performing the cutting.

[0227] This approach simplifies the initial cutting process, reducing the likelihood of contact with the palletized product 510.

[0228] In this way, by means of a force sensor or torque control available on the anthropomorphic robot 200, the traction force of the membrane 550 can be checked during movement away from the product 510, and when a set value is reached, for example within a predefined range, the protective element 113 is inserted between the membrane 550 and the product 510, and the cutting step begins.

[0229] In fact, such as Figure 8a and Figure 8b As shown, the cutting device 110 may include at least one separating device 115.

[0230] According to a preferred aspect, the separation device 115 includes a suction head 116 configured to remove a portion of the membrane 550 from the tray 500 and assist in the insertion of the protective element 113.

[0231] The suction head 116 can be mounted on the adapter 117, which is preferably a rotary adapter adapted to fit the position of the suction head 116 to the surface shape of the tray 500.

[0232] The adapter 117 can be a pneumatic adapter, such as... Figure 8a As shown, it may be electric, mechanical, or other types.

[0233] Because of this construction, the suction head 116 is even suitable for operation on irregular surfaces.

[0234] exist Figure 8a and Figure 8b In the particular configuration shown, the suction head 116 includes one or more suction cups 116a adapted to remove the membrane 550 from the tray 500 by means of a vacuum.

[0235] Figure 8a One possible embodiment is shown, which describes a force sensor 118 that is mechanically connected to the separation device 115 and is specifically inserted between the adapter 117 and the suction head 116.

[0236] Therefore, when the suction head 116 initiates suction of the membrane 550, a force is generated that separates the membrane 550 from the product 510. This force is detected by a force sensor 118, which verifies the magnitude of the traction force on the membrane 550.

[0237] Depending on the position of the robot 200 during separation and if the force sensor 118 detects that a set force value has been reached or that the force value falls within a predefined range, a protective element 113 may be inserted between the membrane 550 and the product 510.

[0238] Once the protective element 113 has been inserted between the product 510 and the membrane 550, the blade 111 begins to cut.

[0239] Preferably, the first portion 562t1 or the second portion 562t2 is produced starting from the first cut 561t already performed near the substrate 520, and preferably in the central region of the corresponding side 502a, i.e., where the membrane 500 is less taut and more easily moved away from the tray 500.

[0240] This helps to insert the protective element 113 between the product 510 and the membrane 550.

[0241] Furthermore, due to the insertion of the protective element 113, the blade 111 can begin cutting to form the first portion 562t1, and can continue to form the first upper portion 563t1 from the side 552 to the upper portion 551 of the membrane 550 without interrupting the cutting process, and always keeping the protective element 113 inserted between the product 510 and the membrane 550.

[0242] Because of the protective element 113, a channel is gradually generated between the end of the vertical cut on the side 552 and the beginning of the horizontal cut on the upper 551, between the second cut 562t and the third cut 563t, thereby adapting to the resistance resisted by the membrane 550, so that the membrane 550 remains between the blade 111 and the protective element 113 during the same channeling step.

[0243] Because of this design, the blade 111 can cut continuously during all cutting steps without causing the membrane 550 to fail. Furthermore, the blade 111 does not come into contact with the product 510, thus avoiding any risk of damage.

[0244] The device 100 also includes a removal device 120 configured to remove the protective film 550 from the tray 500 to remove each segment 550s.

[0245] Advantageously, in order to improve the retention of membrane 550, the removal device 120 removes the segment 550s near the second cut 562t.

[0246] According to one aspect of the invention, such as Figure 7 As shown, the extraction device 120 includes at least one clamping device 121.

[0247] According to a preferred aspect, the extraction device 120 is also configured to release the segment 550s to at least one evacuation device 130, which will be described in detail below.

[0248] Specifically, the clamping device 121 includes a gripping head 122 configured to remove and / or retain segments 550s from and / or retain them in the tray 500.

[0249] The gripping head 122 can be mounted on an adapter 123, which is preferably a rotary adapter adapted to fit the position of the gripping head 122 to the surface shape of the tray 500.

[0250] The adapter 123 can be a pneumatic adapter, such as... Figure 7 As shown, it may be electric, mechanical, or other types.

[0251] Because of this construction, the gripper head 122 is even suitable for operation on irregular surfaces.

[0252] exist Figure 7 In the specific configuration shown, the gripping head 122 is configured to lift and retain the membrane 550 by means of a vacuum, and preferably includes at least one suction element 122a.

[0253] The removal device 120 may also include at least one locking device 125 adapted to securely hold the cut segment 550s, which has previously been removed from the tray 500 by means of the clamping device 121.

[0254] Preferably, the sheet portion of the membrane 550 on which the locking device 125 operates is located at the second cut 562t.

[0255] The locking device 125 is configured to have a higher locking capability than the gripping head 122, thereby ensuring that the membrane 550 is retained throughout the entire process of removing the tray 500.

[0256] In fact, if, for example, the membrane 550 is damaged or soiled, the inhalation element 122a allows the segment 550s to be removed, but there is no guarantee that it can be kept in place.

[0257] Figure 7 An example of a possible locking device 125 including a tab 125a is shown. The tab 125a is preferably movable between at least one operating position and an operating position outside space by means of an activation device 125b. Figure 7 As shown, the activation device 125b can be pneumatic, electric, mechanical, or other types.

[0258] The preferred embodiment describes that when the tab 125a is in the operating position, it is located below the gripping head 122. Therefore, the sheet portion of the membrane 550 remains between the gripping head 122 and the tab 125a.

[0259] In the case where device 100 includes a single humanoid robot 200, removal device 120 and cutting equipment are integrated into a single head 250.

[0260] The preferred embodiment describes a scenario where, in this case, the separating device 115 and the clamping device 121 simultaneously perform two functions:

[0261] - Remove the film 550 from the tray 500 before cutting to facilitate the insertion of the protective element 113;

[0262] - Remove from pallet 500 and hold segment 550s to remove the film from pallet 500.

[0263] However, it should be understood that the above description serves as a non-limiting example, and therefore, detailed possible variations that may be required for technical and / or functional reasons are hereby considered to fall within the same scope of protection.

[0264] After the membrane 550 is cut according to the above embodiment, the membrane 550 is removed from the tray 500 by means of the removal device 120 and taken to the removal device 130.

[0265] One feature of the invention is described: the evacuation device 130 includes a shredding device configured to cut / shred the membrane 550 of each segment 550s into smaller portions prior to evacuation.

[0266] In summary, the method for removing a tray 500 coated with a protective film 550 preferably comprises the protective film 550 in at least two segments 550s, each segment 550s including an upper sheet 551s of the upper portion 551 of the film 550 located on the upper surface 501 of the tray 500 and a lower sheet 552s of the side portion 552 of the film 550 located on the side surface 502 of the tray 500.

[0267] Specifically, the method describes removing the segment 550s from the tray 500.

[0268] Preferably, the steps of cutting and separating the segments 550s and removing the segments 550s from the tray 500 are performed sequentially.

[0269] An example of the working process envisions bringing the tray 500 to be unmolded into the working position within the device 100, and preferably into the working position within the working area of ​​the first humanoid robot 200.

[0270] The cutting device 110 approaches the side 552 of the membrane 550 and removes the membrane 550 from the tray 500 by means of the separating device 115.

[0271] At this point, the protective element 113 is inserted between the product 510 and the membrane 550; the blade 111 begins to perform the first cut 561t.

[0272] In particular, such as Figure 5a As shown, the first part 561t1 and the second part 561t2 of the first cut 561t are performed.

[0273] Therefore, preferably, the cutting device 110 performs the first part 562t1, and preferably, the first upper part 563t1 is performed continuously.

[0274] According to a preferred embodiment, the tray 500 is rotated 180° about its vertical axis of symmetry Z to form a third portion 561t3 and a fourth portion 561t4 on the remaining two consecutive sides 502a.

[0275] At this time, preferably, the cutting device 110 performs the second part 562t2, and preferably, the second upper part 563t2 continues to be performed without interruption.

[0276] The cutting order can be as described above, but it can also be reversed, such as... Figure 5b As shown, the first part 562t1 of the second cut 562t can be performed initially, and the first upper part 563t1 of the third cut 553 can be performed later. Then the first part 561t1 and the second part 561t2 of the first cut 561t can be performed.

[0277] After the tray 500 is rotated 180° around its vertical axis of symmetry Z, the second part 562t2 is performed, preferably the second upper part 563t2.

[0278] At this time, the cutting device 110 performs the third part 561t3 and the fourth part 561t4 of the first cut 561t on the remaining two continuous sides 502.

[0279] Once the cutting step is completed and two segments 550s are produced, a centering step is performed during the process, preferably on the upper layer of the tray 500.

[0280] If the device 100 includes only the first anthropomorphic robot 200, the process continues with the participation of the retrieval device 120, which removes the segment 550s from the tray 500 and releases it into the evacuation device 130.

[0281] Optionally, if the device 100 includes a second humanoid robot 300, the tray 500 is conveyed to a working position within the working area of ​​the second humanoid robot 300.

[0282] Preferably, the centering step is performed at an intermediate position between the first robot 200 and the second robot 300.

[0283] The second anthropomorphic robot 300 removes segments 550s from the tray 500 by means of the removal device 120 and releases them into the evacuation device 130.

[0284] Specifically, the removal device 120 removes the segment 550s from the tray 500 by means of the clamping device 121, preferably at the second cut 562t, and locks it by means of the locking device 125.

[0285] Subsequently, the evacuation equipment 130 pairs of segments were cut / shredded over 550 seconds.

[0286] A preferred embodiment of the demolding method also describes a first step of inspecting the contour of the tray 500. This inspection can be performed by means of an inlet with a sensor, or, for example, a 3D camera, configured to perform a measurement inspection.

[0287] The geometry of the tray 500 is checked in this way, for example, by checking its tilt relative to its axis of symmetry Z.

[0288] This allows for the selection of processable trays 500 from those whose contours cannot be automatically demolded by device 100.

[0289] However, it should be understood that the above description serves as a non-limiting example, and therefore, any possible detailed variations that may be required for technical and / or functional reasons are hereby considered to fall within the same scope of protection as defined by the claims below.

[0290] Different embodiments of the device 100' are described below.

[0291] Special reference Figure 13 The image shows an apparatus 100' for removing the film from a tray 500 of a product 510, which is preferably arranged in layers on a substrate or plate 520.

[0292] The tray 500 is coated with a protective film 550 to hold and protect the product 510 itself.

[0293] Therefore, the protective film 550 includes an upper portion 551 located on the upper surface 501 of the tray 500 and a side portion 552 located on the side surface 502 of the tray 500. For example... Figure 10 , 11 As shown, the side portion 552 extends along all four edges 502a of the side surface 502 of the tray 500. Similarly, in Figure 10 , 11 In the diagram, the four edges 502b of the side surface 502 are marked.

[0294] Specifically, the device 100' includes a cutting device 110' for cutting the protective film 550 on the tray 500, and preferably includes a removal device 120' for removing the protective film 550 from the tray 500 once it has been cut.

[0295] The cutting device 110' cuts the membrane 550 to define and separate portions of the membrane 550.

[0296] According to one aspect of the invention, the cutting device 110' is configured to separate the protective film 550 into at least two segments 550s.

[0297] The term "segment" refers to a portion of the protective film 550 that has been separated from the remaining film 550 by cutting. More precisely, according to a preferred embodiment, each segment 550s includes an upper sheet 551s of the upper portion 551 of the film 550 and a lower sheet 552s of the side portion 552 of the film 550.

[0298] Advantageously, each segment 550s is removed from the tray 500 by means of the removal device 120'.

[0299] According to one aspect of the invention, the cutting device 110' is configured to separate at least one upper sheet 551s of segment 550s by performing a first horizontal cut X on the upper portion 551 of the membrane 550 extending from one side 502a of the side surface 502 to the corresponding symmetrical opposite side 502a.

[0300] Optionally, the first horizontal cut X can extend from the edge 502b of the side surface 502 to the corresponding diagonally opposite edge 502b.

[0301] According to another aspect of the invention, the cutting device 110' is configured to separate the lower piece 552s of segment 550s by performing a first vertical cut X' and a second vertical cut X" on the side 552 of the membrane 550, wherein the first vertical cut X' and the second vertical cut X" are preferably continuations of the end of the first horizontal cut X along the respective side 502a or the respective edge 502b of the side surface 502.

[0302] The first vertical cut X' and the second vertical cut X” extend from the first horizontal cut X, preferably extending over the entire height of the tray 500.

[0303] like Figure 10 , 11 As shown, the first vertical cut X' and the second vertical cut X are preferably generated in the vertical direction of the end of the first horizontal cut X.

[0304] It should be understood that, from now on, any alternative to generating the first vertical cut X' and the second vertical cut X" from top to bottom along the inclined direction should fall within the same protection range.

[0305] In one embodiment of the invention, the cutting device 110' is adapted to separate multiple segments 550, preferably four segments.

[0306] The first embodiment describes the generation of four segments 550s by the cutting device 110', which is further configured to separate the upper sheet 551s by performing at least a second horizontal cut Y on the upper portion 551 of the film 550 in addition to a first horizontal cut X, the second horizontal cut Y intersecting each other at a first intersection point P.

[0307] The second horizontal cut Y preferably extends from one side 502a of the side surface 502 to the corresponding symmetrical opposite side 502a.

[0308] Optionally, the second horizontal cut Y can extend from the edge 502b of the side surface 502 to the corresponding diagonally opposite edge 502b.

[0309] More preferably, the cutting device 110' is configured to separate the lower sheet 552s of segment 550s by performing a third vertical cut Y' and a fourth vertical cut Y" on the side 552 of the film 550, in addition to the first vertical cut X' and the second vertical cut X” described above.

[0310] The third vertical cut Y' and the fourth vertical cut Y" are preferably continuations of the second horizontal cut Y along the corresponding side 502a or the corresponding edge 502b of the side surface 502.

[0311] The third vertical cut Y' and the fourth vertical cut Y” extend from the second horizontal cut Y, preferably extending through the entire height of the tray 500.

[0312] like Figure 10 , 11 As shown, preferably, the third vertical cut Y' and the fourth vertical cut Y are generated in the vertical direction of the end of the second horizontal cut Y.

[0313] It should be understood that, from now on, any alternative to generating the third vertical cut Y' and the fourth vertical cut Y" from top to bottom along the inclined direction should fall within the same protection scope.

[0314] The second embodiment describes the generation of four segments 550s by the cutting device 110', which is configured to separate the upper sheet 551s by performing a first pair of cuts X1, Y1 on the upper part 551 of the film 550, the first pair of cuts X1, Y1 intersecting each other at a first intersection point P1.

[0315] The first intersection point P1 is preferably located in the central region of the upper surface 501.

[0316] Each cut of the first pair of cuts X1, Y1 extends from the first intersection point P1 to two adjacent sides 502a, or optionally to two adjacent edges 502b of the side surface 502.

[0317] The cutting device 110' is configured to perform a second pair of horizontal cuts X2, Y2, which intersect each other at a second intersection point P2.

[0318] The second intersection point P2 is preferably located in the central region of the upper surface 501.

[0319] Each cut of the second pair of horizontal cuts X2, Y2 extends from the second intersection point P2 to two adjacent sides 502a, or optionally to two adjacent edges 502b.

[0320] Specifically, the two sides 502a or the two edges 502b are opposite to the two sides or the two edges of the first pair of horizontal cuts X1, Y1.

[0321] A preferred embodiment describes a cutting device 110 configured to perform the first pair of cuts X1, Y1 and the second pair of horizontal cuts X2, Y2, such that each pair of cuts is orthogonal to each other.

[0322] In particular, since most trays 500 are rectangular in shape, this construction allows the first pair of horizontal cuts X1 and Y1 and the second pair of horizontal cuts X2 and Y2 to extend to the side 502a but not to the edge 502b.

[0323] Preferably, in the pair of cuts X1, Y1 and the second pair of horizontal cuts X2, Y2, the two cuts are parallel to the corresponding sides of the upper surface 501.

[0324] This design simplifies the mechanical implementation of the cutting device 110'.

[0325] According to a possible embodiment, the cutting device 110' is configured to perform the first pair of horizontal cuts X1, Y1 and the second pair of horizontal cuts X2, Y2, such that the first intersection point P1 and the second intersection point P2 are located in the central region of the upper surface 501, and preferably in a position that ensures that two of the first pair of horizontal cuts X1, Y1 intersect with two of the second pair of horizontal cuts X2, Y2.

[0326] This ensures that the upper 551s are completely separated from each other, ensuring that no uncut areas are left that must be forcibly separated by tearing.

[0327] In the advantageous sequence for generating the first pair of horizontal cuts X1, Y1 and the second pair of horizontal cuts X2, Y2, the cutting device 110 first generates two cuts X1 and X2, and then generates cuts Y1 and Y2.

[0328] The preferred aspect is described as follows: the lower sheet 552s is further separated by making a first pair of vertical cuts X1', Y1' and a second pair of vertical cuts X2', Y2' on the side 552 of the film 550 using a cutting device 110', the first pair of vertical cuts X1', Y1' and the second pair of vertical cuts X2', Y2' being continuations of the first pair of horizontal cuts X1, Y1 and the second pair of horizontal cuts X2, Y2 along the corresponding side 502a or the corresponding edge 502b of the side surface 502, respectively, and they preferably extend through the entire height of the tray 500.

[0329] like Figure 12aAs shown, preferably, the first pair of vertical cuts X1', Y1' and the second pair of vertical cuts X2', Y2' are generated from the ends of the first pair of horizontal cuts X1, Y1 and the second pair of horizontal cuts X2, Y2 in the vertical direction.

[0330] Advantageously, the implementation of the first pair of vertical cuts X1', Y1' and the second pair of vertical cuts X2', Y2' enables the cutting device 110' to simultaneously produce vertical cuts.

[0331] It should be understood that, from now on, any alternative to generating the first pair of vertical cuts X1', Y1' and the second pair of vertical cuts X2', Y2' from top to bottom along the inclined direction should fall within the same protection range.

[0332] like Figure 25a , 25b As shown, the cutting device 110' preferably includes a blade 111' and a device 112' preferably for driving the blade 111'.

[0333] In an advantageous aspect, the blade 111' is circular, and preferably rotatable. The blade 111' is rotated by a drive device 112'. Alternatively, blades 111' with different shapes and / or non-rotatable but fixed shapes can also be used to implement the invention.

[0334] like Figure 25a , 25b As shown, the cutting device 110' further preferably includes an adapter element 114' on which the blade 111 is mounted to allow the blade 111' to adapt to any irregularities of the tray 500 and / or protective film 550. As those skilled in the art will know, the adapter element 114' may be, for example, inclined, i.e., hinged to a pivot point.

[0335] Adaptability can be provided through gravity or by using elastic, pneumatic, or hydraulic components.

[0336] According to an advantageous embodiment, the cutting device 110' includes a holding device 113' configured to be inserted between the product 510 and the film 550 to hold the film 550 near the blade 111'. In particular, their purpose is to protect the product 510 from damage that may be caused by the blade 111' during the cutting step.

[0337] The retaining device 113' includes a support element 113'a placed near the blade 111', which is preferably tangent to the diameter of the circular blade 111'.

[0338] More preferably, the holding device 113' includes a drive device 113'b. For example... Figure 25a ,25b As shown, the drive unit 113'b is configured to move the support element 113'a relative to the blade 111' by positioning the support element 113'a between the product 510 and the film 550 during the cutting process.

[0339] Specifically, for example, they are configured to place the support element 113'a in three positions: an out-of-space position before the start of cutting the membrane 550, a first working position suitable for horizontal cutting, and a second working position suitable for vertical cutting.

[0340] More preferably, the drive device 113'b is configured to rotate the support element 113'a about the circular blade 111'.

[0341] The drive device 113'b may include an electric, pneumatic, or hydraulic actuator.

[0342] Specifically, the cutting process is intended as follows: before cutting begins, the support element 113'a is in an out-of-space position; once the blade 111' begins horizontal cutting, the drive unit 113'b brings the support element 113'a to a first working position, i.e., below the film 550 being cut. This allows the film 550 to be held between the blade 111' and the support element 113'a. Once the horizontal cutting is complete, the drive unit 113'b brings the support element 113'a to a second working position suitable for vertical cutting.

[0343] A channel is gradually created between the end of the horizontal cut and the beginning of the vertical cut, from the first horizontal cut position to the second vertical cut position, thereby adapting to the resistance resisted by the membrane 550, so that the membrane 550 is held between the blade 111' and the support element 113' even during the channeling step.

[0344] Because of this design, the blade can cut continuously during all cutting steps without causing the membrane 550 to fail. In addition, the blade 111' does not come into contact with the product 510, avoiding any risk of damage.

[0345] Figures 13 to 2 3 shows a preferred configuration in which the number of cutting devices 110' is four, that is, one cutting device 110' on each side of the tray 500.

[0346] This results in higher productivity for device 100' and accelerates the cutting process. In particular, this configuration is advantageous, for example, for producing a first pair of cuts X1, Y1 and a second pair of horizontal cuts X2, Y2.

[0347] In fact, the four cutting devices 110' allow for the first pair of cuts X1, Y1 and the second pair of horizontal cuts X2, Y2 in a favorable order, which describes that: first, two cuts X1 and X2 are produced, and then cuts Y1 and Y2 are produced.

[0348] Furthermore, the configuration with four cutting devices 110' also allows for the simultaneous execution of the first pair of vertical cuts X1', Y1' and the second pair of vertical cuts X2', Y2'.

[0349] The device 100' also includes a removal device 120', which is configured to remove the protective film 550 from the tray 500 to remove each segment 550s.

[0350] Specifically, the removal device 120' is configured to remove the upper piece 551s to carry it away from the upper surface 501 of the tray 500.

[0351] Advantageously, in order to improve the retention of film 550, the removal device 120' removes the upper sheet 551s near the intersection points P, P1, P2.

[0352] According to one aspect of the invention, such as Figure 24a As shown, the removal device 120' includes at least one clamping device 121', preferably, each clamping device 121' is for a segment 550s to be removed.

[0353] According to a preferred aspect, the removal device 120' is also configured to release the upper piece 551s to at least one evacuation device 130', which will be described in detail below.

[0354] Specifically, the clamping device 121' includes a gripping head 122' and a moving device 124', the gripping head 122' being configured to lift and hold the membrane 550, and the moving device 124' being configured to move the gripping head 122' from a retraction position of the membrane 550 on the upper surface 501 to a release position at a corresponding withdrawal device 130'.

[0355] Figure 24b The four key positions where the clamping device 121' can be located during a work cycle are shown.

[0356] Specifically:

[0357] - Position A indicates the position of clamping device 121' when clamping device 121' retracts membrane 550 from upper surface 501;

[0358] - Position B indicates the position of the clamping device 121' furthest from the pallet 500;

[0359] - Position C indicates the position of clamping device 121' when clamping device 121' releases membrane 550 to retraction device 130';

[0360] - Position D indicates the position of clamping device 121' when it moves out of space while waiting for a new work cycle.

[0361] Preferably, the gripping head 122' moves from the membrane removal position 550 on the upper surface 501 to the release position by rotating about a horizontal rotation axis.

[0362] The gripping head 122' can be mounted on the adapter 123', which is preferably a rotary adapter adapted to fit the position of the gripping head 122' to the shape of the upper surface 501 of the tray 500.

[0363] Because of this construction, the gripper head 122' is even suitable for operation on irregular surfaces.

[0364] In addition, adapter 123' is adapted to allow gripping head 122' to reach all the positions it must reach during the working steps, which have been described above.

[0365] exist Figure 24a In the specific configuration shown, the gripping head 122' is configured to lift and retain the membrane 550 by means of a vacuum, and preferably includes at least one suction element 125'.

[0366] The removal device 120' can also be advantageously used to hold the upper part 551 of the membrane 550 away from the upper surface 501 before cutting the membrane 550. In fact, this removal movement simplifies the steps of starting the cutting with the blade 111'.

[0367] like Figure 13 As shown, preferably, the device 100' includes a lifting structure 180' and a movable frame 190'.

[0368] The lifting structure 180' defines the machine's carrier, and as those skilled in the art know, such as Figures 13 to 16 As shown, the lifting structure 180' can be composed of a single column or two columns.

[0369] The device 100' may also include a conveying and / or supporting device 170' for the pallet 500.

[0370] Specifically, the base 520 of the pallet 500 is supported on the conveying and / or supporting device 170', which is suitably configured to move the pallet 500 to the demolding position and support it during the demolding operation. The conveying and / or supporting device 170' will not be described in detail, as those skilled in the art know that they are conveyors with chains, rollers, etc., selected, for example, according to the type of the base 520 and / or the type of the pallet 500. The conveying and / or supporting device 170' is also schematically shown in the accompanying drawings.

[0371] Preferably, the device 100' may include a lifting structure not shown in the figures. The lifting structure is configured to lift the tray 500 from a conveying and / or supporting device 170' engaged with the base 520.

[0372] Similarly, we will not go into the technical details of the lifting structure, because the lifting structure can have different constructions depending on the type of the base 520 and / or the type of the tray 500, and the possible constructions are known to those skilled in the art.

[0373] The main purpose of the lifting structure is to allow the cutting of the membrane 550 to be performed across the entire height of the tray 500 up to the base 520.

[0374] The conveying and / or supporting device 170' is preferably located near the lifting structure 180', and when the lifting structure 180' is as follows Figures 13 to 16 In the case of the double-column type lifting structure shown, the conveying and / or supporting device 170' is located inside the lifting structure 180', that is, between the two aforementioned columns 185'.

[0375] This allows the tray 500 to be housed in the center of the lifting structure 180', simplifying and speeding up the demolding operation.

[0376] The lifting structure 180' is also configured to accommodate the movable frame 190'. When it is a double-column lifting structure 180', the movable frame 190' is inserted between the two columns 185'.

[0377] The movable frame 190' is configured to translate vertically on the lifting structure 180'.

[0378] Similarly, in this case, the construction details of the lifting structure 180' and the movable frame 190' will not be described here, as they are known to those skilled in the art. The lifting structure 180' also preferably includes a vertical moving device 181', such as a motor, a transmission element 182', etc., for moving the movable frame 190' in the vertical direction.

[0379] According to the features of the invention, the frame 190' is annular, that is, it includes a structure 191' having four load-bearing sides 191'a, each load-bearing side 191'a being parallel to a side 502a of the tray 500 and thus configured to surround the tray 500.

[0380] This shape allows the movable frame 190' to operate above the tray and thus on its upper surface 501, and across the entire height of the side surface 502, thereby allowing the movable frame 190' to descend from its position above the tray 500 until it surrounds the side surface 502.

[0381] Preferably, the movable frame 190' includes two or four translation elements 192' parallel to the bearing side 191'a; the translation elements 192' are preferably movable in a plane orthogonal to the upward / downward direction of the movable frame 190'.

[0382] In other words, the device 100' also includes a lifting structure 180' and a frame 190' that is vertically movable on the structure 180', the frame 190' including a structure 191' configured to surround the outer edge of the tray 500, and preferably, at least two translation elements 192', preferably four translation elements, are horizontally translated on the structure 191', the translation elements being configured to approach or move away from the corresponding side 502a of the side surface 502 of the tray 500.

[0383] In a preferred embodiment, the movable frame 190' is configured to integrally support and move the extraction device 120' and / or the cutting device 110' in the vertical direction.

[0384] Preferably, each translation element 192' is configured to integrally support and move the cutting device 110' in both the horizontal and vertical directions.

[0385] Specifically, the cutting device 110' is preferably mounted on the translation element 192'. In this way, each cutting device 110' is translated vertically integrally with the movable frame 190' and horizontally integrally with the translation element 192'.

[0386] exist Figures 13 to 2 Figure 3 shows a construction with four translation elements 192'.

[0387] One advantage of this configuration is that it allows, for example, the installation of four cutting devices 110', each mounted on a translational element 192' of the frame 190'. As mentioned above, this allows for a faster cutting process in the device 100'. In this case, four clamping devices 121' are also preferably present, operating on four segments 550s respectively, and are preferably mounted on the structure 191'.

[0388] The structure not shown in the figure can be described as a movable frame 190' having, for example, two translational elements 192' on opposite sides; in this case, for example, two cutting devices 110' can be mounted, with each cutting device 110' mounted on one translational element 192'b, preferably on two clamping devices 121' on the structure 191'. In this way, the film 550 can be cut only in one direction of the upper part 551 and only on the two opposite sides 502a.

[0389] To make any additional cuts, such as separating the four segments 550, once the first set of horizontal and vertical cuts is complete, consider rotating the tray 500 90° and then proceeding with the second set of horizontal and vertical cuts.

[0390] In this configuration, the conveying and / or supporting device 170' preferably includes a rotatable structure, not shown in the figures, which is configured to rotate the tray 500 by at least 90°.

[0391] The rotatable structure is specifically designed to work with the cutting device 110' so that the cutting device 110' can perform the cutting steps described above.

[0392] However, it should be understood that the above description serves as a non-limiting example, and therefore, possible variations of the details that may be required for technical and / or functional reasons are now considered to fall within the same scope of protection.

[0393] For example, an anthropomorphic robot could be envisioned supporting and moving one or more cutting elements 110' and / or removal devices 120', rather than a device 100' having a lifting structure 180' and a movable frame 190'.

[0394] After the membrane 550 is cut according to the above embodiment, the membrane 550 is withdrawn from the tray 500 by means of the removal device 120' and taken to the removal device 130'.

[0395] Specifically, the removal device 130' includes a dragging device 140', which is configured to receive the upper sheet 551s from the removal device 120' and apply traction force to the segments 550s to remove and / or separate them from the tray 500, and preferably from the substrate 520 or from a possible second film adhered to the substrate 520.

[0396] In fact, to better isolate product 510, tray 500 may provide a second film placed between substrate 520 and first product layer 510. The second film is typically adhered to film 550, and this adhesion is primarily achieved by heat shrinkage.

[0397] The dragging device 140' may include at least one electric roller 141' that can rotate about its axis of symmetry.

[0398] Preferably, the electric roller 141' has a toothed outer surface 141's to facilitate the retention of the film 550.

[0399] As shown in Figure 26, the electric roller 141' can cooperate with the contrast roller 142', which is preferably rotatable and suitable for pressing the film 550 onto the electric roller 141', thereby increasing its adhesion.

[0400] A feature of the present invention is that the evacuation device 130' includes a shredding device 150', which is configured to cut / shred the film 550 of each segment 550s into smaller pieces before evacuation; preferably, they are configured to cut / shred the upper sheet 551s and gradually cut / shred the lower sheet 552s.

[0401] Specifically, the shredding device 150' receives the upper slice 551s of each segment 550s from the dragging device 140'.

[0402] In fact, as shown in Figure 26, the shredding device 150' is preferably arranged in sequence with the dragging device 140'.

[0403] In the present invention, the shredding device 150' includes a longitudinal cutting device 151' and a transverse cutting device 152' for cutting the film 550 into strips. The transverse cutting device 152' preferably operates in a direction orthogonal to the longitudinal cutting device 151' and is used to cut the strip-shaped film 550 into smaller pieces.

[0404] Preferably, the devices 151' and 152' are operated sequentially, and it is irrelevant whether the longitudinal cutting device 151' is before or after the transverse cutting device 152'.

[0405] As shown in Figure 26, the evacuation device 130', which includes the dragging device 140' and the shredding device 150', can be a single unit, which facilitates the management and maintenance of the device.

[0406] In a preferred embodiment, the frame 190' is configured to integrally support and move the evacuation device 130' in the vertical direction.

[0407] As shown in Figure 23, the evacuation device 130' can be integrated with the movable frame 190', so that they can move together with the cutting device 110' and / or the removal device 120' to facilitate the evacuation of segment 550s. Therefore, the dragging device 140' and the shredding device 150' can also be integrated with the movable frame 190'.

[0408] In particular, Figure 23 shows a preferred embodiment in which there are four evacuation devices 130', and preferably they are integrated with the structure 191' and preferably placed at the four corners of the structure 191'.

[0409] The device 100' may also include a discharge device 160' that receives shredded membrane 550 from the shredding device 150'.

[0410] Figure 14 and Figure 15 One possible embodiment is shown in which the discharge device 160' includes an inhalation assembly 161' that delivers shredded membrane 550 from the shredding device 150' to the evacuation conduit 162'.

[0411] For example, the inhalation assembly 161' includes one or more fans, configured to produce a depressurization that allows inhalation, as known to those skilled in the art. Other known systems suitable for producing a Venturi effect or inhalation effect also fall within the scope of this invention.

[0412] Preferably, the discharge device 160' provides a centralized inhalation group 161' for all evacuation devices 130'. Thus, for example, the shredded membrane 550 is delivered from the evacuation device 130' to the evacuation conduit 162' via a pipe.

[0413] Preferably, the evacuation conduit 162' includes a vertical portion 162'v, from which the shredded membrane 550 accumulates by falling from the vertical portion 162'v.

[0414] Thus, due to the removal of the conduit 162', the shredded membrane 550 is contained in a clearly defined area, and due to the vertical portion 162'v, gravity is used to transport and accumulate the shredded membrane 550.

[0415] Figure 14 and Figure 15The evacuation conduit 162' is shown in a possible configuration that is particularly advantageous in terms of layout and mechanical resistance of the device 100'. In fact, the evacuation conduit 162' is arranged parallel to the lifting structure 180'.

[0416] Preferably, a conduit is provided on each side of the lifting structure 180' where a column 185' is provided.

[0417] Because the shredding device 150' delivers the shredded membrane 550 toward the withdrawal conduit 162', and in particular toward the vertical portion 162'v, this allows the shredded membrane 550 to enter the position of the movable frame 190' at any vertical position, wherein the movable frame 190' and the withdrawal device 130' are integrally arranged.

[0418] A preferred configuration can be described as follows: the vertical portion 162'v includes deformable elements on the face facing the movable frame 190' to ensure that the shredded membrane 550 enters the movable frame 190' but does not escape.

[0419] For example, the deformable element can be a brush or a rubber lip, etc.

[0420] like Figure 14 , 15 As shown, the shredded membrane 550 that exits the vertical section 162'v can accumulate on, for example, a conveyor belt 163'.

[0421] This configuration is particularly advantageous because it also automatically removes the shredded membrane 550 by conveying it to the most suitable location for disposal.

[0422] Figure 15 A straight band is shown, but this is only one possible, non-limiting construction of the invention.

[0423] The present invention also relates to a method for removing the film from a tray 500 of a product 510, wherein the product 510 is preferably disposed in layers on a substrate 520 or a plate, the tray 500 being coated with a protective film 550 for holding and protecting the product 510 itself, the protective film 550 being configured to cover the upper surface 501 of the tray 500 and preferably up to the side surface 502 of the substrate 520.

[0424] The method preferably describes separating the protective film 550 into at least two segments 550s, each segment 550s including an upper sheet 551s of the upper portion 551 of the film 550 located on the upper surface 501 of the tray 500 and a lower sheet 552s of the side portion 552 of the film 550 located on the side surface 502 of the tray 500.

[0425] More specifically, the method describes: first removing the segment 550s from the upper surface 501 of the tray 500, and then removing the segment 550s from the side surface 502 of the tray 500.

[0426] The preferred embodiment describes separating the protective film 550 into multiple segments 550s, preferably four segments 550s.

[0427] According to one aspect of the invention, the method describes: retrieving the upper sheet 551s of each segment 550s and bringing it to a shredding device 150, which is adapted to cut / shred the film 550 into smaller portions before the film 550 is withdrawn.

[0428] Furthermore, the method preferably describes: cutting / shredding the upper piece 551s and subsequently cutting / shredding the lower piece 552s.

[0429] Specifically, it describes that each segment 550s is brought toward a dragging device 140' suitable for tensioning the membrane 550 before the membrane 550 is cut / shredded into smaller pieces.

[0430] Because of this method, it is easier to separate the membrane 550 from the tray 500.

[0431] Preferably, the steps of cutting and separating the segment 550s and removing the segment 550s from the tray 500 are performed simultaneously.

[0432] Specifically, the method describes lifting the upper part 551 of the membrane 550 from the upper surface 501 of the tray 500 before cutting to separate the segments 550s.

[0433] This design simplifies the initial cutting process, reducing contact between the blade 111' and the tray-loaded product 510.

[0434] The following description Figures 10 to 2 The specific structural embodiment shown in 6.

[0435] The device 100' includes a lifting structure 180', and a movable frame 190' that translates vertically on the lifting structure 180'.

[0436] The movable frame 190' includes a structure 191' on which a translation element 192' is configured to approach or move away from a corresponding side 502a of the side surface 502 of the tray 500.

[0437] Preferably, on structure 191', the extraction device 120' is equipped with, for example, four clamping devices 121', and preferably with four extraction devices 130'.

[0438] Each of the four translation elements 192' is equipped with a cutting device 110'.

[0439] The discharge device 160', which is connected to the evacuation equipment 130', is connected to the lifting structure 180' and has two evacuation conduits 162' at each column 185'.

[0440] An example of a work cycle envisions bringing the tray 500 to be unmolded into a working position within the device 100', and preferably into a working position within the lifting structure 180'.

[0441] The movable frame 190' descends near the upper surface 501 of the tray 500.

[0442] The removal device 120' approaches the upper part 551 of the membrane 550 and uses the gripping head 122' to partially move the upper part 551 away from the upper surface 501.

[0443] At this point, the cutting device 110' begins to cut the upper part 551 into the upper piece 551s.

[0444] Specifically, the retaining device 113' is configured such that the support element 113'a is brought under the cut membrane 550 to keep the membrane 550 in contact with the blade 111'. This is done immediately after the cutting begins.

[0445] Cutting can be performed according to the various embodiments described above. For example, by approaching the translation element 192', the cutting device 110' positions itself in the middle of the upper surface 501 and begins cutting to form four segments 550s.

[0446] Once the horizontal cut is completed, the drive unit 113'b brings the support element 113'a into the second working position, which is suitable for vertical cutting.

[0447] The support element 113'a gradually moves from the first horizontal cut position to the second vertical cut position, thereby adapting to the resistance resisted by the membrane 550.

[0448] The removal device 120' removes the upper pieces 551s from the upper surface 501 and releases them into the removal device 130'.

[0449] Preferably, this occurs after at least a portion of the uncut sheet 552s is cut so that there is a sufficient amount of film 550 that allows access to the evacuation device 130'.

[0450] Once the upper piece 551s is released to the removal device 130', the removal device 130' receives the entire segment 550s as the lower piece 552s continues to be cut.

[0451] Remove device 120' and move it to an external position to await a new work cycle.

[0452] At the same time, the removal equipment 130' performs cutting / shredding of the upper plate for 551s.

[0453] The cutting device 110' continues to cut the side 552 into the lower piece 552s.

[0454] The evacuation device 130' applies traction to the upper sheet 551s and the lower sheet 552s, which helps to continue cutting.

[0455] The lower sheet of the membrane 552s is gradually cut / shredded.

[0456] Meanwhile, as each segment 550s is gradually cut / shredded, the withdrawal catheter 162' delivers these segments by suction until they are accumulated on the conveyor belt 163'.

[0457] Therefore, after positioning the tray 500 within the device 100', the following steps can be summarized:

[0458] -Step 1 (as shown) Figure 17a , 17b (As shown): The movement of the upper part 551 away from the upper surface 501 of the tray 500;

[0459] -Step 2 (as shown) Figure 18a (As shown): Start cutting the upper part 551 along the first direction, and preferably position the holding device 113' between the product 510 and the cut film 550, keeping the film in contact with the blade 111', and continue cutting;

[0460] -Step 3 (as shown) Figure 18b (As shown): Begin cutting the upper part 551 along the second direction, and preferably position the holding device 113' between the product 510 and the cut film 550, keeping the film in contact with the blade 111', and continue cutting;

[0461] -Step 4 (as shown) Figure 19a , 19b (As shown): The upper part 551 is cut into upper pieces 551s along the first and second directions, and each upper piece 551s is lifted and moved away from the upper surface 501.

[0462] -Step 5 (as shown) Figure 20 (As shown): Continue cutting along the side 552 of the membrane 550 to form the lower sheet 552s;

[0463] -Step 6 (as shown) Figure 21a , 21b (As shown): Each upper piece is fully lifted for 551 seconds, moved away from the upper surface 501, and moved toward the removal device 130';

[0464] -Step 7 (as shown) Figure 22a , 22b (As shown): Release each upper sheet 551s onto the removal device 130' and begin cutting / shredding the upper sheet 551s;

[0465] -Step 8 (as shown) Figure 23a , 23b (As shown): Move the lower piece 552s away from the side surface 502 of the tray 500;

[0466] - Step 9 (not shown in the diagram): Continue cutting / shredding for 552 seconds;

[0467] - Step 10 (not shown in the figure): Discharge the shredded membrane 550 for processing.

[0468] However, it should be understood that the above description serves as a non-limiting example, and therefore, any possible detailed variations that may be required for technical and / or functional reasons are hereby considered to fall within the same scope of protection as defined by the claims below.

Claims

1. An apparatus (100) for removing the film from a tray (500) of products (510) arranged in layers on a substrate (520) or plate, the tray (500) being coated with a protective film (550) for retaining and protecting the products (510) themselves, the protective film (550) being configured to cover the upper surface (501) and side surfaces (502) of the tray (500) and extending at least to the substrate (520), wherein, The device (100) includes: A cutting device (110) is used to cut the protective film (550) to separate the protective film (550) into at least two segments (550s), each segment (550s) comprising: The upper sheet (551s) of the upper part (551) of the protective film (550) located on the upper surface (501) of the tray (500); and The lower piece (552s) of the protective film (550) side (552) located on the side surface (502) of the tray (500); A removal device (120) is used to remove segments (550s) of the protective film (550) manufactured by the cutting equipment (110) from the tray (500); At least one first humanoid robot (200), the cutting device (110) being mounted on the first humanoid robot (200); and A conveying and / or supporting mechanism (170) for positioning the tray (500) to the working area of ​​the first humanoid robot (200); The feature is that the conveying and / or supporting mechanism (170) includes a rotating device (171) for rotating the tray (500) about its vertical axis of symmetry (Z) when the tray (500) is positioned at the first anthropomorphic robot (200).

2. The apparatus (100) according to claim 1, characterized in that, The cutting device (110) is mounted on the first anthropomorphic robot (200) to perform the following steps: A first cut (561t) ​​is performed near the substrate (520), the first cut (561t) ​​extending in a substantially horizontal direction along each side (502a) of the side surface (502); A second cut (562t) is performed, the second cut (562t) extending in a substantially perpendicular direction along both sides (502a) of the side surface (502); A third cut (563t) is performed, the third cut (563t) extending on the upper surface (501) of the tray (500) in a direction parallel to at least one of the two sides (502a).

3. The apparatus (100) according to claim 1, characterized in that, The removal device (120) is mounted on the first anthropomorphic robot (200) for removing the segment (550s) from the tray (500).

4. The apparatus (100) according to claim 1, characterized in that, The device includes a second humanoid robot (300), and the removal device (120) is mounted on the second humanoid robot (300) for removing the segment (550s) from the tray (500).

5. The apparatus (100) according to claim 1, characterized in that, Includes a centering device (350) configured to perform a centering step relative to the vertical axis of symmetry (Z) of the tray (500).

6. The apparatus (100) according to any one of claims 1-5, characterized in that, The cutting device (110) includes a blade (111) that rotates via an actuation device (112).

7. The apparatus (100) according to any one of claims 1-5, characterized in that, The cutting device (110) includes a blade (111) and an adapter element (114) supporting the blade (111), the adapter element (114) being configured to adapt the blade (111) to the shape of the tray (500).

8. The apparatus (100) according to any one of claims 1-5, characterized in that, The cutting device (110) includes a blade (111) and a protective element (113) disposed between the product (510) and the protective film (550) to hold the protective film (550) near the blade (111).

9. The apparatus (100) according to claim 8, characterized in that, The protective element (113) is in a fixed position relative to the blade (111).

10. The apparatus (100) according to claim 8, characterized in that, The cutting device (110) also includes at least one separation device (115), which includes a suction head (116) configured to remove a portion of the protective film (550) from the tray (500) and assist in the insertion of the protective element (113).

11. The apparatus (100) according to any one of claims 1-5, characterized in that, The removal device (120) includes at least one clamping device (121) including a gripping head (122) configured to remove a portion of the protective film (550) from the tray (500).

12. The apparatus (100) according to claim 11, characterized in that, The removal device (120) includes a locking device (125) adapted to retain a portion of the segment (550s) that has previously been removed from the tray (500) by the clamping device (121).

13. A method for removing the protective film from a product (510) on a tray (500) implemented by the apparatus (100) according to claim 2, the tray (500) being covered with the protective film (550) to secure and protect the product (510), the protective film (550) being configured to cover the upper surface (501) and side surfaces (502) of the tray (500) and extending at least to the substrate (520); the method comprising the steps of: The protective film (550) is cut to separate it into at least two segments (550s), each segment (550s) comprising: The upper sheet (551s) of the upper part (551) of the protective film (550) located on the upper surface (501) of the tray (500); and The lower piece (552s) of the protective film (550) side (552) located on the side surface (502) of the tray (500); The protective film (550) segment (550s) is removed from the tray (500), wherein the segment (550s) is cut in the following manner: A first cut (561t) ​​is performed near the substrate (520), the first cut (561t) ​​extending in a substantially horizontal direction along each side (502a) of the side surface (502); The second cut (562t) extends in a substantially perpendicular direction along both sides (502a) of the side surface (502); and The third cut (563t) extends on the upper surface (501) of the tray (500); The feature is that it also includes a sequence of steps for rotating the tray (500), performing the first cut (561t), the second cut (562t) and the third cut (563t).

14. The method according to claim 13, characterized in that, The second cut (562t) includes: The first portion (562t1) extending along one side (502a) of the side of the tray (500) to the upper surface (501) and Extending on the other side (502a) of the side of the tray (500) to the second part (562t2) of the upper surface (501); The method includes the following steps: Perform the first part (562t1) of the second cut (562t); The tray (500) is rotated about its vertical axis of symmetry (Z); Perform the second part (562t2) of the second cut (562t).

15. The method according to claim 13, characterized in that, The first cut (561t) ​​includes: The first part (561t1) and the second part (561t2) are located on two adjacent sides (502a) of the side of the tray (500), respectively, and the third part (561t3) and the fourth part (561t4) are located on the other two adjacent sides (502a) of the side of the tray (500). The method includes the following steps: The first part (561t1) and the second part (561t2) of the first cut (561t) ​​are executed. The tray (500) is rotated about its vertical axis of symmetry (Z); The third part (562t3) and the fourth part (562t4) of the first cut (561t) ​​are executed.

Images