Device for picking up products stacked on tray and method for picking up products stacked on tray

Abstract

An apparatus (10) for picking up products stacked on a tray, comprising: a receiving station (12) configured to receive a tray (100); an unloading station (13) comprising a support surface (21); a transfer device (15) movable between the receiving station (12) and the unloading station (13) and configured to clamp the separator sheet (103) from the receiving station (12) and sink the separator sheet in the unloading station (13). The transfer apparatus (15) comprises a plurality of grippers (16), where each gripper (16) is configurable between a closed state in which the gripper grips the partition sheet (103) made of flexible material and an open state in which the gripper releases the partition sheet (103) made of flexible material. The main pusher (24) is placed in the unloading station (12) and is movable along the support surface (21) with the active section (26) of the first path (25).

Description

Technical Field

[0001] The present invention relates to a device for picking up products stacked on a pallet and a method for picking up products stacked on a pallet. Background Art

[0002] In some applications in the manufacturing industry, multiple finished or semi-finished products must be produced and then transported to a remote location within the same plant or another plant to complete the production process.

[0003] Such applications may involve the manufacture of containers which, once manufactured, are transported to a factory where they are filled, or the containers, once filled, are transported to a factory where they are packaged into an individual unit or multiple individual units for subsequent sale to an end user.

[0004] Examples of such applications are the production, filling of containers with bulk parts (eg candies, desserts, lozenges etc.) and their subsequent packaging.

[0005] In this example, cylindrical containers are manufactured, then filled with bulk and closed with opening and re-closing lids. These containers can be sent to a factory where they are individually packaged or they are packaged in groups for subsequent distribution to a sales network.

[0006] Typically, containers are transferred to a packaging plant by stacking the containers on pallets and shipping the pallets to the destination plant.

[0007] In the Applicant's experience, containers are subjected to a so-called palletising operation which involves stacking the containers on a pallet by arranging them in individual layers in a predetermined order, superimposed on one another and separated by separator sheets made of flexible material, such as sheets of cardboard. The pallet thus prepared is wrapped with a plastic film to allow handling and transport of the stack of container layers.

[0008] The applicant has verified that the palletizing operation is usually carried out using a device for depositing the containers in an orderly manner on a separator made of flexible material. In the applicant's experience, such a device comprises, for example, an anthropomorphic robot arm equipped with a plurality of gripping heads arranged in a predetermined array, which simultaneously pick up one or more rows of containers (for example by using a suction cup device) and place these containers side by side in a predetermined order on a separator made of flexible material until the container layer is completed. The operator or a special device places another separator of flexible material on the formed container layer, and the anthropomorphic robot arm positions another container layer. This sequence of operations continues until a plurality of container layers are completely formed on the pallet.

[0009] When the formed pallet arrives at the destination plant, the plastic film wrapping is removed and each container is transferred from its respective layer to a conveyor belt which sends each container to a processing station, such as a packaging station.

[0010] The Applicant has noticed that often during handling or transport of a pallet, products of a product layer (in the above example container) may move between each other and be removed relative to a predetermined deposition order on a separator made of flexible material, thereby arranging themselves in a substantially random order on the separator made of flexible material.

[0011] The Applicant has demonstrated that, when this happens, the picking operation of the stacked products (the so-called depalletising operation) cannot be performed with picking devices similar to those used for palletising, since those picking devices for palletising require the products to be picked to be arranged according to a pre-established pattern.

[0012] For example, the Applicant has demonstrated that the gripping heads of an anthropomorphic robotic arm are not able to intercept all products in a product layer, since they are no longer arranged according to the original arrangement and therefore no longer arranged according to the pre-arranged array of the gripping heads.

[0013] In the Applicant's experience, the picking operation of products displaceable from the initial palletizing sequence is usually performed by a designated operator, with the result that the depalletizing process cannot be automated.

[0014] However, the applicant has realised that there is a need to automate the depalletising process even when the products to be depalletised are arranged in a random order.

[0015] The applicant has realised that a separator sheet made of flexible material can be used as a temporary support for the layers of products and each layer of products can be slid along a respective separator sheet made of flexible material to depalletise the products.

[0016] However, the applicant has realised that dividers made of flexible material, by their nature, do not have sufficient structural rigidity to solely support the products placed thereon without excessive deformation and therefore the dividers must be supported during all depalletising operations.

[0017] The applicant has found that gripping the edges of a separator sheet of flexible material with a gripper allows the separator sheet with the layer of product thereon to be removed from the tray without deforming the separator sheet to such an extent that the product falls out of the separator sheet.

[0018] The applicant has also found that by transferring the gripped separator sheet with the layer of product thereon onto a support surface, the product can be pushed along the separator sheet while the separator sheet is supported by the support surface. Summary of the invention

[0019] Thus, the present invention in its first aspect relates to a device for picking up products stacked on a pallet.

[0020] Preferably, a receiving station is provided, the receiving station being configured to receive the pallet.

[0021] Preferably, an unloading station is provided, the unloading station comprising a support surface.

[0022] Preferably, the transfer device is movable at least between a receiving station and an unloading station and is configured to pick up the separator sheet made of flexible material from the receiving station and deposit it in the unloading station.

[0023] Preferably, the transfer device comprises a plurality of grippers.

[0024] Preferably, each clamp is configurable between a closed state, in which the clamp clamps the separator sheet made of the flexible material, and an open state, in which the clamp releases the separator sheet made of the flexible material.

[0025] Preferably, the main pusher is placed in the unloading station and is movable along the supporting surface with the active section of the first path.

[0026] A second aspect of the invention relates to a method for picking up products stacked on a pallet.

[0027] Preferably, provision is made for arranging the trays in the receiving station, wherein the products are arranged in layers, the layers of products being superimposed on each other and separated by respective separator sheets made of flexible material.

[0028] Preferably, there is provided a gripping separator sheet made of a flexible material, wherein the layer of product is placed on top of the separator sheet.

[0029] Preferably, provision is made for moving the separator sheet made of flexible material to the unloading station while gripping the separator sheet made of flexible material.

[0030] Preferably, provision is made for a separator sheet made of a flexible material to be placed on a supporting surface of the unloading station.

[0031] Preferably, there is provided a means for pushing the layers of products placed on the separating sheet made of flexible material along the supporting surface in order to remove these layers of products from the separating sheet made of flexible material.

[0032] The applicant has demonstrated that by holding a separator made of flexible material with a clamp, the separator made of flexible material is kept confined at the clamping areas and the deformation of the separator can therefore be controlled by selecting these clamping areas while being moved from the pallet so that the products placed on the separator do not fall off the separator made of flexible material.

[0033] The applicant has also confirmed that by moving the dividing sheet made of flexible material onto the supporting surface, the dividing sheet made of flexible material supported by the supporting surface can be laid on the supporting surface and, due to its own flexibility, presents a flat configuration, which ensures that the main pushing member can effectively intercept and remove all products placed on the dividing sheet made of flexible material.

[0034] The Applicant has also demonstrated that any displacement of the products on the flexible separator (other than that caused by the transport of the pallet) when the flexible separator is transported to the unloading station does not adversely affect the operation of pushing the products along the supporting surface to remove the products from the separator made of flexible material.

[0035] In the present specification and the appended claims, "a separator made of a flexible material" refers to a body in the form of a sheet that is capable of deflecting at least when subjected to the weight of goods placed thereon. Examples of separators made of a flexible material may be a sheet made of corrugated cardboard, a sheet made of paper or cardboard, a sheet made of a plastic material.

[0036] In this specification and the appended claims, "vertical direction", "vertically" and similar expressions refer to any direction perpendicular to a supporting surface.

[0037] In this specification and the appended claims, "horizontal direction," "horizontally," and similar expressions refer to any direction contained in a plane parallel to the supporting surface.

[0038] In this specification and the appended claims, "stretching", when referring to a separator made of a flexible material, means the act of stretching the separator made of a flexible material by applying one or more tensile forces oriented along a horizontal plane on the separator made of a flexible material.

[0039] In this specification and the appended claims, "superimposed" means placed above in the vertical direction.

[0040] In all aspects discussed above, the present invention may have at least one of the preferred features described below. Therefore, these features may exist individually or in combination, unless otherwise explicitly stated, either in the device of the first aspect of the present invention or in the method of the second aspect of the present invention.

[0041] Preferably, the main pusher is arranged parallel to the support surface, and when the main pusher travels along the active section of the first path, the main pusher is spaced apart from the support surface by a first distance in a vertical direction.

[0042] Preferably, gripping the separator sheet made of flexible material comprises gripping the separator sheet made of flexible material at the gripping area.

[0043] Preferably, the gripping areas are placed on opposite edges of the separator sheet made of flexible material.

[0044] Preferably, each holder comprises a first holder body and a second holder body, the first holder body and the second holder body being movable towards each other to achieve a closed state and the first holder body and the second holder body being movable away from each other to achieve an open state.

[0045] Preferably, the first holder body comprises at least one suction head.

[0046] Preferably, the suction head is switchable between a suction state, in which the suction head adheres to the separator sheet made of the flexible material, and a release state, in which the suction head does not adhere to the separator sheet made of the flexible material.

[0047] Preferably, when the transfer device is located in the receiving station, the gripper is movable between a position away from the dividing sheet made of the flexible material and a position adjacent to the dividing sheet made of the flexible material.

[0048] Preferably, the holder is movable between the remote position and the adjacent position by translation in a vertical direction preferably oriented towards the tray.

[0049] Preferably, each holder is movable in a vertical direction independently of the other holders.

[0050] Preferably, the distance travelled in the vertical direction by each clamp between the remote position and the adjacent position can be different from the distance travelled in the vertical direction by other clamps between the respective remote position and the respective adjacent position so as to take into account any misalignment of the horizontal plane of the gripping area relative to the separator made of flexible material.

[0051] Preferably, before the separator sheet made of flexible material is grasped, the separator sheet made of flexible material is lifted in a lifting direction at least at the grasping region of the separator sheet made of flexible material.

[0052] Preferably, the lifting direction is a vertical direction oriented away from the tray.

[0053] Preferably, lifting the separator sheet made of flexible material along the lifting direction comprises placing the first holder body of each holder on the separator sheet made of flexible material and switching the corresponding suction head to a suction state.

[0054] Preferably, placing the first holder body of each holder on a separator sheet made of a flexible material comprises moving the holder into an adjacent position.

[0055] Preferably, in the adjacent position, the grippers are in an open state and the suction head of the first gripper body of each gripper is in a suction state.

[0056] Preferably, when in the adjacent position, the gripper is movable in the lifting direction until the gripper reaches the closed starting position.

[0057] Preferably, the holder is placed in the closed position in the closed starting position.

[0058] Preferably, the lifting along the lifting direction of the separating sheet made of flexible material comprises moving the gripper in the lifting direction, wherein the suction head is in the suction state.

[0059] Preferably, moving the grippers in the lifting direction is performed after placing the first gripper body of each gripper on a separation sheet made of a flexible material.

[0060] Preferably, the lifting length of the clamp measured in the vertical direction from the adjacent position to the closed starting position allows at least the second clamp body of each clamp to be inserted between the lifted partition sheet made of flexible material and the partition sheet made of flexible material placed directly below the lifted partition sheet made of flexible material.

[0061] Preferably, after lifting the separator sheet made of flexible material in the lifting direction, the second holder bodies are inserted under the separator sheet made of flexible material and the holders are closed.

[0062] Preferably, after closing the holder, the suction head is placed in a released state.

[0063] Preferably, the holder is movable in the stretching direction when in the closed starting position.

[0064] Preferably, the stretching direction is horizontal.

[0065] Preferably, the plurality of clamps are movable along a horizontally oriented stretching direction when in a closed state.

[0066] Preferably, the stretching direction is substantially perpendicular to the lifting direction.

[0067] Preferably, grasping the separator sheet made of the flexible material comprises stretching the separator sheet made of the flexible material at least along a stretching direction.

[0068] Preferably, stretching of the separator sheet made of flexible material is carried out after closing the clamp.

[0069] Preferably, when the plurality of grippers are in the closed state, the first gripper head of each pair of grippers moves horizontally away from the second gripper of each pair of grippers.

[0070] Preferably, stretching the separator sheet made of flexible material comprises moving the movable grippers away from each other along the stretching direction on opposite edges of the separator sheet made of flexible material.

[0071] Preferably, the stretched length measured in the horizontal direction is such that the portion of the separator sheet made of the flexible material is placed horizontally between the two opposing clamping areas.

[0072] Preferably, the transfer device comprises four containment walls extending along a vertical plane.

[0073] Preferably, the receiving wall is movable in a vertical direction to be arranged at an edge of the partition sheet made of a flexible material.

[0074] Preferably, the receiving walls are arranged at the edge of the separating sheet made of flexible material, so that they extend vertically above and below the edge of the separating sheet made of flexible material.

[0075] Preferably, the arrangement of the receiving wall at the edge of the separating sheet made of flexible material is carried out before the separating sheet made of flexible material is lifted.

[0076] Preferably, moving the separator sheet made of flexible material to the unloading station comprises moving the transfer device in a horizontal direction until the transfer device is located above the supporting surface while gripping the separator sheet made of flexible material.

[0077] Preferably, the transfer device can be raised and lowered in a vertical direction when the transfer device is placed in the receiving station.

[0078] Preferably, the transfer device may be slidably coupled to a beam extending horizontally between the receiving station and the unloading station.

[0079] Preferably, the transfer device can be raised and lowered in a vertical direction when it is placed in the unloading station.

[0080] Preferably, placing the separator sheet made of flexible material on the support surface of the unloading station comprises vertically lowering the transfer device towards the support surface.

[0081] Preferably, lowering the transfer device vertically towards the support surface is carried out up to a release distance from the support surface.

[0082] Preferably, the release distance measured in the vertical direction is such that at least the second holder body of each holder is disengaged from the separator sheet made of the flexible material.

[0083] Preferably, the gripper is movable between a closed state and a suspended position of the dividing sheet made of flexible material when the transfer device is located in the unloading station.

[0084] Preferably, in the suspended position, the clamps are in an open state and the first clamp body of each clamp is in contact with a separator sheet made of a flexible material.

[0085] Preferably, at least in the suspended position, the suction head of the first holder body of each holder is in a suction state.

[0086] Preferably, placing the gripper in the suspended position is performed when the transfer device is in the release distance.

[0087] Preferably, submerging the separator sheet made of flexible material on the support surface comprises placing the separator sheet made of flexible material on the support surface with the holder in a suspended position.

[0088] Preferably, the suction head switches to the released state when the separator sheet made of flexible material rests on the supporting surface.

[0089] Preferably, after switching the suction head into the released state, a vertical movement away from the support surface and the transport device and the gripper is provided.

[0090] Preferably, the supporting surface comprises a holding unit configured to hold the separator sheet made of a flexible material on the supporting surface.

[0091] Preferably, the holding unit acts only on the peripheral portion of the separating sheet made of flexible material.

[0092] Preferably, the holding unit comprises a plurality of suction ducts opening at the supporting surface of the supporting plane.

[0093] Preferably, it is provided that after the separation sheet made of flexible material has been laid down on the support surface, the separation sheet made of flexible material is held on the support surface.

[0094] Preferably, before pushing the layer of product, a separator sheet made of flexible material is held on the support surface.

[0095] During transport of the pallet or while moving the separator sheet made of flexible material, one or more products may be superimposed on the products of the layer of products placed on the separator sheet made of flexible material.

[0096] Preferably, in case one or more products are superimposed on a layer of products, the one or more products superimposed on the layer of products on the supporting surface are pushed before pushing the layer of products.

[0097] Preferably, a secondary pusher is provided, which is movable along the support surface with the active section of the second path.

[0098] Preferably, the active section of the second path is parallel to the active section of the first path.

[0099] Preferably, the active section of the second path is vertically superimposed on the active section of the first path.

[0100] Preferably, when the secondary pushing member moves in the active section of the second path, the secondary pushing member is at a second distance from the supporting surface in the vertical direction, and the second distance is greater than the first distance.

[0101] Preferably, the second distance is selected to be substantially equal to the height in the vertical direction of the product placed on the separator sheet made of the flexible material.

[0102] Preferably, pushing one or more products on the layer of products superimposed on the supporting surface is performed by moving the secondary pusher along the active section of the second path.

[0103] Preferably, the secondary pusher travels along the active section of the second path even when no product is superimposed on the layer of products.

[0104] Preferably, before the main pushing member moves in the active section of the first path, the auxiliary pushing member moves in the active section of the second path.

[0105] Preferably, the active section of the first path extends between a starting end and an ending end.

[0106] Preferably, the active section of the second path extends between a starting end and an ending end.

[0107] Preferably, the starting end of the active section of the first path is placed at a holding unit for a separator made of a flexible material.

[0108] Preferably, the starting end of the active section of the second path is aligned vertically above the starting end of the active section of the first path.

[0109] Preferably, the terminal end of the active section of the second path is aligned vertically above the terminal end of the active section of the first path.

[0110] Preferably, when the pushing member is located at the starting end of the active section of the first path, the secondary pushing member is located at the ending end of the active section of the second path.

[0111] Preferably, the first path extends in the form of a closed loop.

[0112] Preferably, the first path includes a return section extending between the ending end and the starting end of the active section.

[0113] Preferably, the second path extends in the form of a closed loop.

[0114] Preferably, the second path includes a return section extending between the ending end and the starting end of the active section.

[0115] Preferably, when the main pushing member moves in the active section of the first path, the auxiliary pushing member moves in the return section of the second path.

[0116] Preferably, a receiving channel is provided, the dimension of which in a direction perpendicular to the supporting surface substantially corresponds to the dimension of the layer of product measured in the same direction.

[0117] Preferably, a covering body is provided, which is arranged parallel to the supporting surface and is spaced apart from the supporting surface by a third distance in the vertical direction when the secondary pusher is at the end of the active section of the second path.

[0118] Preferably, the third distance is equal to the second distance.

[0119] Preferably, the receiving channel is produced by the covering body.

[0120] Preferably, the cover is movable along the support surface along the active section of the third path.

[0121] Preferably, the active section of the third path extends between a starting end and an ending end.

[0122] Preferably, the starting end of the active section of the third path coincides with the starting end of the active section of the second path.

[0123] Preferably, the end of the active section of the third path coincides with the end of the active section of the second path.

[0124] Preferably, the third path extends in the form of a closed loop.

[0125] Preferably, the third path includes a return section extending between the ending end and the starting end of the active section.

[0126] Preferably, the return section of the third path coincides with the return section of the second path.

[0127] Preferably, the cover has an extension, measured along the third path, which is equal to the extension of the active section of the third path.

[0128] Preferably, the cover comprises a first end and a second end.

[0129] The distance between the first end and the second end of the cover measured along the third path is equal to the distance between the starting end and the ending end of the active section of the third path.

[0130] Preferably, when the secondary pusher is located in the end of the active section of the second path, the cover is placed between the start and end of the active section of the third path and reaches the start and end of the active section of the third path.

[0131] Preferably, when the secondary pusher is located in the terminal end of the active section of the second path, the first end of the cover body is placed at the terminal end of the active section of the third path.

[0132] Preferably, when the secondary pusher is at the end of the active section of the second path, the second end of the cover body is placed at the starting end of the active section of the third path.

[0133] Preferably, when the main pusher moves along the active section of the first path, the second end of the cover body moves along the active section of the third path, and the first end of the cover body moves along the return section of the third path.

[0134] Preferably, the second end of the covering body is formed integrally with the main pushing member, and the first end of the covering body is formed integrally with the auxiliary pushing member.

[0135] Preferably, before pushing the layer of product, a receiving passage is performed on the supporting surface.

[0136] Preferably, the cover is configured to prevent one or more products from overlapping product layers during the action of pushing the products with the main pusher.

[0137] Preferably, the two accommodating side walls are arranged to be located at the supporting surface and extend parallel to the advancing direction of the main pushing member.

[0138] Preferably, after removing the layer of arranged products from the separating sheet made of flexible material, provision is made for removing the separating sheet made of flexible material from the supporting surface.

[0139] Preferably, the support surface comprises two halves which are rotatable about their respective horizontal and parallel axes of rotation.

[0140] Preferably, the support surface is configurable between an operative state, in which the two halves are aligned and coplanar with each other, and an open state, in which the two halves are rotated about their respective axes of rotation.

[0141] Preferably, the unloading station comprises a collecting compartment below the supporting surface.

[0142] Preferably, the collecting compartment is closed at the top of the supporting surface when the supporting surface is in an operative condition.

[0143] Preferably, the collecting compartment is open at the top when the support surface is in the open state.

[0144] Preferably, removing the separating sheet made of flexible material from the supporting surface is performed by placing the supporting surface in an open state and dropping the separating sheet made of flexible material into the collecting compartment.

[0145] Preferably, the holding unit of the separating sheet made of flexible material is inactive when the supporting surface is in the open state.

[0146] Preferably, when the support surface is in the open state, the main pusher is located in the return section of the first path.

[0147] Preferably, when the support surface is in the open state, the secondary urging member is located in the return section of the second path.

[0148] Preferably, the cover body is located in a return section of the third path when the support surface is in the open state.

[0149] Preferably, the product is a container, preferably filled with bulk items. BRIEF DESCRIPTION OF THE DRAWINGS

[0150] Further characteristics and advantages of the invention will become more apparent from the following detailed description of preferred embodiments of the invention provided by way of indicative and non-limiting examples, with reference to the accompanying drawings, in which:

[0151] Figure 1 is a schematic front view of a device for picking up products stacked on a pallet according to the present invention;

[0152] Figures 2 to 5 yes Figure 1 Schematic elevation of the details in different operating positions;

[0153] Figure 6 yes Figure 1 A schematic front view of another detail of

[0154] Figure 7 and Figure 8 yes Figure 1 Another detail of a schematic elevation view under two different operating conditions;

[0155] Fig. 9 and Fig.10 They are Figure 1 The device is Figure 7 and Figure 8 A schematic top view of the operating position of the

[0156] Fig.11 and Fig.12 yes Figure 1 A schematic front view of another detail of the invention in two further different operating positions;

[0157] Fig.13 and Fig.14 They are Figure 1 The device is Fig.11 and Fig.12 A schematic top view of the operating position of the

[0158] Fig.15 yes Figure 1 A schematic front view of another detail of in another operating position;

[0159] Fig.16 yes Figure 1 A schematic perspective view of components of the device; and

[0160] Fig.17 yes Fig.15 Schematic front view of the detail in different operating positions.

[0161] The representations in the drawings must not necessarily be regarded as to scale, and the proportions between the individual components must not necessarily be adhered to. DETAILED DESCRIPTION

[0162] Figure 1 A device for picking up products stacked on a pallet according to the present invention is schematically shown. The device for picking up products stacked on a pallet is indicated as a whole by reference numeral 10 .

[0163] The device 10 comprises a frame 11 on which are defined a receiving station 12 and an unloading station 13. The receiving station 12 and the unloading station 13 are arranged side by side.

[0164] exist Figure 1 The receiving station 12 shown on the left in FIG. 1 comprises a storage compartment 14 for accommodating a pallet 100 on which a plurality of products 101 stacked are arranged in rows 102 separated from one another by respective separator sheets 103 made of a flexible material.

[0165] The product 101 may be, for example, a cylindrical container. The separator 103 made of a flexible material may be a corrugated cardboard sheet.

[0166] The device 10 comprises a transfer device 15 (in the case of a transfer device 15) which is horizontally movable along a transfer direction DT between a receiving station 12 and an unloading station 13. Figure 1 , the transfer device 15 is shown to be located in an intermediate position between the receiving station 12 and the unloading station 13). The transfer device 15 is vertically movable both when arranged in the receiving station 12 and when arranged in the unloading station 13.

[0167] The transfer device 15 comprises a carriage 15a which is slidably coupled to the cross member 11a of the frame 11 along the transfer direction DT. When the transfer device 15 is located in the receiving station 12, the carriage 15a is also slidably coupled to the upright column 11b of the frame 11 along the vertical direction. When the transfer device 15 is located in the unloading station 13, the carriage 15a is also slidably coupled to the upright column 11c of the frame 11 along the vertical direction.

[0168] The transfer device 15 further includes four vertical receiving walls 30 , which are arranged perpendicular to each other in pairs and can move with the transfer device 15 .

[0169] The transfer device 15 includes a plurality of grippers 16 that are movable together with the transfer device 15. Each gripper 16 is also movable relative to the transfer device 15 in the horizontal direction.

[0170] The grippers 16 are arranged in pairs, wherein each gripper 16 of a pair of grippers 16 faces the other gripper 16 of the same pair of grippers 16 along the transport direction DT. For example, two to six pairs of grippers 16 are provided, preferably two to five pairs of grippers 16, more preferably two to four pairs of grippers 16, for example, two or three pairs of grippers 16. In the embodiment shown in the drawings, two pairs of grippers 16 are provided.

[0171] As in Fig.16 As better shown in FIG. 1 , each clamp 16 includes a first clamp body 17 and a second clamp body 18. The second clamp body 18 can rotate relative to the first clamp body 17 about the hinge axis AC so as to move toward and away from the first clamp body 17. When the first clamp body 17 is in substantial contact with the second clamp body 18 (e.g., Fig.16 When the first clamp body 17 is moved away from the second clamp body 18 (as shown in the configuration shown in the figure), the clamp is in a closed state. Fig.16 Configuration shown), with the gripper in the open position.

[0172] The first gripper body 17 of each gripper 16 comprises two suction heads 19 connected to a pneumatic circuit (not shown) via respective connectors 20. The suction heads 19 are configured to generate low air pressure by achieving a suction condition and to be at ambient pressure by achieving a release condition.

[0173] The device 10 comprises a support surface 21 at the unloading station 13. The support surface 21 can be switched between a working position and an open position. The support surface 21 comprises two halves 21a, 21b ( Fig.17), each half being hinged to the frame 10. In the working state, the two halves 21a, 21b are coplanar and arranged according to a horizontal plane. In the open state, the two halves 21a, 21b are rotated relative to each other, thereby creating an unloading opening 22. Below the support surface 21 there is a collecting compartment 23. Unless otherwise stated, reference will be made to the support surface 21 in the working condition.

[0174] The support surface 21 includes a holding unit 39 located at an initial portion 21c of the support surface 21 (at Fig.10 , the holding unit 39 is depicted with dashed lines). The holding unit 39 is movable along the entire initial portion 21c of the support surface 21 in a direction parallel to the transport direction DT.

[0175] In a feasible embodiment, the holding unit 39 may include a plurality of suction pipes (not shown) opening at the support surface 21. Alternatively, the holding unit 39 may include a plurality of suction cups (not shown) placed on the support surface 21. Alternatively, the holding unit 39 may include a plurality of grippers (not shown) movable on the support surface 21.

[0176] The device 10 comprises, at the unloading station 13 , a main pusher 24 movable along a first path 25 .

[0177] like Figure 6 As shown, the first path 25 is a closed path. The first path 25 includes an active section 26 extending substantially parallel to the support surface 21. The active section 26 of the first path 25 includes a starting end 26a and an ending end 26b. The first path 25 also includes a return section 27 extending between the ending end 26a and the starting end 26a of the active section 26. The return section 27 includes a first portion 28 and a second portion 29. The first portion 28 of the return section 27 extends vertically along two parallel branches and is adjacent to the ending end 26b of the active section 26. The second portion 29 of the return section 27 is substantially parallel to the active section 26 and vertically superimposed on the active section 26. When the main pusher 24 travels along the active section 26, the main pusher 24 is spaced apart from the support surface 21 by a first distance D1 in the vertical direction. The distance D1 is less than the height of the product 101 in the vertical direction.

[0178] The main pusher 24 is arranged transversely to the transport direction DT. The main pusher 24 is connected to two mutually parallel chains 31 (only one chain 31 is visible in the figure), which are positioned laterally to the support surface 21 and transversely to the main pusher 24. The chains 31 are wound around pulleys 32, at least one of which is motorized. The chains 31 are closed on the pulleys 32 and are placed parallel to the first path 25. The main pusher 24 transported by the chains 31 follows the first path 25.

[0179] The main pusher 24 comprises a profile which preferably has a U-shaped cross section.

[0180] The device 10 also comprises, at the unloading station 13 , a secondary pusher 33 movable along a second path 34 .

[0181] like Figure 6 As shown, the second path 34 is a closed path. The second path 34 includes an active section 35 extending substantially parallel to the support surface 21. The active section 35 of the second path 34 includes a starting end 35a and an ending end 35b. The second path 34 further includes a return section 36, which extends between the ending end 35a and the starting end 35b of the active section 35. The return section 36 includes a first portion 37 and a second portion 38. The first portion 37 of the return section 36 extends vertically along two parallel branches and is adjacent to the ending end 35b of the active section 35. The second portion 38 of the return section 36 is substantially parallel to the active section 35 and vertically superimposed on the active section 35. When the secondary pusher 33 travels along the active section 35, the secondary pusher 33 is spaced apart from the support surface 21 by a second distance D2 in the vertical direction. The distance D2 is greater than the height of the product 101 in the vertical direction and less than twice the height of the product 101 in the vertical direction.

[0182] The second path 34 is parallel to the first path 25 and is inside the first path 25 .

[0183] The secondary pusher 33 is parallel to the main pusher 24. The secondary pusher 33 is arranged transverse to the transfer direction DT. The secondary pusher 24 is also connected to the chain 31. The secondary pusher 33 transported by the chain 31 follows the second path 34. The main pusher 24 and the secondary pusher 33 are permanently connected to the chain 31 and are spaced apart from each other along the chain 31. The distance between the main pusher 24 and the secondary pusher 33 along the second path 34 is substantially equal to the length of the active section 35 of the second path 34.

[0184] The secondary pusher 33 comprises a profile which preferably has a U-shaped cross section.

[0185] The device 10 further comprises a cover 40 at the unloading station 13. The cover 40 is movable along a third path 41 .

[0186] like Figure 6As shown, the third path 41 is a closed path. The third path 41 includes an active section 42 extending substantially parallel to the support surface 21. The active section 42 of the third path 41 includes a starting end 42a and an ending end 42b. The third path 41 further includes a return section 43, which extends between the ending end 42a and the starting end 42b of the active section 42. The return section 43 includes a first portion 44 and a second portion 45. The first portion 44 of the return section 43 extends vertically along two parallel branches and is adjacent to the ending end 42b of the active section 42. The second portion 45 of the return section 43 is substantially parallel to the active section 42 and vertically superimposed on the active section 42. When the cover body 40 travels along the active section 42, the cover body 40 is spaced apart from the support surface 21 by a third distance D3 in the vertical direction.

[0187] As in Figure 6 As schematically shown in FIG. 4 , the third path 41 coincides with the second path 34 . The third distance D3 coincides with the second distance D2 . The third path 41 is parallel to the first path 25 and is inside the first path 25 .

[0188] The cover 40 is parallel to the main pusher 24. The cover 40 is arranged transversely to the transfer direction DT. The cover 40 is also connected to the chain 31. The cover 40 transported by the chain 31 follows the third path 41. The cover 40 is permanently connected to the chain 31 and extends between the secondary pusher 33 and the main pusher 24.

[0189] The cover body 40 includes a first end 40a and a second end 40b. The first end 40a is substantially located at the secondary pusher 33, and the second end 40b is substantially located at the main pusher 24. The distance between the first end 40a and the second end 40b along the third path 41 is substantially equal to the length of the active section 42 of the third path 41.

[0190] The cover 40 comprises a plurality of slats 46 forming a kind of shield. Each slat is connected to the chain 31. The starting slat defines a first end 40a of the cover 40 and the ending slat defines a second end 40b of the cover 40. When the cover 40 is arranged in the active section 42 of the third path 41, the cover 40 forms a receiving channel 47 in combination with the support surface 21.

[0191] Preferably, each slat 46 comprises a profile having a U-shaped cross section. The slats 46 are spaced apart from each other along the third path 41 by an amount less than the width of the product 101 in the horizontal direction.

[0192] The device 10 comprises, at the unloading station 13, two receiving side walls 48 located at the support surface 21 (at Figure 6 Only one of them is shown with a dotted line).

[0193] The receiving side wall 48 extends vertically and parallel to the forward direction of the main pusher 24 .

[0194] The device 10 is adjacent to a product conveyor 200. Such a conveyor 200 may be a part of the device 10 or may be a separate device relative to the device 10. The conveyor 200 may be a conveyor belt, an organizer, or an assembly of a conveyor belt and an organizer.

[0195] The method for picking up products stacked on a pallet according to the present invention can be implemented using the above-mentioned device 10 .

[0196] With specific reference to the device 10 , the method according to the invention for picking up products stacked on a pallet comprises arranging the pallet 100 in a storage compartment 14 of a receiving station 12 .

[0197] The tray 100 is arranged with rows 102 of products 101 resting on respective separator sheets 103 made of flexible material. Each separator sheet 103 made of flexible material is superimposed on a layer 102 of products 101 arranged on another separator sheet 103 made of flexible material.

[0198] The transfer device 15 is placed in the receiving station above the pallet 100, wherein the gripper 16 is in the open state, such as in Figure 2 The suction head 19 is in a released state. The gripper 16 and the transfer device 15 are in a position away from the tray 100.

[0199] The gripper 16 is lowered vertically together with the transfer device 15 towards the pallet 100. The gripper 16 is in the open state and the suction head 19 is in the released state.

[0200] The gripper 16 reaches a position adjacent to a separator sheet 103 made of a flexible material placed at a higher position on the tray 100, such as in Figure 3 Schematically shown in . The adjacent position of the clamp 16 is achieved by vertically lowering the transfer device 15 and horizontally translating the clamp 16 toward the separator 103 made of flexible material (if necessary). The adjacent position is reached when the first clamp body 17 of each clamp 16 contacts the edge of the separator 103 made of flexible material. The clamp 16 is in the open state and the suction head 19 is switched to the suction state. The suction head 19 constrains the separator 103 made of flexible material to the first body 17 of the clamp 16 (by suction).

[0201] At this time, the transfer device 15 and the gripper 16 are vertically translated away from the tray 100. Because the suction head 19 constrains the separator 103 made of flexible material to the first body 17 of the gripper 16, the separator 103 made of flexible material is lifted along a lifting direction vertically oriented away from the tray 100, such as in Figure 4 The holder 16 is in the open state, and the receiving wall 30 of the transfer device 15 surrounds the partition sheet 103 made of flexible material to prevent the product 100 placed thereon from falling.

[0202] The lifting of the separator 103 made of flexible material moves the lifted separator 103 made of flexible material away from the separator 103 made of flexible material just below it and still contained in the pallet 100. This creates a handling space for the second clamp body 18 of the clamp 16, which can be rotated to put the clamp 16 in a closed state, preventing the second clamp body 18 from accidentally intercepting the separator 103 made of flexible material still on the pallet 100. Closing the clamp 16 causes the separator 103 made of flexible material to be clamped at the clamping area, such as Figure 5 Since the suction effect of the suction head 19 is no longer needed, the suction head 19 can be switched to a released state.

[0203] At this time, the grippers 16 move along the stretching direction DR to stretch the separator 103 made of flexible material and remove any bending in the central area of ​​the separator 103 made of flexible material. The stretching direction DR is oriented horizontally, and the first gripper head 16 of each pair of grippers 16 moves horizontally away from the second gripper 16 of each pair of grippers 16.

[0204] With the grippers 16 in the closed position, the transfer device is moved along the transfer direction DR to the unloading station 13. Figure 1 It is schematically shown in FIG.

[0205] When the transfer device 15 reaches the unloading station 13 and is placed vertically above the supporting surface 21 , the transfer device 15 is vertically lowered to sink the separator sheet 103 made of a flexible material onto the supporting surface 21 .

[0206] This is done by lowering the transport device 15 (and the gripper 16) to a release distance from the support surface 21, so that the second gripper body 18 of the gripper 16 can be moved to open without the second gripper body 18 intercepting the support surface 21. When the transport device 15 is lowered to the release distance, or when the release distance is reached, the suction head 19 returns to the suction state.

[0207] At this time, the clamp 16 enters an open state corresponding to the hanging position. In this hanging position of the clamp 16, the partition sheet 103 made of a flexible material is held above the support surface 21 and spaced apart from the support surface 21.

[0208] The transfer device 15 and the gripper 16 (in the open state and the suction head in the suction state) are further lowered until the separator 103 made of flexible material rests on the support surface 21. The suction head 19 is placed in the released state, and the transfer device 15 with the gripper 16 is lifted vertically and sent back to the receiving station 12.

[0209] This is done by the main pusher 24 located in the first part 28 of the return section 27 of the first path 25. This operation is also performed by the secondary pusher 33 located in the first part 37 of the return section 36 of the second path 34. Figure 7 This operation is also performed by the cover body 40 which is completely arranged in the first part 44 of the return section 43 of the third path 41. In this way, the main pusher 24, the secondary pusher 33 and the cover body 40 do not interfere with the partition sheet 103 made of a flexible material.

[0210] The holding unit 39 is activated to hold a portion of the separator sheet 103 made of a flexible material on the supporting surface 21 .

[0211] Fig. 9 A schematic top view shows a separator 103 made of flexible material resting on a support surface 21 of an unloading station 13, wherein a product 101 is placed on the separator 103 made of flexible material (left part of the figure), and another separator 103 made of flexible material resting on the support surface 21 of the unloading station 13, wherein a corresponding layer 102 of the product is placed on the separator 103 made of flexible material, ready to be picked up by a receiving station 12 (right side of the figure).

[0212] Figure 7 The unloading station 13 is shown in a schematic side view, wherein a separator sheet 103 made of flexible material rests on the support surface 21 and wherein the products 101 are placed on the separator sheet 103 made of flexible material. Figure 7 As schematically shown in FIG. 1 , it may happen that, during the transfer of a separator sheet 103 made of flexible material from the receiving station 12 to the unloading station 13 , a product 101 is superimposed on a layer 102 of products.

[0213] In this case, and even if no product 101 is superimposed on the layer 102 , the layer 102 of products is pushed towards the conveyor 200 .

[0214] This operation includes bringing the secondary pusher 33 to the starting end 35a of the active section 35 of the second transport path 34. At the same time, the first end 40a of the cover 40 is brought into the starting end 42a of the active section 42 of the third path 41 (as shown in FIG. Figure 8 The main pusher is located in the return section 27 of the first path 25.

[0215] The auxiliary pusher 33 moves along the active section 35 of the second transport path 34. At the same time, the first end 40a of the cover body 40 moves along the active section 42 of the third path 41. Fig.10 As schematically shown in the figure, during this operation, the cover 40 partially covers the layer 102 of products 101 placed on a separator sheet 103 made of flexible material, and the secondary pusher 33 intercepts any products 101 superimposed on the layer 102 by pushing any products 101 in a direction toward the conveyor 200.

[0216] The secondary pusher 33 has a dimension in a direction parallel to the transfer direction DT that is larger than the dimension of the separator 103 made of a flexible material in the same direction. Similarly, the main pusher 24 has a dimension in a direction parallel to the transfer direction DT that is larger than the dimension of the separator 103 made of a flexible material in the same direction. The cover 40 has a dimension in a direction parallel to the transfer direction DT that is larger than the dimension of the separator 103 made of a flexible material in the same direction.

[0217] The active section 26 of the first path 25 has an extension greater than or equal to the dimension of the separator 103 made of flexible material in the direction of the main pusher 24 when it travels along the active section 26. The active section 35 of the second path 34 has an extension greater than or equal to the dimension of the separator 103 made of flexible material in the travel direction of the secondary pusher 33 when it travels along the active section 35. The active section 42 of the third path 41 has an extension greater than or equal to the dimension of the separator 103 made of flexible material in the travel direction of the cover 40 when it travels along the active section 42.

[0218] When the secondary pusher 33 reaches the end 35b of the active section 35 of the second path 34, the cover 40 completely covers the layer 102 of the product 101 placed on the separator 103 made of flexible material, such as Fig.13 This forms a receiving channel 47 for the product 101. Fig.11 As shown, when the secondary pusher 33 reaches the end 35 b of the active section 35 of the second path 34 , the main pusher 24 reaches the start end 26 a of the active section 26 of the first path 25 .

[0219] Then, the main pusher 24 starts to move along the active section 26 of the first path 25. When the main pusher 24 moves along the active section 26 of the first path 25, the main pusher 24 pushes the layer 102 of the product 101 away from the separator 103 made of the flexible material in the direction of the end 26b of the active section 26 facing the first path 25. When the main pusher 24 moves along the active section 26 of the first path 25, the main pusher 24 pushes the layer 102 of the product 101 toward the conveyor 200 into the receiving channel 47, as shown in FIG. Fig.14 Schematically shown in .

[0220] When the main pusher 24 moves along the active section 26 of the first path 25, the auxiliary pusher 33 moves along the return section 36 of the second path 34. When the main pusher 24 moves along the active section 26 of the first path 25, the first end 40a of the cover body 40 moves along the return section 43 of the third path 41. When the main pusher 24 moves along the active section 26 of the first path 25, the second end 40b of the cover body 40 moves along the active section 42 of the third path 41. Fig.12 Schematically shown in .

[0221] The main pusher 24 reaches the end 26b of the active section 26 of the first path 25, as shown in FIG. Fig.15 Schematically shown in FIG. The layer 102 of the product 101 is completely removed from the separator 103 made of flexible material. When the main pusher 24 reaches the end end 26b of the active section 26 of the first path 25, the secondary pusher 33 is located in the return section 36 of the second path 34. When the main pusher 24 reaches the end end 26b of the active section 26 of the first path 25, the second end 40b of the cover 40 reaches the end end 42b of the active section 42 of the third path 41. When the main pusher 24 reaches the end end 26b of the active section 26 of the first path 25, the first end 40a of the cover 40 travels along the return section 43 of the third path 41.

[0222] When the layer 102 of products 101 is completely removed from the separator sheet 103 made of flexible material, the support surface 21 is placed in the open state and the holding unit 39 is deactivated. This causes the separator sheet 103 made of flexible material to fall into the collecting compartment 23 of the unloading station 13, as shown in FIG. Fig.17 During this operation, the main pusher 24 is placed in the first part 28 of the return section 27 of the first path 25. This operation is also performed by the secondary pusher 33 located in the first part 37 of the return section 36 of the second path 34. This operation is also performed by the cover body 40 completely arranged in the first part 44 of the return section 43 of the third path 41, as shown in FIG. Fig.17In this way, the main pusher 24, the secondary pusher 33 and the cover 40 will not interfere with the separation sheet 103 made of flexible material falling through the unloading opening 22.

[0223] Obviously, a person skilled in the art may make numerous modifications and variations to the invention described above in order to meet specific and situational needs, while remaining within the scope of protection defined by the appended claims.

Claims

1. A device (10) for picking up products stacked on a pallet, the device (10) comprising: a receiving station (12), the receiving station (12) being configured to receive the tray (100); an unloading station (13), said unloading station (13) comprising a supporting surface (21); A transfer device (15), the transfer device (15) being movable at least between the receiving station (12) and the unloading station (13), and the transfer device (15) being configured to pick up a separator (103) made of a flexible material from the receiving station (12) and to sink the separator (103) into the unloading station (13); The transfer device (15) comprises a plurality of grippers (16), wherein each gripper (16) can be configured between a closed state and an open state, in which the gripper grips the separator (103) made of a flexible material, and in which the gripper releases the separator (103) made of a flexible material; A main pusher (24) is placed in the unloading station (12) and can move along the supporting surface (21) along the active section (26) of the first path (25).

2. The device (10) according to claim 1, wherein: Each clamp (16) includes a first clamp body (17) and a second clamp body (18), wherein the first clamp body (17) and the second clamp body (18) can move toward each other to achieve the closed state and can move away from each other to achieve the open state; the first clamp body (17) includes at least one suction head (19), and the at least one suction head (19) can be switched between a suction state and a release state, wherein in the suction state, the at least one suction head (19) adheres to the separator (103) made of flexible material, and in the release state, the at least one suction head (19) does not adhere to the separator (103) made of flexible material.

3. The device (10) according to claim 2, wherein: When the transfer device (15) is located in the receiving station (12), the clamp (16) can move between a position away from the partition (103) made of flexible material and a position adjacent to the partition (103) made of flexible material, wherein, in the adjacent position, the clamp (16) is in the open state, and the suction head (19) of the first clamp body (17) of each clamp (16) is in the suction state.

4. The device (10) according to claim 3, wherein: When located in the adjacent position, the clamp (16) can be moved in the lifting direction until the clamp reaches a closed starting position; the clamp (16) is placed in the closed state in the closed starting position.

5. The device (10) according to any one of the preceding claims, wherein: The support surface (21) comprises a holding unit (39) configured to hold the separator (103) made of a flexible material on the support surface (21).

6. The device (10) according to any one of the preceding claims, wherein: The main pusher (24) is arranged parallel to the support surface (21), and when the main pusher (24) moves along the active section (26), the main pusher (24) is spaced apart from the support surface (21) by a first distance (D1) in a vertical direction.

7. The device (10) according to claim 6, comprising a secondary pusher (33) movable along the support surface (21) following the active section (35) of the second path (34), wherein: The active section (35) of the second path (34) is parallel to the active section (26) of the first path (25), and wherein, when the secondary pushing member (33) moves along the active section (35) of the second path (34), the secondary pushing member (33) is spaced apart from the supporting surface (21) by a second distance (D2) in a vertical direction, and the second distance (D2) is greater than the first distance (D1).

8. The device (10) according to claim 7, wherein: The active section (26) of the first path (25) extends between a starting end (26a) and an ending end (26b), and wherein the active section (35) of the second path (34) extends between a starting end (35a) and an ending end (35b); when the main pushing member (24) is located in the starting end (26a) of the active section (26) of the first path (25), the secondary pushing member (33) is located in the ending end (35b) of the active section (35) of the second path (34).

9. The device (10) according to claim 8 comprises a covering body (40), which is placed parallel to the supporting surface (21), and when the auxiliary pushing member (33) is located at the end end (35b) of the active section (35) of the second path (35), the covering body (40) is separated from the supporting surface (21) by a third distance (D3) in the vertical direction.

10. The device (10) according to claim 9, wherein: The cover body (40) can move along the support surface (21) following the movable section (42) of the third path (41); the first path (25), the second path (34) and the third path (41) extend in a closed loop and are parallel to each other.

11. The device (10) according to any one of the preceding claims, wherein: When in the closed state, the plurality of clamps (16) are movable along a horizontally oriented stretch direction (DR).

12. The device (10) according to claim 11, wherein: When the plurality of grippers (16) are in the closed state, a first gripper head (16) of each pair of grippers (16) moves horizontally away from a second gripper (16) of each pair of grippers (16).

13. A method for picking up products stacked on a pallet, the method comprising: Arranging a tray (100) in a receiving station (12), wherein the products (101) are arranged in layers (102), said layers (102) being superimposed and separated by respective separator sheets (103) made of a flexible material; Grasping a separator sheet (103) made of a flexible material, wherein the layer (102) of the product (101) is placed on top of the separator sheet (103) made of a flexible material; while clamping the separator (103) made of the flexible material, moving the separator (103) made of the flexible material to an unloading station (13); placing a separator sheet (103) made of the flexible material on a supporting surface (21) of the unloading station (13); The layer (102) of the product (101) placed on the separator (103) made of flexible material is pushed along the support surface (21) to remove the layer (102) of the product (101) from the separator (103) made of flexible material.

14. The method according to claim 13, wherein: Before grasping the separator (103) made of flexible material, the separator (103) made of flexible material is lifted in a lifting direction at least at a grasping region of the separator (103) made of flexible material.

15. The method according to claim 13 or 14, wherein: Grasping the separator (103) made of flexible material comprises: stretching the separator (103) made of flexible material at least along a stretching direction (DS), preferably the stretching direction (DS) is perpendicular to the lifting direction.

16. The method according to any one of claims 13 to 15, wherein: Before pushing the layer (102) of products (101), the separating sheet (103) made of flexible material is held on the supporting surface (21).

17. The method according to any one of claims 13 to 16, wherein: In the case where one or more products (101) are superimposed on the layer (102) of products (101), the one or more products (101) are superimposed on the layer (102) of products (101) on the support surface (21) before pushing the layer (100) of products (101).

18. The method according to any one of claims 13 to 17, wherein: Before pushing the layer (102) of product (101), a receiving channel (47) is manufactured, the dimension of which in a direction perpendicular to the supporting surface (21) is substantially consistent with the dimension of the layer (102) of product (101) measured in the same direction.

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