Device for unpacking a pallet

Abstract

Device (100) for unpacking a pallet (500) containing products (510) arranged in layers on or against a base (520) or plate, wherein the pallet (500) is coated or covered with a protective film (550) for holding and protecting the products (510), configured to cover the top surface (501) and the side surface (502) of the pallet (500) at least up to the base (520); wherein the device (100) comprises: • a cutting device (110) for performing the cutting of the protective film (550) in order to separate the protective film (550) into at least two segments (550s), each comprising: - an upper flap or flap (551s) of an upper section (551) of the film (550) on the upper surface (501) of the pallet (500), and - a lower flap or flap (552s) of a side section (552) of the film (550) on the side surface (502) of the pallet (500); • Removal means configured to move the segments (550s) formed by the cutting device away from the pallet (500); • at least one anthropomorphic robot (200) on which the cutting device (110) is installed; • Transfer and / or carrier means (170) configured to position the pallet (500) in a work area of ​​the anthropomorphic robot (200); characterized in that the transfer and / or carrier means (170) comprise a rotary device (171) configured to rotate the pallet (500) about a vertical axis of symmetry (Z) of the same when the pallet is positioned on the anthropomorphic robot (200).

Description

AREA OF APPLICATION OF THE INVENTION

[0001] The present invention falls within the field of unpacking palletized cargo. In particular, it relates to a method and an associated device for ensuring the removal of the protective film from palletized cargo. STATE OF THE ART

[0002] The packaging or filling plants are supplied, for example, with palletized loads consisting of different layers of products or containers surrounded by a heat-shrinkable or elastic sleeve that covers the products.

[0003] Palletized cargo or pallet refers to multiple products arranged, preferably in layers, on a base, also known as a pallet, which is usually made of wood or plastic. Between each layer, there may be an insert, called a pad, made of plastic or cardboard, which contributes to the pallet's stability. It is also possible for this pad to be positioned between the pallet and the cargo.

[0004] If reusable plastic inserts are used in the palletized load, these elements must be kept for future use.

[0005] Before the product is depalletized in processing lines such as filling lines (if it is a container like bottles or jars), the pallet is stored and moved between the product production equipment and the subsequent processing equipment. To ensure its integrity and stability during the various steps mentioned above, the pallet is usually wrapped with a protective film, forming a shell in which the products are enclosed. This film is typically made of plastic.

[0006] In the case of containers for the food industry, the film completely wraps the products and the pallet on which the load is carried to ensure that no insects or dirt can penetrate, and to give stability to the palletized load.

[0007] The pallet can be covered by wrapping its circumference with stretch film or by applying a heat-shrinkable film that adheres to the pallet's surface through heat shrinkage. Alternatively, the pallet can be wrapped in a stretch-hood film, which, thanks to its elasticity, fits and conforms to the pallet without the need for heat shrinkage.

[0008] Even a section around the base of the pallet may be wrapped in protective film.

[0009] The process of removing the protective film from the pallet, known in industry jargon as "pallet unpacking," is very often performed manually. In fact, variables related to product stability, uneven adhesion of the protective film, and the possibility of damaging the product and / or the pads have always made unpacking by automated machines unreliable.

[0010] At the same time, however, manual unpacking carried out by one or more operators is a process that, in addition to posing risks to the integrity of the palletized load, also poses risks to the operator's safety.

[0011] In fact, the operator may find themselves in a dangerous situation during unpacking due to possible falling products that are pulled along by the removed film.

[0012] To overcome this disadvantage, several automatic means and methods for unpacking the pallet are known in the prior art.

[0013] However, these means and methods have a number of problems, especially when the pallet load includes many unstable and fragile products, such as pallets of glass bottles.

[0014] US patent US5727747 describes a method and a machine for removing a cover from a palletized load, in which a continuous vertical cut is made in the cover and, by means of a relative rotary motion between the pallet and the cover, the cover is removed from the pallet by unrolling the plastic film and tearing it.

[0015] The main problem with this machine and this process is that, especially in the case of unpacking with heat-shrinkable film, the plastic film has creases or folds that change the behavior of the film during tearing and the relative behavior of the load during the unwinding process from area to area.

[0016] As a result, the load can tip over, become entangled in the foil, and some of the bottles in the load may even fall off.

[0017] This leads to a standstill of the production line, as the situation cannot always be resolved quickly.

[0018] Another machine and unpacking method are described in publication EP3214004B1, which provides for making vertical and / or horizontal linear cuts in a plastic material surrounding the palletized load. At least one of the linear cuts is of a discontinuous type and comprises a cut section with a plurality of cuts of a specific length and constant spacing; the method provides for a subsequent step consisting of tearing off the discontinuous cut section. The discontinuous cut section is vertical and is made on a side face of the palletized load and is connected to a cut formed in the upper base of the palletized load.

[0019] This method also has the disadvantage that the film is removed by tearing, which causes the problems described above, especially in the case of heat-shrinkable film.

[0020] Another problem with known methods and machines lies in the difficulties of performing the cut and in the type of tools used to cut the film, which may come into contact with the containers; this aspect is particularly relevant with regard to food safety for consumers, especially for glass containers (such as bottles or jars), as these may lose resistance and integrity.

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

[0022] To address the aforementioned problem, document EP3214004B1 proposes cutting the film by inserting the blade between each row of bottles. However, this is not always possible, as it depends on the correct positioning of the bottles on the pallet, which is not always guaranteed due to palletizing errors or displacements after the pallet has been moved.

[0023] Another critical aspect when unpacking a pallet is related to the removal of the film, as it takes up a lot of space and does not allow for easy disposal. REVELATION AND BENEFITS OF THE INVENTION

[0024] The technical problem underlying the present invention is to provide a method and associated apparatus for unpacking a pallet of products which are structurally and functionally designed to overcome one or more of the limitations set out above with reference to the prior art.

[0025] Within the context of the above-mentioned problem, a main objective of the invention is to develop a method and an associated device for unpacking a pallet of products that makes it possible to minimize the risk of the palletized product falling and being damaged, and the associated system failures or downtimes.

[0026] A further object of the invention is to provide the technology with a method and an associated device for unpacking a pallet of products as part of a flexible solution that can be adapted to the frequency and the spaces of the downstream depalletizing line.

[0027] In particular, the present invention describes a method for unpacking a pallet of products.

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

[0029] The pallet is coated with a protective film to hold and protect the products themselves, the film being adapted to cover the top surface and the side surface of the pallet preferably down to the base.

[0030] The method preferably provides for separating the protective film into at least two segments, each comprising an upper flap of an upper section of the film on the upper surface of the pallet and a lower flap of a side section of the film on the side surface of the pallet.

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

[0032] Preferably, it provides for the formation of at least one second cut, which extends in a substantially vertical direction along two preferably opposite sides of the side surface.

[0033] Preferably, it provides a third cut which extends on the upper surface of the pallet preferably in a direction parallel to at least one of the two sides.

[0034] This solution makes it easier to remove the film from the pallet, thus reducing the risk of the product falling off.

[0035] The procedure preferably provides for the first cut to be close to the base.

[0036] In particular, it provides for carrying out a first section and a second section of the first cut on two consecutive sides of the palette.

[0037] According to a preferred aspect, it therefore provides for rotating the palette around a vertical axis of symmetry of the same and performing a third section and a fourth section of the first cut on the remaining two consecutive sides.

[0038] A preferred embodiment provides that the second cut comprises a first area extending to the top surface on one side and a second area extending to the top surface on the other side.

[0039] Preferably, the method includes performing the first part of the second cut, then rotating the palette about a vertical axis of symmetry thereof, and performing the second part.

[0040] Preferably, the third cut includes a first and a second upper area extending to the middle of the upper surface, preferably on opposite sides.

[0041] In particular, the method may provide that the first area of ​​the second cut overlaps the first section or the second section of the first cut, and preferably the second area of ​​the second cut overlaps the third section or the fourth section of the first cut.

[0042] Preferably, the first and second upper regions of the third cut can be performed in continuity with the first and second regions of the second cut, respectively.

[0043] In particular, the film segments are moved away from the pallet using removal devices.

[0044] The process may involve performing a centering step, preferably of the upper layers of the pallet, before the segments are conveyed away from the pallet.

[0045] Preferably, it involves positioning holding devices between the product and the film before the cutting process begins, thus keeping the film in contact with the blade.

[0046] In particular, it involves creating the first, second and third cuts with a first anthropomorphic robot.

[0047] Furthermore, it preferably includes moving the segments away from the pallet using a second anthropomorphic robot.

[0048] The invention also relates to the device for forming a plurality of cuts and for the associated removal of the film from the pallet according to the method described above.

[0049] In particular, the device includes a cutting device for cutting the protective film.

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

[0051] Preferably, the device is configured to form at least one second cut extending in a substantially vertical direction along two preferably opposite sides of the side surface.

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

[0053] In particular, the device includes means for removing the protective film, configured to move the segments of the protective film formed by the cutting device away from the pallet.

[0054] According to a preferred embodiment, the device comprises a first anthropomorphic robot on which the cutting device is installed to perform the first, second and third cuts, and preferably the removal means are installed on the first anthropomorphic robot to move the segments away from the pallet.

[0055] An alternative embodiment provides that the device includes a second anthropomorphic robot on which the removal means are installed to move the segments away from the pallet.

[0056] Preferably, the device comprises transfer and / or carrier means configured to position the pallet in the working area of ​​the first anthropomorphic robot and / or the second anthropomorphic robot.

[0057] The transfer and / or carrier means preferably include a rotary device configured to rotate the pallet about a vertical axis of symmetry of the same when it is positioned on the first anthropomorphic robot performing the cutting.

[0058] Preferably, the device comprises a centering device configured to perform a centering step with respect to the vertical axis of symmetry, preferably of the upper layers of the pallet.

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

[0060] The blade is preferably of a circular type and is rotated by an actuating means.

[0061] Preferably, the cutting device further comprises adjustment elements that are adapted to support the blade and are configured to adapt to the shape of the pallet.

[0062] In particular, the cutting device may also include a protective element configured to be positioned between the product and the film to keep the film close to 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, preferably without protruding from it.

[0065] A preferred embodiment provides that the cutting device further comprises at least one release device.

[0066] The release device may include a suction head configured to move a section of the film away from the pallet and to assist in the insertion of the protective element.

[0067] According to one aspect of the invention, the removal means comprise at least one gripping device comprising a gripping head configured to move a section of the film away from the pallet.

[0068] Preferably, the removal means comprise a locking device adapted to securely hold a tab of the segment that was previously moved away from the pallet by means of the gripping device.

[0069] In particular, the present invention also relates to a device for unpacking a pallet of products, comprising cutting devices and means for removing the protective film.

[0070] Preferably, the cutting devices are configured to separate the protective film into at least two segments, each comprising an upper flap of an upper section of the film on the upper surface of the pallet and a lower flap of a side section of the film on the side surface of the pallet, wherein the segments are conveyed away from the pallet by the removal means.

[0071] In particular, the cutting devices are configured to separate at least one upper flap of the segment by making a first horizontal cut on the upper section of the film, extending from one side of the side surface to the respective symmetrically opposite side or alternatively from one edge of the side surface to the respective diagonally opposite edge; the cutting devices are further configured to separate at least one lower flap of the segment by making a first and a second vertical cut on the side section of the film, which are the continuation, preferably in a vertical direction, of the ends of the first horizontal cut along the corresponding side or edge of the side surface, preferably over the entire height of the pallet.

[0072] According to a preferred aspect of the invention, the cutting devices can separate a plurality of segments, preferably four. This solution is particularly advantageous when the products on the pallet are unstable, since dividing them into a larger number of segments improves the ease with which the segments can be moved away from the pallet and reduces the possibility of the film pulling the products along with it.

[0073] In one example, the cutting devices can separate the upper flap of the segment by making at least one second horizontal cut on the upper section of the film, which intersects the first horizontal cut at an intersection point and extends from one side of the side surface to the respective symmetrically opposite side or alternatively from one edge of the side surface to the respective diagonally opposite edge; the cutting devices are further configured to separate the lower flap of the segment by making at least one third and fourth vertical cut on the side section of the film, which are the continuation, preferably in a vertical direction, of the second horizontal cut along the corresponding side or edge of the side surface, preferably over the entire height of the pallet.

[0074] Alternatively, the cutting devices are configured to separate the upper flaps by making a first pair of cuts on the upper section of the film, intersecting each other at a first intersection point located in a central region of the upper surface, and a second pair of horizontal cuts, intersecting each other at a second intersection point located in the central region of the upper surface, wherein the first pair of cuts extends from the first intersection point to the two adjacent sides or alternatively to the two adjacent edges of the side surface, and wherein the second pair of horizontal cuts extends from the second intersection point to the two adjacent sides or alternatively to the two adjacent edges, the two sides or edges being opposite those of the first pair of horizontal cuts.Furthermore, the cutting devices are configured to separate the lower flap by making a first pair of vertical cuts and a second pair of vertical cuts on the side section of the film, which are the continuation, preferably in a vertical direction, of the first pair of horizontal cuts and the second pair of horizontal cuts along the corresponding side or edge of the side surface, preferably over the entire height of the pallet.

[0075] These are all methods of foil cutting that are particularly advantageous for the aspects described above.

[0076] According to a preferred embodiment, the cutting device comprises a blade, preferably of a circular type, which is rotated by means of an actuating device.

[0077] The circular blade makes it possible to combine the cutting capacity of the blade itself with higher effectiveness due to the rotation.

[0078] Preferably, the cutting device further comprises holding means configured to be located between the product and the film in order to hold the film close to the blade.

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

[0080] According to a preferred design embodiment, the removal means are configured to remove the upper tab preferably near the points of intersection, thereby moving it away from the upper surface of the pallet.

[0081] Preferably, the removal means are configured to deliver the upper tab to at least one discharge device of the apparatus.

[0082] In particular, the removal device includes pulling means configured to pick up the upper tab from the removal means and to exert pulling forces on the segment to detach it from the pallet and preferably from the base or from any possible second film adhering to the base.

[0083] Thanks to this solution, the cutting segments are gradually moved away from the pallet.

[0084] The discharge device may include shredding means configured to cut / shred the film of each segment into small sections before its discharge, and preferably configured to cut / shred the upper flap and successively the lower flap, in particular picking up the upper flap from the drawing means.

[0085] Thanks to this solution, the film is not only removed from the pallet, but also processed for its subsequent disposal.

[0086] The invention also relates to the method for forming segments and for moving them away from the pallet, as described above.

[0087] These and other problems are fulfilled by the features of the invention as set out in the independent claims. The dependent claims describe preferred and / or particularly advantageous aspects of the invention.

[0088] These purposes and advantages are all achieved by the method and associated device for unpacking a pallet of products that are the subject of the present invention and that are characterized by what is provided for in the attached claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] These and other features will become clearer from the following description of certain embodiments, which are illustrated by non-limiting examples in the accompanying drawings. - Fig. 1: Illustrates in an axonometric view a palette with visible sections and hidden dashed sections; - Fig. 2: illustrates in an axonometric view a palette with sections and an associated subdivision into two segments; - Fig. Figure 3 illustrates an axonometric view of a device according to the invention for unpacking pallets with a single anthropomorphic robot; - Fig. 4: illustrates an axonometric view of a device according to the invention for unpacking pallets with two anthropomorphic robots and a centering device; - Fig. 5a, Fig. 5b: illustrates two possible sequences of the foil cutting steps; - Fig. 6a, Fig. 6b: illustrates the sequence of foil centering and removal steps; - Fig. 7: illustrates a top view of the robot with distance measuring devices; - Fig. 8a, Fig. 8b: illustrates two axonometric views of the cutting device; - Fig. 9a, Fig. 9b: illustrates two axonometric views of the cutting device and the removal means installed on the same robot. - Fig. 10: illustrates a palette of cuts in another possible embodiment; - Fig. 11: illustrates a palette of cuts in another possible embodiment; - Fig. 12a, Fig. 12b: illustrates a palette of cuts according to a further embodiment and an associated subdivision into segments; - Fig. Figure 13 illustrates an axonometric view of a device according to the invention for unpacking pallets; - Fig. Figure 14 illustrates a side view of a device according to the invention for unpacking pallets; - Fig. Figure 15 illustrates a front view of a device according to the invention for unpacking pallets; - Fig. 16: illustrates a top view of a device according to the invention for unpacking pallets; - Fig. 17a, Fig. 17b, Fig. 17c: illustrates a front view, a top view and a detail view of the device during step 1; - Fig. 18a, Fig. 18b: illustrates an axonometric view from above of the device during steps 2 and 3; - Fig. 19a, Fig. 19b: illustrates an axonometric view from above and a front view of the device during step 4; - Fig. 20: illustrates an axonometric view from above of the device during step 5; - Fig. 21a, Fig. 21b: illustrates an axonometric top view of the device during step 6; - Fig. 22a, Fig. 22b: illustrates an axonometric view from above and an associated detail of the device during step 7; - Fig. 23a, Fig. 23b: illustrates an axonometric view from above and an associated detail of the device during step 8; - Fig. 24a, Fig. 24b: illustrates an axonometric view from above of the distance means and associated working positions; - Fig. 25a, Fig. 25b, Fig. 25c: illustrates a side and an axonometric view of the cutting devices and associated work steps; - Fig. 26a, Fig. 26b, Fig. 26c: illustrates a side and an axonometric view of the discharge devices and associated work steps. DESCRIPTION OF THE INVENTION

[0090] With particular reference to the Fig. 3 and Fig. Figure 4 shows a device 100 for unpacking a pallet 500 containing products 510, which are preferably arranged in layers on a base or plate 520.

[0091] The pallet 500 is coated with a protective film 550 to hold and protect the products 510. The protective film 550 is configured to cover the top surface 501 and the side surface 502 of the pallet 500, preferably at least up to the base 520, to ensure better sealing for stability and insulation from the outside.

[0092] The 500 pallet can have various approximate dimensions, generally ranging from 600 x 800 mm to 1120 x 1420 mm, and heights generally up to 3000 mm. The device 100 described below is capable of processing 500 pallets of various sizes.

[0093] The protective film 550 therefore comprises an upper section 551 on the upper surface 501 of the pallet 500 and a side section 552 on the side surface 502 of the pallet 500. As shown in Fig. As shown in Figure 2, the side section 552 extends across all four sides 502a of the side surface 502 of the palette 500. Also in Fig. 2 the four edges 502b of the side surface 502 are marked.

[0094] In particular, the device 100 comprises a cutting device 110 for cutting the protective film 550 on the pallet 500 and preferably a removal means 120 for removing the protective film 550 from the pallet 500 once it has been cut.

[0095] The cutting device 110 cuts the film 550, thereby defining and separating sections of the film 550.

[0096] According to one aspect of the invention, the cutting device 110 is configured to separate the protective film 550 into two segments 550s.

[0097] The term “segment” refers to a section 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 comprises an upper flap 551s of the upper section 551 of the film 550 and a lower flap 552s of the side section 552 of the film 550.

[0098] Advantageously, each segment 550s is moved away from the pallet 500 by the removal means 120.

[0099] According to one aspect of the invention, the device is configured to perform a first cut 561t on the side section 552 near the base 520.

[0100] In particular, the first cut 561t extends in a substantially horizontal direction along each side 502a of the side surface 502.

[0101] Furthermore, preferably the device 100 is configured to perform at least one second cut 562t on the side section 552.

[0102] In particular, the second section 562t extends in a substantially vertical direction along two sides 502a.

[0103] The two sides 502a are preferably two opposite sides 502a of the side surface 502.

[0104] A preferred embodiment provides for the execution of a third cut 563t, which extends on the upper surface 501 preferably in a direction parallel to at least one of the two sides 502a.

[0105] This allows the complete separation of the two 550s segments from each other and from the remaining 550 protective film.

[0106] Therefore, moving each of the two segments 550s away from the pallet 500 does not require a tearing action for complete separation from the remaining protective film 550.

[0107] According to one aspect of the invention, once the two segments 550s have been formed, the removal means 120 can be put into operation to move the segments 550s of the protective film 550 away from the pallet 500.

[0108] One in Fig. 3. A preferred embodiment shown provides that the device 100 comprises a first anthropomorphic robot 200 on which the cutting device 110 is installed to form the first, second and third cut 561t, 562t, 563t.

[0109] According to a Fig. In embodiment 3 not shown, the removal means 120 can be installed on the first anthropomorphic robot 200 to move the segments 550s away from the pallet 500.

[0110] A 2- or 3-axis Cartesian robot also falls under the definition of an anthropomorphic robot.

[0111] This solution enables the realization of a compact device 100, which reduces the overall dimensions in the positioning design within a factory.

[0112] Alternatively, as in Fig. Figure 4 shows the device 100 comprising a second anthropomorphic robot 300, on which the distance means 120 are installed to move the segments 550s away from the pallet 500.

[0113] Therefore, the device 100 comprises the first anthropomorphic robot 200, on which the cutting device 110 is installed, and the second anthropomorphic robot 300, on which the removal means 120 are installed.

[0114] This solution requires more space in terms of design for positioning within a factory compared to the previous one, but it enables the realization of a device 100 that is capable of achieving higher production rates.

[0115] Thus, depending on the requirements of the unpacking line, one or the other design is chosen as the solution.

[0116] The device 100, which is the subject of the invention, may further comprise transfer and / or carrier means 170 configured to position the pallet 500 in the working area of ​​the first anthropomorphic robot 200.

[0117] In the case that the device also includes the second anthropomorphic robot 300, the transfer and / or carrier means 170 are preferably configured to extend until the pallet 500 is positioned in the working area of ​​the second anthropomorphic robot 300.

[0118] In particular, the base 520 of the pallet 500 rests on the transfer and / or support means 170, which are suitably configured to move the pallet 500 into the unpacking position and to support it during unpacking operations. The transfer and / or support means 170 are not described in detail, as they are known to those skilled in the art as conveyors with chains, rollers, etc., which are selected, for example, according to the type of the base 520 and / or the type of the pallet 500. The transfer and / or support means 170 are also shown schematically in the figures.

[0119] The transfer and / or support means 170 preferably comprise a rotary device 171 configured to rotate the pallet 500 about a vertical axis of symmetry Z thereof.

[0120] In particular, the rotary device 171 enables the rotation of the pallet 500 when it is positioned on the first anthropomorphic robot 200.

[0121] In fact, the procedure involves performing the first, second and third cuts 561t, 562t, 563t by means of a sequence of steps, which also includes a step of rotating the palette 500.

[0122] In this configuration, the rotary device 171 is configured to rotate the pallet 500 by at least 180°.

[0123] The rotary device 171 cooperates in particular with the first anthropomorphic robot 200, on which the cutting devices 110 are installed, so that the cutting devices 110 can perform the cutting steps as described in the procedure.

[0124] The rotation of the Palette 500 allows the use of a variety of anthropomorphic robots even in a small work area.

[0125] The method that is the subject of the invention is preferably carried out with the device 100, which is described in more detail below.

[0126] In particular, the procedure provides for the formation of the two segments 550s by making a first cut 561t on the side surface 502 near the base 520.

[0127] The first cut 561t extends in a substantially horizontal direction along each side 502a of the side surface 502.

[0128] Furthermore, it preferably provides for the execution of a second cut 562t on the side surface 502.

[0129] The second cut 562t extends in a substantially vertical direction along two preferably opposite sides 502a of the side surface 502.

[0130] Advantageously, the method provides a third cut 563t which extends on the upper surface 501 of the pallet 500 preferably in a direction parallel to at least one of the two sides 502a.

[0131] This allows the complete separation of the two 550s segments from each other and from the remaining 550 protective film.

[0132] Therefore, moving each of the two segments 550s away from the pallet 500 does not require a tearing action for complete separation from the remaining protective film 550.

[0133] According to a preferred embodiment, the method provides that the first cut 561t is made near the base 520.

[0134] As in the Fig. 1, Fig. 5a and Fig. 5b, represented by the term "near the base 520", means that the first cut 561t can be made in an area between the first layer and the base 520, or in a lower area of ​​the pallet 500 slightly above the base 520. In this second case, the first cut 561t can, for example, be made directly above the first layer or layers if the products 510 comprising the pallet 500 have a reduced height.

[0135] Thanks to the position of this first cut 561t, the film 550 is separated above the area where it is generally more difficult to cut the film 550 because it has irregularities and overlaps due to heat shrinkage. In fact, at the base 520 there is generally a majority of heat-shrinking, overlapping films, resulting in seams that are difficult to cut.

[0136] The procedure may involve performing the first cut 561t in several steps, which include: - Performing a first section 561t1 and a second section 561t2, each on two consecutive pages 502a of the palette 500, - Rotating the palette 500 around a vertical axis of symmetry Z of the same - Performing a third section 561t3 and a fourth section 561t4 of the first cut 561t on the remaining two consecutive pages 502a.

[0137] According to one aspect of the invention, the method provides that the second cut 562t comprises a first area 562t1, which on one side 502a preferably extends from the base 520 to the upper surface 501, and a second area 562t2, which on another side 502a extends to the upper surface 501.

[0138] Preferably, the first region 562t1 and the second region 562t2 are located on opposite sides 502a, as shown in Figure 1, 5a and 5b.

[0139] Preferably the first area 562t1 and the second area 562t2 are located substantially vertically and preferably in a central area of ​​the respective sides 502a.

[0140] It is understood that possible alternatives in which the first area 562t1 and the second area 562t2 are formed in an inclined direction shall henceforth be considered as falling within the same scope of protection.

[0141] The procedure may involve performing the second cut 562t in several steps, which include: - Performing the first section 562t1 of the second section 562t, - Rotating the palette 500 around its vertical axis of symmetry Z, - Executing the second section 562t2.

[0142] Preferably, the method provides that the first region 562t1 of the second cut 562t intersects the first section 561t1 or the second section 561t2 of the first cut 561t that has already been formed or is to be formed subsequently, and preferably the second region 562t2 of the second cut 562t intersects the third section 561t3 or the fourth section 561t4 of the first cut 561t that has already been formed or is to be formed subsequently.

[0143] Fig. Figure 1 represents a possible embodiment of the cut, which provides that the first area 562t1 of the second cut 562t overlaps the first section 561t1 of the first cut 561t and the second area 562t2 of the second cut 562t, which is formed on the opposite side 502a, overlaps the third section 561t3 of the first cut 561t.

[0144] Therefore, one embodiment provides that the cutting device 110 begins a version of the first area 562t1 starting from the cut already made near the base 520 and continuing upwards.

[0145] Conversely, the method can provide that the cutting device 110 begins a execution of the first area 562t1 and then performs the first section 561t1 or the second section 561t2 of the first cut 561t, such that at least one overlaps the already formed first area 562t1.

[0146] Both solutions make it possible to ensure the complete replacement of the 550s segment.

[0147] According to one aspect of the invention, the method can provide that the third cut 563t comprises a first and second upper region 563t1, 563t2, which extend to substantially the middle of the upper surface 501, preferably starting from opposite sides 502a.

[0148] Preferably, the first and a second upper region 563t1, 563t2 can be straight or each comprise a plurality of regions which are, for example, straight and / or curvilinear and orthogonal to each other.

[0149] Especially when several areas are planned, these are formed in continuity with each other, i.e. without interruption of the cut.

[0150] A preferred embodiment of the method may provide that the first and second upper regions 563t1, 563t2 of the third section 563t are formed in continuity with the first and second regions 562t1, 562t2 of the second section 562t, i.e. without interruption of the section.

[0151] Therefore, the cutting device 110 preferably starts a execution of the first area 562t1 and continues with an execution of the first upper area 563t1 by moving from the side 502a to the upper surface 501 without interrupting the execution of the cut.

[0152] The same is preferably done with the second area 562t2 and the second upper area 563t2.

[0153] Thanks to this solution, there is greater certainty regarding the complete separation of the two 550s segments.

[0154] If the workspace of the first anthropomorphic robot 200 allows, alternatively the first and second upper areas 563t1, 563t2 can be formed in a single continuous cut.

[0155] In such a case, the cutting device 110, for example, starts a version of the first area 562t1 and continues with a execution of the first upper area 563t1, which extends beyond the middle of the upper surface 501 and preferably to reach the opposite end of the upper surface 501.

[0156] The order of the cuts, as described above, is not binding, as will be explained in more detail below.

[0157] Once the cutting step has been completed and the two segments 550s have been completely cut, the procedure provides that the segments 550s of the film 550 are conveyed away from the pallet 500 by the removal means 120.

[0158] Before moving the segments 550s of the film 550 away from the pallet 500, the method preferably provides for a step of centering preferably the upper layers of the pallet 500 before the segments 550s are moved away from the pallet 500.

[0159] To achieve this advantageously, the device 100 can include a centering device 350 configured to perform a step of centering the pallet 500 with respect to a vertical axis of symmetry Z of the same.

[0160] In particular, centering on the upper layers of the 500 palette is especially effective.

[0161] In fact, these layers in particular can experience greater displacement and misalignment, especially after the protective film 550 has been cut and no longer exerts a holding effect.

[0162] To reduce the risk of products falling when removing the 550 film, it is advantageous to center the upper layers of the 500 pallet.

[0163] Therefore, the centering device 350 is preferably positioned near the anthropomorphic robot 200, which includes the cutting means 110.

[0164] This makes it possible to optimize the stability of the products before the pallet 550 is moved from the position where the cut was made.

[0165] An alternative solution proposes that the centering device 350 be positioned near the anthropomorphic robot 300, which includes the distance means 120.

[0166] In the case that the removal means 120 are installed on the second anthropomorphic robot 300, the centering device 350 can be installed such that the position in which the pallet 500 is centered is the same as the position in which the removal means 120 are in operation to remove the two segments 550s.

[0167] One in Fig. 4 further solution shown provides that the centering device 350 is positioned in a middle station between the anthropomorphic robot 200, which includes the cutting means 110, and the anthropomorphic robot 300, which includes the removal means 120.

[0168] This solution makes it possible to increase the production rate of the device 100, since the position in which the pallet 500 is centered differs from the position in which the cutting means 110 or the removal means 120 are in operation.

[0169] In any case, the centering step follows the cutting step and precedes the step of removing the film 550 from the pallet 500.

[0170] As in Fig. Figure 4 shows that the centering device 350 preferably comprises a lifting structure 180 and a movable frame 190.

[0171] The lifting structure 180 defines the load-bearing body of the centering device 350 and, as is known to those skilled in the art, can be equipped with a single stand, as in Fig. 4 shown, or designed with a double stand.

[0172] The lifting structure 180 is also configured to accommodate the movable frame 190. In the case of a lifting structure 180 with a double upright, the movable frame 190 is inserted between the two uprights.

[0173] The movable frame 190 is configured to move vertically on the lifting structure 180.

[0174] In this case as well, the design details of the lifting structure 180 and the movable frame 190 are not described here, as they are known to those skilled in the art. The lifting structure 180 preferably also comprises vertical means of movement, such as motors, transmission elements, etc., for moving the movable frame 190 in a vertical direction.

[0175] According to a feature of the present invention, the frame 190 is annular, i.e., it comprises a structure 191 with four load-bearing sides 191a, each of which is parallel to a side 502a of the pallet 500 and is therefore configured to surround the pallet 500.

[0176] This shape allows the movable frame 190 to be usable over the entire height of the side surface 502, lowering from the position above the pallet 500 to around the side surface 502.

[0177] Preferably the movable frame 190 comprises four sliding elements 192 which are parallel to the load-bearing sides 191a; the sliding elements 192 are preferably movable on a plane orthogonal to the upward / downward direction of the movable frame 190.

[0178] In other words, the centering device 350 further comprises a lifting structure 180 and a frame 190 which is vertically movable on the structure 180, wherein the frame 190 comprises a structure 191 which is configured to surround the perimeter of the pallet 500, and on which preferably four sliding elements 192 are horizontally displaced, which are configured to approach or move away from a respective side 502a of the side surface 502 of the pallet 500.

[0179] The configuration with four sliding elements 192 is in the Fig. 4, Fig. 6a and Fig. 6b shown.

[0180] An alternative solution could involve installing the movable frame 190 of the centering device 350 on an anthropomorphic robot.

[0181] What the cutting device 110 as in the Fig. 8a and Fig. As shown in Figure 8b, this preferably comprises a blade 111 and preferably means for actuating 112 the blade 111.

[0182] An advantageous aspect is that the blade 111 is of a circular type, preferably rotatable.

[0183] The blade 111 is rotated by means of actuating means 112.

[0184] Alternatively, a blade 111 which has a different shape and / or is not rotatable but fixed can also be used to implement the invention.

[0185] As in the Fig. 8a, Fig. As shown in Figure 8b, the cutting device 110 further preferably comprises adapting elements 114 on which the blade 111 is installed, in order to enable the blade 111 to adapt to any irregularities of the pallet 500 and / or the protective film 550. As is known to those skilled in the art, the adapting elements 114 can, for example, be of the tilting type, i.e., hinged at a pivot point.

[0186] The adaptability can be provided by gravity or by the presence of elastic, pneumatic, or hydraulic elements.

[0187] According to an advantageous embodiment, the cutting device 110 comprises a protective element 113 configured to be positioned between the product 510 and the film 550 in order to keep the film 550 close to the blade 111. In particular, the protective element 113 serves the purpose of protecting the product 510 from potential damage by the blade 111 during the cutting steps.

[0188] The unpacking method preferably involves positioning the protective element 113 between the product 510 and the film 550 before the cutting process begins, with the film 550 being held in contact with the blade 111.

[0189] The protective element 113 is preferably placed near the blade.

[0190] Preferably the protective element 113 is in a fixed position with respect to the blade 111 and is configured such that the blade 111 is embedded in the thickness of the protective element 113, preferably without protruding from it.

[0191] Therefore, in the case of the circular blade 111, the protective element 113 encloses a section of the blade 111, so that it comes into contact with the foil 550, but not with the product 510.

[0192] In particular, the cutting cycle provides that the protective element 113 is inserted between the product 510 and the film 550 before the start of the cutting process.

[0193] Before performing the cut, the insertion of the protective element 113 between the film 550 and the product 510 can be carried out, for example, using a load cell or a torque control or regulation, which is available on the anthropomorphic robot 200, as described in more detail below.

[0194] To facilitate the insertion of the protective element 113, the method may in particular provide for moving a section of the film 550 away from the side surface 502 of the pallet 500 before making the cut.

[0195] Thanks to this solution, the initial cutting step is easier, thereby reducing the possibility of contact with the palletized product 510.

[0196] In this way, it is possible to check the tensile force of the film 550 during its movement away from the product 510 by means of a load cell or a torque control or regulation available on the anthropomorphic robot 200, and when a target value is reached, for example within a predefined range, the protective element 113 is inserted between the film 550 and the product 510 and the cutting step can start.

[0197] As in the Fig. 8a, Fig. As shown in 8b, the cutting device 110 can also comprise at least one release device 115.

[0198] According to a preferred aspect, the release device 115 includes a suction head 116 configured to move a section of the film 550 away from the pallet 500 and to assist in the insertion of the protective element 113.

[0199] The suction head 116 can be installed on an adjustment device 117, preferably of a swiveling type, which is adapted to allow the position of the suction head 116 to be adjusted to the shape of the surface of the pallet 500.

[0200] The adjustment device 117 can be of the pneumatic type as in Fig. 8a shown or of electrical, mechanical type, etc.

[0201] Thanks to this configuration, the suction head 116 is suitable even for operation on surfaces of an irregular type.

[0202] In a specific configuration, which is in the Fig. 8a, Fig. As shown in Figure 8b, the suction head 116 comprises one or more suction cups 116a which are adapted to move the film 550 away from the pallet 500 by means of a vacuum.

[0203] Fig. Figure 8a represents a possible embodiment which provides a load cell 118 which is mechanically connected to the release device 115 and is arranged in particular between the adjustment device 117 and the suction head 116.

[0204] When the suction head 116 activates suction on the film 550, a force is generated that detaches the film 550 from the product 510. This force is detected by the load cell 118, which verifies the magnitude of the tensile force on the film 550.

[0205] Depending on the position that the robot 200 assumes during the detachment, and in the event that the load cell 118 detects that a specified force value has been reached or that it is within a predefined range, the insertion of the protective element 113 between the film 550 and the product 510 can take place.

[0206] As soon as the protective element 113 is inserted between the product 510 and the film 550, the blade 111 starts cutting.

[0207] Preferably, the first or second area 562t1, 562t2 is formed starting from the first cut 561t already made near the base 520 and preferably in the middle area of ​​the respective side 502a, i.e. where the film 500 is less taut and easier to distance from the pallet 500.

[0208] This facilitates the insertion of the protective element 113 between the product 510 and the film 550.

[0209] Furthermore, thanks to the insertion of the protective element 113, the blade 111 can begin the first area 562t1 and continue with the execution of the first upper area 563t1 by moving from the side section 552 to the upper section 551 of the film 550 without interrupting the execution of the cut and while the protective element 113 is always kept inserted between the product 510 and the film 550.

[0210] Thanks to the protective element 113, the transition between the second cut 562t and the third cut 563t takes place gradually between the end of the vertical cut on the side section 552 and the beginning of the horizontal cut on the upper section 551, with self-adjustment according to the resistance provided by the film 550, so that the film 550 remains held between the blade 111 and the protective element 113 even in this transition step.

[0211] Thanks to this solution, the blade 111 is able to cut continuously during all cutting steps without losing the film 550, and furthermore, the blade 111 does not come into contact with the product 510, thus avoiding any risk of damage.

[0212] The device 100 further comprises the removal means 120, which are configured to move the protective film 550 away from the pallet 500, thereby removing each segment 550s.

[0213] Advantageously, the removal agents 120 remove the segment 550s near the second cut 562t to improve the retention of the foil 550.

[0214] According to one aspect of the invention, which is in Fig. As shown in Figure 7, the removal means 120 include at least one gripping device 121.

[0215] According to a preferred aspect, the removal means 120 are also configured to deliver the segment 550s to at least one discharge device 130, which is described in detail below.

[0216] In particular, the gripping device 121 includes a gripping head 122 which is configured to move and / or hold the segment 550s away from the pallet 500.

[0217] The gripping head 122 can be installed on an adapter 123, preferably of the swiveling type, which is adapted to allow the position of the gripping head 122 to be adjusted to the shape of the surface of the pallet 500.

[0218] The adapter 123 can be of the pneumatic type as in Fig. 7 shown or of electrical, mechanical type, etc.

[0219] Thanks to this configuration, the gripper head 122 is suitable even for operation on surfaces of an irregular type.

[0220] In a specific configuration, which is in Fig. As shown in Figure 7, the gripping head 122 is configured to lift and hold the film 550 by means of a vacuum and preferably comprises at least one suction element 122a.

[0221] The removal means 120 may further comprise at least one locking device 125 which is adapted to securely hold a tab of the cutting segment 550s which was previously moved away from the pallet 500 by means of the gripping device 121.

[0222] Preferably, the tab of the foil 550, on which the locking device 125 operates, is located at the second cut 562t.

[0223] The locking device 125 is shaped to have a higher locking capacity than the gripping head 122 in order to ensure that the film 550 is held during the entire step of moving away from the pallet 500.

[0224] In fact, the suction elements 122a do allow the segment 550s to be moved away, but are not able to guarantee that it will stay in place if, for example, the film 550 is damaged or dirty.

[0225] Fig. Figure 7 presents an example of a possible locking device 125 comprising a tongue 125a. The tongue 125a is preferably movable between at least one operating position and one outside the room by means of activation means 125b. The activation means 125b can be of a pneumatic type as in Fig. 7 shown or of electrical, mechanical type, etc.

[0226] A preferred embodiment provides that the tongue 125a, when in the operating position, is positioned below the gripping head 122. Thus, the flap of the film 550 remains held between the gripping head 122 and the tongue 125a.

[0227] In the case where the device 100 comprises a single anthropomorphic robot 200, the removal means 120 and the cutting device are integrated into a single head 250.

[0228] A preferred embodiment provides that in this case the release device 115 and the gripping device 121 are identical and perform both functions: - Moving the film 550 away from the pallet 500 before cutting to facilitate the insertion of the protective element 113, - Moving and holding segment 550s away from pallet 500 for unpacking.

[0229] It is understood, however, that the above description is a non-exhaustive example, and therefore any possible detailed variations that may be necessary for technical and / or functional reasons shall henceforth be considered to fall within the same scope of protection.

[0230] After the film 550 has been cut according to the embodiments described above, the film 550 is removed from the pallet 500 by means of the removal means 120 and brought to the discharge device 130.

[0231] A feature of the invention provides that the discharge device 130 comprises comminution means configured to cut / comminute the film 550 of each segment 550s into small sections before its discharge.

[0232] Overall, the method for unpacking a pallet 500 coated with a protective film 550 preferably provides that the protective film 550 is divided into at least two segments 550s, each comprising an upper flap 551s of an upper section 551 of the film 550 on the upper surface 501 of the pallet 500 and a lower flap 552s of a side section 552 of the film 550 on the side surface 502 of the pallet 500.

[0233] In particular, the procedure involves moving the segments 550s away from the pallet 500.

[0234] Preferably, the steps of separating by cutting and moving the segments 550s away from the pallet 500 are carried out one after the other.

[0235] An example of a work cycle involves bringing the pallet 500 to be unpacked into a working position within the device 100 and preferably within the working area of ​​the first anthropomorphic robot 200.

[0236] The cutting device 110 approaches the side section 552 of the film 550 and the film 550 is moved away from the pallet 500 by means of the release device 115.

[0237] At this point, the protective element 113 is positioned between the product 510 and the film 550; the blade 111 starts an execution of the first cut 561t.

[0238] In particular, as in Fig. 5a shows the first section 561t1 and the second section 561t2 of the first section 561t executed.

[0239] Therefore, the cutting means 110 preferably execute the first area 562t1 and preferably continue without interruption with an execution of the first upper area 563t1.

[0240] According to a preferred embodiment, the pallet 500 is rotated by 180° about a vertical axis of symmetry Z thereof, and the third section 561t3 and the fourth section 561t4 are carried out on the remaining two consecutive sides 502a.

[0241] At this point, the cutting means 110 execute the second area 562t2 and preferably continue without interruption with an execution of the second upper area 563t2.

[0242] The cutting sequence can be as described above, but also reversed, as in Fig. 5b shown, wherein first the first area 562t1 of the second section 562t and preferably the first upper area 563t1 of the third section 553 and then the first section 561t1 and the second section 561t2 of the first section 561t can be carried out.

[0243] After rotating the pallet 500 about a vertical axis of symmetry Z of the same by 180°, the second area 562t2 and preferably the second upper area 563t2 are carried out.

[0244] At this point, the cutting means 110 perform the third section 561t3 and the fourth section 561t4 of the first cut 561t on the remaining two consecutive sides 502°.

[0245] Once the cutting step has been completed and the two segments 550s have been formed, the cycle provides for a centering step, preferably of the upper layers of the pallet 500.

[0246] If the device 100 comprises only a first anthropomorphic robot 200, the cycle continues with the intervention of the removal means 120, which move the segments 550s away from the pallet 500 and deliver them to the discharge devices 130.

[0247] If, however, the device 100 includes a second anthropomorphic robot 300, the pallet 500 is transferred to a working position within the working area of ​​the second anthropomorphic robot 300.

[0248] Preferably, the centering step takes place in an intermediate position between the first robot 200 and the second robot 300.

[0249] The second anthropomorphic robot 300 moves the segments 550s away from the pallet 500 using the distance means 120 and delivers them to the discharge devices 130.

[0250] In particular, the removal means 120 move a tab of the segment 550s away from the pallet 500, preferably at the second cut 562t, by means of the gripping device 121, and lock it by means of the locking device 125.

[0251] Subsequently, the discharge devices 130 perform the cutting / shredding of the segments 550s.

[0252] A preferred embodiment of the unpacking process may also include a first step of checking the outline of the pallet 500. This check can be performed using a gantry with sensors configured to perform measurement checks, or, for example, a 3D camera.

[0253] In this way, the geometry of the palette 500, for example its inclination with respect to an axis of symmetry Z, is verified.

[0254] This makes it possible to select the pallets 500 that can be processed from those outside the outline that cannot be subjected to automatic unpacking by the device 100.

[0255] It is understood, however, that the foregoing description is a non-limiting example; therefore, any possible detailed variants that may be necessary for technical and / or functional reasons shall henceforth be considered to fall within the same scope of protection as defined by the claims set forth below.

[0256] Another embodiment of the device 100' is set forth below.

[0257] With reference in particular to Fig. Figure 13 shows a device 100' for unpacking a pallet 500 containing products 510, which are preferably arranged in layers on a base or plate 520.

[0258] The pallet 500 is coated with a protective film 550 to hold and protect the products 510 themselves.

[0259] The protective film 550 therefore comprises an upper section 551 on the upper surface 501 of the pallet 500 and a side section 552 on the side surface 502 of the pallet 500. As shown in the Fig. 10, Fig. As shown in Figure 11, the side section 552 extends across all four sides 502a of the side surface 502 of the palette 500. Also in the Fig. 10, Fig. 11 the four edges 502b of the side surface 502 are marked.

[0260] In particular, the device 100' comprises cutting devices 110' for cutting the protective film 550 on the pallet 500 and preferably removal means 120' for removing the protective film 550 from the pallet 500 once it has been cut.

[0261] The cutting tools 110' cut the film 550, thereby defining and separating sections of the film 550.

[0262] According to one aspect of the invention, the cutting devices 110' are configured to separate the protective film 550 into at least two segments 550s.

[0263] The term “segment” refers to a section 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 comprises an upper flap 551s of the upper section 551 of the film 550 and a lower flap 552s of the side section 552 of the film 550.

[0264] Advantageously, each segment 550s is moved away from the pallet 500 using the distance means 120'.

[0265] According to one aspect of the invention, the cutting devices 110' are configured to separate at least one upper flap 551s of the segment 550s by making a first horizontal cut X on the upper section 551 of the film 550, extending from one side 502a of the side surface 502 to the respective symmetrically opposite side 502a.

[0266] Alternatively, the first horizontal section X can extend from one edge 502b of the side surface 502 to the respective diagonally opposite edge 502b.

[0267] According to another aspect of the invention, the cutting devices 110' are configured to separate the lower flap 552s of the segment 550s by making a first and a second vertical cut X' X" on the side section 552 of the film 550, which are preferably the continuation of the ends of the first horizontal cut X along the corresponding side 502a or the corresponding edge 502b of the side surface 502.

[0268] The first and second vertical cuts X', X" extend from the first horizontal cut X preferably over the entire height of the 500 palette.

[0269] The first and second vertical sections X', X" are preferably formed in the vertical direction of the ends of the first horizontal section X, as shown in the Fig. 10, Fig. 11 shown.

[0270] It is understood that any alternatives in which the first and second vertical cuts X', X" are formed from top to bottom in an inclined direction are henceforth also to be considered as falling under the same scope of protection.

[0271] In one embodiment of the present invention, the cutting devices 110' are adapted to separate a plurality of segments 550s, preferably in a number of four.

[0272] A first embodiment provides for the formation of the four segments 550s by means of the cutting devices 110', which are further configured to separate at least the upper flap 551s by making at least a second horizontal cut Y on the upper section 551 of the film 550 in addition to the first horizontal cut X, which intersect each other at a first intersection point P.

[0273] The second horizontal section Y preferably extends from one side 502a of the side surface 502 to the respective symmetrically opposite side 502a.

[0274] Alternatively, the second horizontal section Y can extend from one edge 502b of the side surface 502 to the respective diagonally opposite edge 502b.

[0275] Furthermore, preferably the cutting devices 110' are configured to separate the lower flap 552s of the segment 550s by making a third and fourth vertical cut Y', Y" on the side section 552 of the film 550 in addition to the first and second vertical cut X', X" described above.

[0276] The third and fourth vertical sections Y', Y" are preferably the continuation of the second horizontal section Y along the corresponding side 502a or the corresponding edge 502b of the side surface 502.

[0277] The third and fourth vertical cuts Y', Y" preferably extend from the second horizontal cut Y over the entire height of the 500 palette.

[0278] The third and fourth vertical sections Y', Y" are preferably formed in the vertical direction of the ends of the second horizontal section Y, as shown in the Fig. 10, Fig. 11 shown.

[0279] It is understood that any alternatives in which the third and fourth vertical cuts Y', Y" are formed from top to bottom in an inclined direction are henceforth also to be considered as falling under the same scope of protection.

[0280] A second embodiment provides for the formation of the four segments 550s by means of the cutting devices 110' which are configured to separate the upper tabs 551s by making a first pair of cuts X1, Y1 on the upper section 551 of the foil 550, which intersect each other at a first intersection point P1.

[0281] The first intersection point P1 is preferably located in a central area of ​​the upper surface 501.

[0282] Each section of the first pair of sections X1, Y1 extends from the first intersection point P1 to the two adjacent sides 502a or alternatively to the two adjacent edges 502b of the side surface 502.

[0283] The cutting devices 110' are configured to perform a second pair of horizontal cuts X2, Y2, which intersect each other at a second intersection point P2.

[0284] The second intersection point P2 is preferably located in a central area of ​​the upper surface 501.

[0285] Each section of the second pair of horizontal sections X2, Y2 extends from the second intersection point P2 to the two adjacent sides 502a or alternatively to the two adjacent edges 502b.

[0286] In particular, the two sides 502a or the two edges 502b are opposite those of the first pair of horizontal sections X1, Y1.

[0287] A preferred embodiment provides that the cutting devices 110 are configured to perform the first pair of cuts X1, Y1 and the second pair of horizontal cuts X2, Y2 such that the cuts of each pair are orthogonal to each other.

[0288] Since most palettes 500 have a rectangular shape, this configuration is particularly possible when the first pair X1 and Y1 and the second pair of horizontal cuts X2, Y2 extend to the sides 502a and not to the edges 502b.

[0289] Preferably, in the pair of cuts X1, Y1 and the second pair of horizontal cuts X2, Y2, both cuts are parallel to the respective sides of the upper surface 501.

[0290] This configuration simplifies the mechanical implementation of the 110' cutting devices.

[0291] According to possible embodiments, the cutting devices 110' are configured to perform the first pair of horizontal cuts X1, Y1 and the second pair of horizontal cuts X2, Y2 such that the first and second intersection points P1, P2 are placed in the central region of the upper surface 501 and preferably in such a position that it is ensured that both cuts of the first pair of horizontal cuts X1, Y1 intersect both cuts of the second pair of horizontal cuts X2, Y2.

[0292] Thanks to this aspect, the complete separation of the upper tabs 551s from each other is ensured, thus guaranteeing that no uncut areas remain that need to be separated by tearing under force.

[0293] An advantageous sequence for forming the first pair of horizontal cuts X1, Y1 and the second pair of horizontal cuts X2, Y2 provides that the cutting devices 110 first form the two cuts X1 and X2 and then the cuts Y1 and Y2.

[0294] A preferred aspect provides for the separation of further lower tabs 552s with the cutting devices 110' by making a first pair of vertical cuts X1', Y1' and a second pair of vertical cuts X2', Y2' on the side section 552 of the film 550, which are the continuation of the first pair of horizontal cuts X1, Y1 and the second pair of horizontal cuts X2, Y2 respectively along the corresponding side 502a or the corresponding edge 502b of the side surface 502 preferably over the entire height of the pallet 500.

[0295] The first and second pairs of vertical sections X1', Y1' and X2', Y2' are preferably formed in the vertical direction from the ends of the first and second horizontal pairs X1, Y1 and X2, Y2, as shown in Fig. 12a shown.

[0296] Advantageously, the realization of the first and second pair of vertical cuts X1', Y1' and X2', Y2' provides that the cutting devices 110' form the vertical cuts simultaneously.

[0297] It is understood that any alternatives in which the first and second pairs of vertical cuts X1', Y1' and X2', Y2' are formed from top to bottom in an inclined direction are henceforth also to be considered as falling under the same scope of protection.

[0298] The in the Fig. 25a, Fig. The cutting devices 110' shown in 25b preferably comprise a blade 111' and preferably means 112' for actuating the blade 111'.

[0299] An advantageous aspect is that the blade 111' is of a circular type, preferably rotatable. The blade 111' is rotated by means of actuating means 112'. Alternatively, a blade 111' having a different shape and / or being fixed rather than rotatable can also be used to implement the invention.

[0300] As in the Fig. 25a and Fig. As shown in Figure 25b, the cutting devices 110' further preferably comprise adapting elements 114' on which the blade 111 is installed to enable the blade 111' to adapt to any irregularities of the pallet 500 and / or the protective film 550. As is known to those skilled in the art, the adapting elements 114' can, for example, be of the tilting type, i.e., hinged at a pivot point.

[0301] The adaptability can be provided by gravity or by the presence of elastic, pneumatic, or hydraulic elements.

[0302] According to an advantageous embodiment, the cutting devices 110' comprise holding means 113' configured to be located between the product 510 and the film 550 in order to hold the film 550 close to the blade 111'. In particular, they serve the purpose of protecting the product 510 from possible damage by the blade 111' during the cutting operations.

[0303] The holding means 113' comprise a support element 113'a, which is arranged near the blade 111' and preferably tangentially to the diameter of the circular blade 111'.

[0304] Furthermore, preferably the holding agents 113' comprise activating agents 113'b, which, as in the Fig. 25a, Fig. 25b are configured to relocate the support element 113'a in relation to the blade 111' by positioning the support element 113'a between the product 510 and the film 550 during cutting.

[0305] In particular, they are configured to cause the support element 113'a to assume, for example, three positions: a starting position before the start of cutting the film 550, a first working position suitable for horizontal cutting, and a second working position suitable for vertical cutting.

[0306] Furthermore, preferably the activation means 113'b are configured to rotate the support element 113'a around the circular blade 111'.

[0307] The activation means 113'b may include actuators of the electrical, pneumatic or hydraulic type.

[0308] In particular, the cutting cycle provides that before the cut begins, the support element 113'a is in its starting position; as soon as the blade 111' begins the horizontal cut, the activation means 113'b move the support element 113'a into the first working position, i.e., below the cut film 550. This allows the film 550 to be held between the blade 111' and the support element 113'a. Once the horizontal cut is complete, the activation means 113'b move the support element 113'a into the second working position, which is suitable for the vertical cut.

[0309] The transition from the first horizontal cutting position to the second vertical cutting position takes place gradually between the end of the horizontal cut and the beginning of the vertical cut, adjusting according to the resistance provided by the foil 550, and in such a way that the foil 550 itself remains between the blade 111' and the support element 113'a during this transition step.

[0310] Thanks to this solution, the blade is able to cut continuously during all cutting steps without losing the film 550, and furthermore, the blade 111' does not come into contact with the product 510, thus avoiding any risk of damage.

[0311] The Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17, Fig. 18, Fig. 19, Fig. 20, Fig. 21, Fig. 22 to Fig. 23 represent a preferred configuration in which the cutting devices 110' are present in a number of four, i.e. one on each side of the pallet 500.

[0312] This enables high productivity of the 100' device, thereby accelerating the cutting process. This configuration is particularly advantageous for, for example, creating the first pair of cuts X1, Y1 and the second pair of horizontal cuts X2, Y2.

[0313] In fact, the four cutting devices 110' enable the first pair of cuts X1, Y1 and the second pair of horizontal cuts X2, Y2 to be carried out according to the advantageous sequence which first provides for the formation of the two cuts X1 and X2 and then the cuts Y1 and Y2.

[0314] Furthermore, the configuration with the four cutting devices 110' also enables the simultaneous realization of the first and second pair of vertical cuts X1', Y1' and X2', Y2'.

[0315] The device 100' further comprises the removal means 120' which are configured to move the protective film 550 away from the pallet 500, thereby removing each segment 550s.

[0316] In particular, the removal means 120' are configured to remove the upper tab 551s, thereby moving it away from the upper surface 501 of the pallet 500.

[0317] Advantageously, the removal agents 120' remove the upper tab 551s near the intersection points P, P1, P2 to improve the retention of the foil 550.

[0318] According to one aspect of the invention, which is in Fig. As shown in Figure 24a, the removal means 120' comprise at least one gripping device 121' and preferably one gripping device 121' for each segment 550s to be removed.

[0319] According to a preferred aspect, the removal means 120' are also configured to deliver the upper tab 551s to at least one discharge device 130', which is described in detail below.

[0320] In particular, the gripping device 121' comprises a gripping head 122' configured to lift and hold the film 550, and moving means 124' configured to move the head 122' from the removal position of the film 550 on the upper surface 501 to the delivery position at the respective discharge device 130'.

[0321] Fig. 24b represents four essential positions that the gripping device 121' can assume during the work cycle.

[0322] In particular: - Position A represents the position of the gripping device 121' when it removes the foil 550 from the upper surface 501; - Position B represents the position of the gripping device 121' that is furthest away from the pallet 500; - Position C represents the position of the gripping device 121' when it delivers the film 550 to the discharge devices 130'; - Position D represents the position of the gripping device 121' when it is moving outside the room while waiting for a new work cycle.

[0323] Preferably, the head 122' moves from the foil removal position 550 on the upper surface 501 to the dispensing position by rotating about a horizontal axis of rotation.

[0324] The gripping head 122' can be installed on an adapter 123', preferably of the swiveling type, which is adapted to allow the position of the gripping head 122' to be adjusted to the shape of the upper surface 501 of the pallet 500.

[0325] Thanks to this configuration, the gripper head 122' is suitable even for operation on surfaces of an irregular type.

[0326] Furthermore, the adapter 123' is also adapted to enable the reaching of all positions that the gripper head 122' must reach during the work step and which were previously described.

[0327] In a special configuration, which is in Fig. As shown in 24a, the gripping head 122' is configured to lift and hold the film 550 by means of a vacuum and preferably comprises at least one suction element 125'.

[0328] The removal means 120' can also be advantageously used to hold and move away the upper section 551 of the film 550 from the upper surface 501 before cutting the film 550. In fact, this movement facilitates the step of starting the cut with the blade 111'.

[0329] As in Fig. Figure 13 shows that the device 100' preferably comprises a lifting structure 180' and a movable frame 190'.

[0330] The lifting structure 180' defines the load-bearing body of the machine and, as is known to those skilled in the art, can be designed with a single or double stand, as shown in the Fig. 13, Fig. 14, Fig. 15 to Fig. 16 shown.

[0331] The device 100' may further comprise transfer and / or support means 170' of the pallet 500.

[0332] In particular, the base 520 of the pallet 500 rests on the transfer and / or support means 170', which are suitably configured to move the pallet 500 into the unpacking position and to support it during unpacking operations. The transfer and / or support means 170' are not described in detail, as they are known to those skilled in the art as conveyors with chains, rollers, etc., which are selected, for example, according to the type of the base 520 and / or the type of the pallet 500. The transfer and / or support means 170' are also shown schematically in the figures.

[0333] Preferably, the device 100' can include a lifting structure not shown in the figure. This lifting structure is configured to lift the pallet 500 from the transfer and / or support means 170' by engaging the base 520.

[0334] Here too, the technical details of the lifting structure are not explained in more detail, as it can have different configurations depending on the type of base 520 and / or the type of pallet 500, and these possible configurations are known to the person skilled in the art.

[0335] The main purpose of the lifting structure is to enable the cutting of the film 550 across the entire height of the pallet 500 down to the base 520.

[0336] The transfer and / or support means 170' are preferably positioned close to the lifting structure 180' and, in the case of the lifting structure 180', are of the double-stand type as in the Fig. 13, Fig. 14, Fig. 15 to Fig. Figure 16 shows the transfer and / or support means 170' positioned within the lifting structure 180' between the two stands 185'.

[0337] This makes it possible to place the 500 pallet in a central position within the 180' lifting structure to facilitate and accelerate unpacking operations.

[0338] The lifting structure 180' is also configured to accommodate the movable frame 190'. In the case of a lifting structure 180' with a double upright, the movable frame 190' is inserted between the two uprights 185'.

[0339] The movable frame 190' is configured to move vertically on the lifting structure 180'.

[0340] In this case as well, the design details of the lifting structure 180' and the movable frame 190' are not described here, as they are known to those skilled in the art. The lifting structure 180' further preferably comprises vertical means of movement 181' such as motors, transmission elements 182', etc., for moving the movable frame 190' in a vertical direction.

[0341] According to a feature of the present invention, the frame 190' is annular, i.e., it comprises a structure 191' with four load-bearing sides 191'a, each of which is parallel to a side 502a of the pallet 500 and is therefore configured to surround the pallet 500.

[0342] This shape allows the movable frame 190' to work both above the pallet and therefore on its upper surface 501, as well as over the entire height of the side surface 502, lowering itself from the position above the pallet 500 to around the side surface 502.

[0343] Preferably the movable frame 190' comprises two or four sliding elements 192' which are parallel to the load-bearing sides 191'a; the sliding elements 192' are preferably movable on a plane orthogonal to the upward / downward direction of the movable frame 190'.

[0344] In other words, the device 100' further comprises a lifting structure 180' and a frame 190' which is vertically movable on the structure 180', wherein the frame 190' comprises a structure 191' which is configured to surround the perimeter of the pallet 500, and on which preferably at least two, preferably four, sliding elements 192' move horizontally, which are configured to approach or move away from a respective side 502a of the side surface 502 of the pallet 500.

[0345] In a preferred embodiment, the movable frame 190' is configured to integrally support and move the removal means 120' and / or the cutting devices 110' in a vertical direction.

[0346] Preferably, each displacement element 192' is configured to carry and move an integral cutting device 110' in the horizontal and vertical directions.

[0347] In particular, the cutting devices 110' are preferably installed on the sliding elements 192'. In this way, each cutting device 110' moves integrally with the movable frame 190' in a vertical direction and integrally with the sliding elements 192' in a horizontal direction.

[0348] The configuration with four 192' sliding elements is in the Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17, Fig. 18, Fig. 19, Fig. 20, Fig. 21, Fig. 22 to Fig. 23 shown.

[0349] An advantageous aspect of this configuration is that it allows, for example, four cutting devices 110' to be installed, one on each sliding element 192' of the frame 190'. As described above, this allows for an acceleration of the cutting cycle of the device 100'. In such a case, the gripping devices 121' are preferably also present in a number of four to operate on each of the four segments 550s and are preferably installed on the structure 191'.

[0350] A configuration not shown in the figure can provide the movable frame 190' with two sliding elements 192', for example on opposite sides; in such a case, it can be provided, for example, to install two cutting devices 110', one of which is located on each sliding element 192'b, and preferably two gripping devices 121', which are installed on the structure 191'. In this way, it is possible to cut the film 550 only in one direction on the upper section 551 and only on two opposite sides 502a.

[0351] To create the necessary additional cuts, for example to separate four 550s segments from each other, it may be possible to rotate the 500 pallet by 90° once the first set of horizontal and vertical cuts has been created, and then proceed with the second set of horizontal and vertical cuts.

[0352] In this configuration, the transfer and / or support means 170' preferably comprise a rotatable structure not shown in the figure, configured to rotate the pallet 500 by at least 90°.

[0353] The rotatable structure cooperates in particular with the cutting device 110' in such a way that the cutting device 110' can perform the cutting steps as described above.

[0354] It is understood, however, that the above description is a non-exhaustive example, and therefore any possible detailed variations that may be necessary for technical and / or functional reasons will henceforth be considered to fall within the same scope of protection.

[0355] For example, instead of a device 100' with a lifting structure 180' and a movable frame 190', an anthropomorphic robot may be provided which is configured to carry and move one or more cutting elements 110' and / or removal means 120'.

[0356] After the film 550 has been cut according to the embodiments described above, the film 550 is removed from the pallet 500 by means of the removal means 120' and brought to the discharge device 130'.

[0357] In particular, the removal device 130' comprises pulling means 140' configured to pick up the upper tab 551s from the removal means 120' and to exert pulling forces on the segment 550s to move and / or detach it from the pallet 500 and preferably from the base 520 or from any possible second film adhering to the base 520.

[0358] In fact, to better insulate the product 510, the pallet 500 can often include a second film placed between the base 520 and the first product layer 510. This second film often adheres to the film 550, with the adhesion being primarily due to heat shrinkage.

[0359] The drawing means 140' can include at least one motorized roller 141' which is rotatable about its axis of symmetry.

[0360] Preferably the motorized roller 141' has a toothed outer surface 141' to facilitate holding the film 550.

[0361] As in Fig. As shown in Figure 26, the motorized roller 141' can cooperate with a counter roller 142', which is preferably freely rotatable and adapted to press the film 550 against the motorized roller 141', thereby increasing its adhesion.

[0362] A feature of the invention provides that the discharge device 130' comprises comminution means 150' configured to cut / comminate the film 550 of each segment 550s into small sections before its discharge; preferably they are configured to cut / comminate the upper flap 551s and successively the lower flap 552s.

[0363] In particular, the comminution means 150' take up the upper tab 551s of each segment 550s from the drawing means 140'.

[0364] In fact, as in Fig. Figure 26 shows the comminution means 150' preferably arranged following the drawing means 140'.

[0365] In one embodiment of the present invention, the comminution means 150' comprise a longitudinal cutting device 151' for cutting the film 550 into strips and a transverse cutting device 152' which operates in a direction preferably orthogonal to the longitudinal cutting device 151' to cut the strips of film 550 into small pieces.

[0366] Preferably the devices 151', 152' operate one after the other and it is irrelevant whether the longitudinal cutting device 151' precedes or follows the transverse cutting device 152'.

[0367] As in Fig. As shown in Figure 26, the discharge device 130', which comprises the drawing means 140' and the comminuting means 150', can be designed as a single unit. This facilitates the handling and maintenance of the device.

[0368] In a preferred embodiment, the frame 190' is configured to integrally support and move the discharge devices 130' in the vertical direction.

[0369] As in Fig. As shown in Figure 23, the discharge devices 130' can be integral with the movable frame 190' and thus move together with the cutting devices 110' and / or the removal means 120', thereby facilitating the discharge of the segments 550s. Consequently, the drawing means 140' and the comminution means 150' can also be integral with the movable frame 190'.

[0370] In particular, Fig. 23 represents a preferred embodiment in which the discharge devices 130' are present in a number of four and are preferably integral with the structure 191' and are preferably placed at the four corners of the structure 191'.

[0371] The device 100' can further comprise outlet means 160' which receive the shredded film 550 from the shredding means 150'.

[0372] The Fig. 14, Fig. Figure 15 represents a possible embodiment in which the outlet means 160' comprise a suction group 161' which conveys the shredded film 550 from the shredding means 150' towards a discharge line 162'.

[0373] For example, the suction group 161' comprises one or more blowers which, as is known to those skilled in the art, are configured to produce a pressure reduction that enables suction. Other known systems adapted to generate a Venturi or suction effect also fall within the scope of protection of the invention.

[0374] Preferably, the outlet means 160' provide a centralized suction group 161' for all discharge devices 130'. Therefore, the shredded film 550 is conveyed, for example, by means of pipelines from the discharge devices 130' to the discharge line 162'.

[0375] Preferably the discharge line 162' comprises a vertical section 162'v from which the shredded film 550 is deposited by dropping.

[0376] In this way, thanks to the discharge line 162', the shredded film 550 is collected in a precisely defined area, and thanks to the vertical section 162'v, gravity is used to transport and deposit the shredded film 550.

[0377] The Fig. 14, Fig. Figure 15 shows the discharge line 162' in a possible configuration that is particularly advantageous with regard to the design and mechanical stability of the device 100'. In fact, the discharge line 162' is arranged parallel to the lifting structure 180'.

[0378] Preferably, a conduit is also provided on the side of each 185' stand of the 180' lifting structure.

[0379] Since the shredded film 550 is conveyed by the shredding means 150' towards the discharge line 162', the vertical section 162'v is configured in particular to allow access of the shredded film 550 regardless of the vertical position in which the movable frame 190' is placed, with which the discharge devices 130' are integral.

[0380] A preferred configuration may provide that the vertical section 162'v includes deformable elements on the surface facing the movable frame 190' to ensure access of the shredded film 550, but not its escape.

[0381] For example, the deformable elements could be brushes or rubber lips, etc.

[0382] As in the Fig. 14, Fig. As shown in Figure 15, the shredded film 550 emerging from the vertical section 162'v can, for example, be placed on a conveyor belt 163'.

[0383] This configuration is particularly advantageous because it also automates the removal of the shredded film 550 by transporting it to the most suitable position for disposal.

[0384] Fig. Figure 15 represents a straight band, but this is merely one possible non-limiting configuration of the invention.

[0385] The invention further relates to the method for unpacking a pallet 500 containing products 510, which are preferably arranged in layers on a base 520 or plate, wherein the pallet 500 is coated with a protective film 550 for holding and protecting the products 510 themselves, which is configured to cover the top surface 501 and the side surface 502 of the pallet 500 preferably up to the base 520.

[0386] The method preferably provides for separating the protective film 550 into at least two segments 550s, each comprising an upper flap 551s of an upper section 551 of the film 550 on the upper surface 501 of the pallet 500 and a lower flap 552s of a side section 552 of the film 550 on the side surface 502 of the pallet 500.

[0387] In particular, the procedure involves moving the segments 550s first from the upper surface 501 of the pallet 500 and then from the side surface 502 of the pallet 500.

[0388] A preferred embodiment provides for the protective film 550 to be divided into a plurality of segments 550s, preferably four.

[0389] According to one aspect of the invention, the method provides for the removal of the upper tab 551s of each segment 550s and its placement in the direction of comminution means 150 which are adapted to cut / comminute the film 550 into small sections before its removal.

[0390] Furthermore, the method preferably involves cutting / shredding the upper flap 551s and successively the lower flap 552s.

[0391] In particular, it provides for bringing each segment 550s towards the drawing means 140' which are adapted to tension the film 550 before it is cut / shredded into small sections.

[0392] Thanks to this solution, it is easier to remove the film 550 from the pallet 500.

[0393] Preferably, the steps of separating by cutting and moving the segment 550s away from the pallet 500 are carried out simultaneously.

[0394] In particular, the procedure involves lifting the upper section 551 of the film 550 from the upper surface 501 of the pallet 500 before the cut is made to separate the segments 550s.

[0395] Thanks to this solution, the initial cutting step is simpler, thereby reducing the contact of the blade 111' with the palletized product 510.

[0396] The following is the information contained in the Fig. 10, Fig. 11, Fig. 12, Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17, Fig. 18, Fig. 19, Fig. 20, Fig. 21, Fig. 22, Fig. 23, Fig. 24, Fig. 25 to Fig. 26 specific constructive embodiments are described.

[0397] The device 100' includes the lifting structure 180', on which the movable frame 190' moves vertically.

[0398] The movable frame 190' includes the structure 191' on which the sliding elements 192' are configured to approach or move away from a respective side 502a of the side surface 502 of the pallet 500.

[0399] Preferably, the removal means 120' with, for example, four gripping devices 121' and four discharge devices 130' are installed on the structure 191'.

[0400] A cutting device 110' is installed on each of the four sliding elements 192'.

[0401] The outlet means 160' communicating with the discharge devices 130' are assigned to the lifting structure 180' and provide two discharge lines 162' on each stand 185'.

[0402] An example of a work cycle involves bringing the pallet 500 to be unpacked into the working position within the device 100' and preferably within the lifting structure 180'.

[0403] The movable frame 190' lowers near the upper surface 501 of the pallet 500.

[0404] The removal means 120' approach the upper section 551 of the film 550 and move the upper section 551 partially away from the upper surface 501 by means of the gripping heads 122'.

[0405] At this point, the cutting devices 110' begin cutting the upper section 551 into upper tabs 551s.

[0406] In particular, the holding means 113' are arranged such that the support element 113'a is brought under the cut film 550, thereby holding the film 550 in contact with the blade 111'. This occurs immediately after the start of the cut.

[0407] The cutting can be carried out according to various embodiments described above. For example, by approaching the displacement elements 192', the cutting devices 110' position themselves in the center of the upper surface 501 and start cutting into 4 segments 550s.

[0408] Once the horizontal cutting has been completed, the activation means 113'b bring the support element 113'a into the second working position, i.e. the one suitable for vertical cutting.

[0409] The support element 113'a gradually transitions from the first horizontal cutting position to the second vertical cutting position, adapting according to the resistance provided by the film 550.

[0410] The removal means 120' move the upper tabs 551s away from the upper surface 501 and release them to the discharge devices 130'.

[0411] Preferably this is done after cutting at least one section of the lower tabs 552s, so that a sufficient amount of film 550 is present to allow the discharge devices 130' to be reached.

[0412] Once the upper tabs 551s have been delivered to the discharge devices 130', the discharge devices 130' take up the entire segment 550s, while the cutting of the lower tabs 552s continues.

[0413] The 120' removal devices move to a starting position and wait for the next work cycle.

[0414] At the same time, the discharge devices 130' perform the cutting / shredding of the upper tabs 551s.

[0415] The cutting devices 110' continue cutting the side section 552 into lower tabs 552s.

[0416] The discharge devices 130' exert a tensile force on the upper tabs 551s and on the lower tabs 552s, which facilitates the continuation of the cut.

[0417] The lower tabs 552s of the foil are successively cut / shredded.

[0418] At the same time, each segment 550s, while being successively cut / shredded, is conveyed by suction through the discharge lines 162' until it is placed on a conveyor belt 163'.

[0419] Therefore, after positioning the pallet 500 within the device 100', the following steps can be summarized: - Step 1 (shown in the Fig. 17a, Fig. 17b): Moving the upper section 551 away from the upper surface 501 of the pallet 500; - Step 2 (shown in Fig. 18a): Starting to cut the upper section 551 in a first direction and preferably positioning the holding means 113' between the product 510 and the cut film 550, keeping the same in contact with the blade 111', continuing to cut; - Step 3 (shown in Fig. 18b): Starting to cut the upper section 551 in a second direction and preferably positioning the holding means 113' between the product 510 and the cut film 550, keeping the same in contact with the blade 111', continuing to cut; - Step 4 (shown in the Fig. 19a, Fig. 19b): Completing the cutting of the upper section 551 into upper tabs 551s in the first direction and in the second direction, lifting each upper tab 551s and moving it away from the upper surface 501; - Step 5 (shown in Fig. 20): Continue the cut along side section 552 of foil 550 into lower tabs 552s; - Step 6 (shown in the Fig. 21a, Fig. 21b): complete lifting of each upper tab 551s, moving away from the upper surface 501 in the direction of the discharge devices 130'; - Step 7 (shown in the Fig. 22a, Fig. 22b): Transferring each upper flap 551s to the discharge devices 130' and starting the cutting / shredding of the upper flaps 551s; - Step 8 (shown in the Fig. 23a, Fig. 23b): Moving the lower tabs 552s away from the side surface 502 of the pallet 500; - Step 9 (not shown in the figure): Continue cutting / shredding the bottom tabs 552s; - Step 10 (not shown in the figure): Discarding the shredded film 550 for disposal.

[0420] It is understood, however, that the foregoing description is a non-limiting example; therefore, any possible detailed variants that may be necessary for technical and / or functional reasons shall henceforth be considered to fall within the same scope of protection as defined by the claims set forth below. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 5727747

[0014] EP 3214004B1 [0018, 0022]

Claims

[1] Device (100) for unpacking a pallet (500) containing products (510) arranged in layers on or against a base (520) or plate, wherein the pallet (500) is coated or covered with a protective film (550) for holding and protecting the products (510), configured to cover the top surface (501) and the side surface (502) of the pallet (500) at least up to the base (520); wherein the device (100) comprises: • a cutting device (110) for performing the cutting of the protective film (550) in order to separate the protective film (550) into at least two segments (550s), each comprising: - an upper flap or flap (551s) of an upper section (551) of the film (550) on the upper surface (501) of the pallet (500), and - a lower flap or flap (552s) of a side section (552) of the film (550) on the side surface (502) of the pallet (500); • Removal means configured to move the segments (550s) formed by the cutting device away from the pallet (500); • at least one anthropomorphic robot (200) on which the cutting device (110) is installed; • Transfer and / or carrier means (170) configured to position the pallet (500) in a work area of ​​the anthropomorphic robot (200); characterized by , that the transfer and / or carrier means (170) include a rotary device (171) configured to rotate the pallet (500) about a vertical axis of symmetry (Z) of the same when the pallet is positioned on the anthropomorphic robot (200). [2] Device according to claim 1, wherein the rotary device (171) is configured to rotate the pallet (500) by at least 180°. [3] Device according to claim 1 or 2, wherein the device (100) comprises a further anthropomorphic robot (300) on which the removal means (120) are installed. [4] Device according to one of the preceding claims, wherein the removal means (120) comprise at least one gripping device (121) comprising a gripping head (122) configured to move a section of the film away from the pallet (500). [5] Device according to claim 4, wherein the gripping head (122) comprises at least one suction element (122a) configured to lift and hold the film (550) by means of a vacuum. [6] Device according to claim 4 or 5, wherein the removal means further comprise a tongue (125a) configured to be moved under the gripping head (122) by activation means (125b) to hold a flap or flap of the film between the gripping head and the tongue (125a). [7] Device according to one of the preceding claims, wherein the device further comprises at least one discharge device (130) and wherein the removal means (120) are configured to discharge the segments (550s) to the discharge device (130). [8] Device according to claim 7, wherein the discharge device (130) comprises comminution means configured to cut, comminute or shred the film (550) of each segment (550s) into small sections before its discharge. [9] Device according to claim 8, wherein the discharge device (130) comprises outlet means (160) configured to receive the shredded film from the shredding means and includes a suction arrangement to convey the shredded film from the shredding means towards a discharge line. [10] Device according to claim 9, wherein the suction arrangement comprises at least one blower configured to produce a pressure reduction that enables suction.

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